pkg: add USEPKG module "libfixmath"
This PR adds the USEPKG module "libfixmath". It integrates https://code.google.com/p/libfixmath/ into RIOT, cmp. #1457.
This commit is contained in:
René Kijewski
parent
f183730917
commit
d7b4f1a5ba
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@ -85,3 +85,7 @@ endif
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ifneq (,$(filter pipe,$(USEMODULE)))
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USEMODULE += lib
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endif
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ifneq (,$(filter libfixmath-unittests,$(USEMODULE)))
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USEPKG += libfixmath
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endif
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@ -0,0 +1 @@
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/checkout
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@ -0,0 +1,65 @@
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PKG_NAME := libfixmath
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PKG_VERSION := 91
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PKG_BRANCH := trunk
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PKG_URL := http://libfixmath.googlecode.com/svn/$(PKG_BRANCH)/
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CHECKOUT_FOLDER := $(CURDIR)/checkout/$(PKG_BRANCH)-r$(PKG_VERSION)
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.PHONY: all clean distclean
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all: $(BINDIR)$(PKG_NAME).a
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all-unittests: $(BINDIR)$(PKG_NAME)-unittests.a
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ifneq (,$(filter libfixmath-unittests,$(USEMODULE)))
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all: all-unittests
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endif
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$(BINDIR)$(PKG_NAME).a: $(BINDIR)$(PKG_NAME)-src/Makefile $(BINDIR)$(PKG_NAME)-headers/fix16.h
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"$(MAKE)" -C $(<D)
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$(BINDIR)$(PKG_NAME)-unittests.a: $(BINDIR)$(PKG_NAME)-unittests-src/Makefile $(BINDIR)$(PKG_NAME)-headers/fix16.h
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"$(MAKE)" -C $(<D)
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$(BINDIR)$(PKG_NAME)-src/Makefile: $(CHECKOUT_FOLDER)/svn_info.xml
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@rm -rf $(@D)
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@mkdir -p $(@D)
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$(AD)cp $(CURDIR)/Makefile.template $@
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$(AD)cp $(CHECKOUT_FOLDER)/libfixmath/*.[ch] $(@D)
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$(AD)rm -f $(BINDIR)$(PKG_NAME)-src/fix16.h
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cd $(@D) && sed -i -e "s/1 <</(uint32_t) 1 <</g" uint32.c
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$(BINDIR)$(PKG_NAME)-unittests-src/Makefile:
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@rm -rf $(@D)
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@mkdir -p $(@D)
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$(AD)cp $(CURDIR)/Makefile.template-unittests $@
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$(AD)cp $(CHECKOUT_FOLDER)/unittests/*.[ch] $(@D)
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$(AD)cd $(@D) && for C_FILE in *.[ch]; do \
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sed -e "s/int main()/int $$(basename $${C_FILE} .c)(void)/" \
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-e '/fflush/d' \
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-e 's/fprintf(std[^,]*,/printf(/' \
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-i $${C_FILE}; \
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done
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$(BINDIR)$(PKG_NAME)-headers/fix16.h: $(CHECKOUT_FOLDER)/svn_info.xml
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@rm -rf $(@D)
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@mkdir -p $(@D)
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$(AD)cp $(CHECKOUT_FOLDER)/libfixmath/fix16.h $(@D)
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@echo $(patsubst %,'extern int %(void);',$(shell basename -a -s .c $(CHECKOUT_FOLDER)/unittests/*.c)) \
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$(patsubst %,'%();',$(shell basename -a -s .c $(CHECKOUT_FOLDER)/unittests/*.c)) | sed -e 's/;\s*/;\n/g' > $(@D)/fix16_unittests.inc
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$(CHECKOUT_FOLDER)/svn_info.xml:
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@mkdir -p $(@D)
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svn checkout -r $(PKG_VERSION) $(PKG_URL) $(@D)
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@svn info --xml $(@D) > $@
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clean::
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rm -rf $(BINDIR)$(PKG_NAME)-src/ $(BINDIR)$(PKG_NAME)-headers/
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distclean:: clean
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rm -rf $(CHECKOUT_FOLDER)
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Makefile.include:
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@true
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@ -0,0 +1,4 @@
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# The static cache is huge, disable it.
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CFLAGS += -DFIXMATH_NO_CACHE
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INCLUDES += -I$(BINDIR)libfixmath-headers/
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@ -0,0 +1,3 @@
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MODULE = libfixmath
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include $(RIOTBASE)/Makefile.base
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@ -0,0 +1,3 @@
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MODULE = libfixmath-unittests
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include $(RIOTBASE)/Makefile.base
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@ -0,0 +1,6 @@
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APPLICATION = libfixmath
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include ../Makefile.tests_common
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USEPKG += libfixmath
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include $(RIOTBASE)/Makefile.include
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@ -0,0 +1,96 @@
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#!/usr/bin/env python3
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import math
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import operator
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import sys
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def rem(a, b):
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ret = a % b
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if ret < 0 and a > 0 and b < 0 or \
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ret > 0 and a < 0 and b > 0:
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ret -= b
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return ret
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FUNS = {
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'add': operator.add,
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'sub': operator.sub,
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'mul': operator.mul,
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'div': operator.truediv,
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'mod': rem,
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'sadd': operator.add,
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'ssub': operator.sub,
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'smul': operator.mul,
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'sdiv': operator.truediv,
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'min': min,
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'max': max,
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'abs': abs,
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'sqrt': math.sqrt,
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'sq': lambda x: x * x,
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'sin': math.sin,
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'cos': math.cos,
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'tan': math.tan,
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'asin': math.asin,
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'acos': math.acos,
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'atan': math.atan,
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'exp': math.exp,
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'log': math.log,
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'log2': math.log2,
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'slog2': math.log2,
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}
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ABS_ERROR_LIMIT = 0.011
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def main():
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total = 0
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errors = 0
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print('Calculation: abs result != exp result, abs error > limit')
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started = False
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for line in sys.stdin:
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line = line.strip()
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if not started:
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if line == 'Unary.':
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print(line)
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started = True
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continue
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elif line == 'Binary.':
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print(line)
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continue
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elif line == 'Done.':
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print(line)
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break
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total += 1
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try:
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res_locals = {}
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res_locals['input'], res_locals['expected'] = map(str.strip, line.split('='))
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exec('result = {}'.format(res_locals['input']), FUNS, res_locals)
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abs_error = abs(res_locals['result'] - float(res_locals['expected']))
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res_locals['result'] = '{:.4f}'.format(res_locals['result'])
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if abs_error > ABS_ERROR_LIMIT:
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print('{}: {} != {}, {:.4f} > {}'.format(res_locals['input'], res_locals['result'], res_locals['expected'],
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abs_error, ABS_ERROR_LIMIT))
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errors += 1
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except:
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errors += 1
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print('ERROR {}'.format(line))
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print('{} calculations passed.'.format(total - errors))
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if errors:
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print('{} calculations had errors.'.format(errors))
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return 1
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else:
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return 0
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if __name__ == '__main__':
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sys.exit(main())
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@ -0,0 +1,195 @@
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/*
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* Copyright (C) 2014 René Kijewski <rene.kijewski@fu-berlin.de>
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*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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*
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* This library is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with this library; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*/
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/**
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* @ingroup tests
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* @{
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*
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* @file
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* @brief Print some calculations for libfixmath
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*
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* @author René Kijewski <rene.kijewski@fu-berlin.de>
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*
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* @}
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*/
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#include <stdio.h>
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#include "fix16.h"
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#ifndef M_PI
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# define M_PI 3.14159265359
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#endif
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static void binary_ops(void)
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{
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static const struct {
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const char *op;
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fix16_t (*fun)(fix16_t, fix16_t);
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} ops[] = {
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{ "add", fix16_add },
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{ "sub", fix16_sub },
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{ "mul", fix16_mul },
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{ "div", fix16_div },
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{ "mod", fix16_mod },
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{ "sadd", fix16_sadd },
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{ "ssub", fix16_ssub },
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{ "smul", fix16_smul },
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{ "sdiv", fix16_sdiv },
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{ "min", fix16_min },
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{ "max", fix16_max },
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};
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for (fix16_t a = fix16_from_dbl(-5.0); a < fix16_from_dbl(5.0); a += fix16_from_dbl(0.25)) {
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for (fix16_t b = fix16_from_dbl(-5.0); b < fix16_from_dbl(5.0); b += fix16_from_dbl(0.25)) {
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if (b == 0) {
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continue;
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}
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for (unsigned o = 0; o < sizeof(ops) / sizeof(*ops); ++o) {
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fix16_t c = ops[o].fun(a, b);
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char buf[3][14];
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fix16_to_str(a, buf[0], 12);
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fix16_to_str(b, buf[1], 12);
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fix16_to_str(c, buf[2], 12);
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printf("%s(%s, %s) = %s\n", ops[o].op, buf[0], buf[1], buf[2]);
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}
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}
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}
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}
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static void unary_ops(void)
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{
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/* range [-10 : +10 : 0.25] */
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{
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static const struct {
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const char *op;
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fix16_t (*fun)(fix16_t);
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} ops[] = {
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{ "abs", fix16_abs },
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{ "sq", fix16_sq },
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{ "atan", fix16_atan },
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{ "exp", fix16_exp },
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};
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for (fix16_t input = fix16_from_dbl(-10.0); input < fix16_from_dbl(+10.0); input += fix16_from_dbl(0.25)) {
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for (unsigned o = 0; o < sizeof(ops) / sizeof(*ops); ++o) {
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fix16_t result = ops[o].fun(input);
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char buf[2][14];
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fix16_to_str(input, buf[0], 12);
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fix16_to_str(result, buf[1], 12);
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printf("%s(%s) = %s\n", ops[o].op, buf[0], buf[1]);
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}
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}
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}
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/* range [-pi/2 : +pi/2 : 0.05] */
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{
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static const struct {
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const char *op;
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fix16_t (*fun)(fix16_t);
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} ops[] = {
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/* { "sin_parabola", fix16_sin_parabola }, FIXME: what is sin_parabola? */
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{ "sin", fix16_sin },
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{ "cos", fix16_cos },
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{ "tan", fix16_tan },
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};
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for (fix16_t input = fix16_from_dbl(-M_PI/2); input < fix16_from_dbl(+M_PI/2); input += fix16_from_dbl(0.05)) {
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for (unsigned o = 0; o < sizeof(ops) / sizeof(*ops); ++o) {
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fix16_t result = ops[o].fun(input);
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char buf[2][14];
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fix16_to_str(input, buf[0], 12);
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fix16_to_str(result, buf[1], 12);
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printf("%s(%s) = %s\n", ops[o].op, buf[0], buf[1]);
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}
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}
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}
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/* range [-1 : +1 : 0.05] */
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{
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static const struct {
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const char *op;
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fix16_t (*fun)(fix16_t);
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} ops[] = {
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{ "asin", fix16_asin },
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{ "acos", fix16_acos },
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};
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for (fix16_t input = fix16_from_dbl(-1.0); input < fix16_from_dbl(+1.0); input += fix16_from_dbl(0.05)) {
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for (unsigned o = 0; o < sizeof(ops) / sizeof(*ops); ++o) {
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fix16_t result = ops[o].fun(input);
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char buf[2][14];
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fix16_to_str(input, buf[0], 12);
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fix16_to_str(result, buf[1], 12);
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printf("%s(%s) = %s\n", ops[o].op, buf[0], buf[1]);
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}
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}
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}
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/* range [+0.05 : +10 : 0.25] */
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{
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static const struct {
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const char *op;
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fix16_t (*fun)(fix16_t);
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} ops[] = {
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{ "sqrt", fix16_sqrt },
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{ "log", fix16_log },
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{ "log2", fix16_log2 },
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{ "slog2", fix16_slog2 },
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};
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for (fix16_t input = fix16_from_dbl(0.05); input < fix16_from_dbl(+10.0); input += fix16_from_dbl(0.25)) {
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for (unsigned o = 0; o < sizeof(ops) / sizeof(*ops); ++o) {
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fix16_t result = ops[o].fun(input);
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char buf[2][14];
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fix16_to_str(input, buf[0], 12);
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fix16_to_str(result, buf[1], 12);
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printf("%s(%s) = %s\n", ops[o].op, buf[0], buf[1]);
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}
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}
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}
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}
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int main(void)
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{
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puts("Unary.");
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unary_ops();
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puts("Binary.");
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binary_ops();
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puts("Done.");
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return 0;
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}
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@ -0,0 +1,12 @@
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APPLICATION = libfixmath_unittests
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include ../Makefile.tests_common
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# The MSP boards don't feature round(), exp(), and log(), which are used in the unittests
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BOARD_INSUFFICIENT_RAM := chronos msb-430 msb-430h telosb wsn430-v1_3b wsn430-v1_4 z1
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# Insufficient RAM / ROM
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BOARD_INSUFFICIENT_RAM += redbee-econotag stm32f0discovery
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USEMODULE += libfixmath-unittests
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include $(RIOTBASE)/Makefile.include
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@ -0,0 +1,36 @@
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/*
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* Copyright (C) 2014 René Kijewski <rene.kijewski@fu-berlin.de>
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*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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*
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* This library is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||
* Lesser General Public License for more details.
|
||||
*
|
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* You should have received a copy of the GNU Lesser General Public
|
||||
* License along with this library; if not, write to the Free Software
|
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*/
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/**
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* @ingroup tests
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* @{
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*
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* @file
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* @brief execute libfixmath's unittests in RIOT
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*
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* @author René Kijewski <rene.kijewski@fu-berlin.de>
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*
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* @}
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*/
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int main(void)
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{
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#include "fix16_unittests.inc"
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return 0;
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}
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