rp2040js 0.15.1 → 0.16.0

package/dist/cjs/interpolator.d.ts

@@ -0,0 +1,36 @@
+export declare class InterpolatorConfig {
+    shift: number;
+    maskLSB: number;
+    maskMSB: number;
+    signed: boolean;
+    crossInput: boolean;
+    crossResult: boolean;
+    addRaw: boolean;
+    forceMSB: number;
+    blend: boolean;
+    clamp: boolean;
+    overf0: boolean;
+    overf1: boolean;
+    overf: boolean;
+    constructor(value: number);
+    toUint32(): number;
+}
+export declare class Interpolator {
+    private readonly index;
+    accum0: number;
+    accum1: number;
+    base0: number;
+    base1: number;
+    base2: number;
+    ctrl0: number;
+    ctrl1: number;
+    result0: number;
+    result1: number;
+    result2: number;
+    smresult0: number;
+    smresult1: number;
+    constructor(index: number);
+    update(): void;
+    writeback(): void;
+    setBase01(value: number): void;
+}

package/dist/cjs/interpolator.js

@@ -0,0 +1,142 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.Interpolator = exports.InterpolatorConfig = void 0;
+const bit_1 = require("./utils/bit");
+class InterpolatorConfig {
+    constructor(value) {
+        this.shift = 0;
+        this.maskLSB = 0;
+        this.maskMSB = 0;
+        this.signed = false;
+        this.crossInput = false;
+        this.crossResult = false;
+        this.addRaw = false;
+        this.forceMSB = 0;
+        this.blend = false;
+        this.clamp = false;
+        this.overf0 = false;
+        this.overf1 = false;
+        this.overf = false;
+        this.shift = (value >>> 0) & 0b11111;
+        this.maskLSB = (value >>> 5) & 0b11111;
+        this.maskMSB = (value >>> 10) & 0b11111;
+        this.signed = Boolean((value >>> 15) & 1);
+        this.crossInput = Boolean((value >>> 16) & 1);
+        this.crossResult = Boolean((value >>> 17) & 1);
+        this.addRaw = Boolean((value >>> 18) & 1);
+        this.forceMSB = (value >>> 19) & 0b11;
+        this.blend = Boolean((value >>> 21) & 1);
+        this.clamp = Boolean((value >>> 22) & 1);
+        this.overf0 = Boolean((value >>> 23) & 1);
+        this.overf1 = Boolean((value >>> 24) & 1);
+        this.overf = Boolean((value >>> 25) & 1);
+    }
+    toUint32() {
+        return (((this.shift & 0b11111) << 0) |
+            ((this.maskLSB & 0b11111) << 5) |
+            ((this.maskMSB & 0b11111) << 10) |
+            ((Number(this.signed) & 1) << 15) |
+            ((Number(this.crossInput) & 1) << 16) |
+            ((Number(this.crossResult) & 1) << 17) |
+            ((Number(this.addRaw) & 1) << 18) |
+            ((this.forceMSB & 0b11) << 19) |
+            ((Number(this.blend) & 1) << 21) |
+            ((Number(this.clamp) & 1) << 22) |
+            ((Number(this.overf0) & 1) << 23) |
+            ((Number(this.overf1) & 1) << 24) |
+            ((Number(this.overf) & 1) << 25));
+    }
+}
+exports.InterpolatorConfig = InterpolatorConfig;
+class Interpolator {
+    constructor(index) {
+        this.index = index;
+        this.accum0 = 0;
+        this.accum1 = 0;
+        this.base0 = 0;
+        this.base1 = 0;
+        this.base2 = 0;
+        this.ctrl0 = 0;
+        this.ctrl1 = 0;
+        this.result0 = 0;
+        this.result1 = 0;
+        this.result2 = 0;
+        this.smresult0 = 0;
+        this.smresult1 = 0;
+        this.update();
+    }
+    update() {
+        const N = this.index;
+        const ctrl0 = new InterpolatorConfig(this.ctrl0);
+        const ctrl1 = new InterpolatorConfig(this.ctrl1);
+        const do_clamp = ctrl0.clamp && N == 1;
+        const do_blend = ctrl0.blend && N == 0;
+        ctrl0.clamp = do_clamp;
+        ctrl0.blend = do_blend;
+        ctrl1.clamp = false;
+        ctrl1.blend = false;
+        ctrl1.overf0 = false;
+        ctrl1.overf1 = false;
+        ctrl1.overf = false;
+        const input0 = bit_1.s32(ctrl0.crossInput ? this.accum1 : this.accum0);
+        const input1 = bit_1.s32(ctrl1.crossInput ? this.accum0 : this.accum1);
+        const msbmask0 = ctrl0.maskMSB == 31 ? 0xffffffff : (1 << (ctrl0.maskMSB + 1)) - 1;
+        const msbmask1 = ctrl1.maskMSB == 31 ? 0xffffffff : (1 << (ctrl1.maskMSB + 1)) - 1;
+        const mask0 = msbmask0 & ~((1 << ctrl0.maskLSB) - 1);
+        const mask1 = msbmask1 & ~((1 << ctrl1.maskLSB) - 1);
+        const uresult0 = (input0 >>> ctrl0.shift) & mask0;
+        const uresult1 = (input1 >>> ctrl1.shift) & mask1;
+        const overf0 = Boolean((input0 >>> ctrl0.shift) & ~msbmask0);
+        const overf1 = Boolean((input1 >>> ctrl1.shift) & ~msbmask1);
+        const overf = overf0 || overf1;
+        const sextmask0 = (uresult0 & (1 << ctrl0.maskMSB)) ? (-1 << ctrl0.maskMSB) : 0;
+        const sextmask1 = (uresult1 & (1 << ctrl1.maskMSB)) ? (-1 << ctrl1.maskMSB) : 0;
+        const sresult0 = uresult0 | sextmask0;
+        const sresult1 = uresult1 | sextmask1;
+        const result0 = ctrl0.signed ? sresult0 : uresult0;
+        const result1 = ctrl1.signed ? sresult1 : uresult1;
+        const addresult0 = this.base0 + (ctrl0.addRaw ? input0 : result0);
+        const addresult1 = this.base1 + (ctrl1.addRaw ? input1 : result1);
+        const addresult2 = this.base2 + result0 + (do_blend ? 0 : result1);
+        const uclamp0 = bit_1.u32(result0) < bit_1.u32(this.base0) ? this.base0 : (bit_1.u32(result0) > bit_1.u32(this.base1) ? this.base1 : result0);
+        const sclamp0 = bit_1.s32(result0) < bit_1.s32(this.base0) ? this.base0 : (bit_1.s32(result0) > bit_1.s32(this.base1) ? this.base1 : result0);
+        const clamp0 = ctrl0.signed ? sclamp0 : uclamp0;
+        const alpha1 = result1 & 0xff;
+        const ublend1 = bit_1.u32(this.base0) + (((alpha1 * (bit_1.u32(this.base1) - bit_1.u32(this.base0))) / 256) | 0);
+        const sblend1 = bit_1.s32(this.base0) + (((alpha1 * (bit_1.s32(this.base1) - bit_1.s32(this.base0))) / 256) | 0);
+        const blend1 = ctrl1.signed ? sblend1 : ublend1;
+        this.smresult0 = bit_1.u32(result0);
+        this.smresult1 = bit_1.u32(result1);
+        this.result0 = bit_1.u32(do_blend ? alpha1 : (do_clamp ? clamp0 : addresult0) | (ctrl0.forceMSB << 28));
+        this.result1 = bit_1.u32((do_blend ? blend1 : addresult1) | (ctrl0.forceMSB << 28));
+        this.result2 = bit_1.u32(addresult2);
+        ctrl0.overf0 = overf0;
+        ctrl0.overf1 = overf1;
+        ctrl0.overf = overf;
+        this.ctrl0 = ctrl0.toUint32();
+        this.ctrl1 = ctrl1.toUint32();
+    }
+    writeback() {
+        const ctrl0 = new InterpolatorConfig(this.ctrl0);
+        const ctrl1 = new InterpolatorConfig(this.ctrl1);
+        this.accum0 = bit_1.u32(ctrl0.crossResult ? this.result1 : this.result0);
+        this.accum1 = bit_1.u32(ctrl1.crossResult ? this.result0 : this.result1);
+        this.update();
+    }
+    setBase01(value) {
+        const N = this.index;
+        const ctrl0 = new InterpolatorConfig(this.ctrl0);
+        const ctrl1 = new InterpolatorConfig(this.ctrl1);
+        const do_blend = ctrl0.blend && N == 0;
+        const input0 = value & 0xffff;
+        const input1 = (value >>> 16) & 0xffff;
+        const sextmask0 = input0 & (1 << 15) ? -1 << 15 : 0;
+        const sextmask1 = input1 & (1 << 15) ? -1 << 15 : 0;
+        const base0 = (do_blend ? ctrl1.signed : ctrl0.signed) ? input0 | sextmask0 : input0;
+        const base1 = ctrl1.signed ? input1 | sextmask1 : input1;
+        this.base0 = bit_1.u32(base0);
+        this.base1 = bit_1.u32(base1);
+        this.update();
+    }
+}
+exports.Interpolator = Interpolator;

package/dist/cjs/sio.d.ts

@@ -1,4 +1,5 @@
 import { RP2040 } from './rp2040';
+import { Interpolator } from './interpolator';
 export declare class RPSIO {
     private readonly rp2040;
     gpioValue: number;
@@ -11,6 +12,8 @@ export declare class RPSIO {
     divRemainder: number;
     divCSR: number;
     spinLock: number;
+    interp0: Interpolator;
+    interp1: Interpolator;
     constructor(rp2040: RP2040);
     updateHardwareDivider(signed: boolean): void;
     readUint32(offset: number): number;

package/dist/cjs/sio.js

@@ -1,6 +1,7 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
 exports.RPSIO = void 0;
+const interpolator_1 = require("./interpolator");
 const CPUID = 0x000;
 // GPIO
 const GPIO_IN = 0x004; // Input value for GPIO pins
@@ -30,6 +31,39 @@ const DIV_SDIVISOR = 0x06c; //  Divider signed divisor
 const DIV_QUOTIENT = 0x070; //  Divider result quotient
 const DIV_REMAINDER = 0x074; //Divider result remainder
 const DIV_CSR = 0x078;
+//INTERPOLATOR
+const INTERP0_ACCUM0 = 0x080; // Read/write access to accumulator 0
+const INTERP0_ACCUM1 = 0x084; // Read/write access to accumulator 1
+const INTERP0_BASE0 = 0x088; // Read/write access to BASE0 register
+const INTERP0_BASE1 = 0x08c; // Read/write access to BASE1 register
+const INTERP0_BASE2 = 0x090; // Read/write access to BASE2 register
+const INTERP0_POP_LANE0 = 0x094; // Read LANE0 result, and simultaneously write lane results to both accumulators (POP)
+const INTERP0_POP_LANE1 = 0x098; // Read LANE1 result, and simultaneously write lane results to both accumulators (POP)
+const INTERP0_POP_FULL = 0x09c; // Read FULL result, and simultaneously write lane results to both accumulators (POP)
+const INTERP0_PEEK_LANE0 = 0x0a0; // Read LANE0 result, without altering any internal state (PEEK)
+const INTERP0_PEEK_LANE1 = 0x0a4; // Read LANE1 result, without altering any internal state (PEEK)
+const INTERP0_PEEK_FULL = 0x0a8; // Read FULL result, without altering any internal state (PEEK)
+const INTERP0_CTRL_LANE0 = 0x0ac; // Control register for lane 0
+const INTERP0_CTRL_LANE1 = 0x0b0; // Control register for lane 1
+const INTERP0_ACCUM0_ADD = 0x0b4; // Values written here are atomically added to ACCUM0
+const INTERP0_ACCUM1_ADD = 0x0b8; // Values written here are atomically added to ACCUM1
+const INTERP0_BASE_1AND0 = 0x0bc; // On write, the lower 16 bits go to BASE0, upper bits to BASE1 simultaneously
+const INTERP1_ACCUM0 = 0x0c0; // Read/write access to accumulator 0
+const INTERP1_ACCUM1 = 0x0c4; // Read/write access to accumulator 1
+const INTERP1_BASE0 = 0x0c8; // Read/write access to BASE0 register
+const INTERP1_BASE1 = 0x0cc; // Read/write access to BASE1 register
+const INTERP1_BASE2 = 0x0d0; // Read/write access to BASE2 register
+const INTERP1_POP_LANE0 = 0x0d4; // Read LANE0 result, and simultaneously write lane results to both accumulators (POP)
+const INTERP1_POP_LANE1 = 0x0d8; // Read LANE1 result, and simultaneously write lane results to both accumulators (POP)
+const INTERP1_POP_FULL = 0x0dc; // Read FULL result, and simultaneously write lane results to both accumulators (POP)
+const INTERP1_PEEK_LANE0 = 0x0e0; // Read LANE0 result, without altering any internal state (PEEK)
+const INTERP1_PEEK_LANE1 = 0x0e4; // Read LANE1 result, without altering any internal state (PEEK)
+const INTERP1_PEEK_FULL = 0x0e8; // Read FULL result, without altering any internal state (PEEK)
+const INTERP1_CTRL_LANE0 = 0x0ec; // Control register for lane 0
+const INTERP1_CTRL_LANE1 = 0x0f0; // Control register for lane 1
+const INTERP1_ACCUM0_ADD = 0x0f4; // Values written here are atomically added to ACCUM0
+const INTERP1_ACCUM1_ADD = 0x0f8; // Values written here are atomically added to ACCUM1
+const INTERP1_BASE_1AND0 = 0x0fc; // On write, the lower 16 bits go to BASE0, upper bits to BASE1 simultaneously
 //SPINLOCK
 const SPINLOCK_ST = 0x5c;
 const SPINLOCK0 = 0x100;
@@ -47,6 +81,8 @@ class RPSIO {
         this.divRemainder = 0;
         this.divCSR = 0;
         this.spinLock = 0;
+        this.interp0 = new interpolator_1.Interpolator(0);
+        this.interp1 = new interpolator_1.Interpolator(1);
     }
     updateHardwareDivider(signed) {
         if (this.divDivisor == 0) {
@@ -131,6 +167,84 @@ class RPSIO {
                 return this.divRemainder;
             case DIV_CSR:
                 return this.divCSR;
+            case INTERP0_ACCUM0:
+                return this.interp0.accum0;
+            case INTERP0_ACCUM1:
+                return this.interp0.accum1;
+            case INTERP0_BASE0:
+                return this.interp0.base0;
+            case INTERP0_BASE1:
+                return this.interp0.base1;
+            case INTERP0_BASE2:
+                return this.interp0.base2;
+            case INTERP0_CTRL_LANE0:
+                return this.interp0.ctrl0;
+            case INTERP0_CTRL_LANE1:
+                return this.interp0.ctrl1;
+            case INTERP0_PEEK_LANE0:
+                return this.interp0.result0;
+            case INTERP0_PEEK_LANE1:
+                return this.interp0.result1;
+            case INTERP0_PEEK_FULL:
+                return this.interp0.result2;
+            case INTERP0_POP_LANE0: {
+                const value = this.interp0.result0;
+                this.interp0.writeback();
+                return value;
+            }
+            case INTERP0_POP_LANE1: {
+                const value = this.interp0.result1;
+                this.interp0.writeback();
+                return value;
+            }
+            case INTERP0_POP_FULL: {
+                const value = this.interp0.result2;
+                this.interp0.writeback();
+                return value;
+            }
+            case INTERP0_ACCUM0_ADD:
+                return this.interp0.smresult0;
+            case INTERP0_ACCUM1_ADD:
+                return this.interp0.smresult1;
+            case INTERP1_ACCUM0:
+                return this.interp1.accum0;
+            case INTERP1_ACCUM1:
+                return this.interp1.accum1;
+            case INTERP1_BASE0:
+                return this.interp1.base0;
+            case INTERP1_BASE1:
+                return this.interp1.base1;
+            case INTERP1_BASE2:
+                return this.interp1.base2;
+            case INTERP1_CTRL_LANE0:
+                return this.interp1.ctrl0;
+            case INTERP1_CTRL_LANE1:
+                return this.interp1.ctrl1;
+            case INTERP1_PEEK_LANE0:
+                return this.interp1.result0;
+            case INTERP1_PEEK_LANE1:
+                return this.interp1.result1;
+            case INTERP1_PEEK_FULL:
+                return this.interp1.result2;
+            case INTERP1_POP_LANE0: {
+                const value = this.interp1.result0;
+                this.interp1.writeback();
+                return value;
+            }
+            case INTERP1_POP_LANE1: {
+                const value = this.interp1.result1;
+                this.interp1.writeback();
+                return value;
+            }
+            case INTERP1_POP_FULL: {
+                const value = this.interp1.result2;
+                this.interp1.writeback();
+                return value;
+            }
+            case INTERP1_ACCUM0_ADD:
+                return this.interp1.smresult0;
+            case INTERP1_ACCUM1_ADD:
+                return this.interp1.smresult1;
         }
         console.warn(`Read from invalid SIO address: ${offset.toString(16)}`);
         return 0xffffffff;
@@ -216,6 +330,84 @@ class RPSIO {
                 this.divRemainder = value;
                 this.divCSR = 0b11;
                 break;
+            case INTERP0_ACCUM0:
+                this.interp0.accum0 = value;
+                this.interp0.update();
+                break;
+            case INTERP0_ACCUM1:
+                this.interp0.accum1 = value;
+                this.interp0.update();
+                break;
+            case INTERP0_BASE0:
+                this.interp0.base0 = value;
+                this.interp0.update();
+                break;
+            case INTERP0_BASE1:
+                this.interp0.base1 = value;
+                this.interp0.update();
+                break;
+            case INTERP0_BASE2:
+                this.interp0.base2 = value;
+                this.interp0.update();
+                break;
+            case INTERP0_CTRL_LANE0:
+                this.interp0.ctrl0 = value;
+                this.interp0.update();
+                break;
+            case INTERP0_CTRL_LANE1:
+                this.interp0.ctrl1 = value;
+                this.interp0.update();
+                break;
+            case INTERP0_ACCUM0_ADD:
+                this.interp0.accum0 += value;
+                this.interp0.update();
+                break;
+            case INTERP0_ACCUM1_ADD:
+                this.interp0.accum1 += value;
+                this.interp0.update();
+                break;
+            case INTERP0_BASE_1AND0:
+                this.interp0.setBase01(value);
+                break;
+            case INTERP1_ACCUM0:
+                this.interp1.accum0 = value;
+                this.interp1.update();
+                break;
+            case INTERP1_ACCUM1:
+                this.interp1.accum1 = value;
+                this.interp1.update();
+                break;
+            case INTERP1_BASE0:
+                this.interp1.base0 = value;
+                this.interp1.update();
+                break;
+            case INTERP1_BASE1:
+                this.interp1.base1 = value;
+                this.interp1.update();
+                break;
+            case INTERP1_BASE2:
+                this.interp1.base2 = value;
+                this.interp1.update();
+                break;
+            case INTERP1_CTRL_LANE0:
+                this.interp1.ctrl0 = value;
+                this.interp1.update();
+                break;
+            case INTERP1_CTRL_LANE1:
+                this.interp1.ctrl1 = value;
+                this.interp1.update();
+                break;
+            case INTERP1_ACCUM0_ADD:
+                this.interp1.accum0 += value;
+                this.interp1.update();
+                break;
+            case INTERP1_ACCUM1_ADD:
+                this.interp1.accum1 += value;
+                this.interp1.update();
+                break;
+            case INTERP1_BASE_1AND0:
+                this.interp1.setBase01(value);
+                break;
             default:
                 console.warn(`Write to invalid SIO address: ${offset.toString(16)}, value=${value.toString(16)}`);
         }

package/dist/cjs/utils/bit.d.ts

@@ -1 +1,3 @@
 export declare function bit(n: number): number;
+export declare function s32(n: number): number;
+export declare function u32(n: number): number;

package/dist/cjs/utils/bit.js

@@ -1,7 +1,15 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
-exports.bit = void 0;
+exports.u32 = exports.s32 = exports.bit = void 0;
 function bit(n) {
     return 1 << n;
 }
 exports.bit = bit;
+function s32(n) {
+    return n | 0;
+}
+exports.s32 = s32;
+function u32(n) {
+    return n >>> 0;
+}
+exports.u32 = u32;

package/dist/esm/interpolator.d.ts

@@ -0,0 +1,36 @@
+export declare class InterpolatorConfig {
+    shift: number;
+    maskLSB: number;
+    maskMSB: number;
+    signed: boolean;
+    crossInput: boolean;
+    crossResult: boolean;
+    addRaw: boolean;
+    forceMSB: number;
+    blend: boolean;
+    clamp: boolean;
+    overf0: boolean;
+    overf1: boolean;
+    overf: boolean;
+    constructor(value: number);
+    toUint32(): number;
+}
+export declare class Interpolator {
+    private readonly index;
+    accum0: number;
+    accum1: number;
+    base0: number;
+    base1: number;
+    base2: number;
+    ctrl0: number;
+    ctrl1: number;
+    result0: number;
+    result1: number;
+    result2: number;
+    smresult0: number;
+    smresult1: number;
+    constructor(index: number);
+    update(): void;
+    writeback(): void;
+    setBase01(value: number): void;
+}

package/dist/esm/interpolator.js

@@ -0,0 +1,137 @@
+import { s32, u32 } from './utils/bit';
+export class InterpolatorConfig {
+    constructor(value) {
+        this.shift = 0;
+        this.maskLSB = 0;
+        this.maskMSB = 0;
+        this.signed = false;
+        this.crossInput = false;
+        this.crossResult = false;
+        this.addRaw = false;
+        this.forceMSB = 0;
+        this.blend = false;
+        this.clamp = false;
+        this.overf0 = false;
+        this.overf1 = false;
+        this.overf = false;
+        this.shift = (value >>> 0) & 0b11111;
+        this.maskLSB = (value >>> 5) & 0b11111;
+        this.maskMSB = (value >>> 10) & 0b11111;
+        this.signed = Boolean((value >>> 15) & 1);
+        this.crossInput = Boolean((value >>> 16) & 1);
+        this.crossResult = Boolean((value >>> 17) & 1);
+        this.addRaw = Boolean((value >>> 18) & 1);
+        this.forceMSB = (value >>> 19) & 0b11;
+        this.blend = Boolean((value >>> 21) & 1);
+        this.clamp = Boolean((value >>> 22) & 1);
+        this.overf0 = Boolean((value >>> 23) & 1);
+        this.overf1 = Boolean((value >>> 24) & 1);
+        this.overf = Boolean((value >>> 25) & 1);
+    }
+    toUint32() {
+        return (((this.shift & 0b11111) << 0) |
+            ((this.maskLSB & 0b11111) << 5) |
+            ((this.maskMSB & 0b11111) << 10) |
+            ((Number(this.signed) & 1) << 15) |
+            ((Number(this.crossInput) & 1) << 16) |
+            ((Number(this.crossResult) & 1) << 17) |
+            ((Number(this.addRaw) & 1) << 18) |
+            ((this.forceMSB & 0b11) << 19) |
+            ((Number(this.blend) & 1) << 21) |
+            ((Number(this.clamp) & 1) << 22) |
+            ((Number(this.overf0) & 1) << 23) |
+            ((Number(this.overf1) & 1) << 24) |
+            ((Number(this.overf) & 1) << 25));
+    }
+}
+export class Interpolator {
+    constructor(index) {
+        this.index = index;
+        this.accum0 = 0;
+        this.accum1 = 0;
+        this.base0 = 0;
+        this.base1 = 0;
+        this.base2 = 0;
+        this.ctrl0 = 0;
+        this.ctrl1 = 0;
+        this.result0 = 0;
+        this.result1 = 0;
+        this.result2 = 0;
+        this.smresult0 = 0;
+        this.smresult1 = 0;
+        this.update();
+    }
+    update() {
+        const N = this.index;
+        const ctrl0 = new InterpolatorConfig(this.ctrl0);
+        const ctrl1 = new InterpolatorConfig(this.ctrl1);
+        const do_clamp = ctrl0.clamp && N == 1;
+        const do_blend = ctrl0.blend && N == 0;
+        ctrl0.clamp = do_clamp;
+        ctrl0.blend = do_blend;
+        ctrl1.clamp = false;
+        ctrl1.blend = false;
+        ctrl1.overf0 = false;
+        ctrl1.overf1 = false;
+        ctrl1.overf = false;
+        const input0 = s32(ctrl0.crossInput ? this.accum1 : this.accum0);
+        const input1 = s32(ctrl1.crossInput ? this.accum0 : this.accum1);
+        const msbmask0 = ctrl0.maskMSB == 31 ? 0xffffffff : (1 << (ctrl0.maskMSB + 1)) - 1;
+        const msbmask1 = ctrl1.maskMSB == 31 ? 0xffffffff : (1 << (ctrl1.maskMSB + 1)) - 1;
+        const mask0 = msbmask0 & ~((1 << ctrl0.maskLSB) - 1);
+        const mask1 = msbmask1 & ~((1 << ctrl1.maskLSB) - 1);
+        const uresult0 = (input0 >>> ctrl0.shift) & mask0;
+        const uresult1 = (input1 >>> ctrl1.shift) & mask1;
+        const overf0 = Boolean((input0 >>> ctrl0.shift) & ~msbmask0);
+        const overf1 = Boolean((input1 >>> ctrl1.shift) & ~msbmask1);
+        const overf = overf0 || overf1;
+        const sextmask0 = (uresult0 & (1 << ctrl0.maskMSB)) ? (-1 << ctrl0.maskMSB) : 0;
+        const sextmask1 = (uresult1 & (1 << ctrl1.maskMSB)) ? (-1 << ctrl1.maskMSB) : 0;
+        const sresult0 = uresult0 | sextmask0;
+        const sresult1 = uresult1 | sextmask1;
+        const result0 = ctrl0.signed ? sresult0 : uresult0;
+        const result1 = ctrl1.signed ? sresult1 : uresult1;
+        const addresult0 = this.base0 + (ctrl0.addRaw ? input0 : result0);
+        const addresult1 = this.base1 + (ctrl1.addRaw ? input1 : result1);
+        const addresult2 = this.base2 + result0 + (do_blend ? 0 : result1);
+        const uclamp0 = u32(result0) < u32(this.base0) ? this.base0 : (u32(result0) > u32(this.base1) ? this.base1 : result0);
+        const sclamp0 = s32(result0) < s32(this.base0) ? this.base0 : (s32(result0) > s32(this.base1) ? this.base1 : result0);
+        const clamp0 = ctrl0.signed ? sclamp0 : uclamp0;
+        const alpha1 = result1 & 0xff;
+        const ublend1 = u32(this.base0) + (((alpha1 * (u32(this.base1) - u32(this.base0))) / 256) | 0);
+        const sblend1 = s32(this.base0) + (((alpha1 * (s32(this.base1) - s32(this.base0))) / 256) | 0);
+        const blend1 = ctrl1.signed ? sblend1 : ublend1;
+        this.smresult0 = u32(result0);
+        this.smresult1 = u32(result1);
+        this.result0 = u32(do_blend ? alpha1 : (do_clamp ? clamp0 : addresult0) | (ctrl0.forceMSB << 28));
+        this.result1 = u32((do_blend ? blend1 : addresult1) | (ctrl0.forceMSB << 28));
+        this.result2 = u32(addresult2);
+        ctrl0.overf0 = overf0;
+        ctrl0.overf1 = overf1;
+        ctrl0.overf = overf;
+        this.ctrl0 = ctrl0.toUint32();
+        this.ctrl1 = ctrl1.toUint32();
+    }
+    writeback() {
+        const ctrl0 = new InterpolatorConfig(this.ctrl0);
+        const ctrl1 = new InterpolatorConfig(this.ctrl1);
+        this.accum0 = u32(ctrl0.crossResult ? this.result1 : this.result0);
+        this.accum1 = u32(ctrl1.crossResult ? this.result0 : this.result1);
+        this.update();
+    }
+    setBase01(value) {
+        const N = this.index;
+        const ctrl0 = new InterpolatorConfig(this.ctrl0);
+        const ctrl1 = new InterpolatorConfig(this.ctrl1);
+        const do_blend = ctrl0.blend && N == 0;
+        const input0 = value & 0xffff;
+        const input1 = (value >>> 16) & 0xffff;
+        const sextmask0 = input0 & (1 << 15) ? -1 << 15 : 0;
+        const sextmask1 = input1 & (1 << 15) ? -1 << 15 : 0;
+        const base0 = (do_blend ? ctrl1.signed : ctrl0.signed) ? input0 | sextmask0 : input0;
+        const base1 = ctrl1.signed ? input1 | sextmask1 : input1;
+        this.base0 = u32(base0);
+        this.base1 = u32(base1);
+        this.update();
+    }
+}

package/dist/esm/sio.d.ts

@@ -1,4 +1,5 @@
 import { RP2040 } from './rp2040';
+import { Interpolator } from './interpolator';
 export declare class RPSIO {
     private readonly rp2040;
     gpioValue: number;
@@ -11,6 +12,8 @@ export declare class RPSIO {
     divRemainder: number;
     divCSR: number;
     spinLock: number;
+    interp0: Interpolator;
+    interp1: Interpolator;
     constructor(rp2040: RP2040);
     updateHardwareDivider(signed: boolean): void;
     readUint32(offset: number): number;

package/dist/esm/sio.js

@@ -1,3 +1,4 @@
+import { Interpolator } from './interpolator';
 const CPUID = 0x000;
 // GPIO
 const GPIO_IN = 0x004; // Input value for GPIO pins
@@ -27,6 +28,39 @@ const DIV_SDIVISOR = 0x06c; //  Divider signed divisor
 const DIV_QUOTIENT = 0x070; //  Divider result quotient
 const DIV_REMAINDER = 0x074; //Divider result remainder
 const DIV_CSR = 0x078;
+//INTERPOLATOR
+const INTERP0_ACCUM0 = 0x080; // Read/write access to accumulator 0
+const INTERP0_ACCUM1 = 0x084; // Read/write access to accumulator 1
+const INTERP0_BASE0 = 0x088; // Read/write access to BASE0 register
+const INTERP0_BASE1 = 0x08c; // Read/write access to BASE1 register
+const INTERP0_BASE2 = 0x090; // Read/write access to BASE2 register
+const INTERP0_POP_LANE0 = 0x094; // Read LANE0 result, and simultaneously write lane results to both accumulators (POP)
+const INTERP0_POP_LANE1 = 0x098; // Read LANE1 result, and simultaneously write lane results to both accumulators (POP)
+const INTERP0_POP_FULL = 0x09c; // Read FULL result, and simultaneously write lane results to both accumulators (POP)
+const INTERP0_PEEK_LANE0 = 0x0a0; // Read LANE0 result, without altering any internal state (PEEK)
+const INTERP0_PEEK_LANE1 = 0x0a4; // Read LANE1 result, without altering any internal state (PEEK)
+const INTERP0_PEEK_FULL = 0x0a8; // Read FULL result, without altering any internal state (PEEK)
+const INTERP0_CTRL_LANE0 = 0x0ac; // Control register for lane 0
+const INTERP0_CTRL_LANE1 = 0x0b0; // Control register for lane 1
+const INTERP0_ACCUM0_ADD = 0x0b4; // Values written here are atomically added to ACCUM0
+const INTERP0_ACCUM1_ADD = 0x0b8; // Values written here are atomically added to ACCUM1
+const INTERP0_BASE_1AND0 = 0x0bc; // On write, the lower 16 bits go to BASE0, upper bits to BASE1 simultaneously
+const INTERP1_ACCUM0 = 0x0c0; // Read/write access to accumulator 0
+const INTERP1_ACCUM1 = 0x0c4; // Read/write access to accumulator 1
+const INTERP1_BASE0 = 0x0c8; // Read/write access to BASE0 register
+const INTERP1_BASE1 = 0x0cc; // Read/write access to BASE1 register
+const INTERP1_BASE2 = 0x0d0; // Read/write access to BASE2 register
+const INTERP1_POP_LANE0 = 0x0d4; // Read LANE0 result, and simultaneously write lane results to both accumulators (POP)
+const INTERP1_POP_LANE1 = 0x0d8; // Read LANE1 result, and simultaneously write lane results to both accumulators (POP)
+const INTERP1_POP_FULL = 0x0dc; // Read FULL result, and simultaneously write lane results to both accumulators (POP)
+const INTERP1_PEEK_LANE0 = 0x0e0; // Read LANE0 result, without altering any internal state (PEEK)
+const INTERP1_PEEK_LANE1 = 0x0e4; // Read LANE1 result, without altering any internal state (PEEK)
+const INTERP1_PEEK_FULL = 0x0e8; // Read FULL result, without altering any internal state (PEEK)
+const INTERP1_CTRL_LANE0 = 0x0ec; // Control register for lane 0
+const INTERP1_CTRL_LANE1 = 0x0f0; // Control register for lane 1
+const INTERP1_ACCUM0_ADD = 0x0f4; // Values written here are atomically added to ACCUM0
+const INTERP1_ACCUM1_ADD = 0x0f8; // Values written here are atomically added to ACCUM1
+const INTERP1_BASE_1AND0 = 0x0fc; // On write, the lower 16 bits go to BASE0, upper bits to BASE1 simultaneously
 //SPINLOCK
 const SPINLOCK_ST = 0x5c;
 const SPINLOCK0 = 0x100;
@@ -44,6 +78,8 @@ export class RPSIO {
         this.divRemainder = 0;
         this.divCSR = 0;
         this.spinLock = 0;
+        this.interp0 = new Interpolator(0);
+        this.interp1 = new Interpolator(1);
     }
     updateHardwareDivider(signed) {
         if (this.divDivisor == 0) {
@@ -128,6 +164,84 @@ export class RPSIO {
                 return this.divRemainder;
             case DIV_CSR:
                 return this.divCSR;
+            case INTERP0_ACCUM0:
+                return this.interp0.accum0;
+            case INTERP0_ACCUM1:
+                return this.interp0.accum1;
+            case INTERP0_BASE0:
+                return this.interp0.base0;
+            case INTERP0_BASE1:
+                return this.interp0.base1;
+            case INTERP0_BASE2:
+                return this.interp0.base2;
+            case INTERP0_CTRL_LANE0:
+                return this.interp0.ctrl0;
+            case INTERP0_CTRL_LANE1:
+                return this.interp0.ctrl1;
+            case INTERP0_PEEK_LANE0:
+                return this.interp0.result0;
+            case INTERP0_PEEK_LANE1:
+                return this.interp0.result1;
+            case INTERP0_PEEK_FULL:
+                return this.interp0.result2;
+            case INTERP0_POP_LANE0: {
+                const value = this.interp0.result0;
+                this.interp0.writeback();
+                return value;
+            }
+            case INTERP0_POP_LANE1: {
+                const value = this.interp0.result1;
+                this.interp0.writeback();
+                return value;
+            }
+            case INTERP0_POP_FULL: {
+                const value = this.interp0.result2;
+                this.interp0.writeback();
+                return value;
+            }
+            case INTERP0_ACCUM0_ADD:
+                return this.interp0.smresult0;
+            case INTERP0_ACCUM1_ADD:
+                return this.interp0.smresult1;
+            case INTERP1_ACCUM0:
+                return this.interp1.accum0;
+            case INTERP1_ACCUM1:
+                return this.interp1.accum1;
+            case INTERP1_BASE0:
+                return this.interp1.base0;
+            case INTERP1_BASE1:
+                return this.interp1.base1;
+            case INTERP1_BASE2:
+                return this.interp1.base2;
+            case INTERP1_CTRL_LANE0:
+                return this.interp1.ctrl0;
+            case INTERP1_CTRL_LANE1:
+                return this.interp1.ctrl1;
+            case INTERP1_PEEK_LANE0:
+                return this.interp1.result0;
+            case INTERP1_PEEK_LANE1:
+                return this.interp1.result1;
+            case INTERP1_PEEK_FULL:
+                return this.interp1.result2;
+            case INTERP1_POP_LANE0: {
+                const value = this.interp1.result0;
+                this.interp1.writeback();
+                return value;
+            }
+            case INTERP1_POP_LANE1: {
+                const value = this.interp1.result1;
+                this.interp1.writeback();
+                return value;
+            }
+            case INTERP1_POP_FULL: {
+                const value = this.interp1.result2;
+                this.interp1.writeback();
+                return value;
+            }
+            case INTERP1_ACCUM0_ADD:
+                return this.interp1.smresult0;
+            case INTERP1_ACCUM1_ADD:
+                return this.interp1.smresult1;
         }
         console.warn(`Read from invalid SIO address: ${offset.toString(16)}`);
         return 0xffffffff;
@@ -213,6 +327,84 @@ export class RPSIO {
                 this.divRemainder = value;
                 this.divCSR = 0b11;
                 break;
+            case INTERP0_ACCUM0:
+                this.interp0.accum0 = value;
+                this.interp0.update();
+                break;
+            case INTERP0_ACCUM1:
+                this.interp0.accum1 = value;
+                this.interp0.update();
+                break;
+            case INTERP0_BASE0:
+                this.interp0.base0 = value;
+                this.interp0.update();
+                break;
+            case INTERP0_BASE1:
+                this.interp0.base1 = value;
+                this.interp0.update();
+                break;
+            case INTERP0_BASE2:
+                this.interp0.base2 = value;
+                this.interp0.update();
+                break;
+            case INTERP0_CTRL_LANE0:
+                this.interp0.ctrl0 = value;
+                this.interp0.update();
+                break;
+            case INTERP0_CTRL_LANE1:
+                this.interp0.ctrl1 = value;
+                this.interp0.update();
+                break;
+            case INTERP0_ACCUM0_ADD:
+                this.interp0.accum0 += value;
+                this.interp0.update();
+                break;
+            case INTERP0_ACCUM1_ADD:
+                this.interp0.accum1 += value;
+                this.interp0.update();
+                break;
+            case INTERP0_BASE_1AND0:
+                this.interp0.setBase01(value);
+                break;
+            case INTERP1_ACCUM0:
+                this.interp1.accum0 = value;
+                this.interp1.update();
+                break;
+            case INTERP1_ACCUM1:
+                this.interp1.accum1 = value;
+                this.interp1.update();
+                break;
+            case INTERP1_BASE0:
+                this.interp1.base0 = value;
+                this.interp1.update();
+                break;
+            case INTERP1_BASE1:
+                this.interp1.base1 = value;
+                this.interp1.update();
+                break;
+            case INTERP1_BASE2:
+                this.interp1.base2 = value;
+                this.interp1.update();
+                break;
+            case INTERP1_CTRL_LANE0:
+                this.interp1.ctrl0 = value;
+                this.interp1.update();
+                break;
+            case INTERP1_CTRL_LANE1:
+                this.interp1.ctrl1 = value;
+                this.interp1.update();
+                break;
+            case INTERP1_ACCUM0_ADD:
+                this.interp1.accum0 += value;
+                this.interp1.update();
+                break;
+            case INTERP1_ACCUM1_ADD:
+                this.interp1.accum1 += value;
+                this.interp1.update();
+                break;
+            case INTERP1_BASE_1AND0:
+                this.interp1.setBase01(value);
+                break;
             default:
                 console.warn(`Write to invalid SIO address: ${offset.toString(16)}, value=${value.toString(16)}`);
         }

package/dist/esm/utils/bit.d.ts

@@ -1 +1,3 @@
 export declare function bit(n: number): number;
+export declare function s32(n: number): number;
+export declare function u32(n: number): number;

package/dist/esm/utils/bit.js

@@ -1,3 +1,9 @@
 export function bit(n) {
     return 1 << n;
 }
+export function s32(n) {
+    return n | 0;
+}
+export function u32(n) {
+    return n >>> 0;
+}

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "rp2040js",
-  "version": "0.15.1",
+  "version": "0.16.0",
   "description": "Raspberry Pi Pico (RP2040) Emulator",
   "repository": "https://github.com/wokwi/rp2040js",
   "keywords": [