90 lines
2.0 KiB
C
90 lines
2.0 KiB
C
/* 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;
|
|
}
|
|
|
|
void run_test(void)
|
|
{
|
|
test_reset();
|
|
|
|
RUN_TEST(test_acos);
|
|
RUN_TEST(test_rotate);
|
|
|
|
test_print_result();
|
|
}
|