ti_tmu_trig.h

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/* Copyright (c) 2023, Texas Instruments Incorporated
 * All rights reserved.
 *
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 *
 * *  Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 *
 * *  Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 *
 * *  Neither the name of Texas Instruments Incorporated nor the names of
 *    its contributors may be used to endorse or promote products derived
 *    from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
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#ifndef TI_TMU_TRIG_H_
#define TI_TMU_TRIG_H_
 
#include <stdint.h>
#include <drivers/hw_include/cslr.h>
#include <mathlib/trig/soc/tmu_soc.h>
#include <kernel/dpl/DebugP.h>
#include <kernel/dpl/ClockP.h>
#include <kernel/dpl/HwiP.h>
 
 
#ifndef ReciprocalOf2PI
#define ReciprocalOf2PI                0.159154943091895335768f
#endif
 
#ifndef TwoPI
#define TwoPI                          6.283185307F
#endif
 
#ifndef Log2ofe
#define Log2ofe                       1.44269F
#endif
 
#ifndef OnebyLog2ofe
#define OnebyLog2ofe                  0.693147F
#endif
 
#define ISR_TMU_CONTEXT_SAVE HW_WR_REG32((CSL_MSS_TMU_BASE + CSL_TMU_CONTEXT_SAVE), HW_RD_REG32(CSL_MSS_TMU_BASE + CSL_TMU_CONTEXT_SAVE)| (1));
#define ISR_TMU_CONTEXT_RESTORE HW_WR_REG32((CSL_MSS_TMU_BASE + CSL_TMU_CONTEXT_RESTORE), HW_RD_REG32(CSL_MSS_TMU_BASE + CSL_TMU_CONTEXT_RESTORE)| (1));
 
 
/* ========================================================================== */
/*                          Function Declarations                             */
/* ========================================================================== */
 
static inline float ti_tmu_sin_pu(float anglePU)
{
    __asm__ volatile("str %0, [%1]\n\t"
                     "DMB ST \n\t"
                    :
                    : "r" (anglePU), "r" (CSL_MSS_TMU_BASE  + CSL_TMU_SINPUF32_R0));
 
    return  *((float *)(CSL_MSS_TMU_BASE + CSL_TMU_RESULT_R0));
}
 
static inline float ti_tmu_cos_pu(float anglePU)
{
    __asm__ volatile("str %0, [%1]\n\t"
                     "DMB ST \n\t"
                    :
                    : "r" (anglePU), "r" (CSL_MSS_TMU_BASE + CSL_TMU_COSPUF32_R0));
 
    return *((float *)(CSL_MSS_TMU_BASE + CSL_TMU_RESULT_R0));
}
 
 
 static inline float ti_tmu_atan_pu(float x)
{
    __asm__ volatile("str %0, [%1]\n\t"
                     "DMB ST \n\t"
                    :
                    : "r" (x), "r" (CSL_MSS_TMU_BASE + CSL_TMU_ATANPUF32_R2));
 
    return *((float *)(CSL_MSS_TMU_BASE + CSL_TMU_RESULT_R2));
 
}
 
 
 
 static inline float ti_tmu_log_pu(float x)
{
     __asm__ volatile("str %0, [%1]\n\t"
                     "DMB ST \n\t"
                    :
                    : "r" (x), "r" (CSL_MSS_TMU_BASE + CSL_TMU_LOG2F32_R3));
 
      return *((float *)(CSL_MSS_TMU_BASE + CSL_TMU_RESULT_R3));
}
 
 static inline float ti_tmu_log_e_pu(float x)
{
     __asm__ volatile("str %0, [%1]\n\t"
                     "DMB ST \n\t"
                    :
                    : "r" (x), "r" (CSL_MSS_TMU_BASE + CSL_TMU_LOG2F32_R3));
 
      return (*((float *)(CSL_MSS_TMU_BASE + CSL_TMU_RESULT_R3))) * OnebyLog2ofe;
}
 
 
 
 static inline float ti_tmu_iexp_pu(float x)
{
 __asm__ volatile("str %0, [%1]\n\t"
                     "DMB ST \n\t"
                    :
                    : "r" (x), "r" (CSL_MSS_TMU_BASE + CSL_TMU_IEXP2F32_R3));
 
    return *((float *)(CSL_MSS_TMU_BASE + CSL_TMU_RESULT_R3));
}
 
 static inline float ti_tmu_iexp_e_pu(float x)
{
 __asm__ volatile("str %0, [%1]\n\t"
                     "DMB ST \n\t"
                    :
                    : "r" (x * Log2ofe), "r" (CSL_MSS_TMU_BASE + CSL_TMU_IEXP2F32_R3));
 
    return *((float *)(CSL_MSS_TMU_BASE + CSL_TMU_RESULT_R3));
}
 
 
 
static inline float ti_tmu_sin(float angleRad)
{
    __asm__ volatile("str %0, [%1]\n\t"
                     "DMB ST \n\t"
                    :
                    : "r" (angleRad * ReciprocalOf2PI), "r" (CSL_MSS_TMU_BASE + CSL_TMU_SINPUF32_R0));
 
    return *((float *)(CSL_MSS_TMU_BASE + CSL_TMU_RESULT_R0));
}
 
 
static inline float ti_tmu_cos(float angleRad)
{
    __asm__ volatile("str %0, [%1]\n\t"
                     "DMB ST \n\t"
                    :
                    : "r" (angleRad * ReciprocalOf2PI), "r" (CSL_MSS_TMU_BASE + CSL_TMU_COSPUF32_R1));
 
    return *((float *)(CSL_MSS_TMU_BASE + CSL_TMU_RESULT_R1));
}
 
static inline float ti_tmu_atan(float x)
{
    __asm__ volatile("str %0, [%1]\n\t"
                    "DMB ST \n\t"
                    :
                    : "r" (x), "r" (CSL_MSS_TMU_BASE + CSL_TMU_ATANPUF32_R2));
 
    return (*((float *)(CSL_MSS_TMU_BASE + CSL_TMU_RESULT_R2))) * TwoPI;
}
 
 
static inline float ti_tmu_atan2(float x, float y)
{
    __asm__ volatile("str %1, [%2, #0x240] \n\t"
                    "str %0, [%2, #0x1F0] \n\t"
                    "DMB ST               \n\t"
                    "ldr %0, [%2, #0x2B0] \n\t"
                    "str %0, [%2, #0xC0]  \n\t"
                    "DMB ST               \n\t"
                    :
                    : "r" (x), "r" (y), "r" (CSL_MSS_TMU_BASE));
 
    return  (TwoPI * ((*(float *)(CSL_MSS_TMU_BASE + CSL_TMU_RESULT_R0)) + (*(float *)(CSL_MSS_TMU_BASE + CSL_TMU_RESULT_R7))));
 
}
 
static inline void ti_tmu_sincos_pu(float anglePU, float *sin_val, float *cos_val)
{
     __asm__ volatile("str %0, [%1]\n\t"
                     "str %0, [%2]\n\t"
                     "DMB ST \n\t"
                     ".rept 4 ; nop ; .endr\n\t"
                    :
                    : "r" (anglePU), "r" (CSL_MSS_TMU_BASE  + CSL_TMU_SINPUF32_R0), "r" (CSL_MSS_TMU_BASE  + CSL_TMU_COSPUF32_R1));
 
    *sin_val = *(float *)(CSL_MSS_TMU_BASE + CSL_TMU_RESULT_R0);
    *cos_val = *(float *)(CSL_MSS_TMU_BASE + CSL_TMU_RESULT_R1);
    return;
}
 
static inline void ti_tmu_sincos(float angleRad, float *sin_val, float *cos_val)
{
     __asm__ volatile("str %0, [%1]\n\t"
                     "str %0, [%2]\n\t"
                     "DMB ST \n\t"
                     ".rept 4 ; nop ; .endr\n\t"
                    :
                    : "r" (angleRad * ReciprocalOf2PI), "r" (CSL_MSS_TMU_BASE  + CSL_TMU_SINPUF32_R0), "r" (CSL_MSS_TMU_BASE  + CSL_TMU_COSPUF32_R1));
 
    *sin_val = *(float *)(CSL_MSS_TMU_BASE + CSL_TMU_RESULT_R0);
    *cos_val = *(float *)(CSL_MSS_TMU_BASE + CSL_TMU_RESULT_R1);
    return;
}
 
static inline float ti_tmu_powf(float x, float y)
{
    __asm__ volatile("str %0, [%1, #0x180] \n\t"
                    "DMB ST               \n\t"
                    :
                    : "r" (x), "r" (CSL_MSS_TMU_BASE));
 
    float res = (*(float *)(CSL_MSS_TMU_BASE + CSL_TMU_RESULT_R0)) * y;
 
    __asm__ volatile("str %0, [%1, #0x148] \n\t"
                     "DMB ST                \n\t"
                     :
                     : "r" (res), "r" (CSL_MSS_TMU_BASE));
 
    return res > 0 ? *(float *)(CSL_MSS_TMU_BASE + CSL_TMU_RESULT_R1) : (1.0f / (*(float *)(CSL_MSS_TMU_BASE + CSL_TMU_RESULT_R1)));
 
}
 
 
 
#endif /* TI_TMU_TRIG_H */