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https://github.com/embassy-rs/embassy.git
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stm32 CORDIC: re-design API
This commit is contained in:
eZio Pan
parent
83069e7b49
commit
0abcccee96
@ -5,12 +5,14 @@ use super::{Function, Scale};
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pub enum CordicError {
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/// Config error
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ConfigError(ConfigError),
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/// Argument error
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ArgError(ArgError),
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/// Output buffer length error
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OutputLengthNotEnough,
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/// Argument length is incorrect
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ArgumentLengthIncorrect,
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/// Result buffer length error
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ResultLengthNotEnough,
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/// Input value is out of range for Q1.x format
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NumberOutOfRange(NumberOutOfRange),
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/// Argument error
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ArgError(ArgError),
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}
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impl From<ConfigError> for CordicError {
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@ -19,18 +21,18 @@ impl From<ConfigError> for CordicError {
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}
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}
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impl From<ArgError> for CordicError {
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fn from(value: ArgError) -> Self {
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Self::ArgError(value)
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}
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}
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impl From<NumberOutOfRange> for CordicError {
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fn from(value: NumberOutOfRange) -> Self {
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Self::NumberOutOfRange(value)
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}
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}
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impl From<ArgError> for CordicError {
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fn from(value: ArgError) -> Self {
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Self::ArgError(value)
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}
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}
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#[cfg(feature = "defmt")]
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impl defmt::Format for CordicError {
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fn format(&self, fmt: defmt::Formatter) {
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@ -38,9 +40,10 @@ impl defmt::Format for CordicError {
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match self {
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ConfigError(e) => defmt::write!(fmt, "{}", e),
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ArgError(e) => defmt::write!(fmt, "{}", e),
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ResultLengthNotEnough => defmt::write!(fmt, "Output buffer length is not long enough"),
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ArgumentLengthIncorrect => defmt::write!(fmt, "Argument length incorrect"),
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NumberOutOfRange(e) => defmt::write!(fmt, "{}", e),
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OutputLengthNotEnough => defmt::write!(fmt, "Output buffer length is not long enough"),
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ArgError(e) => defmt::write!(fmt, "{}", e),
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}
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}
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}
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@ -71,6 +74,26 @@ impl defmt::Format for ConfigError {
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}
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}
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/// Input value is out of range for Q1.x format
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#[allow(missing_docs)]
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#[derive(Debug)]
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pub enum NumberOutOfRange {
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BelowLowerBound,
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AboveUpperBound,
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}
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#[cfg(feature = "defmt")]
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impl defmt::Format for NumberOutOfRange {
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fn format(&self, fmt: defmt::Formatter) {
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use NumberOutOfRange::*;
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match self {
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BelowLowerBound => defmt::write!(fmt, "input value should be equal or greater than -1"),
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AboveUpperBound => defmt::write!(fmt, "input value should be equal or less than 1"),
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}
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}
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}
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/// Error on checking input arguments
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#[allow(dead_code)]
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#[derive(Debug)]
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@ -119,23 +142,3 @@ pub(super) enum ArgType {
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Arg1,
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Arg2,
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}
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/// Input value is out of range for Q1.x format
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#[allow(missing_docs)]
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#[derive(Debug)]
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pub enum NumberOutOfRange {
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BelowLowerBound,
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AboveUpperBound,
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}
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#[cfg(feature = "defmt")]
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impl defmt::Format for NumberOutOfRange {
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fn format(&self, fmt: defmt::Formatter) {
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use NumberOutOfRange::*;
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match self {
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BelowLowerBound => defmt::write!(fmt, "input value should be equal or greater than -1"),
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AboveUpperBound => defmt::write!(fmt, "input value should be equal or less than 1"),
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}
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}
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}
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@ -21,8 +21,6 @@ pub mod low_level {
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pub use super::sealed::*;
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}
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const INPUT_BUF_MAX_LEN: usize = 16;
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/// CORDIC driver
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pub struct Cordic<'d, T: Instance> {
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peri: PeripheralRef<'d, T>,
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@ -38,17 +36,15 @@ pub struct Config {
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function: Function,
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precision: Precision,
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scale: Scale,
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res1_only: bool,
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}
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impl Config {
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/// Create a config for Cordic driver
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pub fn new(function: Function, precision: Precision, scale: Scale, res1_only: bool) -> Result<Self, CordicError> {
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pub fn new(function: Function, precision: Precision, scale: Scale) -> Result<Self, CordicError> {
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let config = Self {
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function,
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precision,
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scale,
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res1_only,
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};
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config.check_scale()?;
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@ -117,7 +113,32 @@ impl<'d, T: Instance> Cordic<'d, T> {
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self.peri.set_data_width(arg_width, res_width);
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}
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fn reconfigure(&mut self) {
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fn clean_rrdy_flag(&mut self) {
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while self.peri.ready_to_read() {
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self.peri.read_result();
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}
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}
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/// Disable IRQ and DMA, clean RRDY, and set ARG2 to +1 (0x7FFFFFFF)
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pub fn reconfigure(&mut self) {
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// reset ARG2 to +1
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{
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self.peri.disable_irq();
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self.peri.disable_read_dma();
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self.peri.disable_write_dma();
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self.clean_rrdy_flag();
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self.peri.set_func(Function::Cos);
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self.peri.set_precision(Precision::Iters4);
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self.peri.set_scale(Scale::Arg1Res1);
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self.peri.set_argument_count(AccessCount::Two);
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self.peri.set_data_width(Width::Bits32, Width::Bits32);
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self.peri.write_argument(0x0u32);
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self.peri.write_argument(0x7FFFFFFFu32);
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self.clean_rrdy_flag();
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}
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self.peri.set_func(self.config.function);
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self.peri.set_precision(self.config.precision);
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self.peri.set_scale(self.config.scale);
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@ -125,16 +146,154 @@ impl<'d, T: Instance> Cordic<'d, T> {
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// we don't set NRES in here, but to make sure NRES is set each time user call "calc"-ish functions,
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// since each "calc"-ish functions can have different ARGSIZE and RESSIZE, thus NRES should be change accordingly.
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}
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}
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async fn launch_a_dma_transfer(
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impl<'d, T: Instance> Drop for Cordic<'d, T> {
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fn drop(&mut self) {
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T::disable();
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}
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}
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// q1.31 related
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impl<'d, T: Instance> Cordic<'d, T> {
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/// Run a blocking CORDIC calculation in q1.31 format
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///
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/// Notice:
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/// If you set `arg1_only` to `true`, please be sure ARG2 value has been set to desired value before.
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/// This function won't set ARG2 to +1 before or after each round of calculation.
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/// If you want to make sure ARG2 is set to +1, consider run [.reconfigure()](Self::reconfigure).
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pub fn blocking_calc_32bit(
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&mut self,
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arg: &[u32],
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res: &mut [u32],
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arg1_only: bool,
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res1_only: bool,
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) -> Result<usize, CordicError> {
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if arg.is_empty() {
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return Ok(0);
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}
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let res_cnt = Self::check_arg_res_length_32bit(arg.len(), res.len(), arg1_only, res1_only)?;
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self.peri
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.set_argument_count(if arg1_only { AccessCount::One } else { AccessCount::Two });
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self.peri
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.set_result_count(if res1_only { AccessCount::One } else { AccessCount::Two });
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self.peri.set_data_width(Width::Bits32, Width::Bits32);
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let mut cnt = 0;
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match arg1_only {
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true => {
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// To use cordic preload function, the first value is special.
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// It is loaded to CORDIC WDATA register out side of loop
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let first_value = arg[0];
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// preload 1st value to CORDIC, to start the CORDIC calc
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self.peri.write_argument(first_value);
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for &arg1 in &arg[1..] {
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// preload arg1 (for next calc)
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self.peri.write_argument(arg1);
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// then read current result out
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res[cnt] = self.peri.read_result();
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cnt += 1;
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if !res1_only {
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res[cnt] = self.peri.read_result();
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cnt += 1;
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}
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}
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// read the last result
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res[cnt] = self.peri.read_result();
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cnt += 1;
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if !res1_only {
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res[cnt] = self.peri.read_result();
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// cnt += 1;
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}
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}
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false => {
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// To use cordic preload function, the first and last value is special.
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// They are load to CORDIC WDATA register out side of loop
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let first_value = arg[0];
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let last_value = arg[arg.len() - 1];
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let paired_args = &arg[1..arg.len() - 1];
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// preload 1st value to CORDIC
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self.peri.write_argument(first_value);
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for args in paired_args.chunks(2) {
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let arg2 = args[0];
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let arg1 = args[1];
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// load arg2 (for current calc) first, to start the CORDIC calc
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self.peri.write_argument(arg2);
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// preload arg1 (for next calc)
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self.peri.write_argument(arg1);
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// then read current result out
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res[cnt] = self.peri.read_result();
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cnt += 1;
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if !res1_only {
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res[cnt] = self.peri.read_result();
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cnt += 1;
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}
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}
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// load last value to CORDIC, and finish the calculation
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self.peri.write_argument(last_value);
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res[cnt] = self.peri.read_result();
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cnt += 1;
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if !res1_only {
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res[cnt] = self.peri.read_result();
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// cnt += 1;
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}
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}
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}
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// at this point cnt should be equal to res_cnt
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Ok(res_cnt)
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}
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/// Run a async CORDIC calculation in q.1.31 format
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///
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/// Notice:
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/// If you set `arg1_only` to `true`, please be sure ARG2 value has been set to desired value before.
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/// This function won't set ARG2 to +1 before or after each round of calculation.
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/// If you want to make sure ARG2 is set to +1, consider run [.reconfigure()](Self::reconfigure).
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pub async fn async_calc_32bit(
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&mut self,
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write_dma: impl Peripheral<P = impl WriteDma<T>>,
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read_dma: impl Peripheral<P = impl ReadDma<T>>,
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input: &[u32],
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output: &mut [u32],
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) {
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arg: &[u32],
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res: &mut [u32],
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arg1_only: bool,
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res1_only: bool,
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) -> Result<usize, CordicError> {
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if arg.is_empty() {
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return Ok(0);
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}
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let res_cnt = Self::check_arg_res_length_32bit(arg.len(), res.len(), arg1_only, res1_only)?;
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let active_res_buf = &mut res[..res_cnt];
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into_ref!(write_dma, read_dma);
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self.peri
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.set_argument_count(if arg1_only { AccessCount::One } else { AccessCount::Two });
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self.peri
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.set_result_count(if res1_only { AccessCount::One } else { AccessCount::Two });
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self.peri.set_data_width(Width::Bits32, Width::Bits32);
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let write_req = write_dma.request();
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let read_req = read_dma.request();
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@ -150,7 +309,7 @@ impl<'d, T: Instance> Cordic<'d, T> {
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let write_transfer = dma::Transfer::new_write(
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&mut write_dma,
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write_req,
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input,
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arg,
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T::regs().wdata().as_ptr() as *mut _,
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Default::default(),
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);
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@ -159,328 +318,60 @@ impl<'d, T: Instance> Cordic<'d, T> {
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&mut read_dma,
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read_req,
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T::regs().rdata().as_ptr() as *mut _,
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output,
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active_res_buf,
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Default::default(),
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);
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embassy_futures::join::join(write_transfer, read_transfer).await;
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}
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}
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Ok(res_cnt)
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}
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impl<'d, T: Instance> Drop for Cordic<'d, T> {
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fn drop(&mut self) {
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T::disable();
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}
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}
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// q1.31 related
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impl<'d, T: Instance> Cordic<'d, T> {
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/// Run a blocking CORDIC calculation in q1.31 format
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pub fn blocking_calc_32bit(
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&mut self,
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arg1s: &[f64],
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arg2s: Option<&[f64]>,
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output: &mut [f64],
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fn check_arg_res_length_32bit(
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arg_len: usize,
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res_len: usize,
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arg1_only: bool,
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res1_only: bool,
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) -> Result<usize, CordicError> {
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if arg1s.is_empty() {
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return Ok(0);
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if !arg1_only && arg_len % 2 != 0 {
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return Err(CordicError::ArgumentLengthIncorrect);
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}
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let output_length_enough = match self.config.res1_only {
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true => output.len() >= arg1s.len(),
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false => output.len() >= 2 * arg1s.len(),
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};
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let mut minimal_res_length = arg_len;
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if !output_length_enough {
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return Err(CordicError::OutputLengthNotEnough);
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if !res1_only {
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minimal_res_length *= 2;
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}
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self.check_input_f64(arg1s, arg2s)?;
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self.peri.set_result_count(if self.config.res1_only {
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AccessCount::One
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} else {
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AccessCount::Two
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});
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self.peri.set_data_width(Width::Bits32, Width::Bits32);
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let mut output_count = 0;
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let mut consumed_input_len = 0;
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//
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// handle 2 input args calculation
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//
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if arg2s.is_some() && !arg2s.unwrap().is_empty() {
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let arg2s = arg2s.unwrap();
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self.peri.set_argument_count(AccessCount::Two);
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// Skip 1st value from arg1s, this value will be manually "preload" to cordic, to make use of cordic preload function.
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// And we preserve last value from arg2s, since it need to manually write to cordic, and read the result out.
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let double_input = arg1s.iter().skip(1).zip(&arg2s[..arg2s.len() - 1]);
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// Since we preload 1st value from arg1s, the consumed input length is double_input length + 1.
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consumed_input_len = double_input.len() + 1;
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// preload first value from arg1 to cordic
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self.blocking_write_f64(arg1s[0])?;
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for (&arg1, &arg2) in double_input {
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// Since we manually preload a value before,
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// we will write arg2 (from the actual last pair) first, (at this moment, cordic start to calculating,)
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// and write arg1 (from the actual next pair), then read the result, to "keep preloading"
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self.blocking_write_f64(arg2)?;
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self.blocking_write_f64(arg1)?;
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self.blocking_read_f64_to_buf(output, &mut output_count);
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if !arg1_only {
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minimal_res_length /= 2
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}
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// write last input value from arg2s, then read out the result
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self.blocking_write_f64(arg2s[arg2s.len() - 1])?;
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self.blocking_read_f64_to_buf(output, &mut output_count);
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if minimal_res_length > res_len {
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return Err(CordicError::ResultLengthNotEnough);
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}
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//
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// handle 1 input arg calculation
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//
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let input_left = &arg1s[consumed_input_len..];
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if !input_left.is_empty() {
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self.peri.set_argument_count(AccessCount::One);
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// "preload" value to cordic (at this moment, cordic start to calculating)
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self.blocking_write_f64(input_left[0])?;
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for &arg in input_left.iter().skip(1) {
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// this line write arg for next round calculation to cordic,
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// and read result from last round
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self.blocking_write_f64(arg)?;
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self.blocking_read_f64_to_buf(output, &mut output_count);
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}
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// read the last output
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self.blocking_read_f64_to_buf(output, &mut output_count);
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}
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Ok(output_count)
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}
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fn blocking_read_f64_to_buf(&mut self, result_buf: &mut [f64], result_index: &mut usize) {
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result_buf[*result_index] = utils::q1_31_to_f64(self.peri.read_result());
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*result_index += 1;
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// We don't care about whether the function return 1 or 2 results,
|
||||
// the only thing matter is whether user want 1 or 2 results.
|
||||
if !self.config.res1_only {
|
||||
result_buf[*result_index] = utils::q1_31_to_f64(self.peri.read_result());
|
||||
*result_index += 1;
|
||||
}
|
||||
}
|
||||
|
||||
fn blocking_write_f64(&mut self, arg: f64) -> Result<(), NumberOutOfRange> {
|
||||
self.peri.write_argument(utils::f64_to_q1_31(arg)?);
|
||||
Ok(())
|
||||
}
|
||||
|
||||
/// Run a async CORDIC calculation in q.1.31 format
|
||||
pub async fn async_calc_32bit(
|
||||
&mut self,
|
||||
write_dma: impl Peripheral<P = impl WriteDma<T>>,
|
||||
read_dma: impl Peripheral<P = impl ReadDma<T>>,
|
||||
arg1s: &[f64],
|
||||
arg2s: Option<&[f64]>,
|
||||
output: &mut [f64],
|
||||
) -> Result<usize, CordicError> {
|
||||
if arg1s.is_empty() {
|
||||
return Ok(0);
|
||||
}
|
||||
|
||||
let output_length_enough = match self.config.res1_only {
|
||||
true => output.len() >= arg1s.len(),
|
||||
false => output.len() >= 2 * arg1s.len(),
|
||||
};
|
||||
|
||||
if !output_length_enough {
|
||||
return Err(CordicError::OutputLengthNotEnough);
|
||||
}
|
||||
|
||||
self.check_input_f64(arg1s, arg2s)?;
|
||||
|
||||
into_ref!(write_dma, read_dma);
|
||||
|
||||
self.peri.set_result_count(if self.config.res1_only {
|
||||
AccessCount::One
|
||||
} else {
|
||||
AccessCount::Two
|
||||
});
|
||||
|
||||
self.peri.set_data_width(Width::Bits32, Width::Bits32);
|
||||
|
||||
let mut output_count = 0;
|
||||
let mut consumed_input_len = 0;
|
||||
let mut input_buf = [0u32; INPUT_BUF_MAX_LEN];
|
||||
let mut input_buf_len = 0;
|
||||
|
||||
//
|
||||
// handle 2 input args calculation
|
||||
//
|
||||
|
||||
if !arg2s.unwrap_or_default().is_empty() {
|
||||
let arg2s = arg2s.unwrap();
|
||||
|
||||
self.peri.set_argument_count(AccessCount::Two);
|
||||
|
||||
let double_input = arg1s.iter().zip(arg2s);
|
||||
|
||||
consumed_input_len = double_input.len();
|
||||
|
||||
for (&arg1, &arg2) in double_input {
|
||||
for &arg in [arg1, arg2].iter() {
|
||||
input_buf[input_buf_len] = utils::f64_to_q1_31(arg)?;
|
||||
input_buf_len += 1;
|
||||
}
|
||||
|
||||
if input_buf_len == INPUT_BUF_MAX_LEN {
|
||||
self.inner_dma_calc_32bit(
|
||||
&mut write_dma,
|
||||
&mut read_dma,
|
||||
true,
|
||||
&input_buf[..input_buf_len],
|
||||
output,
|
||||
&mut output_count,
|
||||
)
|
||||
.await;
|
||||
|
||||
input_buf_len = 0;
|
||||
}
|
||||
}
|
||||
|
||||
if input_buf_len > 0 {
|
||||
self.inner_dma_calc_32bit(
|
||||
&mut write_dma,
|
||||
&mut read_dma,
|
||||
true,
|
||||
&input_buf[..input_buf_len],
|
||||
output,
|
||||
&mut output_count,
|
||||
)
|
||||
.await;
|
||||
|
||||
input_buf_len = 0;
|
||||
}
|
||||
}
|
||||
|
||||
//
|
||||
// handle 1 input arg calculation
|
||||
//
|
||||
|
||||
if arg1s.len() > consumed_input_len {
|
||||
let input_remain = &arg1s[consumed_input_len..];
|
||||
|
||||
self.peri.set_argument_count(AccessCount::One);
|
||||
|
||||
for &arg in input_remain {
|
||||
input_buf[input_buf_len] = utils::f64_to_q1_31(arg)?;
|
||||
input_buf_len += 1;
|
||||
|
||||
if input_buf_len == INPUT_BUF_MAX_LEN {
|
||||
self.inner_dma_calc_32bit(
|
||||
&mut write_dma,
|
||||
&mut read_dma,
|
||||
false,
|
||||
&input_buf[..input_buf_len],
|
||||
output,
|
||||
&mut output_count,
|
||||
)
|
||||
.await;
|
||||
|
||||
input_buf_len = 0;
|
||||
}
|
||||
}
|
||||
|
||||
if input_buf_len > 0 {
|
||||
self.inner_dma_calc_32bit(
|
||||
&mut write_dma,
|
||||
&mut read_dma,
|
||||
false,
|
||||
&input_buf[..input_buf_len],
|
||||
output,
|
||||
&mut output_count,
|
||||
)
|
||||
.await;
|
||||
|
||||
// input_buf_len = 0;
|
||||
}
|
||||
}
|
||||
|
||||
Ok(output_count)
|
||||
}
|
||||
|
||||
// this function is highly coupled with async_calc_32bit, and is not intended to use in other place
|
||||
async fn inner_dma_calc_32bit(
|
||||
&mut self,
|
||||
write_dma: impl Peripheral<P = impl WriteDma<T>>,
|
||||
read_dma: impl Peripheral<P = impl ReadDma<T>>,
|
||||
double_input: bool, // gether extra info to calc output_buf size
|
||||
input_buf: &[u32], // input_buf, its content should be exact length for calculation
|
||||
output: &mut [f64], // caller should uses this buf as a final output array
|
||||
output_start_index: &mut usize, // the index of start point of the output for this round of calculation
|
||||
) {
|
||||
// output_buf is the place to store raw value from CORDIC (via DMA).
|
||||
// For buf size, we assume in this round of calculation:
|
||||
// all input is 1 arg, and all calculation need 2 output,
|
||||
// thus output_buf will always be long enough.
|
||||
let mut output_buf = [0u32; INPUT_BUF_MAX_LEN * 2];
|
||||
|
||||
let mut output_buf_size = input_buf.len();
|
||||
if !self.config.res1_only {
|
||||
// if we need 2 result for 1 input, then output_buf length should be 2x long.
|
||||
output_buf_size *= 2;
|
||||
};
|
||||
if double_input {
|
||||
// if input itself is 2 args for 1 calculation, then output_buf length should be /2.
|
||||
output_buf_size /= 2;
|
||||
}
|
||||
|
||||
let active_output_buf = &mut output_buf[..output_buf_size];
|
||||
|
||||
self.launch_a_dma_transfer(write_dma, read_dma, input_buf, active_output_buf)
|
||||
.await;
|
||||
|
||||
for &mut output_u32 in active_output_buf {
|
||||
output[*output_start_index] = utils::q1_31_to_f64(output_u32);
|
||||
*output_start_index += 1;
|
||||
}
|
||||
Ok(minimal_res_length)
|
||||
}
|
||||
}
|
||||
|
||||
// q1.15 related
|
||||
impl<'d, T: Instance> Cordic<'d, T> {
|
||||
/// Run a blocking CORDIC calculation in q1.15 format
|
||||
pub fn blocking_calc_16bit(
|
||||
&mut self,
|
||||
arg1s: &[f32],
|
||||
arg2s: Option<&[f32]>,
|
||||
output: &mut [f32],
|
||||
) -> Result<usize, CordicError> {
|
||||
if arg1s.is_empty() {
|
||||
///
|
||||
/// Notice::
|
||||
/// User will take respond to merge two u16 arguments into one u32 data, and/or split one u32 data into two u16 results.
|
||||
pub fn blocking_calc_16bit(&mut self, arg: &[u32], res: &mut [u32]) -> Result<usize, CordicError> {
|
||||
if arg.is_empty() {
|
||||
return Ok(0);
|
||||
}
|
||||
|
||||
let output_length_enough = match self.config.res1_only {
|
||||
true => output.len() >= arg1s.len(),
|
||||
false => output.len() >= 2 * arg1s.len(),
|
||||
};
|
||||
|
||||
if !output_length_enough {
|
||||
return Err(CordicError::OutputLengthNotEnough);
|
||||
if arg.len() > res.len() {
|
||||
return Err(CordicError::ResultLengthNotEnough);
|
||||
}
|
||||
|
||||
self.check_input_f32(arg1s, arg2s)?;
|
||||
let res_cnt = arg.len();
|
||||
|
||||
// In q1.15 mode, 1 write/read to access 2 arguments/results
|
||||
self.peri.set_argument_count(AccessCount::One);
|
||||
@ -488,83 +379,53 @@ impl<'d, T: Instance> Cordic<'d, T> {
|
||||
|
||||
self.peri.set_data_width(Width::Bits16, Width::Bits16);
|
||||
|
||||
let mut output_count = 0;
|
||||
// To use cordic preload function, the first value is special.
|
||||
// It is loaded to CORDIC WDATA register out side of loop
|
||||
let first_value = arg[0];
|
||||
|
||||
// In q1.15 mode, we always fill 1 pair of 16bit value into WDATA register.
|
||||
// If arg2s is None or empty array, we assume arg2 value always 1.0 (as reset value for ARG2).
|
||||
// If arg2s has some value, and but not as long as arg1s,
|
||||
// we fill the reset of arg2 values with last value from arg2s (as q1.31 version does)
|
||||
// preload 1st value to CORDIC, to start the CORDIC calc
|
||||
self.peri.write_argument(first_value);
|
||||
|
||||
let arg2_default_value = match arg2s {
|
||||
Some(arg2s) if !arg2s.is_empty() => arg2s[arg2s.len() - 1],
|
||||
_ => 1.0,
|
||||
};
|
||||
let mut cnt = 0;
|
||||
|
||||
let mut args = arg1s.iter().zip(
|
||||
arg2s
|
||||
.unwrap_or(&[])
|
||||
.iter()
|
||||
.chain(core::iter::repeat(&arg2_default_value)),
|
||||
);
|
||||
for &arg_val in &arg[1..] {
|
||||
// preload arg_val (for next calc)
|
||||
self.peri.write_argument(arg_val);
|
||||
|
||||
let (&arg1, &arg2) = args.next().unwrap();
|
||||
|
||||
// preloading 1 pair of arguments
|
||||
self.blocking_write_f32(arg1, arg2)?;
|
||||
|
||||
for (&arg1, &arg2) in args {
|
||||
self.blocking_write_f32(arg1, arg2)?;
|
||||
self.blocking_read_f32_to_buf(output, &mut output_count);
|
||||
// then read current result out
|
||||
res[cnt] = self.peri.read_result();
|
||||
cnt += 1;
|
||||
}
|
||||
|
||||
// read last pair of value from cordic
|
||||
self.blocking_read_f32_to_buf(output, &mut output_count);
|
||||
// read last result out
|
||||
res[cnt] = self.peri.read_result();
|
||||
// cnt += 1;
|
||||
|
||||
Ok(output_count)
|
||||
}
|
||||
|
||||
fn blocking_write_f32(&mut self, arg1: f32, arg2: f32) -> Result<(), NumberOutOfRange> {
|
||||
self.peri.write_argument(utils::f32_args_to_u32(arg1, arg2)?);
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn blocking_read_f32_to_buf(&mut self, result_buf: &mut [f32], result_index: &mut usize) {
|
||||
let (res1, res2) = utils::u32_to_f32_res(self.peri.read_result());
|
||||
|
||||
result_buf[*result_index] = res1;
|
||||
*result_index += 1;
|
||||
|
||||
// We don't care about whether the function return 1 or 2 results,
|
||||
// the only thing matter is whether user want 1 or 2 results.
|
||||
if !self.config.res1_only {
|
||||
result_buf[*result_index] = res2;
|
||||
*result_index += 1;
|
||||
}
|
||||
Ok(res_cnt)
|
||||
}
|
||||
|
||||
/// Run a async CORDIC calculation in q1.15 format
|
||||
///
|
||||
/// Notice::
|
||||
/// User will take respond to merge two u16 arguments into one u32 data, and/or split one u32 data into two u16 results.
|
||||
pub async fn async_calc_16bit(
|
||||
&mut self,
|
||||
write_dma: impl Peripheral<P = impl WriteDma<T>>,
|
||||
read_dma: impl Peripheral<P = impl ReadDma<T>>,
|
||||
arg1s: &[f32],
|
||||
arg2s: Option<&[f32]>,
|
||||
output: &mut [f32],
|
||||
arg: &[u32],
|
||||
res: &mut [u32],
|
||||
) -> Result<usize, CordicError> {
|
||||
if arg1s.is_empty() {
|
||||
if arg.is_empty() {
|
||||
return Ok(0);
|
||||
}
|
||||
|
||||
let output_length_enough = match self.config.res1_only {
|
||||
true => output.len() >= arg1s.len(),
|
||||
false => output.len() >= 2 * arg1s.len(),
|
||||
};
|
||||
|
||||
if !output_length_enough {
|
||||
return Err(CordicError::OutputLengthNotEnough);
|
||||
if arg.len() > res.len() {
|
||||
return Err(CordicError::ResultLengthNotEnough);
|
||||
}
|
||||
|
||||
self.check_input_f32(arg1s, arg2s)?;
|
||||
let res_cnt = arg.len();
|
||||
|
||||
let active_res_buf = &mut res[..res_cnt];
|
||||
|
||||
into_ref!(write_dma, read_dma);
|
||||
|
||||
@ -574,142 +435,96 @@ impl<'d, T: Instance> Cordic<'d, T> {
|
||||
|
||||
self.peri.set_data_width(Width::Bits16, Width::Bits16);
|
||||
|
||||
let mut output_count = 0;
|
||||
let mut input_buf = [0u32; INPUT_BUF_MAX_LEN];
|
||||
let mut input_buf_len = 0;
|
||||
let write_req = write_dma.request();
|
||||
let read_req = read_dma.request();
|
||||
|
||||
// In q1.15 mode, we always fill 1 pair of 16bit value into WDATA register.
|
||||
// If arg2s is None or empty array, we assume arg2 value always 1.0 (as reset value for ARG2).
|
||||
// If arg2s has some value, and but not as long as arg1s,
|
||||
// we fill the reset of arg2 values with last value from arg2s (as CORDIC behavior on q1.31 format)
|
||||
self.peri.enable_write_dma();
|
||||
self.peri.enable_read_dma();
|
||||
|
||||
let arg2_default_value = match arg2s {
|
||||
Some(arg2s) if !arg2s.is_empty() => arg2s[arg2s.len() - 1],
|
||||
_ => 1.0,
|
||||
};
|
||||
let _on_drop = OnDrop::new(|| {
|
||||
self.peri.disable_write_dma();
|
||||
self.peri.disable_read_dma();
|
||||
});
|
||||
|
||||
let args = arg1s.iter().zip(
|
||||
arg2s
|
||||
.unwrap_or(&[])
|
||||
.iter()
|
||||
.chain(core::iter::repeat(&arg2_default_value)),
|
||||
unsafe {
|
||||
let write_transfer = dma::Transfer::new_write(
|
||||
&mut write_dma,
|
||||
write_req,
|
||||
arg,
|
||||
T::regs().wdata().as_ptr() as *mut _,
|
||||
Default::default(),
|
||||
);
|
||||
|
||||
for (&arg1, &arg2) in args {
|
||||
input_buf[input_buf_len] = utils::f32_args_to_u32(arg1, arg2)?;
|
||||
input_buf_len += 1;
|
||||
|
||||
if input_buf_len == INPUT_BUF_MAX_LEN {
|
||||
self.inner_dma_calc_16bit(&mut write_dma, &mut read_dma, &input_buf, output, &mut output_count)
|
||||
.await;
|
||||
}
|
||||
}
|
||||
|
||||
if input_buf_len > 0 {
|
||||
self.inner_dma_calc_16bit(
|
||||
&mut write_dma,
|
||||
let read_transfer = dma::Transfer::new_read(
|
||||
&mut read_dma,
|
||||
&input_buf[..input_buf_len],
|
||||
output,
|
||||
&mut output_count,
|
||||
)
|
||||
.await;
|
||||
read_req,
|
||||
T::regs().rdata().as_ptr() as *mut _,
|
||||
active_res_buf,
|
||||
Default::default(),
|
||||
);
|
||||
|
||||
embassy_futures::join::join(write_transfer, read_transfer).await;
|
||||
}
|
||||
|
||||
Ok(output_count)
|
||||
}
|
||||
|
||||
// this function is highly coupled with async_calc_16bit, and is not intended to use in other place
|
||||
async fn inner_dma_calc_16bit(
|
||||
&mut self,
|
||||
write_dma: impl Peripheral<P = impl WriteDma<T>>,
|
||||
read_dma: impl Peripheral<P = impl ReadDma<T>>,
|
||||
input_buf: &[u32], // input_buf, its content should be exact length for calculation
|
||||
output: &mut [f32], // caller should uses this buf as a final output array
|
||||
output_start_index: &mut usize, // the index of start point of the output for this round of calculation
|
||||
) {
|
||||
// output_buf is the place to store raw value from CORDIC (via DMA).
|
||||
let mut output_buf = [0u32; INPUT_BUF_MAX_LEN];
|
||||
|
||||
let active_output_buf = &mut output_buf[..input_buf.len()];
|
||||
|
||||
self.launch_a_dma_transfer(write_dma, read_dma, input_buf, active_output_buf)
|
||||
.await;
|
||||
|
||||
for &mut output_u32 in active_output_buf {
|
||||
let (res1, res2) = utils::u32_to_f32_res(output_u32);
|
||||
|
||||
output[*output_start_index] = res1;
|
||||
*output_start_index += 1;
|
||||
|
||||
if !self.config.res1_only {
|
||||
output[*output_start_index] = res2;
|
||||
*output_start_index += 1;
|
||||
}
|
||||
}
|
||||
Ok(res_cnt)
|
||||
}
|
||||
}
|
||||
|
||||
// check input value ARG1, ARG2, SCALE and FUNCTION are compatible with each other
|
||||
macro_rules! check_input_value {
|
||||
($func_name:ident, $float_type:ty) => {
|
||||
macro_rules! check_arg_value {
|
||||
($func_arg1_name:ident, $func_arg2_name:ident, $float_type:ty) => {
|
||||
impl<'d, T: Instance> Cordic<'d, T> {
|
||||
fn $func_name(&self, arg1s: &[$float_type], arg2s: Option<&[$float_type]>) -> Result<(), ArgError> {
|
||||
/// check input value ARG1, SCALE and FUNCTION are compatible with each other
|
||||
pub fn $func_arg1_name(&self, arg: $float_type) -> Result<(), ArgError> {
|
||||
let config = &self.config;
|
||||
|
||||
use Function::*;
|
||||
|
||||
struct Arg1ErrInfo {
|
||||
scale: Option<Scale>,
|
||||
range: [f32; 2],
|
||||
range: [f32; 2], // f32 is ok, it only used in error display
|
||||
inclusive_upper_bound: bool,
|
||||
}
|
||||
|
||||
// check ARG1 value
|
||||
let err_info = match config.function {
|
||||
Cos | Sin | Phase | Modulus | Arctan if arg1s.iter().any(|v| !(-1.0..=1.0).contains(v)) => {
|
||||
Some(Arg1ErrInfo {
|
||||
Cos | Sin | Phase | Modulus | Arctan if !(-1.0..=1.0).contains(arg) => Some(Arg1ErrInfo {
|
||||
scale: None,
|
||||
range: [-1.0, 1.0],
|
||||
inclusive_upper_bound: true,
|
||||
})
|
||||
}
|
||||
}),
|
||||
|
||||
Cosh | Sinh if arg1s.iter().any(|v| !(-0.559..=0.559).contains(v)) => Some(Arg1ErrInfo {
|
||||
Cosh | Sinh if !(-0.559..=0.559).contains(arg) => Some(Arg1ErrInfo {
|
||||
scale: None,
|
||||
range: [-0.559, 0.559],
|
||||
inclusive_upper_bound: true,
|
||||
}),
|
||||
|
||||
Arctanh if arg1s.iter().any(|v| !(-0.403..=0.403).contains(v)) => Some(Arg1ErrInfo {
|
||||
Arctanh if !(-0.403..=0.403).contains(arg) => Some(Arg1ErrInfo {
|
||||
scale: None,
|
||||
range: [-0.403, 0.403],
|
||||
inclusive_upper_bound: true,
|
||||
}),
|
||||
|
||||
Ln => match config.scale {
|
||||
Scale::Arg1o2Res2 if arg1s.iter().any(|v| !(0.0535..0.5).contains(v)) => Some(Arg1ErrInfo {
|
||||
Scale::Arg1o2Res2 if !(0.0535..0.5).contains(arg) => Some(Arg1ErrInfo {
|
||||
scale: Some(Scale::Arg1o2Res2),
|
||||
range: [0.0535, 0.5],
|
||||
inclusive_upper_bound: false,
|
||||
}),
|
||||
Scale::Arg1o4Res4 if arg1s.iter().any(|v| !(0.25..0.75).contains(v)) => Some(Arg1ErrInfo {
|
||||
Scale::Arg1o4Res4 if !(0.25..0.75).contains(arg) => Some(Arg1ErrInfo {
|
||||
scale: Some(Scale::Arg1o4Res4),
|
||||
range: [0.25, 0.75],
|
||||
inclusive_upper_bound: false,
|
||||
}),
|
||||
Scale::Arg1o8Res8 if arg1s.iter().any(|v| !(0.375..0.875).contains(v)) => Some(Arg1ErrInfo {
|
||||
Scale::Arg1o8Res8 if !(0.375..0.875).contains(arg) => Some(Arg1ErrInfo {
|
||||
scale: Some(Scale::Arg1o8Res8),
|
||||
range: [0.375, 0.875],
|
||||
inclusive_upper_bound: false,
|
||||
}),
|
||||
Scale::Arg1o16Res16 if arg1s.iter().any(|v| !(0.4375..0.584).contains(v)) => {
|
||||
Some(Arg1ErrInfo {
|
||||
Scale::Arg1o16Res16 if !(0.4375..0.584).contains(arg) => Some(Arg1ErrInfo {
|
||||
scale: Some(Scale::Arg1o16Res16),
|
||||
range: [0.4375, 0.584],
|
||||
inclusive_upper_bound: false,
|
||||
})
|
||||
}
|
||||
}),
|
||||
|
||||
Scale::Arg1o2Res2 | Scale::Arg1o4Res4 | Scale::Arg1o8Res8 | Scale::Arg1o16Res16 => None,
|
||||
|
||||
@ -717,17 +532,17 @@ macro_rules! check_input_value {
|
||||
},
|
||||
|
||||
Sqrt => match config.scale {
|
||||
Scale::Arg1Res1 if arg1s.iter().any(|v| !(0.027..0.75).contains(v)) => Some(Arg1ErrInfo {
|
||||
Scale::Arg1Res1 if !(0.027..0.75).contains(arg) => Some(Arg1ErrInfo {
|
||||
scale: Some(Scale::Arg1Res1),
|
||||
range: [0.027, 0.75],
|
||||
inclusive_upper_bound: false,
|
||||
}),
|
||||
Scale::Arg1o2Res2 if arg1s.iter().any(|v| !(0.375..0.875).contains(v)) => Some(Arg1ErrInfo {
|
||||
Scale::Arg1o2Res2 if !(0.375..0.875).contains(arg) => Some(Arg1ErrInfo {
|
||||
scale: Some(Scale::Arg1o2Res2),
|
||||
range: [0.375, 0.875],
|
||||
inclusive_upper_bound: false,
|
||||
}),
|
||||
Scale::Arg1o4Res4 if arg1s.iter().any(|v| !(0.4375..0.584).contains(v)) => Some(Arg1ErrInfo {
|
||||
Scale::Arg1o4Res4 if !(0.4375..0.584).contains(arg) => Some(Arg1ErrInfo {
|
||||
scale: Some(Scale::Arg1o4Res4),
|
||||
range: [0.4375, 0.584],
|
||||
inclusive_upper_bound: false,
|
||||
@ -749,20 +564,23 @@ macro_rules! check_input_value {
|
||||
});
|
||||
}
|
||||
|
||||
// check ARG2 value
|
||||
if let Some(arg2s) = arg2s {
|
||||
Ok(())
|
||||
}
|
||||
|
||||
/// check input value ARG2 and FUNCTION are compatible with each other
|
||||
pub fn $func_arg2_name(&self, arg: $float_type) -> Result<(), ArgError> {
|
||||
let config = &self.config;
|
||||
|
||||
use Function::*;
|
||||
|
||||
struct Arg2ErrInfo {
|
||||
range: [f32; 2],
|
||||
range: [f32; 2], // f32 is ok, it only used in error display
|
||||
}
|
||||
|
||||
let err_info = match config.function {
|
||||
Cos | Sin if arg2s.iter().any(|v| !(0.0..=1.0).contains(v)) => {
|
||||
Some(Arg2ErrInfo { range: [0.0, 1.0] })
|
||||
}
|
||||
Cos | Sin if !(0.0..=1.0).contains(arg) => Some(Arg2ErrInfo { range: [0.0, 1.0] }),
|
||||
|
||||
Phase | Modulus if arg2s.iter().any(|v| !(-1.0..=1.0).contains(v)) => {
|
||||
Some(Arg2ErrInfo { range: [-1.0, 1.0] })
|
||||
}
|
||||
Phase | Modulus if !(-1.0..=1.0).contains(arg) => Some(Arg2ErrInfo { range: [-1.0, 1.0] }),
|
||||
|
||||
Cos | Sin | Phase | Modulus | Arctan | Cosh | Sinh | Arctanh | Ln | Sqrt => None,
|
||||
};
|
||||
@ -776,7 +594,6 @@ macro_rules! check_input_value {
|
||||
arg_type: ArgType::Arg2,
|
||||
});
|
||||
}
|
||||
}
|
||||
|
||||
Ok(())
|
||||
}
|
||||
@ -784,8 +601,8 @@ macro_rules! check_input_value {
|
||||
};
|
||||
}
|
||||
|
||||
check_input_value!(check_input_f64, f64);
|
||||
check_input_value!(check_input_f32, f32);
|
||||
check_arg_value!(check_f64_arg1, check_f64_arg2, &f64);
|
||||
check_arg_value!(check_f32_arg1, check_f32_arg2, &f32);
|
||||
|
||||
foreach_interrupt!(
|
||||
($inst:ident, cordic, $block:ident, GLOBAL, $irq:ident) => {
|
||||
|
||||
@ -1,4 +1,4 @@
|
||||
//! Common match utils
|
||||
//! Common math utils
|
||||
use super::errors::NumberOutOfRange;
|
||||
|
||||
macro_rules! floating_fixed_convert {
|
||||
@ -60,16 +60,3 @@ floating_fixed_convert!(
|
||||
15,
|
||||
0x3800_0000u32 // binary form of 1f32^(-15)
|
||||
);
|
||||
|
||||
#[inline(always)]
|
||||
pub(crate) fn f32_args_to_u32(arg1: f32, arg2: f32) -> Result<u32, NumberOutOfRange> {
|
||||
Ok(f32_to_q1_15(arg1)? as u32 + ((f32_to_q1_15(arg2)? as u32) << 16))
|
||||
}
|
||||
|
||||
#[inline(always)]
|
||||
pub(crate) fn u32_to_f32_res(reg_value: u32) -> (f32, f32) {
|
||||
let res1 = q1_15_to_f32((reg_value & ((1u32 << 16) - 1)) as u16);
|
||||
let res2 = q1_15_to_f32((reg_value >> 16) as u16);
|
||||
|
||||
(res1, res2)
|
||||
}
|
||||
|
||||
@ -3,7 +3,7 @@
|
||||
|
||||
use defmt::*;
|
||||
use embassy_executor::Spawner;
|
||||
use embassy_stm32::cordic;
|
||||
use embassy_stm32::cordic::{self, utils};
|
||||
use {defmt_rtt as _, panic_probe as _};
|
||||
|
||||
#[embassy_executor::main]
|
||||
@ -16,20 +16,63 @@ async fn main(_spawner: Spawner) {
|
||||
cordic::Function::Sin,
|
||||
Default::default(),
|
||||
Default::default(),
|
||||
false,
|
||||
)),
|
||||
);
|
||||
|
||||
let mut output = [0f64; 16];
|
||||
// for output buf, the length is not that strict, larger than minimal required is ok.
|
||||
let mut output_f64 = [0f64; 19];
|
||||
let mut output_u32 = [0u32; 21];
|
||||
|
||||
let arg1 = [1.0, 0.0, -1.0]; // for trigonometric function, the ARG1 value [-pi, pi] should be map to [-1, 1]
|
||||
let arg2 = [0.5, 1.0];
|
||||
// tips:
|
||||
// CORDIC peripheral has some strict on input value, you can also use ".check_argX_fXX()" methods
|
||||
// to make sure your input values are compatible with current CORDIC setup.
|
||||
let arg1 = [-1.0, -0.5, 0.0, 0.5, 1.0]; // for trigonometric function, the ARG1 value [-pi, pi] should be map to [-1, 1]
|
||||
let arg2 = [0.5]; // and for Sin function, ARG2 should be in [0, 1]
|
||||
|
||||
let cnt = unwrap!(
|
||||
let mut input_buf = [0u32; 9];
|
||||
|
||||
// convert input from floating point to fixed point
|
||||
input_buf[0] = unwrap!(utils::f64_to_q1_31(arg1[0]));
|
||||
input_buf[1] = unwrap!(utils::f64_to_q1_31(arg2[0]));
|
||||
|
||||
// If input length is small, blocking mode can be used to minimize overhead.
|
||||
let cnt0 = unwrap!(cordic.blocking_calc_32bit(
|
||||
&input_buf[..2], // input length is strict, since driver use its length to detect calculation count
|
||||
&mut output_u32,
|
||||
false,
|
||||
false
|
||||
));
|
||||
|
||||
// convert result from fixed point into floating point
|
||||
for (&u32_val, f64_val) in output_u32[..cnt0].iter().zip(output_f64.iter_mut()) {
|
||||
*f64_val = utils::q1_31_to_f64(u32_val);
|
||||
}
|
||||
|
||||
// convert input from floating point to fixed point
|
||||
//
|
||||
// first value from arg1 is used, so truncate to arg1[1..]
|
||||
for (&f64_val, u32_val) in arg1[1..].iter().zip(input_buf.iter_mut()) {
|
||||
*u32_val = unwrap!(utils::f64_to_q1_31(f64_val));
|
||||
}
|
||||
|
||||
// If calculation is a little longer, async mode can make use of DMA, and let core do some other stuff.
|
||||
let cnt1 = unwrap!(
|
||||
cordic
|
||||
.async_calc_32bit(&mut dp.GPDMA1_CH0, &mut dp.GPDMA1_CH1, &arg1, Some(&arg2), &mut output,)
|
||||
.async_calc_32bit(
|
||||
&mut dp.GPDMA1_CH0,
|
||||
&mut dp.GPDMA1_CH1,
|
||||
&input_buf[..arg1.len() - 1], // limit input buf to its actual length
|
||||
&mut output_u32,
|
||||
true,
|
||||
false
|
||||
)
|
||||
.await
|
||||
);
|
||||
|
||||
println!("async calc 32bit: {}", output[..cnt]);
|
||||
// convert result from fixed point into floating point
|
||||
for (&u32_val, f64_val) in output_u32[..cnt1].iter().zip(output_f64[cnt0..cnt0 + cnt1].iter_mut()) {
|
||||
*f64_val = utils::q1_31_to_f64(u32_val);
|
||||
}
|
||||
|
||||
println!("result: {}", output_f64[..cnt0 + cnt1]);
|
||||
}
|
||||
|
||||
@ -14,6 +14,7 @@
|
||||
mod common;
|
||||
use common::*;
|
||||
use embassy_executor::Spawner;
|
||||
use embassy_stm32::cordic::utils;
|
||||
use embassy_stm32::{bind_interrupts, cordic, peripherals, rng};
|
||||
use num_traits::Float;
|
||||
use {defmt_rtt as _, panic_probe as _};
|
||||
@ -24,11 +25,12 @@ bind_interrupts!(struct Irqs {
|
||||
|
||||
/* input value control, can be changed */
|
||||
|
||||
const ARG1_LENGTH: usize = 9;
|
||||
const ARG2_LENGTH: usize = 4; // this might not be the exact length of ARG2, since ARG2 need to be inside [0, 1]
|
||||
const INPUT_U32_COUNT: usize = 9;
|
||||
const INPUT_U8_COUNT: usize = 4 * INPUT_U32_COUNT;
|
||||
|
||||
const INPUT_Q1_31_LENGTH: usize = ARG1_LENGTH + ARG2_LENGTH;
|
||||
const INPUT_U8_LENGTH: usize = 4 * INPUT_Q1_31_LENGTH;
|
||||
// Assume first calculation needs 2 arguments, the reset needs 1 argument.
|
||||
// And all calculation generate 2 results.
|
||||
const OUTPUT_LENGTH: usize = (INPUT_U32_COUNT - 1) * 2;
|
||||
|
||||
#[embassy_executor::main]
|
||||
async fn main(_spawner: Spawner) {
|
||||
@ -42,43 +44,28 @@ async fn main(_spawner: Spawner) {
|
||||
|
||||
let mut rng = rng::Rng::new(dp.RNG, Irqs);
|
||||
|
||||
let mut input_buf_u8 = [0u8; INPUT_U8_LENGTH];
|
||||
let mut input_buf_u8 = [0u8; INPUT_U8_COUNT];
|
||||
defmt::unwrap!(rng.async_fill_bytes(&mut input_buf_u8).await);
|
||||
|
||||
// convert every [u8; 4] to a u32, for a Q1.31 value
|
||||
let input_q1_31 = unsafe { core::mem::transmute::<[u8; INPUT_U8_LENGTH], [u32; INPUT_Q1_31_LENGTH]>(input_buf_u8) };
|
||||
let mut input_q1_31 = unsafe { core::mem::transmute::<[u8; INPUT_U8_COUNT], [u32; INPUT_U32_COUNT]>(input_buf_u8) };
|
||||
|
||||
let mut input_f64_buf = [0f64; INPUT_Q1_31_LENGTH];
|
||||
// ARG2 for Sin function should be inside [0, 1], set MSB to 0 of a Q1.31 value, will make sure it's no less than 0.
|
||||
input_q1_31[1] &= !(1u32 << 31);
|
||||
|
||||
let mut cordic_output_f64_buf = [0f64; ARG1_LENGTH * 2];
|
||||
//
|
||||
// CORDIC calculation
|
||||
//
|
||||
|
||||
// convert Q1.31 value back to f64, for software calculation verify
|
||||
for (val_u32, val_f64) in input_q1_31.iter().zip(input_f64_buf.iter_mut()) {
|
||||
*val_f64 = cordic::utils::q1_31_to_f64(*val_u32);
|
||||
}
|
||||
|
||||
let mut arg2_f64_buf = [0f64; ARG2_LENGTH];
|
||||
let mut arg2_f64_len = 0;
|
||||
|
||||
// check if ARG2 is in range [0, 1] (limited by CORDIC peripheral with Sin mode)
|
||||
for &arg2 in &input_f64_buf[ARG1_LENGTH..] {
|
||||
if arg2 >= 0.0 {
|
||||
arg2_f64_buf[arg2_f64_len] = arg2;
|
||||
arg2_f64_len += 1;
|
||||
}
|
||||
}
|
||||
|
||||
// the actual value feed to CORDIC
|
||||
let arg1_f64_ls = &input_f64_buf[..ARG1_LENGTH];
|
||||
let arg2_f64_ls = &arg2_f64_buf[..arg2_f64_len];
|
||||
let mut output_q1_31 = [0u32; OUTPUT_LENGTH];
|
||||
|
||||
// setup Cordic driver
|
||||
let mut cordic = cordic::Cordic::new(
|
||||
dp.CORDIC,
|
||||
defmt::unwrap!(cordic::Config::new(
|
||||
cordic::Function::Sin,
|
||||
Default::default(),
|
||||
Default::default(),
|
||||
false,
|
||||
)),
|
||||
);
|
||||
|
||||
@ -88,67 +75,66 @@ async fn main(_spawner: Spawner) {
|
||||
#[cfg(any(feature = "stm32h563zi", feature = "stm32u585ai", feature = "stm32u5a5zj"))]
|
||||
let (mut write_dma, mut read_dma) = (dp.GPDMA1_CH4, dp.GPDMA1_CH5);
|
||||
|
||||
let cordic_start_point = embassy_time::Instant::now();
|
||||
// calculate first result using blocking mode
|
||||
let cnt0 = defmt::unwrap!(cordic.blocking_calc_32bit(&input_q1_31[..2], &mut output_q1_31, false, false));
|
||||
|
||||
let cnt = unwrap!(
|
||||
// calculate rest results using async mode
|
||||
let cnt1 = defmt::unwrap!(
|
||||
cordic
|
||||
.async_calc_32bit(
|
||||
&mut write_dma,
|
||||
&mut read_dma,
|
||||
arg1_f64_ls,
|
||||
Some(arg2_f64_ls),
|
||||
&mut cordic_output_f64_buf,
|
||||
&input_q1_31[2..],
|
||||
&mut output_q1_31[cnt0..],
|
||||
true,
|
||||
false,
|
||||
)
|
||||
.await
|
||||
);
|
||||
|
||||
let cordic_end_point = embassy_time::Instant::now();
|
||||
// all output value length should be the same as our output buffer size
|
||||
defmt::assert_eq!(cnt0 + cnt1, output_q1_31.len());
|
||||
|
||||
// since we get 2 output for 1 calculation, the output length should be ARG1_LENGTH * 2
|
||||
defmt::assert!(cnt == ARG1_LENGTH * 2);
|
||||
let mut cordic_result_f64 = [0.0f64; OUTPUT_LENGTH];
|
||||
|
||||
let mut software_output_f64_buf = [0f64; ARG1_LENGTH * 2];
|
||||
for (f64_val, u32_val) in cordic_result_f64.iter_mut().zip(output_q1_31) {
|
||||
*f64_val = utils::q1_31_to_f64(u32_val);
|
||||
}
|
||||
|
||||
// for software calc, if there is no ARG2 value, insert a 1.0 as value (the reset value for ARG2 in CORDIC)
|
||||
let arg2_f64_ls = if arg2_f64_len == 0 { &[1.0] } else { arg2_f64_ls };
|
||||
//
|
||||
// software calculation
|
||||
//
|
||||
|
||||
let software_inputs = arg1_f64_ls
|
||||
let mut software_result_f64 = [0.0f64; OUTPUT_LENGTH];
|
||||
|
||||
let arg2 = utils::q1_31_to_f64(input_q1_31[1]);
|
||||
|
||||
for (&arg1, res) in input_q1_31
|
||||
.iter()
|
||||
.zip(
|
||||
arg2_f64_ls
|
||||
.iter()
|
||||
.chain(core::iter::repeat(&arg2_f64_ls[arg2_f64_ls.len() - 1])),
|
||||
)
|
||||
.zip(software_output_f64_buf.chunks_mut(2));
|
||||
.enumerate()
|
||||
.filter_map(|(idx, val)| if idx != 1 { Some(val) } else { None })
|
||||
.zip(software_result_f64.chunks_mut(2))
|
||||
{
|
||||
let arg1 = utils::q1_31_to_f64(arg1);
|
||||
|
||||
let software_start_point = embassy_time::Instant::now();
|
||||
|
||||
for ((arg1, arg2), res) in software_inputs {
|
||||
let (raw_res1, raw_res2) = (arg1 * core::f64::consts::PI).sin_cos();
|
||||
|
||||
(res[0], res[1]) = (raw_res1 * arg2, raw_res2 * arg2);
|
||||
}
|
||||
|
||||
let software_end_point = embassy_time::Instant::now();
|
||||
//
|
||||
// check result are the same
|
||||
//
|
||||
|
||||
for (cordic_res, software_res) in cordic_output_f64_buf[..cnt]
|
||||
for (cordic_res, software_res) in cordic_result_f64[..cnt0 + cnt1]
|
||||
.chunks(2)
|
||||
.zip(software_output_f64_buf.chunks(2))
|
||||
.zip(software_result_f64.chunks(2))
|
||||
{
|
||||
for (cord_res, soft_res) in cordic_res.iter().zip(software_res.iter()) {
|
||||
// 2.0.powi(-19) is the max residual error for Sin function, in q1.31 format, with 24 iterations (aka PRECISION = 6)
|
||||
defmt::assert!((cord_res - soft_res).abs() <= 2.0.powi(-19));
|
||||
}
|
||||
}
|
||||
|
||||
// This comparison is just for fun. Since it not a equal compare:
|
||||
// software use 64-bit floating point, but CORDIC use 32-bit fixed point.
|
||||
defmt::trace!(
|
||||
"calculate count: {}, Cordic time: {} us, software time: {} us",
|
||||
ARG1_LENGTH,
|
||||
(cordic_end_point - cordic_start_point).as_micros(),
|
||||
(software_end_point - software_start_point).as_micros()
|
||||
);
|
||||
|
||||
info!("Test OK");
|
||||
cortex_m::asm::bkpt();
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user