#include "jtest.h"
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#include "arr_desc.h"
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#include "arm_math.h"
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#include "ref.h"
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#include "type_abbrev.h"
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#include "test_templates.h"
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#include "controller_test_data.h"
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#include "controller_templates.h"
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/**
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* Define a JTEST_TEST_t for the function arm_pid_xxx function having
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* suffix.
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*/
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#define ARM_PID_TEST(suffix,type) \
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JTEST_DEFINE_TEST(arm_pid_##suffix##_test, arm_pid_##suffix) \
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{ \
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uint32_t i,j; \
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\
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arm_pid_instance_##suffix fut_pid_inst = { 0 }; \
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arm_pid_instance_##suffix ref_pid_inst = { 0 }; \
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\
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for(i=0;i<CONTROLLER_MAX_COEFFS_LEN/3;i++) \
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{ \
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fut_pid_inst.Kp = controller_##suffix##_coeffs[i*3+0]; \
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fut_pid_inst.Ki = controller_##suffix##_coeffs[i*3+1]; \
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fut_pid_inst.Kd = controller_##suffix##_coeffs[i*3+2]; \
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ref_pid_inst.Kp = controller_##suffix##_coeffs[i*3+0]; \
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ref_pid_inst.Ki = controller_##suffix##_coeffs[i*3+1]; \
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ref_pid_inst.Kd = controller_##suffix##_coeffs[i*3+2]; \
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\
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arm_pid_init_##suffix(&fut_pid_inst, 1); \
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arm_pid_init_##suffix(&ref_pid_inst, 1); \
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\
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/* Display parameter values */ \
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JTEST_DUMP_STRF("Block Size: %d\n", \
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(int)CONTROLLER_MAX_LEN); \
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\
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/* Display cycle count and run test */ \
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JTEST_COUNT_CYCLES( \
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for(j=0;j<CONTROLLER_MAX_LEN;j++) \
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{ \
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*((type*)controller_output_fut + j) = \
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arm_pid_##suffix(&fut_pid_inst, \
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controller_##suffix##_inputs[j]); \
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}); \
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\
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for(j=0;j<CONTROLLER_MAX_LEN;j++) \
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{ \
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*((type*)controller_output_ref + j) = \
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ref_pid_##suffix(&ref_pid_inst, \
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controller_##suffix##_inputs[j]); \
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} \
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\
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/* Test correctness */ \
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CONTROLLER_SNR_COMPARE_INTERFACE( \
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CONTROLLER_MAX_LEN, \
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type); \
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} \
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\
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return JTEST_TEST_PASSED; \
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}
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ARM_PID_TEST(f32,float32_t);
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ARM_PID_TEST(q31,q31_t);
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ARM_PID_TEST(q15,q15_t);
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/*--------------------------------------------------------------------------------*/
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/* Collect all tests in a group */
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/*--------------------------------------------------------------------------------*/
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JTEST_DEFINE_GROUP(pid_tests)
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{
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/*
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To skip a test, comment it out.
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*/
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JTEST_TEST_CALL(arm_pid_f32_test);
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JTEST_TEST_CALL(arm_pid_q31_test);
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JTEST_TEST_CALL(arm_pid_q15_test);
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}
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