stm32 CORDIC: add HIL test

4 files changed, 165 insertions, 4 deletions

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.
@@ -92,6 +94,11 @@ 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"
 required-features = [ "cryp",]
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<peripherals::RNG>;
+});
+
+/* 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();
+}