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This PR adds the USEPKG module "libfixmath". It integrates https://code.google.com/p/libfixmath/ into RIOT, cmp. #1457.dev/timer
René Kijewski
9 years ago
11 changed files with 425 additions and 0 deletions
@ -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 |
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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 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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