diff --git a/cpu/Makefile.include.cortexm_common b/cpu/Makefile.include.cortexm_common index cf19ddc278..02794dab30 100644 --- a/cpu/Makefile.include.cortexm_common +++ b/cpu/Makefile.include.cortexm_common @@ -27,6 +27,24 @@ endif CFLAGS_FPU ?= -mfloat-abi=soft export MCPU ?= $(CPU_ARCH) +# CMSIS DSP needs to know about the CPU core +ifneq (,$(filter cmsis-dsp,$(USEPKG))) +# definition needed to use cmsis-dsp headers +ifeq ($(CPU_ARCH),cortex-m0) +export CFLAGS += -DARM_MATH_CM0 +else ifeq ($(CPU_ARCH),cortex-m0plus) +export CFLAGS += -DARM_MATH_CM0PLUS +else ifeq ($(CPU_ARCH),cortex-m3) +export CFLAGS += -DARM_MATH_CM3 +else ifeq ($(CPU_ARCH),cortex-m4) +export CFLAGS += -DARM_MATH_CM4 +else ifeq ($(CPU_ARCH),cortex-m4f) +export CFLAGS += -DARM_MATH_CM4 +else ifeq ($(CPU_ARCH),cortex-m7) +export CFLAGS += -DARM_MATH_CM7 +endif +endif + # Include CPU specific includes: export INCLUDES += -I$(RIOTCPU)/$(CPU)/include diff --git a/pkg/cmsis-dsp/Makefile b/pkg/cmsis-dsp/Makefile new file mode 100644 index 0000000000..14920ead50 --- /dev/null +++ b/pkg/cmsis-dsp/Makefile @@ -0,0 +1,34 @@ +PKG_NAME=cmsis-dsp +PKG_URL=https://github.com/gebart/CMSIS-DSP.git +PKG_VERSION=v1.4.5-riot1 +PKG_DIR=$(CURDIR)/$(PKG_NAME) + +ifneq ($(RIOTBASE),) +include $(RIOTBASE)/Makefile.base +endif + +.PHONY: all clean patch distclean + +all: $(PKG_DIR)/Makefile + $(MAKE) -C $(CURDIR)/$(PKG_NAME) + +$(PKG_DIR)/Makefile: $(PKG_DIR)/.git/config + @ + +$(PKG_DIR)/.git/config: + test -d "$(PKG_DIR)" || git clone "$(PKG_URL)" "$(PKG_DIR)"; \ + cd "$(PKG_DIR)" && git checkout -f "$(PKG_VERSION)" + +$(CURDIR)/$(PKG_NAME) $(PKG_NAME): + # Get PKG_VERSION of package from PKG_URL + git clone '$(PKG_URL)' '$(PKG_NAME)' && cd '$(PKG_NAME)' && git reset --hard '$(PKG_VERSION)' + +clean:: + @echo "Cleaning up $(PKG_NAME) package..." + @-cd "$(PKG_DIR)" 2> /dev/null > /dev/null && \ + git clean -x -f && \ + git am --abort && \ + git reset --hard "$(PKG_VERSION)" + +distclean:: + rm -rf "$(PKG_DIR)" diff --git a/pkg/cmsis-dsp/Makefile.include b/pkg/cmsis-dsp/Makefile.include new file mode 100644 index 0000000000..8840a328af --- /dev/null +++ b/pkg/cmsis-dsp/Makefile.include @@ -0,0 +1 @@ +INCLUDES += -I$(RIOTBASE)/pkg/cmsis-dsp/cmsis-dsp/include diff --git a/pkg/cmsis-dsp/README.md b/pkg/cmsis-dsp/README.md new file mode 100644 index 0000000000..ad0392fa97 --- /dev/null +++ b/pkg/cmsis-dsp/README.md @@ -0,0 +1 @@ +Since there is no official public repository for the CMSIS-DSP library, we are using our own repo. diff --git a/tests/pkg_cmsis-dsp/Makefile b/tests/pkg_cmsis-dsp/Makefile new file mode 100644 index 0000000000..93cc53d94e --- /dev/null +++ b/tests/pkg_cmsis-dsp/Makefile @@ -0,0 +1,34 @@ +APPLICATION = test-cmsis-dsp +include ../Makefile.tests_common + +USEPKG += cmsis-dsp + +BOARD_WHITELIST := \ + airfy-beacon \ + arduino-due \ + cc2538dk \ + f4vi1 \ + fox \ + iot-lab_M3 \ + mbed_lpc1768 \ + msbiot \ + mulle \ + nucleo-f091 \ + nucleo-f303 \ + nucleo-f334 \ + nucleo-l1 \ + openmote \ + pba-d-01-kw2x \ + pca10000 \ + pca10005 \ + saml21-xpro \ + samr21-xpro \ + spark-core \ + stm32f0discovery \ + stm32f3discovery \ + stm32f4discovery \ + udoo \ + yunjia-nrf51822 \ + # + +include $(RIOTBASE)/Makefile.include diff --git a/tests/pkg_cmsis-dsp/main.c b/tests/pkg_cmsis-dsp/main.c new file mode 100644 index 0000000000..51c7fd0b06 --- /dev/null +++ b/tests/pkg_cmsis-dsp/main.c @@ -0,0 +1,113 @@ +/* + * Copyright (C) 2015 Eistec AB + * + * This file is subject to the terms and conditions of the GNU Lesser + * General Public License v2.1. See the file LICENSE in the top level + * directory for more details. + */ + +/** + * @ingroup examples + * @{ + * + * @file + * @brief ARM DSP library test application + * + * @author Joakim Gebart + * + * @} + */ + +#include +#include +#include +#include "arm_math.h" + +#define MAX_BLOCKSIZE 32 +#define DELTA (0.0000001f) +/* ---------------------------------------------------------------------- +* Declare I/O buffers +* ------------------------------------------------------------------- */ +float32_t wire1[MAX_BLOCKSIZE]; +float32_t wire2[MAX_BLOCKSIZE]; +float32_t wire3[MAX_BLOCKSIZE]; +/* ---------------------------------------------------------------------- +* Test input data for Floating point Variance example for 32-blockSize +* Generated by the MATLAB randn() function +* ------------------------------------------------------------------- */ +float32_t testInput_f32[32] = +{ + -0.432564811528221, -1.665584378238097, 0.125332306474831, 0.287676420358549, + -1.146471350681464, 1.190915465642999, 1.189164201652103, -0.037633276593318, + 0.327292361408654, 0.174639142820925, -0.186708577681439, 0.725790548293303, + -0.588316543014189, 2.183185818197101, -0.136395883086596, 0.113931313520810, + 1.066768211359189, 0.059281460523605, -0.095648405483669, -0.832349463650022, + 0.294410816392640, -1.336181857937804, 0.714324551818952, 1.623562064446271, + -0.691775701702287, 0.857996672828263, 1.254001421602532, -1.593729576447477, + -1.440964431901020, 0.571147623658178, -0.399885577715363, 0.689997375464345 +}; +/* ---------------------------------------------------------------------- +* Declare Global variables +* ------------------------------------------------------------------- */ +uint32_t blockSize = 32; +float32_t refVarianceOut = 0.903941793931839; +/* ---------------------------------------------------------------------- +* Variance calculation test +* ------------------------------------------------------------------- */ +int main(void) +{ + arm_status status; + float32_t mean; + float32_t oneByBlockSize = 1.0 / (blockSize); + float32_t variance; + float32_t diff; + status = ARM_MATH_SUCCESS; + puts("ARM DSP lib test"); + puts("Note: This test is using 32 bit IEEE 754 floating point numbers," + "(24 bit mantissa, 7 bit exponent)"); + puts("Expect roughly 7 decimals precision on the result."); + /* Calculation of mean value of input */ + /* x' = 1/blockSize * (x(0)* 1 + x(1) * 1 + ... + x(n-1) * 1) */ + /* Fill wire1 buffer with 1.0 value */ + arm_fill_f32(1.0, wire1, blockSize); + /* Calculate the dot product of wire1 and wire2 */ + /* (x(0)* 1 + x(1) * 1 + ...+ x(n-1) * 1) */ + arm_dot_prod_f32(testInput_f32, wire1, blockSize, &mean); + /* 1/blockSize * (x(0)* 1 + x(1) * 1 + ... + x(n-1) * 1) */ + arm_mult_f32(&mean, &oneByBlockSize, &mean, 1); + /* Calculation of variance value of input */ + /* (1/blockSize) * (x(0) - x') * (x(0) - x') + (x(1) - x') * (x(1) - x') + ... + (x(n-1) - x') * (x(n-1) - x') */ + /* Fill wire2 with mean value x' */ + arm_fill_f32(mean, wire2, blockSize); + /* wire3 contains (x-x') */ + arm_sub_f32(testInput_f32, wire2, wire3, blockSize); + /* wire2 contains (x-x') */ + arm_copy_f32(wire3, wire2, blockSize); + /* (x(0) - x') * (x(0) - x') + (x(1) - x') * (x(1) - x') + ... + (x(n-1) - x') * (x(n-1) - x') */ + arm_dot_prod_f32(wire2, wire3, blockSize, &variance); + /* Calculation of 1/blockSize */ + oneByBlockSize = 1.0 / (blockSize - 1); + /* Calculation of variance */ + arm_mult_f32(&variance, &oneByBlockSize, &variance, 1); + /* absolute value of difference between ref and test */ + diff = variance - refVarianceOut; + /* Split into fractional and integral parts, since printing floats may not be supported on all platforms */ + float int_part; + float frac_part = fabsf(modff(variance, &int_part)); + printf(" dsp: %3d.%09d\n", (int) int_part, (int) (frac_part * 1.0e9f + 0.5f)); + puts( "reference: 0.903941793931839"); + frac_part = fabsf(modff(diff, &int_part)); + printf(" diff: %3d.%09d\n", (int) int_part, (int) (frac_part * 1.0e9f + 0.5f)); + /* Comparison of variance value with reference */ + if(fabsf(diff) > DELTA) { + status = ARM_MATH_TEST_FAILURE; + } + if(status != ARM_MATH_SUCCESS) { + puts("Test failed"); + while(1) + ; + } + puts("Test done"); + while(1) + ; /* main function does not return */ +}