/* test_fixed.c */ /* avr.math.fixed - Fixed point math module. {{{ * * Copyright (C) 2005 Nicolas Schodet * * Robot APB Team/Efrei 2006. * Web: http://assos.efrei.fr/robot/ * Email: robot AT efrei DOT fr * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 2 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * * }}} */ #include "common.h" #include "modules/math/fixed/fixed.h" #include "modules/math/random/random.h" #include "modules/uart/uart.h" #include "modules/proto/proto.h" #include "modules/utils/utils.h" #include "io.h" void proto_callback (uint8_t cmd, uint8_t size, uint8_t *args) { uint8_t ap, bp, as, bs; uint16_t i; int32_t al, bl, rl[4]; uint32_t patl[] = { 0xa66a6aa6, 0x5a5affff, 0xffcdffcd, 0xffffffff }; #define patn (sizeof (patl) / sizeof (patl[0])) #define c(cmd, size) (cmd << 8 | size) switch (c (cmd, size)) { case c ('z', 0): utils_reset (); break; case c ('m', 0): for (ap = 0; ap < patn; ap++) for (bp = 0; bp < patn; bp++) for (as = 0; as < 32; as++) for (bs = 0; bs < 32; bs++) { al = patl[ap] >> as; bl = patl[bp] >> bs; proto_send2d ('a', al, bl); rl[0] = fixed_mul_f824 (al, bl); rl[1] = fixed_mul_f824 (-al, bl); rl[2] = fixed_mul_f824 (al, -bl); rl[3] = fixed_mul_f824 (-al, -bl); proto_send4d ('r', rl[0], rl[1], rl[2], rl[3]); } for (i = 0; i < 64000; i++) { al = random_u32 (); bl = random_u32 (); proto_send2d ('a', al, bl); rl[0] = fixed_mul_f824 (al, bl); rl[1] = fixed_mul_f824 (-al, bl); rl[2] = fixed_mul_f824 (al, -bl); rl[3] = fixed_mul_f824 (-al, -bl); proto_send4d ('r', rl[0], rl[1], rl[2], rl[3]); } break; case c ('d', 0): for (ap = 0; ap < patn; ap++) for (bp = 0; bp < patn; bp++) for (as = 0; as < 32; as++) for (bs = 0; bs < 32; bs++) { al = patl[ap] >> as; bl = patl[bp] >> bs; proto_send2d ('a', al, bl); rl[0] = fixed_div_f824 (al, bl); rl[1] = fixed_div_f824 (-al, bl); rl[2] = fixed_div_f824 (al, -bl); rl[3] = fixed_div_f824 (-al, -bl); proto_send4d ('r', rl[0], rl[1], rl[2], rl[3]); } for (i = 0; i < 64000; i++) { al = random_u32 (); bl = random_u32 (); proto_send2d ('a', al, bl); rl[0] = fixed_div_f824 (al, bl); rl[1] = fixed_div_f824 (-al, bl); rl[2] = fixed_div_f824 (al, -bl); rl[3] = fixed_div_f824 (-al, -bl); proto_send4d ('r', rl[0], rl[1], rl[2], rl[3]); } break; case c ('c', 0): for (al = 0; al < (1L << 24); al += 1 << 8) { proto_send1d ('a', al); rl[0] = fixed_cos_f824 (al); rl[1] = fixed_sin_f824 (al); proto_send2d ('r', rl[0], rl[1]); } for (i = 0; i < 64000; i++) { al = random_u32 () & 0xffffff; proto_send1d ('a', al); rl[0] = fixed_cos_f824 (al); rl[1] = fixed_sin_f824 (al); proto_send2d ('r', rl[0], rl[1]); } break; case c ('s', 0): for (ap = 0; ap < patn; ap++) for (as = 0; as < 32; as++) { al = patl[ap] >> as; proto_send1d ('a', al); rl[0] = fixed_sqrt_uf248 (al); rl[1] = fixed_sqrt_ui32 (al); proto_send2d ('r', rl[0], rl[1]); } for (i = 0; i < 64000; i++) { al = random_u32 (); proto_send1d ('a', al); rl[0] = fixed_sqrt_uf248 (al); rl[1] = fixed_sqrt_ui32 (al); proto_send2d ('r', rl[0], rl[1]); } break; default: proto_send0 ('?'); return; } /* When no error acknoledge. */ proto_send (cmd, size, args); #undef c } int main (void) { sei (); uart0_init (); proto_send0 ('z'); while (1) { uint8_t c = uart0_getc (); proto_accept (c); } }