Fixed up nostd support, verified that sqrt and cbrt routines work to within 1ULP

firmware/film-scanner-fw/.cargo/config.toml

@@ -20,7 +20,7 @@ rustflags = [
 ]
 
 [build]
-target = "thumbv7em-none-eabihf"
+target = "thumbv6m-none-eabi"
 
 [env]
 DEFMT_LOG = "debug"

firmware/film-scanner-fw/src/main.rs

@@ -15,8 +15,10 @@ mod app {
     use core::num::Wrapping;
     use embedded_hal::digital::v2::OutputPin;
     use embedded_time::duration::Extensions;
+    use jerk_control::executor::CommandQueue;
+    use jerk_control::planner::Planner;
 
-    use rp_pico::hal;
+    use rp_pico::hal::{self, gpio::pin::{Output, PushPull, PullDownDisabled, Pin}};
     use rp_pico::pac;
     use rp_pico::XOSC_CRYSTAL_FREQ;
     use rtic::mutex_prelude::{TupleExt04, TupleExt05};
@@ -69,11 +71,26 @@ mod app {
         pub active: bool,
     }
 
-    pub struct StepperProcess<Pin> {
+    pub struct StepperProcess<StepPin, DirPin>
+    where StepPin: rp2040_hal::gpio::PinId,
+     DirPin: rp2040_hal::gpio::PinId {
         pub executor: executor::CommandQueue,
-        pub pin: Pin,
+        pub step: rp_pico::hal::gpio::Pin<StepPin, Output<PushPull>>,
+        pub dir: rp_pico::hal::gpio::Pin<DirPin, Output<PushPull>>,
     }
 
+    impl<StepPin, DirPin> StepperProcess<StepPin, DirPin>
+    where StepPin: rp2040_hal::gpio::PinId,
+     DirPin: rp2040_hal::gpio::PinId {
+         pub fn new(step: Pin<StepPin, PullDownDisabled>, dir: Pin<DirPin, PullDownDisabled>) -> Self {
+             Self {
+                 executor: CommandQueue::new(),
+                 step: step.into_push_pull_output(),
+                 dir: dir.into_push_pull_output(),
+             }
+         }
+     }
+
     #[shared]
     struct Shared {
 
@@ -89,9 +106,11 @@ mod app {
 
     }
 
+    use rp2040_hal::gpio::pin::bank0;
+
     #[local]
     struct Local {
-        executor1: StepperProcess<rp_pico::hal::gpio::Pin<hal::gpio::pin::bank0::>>,
+        executor1: StepperProcess<bank0::Gpio1, bank0::Gpio2>,
     }
 
     #[init(local = [usb_bus: Option<usb_device::bus::UsbBusAllocator<hal::usb::UsbBus>> = None])]
@@ -178,7 +197,9 @@ mod app {
                 serial,
                 usb_dev,
             },
-            Local {},
+            Local {
+                executor1: StepperProcess::new(pins.gpio1, pins.gpio2),
+            },
             init::Monotonics(),
         )
     }
@@ -188,9 +209,24 @@ mod app {
         binds = TIMER_IRQ_0,
         priority = 4,
         shared = [timer, alarm, serial],
-        local = [tog: bool = true],
+        local = [executor1],
     )]
     fn timer_irq(mut _cx: timer_irq::Context) {
+        let executor: &mut StepperProcess<_, _> = _cx.local.executor1;
+
+        if executor.executor.direction() {
+            executor.dir.set_high();
+        } else {
+            executor.dir.set_low();
+        }
+
+        if executor.executor.step_early() {
+            executor.step.set_high();
+        } else {
+            executor.step.set_low();
+        }
+
+        executor.executor.step_late();
     }
 
     /// Usb interrupt handler. Runs every time the host requests new data.

firmware/jerk_control/src/lib.rs

@@ -1,4 +1,4 @@
-// #![no_std]
+#![no_std]
 
 pub mod planner;
 pub mod executor;

firmware/jerk_control/src/math_ext.rs

@@ -41,12 +41,22 @@ fn sqrt_approx(value: f32) -> f32 {
 pub fn cbrt_approx(value: f32) -> f32 {
     let value = value.to_bits();
 
-	const EXP_BIAS: i32 = 0x3f80_0000;
+	//const EXP_BIAS: i32 = 0x3f80_0000;
 
 	f32::from_bits((value & 0x8000_0000) |
-					   (((value as i32 & 0x7fff_ffff) - EXP_BIAS) / 3 + EXP_BIAS) as u32)
+					   (((value & 0x7fff_ffff) / 3).wrapping_add(0x2a5119f2)))
 }
 
+fn frexp(value: f32) -> (i32, f32) {
+    let value = value.to_bits();
+    (((value >> 23) & 0xff) as i32 - 126, // we go to [0.5,1), whereas the mantissa represents [1,2)
+     f32::from_bits(value & 0x7f_ffff | (126 << 23)))
+}
+fn ldexp(exp: i32, mantissa: f32) -> f32 {
+    f32::from_bits(mantissa.to_bits().wrapping_add((exp as u32) << 23))
+}
+
+
 impl Roots for f32 {
     fn sqrt(self) -> Self {
 	let mut estimate = sqrt_approx(self);
@@ -56,16 +66,18 @@ impl Roots for f32 {
 	estimate
     }
 
+    //#[cfg(ignore)]
     fn cbrt(self) -> Self {
-	let mut estimate = cbrt_approx(self); // TODO: improve this with bit twiddling
+	let mut estimate = cbrt_approx(self) as f64; // TODO: improve this with bit twiddling
+	let a = self as f64;
 	
 	// Use halley's method to refine the approximation.
-	for _ in 0..3 {
+	for _ in 0..2 {
 	    let e3 = estimate * estimate * estimate;
-	    estimate = estimate * (e3 + self + self) / ( e3 + e3 + self);
+	    estimate = estimate * (e3 + a + a) / ( e3 + e3 + a);
 	}
 	
-	estimate
+	estimate as f32
     }
 }
 

firmware/jerk_control/src/planner.rs

@@ -5,6 +5,7 @@
 
 use core::num::Wrapping;
 use core::option::Option;
+use crate::math_ext::Roots as _;
 
 pub struct Config {
     /// Max jerk, in mm/s^3

firmware/motion-tester/src/bin/math_test.rs

@@ -5,43 +5,30 @@ fn ulp(f: f32) -> f32 {
 }
 
 fn fn_err(actual: f32, calc: f32) -> f32 {
-    (calc - actual).abs() / actual
+    (calc - actual).abs() / ulp(actual)
 }
 
 
 fn test_all(fname: &str, actual: fn(f32) -> f32, calc: fn(f32) -> f32) {
     let mut max_err = 0f32;
     let mut max_err_value = 0f32;
-    (0x01..=0xfe).into_par_iter()
+    let errors =
+	(0x01..=0xfe).into_par_iter()
         .map(|exp| {
-            (0x0..=0x7f_ffff).map(|mant| f32::from_bits((exp << 23) + mant))
+            let max_err_place = (0x0..=0x7f_ffff).map(|mant| f32::from_bits((exp << 23) + mant))
                 .max_by_key(|value| fn_err(actual(*value), calc(*value)).to_bits())
-                .unwrap()
+                .unwrap();
+	    (exp, max_err_place, fn_err(actual(max_err_place), calc(max_err_place)))
         })
-        .map(|value| (value,fn_err(actual(value), calc(value))))
         .collect::<Vec<_>>();
 
-    for i in (0x0400_0000..0x0f7f_ffffu32).map(f32::from_bits) {
+    for (exp, base, err) in errors {
-        // range of normalized floats...
+	println!("{},{},{}", exp as i32 - 127,base, err);
-        let err = fn_err(actual(i), calc(i));
-        if err > max_err {
-            max_err = err;
-            max_err_value = i;
-        }
     }
-
-    let max_err_pct = max_err * 100f32;
-    println!("{}: {}% @ {}", fname, max_err_pct, max_err_value);
-    println!(
-        "Value:      0x{:08x}\n
-        Calculated: 0x{:08x}\n
-        Actual:     0x{:08x}",
-        max_err_value.to_bits(),
-        calc(max_err_value).to_bits(), actual(max_err_value).to_bits())
 }
 
 
 fn main() {
-    // test_all("sqrt", f32::sqrt, jerk_control::math_ext::Roots::sqrt);
+    //test_all("sqrt", f32::sqrt, jerk_control::math_ext::Roots::sqrt);
     test_all("cbrt", f32::cbrt, jerk_control::math_ext::Roots::cbrt);
 }