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removed rgb-color-math
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@TomSaw
TomSaw committed May 7, 2021
1 parent f5c4fb6 commit 48b9734
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6 changes: 1 addition & 5 deletions src/modm/math/saturated/module.lb
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Expand Up @@ -12,11 +12,7 @@

def init(module):
module.name = ":math:saturated"
module.description = """
# Saturated Arithmetics
Has an important role in digital hardware and algorithms where values have maximum and minimum representable ranges.
"""
module.description = "Saturated Arithmetics"

def prepare(module, options):
module.depends(":math:utils")
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168 changes: 82 additions & 86 deletions src/modm/math/saturated/saturated.hpp
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Expand Up @@ -11,118 +11,114 @@
*/
// ----------------------------------------------------------------------------

#ifndef MODM_SATURATED_HPP
#define MODM_SATURATED_HPP
#ifndef MODM_SATURATED_HPP
#define MODM_SATURATED_HPP

#include <modm/math/utils/arithmetic_traits.hpp>
#include <algorithm>

namespace modm
{
/**
* \brief Saturated arithmetics
*
* \see http://www.mikrocontroller.net/articles/AVR_Arithmetik/Saturierung
*
* \author Fabian Greif <[email protected]>
*
* \todo extend implementation (multiplication etc.)
* \todo add 16-bit datetype assembler implementations for AVRs
* \todo documentation
* \ingroup modm_math_saturated
*/
template<std::integral T>
class Saturated
{
using WideSignedType = modm::WideType<std::make_signed_t<T>>;

void
setValue(WideSignedType unsaturated)
/**
* \brief Saturated arithmetics
*
* \see http://www.mikrocontroller.net/articles/AVR_Arithmetik/Saturierung
*
* \author Fabian Greif <[email protected]>
*
* \todo extend implementation (multiplication etc.)
* \todo add 16-bit datetype assembler implementations for AVRs
* \todo documentation
* \ingroup modm_math_saturated
*/
template<typename T>
class Saturated
{
value = std::clamp<WideSignedType>(unsaturated, std::numeric_limits<T>::min(), std::numeric_limits<T>::max());
}
typedef modm::SignedType<T> SignedType;
typedef modm::WideType<SignedType> WideType;

T value{0};
public:
Saturated();

public:
Saturated() = default;
Saturated(const T& initialValue);

Saturated(const T initialValue) : value(initialValue) {}
inline const T&
getValue() const
{
return value;
}

inline const T
getValue() const
{
return value;
}
Saturated&
operator += (const Saturated& other);

Saturated&
operator -= (const Saturated& other);

void
absolute();

Saturated&
operator+=(const Saturated& other);
public:
template<typename U>
friend Saturated<U>
operator - (const Saturated<U>& x);

Saturated&
operator-=(const Saturated& other);
template<typename U>
friend Saturated<U>
abs(const Saturated<U>& x);

void
absolute();
template<typename U>
friend Saturated<U>
operator - (const Saturated<U>& a, const Saturated<U>& b);

// public:
// template<std::integral U>
// friend Saturated<U>
// operator-(const Saturated<U>& x);
template<typename U>
friend Saturated<U>
operator + (const Saturated<U>& a, const Saturated<U>& b);

// template<std::integral U>
// friend Saturated<U>
// abs(const Saturated<U>& x);
template<typename U>
friend bool
operator == (const Saturated<U>& a, const Saturated<U>& b);

// template<std::integral U>
// friend Saturated<U>
// operator-(const Saturated<U>& a, const Saturated<U>& b);
template<typename U>
friend bool
operator != (const Saturated<U>& a, const Saturated<U>& b);

// template<std::integral U>
// friend Saturated<U>
// operator+(const Saturated<U>& a, const Saturated<U>& b);
// TODO > >= < <=

// template<std::integral U>
// friend bool
// operator==(const Saturated<U>& a, const Saturated<U>& b);
private:
void
setValue(WideType value);

// template<std::integral U>
// friend bool
// operator!=(const Saturated<U>& a, const Saturated<U>& b);
T value;
};

// TODO > >= < <=
};
// ------------------------------------------------------------------------

// /**
// * \brief Invert value
// */
// template<std::integral U>
// Saturated<U>
// operator-(const Saturated<U>& x);
/// \brief Invert value
template<typename U>
Saturated<U>
operator - (const Saturated<U>& x);

// /**
// * \brief Calculate the absolute value
// */
// template<std::integral U>
// Saturated<U>
// abs(const Saturated<U>& x);
/// \brief Calculate the absolute value
template<typename U>
Saturated<U>
abs(const Saturated<U>& x);

// template<std::integral U>
// Saturated<U>
// operator-(const Saturated<U>& a, const Saturated<U>& b);
template<typename U>
Saturated<U>
operator - (const Saturated<U>& a, const Saturated<U>& b);

// template<std::integral U>
// Saturated<U>
// operator+(const Saturated<U>& a, const Saturated<U>& b);
template<typename U>
Saturated<U>
operator + (const Saturated<U>& a, const Saturated<U>& b);

// template<std::integral U>
// inline bool
// operator==(const Saturated<U>& a, const Saturated<U>& b);
template<typename U>
inline bool
operator == (const Saturated<U>& a, const Saturated<U>& b);

// template<std::integral U>
// inline bool
// operator!=(const Saturated<U>& a, const Saturated<U>& b);
} // namespace modm
template<typename U>
inline bool
operator != (const Saturated<U>& a, const Saturated<U>& b);
}

#include "saturated_impl.hpp"

#endif // MODM_SATURATED_HPP
#endif // MODM_SATURATED_HPP
128 changes: 128 additions & 0 deletions src/modm/math/saturated/saturated__avr_s8_impl.hpp
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/*
* Copyright (c) 2009, Fabian Greif
* Copyright (c) 2010, Martin Rosekeit
* Copyright (c) 2012, Niklas Hauser
*
* This file is part of the modm project.
*
* This Source Code Form is subject to the terms of the Mozilla Public
* License, v. 2.0. If a copy of the MPL was not distributed with this
* file, You can obtain one at http://mozilla.org/MPL/2.0/.
*/
// ----------------------------------------------------------------------------

#ifndef MODM_SATURATED_HPP
#error "Don't include this file directly use 'math/saturated.hpp' instead!"
#endif

namespace modm
{
// ------------------------------------------------------------------------
template<>
Saturated<int8_t>&
Saturated<int8_t>::operator+=(const Saturated& other) {
asm (
"add %[x], %[y]" "\n\t"
"brvc 0f" "\n\t" // Falls es einen signed Überlauf gab
// (V=1) Maximalwert laden
"ldi %[x], 0x7f" "\n\t"
"sbrc %[y], 7" "\n\t" // y ist negativ, daher muss der
// Minimalwert geladen werden
"ldi %[x], 0x80" "\n\t"
"0:"
: [x] "+d" (this->value)
: [y] "r" (other.value)
);

return *this;
}

// ------------------------------------------------------------------------
// TODO testen
/*template<>
Saturated<int8_t>&
Saturated<int8_t>::operator+=(const Saturated<UnsignedType>& other) {
asm (
"add %[x], %[y]" "\n\t"
"brvc 0f" "\n\t" // Falls es einen signed Überlauf gab
// (V=1) Maximalwert laden
"ldi %[x], 0xff" "\n\t"
"0:"
: [x] "+d" (this->value)
: [y] "r" (other.value)
);
return *this;
}*/

// ------------------------------------------------------------------------
template<>
Saturated<int8_t>&
Saturated<int8_t>::operator-=(const Saturated& other) {
asm (
"sub %[x], %[y]" "\n\t"
"brvc 0f" "\n\t" // Falls es einen signed Überlauf gab
// (V=1) Minimalwert laden
"ldi %[x], 0x80" "\n\t"
"sbrc %[y], 7" "\n\t" // y ist negativ, daher muss der
// Maximalwert geladen werden
"ldi %[x], 0x7f" "\n\t"
"0:"
: [x] "+d" (this->value)
: [y] "r" (other.value)
);

return *this;
}

// ------------------------------------------------------------------------
// TODO testen
/*template<>
Saturated<int8_t>&
Saturated<int8_t>::operator-=(const Saturated<UnsignedType>& other) {
asm (
"sub %[x], %[y]" "\n\t"
"brvc 0f" "\n\t" // Falls es einen signed Überlauf gab
// (V=1) Minimalwert laden
"ldi %[x], 0x80" "\n\t"
"0:"
: [x] "+d" (this->value)
: [y] "r" (other.value)
);
return *this;
}*/

// ------------------------------------------------------------------------
// FIXME warum funktioniert das nicht???
template<>
Saturated<int8_t>
operator - (const Saturated<int8_t>& a) {
Saturated<int8_t> temp(a);
asm (
"neg %[x]" "\n\t"
"brvc 0f" "\n\t" // Signed Überlauf (V=1): Das Ergebnis
// ist 0x80 und wird verändert zu 0x7f
"dec %[x]" "\n\t"
"0:"
: [x] "+d" (temp.value)
);
return temp;
}

// ------------------------------------------------------------------------
template<>
Saturated<int8_t>
abs(const Saturated<int8_t>& a) {
Saturated<int8_t> temp(a);
asm (
"sbrc %[x], 7" "\n\t"
"neg %[x]" "\n\t" // x < 0: negieren
"sbrc %[x], 7" "\n\t"
"dec %[x]" "\n\t" // R0 ist immer noch < 0 (also 0x80),
// lade 0x7f
: [x] "+d" (temp.value)
);
return temp;
}
}
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