rp2040: use built-in integer hardware divider and optimized i64 multi…

…plication

The rp2040 cortex m0+ cores do not implement an integer divider itself, but
instead the rp2040 provides two on-chip hardware dividers as an extra
peripheral. To use those the GCC arm-v6 eabi integer division and modulo
built-ins have to be replaced with implementations that utilize them. An
optimized i64 multiplication implementation is provided as well.

platforms/chibios/vendors/RP/RP2040.mk

@@ -66,223 +66,34 @@ EXTRAINCDIRS += $(PLATFORM_RP2040_PATH)
 # RP2040 optimized compiler intrinsics
 ##############################################################################
 
-# Enables optimized Compiler intrinsics which are located in the RP2040
-# bootrom. This needs startup code and linker script support from ChibiOS,
-# which is WIP. Therefore disabled by default for now.
-RP2040_INTRINSICS_ENABLED ?= no
-ifeq ($(strip $(RP2040_INTRINSICS_ENABLED)), yes)
-    PICOSDKINTRINSICSSRC =  $(PICOSDKROOT)/src/rp2_common/pico_float/float_aeabi.S \
-                            $(PICOSDKROOT)/src/rp2_common/pico_float/float_math.c \
-                            $(PICOSDKROOT)/src/rp2_common/pico_float/float_init_rom.c \
-                            $(PICOSDKROOT)/src/rp2_common/pico_float/float_v1_rom_shim.S \
-                            $(PICOSDKROOT)/src/rp2_common/pico_double/double_aeabi.S \
-                            $(PICOSDKROOT)/src/rp2_common/pico_double/double_math.c \
-                            $(PICOSDKROOT)/src/rp2_common/pico_double/double_init_rom.c \
-                            $(PICOSDKROOT)/src/rp2_common/pico_double/double_v1_rom_shim.S \
-                            $(PICOSDKROOT)/src/rp2_common/pico_divider/divider.S \
-                            $(PICOSDKROOT)/src/rp2_common/pico_int64_ops/pico_int64_ops_aeabi.S \
-                            $(PICOSDKROOT)/src/rp2_common/pico_mem_ops/mem_ops_aeabi.S \
-                            $(PICOSDKROOT)/src/rp2_common/pico_malloc/pico_malloc.c \
-                            $(PICOSDKROOT)/src/rp2_common/pico_bit_ops/bit_ops_aeabi.S
-
-    PICOSDKINTRINSICSINC =  $(PICOSDKROOT)/src/common/pico_base/include \
-                            $(PICOSDKROOT)/src/rp2_common/pico_platfrom/include \
-                            $(PICOSDKROOT)/src/rp2_common/pico_bootrom/include \
-                            $(PICOSDKROOT)/src/rp2_common/hardware_divider/include \
-                            $(PICOSDKROOT)/src/rp2_common/pico_float/include \
-                            $(PICOSDKROOT)/src/rp2_common/pico_double/include \
-                            $(PICOSDKROOT)/src/rp2_common/pico_malloc/include
-
-    OPT_DEFS += -DPICO_FLOAT_SUPPORT_ROM_V1=0 -DPICO_DOUBLE_SUPPORT_ROM_V1=0
-
-    CFLAGS += -Wl,--defsym=__StackLimit=__heap_end__
-    CFLAGS += -Wl,--defsym=__unhandled_user_irq=_unhandled_exception
-    CFLAGS += -Wl,--build-id=none
-
-    # single precision floating point intrinsics
-    OPT_DEFS += -DPICO_FLOAT_IN_RAM=1
-    OPT_DEFS += -DPICO_FLOAT_PROPAGATE_NANS=0
-
-    CFLAGS += -Wl,--wrap=__aeabi_fdiv
-    CFLAGS += -Wl,--wrap=__aeabi_fmul
-    CFLAGS += -Wl,--wrap=__aeabi_frsub
-    CFLAGS += -Wl,--wrap=__aeabi_fsub
-    CFLAGS += -Wl,--wrap=__aeabi_cfcmpeq
-    CFLAGS += -Wl,--wrap=__aeabi_cfrcmple
-    CFLAGS += -Wl,--wrap=__aeabi_cfcmple
-    CFLAGS += -Wl,--wrap=__aeabi_fcmpeq
-    CFLAGS += -Wl,--wrap=__aeabi_fcmplt
-    CFLAGS += -Wl,--wrap=__aeabi_fcmple
-    CFLAGS += -Wl,--wrap=__aeabi_fcmpge
-    CFLAGS += -Wl,--wrap=__aeabi_fcmpgt
-    CFLAGS += -Wl,--wrap=__aeabi_fcmpun
-    CFLAGS += -Wl,--wrap=__aeabi_i2f
-    CFLAGS += -Wl,--wrap=__aeabi_l2f
-    CFLAGS += -Wl,--wrap=__aeabi_ui2f
-    CFLAGS += -Wl,--wrap=__aeabi_ul2f
-    CFLAGS += -Wl,--wrap=__aeabi_i2f
-    CFLAGS += -Wl,--wrap=__aeabi_f2iz
-    CFLAGS += -Wl,--wrap=__aeabi_f2lz
-    CFLAGS += -Wl,--wrap=__aeabi_f2uiz
-    CFLAGS += -Wl,--wrap=__aeabi_f2ulz
-    CFLAGS += -Wl,--wrap=__aeabi_f2d
-    CFLAGS += -Wl,--wrap=sqrtf
-    CFLAGS += -Wl,--wrap=cosf
-    CFLAGS += -Wl,--wrap=sinf
-    CFLAGS += -Wl,--wrap=tanf
-    CFLAGS += -Wl,--wrap=atan2f
-    CFLAGS += -Wl,--wrap=expf
-    CFLAGS += -Wl,--wrap=logf
-    CFLAGS += -Wl,--wrap=ldexpf
-    CFLAGS += -Wl,--wrap=copysignf
-    CFLAGS += -Wl,--wrap=truncf
-    CFLAGS += -Wl,--wrap=floorf
-    CFLAGS += -Wl,--wrap=ceilf
-    CFLAGS += -Wl,--wrap=roundf
-    CFLAGS += -Wl,--wrap=sincosf
-    CFLAGS += -Wl,--wrap=asinf
-    CFLAGS += -Wl,--wrap=acosf
-    CFLAGS += -Wl,--wrap=atanf
-    CFLAGS += -Wl,--wrap=sinhf
-    CFLAGS += -Wl,--wrap=coshf
-    CFLAGS += -Wl,--wrap=tanhf
-    CFLAGS += -Wl,--wrap=asinhf
-    CFLAGS += -Wl,--wrap=acoshf
-    CFLAGS += -Wl,--wrap=atanhf
-    CFLAGS += -Wl,--wrap=exp2f
-    CFLAGS += -Wl,--wrap=log2f
-    CFLAGS += -Wl,--wrap=exp10f
-    CFLAGS += -Wl,--wrap=log10f
-    CFLAGS += -Wl,--wrap=powf
-    CFLAGS += -Wl,--wrap=powintf
-    CFLAGS += -Wl,--wrap=hypotf
-    CFLAGS += -Wl,--wrap=cbrtf
-    CFLAGS += -Wl,--wrap=fmodf
-    CFLAGS += -Wl,--wrap=dremf
-    CFLAGS += -Wl,--wrap=remainderf
-    CFLAGS += -Wl,--wrap=remquof
-    CFLAGS += -Wl,--wrap=expm1f
-    CFLAGS += -Wl,--wrap=log1pf
-    CFLAGS += -Wl,--wrap=fmaf
-
-    # double precision floating point intrinsics
-    OPT_DEFS += -DPICO_DOUBLE_IN_RAM=1
-    OPT_DEFS += -DPICO_DOUBLE_PROPAGATE_NANS=0
-
-    CFLAGS += -Wl,--wrap=__aeabi_dadd
-    CFLAGS += -Wl,--wrap=__aeabi_ddiv
-    CFLAGS += -Wl,--wrap=__aeabi_dmul
-    CFLAGS += -Wl,--wrap=__aeabi_drsub
-    CFLAGS += -Wl,--wrap=__aeabi_dsub
-    CFLAGS += -Wl,--wrap=__aeabi_cdcmpeq
-    CFLAGS += -Wl,--wrap=__aeabi_cdrcmple
-    CFLAGS += -Wl,--wrap=__aeabi_cdcmple
-    CFLAGS += -Wl,--wrap=__aeabi_dcmpeq
-    CFLAGS += -Wl,--wrap=__aeabi_dcmplt
-    CFLAGS += -Wl,--wrap=__aeabi_dcmple
-    CFLAGS += -Wl,--wrap=__aeabi_dcmpge
-    CFLAGS += -Wl,--wrap=__aeabi_dcmpgt
-    CFLAGS += -Wl,--wrap=__aeabi_dcmpun
-    CFLAGS += -Wl,--wrap=__aeabi_i2d
-    CFLAGS += -Wl,--wrap=__aeabi_l2d
-    CFLAGS += -Wl,--wrap=__aeabi_ui2d
-    CFLAGS += -Wl,--wrap=__aeabi_ul2d
-    CFLAGS += -Wl,--wrap=__aeabi_d2iz
-    CFLAGS += -Wl,--wrap=__aeabi_d2lz
-    CFLAGS += -Wl,--wrap=__aeabi_d2uiz
-    CFLAGS += -Wl,--wrap=__aeabi_d2ulz
-    CFLAGS += -Wl,--wrap=__aeabi_d2f
-    CFLAGS += -Wl,--wrap=sqrt
-    CFLAGS += -Wl,--wrap=cos
-    CFLAGS += -Wl,--wrap=sin
-    CFLAGS += -Wl,--wrap=tan
-    CFLAGS += -Wl,--wrap=atan2
-    CFLAGS += -Wl,--wrap=exp
-    CFLAGS += -Wl,--wrap=log
-    CFLAGS += -Wl,--wrap=ldexp
-    CFLAGS += -Wl,--wrap=copysign
-    CFLAGS += -Wl,--wrap=trunc
-    CFLAGS += -Wl,--wrap=floor
-    CFLAGS += -Wl,--wrap=ceil
-    CFLAGS += -Wl,--wrap=round
-    CFLAGS += -Wl,--wrap=sincos
-    CFLAGS += -Wl,--wrap=asin
-    CFLAGS += -Wl,--wrap=acos
-    CFLAGS += -Wl,--wrap=atan
-    CFLAGS += -Wl,--wrap=sinh
-    CFLAGS += -Wl,--wrap=cosh
-    CFLAGS += -Wl,--wrap=tanh
-    CFLAGS += -Wl,--wrap=asinh
-    CFLAGS += -Wl,--wrap=acosh
-    CFLAGS += -Wl,--wrap=atanh
-    CFLAGS += -Wl,--wrap=exp2
-    CFLAGS += -Wl,--wrap=log2
-    CFLAGS += -Wl,--wrap=exp10
-    CFLAGS += -Wl,--wrap=log10
-    CFLAGS += -Wl,--wrap=pow
-    CFLAGS += -Wl,--wrap=powint
-    CFLAGS += -Wl,--wrap=hypot
-    CFLAGS += -Wl,--wrap=cbrt
-    CFLAGS += -Wl,--wrap=fmod
-    CFLAGS += -Wl,--wrap=drem
-    CFLAGS += -Wl,--wrap=remainder
-    CFLAGS += -Wl,--wrap=remquo
-    CFLAGS += -Wl,--wrap=expm1
-    CFLAGS += -Wl,--wrap=log1p
-    CFLAGS += -Wl,--wrap=fma
-
-    # bit operation intrinsics
-    OPT_DEFS += -DPICO_BITS_IN_RAM=1
-
-    CFLAGS += -Wl,--wrap=__clzsi2
-    CFLAGS += -Wl,--wrap=__clzsi2
-    CFLAGS += -Wl,--wrap=__clzdi2
-    CFLAGS += -Wl,--wrap=__ctzsi2
-    CFLAGS += -Wl,--wrap=__ctzdi2
-    CFLAGS += -Wl,--wrap=__popcountsi2
-    CFLAGS += -Wl,--wrap=__popcountdi2
-    CFLAGS += -Wl,--wrap=__clz
-    CFLAGS += -Wl,--wrap=__clzl
-    CFLAGS += -Wl,--wrap=__clzsi2
-    CFLAGS += -Wl,--wrap=__clzll
-
-    # integer division intrinsics
-    OPT_DEFS += -DPICO_DIVIDER_IN_RAM=1
-    OPT_DEFS += -DPICO_DIVIDER_DISABLE_INTERRUPTS=1
-
-    CFLAGS += -Wl,--wrap=__aeabi_idiv
-    CFLAGS += -Wl,--wrap=__aeabi_idivmod
-    CFLAGS += -Wl,--wrap=__aeabi_ldivmod
-    CFLAGS += -Wl,--wrap=__aeabi_uidiv
-    CFLAGS += -Wl,--wrap=__aeabi_uidivmod
-    CFLAGS += -Wl,--wrap=__aeabi_uldivmod
-
-    # 64bit integer intrinsics
-    OPT_DEFS += -DPICO_INT64_OPS_IN_RAM=1
-
-    CFLAGS += -Wl,--wrap=__aeabi_lmul
-
-    # malloc and friends functions
-    OPT_DEFS += -DPICO_USE_MALLOC_MUTEX=0
-    OPT_DEFS += -DPICO_DEBUG_MALLOC=0
-    OPT_DEFS ?= -DPICO_MALLOC_PANIC=0
-
-    CFLAGS += -Wl,--wrap=malloc
-    CFLAGS += -Wl,--wrap=calloc
-    CFLAGS += -Wl,--wrap=free
-
-    # memory operation intrinsics
-    OPT_DEFS += -DPICO_MEM_IN_RAM=1
-
-    CFLAGS += -Wl,--wrap=memcpy
-    CFLAGS += -Wl,--wrap=memset
-    CFLAGS += -Wl,--wrap=__aeabi_memcpy
-    CFLAGS += -Wl,--wrap=__aeabi_memset
-    CFLAGS += -Wl,--wrap=__aeabi_memcpy4
-    CFLAGS += -Wl,--wrap=__aeabi_memset4
-    CFLAGS += -Wl,--wrap=__aeabi_memcpy8
-    CFLAGS += -Wl,--wrap=__aeabi_memset8
-
-    PLATFORM_SRC += $(PICOSDKINTRINSICSSRC)
-    EXTRAINCDIRS += $(PICOSDKINTRINSICSINC)
-endif
+# The RP2040 sdk provides optimized compiler intrinsics which override the GCC
+# built-ins. Some of these functions are located in the bootrom of the RP2040.
+# Execution of these functions is realized via a vtable that is populated on
+# bootup. This mechanism needs startup code and linker script support from
+# ChibiOS, which is currently not implemented thus these functions are disabled
+# ATM.
+PICOSDKINTRINSICSSRC =  $(PICOSDKROOT)/src/rp2_common/pico_divider/divider.S \
+                        $(PICOSDKROOT)/src/rp2_common/pico_int64_ops/pico_int64_ops_aeabi.S
+
+PICOSDKINTRINSICSINC =  $(PICOSDKROOT)/src/common/pico_base/include \
+                        $(PICOSDKROOT)/src/rp2_common/pico_platfrom/include \
+                        $(PICOSDKROOT)/src/rp2_common/hardware_divider/include
+
+# integer division intrinsics utilizing the RP2040 hardware divider
+OPT_DEFS += -DPICO_DIVIDER_IN_RAM=1
+OPT_DEFS += -DPICO_DIVIDER_DISABLE_INTERRUPTS=1
+
+CFLAGS += -Wl,--wrap=__aeabi_idiv
+CFLAGS += -Wl,--wrap=__aeabi_idivmod
+CFLAGS += -Wl,--wrap=__aeabi_ldivmod
+CFLAGS += -Wl,--wrap=__aeabi_uidiv
+CFLAGS += -Wl,--wrap=__aeabi_uidivmod
+CFLAGS += -Wl,--wrap=__aeabi_uldivmod
+
+# 64bit integer intrinsics
+OPT_DEFS += -DPICO_INT64_OPS_IN_RAM=1
+
+CFLAGS += -Wl,--wrap=__aeabi_lmul
+
+PLATFORM_SRC += $(PICOSDKINTRINSICSSRC)
+EXTRAINCDIRS += $(PICOSDKINTRINSICSINC)