diff --git a/embassy-stm32/src/cordic/enums.rs b/embassy-stm32/src/cordic/enums.rs
index 3e1c47f7f..37c73f549 100644
--- a/embassy-stm32/src/cordic/enums.rs
+++ b/embassy-stm32/src/cordic/enums.rs
@@ -68,16 +68,3 @@ pub enum Width {
Bits32,
Bits16,
}
-
-/// Cordic driver running mode
-#[derive(Clone, Copy)]
-pub enum Mode {
- /// After caculation start, a read to RDATA register will block AHB until the caculation finished
- ZeroOverhead,
-
- /// Use CORDIC interrupt to trigger a read result value
- Interrupt,
-
- /// Use DMA to write/read value
- Dma,
-}
diff --git a/embassy-stm32/src/cordic/mod.rs b/embassy-stm32/src/cordic/mod.rs
index 997ace113..61277d7e1 100644
--- a/embassy-stm32/src/cordic/mod.rs
+++ b/embassy-stm32/src/cordic/mod.rs
@@ -1,8 +1,9 @@
//! CORDIC co-processor
-use crate::peripherals;
use embassy_hal_internal::{into_ref, Peripheral, PeripheralRef};
+use crate::peripherals;
+
mod enums;
pub use enums::*;
@@ -10,10 +11,6 @@ pub mod utils;
pub(crate) mod sealed;
-// length of pre-allocated [u32] memory for CORDIC input,
-// length should be multiple of 2
-const INPUT_BUF_LEN: usize = 8;
-
/// Low-level CORDIC access.
#[cfg(feature = "unstable-pac")]
pub mod low_level {
@@ -31,30 +28,16 @@ pub trait Instance: sealed::Instance + Peripheral<P = Self> + crate::rcc::RccPer
/// CORDIC configuration
pub struct Config {
- mode: Mode,
function: Function,
precision: Precision,
scale: Scale,
first_result: bool,
}
-// CORDIC running state
-struct State {
- input_buf: [u32; INPUT_BUF_LEN],
- buf_index: usize,
-}
-
impl Config {
/// Create a config for Cordic driver
- pub fn new(
- mode: Mode,
- function: Function,
- precision: Option<Precision>,
- scale: Option<Scale>,
- first_result: bool,
- ) -> Self {
+ pub fn new(function: Function, precision: Option<Precision>, scale: Option<Scale>, first_result: bool) -> Self {
Self {
- mode,
function,
precision: precision.unwrap_or_default(),
scale: scale.unwrap_or_default(),
@@ -133,22 +116,123 @@ impl<'d, T: Instance> Cordic<'d, T> {
} else {
self.peri.set_result_count(Count::Two)
}
+ }
- match self.config.mode {
- Mode::ZeroOverhead => (),
- Mode::Interrupt => {
- self.peri.enable_irq();
- }
- Mode::Dma => {
- self.peri.enable_write_dma();
- self.peri.enable_read_dma();
- }
+ fn blocking_read_f32(&mut self) -> (f32, Option<f32>) {
+ let reg_value = self.peri.read_result();
+
+ let res1 = utils::q1_15_to_f32((reg_value & ((1u32 << 16) - 1)) as u16);
+
+ // 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.
+ let res2 = if !self.config.first_result {
+ Some(utils::q1_15_to_f32((reg_value >> 16) as u16))
+ } else {
+ None
+ };
+
+ (res1, res2)
+ }
+}
+
+impl<'d, T: Instance> Drop for Cordic<'d, T> {
+ fn drop(&mut self) {
+ T::disable();
+ }
+}
+
+// q1.31 related
+impl<'d, T: Instance> Cordic<'d, T> {
+ /// Run a CORDIC calculation
+ pub fn blocking_calc_32bit(&mut self, arg1s: &[f64], arg2s: Option<&[f64]>, output: &mut [f64]) -> usize {
+ if arg1s.is_empty() {
+ return 0;
}
+
+ assert!(
+ match self.config.first_result {
+ true => output.len() >= arg1s.len(),
+ false => output.len() >= 2 * arg1s.len(),
+ },
+ "Output buf length is not long enough"
+ );
+
+ self.check_input_f64(arg1s, arg2s);
+
+ self.peri.disable_irq();
+ self.peri.disable_write_dma();
+ self.peri.disable_read_dma();
+
+ self.peri.set_result_count(if self.config.first_result {
+ Count::One
+ } else {
+ Count::Two
+ });
+
+ self.peri.set_data_width(Width::Bits32, Width::Bits32);
+
+ let mut output_count = 0;
+
+ let mut consumed_input_len = 0;
+
+ // put double input into cordic
+ if arg2s.is_some() && !arg2s.expect("It's infailable").is_empty() {
+ let arg2s = arg2s.expect("It's infailable");
+
+ self.peri.set_argument_count(Count::Two);
+
+ // Skip 1st value from arg1s, this value will be manually "preload" to cordic, to make use of cordic preload function.
+ // And we preserve last value from arg2s, since it need to manually write to cordic, and read the result out.
+ let double_input = arg1s.iter().skip(1).zip(&arg2s[..arg2s.len() - 1]);
+ // Since we preload 1st value from arg1s, the consumed input length is double_input length + 1.
+ consumed_input_len = double_input.len() + 1;
+
+ // preload first value from arg1 to cordic
+ self.blocking_write_f64(arg1s[0]);
+
+ for (&arg1, &arg2) in double_input {
+ // Since we manually preload a value before,
+ // we will write arg2 (from the actual last pair) first, (at this moment, cordic start to calculating,)
+ // and write arg1 (from the actual next pair), then read the result, to "keep preloading"
+
+ self.blocking_write_f64(arg2);
+ self.blocking_write_f64(arg1);
+ self.blocking_read_f64_to_buf(output, &mut output_count);
+ }
+
+ // write last input value from arg2s, then read out the result
+ self.blocking_write_f64(arg2s[arg2s.len() - 1]);
+ self.blocking_read_f64_to_buf(output, &mut output_count);
+ }
+
+ // put single input into cordic
+ let input_left = &arg1s[consumed_input_len..];
+
+ if !input_left.is_empty() {
+ self.peri.set_argument_count(Count::One);
+
+ // "preload" value to cordic (at this moment, cordic start to calculating)
+ self.blocking_write_f64(input_left[0]);
+
+ for &arg in input_left.iter().skip(1) {
+ // this line write arg for next round caculation to cordic,
+ // and read result from last round
+ self.blocking_write_f64(arg);
+ self.blocking_read_f64_to_buf(output, &mut output_count);
+ }
+
+ // read the last output
+ self.blocking_read_f64_to_buf(output, &mut output_count);
+ }
+
+ output_count
}
fn blocking_read_f64(&mut self) -> (f64, Option<f64>) {
let res1 = utils::q1_31_to_f64(self.peri.read_result());
+ // 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.
let res2 = if !self.config.first_result {
Some(utils::q1_31_to_f64(self.peri.read_result()))
} else {
@@ -174,16 +258,14 @@ impl<'d, T: Instance> Cordic<'d, T> {
}
}
-impl<'d, T: Instance> Drop for Cordic<'d, T> {
- fn drop(&mut self) {
- T::disable();
- }
-}
-
-// q1.31 related
+// q1.15 related
impl<'d, T: Instance> Cordic<'d, T> {
/// Run a CORDIC calculation
- pub fn calc_32bit(&mut self, arg1s: &[f64], arg2s: Option<&[f64]>, output: &mut [f64]) -> usize {
+ pub fn blocking_calc_16bit(&mut self, arg1s: &[f32], arg2s: Option<&[f32]>, output: &mut [f32]) -> usize {
+ if arg1s.is_empty() {
+ return 0;
+ }
+
assert!(
match self.config.first_result {
true => output.len() >= arg1s.len(),
@@ -192,180 +274,182 @@ impl<'d, T: Instance> Cordic<'d, T> {
"Output buf length is not long enough"
);
- self.check_input_f64(arg1s, arg2s);
+ self.check_input_f32(arg1s, arg2s);
- self.peri.set_result_count(if self.config.first_result {
- Count::One
- } else {
- Count::Two
- });
+ self.peri.disable_irq();
+ self.peri.disable_write_dma();
+ self.peri.disable_read_dma();
- self.peri.set_data_width(Width::Bits32, Width::Bits32);
+ // In q1.15 mode, 1 write/read to access 2 arguments/results
+ self.peri.set_argument_count(Count::One);
+ self.peri.set_result_count(Count::One);
+
+ self.peri.set_data_width(Width::Bits16, Width::Bits16);
let mut output_count = 0;
- let mut consumed_input_len = 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)
- match self.config.mode {
- Mode::ZeroOverhead => {
- // put double input into cordic
- if arg2s.is_some() && !arg2s.unwrap().is_empty() {
- let arg2s = arg2s.unwrap();
+ let arg2_default_value = match arg2s {
+ Some(arg2s) if !arg2s.is_empty() => arg2s[arg2s.len() - 1],
+ _ => 1.0,
+ };
- self.peri.set_argument_count(Count::Two);
+ let mut args = arg1s.iter().zip(
+ arg2s
+ .unwrap_or(&[])
+ .iter()
+ .chain(core::iter::repeat(&arg2_default_value)),
+ );
- // Skip 1st value from arg1s, this value will be manually "preload" to cordic, to make use of cordic preload function.
- // And we preserve last value from arg2s, since it need to manually write to cordic, and read the result out.
- let double_input = arg1s.iter().skip(1).zip(&arg2s[..arg2s.len() - 1]);
- // Since we preload 1st value from arg1s, the consumed input length is double_input length + 1.
- consumed_input_len = double_input.len() + 1;
+ let (&arg1, &arg2) = args
+ .next()
+ .expect("This should be infallible, since arg1s is not empty");
- // preload first value from arg1 to cordic
- self.blocking_write_f64(arg1s[0]);
+ // preloading 1 pair of arguments
+ self.blocking_write_f32(arg1, arg2);
- for (&arg1, &arg2) in double_input {
- // Since we manually preload a value before,
- // we will write arg2 (from the actual last pair) first, (at this moment, cordic start to calculating,)
- // and write arg1 (from the actual next pair), then read the result, to "keep preloading"
-
- self.blocking_write_f64(arg2);
- self.blocking_write_f64(arg1);
- self.blocking_read_f64_to_buf(output, &mut output_count);
- }
-
- // write last input value from arg2s, then read out the result
- self.blocking_write_f64(arg2s[arg2s.len() - 1]);
- self.blocking_read_f64_to_buf(output, &mut output_count);
- }
-
- // put single input into cordic
- let input_left = &arg1s[consumed_input_len..];
-
- if !input_left.is_empty() {
- self.peri.set_argument_count(Count::One);
-
- // "preload" value to cordic (at this moment, cordic start to calculating)
- self.blocking_write_f64(input_left[0]);
-
- for &arg in input_left.iter().skip(1) {
- // this line write arg for next round caculation to cordic,
- // and read result from last round
- self.blocking_write_f64(arg);
- self.blocking_read_f64_to_buf(output, &mut output_count);
- }
-
- // read the last output
- self.blocking_read_f64_to_buf(output, &mut output_count);
- }
-
- output_count
- }
- Mode::Interrupt => todo!(),
- Mode::Dma => todo!(),
+ for (&arg1, &arg2) in args {
+ self.blocking_write_f32(arg1, arg2);
+ self.blocking_read_f32_to_buf(output, &mut output_count);
}
+
+ // read last pair of value from cordic
+ self.blocking_read_f32_to_buf(output, &mut output_count);
+
+ output_count
}
- fn check_input_f64(&self, arg1s: &[f64], arg2s: Option<&[f64]>) {
- let config = &self.config;
+ fn blocking_write_f32(&mut self, arg1: f32, arg2: f32) {
+ let reg_value: u32 = utils::f32_to_q1_15(arg1) as u32 + ((utils::f32_to_q1_15(arg2) as u32) << 16);
+ self.peri.write_argument(reg_value);
+ }
- use Function::*;
+ fn blocking_read_f32_to_buf(&mut self, result_buf: &mut [f32], result_index: &mut usize) {
+ let (res1, res2) = self.blocking_read_f32();
+ result_buf[*result_index] = res1;
+ *result_index += 1;
- // check SCALE value
- match config.function {
- Cos | Sin | Phase | Modulus => assert!(Scale::A1_R1 == config.scale, "SCALE should be 0"),
- Arctan => assert!(
- (0..=7).contains(&(config.scale as u8)),
- "SCALE should be: 0 <= SCALE <= 7"
- ),
- Cosh | Sinh | Arctanh => assert!(Scale::A1o2_R2 == config.scale, "SCALE should be 1"),
-
- Ln => assert!(
- (1..=4).contains(&(config.scale as u8)),
- "SCALE should be: 1 <= SCALE <= 4"
- ),
- Sqrt => assert!(
- (0..=2).contains(&(config.scale as u8)),
- "SCALE should be: 0 <= SCALE <= 2"
- ),
- }
-
- // check ARG1 value
- match config.function {
- Cos | Sin | Phase | Modulus | Arctan => {
- assert!(
- arg1s.iter().all(|v| (-1.0..=1.0).contains(v)),
- "ARG1 should be: -1 <= ARG1 <= 1"
- );
- }
-
- Cosh | Sinh => assert!(
- arg1s.iter().all(|v| (-0.559..=0.559).contains(v)),
- "ARG1 should be: -0.559 <= ARG1 <= 0.559"
- ),
-
- Arctanh => assert!(
- arg1s.iter().all(|v| (-0.403..=0.403).contains(v)),
- "ARG1 should be: -0.403 <= ARG1 <= 0.403"
- ),
-
- Ln => {
- match config.scale {
- Scale::A1o2_R2 => assert!(
- arg1s.iter().all(|v| (0.05354..0.5).contains(v)),
- "When SCALE set to 1, ARG1 should be: 0.05354 <= ARG1 < 0.5"
- ),
- Scale::A1o4_R4 => assert!(
- arg1s.iter().all(|v| (0.25..0.75).contains(v)),
- "When SCALE set to 2, ARG1 should be: 0.25 <= ARG1 < 0.75"
- ),
- Scale::A1o8_R8 => assert!(
- arg1s.iter().all(|v| (0.375..0.875).contains(v)),
- "When SCALE set to 3, ARG1 should be: 0.375 <= ARG1 < 0.875"
- ),
- Scale::A1o16_R16 => assert!(
- arg1s.iter().all(|v| (0.4375f64..0.584f64).contains(v)),
- "When SCALE set to 4, ARG1 should be: 0.4375 <= ARG1 < 0.584"
- ),
- _ => unreachable!(),
- };
- }
-
- Function::Sqrt => match config.scale {
- Scale::A1_R1 => assert!(
- arg1s.iter().all(|v| (0.027..0.75).contains(v)),
- "When SCALE set to 0, ARG1 should be: 0.027 <= ARG1 < 0.75"
- ),
- Scale::A1o2_R2 => assert!(
- arg1s.iter().all(|v| (0.375..0.875).contains(v)),
- "When SCALE set to 1, ARG1 should be: 0.375 <= ARG1 < 0.875"
- ),
- Scale::A1o4_R4 => assert!(
- arg1s.iter().all(|v| (0.4375..0.585).contains(v)),
- "When SCALE set to 2, ARG1 should be: 0.4375 <= ARG1 < 0.585"
- ),
- _ => unreachable!(),
- },
- }
-
- // check ARG2 value
- if let Some(arg2s) = arg2s {
- match config.function {
- Cos | Sin => assert!(
- arg2s.iter().all(|v| (0.0..=1.0).contains(v)),
- "ARG2 should be: 0 <= ARG2 <= 1"
- ),
-
- Phase | Modulus => assert!(
- arg2s.iter().all(|v| (-1.0..=1.0).contains(v)),
- "ARG2 should be: -1 <= ARG2 <= 1"
- ),
-
- _ => (),
- }
+ if let Some(res2) = res2 {
+ result_buf[*result_index] = res2;
+ *result_index += 1;
}
}
}
+// check input value ARG1, ARG2, SCALE and FUNCTION are compatible with each other
+macro_rules! check_input_value {
+ ($func_name:ident, $float_type:ty) => {
+ impl<'d, T: Instance> Cordic<'d, T> {
+ fn $func_name(&self, arg1s: &[$float_type], arg2s: Option<&[$float_type]>) {
+ let config = &self.config;
+
+ use Function::*;
+
+ // check SCALE value
+ match config.function {
+ Cos | Sin | Phase | Modulus => assert!(Scale::A1_R1 == config.scale, "SCALE should be 0"),
+ Arctan => assert!(
+ (0..=7).contains(&(config.scale as u8)),
+ "SCALE should be: 0 <= SCALE <= 7"
+ ),
+ Cosh | Sinh | Arctanh => assert!(Scale::A1o2_R2 == config.scale, "SCALE should be 1"),
+
+ Ln => assert!(
+ (1..=4).contains(&(config.scale as u8)),
+ "SCALE should be: 1 <= SCALE <= 4"
+ ),
+ Sqrt => assert!(
+ (0..=2).contains(&(config.scale as u8)),
+ "SCALE should be: 0 <= SCALE <= 2"
+ ),
+ }
+
+ // check ARG1 value
+ match config.function {
+ Cos | Sin | Phase | Modulus | Arctan => {
+ assert!(
+ arg1s.iter().all(|v| (-1.0..=1.0).contains(v)),
+ "ARG1 should be: -1 <= ARG1 <= 1"
+ );
+ }
+
+ Cosh | Sinh => assert!(
+ arg1s.iter().all(|v| (-0.559..=0.559).contains(v)),
+ "ARG1 should be: -0.559 <= ARG1 <= 0.559"
+ ),
+
+ Arctanh => assert!(
+ arg1s.iter().all(|v| (-0.403..=0.403).contains(v)),
+ "ARG1 should be: -0.403 <= ARG1 <= 0.403"
+ ),
+
+ Ln => {
+ match config.scale {
+ Scale::A1o2_R2 => assert!(
+ arg1s.iter().all(|v| (0.05354..0.5).contains(v)),
+ "When SCALE set to 1, ARG1 should be: 0.05354 <= ARG1 < 0.5"
+ ),
+ Scale::A1o4_R4 => assert!(
+ arg1s.iter().all(|v| (0.25..0.75).contains(v)),
+ "When SCALE set to 2, ARG1 should be: 0.25 <= ARG1 < 0.75"
+ ),
+ Scale::A1o8_R8 => assert!(
+ arg1s.iter().all(|v| (0.375..0.875).contains(v)),
+ "When SCALE set to 3, ARG1 should be: 0.375 <= ARG1 < 0.875"
+ ),
+ Scale::A1o16_R16 => assert!(
+ arg1s.iter().all(|v| (0.4375..0.584).contains(v)),
+ "When SCALE set to 4, ARG1 should be: 0.4375 <= ARG1 < 0.584"
+ ),
+ _ => unreachable!(),
+ };
+ }
+
+ Function::Sqrt => match config.scale {
+ Scale::A1_R1 => assert!(
+ arg1s.iter().all(|v| (0.027..0.75).contains(v)),
+ "When SCALE set to 0, ARG1 should be: 0.027 <= ARG1 < 0.75"
+ ),
+ Scale::A1o2_R2 => assert!(
+ arg1s.iter().all(|v| (0.375..0.875).contains(v)),
+ "When SCALE set to 1, ARG1 should be: 0.375 <= ARG1 < 0.875"
+ ),
+ Scale::A1o4_R4 => assert!(
+ arg1s.iter().all(|v| (0.4375..0.585).contains(v)),
+ "When SCALE set to 2, ARG1 should be: 0.4375 <= ARG1 < 0.585"
+ ),
+ _ => unreachable!(),
+ },
+ }
+
+ // check ARG2 value
+ if let Some(arg2s) = arg2s {
+ match config.function {
+ Cos | Sin => assert!(
+ arg2s.iter().all(|v| (0.0..=1.0).contains(v)),
+ "ARG2 should be: 0 <= ARG2 <= 1"
+ ),
+
+ Phase | Modulus => assert!(
+ arg2s.iter().all(|v| (-1.0..=1.0).contains(v)),
+ "ARG2 should be: -1 <= ARG2 <= 1"
+ ),
+
+ _ => (),
+ }
+ }
+ }
+ }
+ };
+}
+
+check_input_value!(check_input_f64, f64);
+check_input_value!(check_input_f32, f32);
+
foreach_interrupt!(
($inst:ident, cordic, $block:ident, GLOBAL, $irq:ident) => {
impl Instance for peripherals::$inst {
diff --git a/embassy-stm32/src/cordic/utils.rs b/embassy-stm32/src/cordic/utils.rs
index 3f055c34b..2f4b5c5e8 100644
--- a/embassy-stm32/src/cordic/utils.rs
+++ b/embassy-stm32/src/cordic/utils.rs
@@ -3,7 +3,7 @@
macro_rules! floating_fixed_convert {
($f_to_q:ident, $q_to_f:ident, $unsigned_bin_typ:ty, $signed_bin_typ:ty, $float_ty:ty, $offset:literal, $min_positive:literal) => {
/// convert float point to fixed point format
- pub fn $f_to_q(value: $float_ty) -> $unsigned_bin_typ {
+ pub(crate) fn $f_to_q(value: $float_ty) -> $unsigned_bin_typ {
const MIN_POSITIVE: $float_ty = unsafe { core::mem::transmute($min_positive) };
assert!(
@@ -31,7 +31,7 @@ macro_rules! floating_fixed_convert {
#[inline(always)]
/// convert fixed point to float point format
- pub fn $q_to_f(value: $unsigned_bin_typ) -> $float_ty {
+ pub(crate) fn $q_to_f(value: $unsigned_bin_typ) -> $float_ty {
// It's needed to convert from unsigned to signed first, for correct result.
-(value as $signed_bin_typ as $float_ty) / ((1 as $unsigned_bin_typ << $offset) as $float_ty)
}