351 lines
14 KiB
NASM
351 lines
14 KiB
NASM
;;#############################################################################
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;; FILE: CLAsincos.asm
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;;
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;; DESCRIPTION: CLA sincos function
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;;
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;;#############################################################################
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;;!
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;;! Copyright: Copyright (C) 2023 Texas Instruments Incorporated -
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;;! All rights reserved not granted herein.
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;;! Limited License.
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;;!
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;;! Texas Instruments Incorporated grants a world-wide, royalty-free,
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;;! non-exclusive license under copyrights and patents it now or hereafter
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;;! owns or controls to make, have made, use, import, offer to sell and sell
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;;! ("Utilize") this software subject to the terms herein. With respect to the
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;;! foregoing patent license, such license is granted solely to the extent that
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;;! any such patent is necessary to Utilize the software alone. The patent
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;;! license shall not apply to any combinations which include this software,
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;;! other than combinations with devices manufactured by or for TI
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;;! ("TI Devices").
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;;! No hardware patent is licensed hereunder.
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;;!
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;;! Redistributions must preserve existing copyright notices and reproduce this
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;;! license (including the above copyright notice and the disclaimer and
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;;! (if applicable) source code license limitations below) in the documentation
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;;! and/or other materials provided with the distribution.
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;;!
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;;! Redistribution and use in binary form, without modification, are permitted
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;;! provided that the following conditions are met:
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;;!
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;;! * No reverse engineering, decompilation, or disassembly of this software is
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;;! permitted with respect to any software provided in binary form.
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;;! * Any redistribution and use are licensed by TI for use only
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;;! with TI Devices.
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;;! * Nothing shall obligate TI to provide you with source code for the
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;;! software licensed and provided to you in object code.
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;;!
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;;! If software source code is provided to you, modification and redistribution
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;;! of the source code are permitted provided that the following conditions
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;;! are met:
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;;!
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;;! * any redistribution and use of the source code, including any resulting
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;;! derivative works, are licensed by TI for use only with TI Devices.
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;;! * any redistribution and use of any object code compiled from the source
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;;! code and any resulting derivative works, are licensed by TI for use
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;;! only with TI Devices.
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;;!
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;;! Neither the name of Texas Instruments Incorporated nor the names of its
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;;! suppliers may be used to endorse or promote products derived from this
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;;! software without specific prior written permission.
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;;#############################################################################
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.cdecls C,LIST,"CLAmath.h"
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.include "CLAeabi.asm"
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;;----------------------------------------------------------------------------
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;; Description: Implement sine + cosine using taylor series expansion:
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;;
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;; rad = K + X
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;;
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;; Cos(rad) = Cos(K) - Sin(K)*X
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;; - Cos(K)*X^2/2!
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;; + Sin(K)*X^3/3!
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;; + Cos(K)*X^4/4!
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;; - Sin(K)*X^5/5!
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;;
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;; = Cos(K) + X*(-1.0*Sin(K)
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;; + X*(-0.5*Cos(K)
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;; + X*(0.166666*Sin(K)
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;; + X*(0.04166666*Cos(K)
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;; + X*(-0.00833333*Sin(K))))))
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;;
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;; = Cos(K) + X*(-Sin(K)
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;; + X*(Coef0*Cos(K)
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;; + X*(Coef1_pos*Sin(K)
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;; + X*(Coef2*Cos(K)
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;; + X*(Coef3_neg*Sin(K))))))
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;;
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;;
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;; Sin(rad) = Sin(K) + Cos(K)*X
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;; - Sin(K)*X^2/2!
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;; - Cos(K)*X^3/3!
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;; + Sin(K)*X^4/4!
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;; + Cos(K)*X^5/5!
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;;
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;; = Sin(K) + X*(Cos(K)
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;; + X*(-0.5*Sin(K)
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;; + X*(-0.166666*Cos(K)
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;; + X*(0.04166666*Sin(K)
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;; + X*(0.00833333*Cos(K))))))
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;;
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;; = Sin(K) + X*(Cos(K)
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;; + X*(Coef0*Sin(K)
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;; + X*(Coef1*Cos(K)
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;; + X*(Coef2*Sin(K)
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;; + X*(Coef3*Cos(K))))))
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;;
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;; Equation: y1 = sin(rad)
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;; y2 = cos(rad)
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;;
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;; Regs Used: MR0, MR1, MR2, MR3, MAR0, MAR1
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;;
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;; Inputs : rad (MR0), *y1 (MAR0), *y2 (MAR1)
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;;
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;; // TABLE_SIZE = 128
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;; CLAsincosTable.Sin0 = 0.0; // sin( 0 * 2*pi/TABLE_SIZE)
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;; CLAsincosTable.Sin1 = 0.04906767432742; // sin( 1 * 2*pi/TABLE_SIZE)
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;; ...
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;; CLAsincosTable.Sin31 = 0.9987954562052; // sin( 31 * 2*pi/TABLE_SIZE)
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;; CLAsincosTable.Cos0 = 1.0; // sin( 32 * 2*pi/TABLE_SIZE)
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;; CLAsincosTable.Sin33 = 0.9987954562052; // sin( 33 * 2*pi/TABLE_SIZE)
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;; ...
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;; CLAsincosTable.Sin63 = 0.04906767432742; // sin( 63 * 2*pi/TABLE_SIZE)
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;; CLAsincosTable.Sin64 = 0.0; // sin( 64 * 2*pi/TABLE_SIZE)
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;; CLAsincosTable.Sin65 = -0.04906767432742; // sin( 65 * 2*pi/TABLE_SIZE)
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;; ...
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;; CLAsincosTable.Sin95 = -0.9987954562052; // sin( 95 * 2*pi/TABLE_SIZE)
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;; CLAsincosTable.Sin96 = -1.0; // sin( 96 * 2*pi/TABLE_SIZE)
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;; CLAsincosTable.Sin97 = -0.9987954562052; // sin( 97 * 2*pi/TABLE_SIZE)
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;; ...
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;; CLAsincosTable.Sin127 = -0.04906767432742; // sin(127 * 2*pi/TABLE_SIZE)
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;; CLAsincosTable.Cos96 = 0.0; // sin( 0 * 2*pi/TABLE_SIZE)
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;; CLAsincosTable.Cos97 = 0.04906767432742; // sin( 1 * 2*pi/TABLE_SIZE)
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;; ...
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;; CLAsincosTable.Cos127 = 0.9987954562052; // sin( 31 * 2*pi/TABLE_SIZE)
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;; CLAsincosTable.Cos128 = 1.0; // sin( 32 * 2*pi/TABLE_SIZE)
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;;
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;; CLAsincosTable.TABLE_SIZEDivPi = 40.74366543152;
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;; CLAsincosTable.TwoPiDivTABLE_SIZE = 0.04908738521234;
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;; CLAsincosTable.TABLE_MASK = 0x000000FE;
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;;
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;; CLAsincosTable.Coef0 = -0.5;
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;; CLAsincosTable.Coef1 = -0.1666666666666;
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;; CLAsincosTable.Coef1_pos = 0.1666666666666;
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;; CLAsincosTable.Coef2 = 4.1666666666666e-2;
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;; CLAsincosTable.Coef3 = 8.3333333333333e-3;
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;; CLAsincosTable.Coef3_neg = -8.3333333333333e-3;
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;;
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;; Output: y1 (y_sin) and y2 (y_cos) f32 value in memory
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;;
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;; Benchmark: Cycles = 43
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;; Instructions = 43
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;;
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;; Scratchpad Usage: (Local Function Scratchpad Pointer (SP))
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;;
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;; |_______|<- sincos temporary variable 2 (SP+6)
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;; |_______|<- sincos temporary variable 1 (SP+4)
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;; |_______|<- *y2 (SP+3)
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;; |_______|<- *y1 (SP+2)
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;; |_______|<- MR3 (SP+0)
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;;
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;;----------------------------------------------------------------------------
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.def _CLAsincos
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.sect "Cla1Prog:_CLAsincos"
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.align 2
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.def __cla_CLAsincos_sp
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__cla_CLAsincos_sp .usect ".scratchpad:Cla1Prog:_CLAsincos",8,0,1
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_CLAsincos:
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.asmfunc
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.asg __cla_CLAsincos_sp + 0, _save_MR3
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.asg __cla_CLAsincos_sp + 2, _ptr_y1
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.asg __cla_CLAsincos_sp + 3, _ptr_y2
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.asg __cla_CLAsincos_sp + 4, _sincos_tmp1
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.asg __cla_CLAsincos_sp + 6, _sincos_tmp2
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; Context Save
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MMOV32 @_save_MR3, MR3
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MMOV16 @_ptr_y1, MAR0
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MMOV16 @_ptr_y2, MAR1
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; MR0 = rad
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; MR1 = TABLE_SIZE/(2*Pi)
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; MR1 = rad*TABLE_SIZE/(2*Pi)
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; MR2 = TABLE_MASK
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; MR3 = K = integer(rad*TABLE_SIZE/(2*Pi))
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; MR3 = K & TABLE_MASK
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; MR3 = K * 2
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MMOV32 MR1,@_CLAsincosTable_TABLE_SIZEDivTwoPi
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MMPYF32 MR1,MR0,MR1
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|| MMOV32 MR2,@_CLAsincosTable_TABLE_MASK
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MF32TOI32 MR3,MR1
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MAND32 MR3,MR3,MR2
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MLSL32 MR3,#1
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; MAR0 = address of Cos(K)
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; MR1 = frac(TABLE_SIZE*rad/2*Pi)
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; MR0 = 2*Pi/TABLE_SIZE
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; MR1 = X = frac(TABLE_SIZE*rad/2*Pi) * (2*Pi/TABLE_SIZE)
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; MR0 = Coef3
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MMOV16 MAR0,MR3,#_CLAsincosTable_Cos0
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MFRACF32 MR1,MR1
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MMOV32 MR0,@_CLAsincosTable_TwoPiDivTABLE_SIZE
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MMPYF32 MR1,MR1,MR0
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|| MMOV32 MR0,@_CLAsincosTable_Coef3
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; MR2 = Cos(K)
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; MR3 = Coef3*Cos(K)
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; MR2 = Sin(K)
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; MR3 = X*Coef3*Cos(K)
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; MR0 = Coef3_neg
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MMOV32 MR2,*MAR0[#-64]++
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MMPYF32 MR3,MR0,MR2
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|| MMOV32 MR2,*MAR0[#+64]++
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MMPYF32 MR3,MR3,MR1
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|| MMOV32 MR0, @_CLAsincosTable_Coef3_neg
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; MR3 = Coef3_neg*Sin(K)
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; tmp1 = X*Coef3*Cos(K)
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; MR3 = X*Coef3_neg*Sin(K)
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; MR0 = Coef2
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; MR2 = Coef2*Sin(K)
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; tmp2 = X*Coef3*Sin(K)
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MMPYF32 MR3,MR0,MR2
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|| MMOV32 @_sincos_tmp1, MR3
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MMPYF32 MR3,MR3,MR1
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|| MMOV32 MR0,@_CLAsincosTable_Coef2
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MMPYF32 MR2,MR0,MR2
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|| MMOV32 @_sincos_tmp2, MR3
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; MR3 = X*Coef3*Cos(K)
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; MR3 = Coef2*Sin(K) + X*Coef3*Cos(K)
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; MR2 = Cos(K)
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; MR3 = X*Coef2*Sin(K) + X^2*Coef3*Cos(K)
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; MR0 = Coef2*Cos(K)
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; tmp1 = X*Coef2*Sin(K) + X^2*Coef3*Cos(K)
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MMOV32 MR3, @_sincos_tmp1
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MADDF32 MR3,MR3,MR2
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|| MMOV32 MR2,*MAR0[#-64]++
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MMPYF32 MR3,MR3,MR1
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MMPYF32 MR0, MR0, MR2
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|| MMOV32 @_sincos_tmp1, MR3
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; MR3 = X*Coef3*Sin(K)
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; MR3 = Coef2*Cos(K) + X*Coef3_neg*Sin(K)
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; MR3 = X*Coef2*Cos(K) - X^2*Coef3*Sin(K)
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; MR0 = Coef1
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; MR2 = Coef1*Cos(K)
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; tmp2 = X*Coef2*Cos(K) - X^2*Coef3*Sin(K)
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MMOV32 MR3, @_sincos_tmp2
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MADDF32 MR3, MR0, MR3
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MMPYF32 MR3, MR3, MR1
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|| MMOV32 MR0,@_CLAsincosTable_Coef1
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MMPYF32 MR2,MR0,MR2
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|| MMOV32 @_sincos_tmp2, MR3
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; MR3 = X*Coef2*Sin(K) + X^2*Coef3*Cos(K) (G)+(F)
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; MR3 = Coef1*Cos(K) + X*Coef2*Sin(K) + X^2*Coef3*Cos(K)
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; MR2 = Sin(K)
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; MR3 = X*Coef1*Cos(K) + X^2*Coef2*Sin(K) + X^3*Coef3*Cos(K)
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; MR0 = Coef1_pos
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; MR0 = Coef1_pos*Sin(K)
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; tmp1 = X*Coef1*Cos(K) + X^2*Coef2*Sin(K) + X^3*Coef3*Cos(K)
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MMOV32 MR3, @_sincos_tmp1
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MADDF32 MR3,MR3,MR2
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|| MMOV32 MR2,*MAR0[#+64]++
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MMPYF32 MR3,MR3,MR1
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|| MMOV32 MR0, @_CLAsincosTable_Coef1_pos
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MMPYF32 MR0, MR0, MR2
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|| MMOV32 @_sincos_tmp1, MR3
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; MR3 = X*Coef2*Cos(K) + X^2*Coef3_neg*Sin(K) (B)-(A)
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; MR3 = Coef1-pos*Sin(K) + X*Coef2*Cos(K) + X^2*Coef3_neg*Sin(K)
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; MR3 = X*Coef1_pos*Sin(K) + X^2*Coef2*Cos(K) + X^3*Coef3_neg*Sin(K)
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; MR0 = Coef0
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; MR2 = Coef0*Sin(K)
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; tmp2 = X*Coef1_pos*Sin(K) + X^2*Coef2*Cos(K) + X^3*Coef3_neg*Sin(K)
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; MR3 = X*Coef1*Cos(K) + X^2*Coef2*Sin(K) + X^3*Coef3*Cos(K)
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MMOV32 MR3, @_sincos_tmp2
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MADDF32 MR3, MR0, MR3
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MMPYF32 MR3, MR1, MR3
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|| MMOV32 MR0,@_CLAsincosTable_Coef0
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MMPYF32 MR2,MR0,MR2
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|| MMOV32 @_sincos_tmp2, MR3
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MMOV32 MR3, @_sincos_tmp1
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; MR3 = Coef0*Sin(K) + X*Coef1*Cos(K) + X^2*Coef2*Sin(K)
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; + X^3*Coef3*Cos(K)
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;
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; MR2 = Cos(K)
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;
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; MR3 = X*Coef0*Sin(K) + X^2*Coef1*Cos(K)
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; + X^3*Coef2*Sin(K) + X^4*Coef3*Cos(K)
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;
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; MR3 = Cos(K) + X^1*Coef0*Sin(K) + X^2*Coef1*Cos(K)
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; + X^3*Coef2*Sin(K) + X^4*Coef3*Cos(K)
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;
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; MR3 = X*Cos(K) + X^2*Coef0*Sin(K) + X^3*Coef1*Cos(K)
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; + X^4*Coef2*Sin(K) + X^5*Coef3*Cos(K)
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MADDF32 MR3, MR2, MR3
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|| MMOV32 MR2,*MAR0[#-64]++
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MMPYF32 MR3,MR3,MR1
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MADDF32 MR3,MR3,MR2
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MMOV16 MAR1, @_ptr_y1
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MMPYF32 MR3,MR3,MR1
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; MR0 = Coef0*Cos(K)
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; MR2 = Sin(K)
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; MR3 = Sin(K) + X*Cos(K) + X^2*Coef0*Sin(K)
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; + X^3*Coef1*Cos(K) + X^4*Coef2*Sin(K) + X^5*Coef3*Cos(K)
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; Store Y1 = Sin(rad)
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;
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; MR3 = X*Coef1_pos*Sin(K) + X^2*Coef2*Cos(K) + X^3*Coef3_neg*Sin(K)
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MMPYF32 MR0, MR0, MR2
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|| MMOV32 MR2,*MAR0[#+64]++
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MADDF32 MR3,MR2,MR3
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MMOV32 *MAR1[#0]++, MR3
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MMOV32 MR3, @_sincos_tmp2
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; MR3 = Coef0*Cos(K) + X*Coef1_pos*Sin(K) + X^2*Coef2*Cos(K)
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; + X^3*Coef3_neg*Sin(K)
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;
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; MR3 = X*Coef0*Cos(K) + X^2*Coef1_pos*Sin(K)
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; + X^3*Coef2*Cos(K) + X^4*Coef3_neg*Sin(K)
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;
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; MR3 = -Sin(K)+X*Coef0*Cos(K) + X^2*Coef1_pos*Sin(K)
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; + X^3*Coef2*Cos(K) + X^4*Coef3_neg*Sin(K)
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;
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; MR2 = Cos(K)
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; MR3 = -X*Sin(K) + X^2*Coef0*Cos(K) + X^3*Coef1_pos*Sin(K)
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; + X^4*Coef2*Cos(K) + X^5*Coef3_neg*Sin(K)
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;
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; MR3 = Cos(K) - X*Sin(K) + X^2*Coef0*Cos(K) + X^3*Coef1_pos*Sin(K)
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; + X^4*Coef2*Cos(K) + X^5*Coef3_neg*Sin(K)
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; Store Y2 = Cos(rad)
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MADDF32 MR3, MR0, MR3
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MMPYF32 MR3, MR1, MR3
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MMOV16 MAR1, @_ptr_y2
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MSUBF32 MR3, MR3, MR2
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|| MMOV32 MR2,*MAR0[#0]++
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MMPYF32 MR3, MR1, MR3
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; Context Restore and Final Operations
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MRCNDD UNC
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MADDF32 MR3, MR2, MR3
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MMOV32 *MAR1[#0]++, MR3
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MMOV32 MR3,@_save_MR3
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.unasg _save_MR3
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.unasg _ptr_y1
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.unasg _ptr_y2
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.endasmfunc
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;; End of File
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