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Enable RPi Pico's optimized ROM floating point routines #202

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merged 2 commits into from
Jan 6, 2024
Merged

Enable RPi Pico's optimized ROM floating point routines #202

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3b7b7bd
Enable RPi Pico's optimized ROM floating point routines
multiplemonomials Jan 5, 2024
3097511
Add license header
multiplemonomials Jan 6, 2024
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81 changes: 81 additions & 0 deletions targets/TARGET_RASPBERRYPI/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -30,11 +30,83 @@ file(GENERATE
CONTENT "${header_content}"
)

# add a link option to wrap the given function name; i.e. -Wl:wrap=FUNCNAME for gcc
function(pico_wrap_function TARGET FUNCNAME)
target_link_options(${TARGET} INTERFACE "LINKER:--wrap=${FUNCNAME}")
endfunction()

# Following is copied from src/rp2_common/pico_float/CMakeLists.txt
function(wrap_float_functions TARGET)
pico_wrap_function(${TARGET} __aeabi_fadd)
pico_wrap_function(${TARGET} __aeabi_fdiv)
pico_wrap_function(${TARGET} __aeabi_fmul)
pico_wrap_function(${TARGET} __aeabi_frsub)
pico_wrap_function(${TARGET} __aeabi_fsub)
pico_wrap_function(${TARGET} __aeabi_cfcmpeq)
pico_wrap_function(${TARGET} __aeabi_cfrcmple)
pico_wrap_function(${TARGET} __aeabi_cfcmple)
pico_wrap_function(${TARGET} __aeabi_fcmpeq)
pico_wrap_function(${TARGET} __aeabi_fcmplt)
pico_wrap_function(${TARGET} __aeabi_fcmple)
pico_wrap_function(${TARGET} __aeabi_fcmpge)
pico_wrap_function(${TARGET} __aeabi_fcmpgt)
pico_wrap_function(${TARGET} __aeabi_fcmpun)
pico_wrap_function(${TARGET} __aeabi_i2f)
pico_wrap_function(${TARGET} __aeabi_l2f)
pico_wrap_function(${TARGET} __aeabi_ui2f)
pico_wrap_function(${TARGET} __aeabi_ul2f)
pico_wrap_function(${TARGET} __aeabi_f2iz)
pico_wrap_function(${TARGET} __aeabi_f2lz)
pico_wrap_function(${TARGET} __aeabi_f2uiz)
pico_wrap_function(${TARGET} __aeabi_f2ulz)
pico_wrap_function(${TARGET} __aeabi_f2d)
pico_wrap_function(${TARGET} sqrtf)
pico_wrap_function(${TARGET} cosf)
pico_wrap_function(${TARGET} sinf)
pico_wrap_function(${TARGET} tanf)
pico_wrap_function(${TARGET} atan2f)
pico_wrap_function(${TARGET} expf)
pico_wrap_function(${TARGET} logf)

pico_wrap_function(${TARGET} ldexpf)
pico_wrap_function(${TARGET} copysignf)
pico_wrap_function(${TARGET} truncf)
pico_wrap_function(${TARGET} floorf)
pico_wrap_function(${TARGET} ceilf)
pico_wrap_function(${TARGET} roundf)
pico_wrap_function(${TARGET} sincosf) # gnu
pico_wrap_function(${TARGET} asinf)
pico_wrap_function(${TARGET} acosf)
pico_wrap_function(${TARGET} atanf)
pico_wrap_function(${TARGET} sinhf)
pico_wrap_function(${TARGET} coshf)
pico_wrap_function(${TARGET} tanhf)
pico_wrap_function(${TARGET} asinhf)
pico_wrap_function(${TARGET} acoshf)
pico_wrap_function(${TARGET} atanhf)
pico_wrap_function(${TARGET} exp2f)
pico_wrap_function(${TARGET} log2f)
pico_wrap_function(${TARGET} exp10f)
pico_wrap_function(${TARGET} log10f)
pico_wrap_function(${TARGET} powf)
pico_wrap_function(${TARGET} powintf) #gnu
pico_wrap_function(${TARGET} hypotf)
pico_wrap_function(${TARGET} cbrtf)
pico_wrap_function(${TARGET} fmodf)
pico_wrap_function(${TARGET} dremf)
pico_wrap_function(${TARGET} remainderf)
pico_wrap_function(${TARGET} remquof)
pico_wrap_function(${TARGET} expm1f)
pico_wrap_function(${TARGET} log1pf)
pico_wrap_function(${TARGET} fmaf)
endfunction()

# Now, add includes and headers from the Pico SDK
target_include_directories(mbed-raspberrypi
INTERFACE
.
pico-sdk/src/rp2_common/hardware_adc/include
pico-sdk/src/rp2_common/hardware_divider/include
pico-sdk/src/rp2_common/hardware_gpio/include
pico-sdk/src/rp2_common/hardware_resets/include
pico-sdk/src/rp2_common/hardware_pwm/include
Expand All @@ -54,6 +126,7 @@ target_include_directories(mbed-raspberrypi
pico-sdk/src/rp2_common/pico_platform/include
pico-sdk/src/rp2_common/pico_fix/rp2040_usb_device_enumeration/include/
pico-sdk/src/rp2_common/pico_bootrom/include
pico-sdk/src/rp2_common/pico_float/include
pico-sdk/src/rp2_common/hardware_claim/include
pico-sdk/src/common/pico_sync/include
pico-sdk/src/common/pico_time/include
Expand Down Expand Up @@ -89,6 +162,11 @@ target_sources(mbed-raspberrypi
pico-sdk/src/common/pico_time/time.c
pico-sdk/src/common/pico_sync/lock_core.c
pico-sdk/src/rp2_common/cmsis/stub/CMSIS/Device/RaspberryPi/RP2040/Source/system_RP2040.c
pico-sdk/src/rp2_common/pico_float/float_aeabi.S
pico-sdk/src/rp2_common/pico_float/float_init_rom.c
pico-sdk/src/rp2_common/pico_float/float_math.c
pico-sdk/src/rp2_common/pico_float/float_v1_rom_shim.S
pico-sdk/src/rp2_common/hardware_divider/divider.S
)

target_compile_definitions(mbed-raspberrypi
Expand All @@ -110,4 +188,7 @@ target_sources(mbed-rp2040
pico-sdk/src/rp2_common/pico_fix/rp2040_usb_device_enumeration/rp2040_usb_device_enumeration.c
)

# Enable usage of the RPi Pico optimized floating point routines
wrap_float_functions(mbed-rp2040)

add_subdirectory(TARGET_RP2040 EXCLUDE_FROM_ALL)
55 changes: 55 additions & 0 deletions targets/TARGET_RASPBERRYPI/pico-sdk/src/rp2_common/hardware_divider/divider.S
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Original file line number Diff line number Diff line change
@@ -0,0 +1,55 @@
#include "pico/asm_helper.S"
#include "hardware/regs/addressmap.h"
#include "hardware/regs/sio.h"

pico_default_asm_setup

// tag::hw_div_s32[]
regular_func_with_section hw_divider_divmod_s32
ldr r3, =(SIO_BASE)
str r0, [r3, #SIO_DIV_SDIVIDEND_OFFSET]
str r1, [r3, #SIO_DIV_SDIVISOR_OFFSET]
b hw_divider_divmod_return
// end::hw_div_s32[]

// tag::hw_div_u32[]
regular_func_with_section hw_divider_divmod_u32
ldr r3, =(SIO_BASE)
str r0, [r3, #SIO_DIV_UDIVIDEND_OFFSET]
str r1, [r3, #SIO_DIV_UDIVISOR_OFFSET]
b hw_divider_divmod_return
// end::hw_div_u32[]

// Common delay and return section for s32 and u32
.section .text.hw_divider_divmod_return
hw_divider_divmod_return:
// Branching here is 2 cycles, delay another 6
b 1f
1: b 1f
1: b 1f
1: // return 64 bit value so we can efficiently return both (note quotient must be read last)
ldr r1, [r3, #SIO_DIV_REMAINDER_OFFSET]
ldr r0, [r3, #SIO_DIV_QUOTIENT_OFFSET]
bx lr

regular_func_with_section hw_divider_save_state
ldr r3, =SIO_BASE
ldr r1, [r3, #SIO_DIV_UDIVIDEND_OFFSET]
ldr r2, [r3, #SIO_DIV_UDIVISOR_OFFSET]
stmia r0!, {r1-r2}
// The 8 cycles needed to guarantee that the result is ready is ensured by the preceeding
// code of 7 cycles together with any branch to it taking at least 2 cycles.
ldr r1, [r3, #SIO_DIV_REMAINDER_OFFSET]
ldr r2, [r3, #SIO_DIV_QUOTIENT_OFFSET]
stmia r0!, {r1-r2}
bx lr

regular_func_with_section hw_divider_restore_state
ldr r3, =SIO_BASE
ldmia r0!, {r1-r2}
str r1, [r3, #SIO_DIV_UDIVIDEND_OFFSET]
str r2, [r3, #SIO_DIV_UDIVISOR_OFFSET]
ldmia r0!, {r1-r2}
str r1, [r3, #SIO_DIV_REMAINDER_OFFSET]
str r2, [r3, #SIO_DIV_QUOTIENT_OFFSET]
bx lr
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