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stm32 CORDIC: make HIL run

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This commit is contained in:
eZio Pan 2024-03-22 00:39:43 +08:00
parent fac4f9aa2f
commit 441aa4c8ce
1 changed files with 14 additions and 12 deletions

26
tests/stm32/src/bin/cordic.rs
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@ -4,13 +4,15 @@
// Only test on STM32H563ZI, STM32U585AI and STM32U5a5JI. // Only test on STM32H563ZI, STM32U585AI and STM32U5a5JI.
// STM32G491RE is not tested, since it memory.x has less memory size than it actually has, // 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. // and the test seems use more memory than memory.x suggest.
// see https://github.com/embassy-rs/stm32-data/issues/301#issuecomment-1925412561 // see https://github.com/embassy-rs/stm32-data/issues/301#issuecomment-1925412561
#![no_std] #![no_std]
#![no_main] #![no_main]
use defmt::*; #[path = "../common.rs"]
mod common;
use common::*;
use embassy_executor::Spawner; use embassy_executor::Spawner;
use embassy_stm32::{bind_interrupts, cordic, peripherals, rng}; use embassy_stm32::{bind_interrupts, cordic, peripherals, rng};
use num_traits::Float; use num_traits::Float;
@ -25,12 +27,12 @@ bind_interrupts!(struct Irqs {
const ARG1_LENGTH: usize = 9; 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 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_Q1_31_LENGTH: usize = ARG1_LENGTH + ARG2_LENGTH;
const INPUT_U8_LENGTH: usize = 4 * INPUT_Q1_31_LENGHT; const INPUT_U8_LENGTH: usize = 4 * INPUT_Q1_31_LENGTH;
#[embassy_executor::main] #[embassy_executor::main]
async fn main(_spawner: Spawner) { async fn main(_spawner: Spawner) {
let dp = embassy_stm32::init(Default::default()); let dp = embassy_stm32::init(config());
// //
// use RNG generate random Q1.31 value // use RNG generate random Q1.31 value
@ -41,12 +43,12 @@ async fn main(_spawner: Spawner) {
let mut rng = rng::Rng::new(dp.RNG, Irqs); 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_LENGTH];
unwrap!(rng.async_fill_bytes(&mut input_buf_u8).await); defmt::unwrap!(rng.async_fill_bytes(&mut input_buf_u8).await);
// convert every [u8; 4] to a u32, for a Q1.31 value // 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 input_q1_31 = unsafe { core::mem::transmute::<[u8; INPUT_U8_LENGTH], [u32; INPUT_Q1_31_LENGTH]>(input_buf_u8) };
let mut input_f64_buf = [0f64; INPUT_Q1_31_LENGHT]; let mut input_f64_buf = [0f64; INPUT_Q1_31_LENGTH];
let mut cordic_output_f64_buf = [0f64; ARG1_LENGTH * 2]; let mut cordic_output_f64_buf = [0f64; ARG1_LENGTH * 2];
@ -66,13 +68,13 @@ async fn main(_spawner: Spawner) {
} }
} }
// the actal value feed to CORDIC // the actual value feed to CORDIC
let arg1_f64_ls = &input_f64_buf[..ARG1_LENGTH]; let arg1_f64_ls = &input_f64_buf[..ARG1_LENGTH];
let arg2_f64_ls = &arg2_f64_buf[..arg2_f64_len]; let arg2_f64_ls = &arg2_f64_buf[..arg2_f64_len];
let mut cordic = cordic::Cordic::new( let mut cordic = cordic::Cordic::new(
dp.CORDIC, dp.CORDIC,
unwrap!(cordic::Config::new( defmt::unwrap!(cordic::Config::new(
cordic::Function::Sin, cordic::Function::Sin,
Default::default(), Default::default(),
Default::default(), Default::default(),
@ -138,9 +140,9 @@ async fn main(_spawner: Spawner) {
} }
} }
// This comparsion is just for fun. Since it not a equal compare: // 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. // software use 64-bit floating point, but CORDIC use 32-bit fixed point.
trace!( defmt::trace!(
"calculate count: {}, Cordic time: {} us, software time: {} us", "calculate count: {}, Cordic time: {} us, software time: {} us",
ARG1_LENGTH, ARG1_LENGTH,
(cordic_end_point - cordic_start_point).as_micros(), (cordic_end_point - cordic_start_point).as_micros(),