You are viewing a plain text version of this content. The canonical link for it is here.
Posted to commits@nuttx.apache.org by ac...@apache.org on 2021/07/28 17:25:25 UTC
[incubator-nuttx-apps] branch master updated: examples: add CORDIC
example
This is an automated email from the ASF dual-hosted git repository.
acassis pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/incubator-nuttx-apps.git
The following commit(s) were added to refs/heads/master by this push:
new e21330d examples: add CORDIC example
e21330d is described below
commit e21330df5300e25ddad5af2b0097da2fc63c97c5
Author: raiden00pl <ra...@railab.me>
AuthorDate: Tue Jul 20 13:05:00 2021 +0200
examples: add CORDIC example
---
examples/README.md | 4 +
examples/cordic/Kconfig | 35 ++++++
examples/cordic/Make.defs | 23 ++++
examples/cordic/Makefile | 34 ++++++
examples/cordic/cordic_main.c | 257 ++++++++++++++++++++++++++++++++++++++++++
5 files changed, 353 insertions(+)
diff --git a/examples/README.md b/examples/README.md
index 789f3ed..b8557ab 100644
--- a/examples/README.md
+++ b/examples/README.md
@@ -209,6 +209,10 @@ Attempts to keep the system busy by passing data through a pipe in loop back
mode. This may be useful if you are trying run down other problems that you
think might only occur when the system is very busy.
+## `cordic`
+
+A simple test of the CORDIC character driver.
+
## `dac` Write to DAC
This is a tool for writing values to DAC device.
diff --git a/examples/cordic/Kconfig b/examples/cordic/Kconfig
new file mode 100644
index 0000000..5ad75f4
--- /dev/null
+++ b/examples/cordic/Kconfig
@@ -0,0 +1,35 @@
+#
+# For a description of the syntax of this configuration file,
+# see the file kconfig-language.txt in the NuttX tools repository.
+#
+
+config EXAMPLES_CORDIC
+ tristate "CORDIC example"
+ default n
+ ---help---
+ Enable the CORDIC example
+
+if EXAMPLES_CORDIC
+
+config EXAMPLES_CORDIC_DEVPATH
+ string "CORDIC Device Path"
+ default "/dev/cordic0"
+ ---help---
+ The device path
+
+config EXAMPLES_CORDIC_PROGNAME
+ string "Program name"
+ default "cordic"
+ ---help---
+ This is the name of the program that will be used when the NSH ELF
+ program is installed.
+
+config EXAMPLES_CORDIC_PRIORITY
+ int "CORDIC task priority"
+ default 100
+
+config EXAMPLES_CORDIC_STACKSIZE
+ int "CORDIC stack size"
+ default DEFAULT_TASK_STACKSIZE
+
+endif
diff --git a/examples/cordic/Make.defs b/examples/cordic/Make.defs
new file mode 100644
index 0000000..7494f87
--- /dev/null
+++ b/examples/cordic/Make.defs
@@ -0,0 +1,23 @@
+############################################################################
+# apps/examples/cordic/Make.defs
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more
+# contributor license agreements. See the NOTICE file distributed with
+# this work for additional information regarding copyright ownership. The
+# ASF licenses this file to you under the Apache License, Version 2.0 (the
+# "License"); you may not use this file except in compliance with the
+# License. You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+# License for the specific language governing permissions and limitations
+# under the License.
+#
+############################################################################
+
+ifneq ($(CONFIG_EXAMPLES_CORDIC),)
+CONFIGURED_APPS += $(APPDIR)/examples/cordic
+endif
diff --git a/examples/cordic/Makefile b/examples/cordic/Makefile
new file mode 100644
index 0000000..c58d75a
--- /dev/null
+++ b/examples/cordic/Makefile
@@ -0,0 +1,34 @@
+############################################################################
+# apps/examples/cordic/Make.defs
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more
+# contributor license agreements. See the NOTICE file distributed with
+# this work for additional information regarding copyright ownership. The
+# ASF licenses this file to you under the Apache License, Version 2.0 (the
+# "License"); you may not use this file except in compliance with the
+# License. You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+# License for the specific language governing permissions and limitations
+# under the License.
+#
+############################################################################
+
+include $(APPDIR)/Make.defs
+
+# CORDIC built-in application info
+
+PROGNAME = $(CONFIG_EXAMPLES_CORDIC_PROGNAME)
+PRIORITY = $(CONFIG_EXAMPLES_CORDIC_PRIORITY)
+STACKSIZE = $(CONFIG_EXAMPLES_CORDIC_STACKSIZE)
+MODULE = $(CONFIG_EXAMPLES_CORDIC)
+
+# CORDIC Example
+
+MAINSRC = cordic_main.c
+
+include $(APPDIR)/Application.mk
diff --git a/examples/cordic/cordic_main.c b/examples/cordic/cordic_main.c
new file mode 100644
index 0000000..fe128a7
--- /dev/null
+++ b/examples/cordic/cordic_main.c
@@ -0,0 +1,257 @@
+/****************************************************************************
+ * apps/examples/cordic/cordic_main.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership. The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+#include <sys/ioctl.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <string.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <debug.h>
+#include <math.h>
+#include <fixedmath.h>
+
+#include <nuttx/math/cordic.h>
+#include <nuttx/math/math_ioctl.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#ifndef CONFIG_MATH_CORDIC_USE_Q31
+# error Not supported
+#endif
+
+#ifndef CONFIG_LIBC_FLOATINGPOINT
+# error CONFIG_LIBC_FLOATINGPOINT must be enabled
+#endif
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * cordic_main
+ ****************************************************************************/
+
+int main(int argc, FAR char *argv[])
+{
+ struct cordic_calc_s io;
+ int fd = 0;
+ int ret = OK;
+ float arg1f = 0.0f;
+ float arg2f = 0.0f;
+ float res1f = 0.0f;
+ float res2f = 0.0f;
+ b16_t arg1b16 = 0;
+ b16_t arg2b16 = 0;
+ b16_t res1b16 = 0;
+ b16_t res2b16 = 0;
+
+ /* Reset data */
+
+ memset(&io, 0, sizeof(struct cordic_calc_s));
+
+ /* Open the CORDIC device */
+
+ fd = open(CONFIG_EXAMPLES_CORDIC_DEVPATH, O_RDWR);
+ if (fd < 0)
+ {
+ printf("ERROR: open %s failed: %d\n",
+ CONFIG_EXAMPLES_CORDIC_DEVPATH, errno);
+ goto errout;
+ }
+
+ /* Get cosine */
+
+ arg1f = 0.05f;
+ arg2f = 1.0f;
+ io.func = CORDIC_CALC_FUNC_COS;
+ io.res2_incl = false;
+ io.arg1 = ftoq31(arg1f);
+ io.arg2 = ftoq31(arg2f);
+
+ ret = ioctl(fd, MATHIOC_CORDIC_CALC, (unsigned long)((uintptr_t)&io));
+ if (ret < 0)
+ {
+ printf("ERROR: MATHIOC_CORDIC_CALC failed, errno=%d\n", errno);
+ }
+
+ res1f = q31tof(io.res1);
+ res2f = q31tof(io.res2);
+
+ printf("[float] func=%" PRIu8 " res2_inc=%d "
+ "arg1f=%0.5f arg2=%0.5f res1=%0.5f res2=%0.5f\n",
+ io.func, io.res2_incl, arg1f, arg2f, res1f, res2f);
+
+ /* Get cosine and sine from single call */
+
+ arg1f = -0.5f;
+ arg2f = 1.0f;
+ io.func = CORDIC_CALC_FUNC_COS;
+ io.res2_incl = true;
+ io.arg1 = ftoq31(arg1f);
+ io.arg2 = ftoq31(arg2f);
+
+ ret = ioctl(fd, MATHIOC_CORDIC_CALC, (unsigned long)((uintptr_t)&io));
+ if (ret < 0)
+ {
+ printf("ERROR: MATHIOC_CORDIC_CALC failed, errno=%d\n", errno);
+ }
+
+ res1f = q31tof(io.res1);
+ res2f = q31tof(io.res2);
+
+ printf("[float] func=%" PRIu8 " res2_inc=%d "
+ "arg1f=%0.5f arg2=%0.5f res1f=%0.5f res2f=%0.5f\n",
+ io.func, io.res2_incl, arg1f, arg2f, res1f, res2f);
+
+ /* Get cosine and sine from single call */
+
+ arg1f = -0.1f;
+ arg2f = 1.0f;
+ io.func = CORDIC_CALC_FUNC_COS;
+ io.res2_incl = true;
+ io.arg1 = ftoq31(arg1f);
+ io.arg2 = ftoq31(arg2f);
+
+ ret = ioctl(fd, MATHIOC_CORDIC_CALC, (unsigned long)((uintptr_t)&io));
+ if (ret < 0)
+ {
+ printf("ERROR: MATHIOC_CORDIC_CALC failed, errno=%d\n", errno);
+ }
+
+ res1f = q31tof(io.res1);
+ res2f = q31tof(io.res2);
+
+ printf("[float] func=%" PRIu8 " res2_inc=%d "
+ "arg1f=%0.5f arg2=%0.5f res1=%0.5f res2=%0.5f\n",
+ io.func, io.res2_incl, arg1f, arg2f, res1f, res2f);
+
+ /* Get cosine and sine from single call */
+
+ arg1f = 0.8f;
+ arg2f = 1.0f;
+ io.func = CORDIC_CALC_FUNC_COS;
+ io.res2_incl = true;
+ io.arg1 = ftoq31(arg1f);
+ io.arg2 = ftoq31(arg2f);
+
+ ret = ioctl(fd, MATHIOC_CORDIC_CALC, (unsigned long)((uintptr_t)&io));
+ if (ret < 0)
+ {
+ printf("ERROR: MATHIOC_CORDIC_CALC failed, errno=%d\n", errno);
+ }
+
+ res1f = q31tof(io.res1);
+ res2f = q31tof(io.res2);
+
+ printf("[float] func=%" PRIu8 " res2_inc=%d "
+ "arg1f=%0.5f arg2=%0.5f res1=%0.5f res2=%0.5f\n",
+ io.func, io.res2_incl, arg1f, arg2f, res1f, res2f);
+
+ /* Get phase and modulus from single call */
+
+ arg1f = -0.5f;
+ arg2f = -0.5f;
+ io.func = CORDIC_CALC_FUNC_PHASE;
+ io.res2_incl = true;
+ io.arg1 = ftoq31(arg1f);
+ io.arg2 = ftoq31(arg2f);
+
+ ret = ioctl(fd, MATHIOC_CORDIC_CALC, (unsigned long)((uintptr_t)&io));
+ if (ret < 0)
+ {
+ printf("ERROR: MATHIOC_CORDIC_CALC failed, errno=%d\n", errno);
+ }
+
+ res1f = q31tof(io.res1);
+ res2f = q31tof(io.res2);
+
+ printf("[float] func=%" PRIu8 " res2_inc=%d "
+ "arg1f=%0.5f arg2=%0.5f res1f=%0.5f res2f=%0.5f\n",
+ io.func, io.res2_incl, arg1f, arg2f, res1f, res2f);
+
+ /* Get cosine and sine from single call (fixed16) */
+
+ arg1b16 = ftob16(-0.5f);
+ arg2b16 = ftob16(1.0f);
+ io.func = CORDIC_CALC_FUNC_COS;
+ io.res2_incl = true;
+ io.arg1 = b16toq31(arg1b16);
+ io.arg2 = b16toq31(arg2b16);
+
+ ret = ioctl(fd, MATHIOC_CORDIC_CALC, (unsigned long)((uintptr_t)&io));
+ if (ret < 0)
+ {
+ printf("ERROR: MATHIOC_CORDIC_CALC failed, errno=%d\n", errno);
+ }
+
+ res1b16 = q31tob16(io.res1);
+ res2b16 = q31tob16(io.res2);
+
+ printf("[fixed16] func=%" PRIu8 " res2_inc=%d "
+ "arg1f=%0.5f arg2=%0.5f res1=%0.5f res2=%0.5f\n",
+ io.func, io.res2_incl, b16tof(arg1b16), b16tof(arg2b16),
+ b16tof(res1b16), b16tof(res2b16));
+
+ /* Get phase and modulus from single call (fixed16) */
+
+ arg1b16 = ftob16(-0.5f);
+ arg2b16 = ftob16(-0.5f);
+ io.func = CORDIC_CALC_FUNC_PHASE;
+ io.res2_incl = true;
+ io.arg1 = b16toq31(arg1b16);
+ io.arg2 = b16toq31(arg2b16);
+
+ ret = ioctl(fd, MATHIOC_CORDIC_CALC, (unsigned long)((uintptr_t)&io));
+ if (ret < 0)
+ {
+ printf("ERROR: MATHIOC_CORDIC_CALC failed, errno=%d\n", errno);
+ }
+
+ res1b16 = q31tob16(io.res1);
+ res2b16 = q31tob16(io.res2);
+
+ printf("[fxied16] func=%" PRIu8 " res2_inc=%d "
+ "arg1f=%0.5f arg2=%0.5f res1=%0.5f res2=%0.5f\n",
+ io.func, io.res2_incl, b16tof(arg1b16), b16tof(arg2b16),
+ b16tof(res1b16), b16tof(res2b16));
+
+errout:
+
+ /* Close CORDIC device */
+
+ if (fd > 0)
+ {
+ close(fd);
+ }
+
+ return 0;
+}