stm32 CORDIC: ZeroOverhead for q1.31 and q1.15
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eZio Pan
parent
5d12f59430
commit
c9f759bb21
3 changed files with 278 additions and 207 deletions
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@ -68,16 +68,3 @@ pub enum Width {
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Bits32,
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Bits16,
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}
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/// Cordic driver running mode
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#[derive(Clone, Copy)]
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pub enum Mode {
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/// After caculation start, a read to RDATA register will block AHB until the caculation finished
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ZeroOverhead,
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/// Use CORDIC interrupt to trigger a read result value
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Interrupt,
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/// Use DMA to write/read value
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Dma,
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}
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@ -1,8 +1,9 @@
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//! CORDIC co-processor
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use crate::peripherals;
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use embassy_hal_internal::{into_ref, Peripheral, PeripheralRef};
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use crate::peripherals;
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mod enums;
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pub use enums::*;
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@ -10,10 +11,6 @@ pub mod utils;
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pub(crate) mod sealed;
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// length of pre-allocated [u32] memory for CORDIC input,
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// length should be multiple of 2
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const INPUT_BUF_LEN: usize = 8;
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/// Low-level CORDIC access.
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#[cfg(feature = "unstable-pac")]
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pub mod low_level {
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@ -31,30 +28,16 @@ pub trait Instance: sealed::Instance + Peripheral<P = Self> + crate::rcc::RccPer
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/// CORDIC configuration
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pub struct Config {
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mode: Mode,
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function: Function,
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precision: Precision,
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scale: Scale,
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first_result: bool,
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}
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// CORDIC running state
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struct State {
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input_buf: [u32; INPUT_BUF_LEN],
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buf_index: usize,
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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(
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mode: Mode,
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function: Function,
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precision: Option<Precision>,
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scale: Option<Scale>,
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first_result: bool,
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) -> Self {
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pub fn new(function: Function, precision: Option<Precision>, scale: Option<Scale>, first_result: bool) -> Self {
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Self {
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mode,
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function,
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precision: precision.unwrap_or_default(),
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scale: scale.unwrap_or_default(),
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@ -133,45 +116,23 @@ impl<'d, T: Instance> Cordic<'d, T> {
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} else {
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self.peri.set_result_count(Count::Two)
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}
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match self.config.mode {
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Mode::ZeroOverhead => (),
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Mode::Interrupt => {
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self.peri.enable_irq();
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}
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Mode::Dma => {
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self.peri.enable_write_dma();
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self.peri.enable_read_dma();
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}
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}
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}
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fn blocking_read_f64(&mut self) -> (f64, Option<f64>) {
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let res1 = utils::q1_31_to_f64(self.peri.read_result());
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fn blocking_read_f32(&mut self) -> (f32, Option<f32>) {
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let reg_value = self.peri.read_result();
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let res1 = utils::q1_15_to_f32((reg_value & ((1u32 << 16) - 1)) as u16);
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// We don't care about whether the function return 1 or 2 results,
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// the only thing matter is whether user want 1 or 2 results.
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let res2 = if !self.config.first_result {
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Some(utils::q1_31_to_f64(self.peri.read_result()))
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Some(utils::q1_15_to_f32((reg_value >> 16) as u16))
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} else {
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None
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};
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(res1, res2)
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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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let (res1, res2) = self.blocking_read_f64();
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result_buf[*result_index] = res1;
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*result_index += 1;
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if let Some(res2) = res2 {
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result_buf[*result_index] = res2;
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*result_index += 1;
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}
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}
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fn blocking_write_f64(&mut self, arg: f64) {
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self.peri.write_argument(utils::f64_to_q1_31(arg));
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}
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}
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impl<'d, T: Instance> Drop for Cordic<'d, T> {
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@ -183,7 +144,11 @@ impl<'d, T: Instance> Drop for Cordic<'d, T> {
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// q1.31 related
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impl<'d, T: Instance> Cordic<'d, T> {
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/// Run a CORDIC calculation
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pub fn calc_32bit(&mut self, arg1s: &[f64], arg2s: Option<&[f64]>, output: &mut [f64]) -> usize {
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pub fn blocking_calc_32bit(&mut self, arg1s: &[f64], arg2s: Option<&[f64]>, output: &mut [f64]) -> usize {
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if arg1s.is_empty() {
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return 0;
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}
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assert!(
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match self.config.first_result {
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true => output.len() >= arg1s.len(),
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@ -194,6 +159,10 @@ impl<'d, T: Instance> Cordic<'d, T> {
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self.check_input_f64(arg1s, arg2s);
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self.peri.disable_irq();
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self.peri.disable_write_dma();
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self.peri.disable_read_dma();
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self.peri.set_result_count(if self.config.first_result {
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Count::One
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} else {
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@ -206,11 +175,9 @@ impl<'d, T: Instance> Cordic<'d, T> {
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let mut consumed_input_len = 0;
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match self.config.mode {
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Mode::ZeroOverhead => {
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// put double input into cordic
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if arg2s.is_some() && !arg2s.unwrap().is_empty() {
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let arg2s = arg2s.unwrap();
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if arg2s.is_some() && !arg2s.expect("It's infailable").is_empty() {
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let arg2s = arg2s.expect("It's infailable");
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self.peri.set_argument_count(Count::Two);
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@ -260,12 +227,124 @@ impl<'d, T: Instance> Cordic<'d, T> {
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output_count
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}
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Mode::Interrupt => todo!(),
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Mode::Dma => todo!(),
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fn blocking_read_f64(&mut self) -> (f64, Option<f64>) {
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let res1 = utils::q1_31_to_f64(self.peri.read_result());
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// We don't care about whether the function return 1 or 2 results,
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// the only thing matter is whether user want 1 or 2 results.
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let res2 = if !self.config.first_result {
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Some(utils::q1_31_to_f64(self.peri.read_result()))
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} else {
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None
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};
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(res1, res2)
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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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let (res1, res2) = self.blocking_read_f64();
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result_buf[*result_index] = res1;
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*result_index += 1;
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if let Some(res2) = res2 {
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result_buf[*result_index] = res2;
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*result_index += 1;
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}
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}
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fn check_input_f64(&self, arg1s: &[f64], arg2s: Option<&[f64]>) {
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fn blocking_write_f64(&mut self, arg: f64) {
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self.peri.write_argument(utils::f64_to_q1_31(arg));
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}
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}
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// q1.15 related
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impl<'d, T: Instance> Cordic<'d, T> {
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/// Run a CORDIC calculation
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pub fn blocking_calc_16bit(&mut self, arg1s: &[f32], arg2s: Option<&[f32]>, output: &mut [f32]) -> usize {
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if arg1s.is_empty() {
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return 0;
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}
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assert!(
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match self.config.first_result {
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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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"Output buf length is not long enough"
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);
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self.check_input_f32(arg1s, arg2s);
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self.peri.disable_irq();
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self.peri.disable_write_dma();
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self.peri.disable_read_dma();
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// In q1.15 mode, 1 write/read to access 2 arguments/results
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self.peri.set_argument_count(Count::One);
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self.peri.set_result_count(Count::One);
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self.peri.set_data_width(Width::Bits16, Width::Bits16);
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let mut output_count = 0;
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// In q1.15 mode, we always fill 1 pair of 16bit value into WDATA register.
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// If arg2s is None or empty array, we assume arg2 value always 1.0 (as reset value for ARG2).
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// If arg2s has some value, and but not as long as arg1s,
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// we fill the reset of arg2 values with last value from arg2s (as q1.31 version does)
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let arg2_default_value = match arg2s {
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Some(arg2s) if !arg2s.is_empty() => arg2s[arg2s.len() - 1],
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_ => 1.0,
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};
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let mut args = arg1s.iter().zip(
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arg2s
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.unwrap_or(&[])
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.iter()
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.chain(core::iter::repeat(&arg2_default_value)),
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);
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let (&arg1, &arg2) = args
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.next()
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.expect("This should be infallible, since arg1s is not empty");
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// preloading 1 pair of arguments
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self.blocking_write_f32(arg1, arg2);
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for (&arg1, &arg2) in args {
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self.blocking_write_f32(arg1, arg2);
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self.blocking_read_f32_to_buf(output, &mut output_count);
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}
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// read last pair of value from cordic
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self.blocking_read_f32_to_buf(output, &mut output_count);
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output_count
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}
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fn blocking_write_f32(&mut self, arg1: f32, arg2: f32) {
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let reg_value: u32 = utils::f32_to_q1_15(arg1) as u32 + ((utils::f32_to_q1_15(arg2) as u32) << 16);
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self.peri.write_argument(reg_value);
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}
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fn blocking_read_f32_to_buf(&mut self, result_buf: &mut [f32], result_index: &mut usize) {
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let (res1, res2) = self.blocking_read_f32();
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result_buf[*result_index] = res1;
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*result_index += 1;
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if let Some(res2) = res2 {
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result_buf[*result_index] = res2;
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*result_index += 1;
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}
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}
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}
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// check input value ARG1, ARG2, SCALE and FUNCTION are compatible with each other
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macro_rules! check_input_value {
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($func_name:ident, $float_type:ty) => {
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impl<'d, T: Instance> Cordic<'d, T> {
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fn $func_name(&self, arg1s: &[$float_type], arg2s: Option<&[$float_type]>) {
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let config = &self.config;
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use Function::*;
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@ -323,7 +402,7 @@ impl<'d, T: Instance> Cordic<'d, T> {
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"When SCALE set to 3, ARG1 should be: 0.375 <= ARG1 < 0.875"
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),
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Scale::A1o16_R16 => assert!(
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arg1s.iter().all(|v| (0.4375f64..0.584f64).contains(v)),
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arg1s.iter().all(|v| (0.4375..0.584).contains(v)),
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"When SCALE set to 4, ARG1 should be: 0.4375 <= ARG1 < 0.584"
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),
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_ => unreachable!(),
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@ -364,8 +443,13 @@ impl<'d, T: Instance> Cordic<'d, T> {
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}
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}
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}
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}
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};
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}
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check_input_value!(check_input_f64, f64);
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check_input_value!(check_input_f32, f32);
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foreach_interrupt!(
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($inst:ident, cordic, $block:ident, GLOBAL, $irq:ident) => {
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impl Instance for peripherals::$inst {
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@ -3,7 +3,7 @@
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macro_rules! floating_fixed_convert {
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($f_to_q:ident, $q_to_f:ident, $unsigned_bin_typ:ty, $signed_bin_typ:ty, $float_ty:ty, $offset:literal, $min_positive:literal) => {
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/// convert float point to fixed point format
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pub fn $f_to_q(value: $float_ty) -> $unsigned_bin_typ {
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pub(crate) fn $f_to_q(value: $float_ty) -> $unsigned_bin_typ {
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const MIN_POSITIVE: $float_ty = unsafe { core::mem::transmute($min_positive) };
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assert!(
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@ -31,7 +31,7 @@ macro_rules! floating_fixed_convert {
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#[inline(always)]
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/// convert fixed point to float point format
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pub fn $q_to_f(value: $unsigned_bin_typ) -> $float_ty {
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pub(crate) fn $q_to_f(value: $unsigned_bin_typ) -> $float_ty {
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// It's needed to convert from unsigned to signed first, for correct result.
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-(value as $signed_bin_typ as $float_ty) / ((1 as $unsigned_bin_typ << $offset) as $float_ty)
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}
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