Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
This commit is contained in:
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#ifndef _TEMPLATE_H_
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#define _TEMPLATE_H_
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/*--------------------------------------------------------------------------------*/
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/* Looping and Iteration */
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/*--------------------------------------------------------------------------------*/
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/**
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* Template for the general structure of a loop.
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*/
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#define TEMPLATE_LOOP(setup, loop_def, body) \
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do \
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{ \
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setup; \
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loop_def { \
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body; \
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} \
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} while (0)
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/**
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* Template for looping over an array-like sequence.
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*/
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#define TEMPLATE_DO_ARR_LIKE(iter_idx, type, \
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arr, arr_length, \
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iter_elem_setup, \
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body) \
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do \
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{ \
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TEMPLATE_LOOP( \
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int iter_idx, \
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for(iter_idx = 0; iter_idx < (arr_length); ++iter_idx), \
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iter_elem_setup; \
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body); \
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} while (0)
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/**
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* Template for looping over the contents of an array.
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*/
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#define TEMPLATE_DO_ARR(iter_idx, type, iter_elem, arr, arr_length, body) \
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do \
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{ \
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TEMPLATE_DO_ARR_LIKE( \
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iter_idx, type, arr, arr_length, \
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type iter_elem = (arr)[iter_idx], \
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body); \
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} while (0)
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/**
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* Template for looping over the contents of an #ARR_DESC.
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*/
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#define TEMPLATE_DO_ARR_DESC(iter_idx, type, iter_elem, arr_desc, body) \
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do \
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{ \
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TEMPLATE_DO_ARR_LIKE( \
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iter_idx, type, arr_desc, (arr_desc).element_count, \
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type iter_elem = ARR_DESC_ELT(type, iter_idx, &(arr_desc)), \
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body); \
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} while (0)
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/*--------------------------------------------------------------------------------*/
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/* Test Definition */
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/*--------------------------------------------------------------------------------*/
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/**
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* Template for the general structure of a test.
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*/
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#define TEMPLATE_TEST(setup, body, teardown) \
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do \
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{ \
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setup; \
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body; \
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teardown; \
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} while (0)
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/**
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* Template for calling a function.
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*
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* @note Surround function arguments with the #PAREN() macro.
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*
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* @example
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* void my_func(int arg1, int arg2);
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*
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* TEMPLATE_CALL_FN(my_func, PAREN(3, 7));
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*/
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#define TEMPLATE_CALL_FN(fn, fn_args) \
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fn fn_args
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#endif /* _TEMPLATE_H_ */
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@@ -0,0 +1,466 @@
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#ifndef _TEST_TEMPLATES_H_
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#define _TEST_TEMPLATES_H_
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/*--------------------------------------------------------------------------------*/
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/* Includes */
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/*--------------------------------------------------------------------------------*/
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#include "template.h"
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#include <string.h> /* memcmp() */
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#include <inttypes.h> /* PRIu32 */
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#include "math_helper.h" /* arm_snr_f32() */
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/*--------------------------------------------------------------------------------*/
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/* Function Aliases for use in Templates. */
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/*--------------------------------------------------------------------------------*/
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#define ref_q31_t_to_float ref_q31_to_float
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#define ref_q15_t_to_float ref_q15_to_float
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#define ref_q7_t_to_float ref_q7_to_float
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#define ref_float_to_q31_t ref_float_to_q31
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#define ref_float_to_q15_t ref_float_to_q15
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#define ref_float_to_q7_t ref_float_to_q7
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#define ref_float32_t_to_float ref_copy_f32
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#define ref_float_to_float32_t ref_copy_f32
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/*--------------------------------------------------------------------------------*/
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/* Macros and Defines */
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/*--------------------------------------------------------------------------------*/
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/**
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* Call the function-under-test.
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*/
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#define TEST_CALL_FUT(fut, fut_args) \
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JTEST_COUNT_CYCLES(TEMPLATE_CALL_FN(fut, fut_args))
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/**
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* Call the reference-function.
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*/
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#define TEST_CALL_REF(ref, ref_args) \
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TEMPLATE_CALL_FN(ref, ref_args)
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/**
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* Call the function-under-test and the reference-function.
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*/
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#define TEST_CALL_FUT_AND_REF(fut, fut_args, ref, ref_args) \
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do { \
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TEST_CALL_FUT(fut, fut_args); \
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TEST_CALL_REF(ref, ref_args); \
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} while (0)
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/**
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* This macro eats a variable number of arguments and evaluates to a null
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* statement.
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*/
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#define TEST_NULL_STATEMENT(...) (void) "TEST_NULL_STATEMENT"
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/**
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* A function name, Usable in any template where a fut or ref name is accepted,
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* that evaluates to a #TEST_NULL_STATEMENT().
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*/
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#define TEST_NULL_FN TEST_NULL_STATEMENT
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/**
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* Assert that buffers A and B are byte-equivalent for a number of bytes.
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*/
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#define TEST_ASSERT_BUFFERS_EQUAL(buf_a, buf_b, bytes)\
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do \
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{ \
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if (memcmp(buf_a, buf_b, bytes) != 0) \
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{ \
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return JTEST_TEST_FAILED; \
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} \
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} while (0)
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/**
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* Assert that the two entities are equal.
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*/
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#define TEST_ASSERT_EQUAL(a, b) \
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do \
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{ \
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if ((a) != (b)) \
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{ \
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return JTEST_TEST_FAILED;\
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} \
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} while (0)
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/**
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* Convert elements to from src_type to float.
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*/
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#define TEST_CONVERT_TO_FLOAT(src_ptr, dst_ptr, block_size, src_type) \
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do \
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{ \
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ref_##src_type##_to_float( \
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src_ptr, \
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dst_ptr, \
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block_size); \
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} while (0) \
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/**
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* Convert elements to from float to dst_type .
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*/
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#define TEST_CONVERT_FLOAT_TO(src_ptr, dst_ptr, block_size, dst_type) \
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do \
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{ \
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ref_float_to_##dst_type( \
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src_ptr, \
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dst_ptr, \
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block_size); \
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} while (0) \
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/**
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* Assert that the SNR between a reference and test sample is above a given
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* threshold.
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*/
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#define TEST_ASSERT_SNR(ref_ptr, tst_ptr, block_size, threshold) \
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do \
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{ \
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float32_t snr = arm_snr_f32(ref_ptr, tst_ptr, block_size);\
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if ( snr <= threshold) \
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{ \
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JTEST_DUMP_STRF("SNR: %f\n", snr); \
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return JTEST_TEST_FAILED; \
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} \
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} while (0)
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/**
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* Assert that the SNR between a reference and test sample is above a given
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* threshold. Special case for float64_t
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*/
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#define TEST_ASSERT_DBL_SNR(ref_ptr, tst_ptr, block_size, threshold)\
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do \
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{ \
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float64_t snr = arm_snr_f64(ref_ptr, tst_ptr, block_size); \
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if ( snr <= threshold) \
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{ \
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JTEST_DUMP_STRF("SNR: %f\n", snr); \
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return JTEST_TEST_FAILED; \
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} \
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} while (0)
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/**
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* Compare test and reference elements by converting to float and
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* calculating an SNR.
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*
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* This macro is a merger of the #TEST_CONVERT_TO_FLOAT() and
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* #TEST_ASSERT_SNR() macros.
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*/
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#define TEST_CONVERT_AND_ASSERT_SNR(ref_dst_ptr, ref_src_ptr, \
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tst_dst_ptr, tst_src_ptr, \
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block_size, \
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tst_src_type, \
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threshold) \
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do \
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{ \
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TEST_CONVERT_TO_FLOAT(ref_src_ptr, \
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ref_dst_ptr, \
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block_size, \
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tst_src_type); \
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TEST_CONVERT_TO_FLOAT(tst_src_ptr, \
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tst_dst_ptr, \
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block_size, \
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tst_src_type); \
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TEST_ASSERT_SNR(ref_dst_ptr, \
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tst_dst_ptr, \
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block_size, \
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threshold); \
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} while (0)
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/**
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* Execute statements only if the combination of block size, function type
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* specifier, and input ARR_DESC_t are valid.
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*
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* @example An ARR_DESC_t that contains 64 bytes cant service a 32 element
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* block size if they are extracted in float32_t increments.
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*
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* 8 * 32 = 256 > 64.
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*/
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#define TEST_DO_VALID_BLOCKSIZE(block_size, fn_type_spec, \
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input_arr_desc, body) \
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do \
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{ \
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||||
if (block_size * sizeof(fn_type_spec) <= \
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ARR_DESC_BYTES(input_arr_desc)) \
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{ \
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JTEST_DUMP_STRF("Block Size: %"PRIu32"\n", block_size); \
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body; \
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||||
} \
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} while (0) \
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/**
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* Template for tests that rely on one input buffer and a blocksize parameter.
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*
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* The buffer is an #ARR_DESC_t. It is iterated over and it's values are
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* passed to the function under test and reference functions through their
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* appropriate argument interfaces. The argument interfaces this template to
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* execute structurally similar functions.
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*
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*/
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#define TEST_TEMPLATE_BUF1_BLK(arr_desc_inputs, \
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arr_desc_block_sizes, \
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input_type, output_type, \
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fut, fut_arg_interface, \
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ref, ref_arg_interface, \
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||||
compare_interface) \
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||||
do \
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||||
{ \
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TEMPLATE_DO_ARR_DESC( \
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input_idx, ARR_DESC_t *, input_ptr, arr_desc_inputs \
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, \
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TEMPLATE_DO_ARR_DESC( \
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block_size_idx, uint32_t, block_size, arr_desc_block_sizes \
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, \
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void * input_data_ptr = input_ptr->data_ptr; \
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||||
\
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TEST_DO_VALID_BLOCKSIZE( \
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||||
block_size, input_type, input_ptr \
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||||
, \
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||||
TEST_CALL_FUT_AND_REF( \
|
||||
fut, fut_arg_interface( \
|
||||
input_data_ptr, block_size), \
|
||||
ref, ref_arg_interface( \
|
||||
input_data_ptr, block_size)); \
|
||||
\
|
||||
compare_interface(block_size, output_type)))); \
|
||||
\
|
||||
return JTEST_TEST_PASSED; \
|
||||
\
|
||||
} while (0)
|
||||
|
||||
/**
|
||||
* Template for tests that rely on an input buffer and an element.
|
||||
*
|
||||
* An element can is any thing which doesn't walk and talk like a
|
||||
* sequence. Examples include numbers, and structures.
|
||||
*/
|
||||
#define TEST_TEMPLATE_BUF1_ELT1(arr_desc_inputs, \
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||||
arr_desc_elts, \
|
||||
input_type, elt_type, output_type, \
|
||||
fut, fut_arg_interface, \
|
||||
ref, ref_arg_interface, \
|
||||
compare_interface) \
|
||||
do \
|
||||
{ \
|
||||
TEMPLATE_DO_ARR_DESC( \
|
||||
input_idx, ARR_DESC_t *, input_ptr, arr_desc_inputs \
|
||||
, \
|
||||
TEMPLATE_DO_ARR_DESC( \
|
||||
elt_idx, elt_type, elt, arr_desc_elts \
|
||||
, \
|
||||
void * input_data_ptr = input_ptr->data_ptr; \
|
||||
TEST_CALL_FUT_AND_REF( \
|
||||
fut, fut_arg_interface(input_data_ptr, elt), \
|
||||
ref, ref_arg_interface(input_data_ptr, elt)); \
|
||||
\
|
||||
compare_interface(output_type))); \
|
||||
return JTEST_TEST_PASSED; \
|
||||
} while (0)
|
||||
|
||||
/**
|
||||
* Template for tests that rely on an input buffer, an element, and a blocksize
|
||||
* parameter.
|
||||
*/
|
||||
#define TEST_TEMPLATE_BUF1_ELT1_BLK(arr_desc_inputs, \
|
||||
arr_desc_elts, \
|
||||
arr_desc_block_sizes, \
|
||||
input_type, elt_type, output_type, \
|
||||
fut, fut_arg_interface, \
|
||||
ref, ref_arg_interface, \
|
||||
compare_interface); \
|
||||
do \
|
||||
{ \
|
||||
TEMPLATE_DO_ARR_DESC( \
|
||||
inut_idx, ARR_DESC_t *, input_ptr, arr_desc_inputs \
|
||||
, \
|
||||
TEMPLATE_DO_ARR_DESC( \
|
||||
block_size_idx, uint32_t, block_size, \
|
||||
arr_desc_block_sizes \
|
||||
, \
|
||||
TEMPLATE_DO_ARR_DESC( \
|
||||
elt_idx, elt_type, elt, arr_desc_elts \
|
||||
, \
|
||||
void * input_data_ptr = input_ptr->data_ptr; \
|
||||
TEST_DO_VALID_BLOCKSIZE( \
|
||||
block_size, input_type, input_ptr, \
|
||||
\
|
||||
TEST_CALL_FUT_AND_REF( \
|
||||
fut, fut_arg_interface( \
|
||||
input_data_ptr, elt, block_size), \
|
||||
ref, ref_arg_interface( \
|
||||
input_data_ptr, elt, block_size)); \
|
||||
compare_interface(block_size, output_type))))); \
|
||||
return JTEST_TEST_PASSED; \
|
||||
} while (0)
|
||||
|
||||
/**
|
||||
* Template for tests that rely on an input buffer, two elements, and a blocksize
|
||||
* parameter.
|
||||
*/
|
||||
#define TEST_TEMPLATE_BUF1_ELT2_BLK(arr_desc_inputs, \
|
||||
arr_desc_elt1s, \
|
||||
arr_desc_elt2s, \
|
||||
arr_desc_block_sizes, \
|
||||
input_type, elt1_type, \
|
||||
elt2_type, output_type, \
|
||||
fut, fut_arg_interface, \
|
||||
ref, ref_arg_interface, \
|
||||
compare_interface) \
|
||||
do \
|
||||
{ \
|
||||
TEMPLATE_DO_ARR_DESC( \
|
||||
inut_idx, ARR_DESC_t *, input_ptr, arr_desc_inputs \
|
||||
, \
|
||||
TEMPLATE_DO_ARR_DESC( \
|
||||
block_size_idx, uint32_t, block_size, \
|
||||
arr_desc_block_sizes \
|
||||
, \
|
||||
TEMPLATE_DO_ARR_DESC( \
|
||||
elt1_idx, elt1_type, elt1, arr_desc_elt1s \
|
||||
, \
|
||||
TEMPLATE_DO_ARR_DESC( \
|
||||
elt2_idx, elt2_type, elt2, arr_desc_elt2s \
|
||||
, \
|
||||
void * input_data_ptr = input_ptr->data_ptr; \
|
||||
TEST_DO_VALID_BLOCKSIZE( \
|
||||
block_size, input_type, input_ptr, \
|
||||
TEST_CALL_FUT_AND_REF( \
|
||||
fut, fut_arg_interface( \
|
||||
input_data_ptr, elt1, elt2, block_size), \
|
||||
ref, ref_arg_interface( \
|
||||
input_data_ptr, elt1, elt2, block_size)); \
|
||||
compare_interface(block_size, output_type)))))); \
|
||||
return JTEST_TEST_PASSED; \
|
||||
} while (0)
|
||||
|
||||
/**
|
||||
* Template for tests that rely on two input buffers and a blocksize parameter.
|
||||
*
|
||||
* The two #ARR_DESC_t, input buffers are iterated through in parallel. The
|
||||
* length of the first #ARR_DESC_t determines the length of the iteration.
|
||||
*/
|
||||
#define TEST_TEMPLATE_BUF2_BLK(arr_desc_inputs_a, \
|
||||
arr_desc_inputs_b, \
|
||||
arr_desc_block_sizes, \
|
||||
input_type, output_type, \
|
||||
fut, fut_arg_interface, \
|
||||
ref, ref_arg_interface, \
|
||||
compare_interface) \
|
||||
do \
|
||||
{ \
|
||||
/* Iterate over two input arrays in parallel.*/ \
|
||||
TEMPLATE_DO_ARR_DESC( \
|
||||
input_idx, ARR_DESC_t *, input_ptr, arr_desc_inputs_a \
|
||||
, \
|
||||
TEMPLATE_DO_ARR_DESC( \
|
||||
block_size_idx, uint32_t, block_size, arr_desc_block_sizes, \
|
||||
void * input_a_ptr = input_ptr->data_ptr; \
|
||||
void * input_b_ptr = ARR_DESC_ELT( \
|
||||
ARR_DESC_t *, input_idx, \
|
||||
&(arr_desc_inputs_b))->data_ptr; \
|
||||
\
|
||||
TEST_DO_VALID_BLOCKSIZE( \
|
||||
block_size, input_type, input_ptr \
|
||||
, \
|
||||
TEST_CALL_FUT_AND_REF( \
|
||||
fut, fut_arg_interface( \
|
||||
input_a_ptr, input_b_ptr, block_size), \
|
||||
ref, ref_arg_interface( \
|
||||
input_a_ptr, input_b_ptr, block_size)); \
|
||||
\
|
||||
compare_interface(block_size, output_type)))); \
|
||||
return JTEST_TEST_PASSED; \
|
||||
} while (0)
|
||||
|
||||
/**
|
||||
* Test template that uses a single element.
|
||||
*/
|
||||
#define TEST_TEMPLATE_ELT1(arr_desc_elts, \
|
||||
elt_type, output_type, \
|
||||
fut, fut_arg_interface, \
|
||||
ref, ref_arg_interface, \
|
||||
compare_interface) \
|
||||
do \
|
||||
{ \
|
||||
TEMPLATE_DO_ARR_DESC( \
|
||||
elt_idx, elt_type, elt, arr_desc_elts \
|
||||
, \
|
||||
TEST_CALL_FUT_AND_REF( \
|
||||
fut, fut_arg_interface( \
|
||||
elt), \
|
||||
ref, ref_arg_interface( \
|
||||
elt)); \
|
||||
/* Comparison interfaces typically accept */ \
|
||||
/* a block_size. Pass a dummy value 1.*/ \
|
||||
compare_interface(1, output_type)); \
|
||||
return JTEST_TEST_PASSED; \
|
||||
} while (0)
|
||||
|
||||
/**
|
||||
* Test template that iterates over two sets of elements in parallel.
|
||||
*
|
||||
* The length of the first set determines the number of iteratsions.
|
||||
*/
|
||||
#define TEST_TEMPLATE_ELT2(arr_desc_elts_a, \
|
||||
arr_desc_elts_b, \
|
||||
elt_a_type, elt_b_type, output_type, \
|
||||
fut, fut_arg_interface, \
|
||||
ref, ref_arg_interface, \
|
||||
compare_interface) \
|
||||
do \
|
||||
{ \
|
||||
TEMPLATE_DO_ARR_DESC( \
|
||||
elt_a_idx, elt_a_type, elt_a, arr_desc_elts_a \
|
||||
, \
|
||||
elt_b_type * elt_b = ARR_DESC_ELT( \
|
||||
elt_b_type, \
|
||||
elt_a_idx, \
|
||||
arr_desc_elts_b); \
|
||||
\
|
||||
TEST_CALL_FUT_AND_REF( \
|
||||
fut, fut_arg_interface( \
|
||||
elt_a, elt_b), \
|
||||
ref, ref_arg_interface( \
|
||||
elt_a, elt_b)); \
|
||||
/* Comparison interfaces typically accept */ \
|
||||
/* a block_size. Pass a dummy value 1.*/ \
|
||||
compare_interface(1, output_type)); \
|
||||
return JTEST_TEST_PASSED; \
|
||||
} while (0)
|
||||
|
||||
/**
|
||||
* Test template that uses an element and a block size.
|
||||
*/
|
||||
#define TEST_TEMPLATE_ELT1_BLK(arr_desc_elts, \
|
||||
arr_desc_block_sizes, \
|
||||
elt_type, output_type, \
|
||||
fut, fut_arg_interface, \
|
||||
ref, ref_arg_interface, \
|
||||
compare_interface) \
|
||||
do \
|
||||
{ \
|
||||
TEMPLATE_DO_ARR_DESC( \
|
||||
block_size_idx, uint32_t, block_size, \
|
||||
arr_desc_block_sizes \
|
||||
, \
|
||||
TEMPLATE_DO_ARR_DESC( \
|
||||
elt_idx, elt_type, elt, arr_desc_elts \
|
||||
, \
|
||||
JTEST_DUMP_STRF("Block Size: %d\n", \
|
||||
(int)block_size); \
|
||||
TEST_CALL_FUT_AND_REF( \
|
||||
fut, fut_arg_interface( \
|
||||
elt, block_size), \
|
||||
ref, ref_arg_interface( \
|
||||
elt, block_size)); \
|
||||
compare_interface(block_size, output_type))); \
|
||||
return JTEST_TEST_PASSED; \
|
||||
} while (0)
|
||||
|
||||
#endif /* _TEST_TEMPLATES_H_ */
|
||||
Reference in New Issue
Block a user