/* 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" #ifdef HOST #include #include #include static void check_mul (int32_t a, int32_t b, int32_t r) { feclearexcept (FE_ALL_EXCEPT); double af = (double) a / (1 << 24); double bf = (double) b / (1 << 24); int32_t ri = rint (af * bf * (1 << 24)); if (r != ri && !fetestexcept (FE_INVALID)) printf ("error: %08x * %08x != %08x (%08x)\n", a, b, r, ri); } static void check_div (int32_t a, int32_t b, int32_t r) { feclearexcept (FE_ALL_EXCEPT); double af = (double) a / (1 << 24); double bf = (double) b / (1 << 24); int32_t ri = af / bf * (1 << 24); if (r != ri && !fetestexcept (FE_INVALID)) printf ("error: %08x / %08x != %08x (%08x)\n", a, b, r, ri); } static void check_cos (int32_t a, int32_t rc, int32_t rs) { double af = (double) a / (1 << 24) * 2 * M_PI; int32_t rci = cos (af) * (1 << 24); if (rc != rci) printf ("error: cos (%08x) != %08x (%08x%+d)\n", a, rc, rci, rc - rci); int32_t rsi = sin (af) * (1 << 24); if (rs != rsi) printf ("error: sin (%08x) != %08x (%08x%+d)\n", a, rs, rsi, rs - rsi); } static void check_sqrt (uint32_t a, uint32_t rf, uint16_t ri) { double aff = (double) a / (1 << 8); uint32_t rfi = sqrt (aff) * (1 << 8); if (rf != rfi) printf ("error: sqrt_f (%08x) != %08x (%08x%+d)\n", a, rf, rfi, rf - rfi); double aif = (double) a; uint16_t rii = sqrt (aif); if (ri != rii) printf ("error: sqrt_i (%08x) != %04x (%04x%+d)\n", a, ri, rii, ri - rii); } #else # define check_mul(a, b, r) # define check_div(a, b, r) # define check_cos(a, rc, rs) # define check_sqrt(a, rf, ri) #endif 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); check_mul (al, bl, rl[0]); rl[1] = fixed_mul_f824 (-al, bl); check_mul (-al, bl, rl[1]); rl[2] = fixed_mul_f824 (al, -bl); check_mul (al, -bl, rl[2]); rl[3] = fixed_mul_f824 (-al, -bl); check_mul (-al, -bl, rl[3]); 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); check_mul (al, bl, rl[0]); rl[1] = fixed_mul_f824 (-al, bl); check_mul (-al, bl, rl[1]); rl[2] = fixed_mul_f824 (al, -bl); check_mul (al, -bl, rl[2]); rl[3] = fixed_mul_f824 (-al, -bl); check_mul (-al, -bl, rl[3]); 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 < 31; bs++) { al = patl[ap] >> as; bl = patl[bp] >> bs; proto_send2d ('a', al, bl); rl[0] = fixed_div_f824 (al, bl); check_div (al, bl, rl[0]); rl[1] = fixed_div_f824 (-al, bl); check_div (-al, bl, rl[1]); rl[2] = fixed_div_f824 (al, -bl); check_div (al, -bl, rl[2]); rl[3] = fixed_div_f824 (-al, -bl); check_div (-al, -bl, rl[3]); proto_send4d ('r', rl[0], rl[1], rl[2], rl[3]); } for (i = 0; i < 64000; i++) { al = random_u32 (); bl = random_u32 (); if (bl != 0) { proto_send2d ('a', al, bl); rl[0] = fixed_div_f824 (al, bl); check_div (al, bl, rl[0]); rl[1] = fixed_div_f824 (-al, bl); check_div (-al, bl, rl[1]); rl[2] = fixed_div_f824 (al, -bl); check_div (al, -bl, rl[2]); rl[3] = fixed_div_f824 (-al, -bl); check_div (-al, -bl, rl[3]); proto_send4d ('r', rl[0], rl[1], rl[2], rl[3]); } } break; case c ('c', 0): for (al = 0; al < (1L << 24); al += 257) { proto_send1d ('a', al); rl[0] = fixed_cos_f824 (al); rl[1] = fixed_sin_f824 (al); check_cos (al, rl[0], rl[1]); 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); check_cos (al, rl[0], rl[1]); 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); check_sqrt (al, rl[0], rl[1]); 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); check_sqrt (al, rl[0], rl[1]); 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 (int argc, char **argv) { avr_init (argc, argv); sei (); uart0_init (); proto_send0 ('z'); while (1) { uint8_t c = uart0_getc (); proto_accept (c); } }