| #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); |
| } |