/**************************************************************************** * px4/sensors/test_gpio.c * * Copyright (C) 2012 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * 1. Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in * the documentation and/or other materials provided with the * distribution. * 3. Neither the name NuttX nor the names of its contributors may be * used to endorse or promote products derived from this software * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. * ****************************************************************************/ /**************************************************************************** * Included Files ****************************************************************************/ #include #include #include #include #include #include #include #include #include #include #include "tests.h" #include #include /**************************************************************************** * Pre-processor Definitions ****************************************************************************/ /**************************************************************************** * Private Types ****************************************************************************/ /**************************************************************************** * Private Function Prototypes ****************************************************************************/ /**************************************************************************** * Private Data ****************************************************************************/ /**************************************************************************** * Public Data ****************************************************************************/ /**************************************************************************** * Private Functions ****************************************************************************/ /**************************************************************************** * Public Functions ****************************************************************************/ /**************************************************************************** * Name: test_led ****************************************************************************/ typedef union { float f; double d; uint8_t b[8]; } test_float_double_t; int test_float(int argc, char *argv[]) { int ret = 0; printf("\n--- SINGLE PRECISION TESTS ---\n"); printf("The single precision test involves calls to fabs(),\nif test fails check this function as well.\n\n"); float f1 = 1.55f; float sinf_zero = sinf(0.0f); float sinf_one = sinf(1.0f); float sqrt_two = sqrt(2.0f); if (sinf_zero == 0.0f) { printf("\t success: sinf(0.0f) == 0.0f\n"); } else { printf("\t FAIL: sinf(0.0f) != 0.0f, result: %f\n", sinf_zero); ret = -4; } fflush(stdout); if (fabs((sinf_one - 0.841470956802368164062500000000f)) < FLT_EPSILON) { printf("\t success: sinf(1.0f) == 0.84147f\n"); } else { printf("\t FAIL: sinf(1.0f) != 0.84147f, result: %f\n", sinf_one); ret = -1; } fflush(stdout); float asinf_one = asinf(1.0f); if (fabs((asinf_one - 1.570796251296997070312500000000f)) < FLT_EPSILON * 1.5f) { printf("\t success: asinf(1.0f) == 1.57079f\n"); } else { printf("\t FAIL: asinf(1.0f) != 1.57079f, result: %f\n", asinf_one); ret = -1; } fflush(stdout); float cosf_one = cosf(1.0f); if (fabs((cosf_one - 0.540302336215972900390625000000f)) < FLT_EPSILON) { printf("\t success: cosf(1.0f) == 0.54030f\n"); } else { printf("\t FAIL: cosf(1.0f) != 0.54030f, result: %f\n", cosf_one); ret = -1; } fflush(stdout); float acosf_one = acosf(1.0f); if (fabs((acosf_one - 0.000000000000000000000000000000f)) < FLT_EPSILON) { printf("\t success: acosf(1.0f) == 0.0f\n"); } else { printf("\t FAIL: acosf(1.0f) != 0.0f, result: %f\n", acosf_one); ret = -1; } fflush(stdout); float sinf_zero_one = sinf(0.1f); if (fabs(sinf_zero_one - 0.0998334166f) < FLT_EPSILON) { printf("\t success: sinf(0.1f) == 0.09983f\n"); } else { printf("\t FAIL: sinf(0.1f) != 0.09983f, result: %f\n", sinf_zero_one); ret = -2; } if (sqrt_two == 1.41421356f) { printf("\t success: sqrt(2.0f) == 1.41421f\n"); } else { printf("\t FAIL: sqrt(2.0f) != 1.41421f, result: %f\n", sinf_zero_one); ret = -3; } float atan2f_ones = atan2(1.0f, 1.0f); if (fabs(atan2f_ones - 0.785398163397448278999490867136f) < FLT_EPSILON) { printf("\t success: atan2f(1.0f, 1.0f) == 0.78539f\n"); } else { printf("\t FAIL: atan2f(1.0f, 1.0f) != 0.78539f, result: %f\n", atan2f_ones); ret = -4; } printf("\t testing printing: printf(0.553415f): %f\n", 0.553415f); printf("\n--- DOUBLE PRECISION TESTS ---\n"); double d1 = 1.0111; double d2 = 2.0; double d1d2 = d1 * d2; if (d1d2 == 2.022200000000000219557705349871) { printf("\t success: 1.0111 * 2.0 == 2.0222\n"); } else { printf("\t FAIL: 1.0111 * 2.0 != 2.0222, result: %f\n", d1d2); } fflush(stdout); // Assign value of f1 to d1 d1 = f1; if (f1 == (float)d1) { printf("\t success: (float) 1.55f == 1.55 (double)\n"); } else { printf("\t FAIL: (float) 1.55f != 1.55 (double), result: %f\n", f1); ret = -4; } fflush(stdout); double sin_zero = sin(0.0); double sin_one = sin(1.0); double atan2_ones = atan2(1.0, 1.0); if (sin_zero == 0.0) { printf("\t success: sin(0.0) == 0.0\n"); } else { printf("\t FAIL: sin(0.0) != 0.0, result: %f\n", sin_zero); ret = -5; } if (sin_one == 0.841470984807896504875657228695) { printf("\t success: sin(1.0) == 0.84147098480\n"); } else { printf("\t FAIL: sin(1.0) != 1.0, result: %f\n", sin_one); ret = -6; } if (atan2_ones != 0.785398) { printf("\t success: atan2(1.0, 1.0) == 0.785398\n"); } else { printf("\t FAIL: atan2(1.0, 1.0) != 0.785398, result: %f\n", atan2_ones); ret = -7; } printf("\t testing printing: printf(0.553415): %f\n", 0.553415); printf("\t testing pow() with magic value\n"); printf("\t (44330.0 * (1.0 - pow((96286LL / 101325.0), 0.190295)));\n"); fflush(stdout); usleep(20000); double powres = (44330.0 * (1.0 - pow((96286LL / 101325.0), 0.190295))); printf("\t success: result: %f\n", (float)powres); if (ret == 0) { printf("\n SUCCESS: All float and double tests passed.\n"); } else { printf("\n FAIL: One or more tests failed.\n"); } printf("\n"); return ret; }