From f7de54fc6fa6b40dfa2dfbe4c2a8ee933affa126 Mon Sep 17 00:00:00 2001
From: JanHenrik <janhenrik@janhenrik.org>
Date: Wed, 1 Apr 2020 00:40:03 +0200
Subject: added files

---
 .../Common/src/controller_tests/pid_tests.c        | 79 ++++++++++++++++++++++
 1 file changed, 79 insertions(+)
 create mode 100644 cdc-dials/Drivers/CMSIS/DSP/DSP_Lib_TestSuite/Common/src/controller_tests/pid_tests.c

(limited to 'cdc-dials/Drivers/CMSIS/DSP/DSP_Lib_TestSuite/Common/src/controller_tests/pid_tests.c')

diff --git a/cdc-dials/Drivers/CMSIS/DSP/DSP_Lib_TestSuite/Common/src/controller_tests/pid_tests.c b/cdc-dials/Drivers/CMSIS/DSP/DSP_Lib_TestSuite/Common/src/controller_tests/pid_tests.c
new file mode 100644
index 0000000..2e1c56e
--- /dev/null
+++ b/cdc-dials/Drivers/CMSIS/DSP/DSP_Lib_TestSuite/Common/src/controller_tests/pid_tests.c
@@ -0,0 +1,79 @@
+#include "jtest.h"
+#include "arr_desc.h"
+#include "arm_math.h"
+#include "ref.h"
+#include "type_abbrev.h"
+#include "test_templates.h"
+#include "controller_test_data.h"
+#include "controller_templates.h"
+
+/**
+ *  Define a JTEST_TEST_t for the function arm_pid_xxx function having
+ *  suffix.
+ */
+#define ARM_PID_TEST(suffix,type)                                       \
+    JTEST_DEFINE_TEST(arm_pid_##suffix##_test, arm_pid_##suffix)        \
+    {                                                                   \
+            uint32_t i,j;                                               \
+                                                                        \
+            arm_pid_instance_##suffix fut_pid_inst = { 0 };             \
+            arm_pid_instance_##suffix ref_pid_inst = { 0 };             \
+                                                                        \
+            for(i=0;i<CONTROLLER_MAX_COEFFS_LEN/3;i++)                  \
+            {                                                           \
+                fut_pid_inst.Kp = controller_##suffix##_coeffs[i*3+0];  \
+                fut_pid_inst.Ki = controller_##suffix##_coeffs[i*3+1];  \
+                fut_pid_inst.Kd = controller_##suffix##_coeffs[i*3+2];  \
+                ref_pid_inst.Kp = controller_##suffix##_coeffs[i*3+0];  \
+                ref_pid_inst.Ki = controller_##suffix##_coeffs[i*3+1];  \
+                ref_pid_inst.Kd = controller_##suffix##_coeffs[i*3+2];  \
+                                                                        \
+                arm_pid_init_##suffix(&fut_pid_inst, 1);                \
+                arm_pid_init_##suffix(&ref_pid_inst, 1);                \
+                                                                        \
+                /* Display parameter values */                          \
+                JTEST_DUMP_STRF("Block Size: %d\n",                     \
+                                (int)CONTROLLER_MAX_LEN);               \
+                                                                        \
+                /* Display cycle count and run test */                  \
+                JTEST_COUNT_CYCLES(                                     \
+                    for(j=0;j<CONTROLLER_MAX_LEN;j++)                   \
+                    {                                                   \
+                       *((type*)controller_output_fut + j) =            \
+                           arm_pid_##suffix(&fut_pid_inst,              \
+                           controller_##suffix##_inputs[j]);            \
+                    });                                                 \
+                                                                        \
+                for(j=0;j<CONTROLLER_MAX_LEN;j++)                       \
+                {                                                       \
+                   *((type*)controller_output_ref + j) =                \
+                        ref_pid_##suffix(&ref_pid_inst,                 \
+                        controller_##suffix##_inputs[j]);               \
+                }                                                       \
+                                                                        \
+                /* Test correctness */                                  \
+                CONTROLLER_SNR_COMPARE_INTERFACE(                       \
+                        CONTROLLER_MAX_LEN,                             \
+                        type);                                          \
+            }                                                           \
+                                                                        \
+            return JTEST_TEST_PASSED;                                   \
+    }
+
+ARM_PID_TEST(f32,float32_t);
+ARM_PID_TEST(q31,q31_t);
+ARM_PID_TEST(q15,q15_t);
+
+/*--------------------------------------------------------------------------------*/
+/* Collect all tests in a group */
+/*--------------------------------------------------------------------------------*/
+
+JTEST_DEFINE_GROUP(pid_tests)
+{
+    /*
+      To skip a test, comment it out.
+    */
+    JTEST_TEST_CALL(arm_pid_f32_test);
+    JTEST_TEST_CALL(arm_pid_q31_test);
+    JTEST_TEST_CALL(arm_pid_q15_test);
+}
-- 
cgit