diff options
Diffstat (limited to 'Drivers/CMSIS/DSP/DSP_Lib_TestSuite/Common/src/controller_tests/pid_tests.c')
| -rw-r--r-- | Drivers/CMSIS/DSP/DSP_Lib_TestSuite/Common/src/controller_tests/pid_tests.c | 79 |
1 files changed, 79 insertions, 0 deletions
diff --git a/Drivers/CMSIS/DSP/DSP_Lib_TestSuite/Common/src/controller_tests/pid_tests.c b/Drivers/CMSIS/DSP/DSP_Lib_TestSuite/Common/src/controller_tests/pid_tests.c new file mode 100644 index 0000000..2e1c56e --- /dev/null +++ b/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);
+}
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