redesign (fixedpoint, process, iir, fir/hbf)

.github/workflows/ci.yml

@@ -12,68 +12,35 @@ jobs:
   style:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
-      - name: cargo fmt --check
-        uses: actions-rs/cargo@v1
+      - uses: actions/checkout@v6
+      - uses: dtolnay/rust-toolchain@stable
         with:
-          command: fmt
-          args: --all -- --check
-      - uses: actions-rs/clippy-check@v1
-        with:
-          token: ${{ secrets.GITHUB_TOKEN }}
-      - name: cargo check
-        uses: actions-rs/cargo@v1
-        with:
-          command: check
-          args: --verbose
+          components: clippy, rustfmt
+      - run: cargo fmt --all --check
+      - run: cargo clippy --all-features
 
   compile:
     runs-on: ubuntu-latest
-    continue-on-error: ${{ matrix.toolchain == 'nightly' }}
     strategy:
       matrix:
         toolchain: [stable, beta, nightly]
-        features: ['']
+        features: ["std"]
+    continue-on-error: ${{ matrix.toolchain == 'nightly' }}
     steps:
-      - uses: actions/checkout@v2
-      - uses: actions-rs/toolchain@v1
+      - uses: actions/checkout@v6
+      - uses: dtolnay/rust-toolchain@master
         with:
           toolchain: ${{ matrix.toolchain }}
-      - uses: Swatinem/rust-cache@v1
-      - name: cargo build
-        uses: actions-rs/cargo@v1
-        with:
-          command: build
-          args: --release --features "${{ matrix.features }}"
-      - name: cargo test
-        uses: actions-rs/cargo@v1
-        with:
-          command: test
-      - name: cargo bench
-        uses: actions-rs/cargo@v1
-        with:
-          command: bench
+      - run: cargo check --features "${{ matrix.features }}"
+      - run: cargo test --features "${{ matrix.features }}"
+      - run: cargo bench --features "${{ matrix.features }}"
+      - run: cargo build --release --features "${{ matrix.features }}"
 
   doc:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
-      - uses: actions-rs/toolchain@v1
-        with:
-          toolchain: stable
-      - uses: Swatinem/rust-cache@v1
-      - uses: actions-rs/cargo@v1
-        with:
-          command: install
-          args: |
-            cargo-deadlinks
-      - name: cargo doc
-        uses: actions-rs/cargo@v1
-        with:
-          command: doc
-          args: --no-deps
-      - name: cargo deadlinks
-        uses: actions-rs/cargo@v1
-        with:
-          command: deadlinks
-          args: --ignore-fragments --check-intra-doc-links
+      - uses: actions/checkout@v6
+      - uses: dtolnay/rust-toolchain@stable
+      - run: cargo doc --no-deps
+      - run: cargo install cargo-deadlinks
+      - run: cargo deadlinks --ignore-fragments --check-intra-doc-links

CHANGELOG.md

@@ -5,6 +5,31 @@ All notable changes to this project will be documented in this file.
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
 and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
 
+## [UNRELEASED](https://github.com/quartiq/idsp/compare/v0.19.0..HEAD) - DATE
+
+### Changed
+
+* All filters (`CIC`, `Cordic`, `Lockin`, `Unwrap`, `Lowpass`, `DSM`, `Svf` etc) port to `dsp-process`
+* `iir`: `Biquad` family or reworked biquad/sos implementations
+* `hbf`: Support all linear-phase FIR filters, redesign HBF cascades
+* `PLL`, `RPLL`, `Accu`: use `core::num::Wrapping`
+
+### Added
+
+* `dsp-process`: new design and extracted as independent crate
+* `dsp-fixedpoint`: new design and extracted as independent crate
+* `iir`: `Normal` form implementation
+* `iir`: `Wdf` Wave digital filter, two port adapter and tooling
+* `ClampWrap`: single wrap phase monotonizer
+* `idsp`: Python package for testing and evaluation
+* Custom `Complex` type enforcing the `R²` structure and meshing with `dsp-fixedpoint`
+* `iir`: Biquad with any combination of Simple/Clamp action on DF1, DF2T, DF1 Dither, DF1 Wide state
+* `iir`: Biquad `a1` and `a2` flip sign
+
+### Removed
+
+* `MulScaled`
+
 ## [0.19.0](https://github.com/quartiq/idsp/compare/v0.18.0..v0.19.0) - 2025-10-22
 
 ### Changed

Cargo.toml

@@ -1,26 +1,54 @@
-[package]
-name = "idsp"
-version = "0.19.0"
-resolver = "2"
+[workspace]
+members = ["dsp-fixedpoint", "dsp-process", "."]
+default-members = ["dsp-fixedpoint", "dsp-process", "."]
+
+[workspace.package]
 edition = "2024"
 authors = ["Robert Jördens <rj@quartiq.de>"]
 license = "MIT OR Apache-2.0"
+repository = "https://github.com/quartiq/idsp.git"
+
+[workspace.dependencies]
+dsp-process = { path = "dsp-process" }
+dsp-fixedpoint = { path = "dsp-fixedpoint" }
+num-traits = { version = "0.2.14", features = [
+    "libm",
+], default-features = false }
+
+[workspace.lints.rust]
+unsafe_code = "forbid"
+rust_2018_compatibility = { level = "deny", priority = -1 }
+rust_2018_idioms = { level = "deny", priority = -1 }
+missing_docs = "warn"
+
+[package]
+name = "idsp"
+version = "0.19.0"
+edition.workspace = true
+authors.workspace = true
+license.workspace = true
+repository.workspace = true
 description = "DSP algorithms for embedded, mostly integer math"
 homepage = "https://github.com/quartiq/idsp"
-repository = "https://github.com/quartiq/idsp.git"
 documentation = "https://docs.rs/idsp"
 
+[lints]
+workspace = true
+
 [dependencies]
 serde = { version = "1.0", features = ["derive"], default-features = false }
 num-complex = { version = "0.4.0", features = [
     "serde",
 ], default-features = false }
-num-traits = { version = "0.2.14", features = [
-    "libm",
-], default-features = false }
+num-traits.workspace = true
 thiserror = { version = "2.0.9", default-features = false }
 miniconf = "0.20.0"
 strum = { version = "0.27.1", default-features = false, features = ["derive"] }
+pyo3 = { version = "0.27.1", features = ["extension-module"], optional = true }
+numpy = { version = "0.27", optional = true }
+dsp-process.workspace = true
+dsp-fixedpoint.workspace = true
+bytemuck = { version = "1.24.0", features = ["derive"] }
 
 [dev-dependencies]
 quickcheck = "1.0.3"
@@ -33,6 +61,17 @@ log = "0.4"
 
 [features]
 std = []
+py = ["dep:pyo3", "dep:numpy", "std"]
+
+#[profile.release]
+#opt-level = 3
+
+[profile.dev]
+debug = "line-tables-only"
+
+[profile.dev.package."*"]
+debug = false
 
-[profile.release]
-debug = 1
+[profile.debugging]
+inherits = "dev"
+debug = true

README.md

@@ -34,10 +34,11 @@ Tools to handle, track, and unwrap phase signals or generate them.
 
 ## IIR/Biquad
 
-[`iir::Biquad`] are fixed point (`i8`, `i16`, `i32`, `i64`) and floating point (`f32`, `f64`) biquad IIR filters.
+[`iir::Biquad`] and [`iir::BiquadClamp`] are fixed point (`i8`, `i16`, `i32`, `i64`) and floating point (`f32`, `f64`) biquad IIR filters.
 Robust and clean clipping and offset (anti-windup, no derivative kick, dynamically adjustable gains and gain limits) suitable for PID controller applications.
-Three kinds of filter actions: Direct Form 1, Direct Form 2 Transposed, and Direct Form 1 with noise shaping supported.
-Coefficient sharing for multiple channels.
+Four kinds of filter action are supported for each Biquad: Direct Form 1, Direct Form 2 Transposed, Direct Form 1 with noise shaping,
+and Direct Form 1 with wide output.
+Coefficient sharing for multiple channels is implemented through [`dsp_process::SplitProcess`], [`dsp_process::Channels`].
 
 ### Comparison
 
@@ -48,21 +49,24 @@ TL;DR: `idsp` is slower but offers more features.
 |---|---|---|---|
 | Floating point `f32`/`f64` | ✅ | ❌ | ✅ |
 | Fixed point `i32` | ❌ | ✅ | ✅ |
-| Parametric fixed point `i32` | ❌ | ✅ | ❌ |
+| Parametric fixed point `i32` | ❌ | ✅ | ✅ |
 | Fixed point `i8`/`i16`/`i64`/`i128` | ❌ | ❌ | ✅ |
 | DF2T | ✅ | ❌ | ✅ |
 | Limiting/Clamping | ❌ | ✅ | ✅ |
 | Fixed point accumulator guard bits | ❌ | ❌ | ✅ |
 | Summing junction offset | ❌ | ❌ | ✅ |
 | Fixed point noise shaping | ❌ | ❌ | ✅ |
+| Wide output storage and feedback | ❌ | ❌ | ✅ |
 | Configuration/state decoupling/multi-channel | ❌ | ❌ | ✅ |
 | `f32` parameter audio filter builder | ✅ | ✅ | ✅ |
 | `f64` parameter audio filter builder | ✅ | ❌ | ✅ |
-| Additional filters (I/HO) | ❌ | ❌ | ✅ |
+| `Q` fixed point parameter audio filter builder | ❌ | ❌ | ✅ |
+| Additional filter shapes (I/HO) | ❌ | ❌ | ✅ |
 | `f32` PI builder | ❌ | ✅ | ✅ |
 | `f32/f64` PI²D² builder | ❌ | ❌ | ✅ |
+| `Q` fixed point PI²D² builder | ❌ | ❌ | ✅ |
 | PI²D² builder limits | ❌ | ❌ | ✅ |
-| Support for fixed point `a1=-2` | ❌ | ❌ | ✅ |
+| Support for fixed point `a1=-2` second order integrator | ❌ | ❌ | ✅ |
 
 Three crates have been compared when processing 4x1M samples (4 channels) with a biquad lowpass.
 Hardware was `thumbv7em-none-eabihf`, `cortex-m7`, code in ITCM, data in DTCM, caches enabled.
@@ -75,21 +79,23 @@ Hardware was `thumbv7em-none-eabihf`, `cortex-m7`, code in ITCM, data in DTCM, c
 | `idsp::iir` | `i32`, limits, offset | 23.5 |
 | `idsp::iir` | `i32`, limits, offset, noise shaping | 30.0 |
 
-## State variable filter
+## State variable, normal form, wave digital filter
 
-[`svf`] is a simple IIR state variable filter simultaneously providing highpass, lowpass,
+[`iir::svf`] is a simple IIR state variable filter simultaneously providing highpass, lowpass,
 bandpass, and notch filtering of a signal.
+[`iir::normal`] is a Normal Form IIR filter for narrowband applications.
+[`iir::wdf`] has wave digital allpass filters that can be combined in a coupled [`dsp_process::Pair`].
 
 ## `Lowpass`, `Lockin`
 
 [`Lowpass`], [`Lockin`] are fast, infinitely cascadable, first- and second-order lowpass and the corresponding integration into a lockin amplifier algorithm.
 
 ## FIR filters
 
-[`hbf::HbfDec`], [`hbf::HbfInt`], [`hbf::HbfDecCascade`], [`hbf::HbfIntCascade`]:
+[`hbf::HbfDec`], [`hbf::HbfInt`], [`hbf::HbfDec32`], [`hbf::HbfInt32`] etc:
 Fast `f32` symmetric FIR filters, optimized half-band filters, half-band filter decimators and integators and cascades.
-These are used in [`stabilizer-stream`](https://github.com/quartiq/stabilizer-stream) for online PSD calculation on log
-frequency scale for arbitrarily large amounts of data.
+These are used in [`stabilizer-stream`](https://github.com/quartiq/stabilizer-stream) for online PSD calculation for
+arbitrarily low offset frequencies.
 
 ## Delta Sigma modulator/noise shaper
 

build.rs

@@ -1,3 +1,4 @@
+//! Static LUT generation
 use std::env;
 use std::f64::consts::PI;
 use std::fs::File;

dsp-fixedpoint/Cargo.toml

@@ -0,0 +1,17 @@
+[package]
+name = "dsp-fixedpoint"
+version = "0.1.0"
+edition.workspace = true
+authors.workspace = true
+license.workspace = true
+repository.workspace = true
+
+[features]
+std = []
+
+[dependencies]
+num-traits.workspace = true
+serde = { version = "1.0.228", default-features = false, features = ["derive"] }
+
+[lints]
+workspace = true

dsp-fixedpoint/README.md

@@ -0,0 +1 @@
+# Fixed point primitives