Analog Devices ADSP-21000 User guide

a
ADSP-21000 FamilyADSP-21000 Family
ADSP-21000 FamilyADSP-21000 Family
ADSP-21000 Family
Application Handbook VolumeApplication Handbook Volume
Application Handbook VolumeApplication Handbook Volume
Application Handbook Volume
11
11
1

ADSP-21000 FamilyADSP-21000 Family
ADSP-21000 FamilyADSP-21000 Family
ADSP-21000 Family
Application Handbook Volume 1Application Handbook Volume 1
Application Handbook Volume 1Application Handbook Volume 1
Application Handbook Volume 1
 1994 Analog Devices, Inc.
ALL RIGHTS RESERVED
PRODUCT AND DOCUMENTATION NOTICE: Analog Devices reserves the right to change this product
and its documentation without prior notice.
Information furnished by Analog Devices is believed to be accurate and reliable.
However, no responsibility is assumed by Analog Devices for its use, nor for any infringement of patents,
or other rights of third parties which may result from its use. No license is granted by implication or
otherwise under the patent rights of Analog Devices.
SHARC, EZ-ICEand EZ-LABare trademarks of Analog Devices, Inc.
MS-DOSand Windowsare trademarks of Microsoft, Inc.
PRINTED IN U.S.A.
Printing History
FIRST EDITION 5/94

For marketing information or Applications Engineering assistance, contact your local
Analog Devices sales office or authorized distributor.
If you have suggestions for how the ADSP-2100 Family development tools or
documentation can better serve your needs, or you need Applications Engineering
assistance from Analog Devices, please contact:
Analog Devices, Inc.
DSP Applications Engineering
One Technology Way
Norwood, MA 02062-9106
Tel: [phone]
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The System IC Products Division runs a Bulletin Board Service that can be reached at
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data compression (V.42bis and MNP class 5)
The System IC Products Division Applications Group maintains an Internet FTP site. Login
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prompt):
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For additional marketing information, call [phone] in Norwood MA, USA.

LiteratureLiterature
LiteratureLiterature
Literature
ADSP-21000 FAMILY MANUALSADSP-21000 FAMILY MANUALS
ADSP-21000 FAMILY MANUALSADSP-21000 FAMILY MANUALS
ADSP-21000 FAMILY MANUALS
ADSP-21020 User’s Manual
ADSP-21000 SHARC Preliminary Users Manual
Complete description of processor architectures and system interfaces.
ADSP-21000 Family Assembler Tools & Simulator Manual
ADSP-21000 Family C Tools Manual
ADSP-21000 Family C Runtime Library Manual
Programmer’s references.
ADSP-21020 EZ-ICE Manual
ADSP-21020 EZ-LAB Manual
User’s manuals for in-circuit emulators and demonstration boards.
SPECIFICATION INFORMATIONSPECIFICATION INFORMATION
SPECIFICATION INFORMATIONSPECIFICATION INFORMATION
SPECIFICATION INFORMATION
ADSP-21020 Data Sheet
ADSP-2106 SHARC Preliminary Data Sheet
ADSP-21000 Family Development Tools Data Sheet

ContentsContents
ContentsContents
Contents
CHAPTER 1 INTRODUCTION
1.1 USAGE CONVENTIONS ................................................................... 1
1.2 DEVELOPMENT RESOURCES......................................................... 1
1.2.1 Software Development Tools..................................................... 1
1.2.2 Hardware Development Tools .................................................. 2
1.2.2.1 EZ-LAB.................................................................................. 2
1.2.2.2 EZ-ICE ................................................................................... 2
1.2.3 Third Party Support .................................................................... 2
1.2.4 DSPatch ......................................................................................... 3
1.2.5 Applications Engineering Support ........................................... 3
1.2.6 ADSP-21000 Family Classes ....................................................... 4
1.3 ADSP-21000 FAMILY: THE SIGNAL PROCESSING
SOLUTION ........................................................................................... 4
1.3.1 Why DSP? ..................................................................................... 4
1.3.2 Why Floating-Point?.................................................................... 4
1.3.2.1 Precision ................................................................................ 4
1.3.2.2 Dynamic Range .................................................................... 5
1.3.2.3 Signal-To-Noise Ratio ......................................................... 5
1.3.2.4 Ease-Of-Use .......................................................................... 5
1.3.3 Why ADSP-21000 Family? ......................................................... 5
1.3.3.1 Fast & Flexible Arithmetic .................................................. 6
1.3.3.2 Unconstrained Data Flow................................................... 6
1.3.3.3 Extended IEEE-Floating-Point Support............................ 6
1.3.3.4 Dual Address Generators ................................................... 6
1.3.3.5 Efficient Program Sequencing ........................................... 6
1.4 ADSP-21000 FAMILY ARCHITECTURE OVERVIEW .................. 7
1.4.1 ADSP-21000 Family Base Architecture..................................... 7
1.4.2 ADSP-21020 DSP.......................................................................... 8
1.4.3 ADSP-21060 SHARC ................................................................. 10
v

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CHAPTER 2 TRIGONOMETRIC, MATHEMATICAL &
TRANSCENDENTAL FUNCTIONS
2.1 SINE/COSINE APPROXIMATION ............................................... 15
2.1.1 Implementation.......................................................................... 16
2.1.2 Code Listings.............................................................................. 18
2.1.2.1 Sine/Cosine Approximation Subroutine ....................... 18
2.1.2.2 Example Calling Routine .................................................. 21
2.2 TANGENT APPROXIMATION ...................................................... 22
2.2.1 Implementation.......................................................................... 22
2.2.2 Code Listing-Tangent Subroutine ........................................... 24
2.3 ARCTANGENT APPROXIMATION ............................................. 27
2.3.1 Implementation.......................................................................... 27
2.3.2 Listing-Arctangent Subroutine ................................................ 29
2.4 SQUARE ROOT & INVERSE SQUARE ROOT
APPROXIMATIONS ......................................................................... 33
2.4.1 Implementation.......................................................................... 34
2.4.2 Code Listings.............................................................................. 35
2.4.2.1 SQRT Approximation Subroutine................................... 36
2.4.2.2 ISQRT Approximation Subroutine ................................. 38
2.4.2.3 SQRTSGL Approximation Subroutine ........................... 40
2.4.2.4 ISQRTSGL Approximation Subroutine .......................... 42
2.5 DIVISION............................................................................................ 44
2.5.1 Implementation.......................................................................... 44
2.5.2 Code Listing-Division Subroutine .......................................... 44
2.6 LOGARITHM APPROXIMATIONS ............................................... 46
2.6.1 Implementation.......................................................................... 47
2.6.2 Code Listing ............................................................................... 49
2.6.2.1 Logarithm Approximation Subroutine .......................... 49
2.7 EXPONENTIAL APPROXIMATION ............................................. 52
2.7.1 Implementation.......................................................................... 53
2.7.2 Code Listings-Exponential Subroutine................................... 55
2.8 POWER APPROXIMATION............................................................ 57
2.8.1 Implementation.......................................................................... 59
2.8.2 Code Listings.............................................................................. 62
2.8.2.1 Power Subroutine .............................................................. 62
2.8.2.2 Global Header File............................................................. 68
2.8.2.3 Header File.......................................................................... 69
2.9 REFERENCES..................................................................................... 69

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CHAPTER 3 MATRIX FUNCTIONS
3.1 STORING A MATRIX ....................................................................... 72
3.2 MULTIPLICATION OF A M×N MATRIX
BY AN N×1 VECTOR........................................................................ 73
3.2.1 Implementation.......................................................................... 73
3.2.2 Code Listing—M×N By N×1 Multiplication.......................... 75
3.3 MULTIPLICATION OF A M×N MATRIX
BY A N×O MATRIX .......................................................................... 77
3.3.1 Implementation.......................................................................... 77
3.3.2 Code Listing—M×N By N×O Multiplication......................... 79
3.4 MATRIX INVERSION....................................................................... 81
3.4.1 Implementation.......................................................................... 82
3.4.2 Code Listing—Matrix Inversion.............................................. 84
3.5 REFERENCES..................................................................................... 88
CHAPTER 4 FIR & IIR FILTERS
4.1 FIR FILTERS ....................................................................................... 90
4.1.1 Implementation.......................................................................... 91
4.1.2 Code Listings.............................................................................. 96
4.1.2.1 Example Calling Routine .................................................. 96
4.1.2.2 Filter Code .......................................................................... 98
4.2 IIR FILTERS ...................................................................................... 100
4.2.1 Implementation........................................................................ 101
4.2.1.1 Implementation Overview ............................................. 101
4.2.1.2 Implementation Details .................................................. 102
4.2.2 Code Listings............................................................................ 106
4.2.2.1 iirmem.asm ....................................................................... 106
4.2.2.2 cascade.asm ...................................................................... 108
4.3 SUMMARY ....................................................................................... 111
4.4 REFERENCES................................................................................... 111
CHAPTER 5 MULTIRATE FILTERS
5.1 SINGLE-STAGE DECIMATION FILTER..................................... 114
5.1.1 Implementation........................................................................ 114
5.1.2 Code Listings—decimate.asm ............................................... 117
5.2 SINGLE-STAGE INTERPOLATION FILTER.............................. 122
5.2.1 Implementation........................................................................ 122

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5.2.2 Code Listing—interpol.asm ................................................... 124
5.3 RATIONAL RATE CHANGER (TIMER-BASED) ...................... 129
5.3.1 Implementation........................................................................ 129
5.3.2 Code Listings—ratiobuf.asm ................................................. 133
5.4 RATIONAL RATE CHANGER
(EXTERNAL INTERRUPT-BASED).............................................. 138
5.4.1 Implementation........................................................................ 138
5.4.2 Code Listing—rat_2_int.asm.................................................. 139
5.5 TWO-STAGE DECIMATION FILTER.......................................... 143
5.5.1 Implementation........................................................................ 143
5.5.2 Code Listing—dec2stg.asm .................................................... 145
5.6 TWO-STAGE INTERPOLATION FILTER ................................... 150
5.6.1 Implementation........................................................................ 150
5.6.2 Code Listing—int2stg.asm ..................................................... 151
5.7 REFERENCES................................................................................... 156
CHAPTER 6 ADAPTIVE FILTERS
6.1 INTRODUCTION ............................................................................ 157
6.1.1 Applications Of Adaptive Filters .......................................... 157
6.1.1.1 System Identification....................................................... 158
6.1.1.2 Adaptive Equalization For Data Transmission ........... 159
6.1.1.3 Echo Cancellation For Speech-Band
Data Transmission ........................................................... 159
6.1.1.4 Linear Predictive Coding of Speech Signals ................ 160
6.1.1.5 Array Processing.............................................................. 160
6.1.2 FIR Filter Structures ................................................................ 160
6.1.2.1 Transversal Structure ...................................................... 161
6.1.2.2 Symmetric Transversal Structure .................................. 162
6.1.2.3 Lattice Structure ............................................................... 163
6.1.3 Adaptive Filter Algorithms .................................................... 164
6.1.3.1 The LMS Algorithm......................................................... 164
6.1.3.2 The RLS Algorithm.......................................................... 165
6.2 IMPLEMENTATIONS .................................................................... 167
6.2.1 Transversal Filter Implementation........................................ 168
6.2.2 LMS (Transversal FIR Filter Structure)................................. 168
6.2.2.1 Code Listing—lms.asm ................................................... 169
6.2.3 llms.asm—Leaky LMS Algorithm (Transversal) ................ 171
6.2.3.1 Code Listing ..................................................................... 171
6.2.4 Normalized LMS Algorithm (Transversal).......................... 173
6.2.4.1 Code Listing—nlms.asm................................................. 174
6.2.5 Sign-Error LMS (Transversal) ................................................ 176

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6.2.5.1 Code Listing—selms.asm ............................................... 177
6.2.6 Sign-Data LMS (Transversal) ................................................. 179
6.2.6.1 Code Listing—sdlms.asm............................................... 180
6.2.7 Sign-Sign LMS (Transversal).................................................. 183
6.2.7.1 Code Listing—sslms.asm ............................................... 183
6.2.8 Symmetric Transversal Filter Implementation LMS .......... 185
6.2.8.1 Code Listing—sylms.asm ............................................... 186
6.2.9 Lattice Filter LMS With Joint Process Estimation ............... 189
6.2.9.1 Code Listing—latlms.asm .............................................. 191
6.2.10 RLS (Transversal Filter) .......................................................... 194
6.2.10.1 Code Listing—rls.asm ..................................................... 195
6.2.11 Testing Shell For Adaptive Filters......................................... 199
6.2.11.1 Code Listing—testafa.asm.............................................. 199
6.3 CONCLUSION................................................................................. 202
6.4 REFERENCES................................................................................... 203
CHAPTER 7 FOURIER TRANSFORMS
7.1 COMPUTATION OF THE DFT..................................................... 206
7.1.1 Derivation Of The Fast Fourier Transform .......................... 207
7.1.2 Butterfly Calculations ............................................................. 208
7.2 ARCHITECTURAL FEATURES FOR FFTS................................. 210
7.3 COMPLEX FFTS .............................................................................. 211
7.3.1 Architecture File Requirements ............................................. 211
7.3.2 The Radix-2 DIT FFT Program .............................................. 212
7.3.3 The Radix-4 DIF FFT Program............................................... 213
7.3.4 FFTs On The ADSP-21060 ...................................................... 214
7.3.5 FFT Twiddle Factor Generation............................................. 214
7.4 INVERSE COMPLEX FFTs............................................................. 215
7.5 BENCHMARKS ............................................................................... 216
7.6 CODE LISTINGS ............................................................................. 217
7.6.1 FFT.ACH—Architecture File ................................................. 217
7.6.2 FFTRAD2.ASM—Complex Radix2 FFT ............................... 218
7.6.3 FFTRAD4.ASM—Complex Radix-4 FFT.............................. 225
7.6.4 TWIDRAD2.C—Radix2 Coefficient Generator ................... 232
7.6.5 TWIDRAD4.C—Radix4 Coefficient Generator ................... 234
7.7 REFERENCES................................................................................... 236

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CHAPTER 8 GRAPHICS
8.1 3-D GRAPHICS LINE ACCEPT/REJECT.................................... 237
8.1.1 Implementation........................................................................ 239
8.1.2 Code Listing ............................................................................. 240
8.2 CUBIC BEZIER POLYNOMIAL EVALUATION ....................... 244
8.2.1 Implementation........................................................................ 245
8.2.2 Code Listing ............................................................................. 246
8.3 CUBIC B-SPLINE POLYNOMIAL EVALUATION................... 248
8.3.1 Implementation........................................................................ 248
8.3.2 Code Listing ............................................................................. 250
8.4 BIT BLOCK TRANSFER ................................................................. 253
8.4.1 Implementation........................................................................ 253
8.4.2 Code Listing ............................................................................. 255
8.5 BRESENHAM LINE DRAWING .................................................. 257
8.5.1 Implementation........................................................................ 257
8.5.2 Code Listing ............................................................................. 259
8.6 3-D GRAPHICS TRANSLATION, ROTATION, & SCALING . 262
8.6.1 Implementation........................................................................ 262
8.6.2 Code Listing ............................................................................. 265
8.7 MULTIPLY 4×4 BY 4×1 MATRICES (3D GRAPHICS .....................
TRANSFORMATION) .................................................................... 267
8.7.1 Implementation........................................................................ 267
8.7.2 Code Listing ............................................................................. 268
8.8 TABLE LOOKUP WITH INTERPOLATION .............................. 270
8.8.1 Implementation........................................................................ 270
8.8.2 Code Listing ............................................................................. 272
8.9 VECTOR CROSS PRODUCT ......................................................... 274
8.9.1 Implementation........................................................................ 274
8.9.2 Code Listing ............................................................................. 275
8.10 REFERENCES................................................................................... 277
CHAPTER 9 IMAGE PROCESSING
9.1 TWO-DIMENSIONAL CONVOLUTION.................................... 279
9.1.1 Implementation........................................................................ 280
9.1.2 Code Listing ............................................................................. 283
9.2 MEDIAN FILTERING (3×3) ........................................................... 285
9.2.1 Implementation........................................................................ 285
9.2.2 Code Listing ............................................................................. 286
9.3 HISTOGRAM EQUALIZATION................................................... 288

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9.3.1 Implementation........................................................................ 289
9.3.2 Code Listing ............................................................................. 290
9.4 ONE-DIMENSIONAL MEDIAN FILTERING ............................ 292
9.4.1 Implementation........................................................................ 292
9.4.2 Code Listings............................................................................ 294
9.5 REFERENCES................................................................................... 298
CHAPTER 10 JTAG DOWNLOADER
10.1 HARDWARE.................................................................................... 300
10.1.1 Details ........................................................................................ 301
10.1.2 Test Access Port Operations................................................... 305
10.1.3 Timing Considerations ........................................................... 308
10.2 SOFTWARE ...................................................................................... 310
10.2.1 TMS & TDI Bit Generation ..................................................... 311
10.2.2 Software Example .................................................................... 313
10.2.3 Summary: How To Make The EPROM ................................ 316
10.3 DETAILED TMS & TDI BEHAVIOR ............................................ 316
10.3.1 Code Listings............................................................................ 320
10.3.2 pub21k.h.................................................................................... 320
10.3.3 pub21k.c .................................................................................... 322
10.3.4 s2c.c ............................................................................................ 324
10.3.5 c2b.c ........................................................................................... 326
10.3.6 b2b.c ........................................................................................... 330
10.3.7 stox.c .......................................................................................... 331
10.3.8 Loader Kernel ........................................................................... 332
10.4 REFERENCE..................................................................................... 336
INDEX ................................................................................................ 337
FIGURES
Figure 1.1 ADSP-21020 Block Diagram....................................................... 9
Figure 1.2 ADSP-21020 System Diagram.................................................... 9
Figure 1.3 ADSP-21060 Block Diagram..................................................... 12
Figure 1.4 ADSP-21060 System Diagram.................................................. 13
Figure 1.5 ADSP-21060 Multiprocessing System Diagram .................... 14
Figure 4.1 Delay Line ................................................................................... 94

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Figure 6.1 System Identification Model .................................................. 158
Figure 6.2 Transversal FIR Filter Structure............................................. 161
Figure 6.3 Symmetric Transversal Filter Structure................................ 162
Figure 6.4 One Stage Of Lattice FIR......................................................... 163
Figure 6.5 Generic Adaptive Filter .......................................................... 167
Figure 7.1 Flow Graph Of Butterfly Calculation ................................... 208
Figure 7.2 32-Point Radix-2 DIT FFT ...................................................... 209
Figure 8.1 Cubic Bezier Polynomial ........................................................ 244
Figure 8.2 Register Assignments For Cubic Bezier Polynomial .......... 245
Figure 8.3 Cubic B-Spline Polynomial..................................................... 248
Figure 8.4 Register Assignments For Cubic B-Spline Polynomial ...... 249
Figure 8.5 BitBlt .......................................................................................... 253
Figure 8.6 Register Usage For BitBlt ........................................................ 253
Figure 9.1 3x3 Convolution Matrix .......................................................... 281
Figure 9.2 3x3 Convolution Operation.................................................... 281
Figure 9.3 Histogram Of Dark Picture .................................................... 288
Figure 9.4 Histogram Of Bright Picture .................................................. 289
Figure 9.5 Median Filter Algorithm......................................................... 293
Figure 10.1 System Diagram ....................................................................... 301
Figure 10.2 Block Diagram .......................................................................... 302
Figure 10.3 Prototype Schematic................................................................ 303
Figure 10.4 Prototype Board Layout ......................................................... 304
Figure 10.5 JTAG Test Access Port States ................................................. 305
Figure 10.6 Worst-Case Data Setup To Clock Time ................................ 309
Figure 10.7 TMS & TDI Timing From RESET Through Start
Of First Scan Of DR ................................................................. 317
Figure 10.8 TMS & TDI Timing From End Of First Scan To
Start Of Second Scan ............................................................... 318
Figure 10.9 Other TMS & TDI Timing....................................................... 319
TABLES
Table 1.1 ADSP-21060 Benchmarks (@ 40 MHz).................................... 11
Table 6.1 Transversal FIR LMS Performance & Memory
Benchmarks For Filters Of Order N ...................................... 202
Table 6.2 LMS Algorithm Benchmarks For
Different Filter Structures....................................................... 202
Table 6.3 LMS vs. RLS Benchmark Performance ................................. 203

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Table 10.1 Parts List.................................................................................... 304
Table 10.2 JTAG States Used By The Downloader ................................ 306
Table 10.3 Downloader Operations ......................................................... 307
Table 10.4 Source Code Description & Usage ........................................ 310
Table 10.5 Bitstream/EPROM Byte Relationship .................................. 311
Table 10.6 TMS Values For State Transitions ......................................... 312
Table 10.7 TDI Values For IRSHIFT & DRSHIFT .................................. 312
Table 10.8 kernel.ach - Architecture File Used With kernel.asm......... 313
Table 10.9 kernel.stk - Stacked-format spl21k Output .......................... 314
Table 10.10 kernel.s0 - pub21k Output Used To Burn
Downloader EPROM .............................................................. 315
LISTINGS
Listing 2.1 sin.asm......................................................................................... 20
Listing 2.2 sintest.asm................................................................................... 21
Listing 2.3 tan.asm ........................................................................................ 26
Listing 2.4 atan.asm ...................................................................................... 32
Listing 2.5 sqrt.asm ....................................................................................... 37
Listing 2.6 isqrt.asm ...................................................................................... 39
Listing 2.7 sqrtsgl.asm .................................................................................. 41
Listing 2.8 isqrtsgl.asm ................................................................................. 43
Listing 2.9 Divide..asm ................................................................................. 45
Listing 2.10 logs.asm....................................................................................... 51
Listing 2.11 Exponential Subroutine ............................................................ 57
Listing 2.12 pow.asm ...................................................................................... 67
Listing 2.13 asm_glob.h .................................................................................. 68
Listing 2.14 pow.h ........................................................................................... 69
Listing 3.1 MxNxNx1.asm ........................................................................... 76
Listing 3.2 MxNxNxO.asm .......................................................................... 80
Listing 3.3 matinv.asm ................................................................................. 87
Listing 4.1 firtest.asm.................................................................................... 97
Listing 4.2 fir.asm .......................................................................................... 99
Listing 4.3 Filter Specifications From FDAS ........................................... 102
Listing 4.4 iirmem.asm ............................................................................... 108
Listing 4.5 cascade.asm .............................................................................. 110
Listing 5.1 decimate.asm ............................................................................ 121
Listing 5.2 interpol.asm .............................................................................. 128
Listing 5.3 ratiobuf.asm.............................................................................. 137

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Listing 5.4 rat2int.asm ................................................................................ 142
Listing 5.5 dec2stg.asm............................................................................... 149
Listing 5.6 int2stg.asm ................................................................................ 155
Listing 6.1 lms.asm...................................................................................... 170
Listing 6.2 llms.asm .................................................................................... 173
Listing 6.3 nlms.asm ................................................................................... 176
Listing 6.4 selms.asm .................................................................................. 179
Listing 6.5 sdlms.asm ................................................................................. 182
Listing 6.6 sslms.asm .................................................................................. 185
Listing 6.7 sylms.asm.................................................................................. 188
Listing 6.8 latlms.asm ................................................................................. 193
Listing 6.9 rls.asm........................................................................................ 198
Listing 6.10 testafa.asm ................................................................................ 201
Listing 7.1 FFT.ACH ................................................................................... 217
Listing 7.2 fftrad2.asm ................................................................................ 224
Listing 7.3 fftrad4.asm ................................................................................ 231
Listing 7.4 twidrad2.c ................................................................................. 233
Listing 7.5 twidrad4.c ................................................................................. 235
Listing 8.1 accej.asm.................................................................................... 243
Listing 8.2 bezier.asm ................................................................................. 247
Listing 8.3 B-spline.asm.............................................................................. 252
Listing 8.4 bitblt.asm................................................................................... 256
Listing 8.5 bresen.asm ................................................................................ 261
Listing 8.6 transf.asm.................................................................................. 266
Listing 8.7 mul44x41.asm........................................................................... 270
Listing 8.8 tblllkup.asm .............................................................................. 273
Listing 8.9 xprod.asm ................................................................................. 277
Listing 9.1 CONV3x3.ASM ........................................................................ 284
Listing 9.2 med3x3.asm .............................................................................. 287
Listing 9.3 histo.asm ................................................................................... 292
Listing 9.4 Fixed-Point 1-D Median Fillter .............................................. 296
Listing 9.5 Floating-Point 1-D Median Fillter ......................................... 298
Listing 10.1 pub21k.h.................................................................................... 322
Listing 10.2 pub21k.c .................................................................................... 323
Listing 10.3 s2c.c ............................................................................................ 325
Listing 10.4 c2b.c ........................................................................................... 329
Listing 10.5 b2b.c ........................................................................................... 331
Listing 10.6 stox.c .......................................................................................... 331
Listing 10.7 Loader Kernal........................................................................... 335