1 files changed, 52 insertions, 0 deletions
diff --git a/fw/hid-dials/Drivers/CMSIS/DSP/DSP_Lib_TestSuite/Common/src/controller_tests/pid_reset_tests.c b/fw/hid-dials/Drivers/CMSIS/DSP/DSP_Lib_TestSuite/Common/src/controller_tests/pid_reset_tests.c
new file mode 100644
index 0000000..a930dbb
--- /dev/null
+++ b/fw/hid-dials/Drivers/CMSIS/DSP/DSP_Lib_TestSuite/Common/src/controller_tests/pid_reset_tests.c
@@ -0,0 +1,52 @@
+#include "jtest.h"
+#include "arr_desc.h"
+#include "arm_math.h"
+#include "type_abbrev.h"
+#include "test_templates.h"
+
+/* Bucket of zeros. For comparison with the output of arm_pid_reset_xxx. */
+ARR_DESC_DEFINE(float32_t, zeroes, 3, CURLY(0));
+
+/**
+ *  Define a JTEST_TEST_t for the function arm_pid_reset_xxx function having
+ *  suffix.
+ */
+#define ARM_PID_RESET_TEST(suffix)                                      \
+    JTEST_DEFINE_TEST(arm_pid_reset_##suffix##_test,                    \
+                      arm_pid_reset_##suffix)                           \
+    {                                                                   \
+        /* Initialise the pid_instance */                               \
+        arm_pid_instance_##suffix pid_inst = { 0 };                     \
+            pid_inst.state[0] = (TYPE_FROM_ABBREV(suffix)) 0xffffffff;  \
+            pid_inst.state[1] = (TYPE_FROM_ABBREV(suffix)) 0xffffffff;  \
+            pid_inst.state[2] = (TYPE_FROM_ABBREV(suffix)) 0xffffffff;  \
+                                                                        \
+            /* Display cycle count and run test */                      \
+            JTEST_COUNT_CYCLES(arm_pid_reset_##suffix(&pid_inst));      \
+                                                                        \
+            /* Test correctness */                                      \
+            TEST_ASSERT_BUFFERS_EQUAL(                                  \
+                pid_inst.state,                                         \
+                zeroes.data_ptr,                                        \
+                3 * sizeof(TYPE_FROM_ABBREV(suffix)));                  \
+                                                                        \
+            return JTEST_TEST_PASSED;                                   \
+    }
+
+ARM_PID_RESET_TEST(f32);
+ARM_PID_RESET_TEST(q31);
+ARM_PID_RESET_TEST(q15);
+
+/*--------------------------------------------------------------------------------*/
+/* Collect all tests in a group */
+/*--------------------------------------------------------------------------------*/
+
+JTEST_DEFINE_GROUP(pid_reset_tests)
+{
+    /*
+      To skip a test, comment it out.
+    */
+    JTEST_TEST_CALL(arm_pid_reset_f32_test);
+    JTEST_TEST_CALL(arm_pid_reset_q31_test);
+    JTEST_TEST_CALL(arm_pid_reset_q15_test);
+}