| /* Copyright (c) 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 matrix_3x3_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; |
| vector_3_t v = {1, 2, 3}; |
| vector_3_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(); |
| } |