diff --git a/embassy-stm32/src/cordic/errors.rs b/embassy-stm32/src/cordic/errors.rs index 2c0aca4a2..9020d8467 100644 --- a/embassy-stm32/src/cordic/errors.rs +++ b/embassy-stm32/src/cordic/errors.rs @@ -46,6 +46,7 @@ impl defmt::Format for CordicError { } /// Error dring parsing [Cordic::Config](super::Config) +#[allow(dead_code)] #[derive(Debug)] pub struct ConfigError { pub(super) func: Function, @@ -71,6 +72,7 @@ impl defmt::Format for ConfigError { } /// Error on checking input arguments +#[allow(dead_code)] #[derive(Debug)] pub struct ArgError { pub(super) func: Function, diff --git a/tests/stm32/Cargo.toml b/tests/stm32/Cargo.toml index e42470004..345c72a03 100644 --- a/tests/stm32/Cargo.toml +++ b/tests/stm32/Cargo.toml @@ -15,7 +15,7 @@ stm32f446re = ["embassy-stm32/stm32f446re", "chrono", "stop", "can", "not-gpdma" stm32f767zi = ["embassy-stm32/stm32f767zi", "chrono", "not-gpdma", "eth", "rng"] stm32g071rb = ["embassy-stm32/stm32g071rb", "cm0", "not-gpdma", "dac", "ucpd"] stm32g491re = ["embassy-stm32/stm32g491re", "chrono", "stop", "not-gpdma", "rng", "fdcan"] -stm32h563zi = ["embassy-stm32/stm32h563zi", "chrono", "eth", "rng", "hash"] +stm32h563zi = ["embassy-stm32/stm32h563zi", "chrono", "eth", "rng", "hash", "cordic"] stm32h753zi = ["embassy-stm32/stm32h753zi", "chrono", "not-gpdma", "eth", "rng", "fdcan", "hash", "cryp"] stm32h755zi = ["embassy-stm32/stm32h755zi-cm7", "chrono", "not-gpdma", "eth", "dac", "rng", "fdcan", "hash", "cryp"] stm32h7a3zi = ["embassy-stm32/stm32h7a3zi", "not-gpdma", "rng", "fdcan"] @@ -25,8 +25,8 @@ stm32l496zg = ["embassy-stm32/stm32l496zg", "not-gpdma", "rng"] stm32l4a6zg = ["embassy-stm32/stm32l4a6zg", "chrono", "not-gpdma", "rng", "hash"] stm32l4r5zi = ["embassy-stm32/stm32l4r5zi", "chrono", "not-gpdma", "rng"] stm32l552ze = ["embassy-stm32/stm32l552ze", "not-gpdma", "rng", "hash"] -stm32u585ai = ["embassy-stm32/stm32u585ai", "chrono", "rng", "hash"] -stm32u5a5zj = ["embassy-stm32/stm32u5a5zj", "chrono", "rng", "hash"] +stm32u585ai = ["embassy-stm32/stm32u585ai", "chrono", "rng", "hash", "cordic"] +stm32u5a5zj = ["embassy-stm32/stm32u5a5zj", "chrono", "rng", "hash", "cordic"] stm32wb55rg = ["embassy-stm32/stm32wb55rg", "chrono", "not-gpdma", "ble", "mac" , "rng"] stm32wba52cg = ["embassy-stm32/stm32wba52cg", "chrono", "rng", "hash"] stm32wl55jc = ["embassy-stm32/stm32wl55jc-cm4", "not-gpdma", "rng", "chrono"] @@ -48,6 +48,7 @@ embassy-stm32-wpan = [] not-gpdma = [] dac = [] ucpd = [] +cordic = ["dep:num-traits"] cm0 = ["portable-atomic/unsafe-assume-single-core"] @@ -83,6 +84,7 @@ chrono = { version = "^0.4", default-features = false, optional = true} sha2 = { version = "0.10.8", default-features = false } hmac = "0.12.1" aes-gcm = {version = "0.10.3", default-features = false, features = ["aes", "heapless"] } +num-traits = {version="0.2", default-features = false,features = ["libm"], optional = true} # BEGIN TESTS # Generated by gen_test.py. DO NOT EDIT. @@ -91,6 +93,11 @@ name = "can" path = "src/bin/can.rs" required-features = [ "can",] +[[bin]] +name = "cordic" +path = "src/bin/cordic.rs" +required-features = [ "rng", "cordic",] + [[bin]] name = "cryp" path = "src/bin/cryp.rs" diff --git a/tests/stm32/gen_test.py b/tests/stm32/gen_test.py index 8ff156c0e..daf714376 100644 --- a/tests/stm32/gen_test.py +++ b/tests/stm32/gen_test.py @@ -14,7 +14,7 @@ for f in sorted(glob('./src/bin/*.rs')): with open(f, 'r') as f: for line in f: if line.startswith('// required-features:'): - features = line.split(':', 2)[1].strip().split(',') + features = [feature.strip() for feature in line.split(':', 2)[1].strip().split(',')] tests[name] = features diff --git a/tests/stm32/src/bin/cordic.rs b/tests/stm32/src/bin/cordic.rs new file mode 100644 index 000000000..b580cc79b --- /dev/null +++ b/tests/stm32/src/bin/cordic.rs @@ -0,0 +1,152 @@ +// required-features: rng, cordic + +// Test Cordic driver, with Q1.31 format, Sin function, at 24 iterations (aka PRECISION = 6), using DMA transfer + +// Only test on STM32H563ZI, STM32U585AI and STM32U5a5JI. +// STM32G491RE is not tested, since it memory.x has less memory size than it actually has, +// and the test seems use much memory than memory.x suggest. +// see https://github.com/embassy-rs/stm32-data/issues/301#issuecomment-1925412561 + +#![no_std] +#![no_main] + +use defmt::*; +use embassy_executor::Spawner; +use embassy_stm32::{bind_interrupts, cordic, peripherals, rng}; +use num_traits::Float; +use {defmt_rtt as _, panic_probe as _}; + +bind_interrupts!(struct Irqs { + RNG => rng::InterruptHandler; +}); + +/* 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_Q1_31_LENGHT: usize = ARG1_LENGTH + ARG2_LENGTH; +const INPUT_U8_LENGTH: usize = 4 * INPUT_Q1_31_LENGHT; + +#[embassy_executor::main] +async fn main(_spawner: Spawner) { + let dp = embassy_stm32::init(Default::default()); + + // + // use RNG generate random Q1.31 value + // + // we don't generate floating-point value, since not all binary value are valid floating-point value, + // and Q1.31 only accept a fixed range of value. + + let mut rng = rng::Rng::new(dp.RNG, Irqs); + + let mut input_buf_u8 = [0u8; INPUT_U8_LENGTH]; + 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_LENGHT]>(input_buf_u8) }; + + let mut input_f64_buf = [0f64; INPUT_Q1_31_LENGHT]; + + let mut cordic_output_f64_buf = [0f64; ARG1_LENGTH * 2]; + + // 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 actal 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 cordic = cordic::Cordic::new( + dp.CORDIC, + unwrap!(cordic::Config::new( + cordic::Function::Sin, + Default::default(), + Default::default(), + false, + )), + ); + + //#[cfg(feature = "stm32g491re")] + //let (mut write_dma, mut read_dma) = (dp.DMA1_CH4, dp.DMA1_CH5); + + #[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(); + + let cnt = unwrap!( + cordic + .async_calc_32bit( + &mut write_dma, + &mut read_dma, + arg1_f64_ls, + Some(arg2_f64_ls), + &mut cordic_output_f64_buf, + ) + .await + ); + + let cordic_end_point = embassy_time::Instant::now(); + + // since we get 2 output for 1 calculation, the output length should be ARG1_LENGTH * 2 + defmt::assert!(cnt == ARG1_LENGTH * 2); + + let mut software_output_f64_buf = [0f64; ARG1_LENGTH * 2]; + + // 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 }; + + let software_inputs = arg1_f64_ls + .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)); + + 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(); + + for (cordic_res, software_res) in cordic_output_f64_buf[..cnt] + .chunks(2) + .zip(software_output_f64_buf.chunks(2)) + { + for (cord_res, soft_res) in cordic_res.iter().zip(software_res.iter()) { + defmt::assert!((cord_res - soft_res).abs() <= 2.0.powi(-19)); + } + } + + // This comparsion is just for fun. Since it not a equal compare: + // software use 64-bit floating point, but CORDIC use 32-bit fixed point. + 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(); +}