blob: a930dbbfa339dec12ee77391d5e049510a844f6c (
plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
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);
}
|
