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
|
use crate::*;
const ANGLE_SCALE: f64 = 10430.378350470453; // 65536 / 2π
pub struct MathDevice {
pub x: u16,
pub y: u16,
pub r: u16,
pub t: u16,
pub x_read: Option<u16>,
pub y_read: Option<u16>,
pub r_read: Option<u16>,
pub t_read: Option<u16>,
/// (low, high)
pub prod: Option<(u16, u16)>,
pub quot: Option<u16>,
pub rem: Option<u16>,
}
impl Device for MathDevice {
fn read(&mut self, port: u8) -> u8 {
match port {
0x0 => read_h!(self.x()),
0x1 => read_l!(self.x()),
0x2 => read_h!(self.y()),
0x3 => read_l!(self.y()),
0x4 => read_h!(self.r()),
0x5 => read_l!(self.r()),
0x6 => read_h!(self.t()),
0x7 => read_l!(self.t()),
0x8 => read_h!(self.prod().1),
0x9 => read_l!(self.prod().1),
0xa => read_h!(self.prod().0),
0xb => read_l!(self.prod().0),
0xc => read_h!(self.quot()),
0xd => read_l!(self.quot()),
0xe => read_h!(self.rem()),
0xf => read_l!(self.rem()),
_ => unreachable!(),
}
}
fn write(&mut self, port: u8, value: u8) -> Option<Signal> {
match port {
0x0 => { write_h!(self.x, value); self.clear_polar(); },
0x1 => { write_l!(self.x, value); self.clear_polar(); },
0x2 => { write_h!(self.y, value); self.clear_polar(); },
0x3 => { write_l!(self.y, value); self.clear_polar(); },
0x4 => { write_h!(self.r, value); self.clear_cartesian(); },
0x5 => { write_l!(self.r, value); self.clear_cartesian(); },
0x6 => { write_h!(self.t, value); self.clear_cartesian(); },
0x7 => { write_l!(self.t, value); self.clear_cartesian(); },
0x8 => (),
0x9 => (),
0xa => (),
0xb => (),
0xc => (),
0xd => (),
0xe => (),
0xf => (),
_ => unreachable!(),
};
return None;
}
fn wake(&mut self) -> bool {
false
}
}
impl MathDevice {
pub fn new() -> Self {
Self {
x: 0,
y: 0,
r: 0,
t: 0,
x_read: None,
y_read: None,
r_read: None,
t_read: None,
prod: None,
quot: None,
rem: None,
}
}
pub fn clear_cartesian(&mut self) {
self.x_read = None;
self.y_read = None;
}
pub fn clear_polar(&mut self) {
self.r_read = None;
self.t_read = None;
self.prod = None;
self.quot = None;
self.rem = None;
}
pub fn x(&mut self) -> u16 {
match self.x_read {
Some(x) => x,
None => {
let r = self.r as f64;
let t = self.t as f64;
let angle = t / ANGLE_SCALE;
let x = angle.cos() * r;
self.x_read = Some(x as i16 as u16);
self.x_read.unwrap()
}
}
}
pub fn y(&mut self) -> u16 {
match self.y_read {
Some(y) => y,
None => {
let r = self.r as f64;
let t = self.t as f64;
let angle = t / ANGLE_SCALE;
let y = angle.sin() * r;
self.y_read = Some(y as i16 as u16);
self.y_read.unwrap()
}
}
}
pub fn r(&mut self) -> u16 {
match self.r_read {
Some(r) => r,
None => {
let sum = (self.x as f64).powi(2) + (self.y as f64).powi(2);
self.r_read = Some(sum.sqrt() as u16);
self.r_read.unwrap()
}
}
}
pub fn t(&mut self) -> u16 {
match self.t_read {
Some(t) => t,
None => {
let x = self.x as i16 as f64;
let y = self.x as i16 as f64;
let angle = f64::atan2(y, x) * ANGLE_SCALE;
self.t_read = Some(angle as i16 as u16);
self.t_read.unwrap()
}
}
}
pub fn prod(&mut self) -> (u16, u16) {
match self.prod {
Some(prod) => prod,
None => {
self.prod = Some(self.x.widening_mul(self.y));
self.prod.unwrap()
}
}
}
pub fn quot(&mut self) -> u16 {
match self.quot {
Some(quot) => quot,
None => {
self.quot = Some(self.x.checked_div(self.y).unwrap_or(0));
self.quot.unwrap()
}
}
}
pub fn rem(&mut self) -> u16 {
match self.rem {
Some(rem) => rem,
None => {
self.rem = Some(self.x.checked_rem(self.y).unwrap_or(0));
self.rem.unwrap()
}
}
}
}
|
