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evaluate CORDIC coprocessor on STM32U5

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cepetr/cordic-experiment
cepetr 8 months ago
parent 7ee153b7d2
commit b5f1687fbc
5 changed files with 354 additions and 1 deletions
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8
core/embed/firmware/main.c
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@ -59,6 +59,7 @@
#ifdef USE_DMA2D
#include "dma2d.h"
#endif
#include "quickmath.h"
#ifdef USE_BUTTON
#include "button.h"
#endif
@ -169,6 +170,8 @@ int main(void) {
sdcard_init();
#endif
quickmath_init();
#ifdef USE_OPTIGA
optiga_init();
optiga_open_application();
@ -197,6 +200,11 @@ int main(void) {
mp_pystack_init(pystack, &pystack[MP_ARRAY_SIZE(pystack)]);
#endif
//quickmath_performance_test();
//quickmath_test();
// GC init
printf("CORE: Starting GC\n");
gc_init(&_heap_start, &_heap_end);

55
core/embed/trezorhal/quickmath.h
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@ -0,0 +1,55 @@
/*
* This file is part of the Trezor project, https://trezor.io/
*
* Copyright (c) SatoshiLabs
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef TREZOR_HAL_QUICKMATH_H
#define TREZOR_HAL_QUICKMATH_H
#include <stdint.h>
// Initializes the library
void quickmath_init();
// Performs a conversion from `angle` (in degrees) and `radius`
// to a vector `x', 'y (polar to cartesian transformation)
//
// _x = cos(angle) * radius;
// _y = sin(angle) * radius;
// 3.1us, 32-bit CORDIC, using ST HAL library
void quickmath_polar_to_cartesian_i32(int32_t angle, int32_t radius,
int32_t* _x, int32_t* _y);
// 1.9us, 16-bit CORDIC, using ST HAL library
void quickmath_polar_to_cartesian_i16(int16_t angle, int16_t radius,
int16_t* _x, int16_t* _y);
// 0.47us, 16-bit CORDIC, NOT using ST HAL library
void quickmath_polar_to_cartesian_i16_ll(int16_t angle, int16_t radius,
int16_t* _x, int16_t* _y);
// 1.7us, uses sinf, cosf runtime functions
void quickmath_polar_to_cartesian_vfp(int16_t angle, int16_t radius,
int16_t* _x, int16_t* _y);
#if 1
void quickmath_test();
void quickmath_performance_test();
#endif
#endif // TREZOR_HAL_QUICKMATH_H

289
core/embed/trezorhal/stm32u5/quickmath.c
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@ -0,0 +1,289 @@
/*
* This file is part of the Trezor project, https://trezor.io/
*
* Copyright (c) SatoshiLabs
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "quickmath.h"
#include <stdio.h>
#include STM32_HAL_H
// Global CORDIC driver instance
static CORDIC_HandleTypeDef g_hcordic = {.Instance = CORDIC};
// Low level initialization routine internally called from HAL_CORDIC_init()
void HAL_CORDIC_MspInit(CORDIC_HandleTypeDef *hcordic) {
UNUSED(hcordic);
// Enable the CORDIC peripheral at the low level
// Since we use it in polling mode, enabling the clock is sufficient
__HAL_RCC_CORDIC_CLK_ENABLE();
}
void quickmath_init() {
// Initialize CORDIC instance
HAL_CORDIC_Init(&g_hcordic);
}
void quickmath_polar_to_cartesian_i32(int32_t angle, int32_t radius,
int32_t *_x, int32_t *_y) {
// CORDIC coprocessor configuration for calculation
// of sine and cosine functions
const static CORDIC_ConfigTypeDef config = {
.Function = CORDIC_FUNCTION_COSINE,
.Precision = CORDIC_PRECISION_6CYCLES, // 24 iterations
.Scale = CORDIC_SCALE_0, // scale x1
.InSize = CORDIC_INSIZE_32BITS, // inputs in q1.31
.OutSize = CORDIC_OUTSIZE_32BITS, // outputs in q1.31
.NbWrite = CORDIC_NBWRITE_1, // one 32-bit input, modulus fixed to 1.0
.NbRead = CORDIC_NBREAD_2, // two 32-bit outputs
};
/*HAL_StatusTypeDef* -> HAL_OK, HAL_ERROR */
HAL_CORDIC_Configure(&g_hcordic, &config);
// calculate phi input parameter first
// angle [degrees] -> phi[radians/PI]
int32_t phi = ((int64_t)angle << 31) / 180;
// CORDIC inputs { phi in radians divided by PI } in q1.31
// modulus is fixed to 1.0 by hardware
int32_t inbuff[1] = {phi};
// CORDIC outputs { cos(phi), sin(phi) } both in q1.31
int32_t outbuff[2];
/*HAL_StatusTypeDef* -> HAL_OK, HAL_ERROR */
HAL_CORDIC_Calculate(&g_hcordic, inbuff, outbuff, 1, HAL_MAX_DELAY);
// calculate the vector coordinates
*_x = ((int64_t)outbuff[0] * radius) >> 31;
*_y = ((int64_t)outbuff[1] * radius) >> 31;
}
void quickmath_polar_to_cartesian_i16(int16_t angle, int16_t radius,
int16_t *_x, int16_t *_y) {
// CORDIC coprocessor configuration for calculation
// of sine and cosine functions
const static CORDIC_ConfigTypeDef config = {
.Function = CORDIC_FUNCTION_COSINE,
.Precision = CORDIC_PRECISION_5CYCLES, // 20 iterations
.Scale = CORDIC_SCALE_0, // scale x1
.InSize = CORDIC_INSIZE_16BITS, // inputs in q1.15
.OutSize = CORDIC_OUTSIZE_16BITS, // outputs in q1.15
.NbWrite = CORDIC_NBWRITE_1, // one 32-bit input
.NbRead = CORDIC_NBREAD_1, // one 32-bit output
};
/*HAL_StatusTypeDef* -> HAL_OK, HAL_ERROR */
HAL_CORDIC_Configure(&g_hcordic, &config);
// angle [degrees] -> phi[radians/PI]
int16_t phi = (angle << 15) / 180;
// CORDIC inputs { phi in radians divided by PI, modulus } in q1.15
// phi in lower 16-bits, modulus is set to 1.0 in higher 16-bits
int32_t inbuff[1] = {(uint16_t)phi + (INT16_MAX << 16)};
// CORDIC outputs { cos(phi), sin(phi) } both in q1.15
// cosine in lower 16-bits, sine in higher 16-bits
int32_t outbuff[1];
/*HAL_StatusTypeDef* -> HAL_OK, HAL_ERROR */
HAL_CORDIC_Calculate(&g_hcordic, inbuff, outbuff, 1, HAL_MAX_DELAY);
// calculate the vector coordinates
*_x = ((int16_t)(outbuff[0] & 0xFFFF) * radius) >> 15;
*_y = ((int16_t)(outbuff[0] >> 16) * radius) >> 15;
}
void quickmath_polar_to_cartesian_i16_ll(int16_t angle, int16_t radius,
int16_t *_x, int16_t *_y) {
// configure CORDIC configuration for calculation
// of sine and cosine functions
CORDIC->CSR = 0 | CORDIC_FUNCTION_COSINE |
CORDIC_PRECISION_5CYCLES | // 20 iterations
CORDIC_SCALE_0 | // scale x1
CORDIC_INSIZE_16BITS | // inputs in q1.15
CORDIC_OUTSIZE_16BITS | // outputs in q1.15
CORDIC_NBWRITE_1 | // one 32-bit input
CORDIC_NBREAD_1; // one 32-bit output
// angle [degrees] -> phi[radians/PI]
int16_t phi = (angle << 15) / 180;
// CORDIC outputs { phi in radians divided by PI, modulus } in q1.15
// phi in lower 16-bits, modulus is set to 1.0 in higher 16-bits
CORDIC->WDATA = (uint16_t)phi + (INT16_MAX << 16);
// CORDIC inputs { cos(phi), sin(phi) } both in q1.15
// cosine in lower 16-bits, sine in higher 16-bits
uint32_t result = CORDIC->RDATA;
// calculate the vector coordinates
*_x = ((int16_t)(result & 0xFFFF) * radius) >> 15;
*_y = ((int16_t)(result >> 16) * radius) >> 15;
}
void quickmath_polar_to_cartesian_vfp(int16_t angle, int16_t radius,
int16_t *_x, int16_t *_y) {
*_x = cosf(angle * M_PI / 180) * radius;
*_y = sinf(angle * M_PI / 180) * radius;
}
void quickmath_performance_test() {
// 32-bit version, ST HAL, 1M iterations
{
int32_t x;
int32_t y;
int32_t start_ticks = HAL_GetTick();
for (int i = 0; i < 2000; i++) {
for (int j = -250; j < 250; j += 1) {
quickmath_polar_to_cartesian_i32(j, 1000, &x, &y);
}
}
int32_t end_ticks = HAL_GetTick();
int32_t duration = end_ticks - start_ticks;
printf("%ld\n", duration);
}
// 16-bit version, ST HAL, 1M iterations
{
int16_t x;
int16_t y;
int32_t start_ticks = HAL_GetTick();
for (int i = 0; i < 2000; i++) {
for (int j = -250; j < 250; j += 1) {
quickmath_polar_to_cartesian_i16(j, 1000, &x, &y);
}
}
int32_t end_ticks = HAL_GetTick();
int32_t duration = end_ticks - start_ticks;
printf("%ld\n", duration);
}
// 16-bit version, direct access to registers, 1M iterations
{
int16_t x;
int16_t y;
int32_t start_ticks = HAL_GetTick();
for (int i = 0; i < 2000; i++) {
for (int j = -250; j < 250; j += 1) {
quickmath_polar_to_cartesian_i16_ll(j, 1000, &x, &y);
}
}
int32_t end_ticks = HAL_GetTick();
int32_t duration = end_ticks - start_ticks;
printf("%ld\n", duration);
}
// 16-bit version, lib sinf/cosf utilizing vfp, 1M iterations
{
int16_t x;
int16_t y;
int32_t start_ticks = HAL_GetTick();
for (int i = 0; i < 2000; i++) {
for (int j = -250; j < 250; j += 1) {
quickmath_polar_to_cartesian_vfp(j, 1000, &x, &y);
}
}
int32_t end_ticks = HAL_GetTick();
int32_t duration = end_ticks - start_ticks;
printf("%ld\n", duration);
}
}
void quickmath_test() {
{
int32_t x;
int32_t y;
quickmath_polar_to_cartesian_i32(0, 1000, &x, &y);
printf("%ld,%ld\n", x, y);
quickmath_polar_to_cartesian_i32(45, 1000, &x, &y);
printf("%ld,%ld\n", x, y);
quickmath_polar_to_cartesian_i32(90, 1000, &x, &y);
printf("%ld,%ld\n", x, y);
quickmath_polar_to_cartesian_i32(135, 1000, &x, &y);
printf("%ld,%ld\n", x, y);
quickmath_polar_to_cartesian_i32(180, 1000, &x, &y);
printf("%ld,%ld\n", x, y);
quickmath_polar_to_cartesian_i32(360, 1000, &x, &y);
printf("%ld,%ld\n", x, y);
quickmath_polar_to_cartesian_i32(-45, 1000, &x, &y);
printf("%ld,%ld\n", x, y);
quickmath_polar_to_cartesian_i32(-90, 1000, &x, &y);
printf("%ld,%ld\n", x, y);
quickmath_polar_to_cartesian_i32(-180, 1000, &x, &y);
printf("%ld,%ld\n", x, y);
}
{
int16_t x;
int16_t y;
quickmath_polar_to_cartesian_i16_ll(0, 1000, &x, &y);
printf("%d,%d\n", x, y);
quickmath_polar_to_cartesian_i16_ll(45, 1000, &x, &y);
printf("%d,%d\n", x, y);
quickmath_polar_to_cartesian_i16_ll(90, 1000, &x, &y);
printf("%d,%d\n", x, y);
quickmath_polar_to_cartesian_i16_ll(135, 1000, &x, &y);
printf("%d,%d\n", x, y);
quickmath_polar_to_cartesian_i16_ll(180, 1000, &x, &y);
printf("%d,%d\n", x, y);
quickmath_polar_to_cartesian_i16_ll(360, 1000, &x, &y);
printf("%d,%d\n", x, y);
quickmath_polar_to_cartesian_i16_ll(-45, 1000, &x, &y);
printf("%d,%d\n", x, y);
quickmath_polar_to_cartesian_i16_ll(-90, 1000, &x, &y);
printf("%d,%d\n", x, y);
quickmath_polar_to_cartesian_i16_ll(-180, 1000, &x, &y);
printf("%d,%d\n", x, y);
}
}

2
core/embed/trezorhal/stm32u5/stm32u5xx_hal_conf.h
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@ -42,7 +42,7 @@ extern "C" {
/*#define HAL_ADC_MODULE_ENABLED */
/*#define HAL_MDF_MODULE_ENABLED */
/*#define HAL_COMP_MODULE_ENABLED */
/*#define HAL_CORDIC_MODULE_ENABLED */
#define HAL_CORDIC_MODULE_ENABLED
/*#define HAL_CRC_MODULE_ENABLED */
/*#define HAL_CRYP_MODULE_ENABLED */
/*#define HAL_DAC_MODULE_ENABLED */

1
core/site_scons/boards/stm32u5_common.py
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@ -46,6 +46,7 @@ def stm32u5_common_files(env, defines, sources, paths):
sources += [
"embed/trezorhal/stm32u5/board_capabilities.c",
"embed/trezorhal/stm32u5/common.c",
"embed/trezorhal/stm32u5/quickmath.c",
"embed/trezorhal/stm32u5/flash.c",
"embed/trezorhal/stm32u5/lowlevel.c",
"embed/trezorhal/stm32u5/mpu.c",

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