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fpu.s
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/**************************************************************************
Copyright Jacques Deschênes 2021,2022
This file is part of beyond-Jupiter
beyond-Jupiter is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
beyond-Jupiter is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with beyond-Jupiter. If not, see <http://www.gnu.org/licenses/>.
***************************************************************************/
/*************************************
Floating point using FPU
*************************************/
.cpu cortex-m4
.fpu vfpv4
.thumb
minus1 = 0xBF800000 // -1.0 to invert mantissa sign
plus1 = 0x3F800000 // 1.0
ten = 0x41200000 // 10.0
onetenth = 0x3DCCCCCD // 0.1
.word 0x3089705F // 1e-9
.word 0x322BCC77 // 1e-8
.word 0x33D6BF95 // 1e-7
.word 0x358637BD // 1e-6
.word 0x3727C5AC // 1e-5
.word 0x38D1B717 // 1e-4
.word 0x3A83126F // 1e-3
.word 0x3C23D70A // 1e-2
.word 0x3DCCCCCD // 1e-1
p10:
.word 0x3F800000 // 1.0
.word 0x41200000 // 1e1
.word 0x42C80000 // 1e2
.word 0x447A0000 // 1e3
.word 0x461C4000 // 1e4
.word 0x47C35000 // 1e5
.word 0x49742400 // 1e6
.word 0x4B189680 // 1e7
.word 0x4CBEBC20 // 1e8
.word 0x4E6E6B28 // 1e9
/***********************
PWR10 ( n -- 10^n )
return powers of 10
from 1e-7..1e7
***********************/
_HEADER PWR10,5,"PWR10"
lsl TOS,#2
ldr t0, =p10
add TOS,TOS,T0
ldr TOS,[TOS]
_NEXT
/*****************************
initialize FPU
****************************/
fpu_init:
ldr.w r0,=CPACR
ldr R1,[R0]
orr r1,r1,#(0xf<<20)
str r1,[r0]
dsb
ldr r0,=FPC_BASE_ADR
eor r1,r1
str r1,[r0,FPCCR]
dsb
// mov r0,#FPU_IRQ
// _CALL nvic_enable_irq
_RET
/***************************
FDI ( -- )
disable fpu exception
interrupt
***************************/
_HEADER FDI,3,"FDI"
mov r0,#FPU_IRQ
_CALL nvic_disable_irq
_NEXT
/***************************
FEI ( -- )
enable fpu exception
interrupt
**************************/
_HEADER FEI,3,"FEI"
mov r0,#FPU_IRQ
_CALL nvic_enable_irq
_NEXT
/***************************
FPSCR ( -- u )
stack fpu SCR register
***************************/
_HEADER FPSCR,5,"FPSCR"
_PUSH
vmrs TOS,FPSCR
dsb
_NEXT
/**************************
CLR-FPSCR ( mask -- )
clear FPSCR bits
input:
mask and mask
************************/
_HEADER CLR_FPSCR,9,"CLR-FPSCR"
vmrs T0,FPSCR
dsb
and TOS,T0
vmsr FPSCR,TOS
dsb
_NEXT
/*******************************
>S0 variable ( f# -- )
send float to fpu S0
**********************************/
_HEADER TOS0,3,">S0"
vmov.f32 S0,TOS
_POP
_NEXT
/*******************************
>S1 variable ( f# -- )
send float to fpu S1
**********************************/
_HEADER TOS1,3,">S1"
vmov.f32 S1,TOS
_POP
_NEXT
/*******************************
>S2 variable ( f# -- )
send float to fpu S2
**********************************/
_HEADER TOS2,3,">S2"
vmov.f32 S2,TOS
_POP
_NEXT
/*******************************
S0> ( -- f )
push fpu S0
*******************************/
_HEADER S0FROM,3,"S0>"
_PUSH
vmov.f32 TOS,S0
_NEXT
/*******************************
S1> ( -- f )
push fpu S1
*******************************/
_HEADER S1FROM,3,"S1>"
_PUSH
vmov.f32 TOS,S1
_NEXT
/*******************************
S2> ( -- f )
push fpu S2
*******************************/
_HEADER S2FROM,3,"S2>"
_PUSH
vmov.f32 TOS,S2
_NEXT
/*******************************
F>S ( f -- n )
convert float to integer
round to nearest integer
*******************************/
_HEADER FTOS,3,"F>S"
vmov.f32 S0,TOS
vcvtr.s32.f32 s0,s0
vmov.f32 TOS,s0
_NEXT
/*******************************
TRUNC (f - n )
truncate float to integer
*******************************/
_HEADER TRUNC,5,"TRUNC"
vmov.f32 S0,TOS
vcvt.s32.f32 s0,s0
vmov.f32 TOS,S0
_NEXT
/*******************************
S>F ( s -- f )
convert integer to float
*******************************/
_HEADER STOF,3,"S>F"
vmov.f32 S0,TOS
vcvt.f32.s32 s0,s0
vmov.f32 TOS,s0
_NEXT
/*******************************
F+ ( f1 f2 -- f1+f2 )
add 2 floats
*******************************/
_HEADER FPLUS,2,"F+"
vmov.f32 s0,TOS
_POP
vmov.f32 s1,TOS
vadd.f32 s0,s0,s1
vmov.f32 TOS,s0
_NEXT
/*******************************
F- ( f1 f2 -- f1-f2 )
substract 2 float
*******************************/
_HEADER FSUBB,2,"F-"
vmov.f32 s0,TOS
_POP
vmov.f32 s1,TOS
vsub.f32 s0,s1,s0
vmov.f32 TOS,s0
_NEXT
/*******************************
F* ( f1 f2 -- f1*f2 )
multiply 2 float
******************************/
_HEADER FSTAR,2,"F*"
vmov.f32 s0,TOS
_POP
vmov.f32 s1,TOS
vmul.f32 s0,s1,s0
vmov.f32 TOS,s0
_NEXT
/*******************************
F/ ( f1 f2 -- f1/f2 )
divide f1 by f2
*******************************/
_HEADER FSLH,2,"F/"
vmov.f32 s0,TOS
_POP
vmov.f32 s1,TOS
vdiv.f32 s0,s1,s0
vmov.f32 TOS,s0
_NEXT
/********************************
FNEGATE ( f -- -f )
negate floating point
********************************/
_HEADER FNEG,7,"FNEGATE"
vmov.f32 s0,TOS
vneg.f32 S0,S0
vmov.f32 TOS,S0
_NEXT
/**********************************
FABS ( f -- f )
return absolute value
******************************/
_HEADER FABS,4,"FABS"
eor T0,T0
mvn T0,T0
lsr T0,#1
and TOS,T0
_NEXT
/*****************************
SQRT ( f -- f )
compute square root
*****************************/
_HEADER SQRT,4,"SQRT"
vmov.f32 s0,TOS
vsqrt.f32 s0,s0
vmov.f32 TOS,s0
_NEXT
/*****************************
F0< ( f -- flag )
*****************************/
_HEADER FZLESS,3,"F0<"
vmov.f32 s0,TOS
vcmp.f32 s0, #0.0
vmrs TOS,FPSCR
dsb
asr TOS,#31
_NEXT
/*****************************
F> ( f#1 f#2 -- flag )
f#1>f#2 ?
*****************************/
_HEADER FGREAT,2,"F>"
_NEST
_ADR FSUBB
_ADR FZLESS
_ADR INVER
_UNNEST
/*****************************
F< ( f#1 f#2 -- flag )
f#1<f#2 ?
*****************************/
_HEADER FLESS,2,"F<"
_NEST
_ADR FSUBB
_ADR FZLESS
_UNNEST
/*******************************
FMIN ( f#1 f#2 -- smallest )
********************************/
_HEADER FMIN,4,"FMIN"
_NEST
_ADR OVER
_ADR OVER
_ADR FGREAT
_QBRAN 1f
_ADR SWAP
1: _ADR DROP
_UNNEST
/*******************************
FMAX (f#1 f#2 -- largest )
*******************************/
_HEADER FMAX,4,"FMAX"
_NEST
_ADR OVER
_ADR OVER
_ADR FLESS
_QBRAN 1f
_ADR SWAP
1: _ADR DROP
_UNNEST
/*******************************
FSIGN ( f -- n )
return float sign
*******************************/
_HEADER FSIGN,5,"FSIGN"
eor T0,T0
movt T0,#0X8000
and TOS,T0
asr TOS,#31
_NEXT
/*******************************
FEXP ( f -- n )
return binary exponent of f
*******************************/
_HEADER FEXP,4,"FEXP"
_MOV32 T0,0X7F800000
and TOS,T0
lsr TOS,#23
sub TOS,#127
_NEXT
/*******************************
FMANT ( f -- n )
return float mantisssa
********************************/
_HEADER FMANT,5,"FMANT"
_MOV32 T0, 0X7FFFFF
AND TOS,T0
EOR T0,T0
MOVT T0,0x80
ORR TOS,T0
_NEXT
/*******************************
PI ( -- f )
return 3.14159265
*******************************/
_HEADER PI,2,"PI"
_PUSH
_MOV32 TOS, 0x40490FDB
_NEXT
/********************************
LN2 ( -- f )
2.0 natural logarithm
********************************/
_HEADER LN2,3,"LN2"
_PUSH
_MOV32 TOS,0x3F317218
_NEXT
/********************************
LN10 ( -- f )
10.0 natural logarithm
********************************/
_HEADER LN10,4,"LN10"
_PUSH
_MOV32 TOS, 0x40135D8E
_NEXT
/********************************
LOG2 ( -- f)
return log10(2)
*******************************/
_HEADER LOG2,4,"LOG2"
_PUSH
_MOV32 TOS,0x3E9A209A
_NEXT
/********************************
LOG2>10 ( f -- exp )
convert float base2 exponent
to base10
********************************/
_HEADER LOG2TO10,7,"LOG2>10"
_NEST
_ADR FEXP
_ADR STOF
_ADR LOG2
_ADR FSTAR
_ADR TRUNC
_ADR DUPP
_ADR ZLESS
_QBRAN 1f
_ADR ONEM
1: _UNNEST