From 4d3a9930c55550366ed9dae7d5692f5b376606c6 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Wed, 27 Jun 2018 17:26:37 -0500 Subject: [PATCH] Match ASM comment spacing to 1.1.x --- Marlin/src/module/planner.cpp | 260 +++++++++++++++++----------------- 1 file changed, 130 insertions(+), 130 deletions(-) diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp index f5148b0241..e9e9b6393c 100644 --- a/Marlin/src/module/planner.cpp +++ b/Marlin/src/module/planner.cpp @@ -386,89 +386,89 @@ void Planner::init() { // use Newton-Raphson for the calculation, and will strive to get way less cycles // for the same result - Using C division, it takes 500cycles to complete . - A("clr %3") // idx = 0 + A("clr %3") // idx = 0 A("mov %14,%6") A("mov %15,%7") - A("mov %16,%8") // nr = interval - A("tst %16") // nr & 0xFF0000 == 0 ? - A("brne 2f") // No, skip this + A("mov %16,%8") // nr = interval + A("tst %16") // nr & 0xFF0000 == 0 ? + A("brne 2f") // No, skip this A("mov %16,%15") - A("mov %15,%14") // nr <<= 8, %14 not needed - A("subi %3,-8") // idx += 8 - A("tst %16") // nr & 0xFF0000 == 0 ? - A("brne 2f") // No, skip this - A("mov %16,%15") // nr <<= 8, %14 not needed - A("clr %15") // We clear %14 - A("subi %3,-8") // idx += 8 + A("mov %15,%14") // nr <<= 8, %14 not needed + A("subi %3,-8") // idx += 8 + A("tst %16") // nr & 0xFF0000 == 0 ? + A("brne 2f") // No, skip this + A("mov %16,%15") // nr <<= 8, %14 not needed + A("clr %15") // We clear %14 + A("subi %3,-8") // idx += 8 // here %16 != 0 and %16:%15 contains at least 9 MSBits, or both %16:%15 are 0 L("2") - A("cpi %16,0x10") // (nr & 0xF00000) == 0 ? - A("brcc 3f") // No, skip this - A("swap %15") // Swap nibbles - A("swap %16") // Swap nibbles. Low nibble is 0 + A("cpi %16,0x10") // (nr & 0xF00000) == 0 ? + A("brcc 3f") // No, skip this + A("swap %15") // Swap nibbles + A("swap %16") // Swap nibbles. Low nibble is 0 A("mov %14, %15") - A("andi %14,0x0F") // Isolate low nibble - A("andi %15,0xF0") // Keep proper nibble in %15 - A("or %16, %14") // %16:%15 <<= 4 - A("subi %3,-4") // idx += 4 + A("andi %14,0x0F") // Isolate low nibble + A("andi %15,0xF0") // Keep proper nibble in %15 + A("or %16, %14") // %16:%15 <<= 4 + A("subi %3,-4") // idx += 4 L("3") - A("cpi %16,0x40") // (nr & 0xC00000) == 0 ? - A("brcc 4f") // No, skip this + A("cpi %16,0x40") // (nr & 0xC00000) == 0 ? + A("brcc 4f") // No, skip this A("add %15,%15") A("adc %16,%16") A("add %15,%15") - A("adc %16,%16") // %16:%15 <<= 2 - A("subi %3,-2") // idx += 2 + A("adc %16,%16") // %16:%15 <<= 2 + A("subi %3,-2") // idx += 2 L("4") - A("cpi %16,0x80") // (nr & 0x800000) == 0 ? - A("brcc 5f") // No, skip this + A("cpi %16,0x80") // (nr & 0x800000) == 0 ? + A("brcc 5f") // No, skip this A("add %15,%15") - A("adc %16,%16") // %16:%15 <<= 1 - A("inc %3") // idx += 1 + A("adc %16,%16") // %16:%15 <<= 1 + A("inc %3") // idx += 1 // Now %16:%15 contains its MSBit set to 1, or %16:%15 is == 0. We are now absolutely sure // we have at least 9 MSBits available to enter the initial estimation table L("5") A("add %15,%15") - A("adc %16,%16") // %16:%15 = tidx = (nr <<= 1), we lose the top MSBit (always set to 1, %16 is the index into the inverse table) - A("add r30,%16") // Only use top 8 bits - A("adc r31,%13") // r31:r30 = inv_tab + (tidx) - A("lpm %14, Z") // %14 = inv_tab[tidx] - A("ldi %15, 1") // %15 = 1 %15:%14 = inv_tab[tidx] + 256 + A("adc %16,%16") // %16:%15 = tidx = (nr <<= 1), we lose the top MSBit (always set to 1, %16 is the index into the inverse table) + A("add r30,%16") // Only use top 8 bits + A("adc r31,%13") // r31:r30 = inv_tab + (tidx) + A("lpm %14, Z") // %14 = inv_tab[tidx] + A("ldi %15, 1") // %15 = 1 %15:%14 = inv_tab[tidx] + 256 // We must scale the approximation to the proper place - A("clr %16") // %16 will always be 0 here - A("subi %3,8") // idx == 8 ? - A("breq 6f") // yes, no need to scale - A("brcs 7f") // If C=1, means idx < 8, result was negative! + A("clr %16") // %16 will always be 0 here + A("subi %3,8") // idx == 8 ? + A("breq 6f") // yes, no need to scale + A("brcs 7f") // If C=1, means idx < 8, result was negative! // idx > 8, now %3 = idx - 8. We must perform a left shift. idx range:[1-8] - A("sbrs %3,0") // shift by 1bit position? - A("rjmp 8f") // No + A("sbrs %3,0") // shift by 1bit position? + A("rjmp 8f") // No A("add %14,%14") - A("adc %15,%15") // %15:16 <<= 1 + A("adc %15,%15") // %15:16 <<= 1 L("8") - A("sbrs %3,1") // shift by 2bit position? - A("rjmp 9f") // No + A("sbrs %3,1") // shift by 2bit position? + A("rjmp 9f") // No A("add %14,%14") A("adc %15,%15") A("add %14,%14") - A("adc %15,%15") // %15:16 <<= 1 + A("adc %15,%15") // %15:16 <<= 1 L("9") - A("sbrs %3,2") // shift by 4bits position? - A("rjmp 16f") // No - A("swap %15") // Swap nibbles. lo nibble of %15 will always be 0 - A("swap %14") // Swap nibbles + A("sbrs %3,2") // shift by 4bits position? + A("rjmp 16f") // No + A("swap %15") // Swap nibbles. lo nibble of %15 will always be 0 + A("swap %14") // Swap nibbles A("mov %12,%14") - A("andi %12,0x0F") // isolate low nibble - A("andi %14,0xF0") // and clear it - A("or %15,%12") // %15:%16 <<= 4 + A("andi %12,0x0F") // isolate low nibble + A("andi %14,0xF0") // and clear it + A("or %15,%12") // %15:%16 <<= 4 L("16") - A("sbrs %3,3") // shift by 8bits position? - A("rjmp 6f") // No, we are done + A("sbrs %3,3") // shift by 8bits position? + A("rjmp 6f") // No, we are done A("mov %16,%15") A("mov %15,%14") A("clr %14") @@ -476,32 +476,32 @@ void Planner::init() { // idx < 8, now %3 = idx - 8. Get the count of bits L("7") - A("neg %3") // %3 = -idx = count of bits to move right. idx range:[1...8] - A("sbrs %3,0") // shift by 1 bit position ? - A("rjmp 10f") // No, skip it - A("asr %15") // (bit7 is always 0 here) + A("neg %3") // %3 = -idx = count of bits to move right. idx range:[1...8] + A("sbrs %3,0") // shift by 1 bit position ? + A("rjmp 10f") // No, skip it + A("asr %15") // (bit7 is always 0 here) A("ror %14") L("10") - A("sbrs %3,1") // shift by 2 bit position ? - A("rjmp 11f") // No, skip it - A("asr %15") // (bit7 is always 0 here) + A("sbrs %3,1") // shift by 2 bit position ? + A("rjmp 11f") // No, skip it + A("asr %15") // (bit7 is always 0 here) A("ror %14") - A("asr %15") // (bit7 is always 0 here) + A("asr %15") // (bit7 is always 0 here) A("ror %14") L("11") - A("sbrs %3,2") // shift by 4 bit position ? - A("rjmp 12f") // No, skip it - A("swap %15") // Swap nibbles - A("andi %14, 0xF0") // Lose the lowest nibble - A("swap %14") // Swap nibbles. Upper nibble is 0 - A("or %14,%15") // Pass nibble from upper byte - A("andi %15, 0x0F") // And get rid of that nibble + A("sbrs %3,2") // shift by 4 bit position ? + A("rjmp 12f") // No, skip it + A("swap %15") // Swap nibbles + A("andi %14, 0xF0") // Lose the lowest nibble + A("swap %14") // Swap nibbles. Upper nibble is 0 + A("or %14,%15") // Pass nibble from upper byte + A("andi %15, 0x0F") // And get rid of that nibble L("12") - A("sbrs %3,3") // shift by 8 bit position ? - A("rjmp 6f") // No, skip it + A("sbrs %3,3") // shift by 8 bit position ? + A("rjmp 6f") // No, skip it A("mov %14,%15") A("clr %15") - L("6") // %16:%15:%14 = initial estimation of 0x1000000 / d + L("6") // %16:%15:%14 = initial estimation of 0x1000000 / d // Now, we must refine the estimation present on %16:%15:%14 using 1 iteration // of Newton-Raphson. As it has a quadratic convergence, 1 iteration is enough @@ -517,33 +517,33 @@ void Planner::init() { A("clr %0") A("clr %1") A("clr %2") - A("ldi %3,2") // %3:%2:%1:%0 = 0x2000000 - A("mul %6,%14") // r1:r0 = LO(d) * LO(x) + A("ldi %3,2") // %3:%2:%1:%0 = 0x2000000 + A("mul %6,%14") // r1:r0 = LO(d) * LO(x) A("sub %0,r0") A("sbc %1,r1") A("sbc %2,%13") - A("sbc %3,%13") // %3:%2:%1:%0 -= LO(d) * LO(x) - A("mul %7,%14") // r1:r0 = MI(d) * LO(x) + A("sbc %3,%13") // %3:%2:%1:%0 -= LO(d) * LO(x) + A("mul %7,%14") // r1:r0 = MI(d) * LO(x) A("sub %1,r0") A("sbc %2,r1" ) - A("sbc %3,%13") // %3:%2:%1:%0 -= MI(d) * LO(x) << 8 - A("mul %8,%14") // r1:r0 = HI(d) * LO(x) + A("sbc %3,%13") // %3:%2:%1:%0 -= MI(d) * LO(x) << 8 + A("mul %8,%14") // r1:r0 = HI(d) * LO(x) A("sub %2,r0") - A("sbc %3,r1") // %3:%2:%1:%0 -= MIL(d) * LO(x) << 16 - A("mul %6,%15") // r1:r0 = LO(d) * MI(x) + A("sbc %3,r1") // %3:%2:%1:%0 -= MIL(d) * LO(x) << 16 + A("mul %6,%15") // r1:r0 = LO(d) * MI(x) A("sub %1,r0") A("sbc %2,r1") - A("sbc %3,%13") // %3:%2:%1:%0 -= LO(d) * MI(x) << 8 - A("mul %7,%15") // r1:r0 = MI(d) * MI(x) + A("sbc %3,%13") // %3:%2:%1:%0 -= LO(d) * MI(x) << 8 + A("mul %7,%15") // r1:r0 = MI(d) * MI(x) A("sub %2,r0") - A("sbc %3,r1") // %3:%2:%1:%0 -= MI(d) * MI(x) << 16 - A("mul %8,%15") // r1:r0 = HI(d) * MI(x) - A("sub %3,r0") // %3:%2:%1:%0 -= MIL(d) * MI(x) << 24 - A("mul %6,%16") // r1:r0 = LO(d) * HI(x) + A("sbc %3,r1") // %3:%2:%1:%0 -= MI(d) * MI(x) << 16 + A("mul %8,%15") // r1:r0 = HI(d) * MI(x) + A("sub %3,r0") // %3:%2:%1:%0 -= MIL(d) * MI(x) << 24 + A("mul %6,%16") // r1:r0 = LO(d) * HI(x) A("sub %2,r0") - A("sbc %3,r1") // %3:%2:%1:%0 -= LO(d) * HI(x) << 16 - A("mul %7,%16") // r1:r0 = MI(d) * HI(x) - A("sub %3,r0") // %3:%2:%1:%0 -= MI(d) * HI(x) << 24 + A("sbc %3,r1") // %3:%2:%1:%0 -= LO(d) * HI(x) << 16 + A("mul %7,%16") // r1:r0 = MI(d) * HI(x) + A("sub %3,r0") // %3:%2:%1:%0 -= MI(d) * HI(x) << 24 // %3:%2:%1:%0 = (1<<25) - x*d [169] // We need to multiply that result by x, and we are only interested in the top 24bits of that multiply @@ -553,62 +553,62 @@ void Planner::init() { // %13 = 0 // result = %11:%10:%9:%5:%4 - A("mul %14,%0") // r1:r0 = LO(x) * LO(acc) + A("mul %14,%0") // r1:r0 = LO(x) * LO(acc) A("mov %4,r1") A("clr %5") A("clr %9") A("clr %10") - A("clr %11") // %11:%10:%9:%5:%4 = LO(x) * LO(acc) >> 8 - A("mul %15,%0") // r1:r0 = MI(x) * LO(acc) + A("clr %11") // %11:%10:%9:%5:%4 = LO(x) * LO(acc) >> 8 + A("mul %15,%0") // r1:r0 = MI(x) * LO(acc) A("add %4,r0") A("adc %5,r1") A("adc %9,%13") A("adc %10,%13") - A("adc %11,%13") // %11:%10:%9:%5:%4 += MI(x) * LO(acc) - A("mul %16,%0") // r1:r0 = HI(x) * LO(acc) + A("adc %11,%13") // %11:%10:%9:%5:%4 += MI(x) * LO(acc) + A("mul %16,%0") // r1:r0 = HI(x) * LO(acc) A("add %5,r0") A("adc %9,r1") A("adc %10,%13") - A("adc %11,%13") // %11:%10:%9:%5:%4 += MI(x) * LO(acc) << 8 + A("adc %11,%13") // %11:%10:%9:%5:%4 += MI(x) * LO(acc) << 8 - A("mul %14,%1") // r1:r0 = LO(x) * MIL(acc) + A("mul %14,%1") // r1:r0 = LO(x) * MIL(acc) A("add %4,r0") A("adc %5,r1") A("adc %9,%13") A("adc %10,%13") - A("adc %11,%13") // %11:%10:%9:%5:%4 = LO(x) * MIL(acc) - A("mul %15,%1") // r1:r0 = MI(x) * MIL(acc) + A("adc %11,%13") // %11:%10:%9:%5:%4 = LO(x) * MIL(acc) + A("mul %15,%1") // r1:r0 = MI(x) * MIL(acc) A("add %5,r0") A("adc %9,r1") A("adc %10,%13") - A("adc %11,%13") // %11:%10:%9:%5:%4 += MI(x) * MIL(acc) << 8 - A("mul %16,%1") // r1:r0 = HI(x) * MIL(acc) + A("adc %11,%13") // %11:%10:%9:%5:%4 += MI(x) * MIL(acc) << 8 + A("mul %16,%1") // r1:r0 = HI(x) * MIL(acc) A("add %9,r0") A("adc %10,r1") - A("adc %11,%13") // %11:%10:%9:%5:%4 += MI(x) * MIL(acc) << 16 + A("adc %11,%13") // %11:%10:%9:%5:%4 += MI(x) * MIL(acc) << 16 - A("mul %14,%2") // r1:r0 = LO(x) * MIH(acc) + A("mul %14,%2") // r1:r0 = LO(x) * MIH(acc) A("add %5,r0") A("adc %9,r1") A("adc %10,%13") - A("adc %11,%13") // %11:%10:%9:%5:%4 = LO(x) * MIH(acc) << 8 - A("mul %15,%2") // r1:r0 = MI(x) * MIH(acc) + A("adc %11,%13") // %11:%10:%9:%5:%4 = LO(x) * MIH(acc) << 8 + A("mul %15,%2") // r1:r0 = MI(x) * MIH(acc) A("add %9,r0") A("adc %10,r1") - A("adc %11,%13") // %11:%10:%9:%5:%4 += MI(x) * MIH(acc) << 16 - A("mul %16,%2") // r1:r0 = HI(x) * MIH(acc) + A("adc %11,%13") // %11:%10:%9:%5:%4 += MI(x) * MIH(acc) << 16 + A("mul %16,%2") // r1:r0 = HI(x) * MIH(acc) A("add %10,r0") - A("adc %11,r1") // %11:%10:%9:%5:%4 += MI(x) * MIH(acc) << 24 + A("adc %11,r1") // %11:%10:%9:%5:%4 += MI(x) * MIH(acc) << 24 - A("mul %14,%3") // r1:r0 = LO(x) * HI(acc) + A("mul %14,%3") // r1:r0 = LO(x) * HI(acc) A("add %9,r0") A("adc %10,r1") - A("adc %11,%13") // %11:%10:%9:%5:%4 = LO(x) * HI(acc) << 16 - A("mul %15,%3") // r1:r0 = MI(x) * HI(acc) + A("adc %11,%13") // %11:%10:%9:%5:%4 = LO(x) * HI(acc) << 16 + A("mul %15,%3") // r1:r0 = MI(x) * HI(acc) A("add %10,r0") - A("adc %11,r1") // %11:%10:%9:%5:%4 += MI(x) * HI(acc) << 24 - A("mul %16,%3") // r1:r0 = HI(x) * HI(acc) - A("add %11,r0") // %11:%10:%9:%5:%4 += MI(x) * HI(acc) << 32 + A("adc %11,r1") // %11:%10:%9:%5:%4 += MI(x) * HI(acc) << 24 + A("mul %16,%3") // r1:r0 = HI(x) * HI(acc) + A("add %11,r0") // %11:%10:%9:%5:%4 += MI(x) * HI(acc) << 32 // At this point, %11:%10:%9 contains the new estimation of x. @@ -619,47 +619,47 @@ void Planner::init() { A("ldi %3,1") A("clr %2") A("clr %1") - A("clr %0") // %3:%2:%1:%0 = 0x1000000 - A("mul %6,%9") // r1:r0 = LO(d) * LO(x) + A("clr %0") // %3:%2:%1:%0 = 0x1000000 + A("mul %6,%9") // r1:r0 = LO(d) * LO(x) A("sub %0,r0") A("sbc %1,r1") A("sbc %2,%13") - A("sbc %3,%13") // %3:%2:%1:%0 -= LO(d) * LO(x) - A("mul %7,%9") // r1:r0 = MI(d) * LO(x) + A("sbc %3,%13") // %3:%2:%1:%0 -= LO(d) * LO(x) + A("mul %7,%9") // r1:r0 = MI(d) * LO(x) A("sub %1,r0") A("sbc %2,r1") - A("sbc %3,%13") // %3:%2:%1:%0 -= MI(d) * LO(x) << 8 - A("mul %8,%9") // r1:r0 = HI(d) * LO(x) + A("sbc %3,%13") // %3:%2:%1:%0 -= MI(d) * LO(x) << 8 + A("mul %8,%9") // r1:r0 = HI(d) * LO(x) A("sub %2,r0") - A("sbc %3,r1") // %3:%2:%1:%0 -= MIL(d) * LO(x) << 16 - A("mul %6,%10") // r1:r0 = LO(d) * MI(x) + A("sbc %3,r1") // %3:%2:%1:%0 -= MIL(d) * LO(x) << 16 + A("mul %6,%10") // r1:r0 = LO(d) * MI(x) A("sub %1,r0") A("sbc %2,r1") - A("sbc %3,%13") // %3:%2:%1:%0 -= LO(d) * MI(x) << 8 - A("mul %7,%10") // r1:r0 = MI(d) * MI(x) + A("sbc %3,%13") // %3:%2:%1:%0 -= LO(d) * MI(x) << 8 + A("mul %7,%10") // r1:r0 = MI(d) * MI(x) A("sub %2,r0") - A("sbc %3,r1") // %3:%2:%1:%0 -= MI(d) * MI(x) << 16 - A("mul %8,%10") // r1:r0 = HI(d) * MI(x) - A("sub %3,r0") // %3:%2:%1:%0 -= MIL(d) * MI(x) << 24 - A("mul %6,%11") // r1:r0 = LO(d) * HI(x) + A("sbc %3,r1") // %3:%2:%1:%0 -= MI(d) * MI(x) << 16 + A("mul %8,%10") // r1:r0 = HI(d) * MI(x) + A("sub %3,r0") // %3:%2:%1:%0 -= MIL(d) * MI(x) << 24 + A("mul %6,%11") // r1:r0 = LO(d) * HI(x) A("sub %2,r0") - A("sbc %3,r1") // %3:%2:%1:%0 -= LO(d) * HI(x) << 16 - A("mul %7,%11") // r1:r0 = MI(d) * HI(x) - A("sub %3,r0") // %3:%2:%1:%0 -= MI(d) * HI(x) << 24 + A("sbc %3,r1") // %3:%2:%1:%0 -= LO(d) * HI(x) << 16 + A("mul %7,%11") // r1:r0 = MI(d) * HI(x) + A("sub %3,r0") // %3:%2:%1:%0 -= MI(d) * HI(x) << 24 // %3:%2:%1:%0 = r = (1<<24) - x*d // %8:%7:%6 = d = interval // Perform the final correction A("sub %0,%6") A("sbc %1,%7") - A("sbc %2,%8") // r -= d - A("brcs 14f") // if ( r >= d) + A("sbc %2,%8") // r -= d + A("brcs 14f") // if ( r >= d) // %11:%10:%9 = x A("ldi %3,1") A("add %9,%3") A("adc %10,%13") - A("adc %11,%13") // x++ + A("adc %11,%13") // x++ L("14") // Estimation is done. %11:%10:%9 = x