diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 6c7b0e9..932774a 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -18,25 +18,16 @@ jobs: with: profile: minimal toolchain: nightly + target: thumbv7em-none-eabihf override: true - components: rustfmt + components: + - rustfmt + - clippy - name: cargo fmt --check uses: actions-rs/cargo@v1 with: command: fmt args: --all -- --check - - clippy: - runs-on: ubuntu-latest - steps: - - uses: actions/checkout@v2 - - uses: actions-rs/toolchain@v1 - with: - profile: minimal - toolchain: nightly - target: thumbv7em-none-eabihf - override: true - components: clippy - uses: actions-rs/clippy-check@v1 continue-on-error: true with: @@ -71,11 +62,6 @@ jobs: with: command: build args: --release - - name: cargo build release+semihosting - uses: actions-rs/cargo@v1 - with: - command: build - args: --release --features semihosting test: runs-on: ubuntu-latest @@ -95,6 +81,15 @@ jobs: with: command: test args: --package dsp --target=x86_64-unknown-linux-gnu + - name: cargo bench + uses: actions-rs/cargo@v1 + with: + command: bench + args: --package dsp --target=x86_64-unknown-linux-gnu + - uses: actions/upload-artifact@v1 + with: + name: stabilizer_${{ github.sha }}_criterion + path: ./target/criterion # Tell bors about it # https://github.com/rtic-rs/cortex-m-rtic/blob/8a4f9c6b8ae91bebeea0791680f89375a78bffc6/.github/workflows/build.yml#L566-L603 diff --git a/.gitignore b/.gitignore index 68b644a..ea8c4bf 100644 --- a/.gitignore +++ b/.gitignore @@ -1,3 +1 @@ /target -/dsp/target -.gdb_history diff --git a/Cargo.lock b/Cargo.lock index d9cb7d0..e35ab18 100644 --- a/Cargo.lock +++ b/Cargo.lock @@ -40,6 +40,17 @@ dependencies = [ "embedded-hal", ] +[[package]] +name = "atty" +version = "0.2.14" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "d9b39be18770d11421cdb1b9947a45dd3f37e93092cbf377614828a319d5fee8" +dependencies = [ + "hermit-abi", + "libc", + "winapi", +] + [[package]] name = "autocfg" version = "1.0.1" @@ -85,6 +96,24 @@ version = "0.1.1" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "c147d86912d04bef727828fda769a76ca81629a46d8ba311a8d58a26aa91473d" +[[package]] +name = "bstr" +version = "0.2.14" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "473fc6b38233f9af7baa94fb5852dca389e3d95b8e21c8e3719301462c5d9faf" +dependencies = [ + "lazy_static", + "memchr", + "regex-automata", + "serde", +] + +[[package]] +name = "bumpalo" +version = "3.4.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "2e8c087f005730276d1096a652e92a8bacee2e2472bcc9715a74d2bec38b5820" + [[package]] name = "byteorder" version = "1.3.4" @@ -106,6 +135,29 @@ version = "0.1.10" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "4785bdd1c96b2a846b2bd7cc02e86b6b3dbf14e7e53446c4f54c92a361040822" +[[package]] +name = "cfg-if" +version = "1.0.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd" + +[[package]] +name = "clap" +version = "2.33.3" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "37e58ac78573c40708d45522f0d80fa2f01cc4f9b4e2bf749807255454312002" +dependencies = [ + "bitflags", + "textwrap", + "unicode-width", +] + +[[package]] +name = "const_fn" +version = "0.4.4" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "cd51eab21ab4fd6a3bf889e2d0958c0a6e3a61ad04260325e919e652a2a62826" + [[package]] name = "cortex-m" version = "0.6.4" @@ -185,14 +237,125 @@ dependencies = [ "cortex-m", ] +[[package]] +name = "criterion" +version = "0.3.3" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "70daa7ceec6cf143990669a04c7df13391d55fb27bd4079d252fca774ba244d8" +dependencies = [ + "atty", + "cast", + "clap", + "criterion-plot", + "csv", + "itertools", + "lazy_static", + "num-traits", + "oorandom", + "plotters", + "rayon", + "regex", + "serde", + "serde_cbor", + "serde_derive", + "serde_json", + "tinytemplate", + "walkdir", +] + +[[package]] +name = "criterion-plot" +version = "0.4.3" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "e022feadec601fba1649cfa83586381a4ad31c6bf3a9ab7d408118b05dd9889d" +dependencies = [ + "cast", + "itertools", +] + +[[package]] +name = "crossbeam-channel" +version = "0.5.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "dca26ee1f8d361640700bde38b2c37d8c22b3ce2d360e1fc1c74ea4b0aa7d775" +dependencies = [ + "cfg-if 1.0.0", + "crossbeam-utils", +] + +[[package]] +name = "crossbeam-deque" +version = "0.8.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "94af6efb46fef72616855b036a624cf27ba656ffc9be1b9a3c931cfc7749a9a9" +dependencies = [ + "cfg-if 1.0.0", + "crossbeam-epoch", + "crossbeam-utils", +] + +[[package]] +name = "crossbeam-epoch" +version = "0.9.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "a1aaa739f95311c2c7887a76863f500026092fb1dce0161dab577e559ef3569d" +dependencies = [ + "cfg-if 1.0.0", + "const_fn", + "crossbeam-utils", + "lazy_static", + "memoffset", + "scopeguard", +] + +[[package]] +name = "crossbeam-utils" +version = "0.8.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "02d96d1e189ef58269ebe5b97953da3274d83a93af647c2ddd6f9dab28cedb8d" +dependencies = [ + "autocfg", + "cfg-if 1.0.0", + "lazy_static", +] + +[[package]] +name = "csv" +version = "1.1.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "f9d58633299b24b515ac72a3f869f8b91306a3cec616a602843a383acd6f9e97" +dependencies = [ + "bstr", + "csv-core", + "itoa", + "ryu", + "serde", +] + +[[package]] +name = "csv-core" +version = "0.1.10" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "2b2466559f260f48ad25fe6317b3c8dac77b5bdb5763ac7d9d6103530663bc90" +dependencies = [ + "memchr", +] + [[package]] name = "dsp" version = "0.1.0" dependencies = [ + "criterion", "libm", "serde", ] +[[package]] +name = "either" +version = "1.6.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "e78d4f1cc4ae33bbfc157ed5d5a5ef3bc29227303d595861deb238fcec4e9457" + [[package]] name = "embedded-dma" version = "0.1.2" @@ -260,6 +423,12 @@ dependencies = [ "version_check", ] +[[package]] +name = "half" +version = "1.6.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "d36fab90f82edc3c747f9d438e06cf0a491055896f2a279638bb5beed6c40177" + [[package]] name = "hash32" version = "0.1.1" @@ -288,6 +457,15 @@ dependencies = [ "stable_deref_trait", ] +[[package]] +name = "hermit-abi" +version = "0.1.17" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "5aca5565f760fb5b220e499d72710ed156fdb74e631659e99377d9ebfbd13ae8" +dependencies = [ + "libc", +] + [[package]] name = "indexmap" version = "1.6.0" @@ -298,6 +476,42 @@ dependencies = [ "hashbrown", ] +[[package]] +name = "itertools" +version = "0.9.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "284f18f85651fe11e8a991b2adb42cb078325c996ed026d994719efcfca1d54b" +dependencies = [ + "either", +] + +[[package]] +name = "itoa" +version = "0.4.6" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "dc6f3ad7b9d11a0c00842ff8de1b60ee58661048eb8049ed33c73594f359d7e6" + +[[package]] +name = "js-sys" +version = "0.3.46" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "cf3d7383929f7c9c7c2d0fa596f325832df98c3704f2c60553080f7127a58175" +dependencies = [ + "wasm-bindgen", +] + +[[package]] +name = "lazy_static" +version = "1.4.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "e2abad23fbc42b3700f2f279844dc832adb2b2eb069b2df918f455c4e18cc646" + +[[package]] +name = "libc" +version = "0.2.81" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "1482821306169ec4d07f6aca392a4681f66c75c9918aa49641a2595db64053cb" + [[package]] name = "libm" version = "0.2.1" @@ -310,7 +524,7 @@ version = "0.4.11" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "4fabed175da42fed1fa0746b0ea71f412aa9d35e76e95e59b192c64b9dc2bf8b" dependencies = [ - "cfg-if", + "cfg-if 0.1.10", ] [[package]] @@ -327,6 +541,21 @@ dependencies = [ "embedded-hal", ] +[[package]] +name = "memchr" +version = "2.3.4" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "0ee1c47aaa256ecabcaea351eae4a9b01ef39ed810004e298d2511ed284b1525" + +[[package]] +name = "memoffset" +version = "0.6.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "157b4208e3059a8f9e78d559edc658e13df41410cb3ae03979c83130067fdd87" +dependencies = [ + "autocfg", +] + [[package]] name = "nb" version = "0.1.3" @@ -342,6 +571,31 @@ version = "1.0.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "546c37ac5d9e56f55e73b677106873d9d9f5190605e41a856503623648488cae" +[[package]] +name = "num-traits" +version = "0.2.14" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "9a64b1ec5cda2586e284722486d802acf1f7dbdc623e2bfc57e65ca1cd099290" +dependencies = [ + "autocfg", +] + +[[package]] +name = "num_cpus" +version = "1.13.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "05499f3756671c15885fee9034446956fff3f243d6077b91e5767df161f766b3" +dependencies = [ + "hermit-abi", + "libc", +] + +[[package]] +name = "oorandom" +version = "11.1.3" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "0ab1bc2a289d34bd04a330323ac98a1b4bc82c9d9fcb1e66b63caa84da26b575" + [[package]] name = "panic-halt" version = "0.2.0" @@ -364,6 +618,18 @@ version = "1.0.4" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "c5d65c4d95931acda4498f675e332fcbdc9a06705cd07086c510e9b6009cd1c1" +[[package]] +name = "plotters" +version = "0.2.15" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "0d1685fbe7beba33de0330629da9d955ac75bd54f33d7b79f9a895590124f6bb" +dependencies = [ + "js-sys", + "num-traits", + "wasm-bindgen", + "web-sys", +] + [[package]] name = "proc-macro2" version = "1.0.24" @@ -388,6 +654,55 @@ version = "0.2.2" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "e2a38df5b15c8d5c7e8654189744d8e396bddc18ad48041a500ce52d6948941f" +[[package]] +name = "rayon" +version = "1.5.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "8b0d8e0819fadc20c74ea8373106ead0600e3a67ef1fe8da56e39b9ae7275674" +dependencies = [ + "autocfg", + "crossbeam-deque", + "either", + "rayon-core", +] + +[[package]] +name = "rayon-core" +version = "1.9.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "9ab346ac5921dc62ffa9f89b7a773907511cdfa5490c572ae9be1be33e8afa4a" +dependencies = [ + "crossbeam-channel", + "crossbeam-deque", + "crossbeam-utils", + "lazy_static", + "num_cpus", +] + +[[package]] +name = "regex" +version = "1.4.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "38cf2c13ed4745de91a5eb834e11c00bcc3709e773173b2ce4c56c9fbde04b9c" +dependencies = [ + "regex-syntax", +] + +[[package]] +name = "regex-automata" +version = "0.1.9" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "ae1ded71d66a4a97f5e961fd0cb25a5f366a42a41570d16a763a69c092c26ae4" +dependencies = [ + "byteorder", +] + +[[package]] +name = "regex-syntax" +version = "0.6.21" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "3b181ba2dcf07aaccad5448e8ead58db5b742cf85dfe035e2227f137a539a189" + [[package]] name = "rtic-core" version = "0.3.1" @@ -414,6 +729,27 @@ dependencies = [ "semver", ] +[[package]] +name = "ryu" +version = "1.0.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "71d301d4193d031abdd79ff7e3dd721168a9572ef3fe51a1517aba235bd8f86e" + +[[package]] +name = "same-file" +version = "1.0.6" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "93fc1dc3aaa9bfed95e02e6eadabb4baf7e3078b0bd1b4d7b6b0b68378900502" +dependencies = [ + "winapi-util", +] + +[[package]] +name = "scopeguard" +version = "1.1.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "d29ab0c6d3fc0ee92fe66e2d99f700eab17a8d57d1c1d3b748380fb20baa78cd" + [[package]] name = "semver" version = "0.9.0" @@ -448,6 +784,16 @@ dependencies = [ "serde", ] +[[package]] +name = "serde_cbor" +version = "0.11.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "1e18acfa2f90e8b735b2836ab8d538de304cbb6729a7360729ea5a895d15a622" +dependencies = [ + "half", + "serde", +] + [[package]] name = "serde_derive" version = "1.0.118" @@ -459,6 +805,17 @@ dependencies = [ "syn", ] +[[package]] +name = "serde_json" +version = "1.0.60" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "1500e84d27fe482ed1dc791a56eddc2f230046a040fa908c08bda1d9fb615779" +dependencies = [ + "itoa", + "ryu", + "serde", +] + [[package]] name = "smoltcp" version = "0.6.0" @@ -543,12 +900,37 @@ dependencies = [ "unicode-xid", ] +[[package]] +name = "textwrap" +version = "0.11.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "d326610f408c7a4eb6f51c37c330e496b08506c9457c9d34287ecc38809fb060" +dependencies = [ + "unicode-width", +] + +[[package]] +name = "tinytemplate" +version = "1.1.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "6d3dc76004a03cec1c5932bca4cdc2e39aaa798e3f82363dd94f9adf6098c12f" +dependencies = [ + "serde", + "serde_json", +] + [[package]] name = "typenum" version = "1.12.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "373c8a200f9e67a0c95e62a4f52fbf80c23b4381c05a17845531982fa99e6b33" +[[package]] +name = "unicode-width" +version = "0.1.8" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "9337591893a19b88d8d87f2cec1e73fad5cdfd10e5a6f349f498ad6ea2ffb1e3" + [[package]] name = "unicode-xid" version = "0.2.1" @@ -581,3 +963,109 @@ checksum = "0d67cb4616d99b940db1d6bd28844ff97108b498a6ca850e5b6191a532063286" dependencies = [ "vcell", ] + +[[package]] +name = "walkdir" +version = "2.3.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "777182bc735b6424e1a57516d35ed72cb8019d85c8c9bf536dccb3445c1a2f7d" +dependencies = [ + "same-file", + "winapi", + "winapi-util", +] + +[[package]] +name = "wasm-bindgen" +version = "0.2.69" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = 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"syn", + "wasm-bindgen-backend", + "wasm-bindgen-shared", +] + +[[package]] +name = "wasm-bindgen-shared" +version = "0.2.69" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "7e7811dd7f9398f14cc76efd356f98f03aa30419dea46aa810d71e819fc97158" + +[[package]] +name = "web-sys" +version = "0.3.46" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "222b1ef9334f92a21d3fb53dc3fd80f30836959a90f9274a626d7e06315ba3c3" +dependencies = [ + "js-sys", + "wasm-bindgen", +] + +[[package]] +name = "winapi" +version = "0.3.9" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "5c839a674fcd7a98952e593242ea400abe93992746761e38641405d28b00f419" +dependencies = [ + "winapi-i686-pc-windows-gnu", + "winapi-x86_64-pc-windows-gnu", +] + +[[package]] +name = "winapi-i686-pc-windows-gnu" +version = "0.4.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "ac3b87c63620426dd9b991e5ce0329eff545bccbbb34f3be09ff6fb6ab51b7b6" + +[[package]] +name = "winapi-util" +version = "0.1.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "70ec6ce85bb158151cae5e5c87f95a8e97d2c0c4b001223f33a334e3ce5de178" +dependencies = [ + "winapi", +] + +[[package]] +name = "winapi-x86_64-pc-windows-gnu" +version = "0.4.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "712e227841d057c1ee1cd2fb22fa7e5a5461ae8e48fa2ca79ec42cfc1931183f" diff --git a/Cargo.toml b/Cargo.toml index 7217589..9dfa28a 100644 --- a/Cargo.toml +++ b/Cargo.toml @@ -24,6 +24,9 @@ maintenance = { status = "experimental" } features = [] default-target = "thumbv7em-none-eabihf" +[workspace] +members = ["ad9959", "dsp"] + [dependencies] cortex-m = { version = "0.6", features = ["const-fn"] } cortex-m-rt = { version = "0.6", features = ["device"] } diff --git a/dsp/Cargo.lock b/dsp/Cargo.lock deleted file mode 100644 index cda08c3..0000000 --- a/dsp/Cargo.lock +++ /dev/null @@ -1,70 +0,0 @@ -# This file is automatically @generated by Cargo. -# It is not intended for manual editing. -[[package]] -name = "dsp" -version = "0.1.0" -dependencies = [ - "libm", - "serde", -] - -[[package]] -name = "libm" -version = "0.2.1" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "c7d73b3f436185384286bd8098d17ec07c9a7d2388a6599f824d8502b529702a" - -[[package]] -name = "proc-macro2" -version = "1.0.24" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "1e0704ee1a7e00d7bb417d0770ea303c1bccbabf0ef1667dae92b5967f5f8a71" -dependencies = [ - "unicode-xid", -] - -[[package]] -name = "quote" -version = "1.0.7" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "aa563d17ecb180e500da1cfd2b028310ac758de548efdd203e18f283af693f37" -dependencies = [ - "proc-macro2", -] - -[[package]] -name = "serde" -version = "1.0.117" -source = 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b/dsp/Cargo.toml @@ -8,5 +8,12 @@ edition = "2018" libm = "0.2.1" serde = { version = "1.0", features = ["derive"], default-features = false } +[dev-dependencies] +criterion = "0.3" + +[[bench]] +name = "cossin" +harness = false + [features] nightly = [] diff --git a/dsp/benches/cossin.rs b/dsp/benches/cossin.rs new file mode 100644 index 0000000..8168843 --- /dev/null +++ b/dsp/benches/cossin.rs @@ -0,0 +1,11 @@ +use criterion::{black_box, criterion_group, criterion_main, Criterion}; +use dsp::trig::cossin; + +fn cossin_bench(c: &mut Criterion) { + c.bench_function("cossin(0)", |b| { + b.iter(|| cossin(black_box(0))) + }); +} + +criterion_group!(benches, cossin_bench); +criterion_main!(benches);