diff options
Diffstat (limited to 'test')
| -rw-r--r-- | test/fp.c | 28 |
1 files changed, 15 insertions, 13 deletions
@@ -24,13 +24,13 @@ #define LUP_TOLERANCE FLOAT_TO_FP(0.0005f) #define SOLVE_TOLERANCE FLOAT_TO_FP(0.0005f) #elif defined(TEST_FLOAT) && defined(CONFIG_FPU) -#define NORM_TOLERANCE FLOAT_TO_FP(0.0f) +#define NORM_TOLERANCE FLOAT_TO_FP(0.00001f) #define NORM_SQUARED_TOLERANCE FLOAT_TO_FP(0.0f) #define DOT_TOLERANCE FLOAT_TO_FP(0.0f) #define SCALAR_MUL_TOLERANCE FLOAT_TO_FP(0.005f) #define EIGENBASIS_TOLERANCE FLOAT_TO_FP(0.02f) -#define LUP_TOLERANCE FLOAT_TO_FP(0.0f) -#define SOLVE_TOLERANCE FLOAT_TO_FP(0.0f) +#define LUP_TOLERANCE FLOAT_TO_FP(0.00001f) +#define SOLVE_TOLERANCE FLOAT_TO_FP(0.00001f) #else #error "No such test configuration." #endif @@ -72,13 +72,15 @@ static int test_fpv3_dot(void) /* Golden result g = dot(a, b) */ float g = 38.592f; fpv3_t fpa, fpb; + volatile fp_t result; for (i = 0; i < N; ++i) { fpa[i] = FLOAT_TO_FP(a[i]); fpb[i] = FLOAT_TO_FP(b[i]); } - TEST_ASSERT(IS_FP_EQUAL(fpv3_dot(fpa, fpb), FLOAT_TO_FP(g), + result = fpv3_dot(fpa, fpb); + TEST_ASSERT(IS_FP_EQUAL(result, FLOAT_TO_FP(g), DOT_TOLERANCE)); return EC_SUCCESS; @@ -107,16 +109,16 @@ static int test_fpv3_norm(void) const int N = 3; floatv3_t a = {3.1f, 4.2f, 5.3f}; /* Golden result g = norm(a) */ - float g = 7.439085483551025390625f; + float g = 7.439086f; int i; fpv3_t fpa; + volatile fp_t result; for (i = 0; i < N; ++i) fpa[i] = FLOAT_TO_FP(a[i]); - TEST_ASSERT( - IS_FP_EQUAL(fpv3_norm(fpa), FLOAT_TO_FP(g), NORM_TOLERANCE)); - + result = fpv3_norm(fpa); + TEST_ASSERT(IS_FP_EQUAL(result, FLOAT_TO_FP(g), NORM_TOLERANCE)); return EC_SUCCESS; } @@ -268,12 +270,12 @@ static int test_mat44_fp_decompose_lup(void) mat44_fp_t gold_lu = { {FLOAT_TO_FP(11.0f), FLOAT_TO_FP(0.8181818f), FLOAT_TO_FP(2.1818182f), FLOAT_TO_FP(0.18181819f)}, - {FLOAT_TO_FP(3.0f), FLOAT_TO_FP(14.545454), - FLOAT_TO_FP(0.7875f), FLOAT_TO_FP(0.03125f)}, + {FLOAT_TO_FP(3.0f), FLOAT_TO_FP(14.545455f), + FLOAT_TO_FP(0.78749999f), FLOAT_TO_FP(0.031249999f)}, {FLOAT_TO_FP(1.0f), FLOAT_TO_FP(4.181818f), - FLOAT_TO_FP(-3.4750001f), FLOAT_TO_FP(-1.6366906f)}, + FLOAT_TO_FP(-3.4749996f), FLOAT_TO_FP(-1.6366909f)}, {FLOAT_TO_FP(2.0f), FLOAT_TO_FP(3.3636365f), - FLOAT_TO_FP(-0.012500286f), FLOAT_TO_FP(0.5107909f)} + FLOAT_TO_FP(-0.012500112f), FLOAT_TO_FP(0.5107912f)} }; sizev4_t gold_pivot = {0, 2, 2, 3}; @@ -307,7 +309,7 @@ static int test_mat44_fp_solve(void) fpv4_t b = {FLOAT_TO_FP(1.0f), FLOAT_TO_FP(3.3f), FLOAT_TO_FP(0.8f), FLOAT_TO_FP(8.9f)}; /* Golden result from float version. */ - fpv4_t gold_x = {FLOAT_TO_FP(-43.50743f), FLOAT_TO_FP(-21.459526f), + fpv4_t gold_x = {FLOAT_TO_FP(-43.507435f), FLOAT_TO_FP(-21.459525f), FLOAT_TO_FP(26.629248f), FLOAT_TO_FP(16.80776f)}; mat44_fp_solve(A, x, b, pivot); |