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https://github.com/betaflight/betaflight.git
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66 lines
2.2 KiB
C
66 lines
2.2 KiB
C
/*
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* Copyright (c) 2020 Raspberry Pi (Trading) Ltd.
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*
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* SPDX-License-Identifier: BSD-3-Clause
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*/
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#include "hardware/interp.h"
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#include "hardware/structs/sio.h"
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#include "hardware/claim.h"
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check_hw_size(interp_hw_t, SIO_INTERP1_ACCUM0_OFFSET - SIO_INTERP0_ACCUM0_OFFSET);
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check_hw_layout(sio_hw_t, interp, SIO_INTERP0_ACCUM0_OFFSET);
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static uint8_t _claimed;
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static inline uint interp_lane_bit(interp_hw_t * interp, uint lane) {
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return (interp_index(interp) << 1u) | lane;
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}
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void interp_claim_lane(interp_hw_t *interp, uint lane) {
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valid_params_if(HARDWARE_INTERP, lane < 2);
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hw_claim_or_assert((uint8_t *) &_claimed, interp_lane_bit(interp, lane), "Lane is already claimed");
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}
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void interp_claim_lane_mask(interp_hw_t *interp, uint lane_mask) {
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valid_params_if(HARDWARE_INTERP, lane_mask && lane_mask <= 0x3);
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if (lane_mask & 1u) interp_claim_lane(interp, 0);
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if (lane_mask & 2u) interp_claim_lane(interp, 1);
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}
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void interp_unclaim_lane(interp_hw_t *interp, uint lane) {
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valid_params_if(HARDWARE_INTERP, lane < 2);
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hw_claim_clear((uint8_t *) &_claimed, interp_lane_bit(interp, lane));
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}
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bool interp_lane_is_claimed(interp_hw_t *interp, uint lane) {
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valid_params_if(HARDWARE_INTERP, lane < 2);
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return hw_is_claimed((uint8_t *) &_claimed, interp_lane_bit(interp, lane));
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}
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void interp_unclaim_lane_mask(interp_hw_t *interp, uint lane_mask) {
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valid_params_if(HARDWARE_INTERP, lane_mask <= 0x3);
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if (lane_mask & 1u) interp_unclaim_lane(interp, 0);
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if (lane_mask & 2u) interp_unclaim_lane(interp, 1);
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}
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void interp_save(interp_hw_t *interp, interp_hw_save_t *saver) {
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saver->accum[0] = interp->accum[0];
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saver->accum[1] = interp->accum[1];
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saver->base[0] = interp->base[0];
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saver->base[1] = interp->base[1];
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saver->base[2] = interp->base[2];
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saver->ctrl[0] = interp->ctrl[0];
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saver->ctrl[1] = interp->ctrl[1];
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}
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void interp_restore(interp_hw_t *interp, interp_hw_save_t *saver) {
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interp->accum[0] = saver->accum[0];
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interp->accum[1] = saver->accum[1];
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interp->base[0] = saver->base[0];
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interp->base[1] = saver->base[1];
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interp->base[2] = saver->base[2];
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interp->ctrl[0] = saver->ctrl[0];
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interp->ctrl[1] = saver->ctrl[1];
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}
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