mirror of
https://github.com/italicsjenga/rp-hal-boards.git
synced 2024-12-25 13:31:31 +11:00
519 lines
25 KiB
Rust
519 lines
25 KiB
Rust
//! Functions and data from the RPI Bootrom.
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//!
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//! From the [RP2040 datasheet](https://datasheets.raspberrypi.org/rp2040/rp2040-datasheet.pdf), Section 2.8.2.1:
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//!
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//! > The Bootrom contains a number of public functions that provide useful
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//! > RP2040 functionality that might be needed in the absence of any other code
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//! > on the device, as well as highly optimized versions of certain key
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//! > functionality that would otherwise have to take up space in most user
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//! > binaries.
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/// A bootrom function table code.
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pub type RomFnTableCode = [u8; 2];
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/// This function searches for (table)
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type RomTableLookupFn<T> = unsafe extern "C" fn(*const u16, u32) -> T;
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/// The following addresses are described at `2.8.2. Bootrom Contents`
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/// Pointer to the lookup table function supplied by the rom.
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const ROM_TABLE_LOOKUP_PTR: *const u16 = 0x0000_0018 as _;
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/// Pointer to helper functions lookup table.
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const FUNC_TABLE: *const u16 = 0x0000_0014 as _;
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/// Pointer to the public data lookup table.
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const DATA_TABLE: *const u16 = 0x0000_0016 as _;
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/// Retrive rom content from a table using a code.
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fn rom_table_lookup<T>(table: *const u16, tag: RomFnTableCode) -> T {
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unsafe {
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let rom_table_lookup_ptr: *const u32 = rom_hword_as_ptr(ROM_TABLE_LOOKUP_PTR);
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let rom_table_lookup: RomTableLookupFn<T> = core::mem::transmute(rom_table_lookup_ptr);
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rom_table_lookup(
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rom_hword_as_ptr(table) as *const u16,
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u16::from_le_bytes(tag) as u32,
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)
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}
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}
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/// To save space, the ROM likes to store memory pointers (which are 32-bit on
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/// the Cortex-M0+) using only the bottom 16-bits. The assumption is that the
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/// values they point at live in the first 64 KiB of ROM, and the ROM is mapped
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/// to address `0x0000_0000` and so 16-bits are always sufficient.
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///
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/// This functions grabs a 16-bit value from ROM and expands it out to a full 32-bit pointer.
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unsafe fn rom_hword_as_ptr(rom_address: *const u16) -> *const u32 {
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let ptr: u16 = *rom_address;
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ptr as *const u32
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}
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macro_rules! rom_funcs {
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(
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$(
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$(#[$outer:meta])*
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$c:literal $name:ident (
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$( $aname:ident : $aty:ty ),*
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) -> $ret:ty ;
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)*
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) => {
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$(
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$(#[$outer])*
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pub fn $name($( $aname:$aty ),*) -> $ret{
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let func: extern "C" fn( $( $aty ),* ) -> $ret = rom_table_lookup(FUNC_TABLE, *$c);
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func($( $aname ),*)
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}
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)*
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}
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}
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macro_rules! rom_funcs_unsafe {
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(
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$(
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$(#[$outer:meta])*
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$c:literal $name:ident (
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$( $aname:ident : $aty:ty ),*
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) -> $ret:ty ;
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)*
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) => {
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$(
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$(#[$outer])*
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pub unsafe fn $name($( $aname:$aty ),*) -> $ret{
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let func: extern "C" fn( $( $aty ),* ) -> $ret = rom_table_lookup(FUNC_TABLE, *$c);
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func($( $aname ),*)
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}
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)*
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}
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}
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rom_funcs! {
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/// Return a count of the number of 1 bits in value.
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b"P3" popcount32(value: u32) -> u32;
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/// Return the bits of value in the reverse order.
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b"R3" reverse32(value: u32) -> u32;
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/// Return the number of consecutive high order 0 bits of value. If value is zero, returns 32.
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b"L3" clz32(value: u32) -> u32;
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/// Return the number of consecutive low order 0 bits of value. If value is zero, returns 32.
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b"T3" ctz32(value: u32) -> u32;
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/// Resets the RP2040 and uses the watchdog facility to re-start in BOOTSEL mode:
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/// * gpio_activity_pin_mask is provided to enable an 'activity light' via GPIO attached LED
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/// for the USB Mass Storage Device:
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/// * 0 No pins are used as per cold boot.
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/// * Otherwise a single bit set indicating which GPIO pin should be set to output and
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/// raised whenever there is mass storage activity from the host.
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/// * disable_interface_mask may be used to control the exposed USB interfaces:
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/// * 0 To enable both interfaces (as per cold boot).
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/// * 1 To disable the USB Mass Storage Interface.
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/// * 2 to Disable the USB PICOBOOT Interface.
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b"UB" reset_to_usb_boot(gpio_activity_pin_mask: u32, disable_interface_mask: u32) -> ();
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}
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rom_funcs_unsafe! {
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/// Sets n bytes start at ptr to the value c and returns ptr
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b"MS" memset(ptr: *mut u8, c: u8, n: u8) -> *mut u8;
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/// Sets n bytes start at ptr to the value c and returns ptr. Note this is a slightly more
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/// efficient variant of _memset that may only be used if ptr is word aligned.
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b"M4" memset4(ptr: *mut u32, c: u8, n: u32) -> *mut u32;
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/// Copies n bytes starting at src to dest and returns dest. The results are undefined if the
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/// regions overlap.
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b"MC" memcpy(dest: *mut u8, src: *mut u8, n: u32) -> u8;
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/// Copies n bytes starting at src to dest and returns dest. The results are undefined if the
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/// regions overlap. Note this is a slightly more efficient variant of _memcpy that may only be
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/// used if dest and src are word aligned.
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b"C4" memcpy44(dest: *mut u32, src: *mut u32, n: u32) -> *mut u8;
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/// Restore all QSPI pad controls to their default state, and connect the SSI to the QSPI pads.
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b"IF" connect_internal_flash() -> ();
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/// First set up the SSI for serial-mode operations, then issue the fixed XIP exit sequence.
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/// Note that the bootrom code uses the IO forcing logic to drive the CS pin, which must be
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/// cleared before returning the SSI to XIP mode (e.g. by a call to _flash_flush_cache). This
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/// function configures the SSI with a fixed SCK clock divisor of /6.
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b"EX" flash_exit_xip() -> ();
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/// Erase a count bytes, starting at addr (offset from start of flash). Optionally, pass a
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/// block erase command e.g. D8h block erase, and the size of the block erased by this
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/// command — this function will use the larger block erase where possible, for much higher
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/// erase speed. addr must be aligned to a 4096-byte sector, and count must be a multiple of
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/// 4096 bytes.
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b"RE" flash_range_erase(addr: u32, count: usize, block_size: u32, block_cmd: u8) -> ();
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/// Program data to a range of flash addresses starting at addr (offset from the start of flash)
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/// and count bytesin size. addr must be aligned to a 256-byte boundary, and count must be a
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/// multiple of 256.
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b"RP" flash_range_program(addr: u32, data: *const u8, count: usize) -> ();
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/// Flush and enable the XIP cache. Also clears the IO forcing on QSPI CSn, so that the SSI can
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/// drive the flashchip select as normal.
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b"FC" flash_flush_cache() -> ();
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/// Configure the SSI to generate a standard 03h serial read command, with 24 address bits,
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/// upon each XIP access. This is a very slow XIP configuration, but is very widely supported.
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/// The debugger calls this function after performing a flash erase/programming operation, so
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/// that the freshly-programmed code and data is visible to the debug host, without having to
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/// know exactly what kind of flash device is connected.
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b"CX" flash_enter_cmd_xip() -> ();
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/// This is the method that is entered by core 1 on reset to wait to be launched by core 0.
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/// There are few cases where you should call this method (resetting core 1 is much better).
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/// This method does not return and should only ever be called on core 1.
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b"WV" wait_for_vector() -> !;
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}
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unsafe fn convert_str(s: *const u8) -> &'static str {
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let mut end = s;
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while *end != 0 {
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end = end.add(1);
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}
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let s = core::slice::from_raw_parts(s, end.offset_from(s) as usize);
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core::str::from_utf8_unchecked(s)
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}
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/// The Raspberry Pi Trading Ltd copyright string.
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pub fn copyright_string() -> &'static str {
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let s: *const u8 = rom_table_lookup(DATA_TABLE, *b"CR");
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unsafe { convert_str(s) }
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}
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/// The 8 most significant hex digits of the Bootrom git revision.
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pub fn git_revision() -> u32 {
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let s: *const u32 = rom_table_lookup(DATA_TABLE, *b"GR");
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unsafe { *s }
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}
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/// The start address of the floating point library code and data. This and fplib_end along with the individual
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/// function pointers in soft_float_table can be used to copy the floating point implementation into RAM if
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/// desired.
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pub fn fplib_start() -> *const u8 {
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rom_table_lookup(DATA_TABLE, *b"FS")
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}
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/// See Table 180 in the RP2040 datasheet for the contents of this table.
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pub fn soft_float_table() -> *const usize {
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rom_table_lookup(DATA_TABLE, *b"SF")
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}
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/// The end address of the floating point library code and data.
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pub fn fplib_end() -> *const u8 {
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rom_table_lookup(DATA_TABLE, *b"FE")
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}
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/// This entry is only present in the V2 bootrom. See Table 182 in the RP2040 datasheet for the contents of this table.
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pub fn soft_double_table() -> *const usize {
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rom_table_lookup(DATA_TABLE, *b"SD")
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}
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/// ROM functions using single-precision arithmetic (i.e. 'f32' in Rust terms)
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pub mod float_funcs {
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macro_rules! make_functions {
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(
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$(
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$(#[$outer:meta])*
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$offset:literal $name:ident (
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$( $aname:ident : $aty:ty ),*
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) -> $ret:ty;
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)*
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) => {
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$(
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$(#[$outer])*
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pub fn $name() -> extern "C" fn( $( $aname : $aty ),* ) -> $ret {
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let table: *const usize = $crate::rom_data::soft_float_table() as *const usize;
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unsafe {
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// This is the entry in the table. Our offset is given as a
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// byte offset, but we want the table index (each pointer in
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// the table is 4 bytes long)
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let entry: *const usize = table.offset($offset / 4);
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// Read the pointer from the table
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let ptr: usize = core::ptr::read(entry);
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// Convert the pointer we read into a function
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core::mem::transmute_copy(&ptr)
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}
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}
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)*
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}
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}
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make_functions! {
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/// Returns a function that will calculate `a + b`
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0x00 fadd(a: f32, b: f32) -> f32;
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/// Returns a function that will calculate `a - b`
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0x04 fsub(a: f32, b: f32) -> f32;
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/// Returns a function that will calculate `a * b`
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0x08 fmul(a: f32, b: f32) -> f32;
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/// Returns a function that will calculate `a / b`
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0x0c fdiv(a: f32, b: f32) -> f32;
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// 0x10 and 0x14 are deprecated
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/// Returns a function that will calculate `sqrt(v)` (or return -Infinity if v is negative)
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0x18 fsqrt(v: f32) -> f32;
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/// Returns a function that will convert an f32 to a signed integer,
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/// rounding towards -Infinity, and clamping the result to lie within the
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/// range `-0x80000000` to `0x7FFFFFFF`
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0x1c float_to_int(v: f32) -> i32;
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/// Returns a function that will convert an f32 to an signed fixed point
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/// integer representation where n specifies the position of the binary
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/// point in the resulting fixed point representation, e.g.
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/// `f(0.5f, 16) == 0x8000`. This method rounds towards -Infinity,
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/// and clamps the resulting integer to lie within the range `0x00000000` to
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/// `0xFFFFFFFF`
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0x20 float_to_fix(v: f32, n: i32) -> i32;
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/// Returns a function that will convert an f32 to an unsigned integer,
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/// rounding towards -Infinity, and clamping the result to lie within the
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/// range `0x00000000` to `0xFFFFFFFF`
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0x24 float_to_uint(v: f32) -> u32;
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/// Returns a function that will convert an f32 to an unsigned fixed point
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/// integer representation where n specifies the position of the binary
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/// point in the resulting fixed point representation, e.g.
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/// `f(0.5f, 16) == 0x8000`. This method rounds towards -Infinity,
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/// and clamps the resulting integer to lie within the range `0x00000000` to
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/// `0xFFFFFFFF`
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0x28 float_to_ufix(v: f32, n: i32) -> u32;
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/// Returns a function that will convert a signed integer to the nearest
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/// f32 value, rounding to even on tie
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0x2c int_to_float(v: i32) -> f32;
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/// Returns a function that will convert a signed fixed point integer
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/// representation to the nearest f32 value, rounding to even on tie. `n`
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/// specifies the position of the binary point in fixed point, so `f =
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/// nearest(v/(2^n))`
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0x30 fix_to_float(v: i32, n: i32) -> f32;
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/// Returns a function that will convert an unsigned integer to the nearest
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/// f32 value, rounding to even on tie
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0x34 uint_to_float(v: u32) -> f32;
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/// Returns a function that will convert an unsigned fixed point integer
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/// representation to the nearest f32 value, rounding to even on tie. `n`
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/// specifies the position of the binary point in fixed point, so `f =
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/// nearest(v/(2^n))`
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0x38 ufix_to_float(v: u32, n: i32) -> f32;
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/// Returns a function that will calculate the cosine of `angle`. The value
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/// of `angle` is in radians, and must be in the range `-1024` to `1024`
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0x3c fcos(angle: f32) -> f32;
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/// Returns a function that will calculate the sine of `angle`. The value of
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/// `angle` is in radians, and must be in the range `-1024` to `1024`
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0x40 fsin(angle: f32) -> f32;
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/// Returns a function that will calculate the tangent of `angle`. The value
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/// of `angle` is in radians, and must be in the range `-1024` to `1024`
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0x44 ftan(angle: f32) -> f32;
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// 0x48 is deprecated
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/// Returns a function that will calculate the exponential value of `v`,
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/// i.e. `e ** v`
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0x4c fexp(v: f32) -> f32;
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/// Returns a function that will calculate the natural logarithm of `v`. If `v <= 0` return -Infinity
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0x50 fln(v: f32) -> f32;
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// These are only on BootROM v2 or higher
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/// Returns a function that will compare two floating point numbers, returning:
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/// • 0 if a == b
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/// • -1 if a < b
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/// • 1 if a > b
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0x54 fcmp(a: f32, b: f32) -> i32;
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/// Returns a function that will compute the arc tangent of `y/x` using the
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/// signs of arguments to determine the correct quadrant
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0x58 fatan2(y: f32, x: f32) -> f32;
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/// Returns a function that will convert a signed 64-bit integer to the
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/// nearest f32 value, rounding to even on tie
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0x5c int64_to_float(v: i64) -> f32;
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/// Returns a function that will convert a signed fixed point 64-bit integer
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/// representation to the nearest f32 value, rounding to even on tie. `n`
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/// specifies the position of the binary point in fixed point, so `f =
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/// nearest(v/(2^n))`
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0x60 fix64_to_float(v: i64, n: i32) -> f32;
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/// Returns a function that will convert an unsigned 64-bit integer to the
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/// nearest f32 value, rounding to even on tie
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0x64 uint64_to_float(v: u64) -> f32;
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/// Returns a function that will convert an unsigned fixed point 64-bit
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/// integer representation to the nearest f32 value, rounding to even on
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/// tie. `n` specifies the position of the binary point in fixed point, so
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/// `f = nearest(v/(2^n))`
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0x68 ufix64_to_float(v: u64, n: i32) -> f32;
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/// Convert an f32 to a signed 64-bit integer, rounding towards -Infinity,
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/// and clamping the result to lie within the range `-0x8000000000000000` to
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/// `0x7FFFFFFFFFFFFFFF`
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0x6c float_to_int64(v: f32) -> i64;
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/// Returns a function that will convert an f32 to a signed fixed point
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/// 64-bit integer representation where n specifies the position of the
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/// binary point in the resulting fixed point representation - e.g. `f(0.5f,
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/// 16) == 0x8000`. This method rounds towards -Infinity, and clamps the
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/// resulting integer to lie within the range `-0x8000000000000000` to
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/// `0x7FFFFFFFFFFFFFFF`
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0x70 float_to_fix64(v: f32, n: i32) -> f32;
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/// Returns a function that will convert an f32 to an unsigned 64-bit
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/// integer, rounding towards -Infinity, and clamping the result to lie
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/// within the range `0x0000000000000000` to `0xFFFFFFFFFFFFFFFF`
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0x74 float_to_uint64(v: f32) -> u64;
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/// Returns a function that will convert an f32 to an unsigned fixed point
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/// 64-bit integer representation where n specifies the position of the
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/// binary point in the resulting fixed point representation, e.g. `f(0.5f,
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/// 16) == 0x8000`. This method rounds towards -Infinity, and clamps the
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/// resulting integer to lie within the range `0x0000000000000000` to
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/// `0xFFFFFFFFFFFFFFFF`
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0x78 float_to_ufix64(v: f32, n: i32) -> u64;
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/// Converts an f32 to an f64.
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0x7c float_to_double(v: f32) -> f64;
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}
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}
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/// Functions using double-precision arithmetic (i.e. 'f64' in Rust terms)
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pub mod double_funcs {
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macro_rules! make_double_funcs {
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(
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$(
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$(#[$outer:meta])*
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$offset:literal $name:ident (
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$( $aname:ident : $aty:ty ),*
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) -> $ret:ty;
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)*
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) => {
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$(
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$(#[$outer])*
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pub fn $name() -> extern "C" fn( $( $aname : $aty ),* ) -> $ret {
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let table: *const usize = $crate::rom_data::soft_double_table() as *const usize;
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unsafe {
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// This is the entry in the table. Our offset is given as a
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// byte offset, but we want the table index (each pointer in
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// the table is 4 bytes long)
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let entry: *const usize = table.offset($offset / 4);
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// Read the pointer from the table
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let ptr: usize = core::ptr::read(entry);
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// Convert the pointer we read into a function
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core::mem::transmute_copy(&ptr)
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}
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}
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)*
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}
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}
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make_double_funcs! {
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/// Returns a function that will calculate `a + b`
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0x00 dadd(a: f64, b: f64) -> f64;
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/// Returns a function that will calculate `a - b`
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0x04 dsub(a: f64, b: f64) -> f64;
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/// Returns a function that will calculate `a * b`
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0x08 dmul(a: f64, b: f64) -> f64;
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/// Returns a function that will calculate `a / b`
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0x0c ddiv(a: f64, b: f64) -> f64;
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// 0x10 and 0x14 are deprecated
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/// Returns a function that will calculate `sqrt(v)` (or return -Infinity if v is negative)
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0x18 dsqrt(v: f64) -> f64;
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/// Returns a function that will convert an f64 to a signed integer,
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/// rounding towards -Infinity, and clamping the result to lie within the
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/// range `-0x80000000` to `0x7FFFFFFF`
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0x1c double_to_int(v: f64) -> i32;
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/// Returns a function that will convert an f64 to an signed fixed point
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/// integer representation where n specifies the position of the binary
|
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/// point in the resulting fixed point representation, e.g.
|
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/// `f(0.5f, 16) == 0x8000`. This method rounds towards -Infinity,
|
|
/// and clamps the resulting integer to lie within the range `0x00000000` to
|
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/// `0xFFFFFFFF`
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0x20 double_to_fix(v: f64, n: i32) -> i32;
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/// Returns a function that will convert an f64 to an unsigned integer,
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/// rounding towards -Infinity, and clamping the result to lie within the
|
|
/// range `0x00000000` to `0xFFFFFFFF`
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0x24 double_to_uint(v: f64) -> u32;
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/// Returns a function that will convert an f64 to an unsigned fixed point
|
|
/// integer representation where n specifies the position of the binary
|
|
/// point in the resulting fixed point representation, e.g.
|
|
/// `f(0.5f, 16) == 0x8000`. This method rounds towards -Infinity,
|
|
/// and clamps the resulting integer to lie within the range `0x00000000` to
|
|
/// `0xFFFFFFFF`
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0x28 double_to_ufix(v: f64, n: i32) -> u32;
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/// Returns a function that will convert a signed integer to the nearest
|
|
/// double value, rounding to even on tie
|
|
0x2c int_to_double(v: i32) -> f64;
|
|
/// Returns a function that will convert a signed fixed point integer
|
|
/// representation to the nearest double value, rounding to even on tie. `n`
|
|
/// specifies the position of the binary point in fixed point, so `f =
|
|
/// nearest(v/(2^n))`
|
|
0x30 fix_to_double(v: i32, n: i32) -> f64;
|
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/// Returns a function that will convert an unsigned integer to the nearest
|
|
/// double value, rounding to even on tie
|
|
0x34 uint_to_double(v: u32) -> f64;
|
|
/// Returns a function that will convert an unsigned fixed point integer
|
|
/// representation to the nearest double value, rounding to even on tie. `n`
|
|
/// specifies the position of the binary point in fixed point, so f =
|
|
/// nearest(v/(2^n))
|
|
0x38 ufix_to_double(v: u32, n: i32) -> f64;
|
|
/// Returns a function that will calculate the cosine of `angle`. The value
|
|
/// of `angle` is in radians, and must be in the range `-1024` to `1024`
|
|
0x3c dcos(angle: f64) -> f64;
|
|
/// Returns a function that will calculate the sine of `angle`. The value of
|
|
/// `angle` is in radians, and must be in the range `-1024` to `1024`
|
|
0x40 dsin(angle: f64) -> f64;
|
|
/// Returns a function that will calculate the tangent of `angle`. The value
|
|
/// of `angle` is in radians, and must be in the range `-1024` to `1024`
|
|
0x44 dtan(angle: f64) -> f64;
|
|
|
|
// 0x48 is deprecated
|
|
|
|
/// Returns a function that will calculate the exponential value of `v`,
|
|
/// i.e. `e ** v`
|
|
0x4c dexp(v: f64) -> f64;
|
|
/// Returns a function that will calculate the natural logarithm of v. If v <= 0 return -Infinity
|
|
0x50 dln(v: f64) -> f64;
|
|
|
|
// These are only on BootROM v2 or higher
|
|
|
|
/// Returns a function that will compare two floating point numbers, returning:
|
|
/// • 0 if a == b
|
|
/// • -1 if a < b
|
|
/// • 1 if a > b
|
|
0x54 dcmp(a: f64, b: f64) -> i32;
|
|
/// Returns a function that will compute the arc tangent of `y/x` using the
|
|
/// signs of arguments to determine the correct quadrant
|
|
0x58 datan2(y: f64, x: f64) -> f64;
|
|
/// Returns a function that will convert a signed 64-bit integer to the
|
|
/// nearest double value, rounding to even on tie
|
|
0x5c int64_to_double(v: i64) -> f64;
|
|
/// Returns a function that will convert a signed fixed point 64-bit integer
|
|
/// representation to the nearest double value, rounding to even on tie. `n`
|
|
/// specifies the position of the binary point in fixed point, so `f =
|
|
/// nearest(v/(2^n))`
|
|
0x60 fix64_to_doubl(v: i64, n: i32) -> f64;
|
|
/// Returns a function that will convert an unsigned 64-bit integer to the
|
|
/// nearest double value, rounding to even on tie
|
|
0x64 uint64_to_double(v: u64) -> f64;
|
|
/// Returns a function that will convert an unsigned fixed point 64-bit
|
|
/// integer representation to the nearest double value, rounding to even on
|
|
/// tie. `n` specifies the position of the binary point in fixed point, so
|
|
/// `f = nearest(v/(2^n))`
|
|
0x68 ufix64_to_double(v: u64, n: i32) -> f64;
|
|
/// Convert an f64 to a signed 64-bit integer, rounding towards -Infinity,
|
|
/// and clamping the result to lie within the range `-0x8000000000000000` to
|
|
/// `0x7FFFFFFFFFFFFFFF`
|
|
0x6c double_to_int64(v: f64) -> i64;
|
|
/// Returns a function that will convert an f64 to a signed fixed point
|
|
/// 64-bit integer representation where n specifies the position of the
|
|
/// binary point in the resulting fixed point representation - e.g. `f(0.5f,
|
|
/// 16) == 0x8000`. This method rounds towards -Infinity, and clamps the
|
|
/// resulting integer to lie within the range `-0x8000000000000000` to
|
|
/// `0x7FFFFFFFFFFFFFFF`
|
|
0x70 double_to_fix64(v: f64, n: i32) -> i64;
|
|
/// Returns a function that will convert an f64 to an unsigned 64-bit
|
|
/// integer, rounding towards -Infinity, and clamping the result to lie
|
|
/// within the range `0x0000000000000000` to `0xFFFFFFFFFFFFFFFF`
|
|
0x74 double_to_uint64(v: f64) -> u64;
|
|
/// Returns a function that will convert an f64 to an unsigned fixed point
|
|
/// 64-bit integer representation where n specifies the position of the
|
|
/// binary point in the resulting fixed point representation, e.g. `f(0.5f,
|
|
/// 16) == 0x8000`. This method rounds towards -Infinity, and clamps the
|
|
/// resulting integer to lie within the range `0x0000000000000000` to
|
|
/// `0xFFFFFFFFFFFFFFFF`
|
|
0x78 double_to_ufix64(v: f64, n: i32) -> u64;
|
|
/// Returns a function that will convert an f64 to an f32
|
|
0x7c double_to_float(v: f64) -> f32;
|
|
}
|
|
}
|