drone-micropython-raw 0.1.1

Bindings to MicroPython.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200

/*
 * This file is part of the MicroPython project, http://micropython.org/
 *
 * The MIT License (MIT)
 *
 * Copyright (c) 2014 Fabian Vogt
 * Copyright (c) 2013, 2014 Damien P. George
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 */
#ifndef MICROPY_INCLUDED_PY_ASMARM_H
#define MICROPY_INCLUDED_PY_ASMARM_H

#include "py/misc.h"
#include "py/asmbase.h"

#define ASM_ARM_REG_R0  (0)
#define ASM_ARM_REG_R1  (1)
#define ASM_ARM_REG_R2  (2)
#define ASM_ARM_REG_R3  (3)
#define ASM_ARM_REG_R4  (4)
#define ASM_ARM_REG_R5  (5)
#define ASM_ARM_REG_R6  (6)
#define ASM_ARM_REG_R7  (7)
#define ASM_ARM_REG_R8  (8)
#define ASM_ARM_REG_R9  (9)
#define ASM_ARM_REG_R10 (10)
#define ASM_ARM_REG_R11 (11)
#define ASM_ARM_REG_R12 (12)
#define ASM_ARM_REG_R13 (13)
#define ASM_ARM_REG_R14 (14)
#define ASM_ARM_REG_R15 (15)
#define ASM_ARM_REG_SP  (ASM_ARM_REG_R13)
#define ASM_ARM_REG_LR  (ASM_ARM_REG_R14)
#define ASM_ARM_REG_PC  (ASM_ARM_REG_R15)

#define ASM_ARM_CC_EQ (0x0 << 28)
#define ASM_ARM_CC_NE (0x1 << 28)
#define ASM_ARM_CC_CS (0x2 << 28)
#define ASM_ARM_CC_CC (0x3 << 28)
#define ASM_ARM_CC_MI (0x4 << 28)
#define ASM_ARM_CC_PL (0x5 << 28)
#define ASM_ARM_CC_VS (0x6 << 28)
#define ASM_ARM_CC_VC (0x7 << 28)
#define ASM_ARM_CC_HI (0x8 << 28)
#define ASM_ARM_CC_LS (0x9 << 28)
#define ASM_ARM_CC_GE (0xa << 28)
#define ASM_ARM_CC_LT (0xb << 28)
#define ASM_ARM_CC_GT (0xc << 28)
#define ASM_ARM_CC_LE (0xd << 28)
#define ASM_ARM_CC_AL (0xe << 28)

typedef struct _asm_arm_t {
    mp_asm_base_t base;
    uint push_reglist;
    uint stack_adjust;
} asm_arm_t;

void asm_arm_end_pass(asm_arm_t *as);

void asm_arm_entry(asm_arm_t *as, int num_locals);
void asm_arm_exit(asm_arm_t *as);

void asm_arm_bkpt(asm_arm_t *as);

// mov
void asm_arm_mov_reg_reg(asm_arm_t *as, uint reg_dest, uint reg_src);
void asm_arm_mov_reg_i32(asm_arm_t *as, uint rd, int imm);
void asm_arm_mov_local_reg(asm_arm_t *as, int local_num, uint rd);
void asm_arm_mov_reg_local(asm_arm_t *as, uint rd, int local_num);
void asm_arm_setcc_reg(asm_arm_t *as, uint rd, uint cond);

// compare
void asm_arm_cmp_reg_i8(asm_arm_t *as, uint rd, int imm);
void asm_arm_cmp_reg_reg(asm_arm_t *as, uint rd, uint rn);

// arithmetic
void asm_arm_add_reg_reg_reg(asm_arm_t *as, uint rd, uint rn, uint rm);
void asm_arm_sub_reg_reg_reg(asm_arm_t *as, uint rd, uint rn, uint rm);
void asm_arm_mul_reg_reg_reg(asm_arm_t *as, uint rd, uint rn, uint rm);
void asm_arm_and_reg_reg_reg(asm_arm_t *as, uint rd, uint rn, uint rm);
void asm_arm_eor_reg_reg_reg(asm_arm_t *as, uint rd, uint rn, uint rm);
void asm_arm_orr_reg_reg_reg(asm_arm_t *as, uint rd, uint rn, uint rm);
void asm_arm_mov_reg_local_addr(asm_arm_t *as, uint rd, int local_num);
void asm_arm_lsl_reg_reg(asm_arm_t *as, uint rd, uint rs);
void asm_arm_asr_reg_reg(asm_arm_t *as, uint rd, uint rs);

// memory
void asm_arm_ldr_reg_reg(asm_arm_t *as, uint rd, uint rn, uint byte_offset);
void asm_arm_ldrh_reg_reg(asm_arm_t *as, uint rd, uint rn);
void asm_arm_ldrb_reg_reg(asm_arm_t *as, uint rd, uint rn);
void asm_arm_str_reg_reg(asm_arm_t *as, uint rd, uint rm, uint byte_offset);
void asm_arm_strh_reg_reg(asm_arm_t *as, uint rd, uint rm);
void asm_arm_strb_reg_reg(asm_arm_t *as, uint rd, uint rm);
// store to array
void asm_arm_str_reg_reg_reg(asm_arm_t *as, uint rd, uint rm, uint rn);
void asm_arm_strh_reg_reg_reg(asm_arm_t *as, uint rd, uint rm, uint rn);
void asm_arm_strb_reg_reg_reg(asm_arm_t *as, uint rd, uint rm, uint rn);

// stack
void asm_arm_push(asm_arm_t *as, uint reglist);
void asm_arm_pop(asm_arm_t *as, uint reglist);

// control flow
void asm_arm_bcc_label(asm_arm_t *as, int cond, uint label);
void asm_arm_b_label(asm_arm_t *as, uint label);
void asm_arm_bl_ind(asm_arm_t *as, void *fun_ptr, uint fun_id, uint reg_temp);

#if GENERIC_ASM_API

// The following macros provide a (mostly) arch-independent API to
// generate native code, and are used by the native emitter.

#define ASM_WORD_SIZE (4)

#define REG_RET ASM_ARM_REG_R0
#define REG_ARG_1 ASM_ARM_REG_R0
#define REG_ARG_2 ASM_ARM_REG_R1
#define REG_ARG_3 ASM_ARM_REG_R2
#define REG_ARG_4 ASM_ARM_REG_R3

#define REG_TEMP0 ASM_ARM_REG_R0
#define REG_TEMP1 ASM_ARM_REG_R1
#define REG_TEMP2 ASM_ARM_REG_R2

#define REG_LOCAL_1 ASM_ARM_REG_R4
#define REG_LOCAL_2 ASM_ARM_REG_R5
#define REG_LOCAL_3 ASM_ARM_REG_R6
#define REG_LOCAL_NUM (3)

#define ASM_T               asm_arm_t
#define ASM_END_PASS        asm_arm_end_pass
#define ASM_ENTRY           asm_arm_entry
#define ASM_EXIT            asm_arm_exit

#define ASM_JUMP            asm_arm_b_label
#define ASM_JUMP_IF_REG_ZERO(as, reg, label) \
    do { \
        asm_arm_cmp_reg_i8(as, reg, 0); \
        asm_arm_bcc_label(as, ASM_ARM_CC_EQ, label); \
    } while (0)
#define ASM_JUMP_IF_REG_NONZERO(as, reg, label) \
    do { \
        asm_arm_cmp_reg_i8(as, reg, 0); \
        asm_arm_bcc_label(as, ASM_ARM_CC_NE, label); \
    } while (0)
#define ASM_JUMP_IF_REG_EQ(as, reg1, reg2, label) \
    do { \
        asm_arm_cmp_reg_reg(as, reg1, reg2); \
        asm_arm_bcc_label(as, ASM_ARM_CC_EQ, label); \
    } while (0)
#define ASM_CALL_IND(as, ptr, idx) asm_arm_bl_ind(as, ptr, idx, ASM_ARM_REG_R3)

#define ASM_MOV_LOCAL_REG(as, local_num, reg_src) asm_arm_mov_local_reg((as), (local_num), (reg_src))
#define ASM_MOV_REG_IMM(as, reg_dest, imm) asm_arm_mov_reg_i32((as), (reg_dest), (imm))
#define ASM_MOV_REG_ALIGNED_IMM(as, reg_dest, imm) asm_arm_mov_reg_i32((as), (reg_dest), (imm))
#define ASM_MOV_REG_LOCAL(as, reg_dest, local_num) asm_arm_mov_reg_local((as), (reg_dest), (local_num))
#define ASM_MOV_REG_REG(as, reg_dest, reg_src) asm_arm_mov_reg_reg((as), (reg_dest), (reg_src))
#define ASM_MOV_REG_LOCAL_ADDR(as, reg_dest, local_num) asm_arm_mov_reg_local_addr((as), (reg_dest), (local_num))

#define ASM_LSL_REG_REG(as, reg_dest, reg_shift) asm_arm_lsl_reg_reg((as), (reg_dest), (reg_shift))
#define ASM_ASR_REG_REG(as, reg_dest, reg_shift) asm_arm_asr_reg_reg((as), (reg_dest), (reg_shift))
#define ASM_OR_REG_REG(as, reg_dest, reg_src) asm_arm_orr_reg_reg_reg((as), (reg_dest), (reg_dest), (reg_src))
#define ASM_XOR_REG_REG(as, reg_dest, reg_src) asm_arm_eor_reg_reg_reg((as), (reg_dest), (reg_dest), (reg_src))
#define ASM_AND_REG_REG(as, reg_dest, reg_src) asm_arm_and_reg_reg_reg((as), (reg_dest), (reg_dest), (reg_src))
#define ASM_ADD_REG_REG(as, reg_dest, reg_src) asm_arm_add_reg_reg_reg((as), (reg_dest), (reg_dest), (reg_src))
#define ASM_SUB_REG_REG(as, reg_dest, reg_src) asm_arm_sub_reg_reg_reg((as), (reg_dest), (reg_dest), (reg_src))
#define ASM_MUL_REG_REG(as, reg_dest, reg_src) asm_arm_mul_reg_reg_reg((as), (reg_dest), (reg_dest), (reg_src))

#define ASM_LOAD_REG_REG(as, reg_dest, reg_base) asm_arm_ldr_reg_reg((as), (reg_dest), (reg_base), 0)
#define ASM_LOAD_REG_REG_OFFSET(as, reg_dest, reg_base, word_offset) asm_arm_ldr_reg_reg((as), (reg_dest), (reg_base), 4 * (word_offset))
#define ASM_LOAD8_REG_REG(as, reg_dest, reg_base) asm_arm_ldrb_reg_reg((as), (reg_dest), (reg_base))
#define ASM_LOAD16_REG_REG(as, reg_dest, reg_base) asm_arm_ldrh_reg_reg((as), (reg_dest), (reg_base))
#define ASM_LOAD32_REG_REG(as, reg_dest, reg_base) asm_arm_ldr_reg_reg((as), (reg_dest), (reg_base), 0)

#define ASM_STORE_REG_REG(as, reg_value, reg_base) asm_arm_str_reg_reg((as), (reg_value), (reg_base), 0)
#define ASM_STORE_REG_REG_OFFSET(as, reg_dest, reg_base, word_offset) asm_arm_str_reg_reg((as), (reg_dest), (reg_base), 4 * (word_offset))
#define ASM_STORE8_REG_REG(as, reg_value, reg_base) asm_arm_strb_reg_reg((as), (reg_value), (reg_base))
#define ASM_STORE16_REG_REG(as, reg_value, reg_base) asm_arm_strh_reg_reg((as), (reg_value), (reg_base))
#define ASM_STORE32_REG_REG(as, reg_value, reg_base) asm_arm_str_reg_reg((as), (reg_value), (reg_base), 0)

#endif // GENERIC_ASM_API

#endif // MICROPY_INCLUDED_PY_ASMARM_H