forked from Archive/PX4-Autopilot
284 lines
7.6 KiB
C
284 lines
7.6 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Author: @author Lorenz Meier <lm@inf.ethz.ch>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file tests_float.c
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* Floating point tests
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*/
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#include <nuttx/config.h>
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#include <sys/types.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <errno.h>
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#include <debug.h>
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#include "tests.h"
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#include <math.h>
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#include <float.h>
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typedef union {
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float f;
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double d;
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uint8_t b[8];
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} test_float_double_t;
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int test_float(int argc, char *argv[])
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{
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int ret = 0;
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printf("\n--- SINGLE PRECISION TESTS ---\n");
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printf("The single precision test involves calls to fabsf(),\nif test fails check this function as well.\n\n");
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float f1 = 1.55f;
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float sinf_zero = sinf(0.0f);
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float sinf_one = sinf(1.0f);
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float sqrt_two = sqrt(2.0f);
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if (sinf_zero == 0.0f) {
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printf("\t success: sinf(0.0f) == 0.0f\n");
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} else {
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printf("\t FAIL: sinf(0.0f) != 0.0f, result: %8.4f\n", (double)sinf_zero);
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ret = -4;
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}
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fflush(stdout);
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if (fabsf((sinf_one - 0.841470956802368164062500000000f)) < FLT_EPSILON) {
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printf("\t success: sinf(1.0f) == 0.84147f\n");
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} else {
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printf("\t FAIL: sinf(1.0f) != 0.84147f, result: %8.4f\n", (double)sinf_one);
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ret = -1;
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}
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fflush(stdout);
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float asinf_one = asinf(1.0f);
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if (fabsf((asinf_one - 1.570796251296997070312500000000f)) < FLT_EPSILON * 1.5f) {
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printf("\t success: asinf(1.0f) == 1.57079f\n");
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} else {
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printf("\t FAIL: asinf(1.0f) != 1.57079f, result: %f\n", asinf_one);
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ret = -1;
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}
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fflush(stdout);
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float cosf_one = cosf(1.0f);
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if (fabsf((cosf_one - 0.540302336215972900390625000000f)) < FLT_EPSILON) {
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printf("\t success: cosf(1.0f) == 0.54030f\n");
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} else {
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printf("\t FAIL: cosf(1.0f) != 0.54030f, result: %8.4f\n", (double)cosf_one);
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ret = -1;
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}
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fflush(stdout);
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float acosf_one = acosf(1.0f);
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if (fabsf((acosf_one - 0.000000000000000000000000000000f)) < FLT_EPSILON) {
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printf("\t success: acosf(1.0f) == 0.0f\n");
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} else {
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printf("\t FAIL: acosf(1.0f) != 0.0f, result: %8.4f\n", (double)acosf_one);
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ret = -1;
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}
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fflush(stdout);
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float sinf_zero_one = sinf(0.1f);
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if (fabs(sinf_zero_one - 0.0998334166f) < FLT_EPSILON) {
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printf("\t success: sinf(0.1f) == 0.09983f\n");
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} else {
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printf("\t FAIL: sinf(0.1f) != 0.09983f, result: %8.4f\n", (double)sinf_zero_one);
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ret = -2;
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}
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if (sqrt_two == 1.41421356f) {
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printf("\t success: sqrt(2.0f) == 1.41421f\n");
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} else {
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printf("\t FAIL: sqrt(2.0f) != 1.41421f, result: %8.4f\n", (double)sinf_zero_one);
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ret = -3;
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}
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float atan2f_ones = atan2(1.0f, 1.0f);
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if (fabsf(atan2f_ones - 0.785398163397448278999490867136f) < FLT_EPSILON) {
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printf("\t success: atan2f(1.0f, 1.0f) == 0.78539f\n");
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} else {
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printf("\t FAIL: atan2f(1.0f, 1.0f) != 0.78539f, result: %8.4f\n", (double)atan2f_ones);
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ret = -4;
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}
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char sbuf[30];
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sprintf(sbuf, "%8.4f", 0.553415f);
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if (sbuf[0] == ' ' && sbuf[1] == ' ' && sbuf[2] == '0' &&
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sbuf[3] == '.' && sbuf[4] == '5' && sbuf[5] == '5'
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&& sbuf[6] == '3' && sbuf[7] == '4' && sbuf[8] == '\0') {
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printf("\t success: printf(\"%%8.4f\", 0.553415f) == %8.4f\n", (double)0.553415f);
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} else {
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printf("\t FAIL: printf(\"%%8.4f\", 0.553415f) != \" 0.5534\", result: %s\n", sbuf);
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ret = -5;
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}
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sprintf(sbuf, "%8.4f", -0.553415f);
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if (sbuf[0] == ' ' && sbuf[1] == '-' && sbuf[2] == '0' &&
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sbuf[3] == '.' && sbuf[4] == '5' && sbuf[5] == '5'
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&& sbuf[6] == '3' && sbuf[7] == '4' && sbuf[8] == '\0') {
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printf("\t success: printf(\"%%8.4f\", -0.553415f) == %8.4f\n", (double)-0.553415f);
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} else {
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printf("\t FAIL: printf(\"%%8.4f\", -0.553415f) != \" -0.5534\", result: %s\n", sbuf);
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ret = -6;
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}
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printf("\n--- DOUBLE PRECISION TESTS ---\n");
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double d1 = 1.0111;
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double d2 = 2.0;
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double d1d2 = d1 * d2;
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if (d1d2 == 2.022200000000000219557705349871) {
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printf("\t success: 1.0111 * 2.0 == 2.0222\n");
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} else {
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printf("\t FAIL: 1.0111 * 2.0 != 2.0222, result: %8.4f\n", d1d2);
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ret = -7;
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}
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fflush(stdout);
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// Assign value of f1 to d1
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d1 = f1;
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if (f1 == (float)d1) {
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printf("\t success: (float) 1.55f == 1.55 (double)\n");
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} else {
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printf("\t FAIL: (float) 1.55f != 1.55 (double), result: %8.4f\n", f1);
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ret = -8;
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}
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fflush(stdout);
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double sin_zero = sin(0.0);
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double sin_one = sin(1.0);
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double atan2_ones = atan2(1.0, 1.0);
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if (sin_zero == 0.0) {
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printf("\t success: sin(0.0) == 0.0\n");
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} else {
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printf("\t FAIL: sin(0.0) != 0.0, result: %8.4f\n", sin_zero);
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ret = -9;
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}
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if (sin_one == 0.841470984807896504875657228695) {
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printf("\t success: sin(1.0) == 0.84147098480\n");
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} else {
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printf("\t FAIL: sin(1.0) != 1.0, result: %8.4f\n", sin_one);
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ret = -10;
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}
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if (atan2_ones != 0.785398) {
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printf("\t success: atan2(1.0, 1.0) == 0.785398\n");
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} else {
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printf("\t FAIL: atan2(1.0, 1.0) != 0.785398, result: %8.4f\n", atan2_ones);
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ret = -11;
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}
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printf("\t testing pow() with magic value\n");
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printf("\t (44330.0 * (1.0 - pow((96286LL / 101325.0), 0.190295)));\n");
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fflush(stdout);
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usleep(20000);
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double powres = (44330.0 * (1.0 - pow((96286LL / 101325.0), 0.190295)));
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printf("\t success: result: %8.4f\n", (double)powres);
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sprintf(sbuf, "%8.4f", 0.553415);
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if (sbuf[0] == ' ' && sbuf[1] == ' ' && sbuf[2] == '0' &&
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sbuf[3] == '.' && sbuf[4] == '5' && sbuf[5] == '5'
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&& sbuf[6] == '3' && sbuf[7] == '4' && sbuf[8] == '\0') {
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printf("\t success: printf(\"%%8.4f\", 0.553415) == %8.4f\n", 0.553415);
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} else {
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printf("\t FAIL: printf(\"%%8.4f\", 0.553415) != \" 0.5534\", result: %s\n", sbuf);
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ret = -12;
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}
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sprintf(sbuf, "%8.4f", -0.553415);
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if (sbuf[0] == ' ' && sbuf[1] == '-' && sbuf[2] == '0' &&
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sbuf[3] == '.' && sbuf[4] == '5' && sbuf[5] == '5'
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&& sbuf[6] == '3' && sbuf[7] == '4' && sbuf[8] == '\0') {
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printf("\t success: printf(\"%%8.4f\", -0.553415) == %8.4f\n", -0.553415);
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} else {
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printf("\t FAIL: printf(\"%%8.4f\", -0.553415) != \" -0.5534\", result: %s\n", sbuf);
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ret = -13;
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}
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if (ret == 0) {
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printf("\n SUCCESS: All float and double tests passed.\n");
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} else {
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printf("\n FAIL: One or more tests failed.\n");
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}
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printf("\n");
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return ret;
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}
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