1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
|
/* Copyright 2014 The Chromium OS Authors. All rights reserved.
* Use of this source code is governed by a BSD-style license that can be
* found in the LICENSE file.
*
* Test motion sense code.
*/
#include <math.h>
#include <stdio.h>
#include "common.h"
#include "math_util.h"
#include "motion_sense.h"
#include "test_util.h"
#include "util.h"
/*****************************************************************************/
/*
* Need to define motion sensor globals just to compile.
* We include motion task to force the inclusion of math_util.c
*/
struct motion_sensor_t motion_sensors[] = {};
const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
/*****************************************************************************/
/* Test utilities */
/* Macro to compare two floats and check if they are equal within diff. */
#define IS_FLOAT_EQUAL(a, b, diff) ((a) >= ((b) - diff) && (a) <= ((b) + diff))
#define ACOS_TOLERANCE_DEG 0.5f
#define RAD_TO_DEG (180.0f / 3.1415926f)
static int test_acos(void)
{
float a, b;
float test;
/* Test a handful of values. */
for (test = -1.0; test <= 1.0; test += 0.01) {
a = FP_TO_FLOAT(arc_cos(FLOAT_TO_FP(test)));
b = acos(test) * RAD_TO_DEG;
TEST_ASSERT(IS_FLOAT_EQUAL(a, b, ACOS_TOLERANCE_DEG));
}
return EC_SUCCESS;
}
const mat33_fp_t test_matrices[] = {
{{ 0, FLOAT_TO_FP(-1), 0},
{FLOAT_TO_FP(-1), 0, 0},
{ 0, 0, FLOAT_TO_FP(1)} },
{{ FLOAT_TO_FP(1), 0, FLOAT_TO_FP(5)},
{ FLOAT_TO_FP(2), FLOAT_TO_FP(1), FLOAT_TO_FP(6)},
{ FLOAT_TO_FP(3), FLOAT_TO_FP(4), 0} }
};
static int test_rotate(void)
{
int i, j, k;
intv3_t v = {1, 2, 3};
intv3_t w;
for (i = 0; i < ARRAY_SIZE(test_matrices); i++) {
for (j = 0; j < 100; j += 10) {
for (k = X; k <= Z; k++) {
v[k] += j;
v[k] %= 7;
}
rotate(v, test_matrices[i], w);
rotate_inv(w, test_matrices[i], w);
for (k = X; k <= Z; k++)
TEST_ASSERT(v[k] == w[k]);
}
}
return EC_SUCCESS;
}
test_static int test_round_divide(void)
{
/* Check function version */
TEST_EQ(round_divide(10, 1), 10, "%d");
TEST_EQ(round_divide(10, 2), 5, "%d");
TEST_EQ(round_divide(10, 3), 3, "%d");
TEST_EQ(round_divide(10, 4), 3, "%d");
TEST_EQ(round_divide(10, 5), 2, "%d");
TEST_EQ(round_divide(10, 6), 2, "%d");
TEST_EQ(round_divide(10, 7), 1, "%d");
TEST_EQ(round_divide(10, 9), 1, "%d");
TEST_EQ(round_divide(10, 10), 1, "%d");
TEST_EQ(round_divide(10, 11), 1, "%d");
TEST_EQ(round_divide(10, 20), 1, "%d");
TEST_EQ(round_divide(10, 21), 0, "%d");
/* Check negative conditions */
TEST_EQ(round_divide(-10, 6), -2, "%d");
TEST_EQ(round_divide(10, -6), -2, "%d");
TEST_EQ(round_divide(-10, -6), 2, "%d");
return EC_SUCCESS;
}
test_static int test_temp_conversion(void)
{
TEST_EQ(C_TO_K(100), 373, "%d");
TEST_EQ(K_TO_C(100), -173, "%d");
TEST_EQ((int)CELSIUS_TO_DECI_KELVIN(100), 3732, "%d");
TEST_EQ(DECI_KELVIN_TO_CELSIUS(100), -263, "%d");
TEST_EQ(MILLI_KELVIN_TO_MILLI_CELSIUS(100), -273050, "%d");
TEST_EQ(MILLI_CELSIUS_TO_MILLI_KELVIN(100), 273250, "%d");
TEST_EQ(MILLI_KELVIN_TO_KELVIN(5000), 5, "%d");
TEST_EQ(KELVIN_TO_MILLI_KELVIN(100), 100000, "%d");
TEST_EQ(CELSIUS_TO_MILLI_KELVIN(100), 373150, "%d");
TEST_EQ(MILLI_KELVIN_TO_CELSIUS(100), -273, "%d");
return EC_SUCCESS;
}
void run_test(int argc, char **argv)
{
test_reset();
RUN_TEST(test_acos);
RUN_TEST(test_rotate);
RUN_TEST(test_round_divide);
RUN_TEST(test_temp_conversion);
test_print_result();
}
|
