stm32 CORDIC: add HIL test
This commit is contained in:
eZio Pan
parent
c42d9f9eaa
commit
0d065ab2d6
4 changed files with 165 additions and 4 deletions
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@ -46,6 +46,7 @@ impl defmt::Format for CordicError {
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}
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/// Error dring parsing [Cordic::Config](super::Config)
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#[allow(dead_code)]
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#[derive(Debug)]
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pub struct ConfigError {
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pub(super) func: Function,
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@ -71,6 +72,7 @@ impl defmt::Format for ConfigError {
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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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pub struct ArgError {
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pub(super) func: Function,
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@ -15,7 +15,7 @@ stm32f446re = ["embassy-stm32/stm32f446re", "chrono", "stop", "can", "not-gpdma"
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stm32f767zi = ["embassy-stm32/stm32f767zi", "chrono", "not-gpdma", "eth", "rng"]
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stm32g071rb = ["embassy-stm32/stm32g071rb", "cm0", "not-gpdma", "dac", "ucpd"]
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stm32g491re = ["embassy-stm32/stm32g491re", "chrono", "stop", "not-gpdma", "rng", "fdcan"]
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stm32h563zi = ["embassy-stm32/stm32h563zi", "chrono", "eth", "rng", "hash"]
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stm32h563zi = ["embassy-stm32/stm32h563zi", "chrono", "eth", "rng", "hash", "cordic"]
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stm32h753zi = ["embassy-stm32/stm32h753zi", "chrono", "not-gpdma", "eth", "rng", "fdcan", "hash", "cryp"]
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stm32h755zi = ["embassy-stm32/stm32h755zi-cm7", "chrono", "not-gpdma", "eth", "dac", "rng", "fdcan", "hash", "cryp"]
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stm32h7a3zi = ["embassy-stm32/stm32h7a3zi", "not-gpdma", "rng", "fdcan"]
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@ -25,8 +25,8 @@ stm32l496zg = ["embassy-stm32/stm32l496zg", "not-gpdma", "rng"]
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stm32l4a6zg = ["embassy-stm32/stm32l4a6zg", "chrono", "not-gpdma", "rng", "hash"]
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stm32l4r5zi = ["embassy-stm32/stm32l4r5zi", "chrono", "not-gpdma", "rng"]
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stm32l552ze = ["embassy-stm32/stm32l552ze", "not-gpdma", "rng", "hash"]
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stm32u585ai = ["embassy-stm32/stm32u585ai", "chrono", "rng", "hash"]
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stm32u5a5zj = ["embassy-stm32/stm32u5a5zj", "chrono", "rng", "hash"]
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stm32u585ai = ["embassy-stm32/stm32u585ai", "chrono", "rng", "hash", "cordic"]
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stm32u5a5zj = ["embassy-stm32/stm32u5a5zj", "chrono", "rng", "hash", "cordic"]
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stm32wb55rg = ["embassy-stm32/stm32wb55rg", "chrono", "not-gpdma", "ble", "mac" , "rng"]
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stm32wba52cg = ["embassy-stm32/stm32wba52cg", "chrono", "rng", "hash"]
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stm32wl55jc = ["embassy-stm32/stm32wl55jc-cm4", "not-gpdma", "rng", "chrono"]
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@ -48,6 +48,7 @@ embassy-stm32-wpan = []
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not-gpdma = []
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dac = []
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ucpd = []
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cordic = ["dep:num-traits"]
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cm0 = ["portable-atomic/unsafe-assume-single-core"]
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@ -83,6 +84,7 @@ chrono = { version = "^0.4", default-features = false, optional = true}
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sha2 = { version = "0.10.8", default-features = false }
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hmac = "0.12.1"
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aes-gcm = {version = "0.10.3", default-features = false, features = ["aes", "heapless"] }
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num-traits = {version="0.2", default-features = false,features = ["libm"], optional = true}
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# BEGIN TESTS
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# Generated by gen_test.py. DO NOT EDIT.
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@ -91,6 +93,11 @@ name = "can"
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path = "src/bin/can.rs"
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required-features = [ "can",]
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[[bin]]
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name = "cordic"
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path = "src/bin/cordic.rs"
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required-features = [ "rng", "cordic",]
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[[bin]]
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name = "cryp"
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path = "src/bin/cryp.rs"
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@ -14,7 +14,7 @@ for f in sorted(glob('./src/bin/*.rs')):
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with open(f, 'r') as f:
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for line in f:
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if line.startswith('// required-features:'):
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features = line.split(':', 2)[1].strip().split(',')
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features = [feature.strip() for feature in line.split(':', 2)[1].strip().split(',')]
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tests[name] = features
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152
tests/stm32/src/bin/cordic.rs
Normal file
152
tests/stm32/src/bin/cordic.rs
Normal file
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@ -0,0 +1,152 @@
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// required-features: rng, cordic
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// Test Cordic driver, with Q1.31 format, Sin function, at 24 iterations (aka PRECISION = 6), using DMA transfer
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// Only test on STM32H563ZI, STM32U585AI and STM32U5a5JI.
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// STM32G491RE is not tested, since it memory.x has less memory size than it actually has,
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// and the test seems use much memory than memory.x suggest.
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// see https://github.com/embassy-rs/stm32-data/issues/301#issuecomment-1925412561
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#![no_std]
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#![no_main]
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use defmt::*;
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use embassy_executor::Spawner;
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use embassy_stm32::{bind_interrupts, cordic, peripherals, rng};
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use num_traits::Float;
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use {defmt_rtt as _, panic_probe as _};
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bind_interrupts!(struct Irqs {
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RNG => rng::InterruptHandler<peripherals::RNG>;
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});
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/* input value control, can be changed */
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const ARG1_LENGTH: usize = 9;
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const ARG2_LENGTH: usize = 4; // this might not be the exact length of ARG2, since ARG2 need to be inside [0, 1]
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const INPUT_Q1_31_LENGHT: usize = ARG1_LENGTH + ARG2_LENGTH;
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const INPUT_U8_LENGTH: usize = 4 * INPUT_Q1_31_LENGHT;
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#[embassy_executor::main]
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async fn main(_spawner: Spawner) {
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let dp = embassy_stm32::init(Default::default());
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//
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// use RNG generate random Q1.31 value
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//
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// we don't generate floating-point value, since not all binary value are valid floating-point value,
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// and Q1.31 only accept a fixed range of value.
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let mut rng = rng::Rng::new(dp.RNG, Irqs);
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let mut input_buf_u8 = [0u8; INPUT_U8_LENGTH];
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unwrap!(rng.async_fill_bytes(&mut input_buf_u8).await);
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// convert every [u8; 4] to a u32, for a Q1.31 value
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let input_q1_31 = unsafe { core::mem::transmute::<[u8; INPUT_U8_LENGTH], [u32; INPUT_Q1_31_LENGHT]>(input_buf_u8) };
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let mut input_f64_buf = [0f64; INPUT_Q1_31_LENGHT];
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let mut cordic_output_f64_buf = [0f64; ARG1_LENGTH * 2];
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// convert Q1.31 value back to f64, for software calculation verify
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for (val_u32, val_f64) in input_q1_31.iter().zip(input_f64_buf.iter_mut()) {
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*val_f64 = cordic::utils::q1_31_to_f64(*val_u32);
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}
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let mut arg2_f64_buf = [0f64; ARG2_LENGTH];
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let mut arg2_f64_len = 0;
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// check if ARG2 is in range [0, 1] (limited by CORDIC peripheral with Sin mode)
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for &arg2 in &input_f64_buf[ARG1_LENGTH..] {
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if arg2 >= 0.0 {
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arg2_f64_buf[arg2_f64_len] = arg2;
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arg2_f64_len += 1;
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}
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}
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// the actal value feed to CORDIC
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let arg1_f64_ls = &input_f64_buf[..ARG1_LENGTH];
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let arg2_f64_ls = &arg2_f64_buf[..arg2_f64_len];
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let mut cordic = cordic::Cordic::new(
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dp.CORDIC,
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unwrap!(cordic::Config::new(
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cordic::Function::Sin,
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Default::default(),
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Default::default(),
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false,
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)),
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);
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//#[cfg(feature = "stm32g491re")]
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//let (mut write_dma, mut read_dma) = (dp.DMA1_CH4, dp.DMA1_CH5);
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#[cfg(any(feature = "stm32h563zi", feature = "stm32u585ai", feature = "stm32u5a5zj"))]
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let (mut write_dma, mut read_dma) = (dp.GPDMA1_CH4, dp.GPDMA1_CH5);
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let cordic_start_point = embassy_time::Instant::now();
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let cnt = unwrap!(
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cordic
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.async_calc_32bit(
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&mut write_dma,
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&mut read_dma,
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arg1_f64_ls,
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Some(arg2_f64_ls),
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&mut cordic_output_f64_buf,
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)
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.await
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);
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let cordic_end_point = embassy_time::Instant::now();
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// since we get 2 output for 1 calculation, the output length should be ARG1_LENGTH * 2
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defmt::assert!(cnt == ARG1_LENGTH * 2);
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let mut software_output_f64_buf = [0f64; ARG1_LENGTH * 2];
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// for software calc, if there is no ARG2 value, insert a 1.0 as value (the reset value for ARG2 in CORDIC)
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let arg2_f64_ls = if arg2_f64_len == 0 { &[1.0] } else { arg2_f64_ls };
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let software_inputs = arg1_f64_ls
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.iter()
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.zip(
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arg2_f64_ls
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.iter()
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.chain(core::iter::repeat(&arg2_f64_ls[arg2_f64_ls.len() - 1])),
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)
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.zip(software_output_f64_buf.chunks_mut(2));
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let software_start_point = embassy_time::Instant::now();
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for ((arg1, arg2), res) in software_inputs {
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let (raw_res1, raw_res2) = (arg1 * core::f64::consts::PI).sin_cos();
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(res[0], res[1]) = (raw_res1 * arg2, raw_res2 * arg2);
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}
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let software_end_point = embassy_time::Instant::now();
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for (cordic_res, software_res) in cordic_output_f64_buf[..cnt]
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.chunks(2)
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.zip(software_output_f64_buf.chunks(2))
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{
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for (cord_res, soft_res) in cordic_res.iter().zip(software_res.iter()) {
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defmt::assert!((cord_res - soft_res).abs() <= 2.0.powi(-19));
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}
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}
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// This comparsion is just for fun. Since it not a equal compare:
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// software use 64-bit floating point, but CORDIC use 32-bit fixed point.
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trace!(
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"calculate count: {}, Cordic time: {} us, software time: {} us",
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ARG1_LENGTH,
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(cordic_end_point - cordic_start_point).as_micros(),
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(software_end_point - software_start_point).as_micros()
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);
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info!("Test OK");
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cortex_m::asm::bkpt();
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}
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