From d7b4f1a5ba5024f28da6d4eee9efafbe3417480c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Ren=C3=A9=20Kijewski?= <rene.kijewski@fu-berlin.de>
Date: Tue, 22 Jul 2014 20:24:45 +0200
Subject: [PATCH] pkg: add USEPKG module "libfixmath"
This PR adds the USEPKG module "libfixmath".
It integrates https://code.google.com/p/libfixmath/ into RIOT, cmp. #1457.
---
Makefile.dep | 4 +
pkg/libfixmath/.gitignore | 1 +
pkg/libfixmath/Makefile | 65 +++++++
pkg/libfixmath/Makefile.include | 4 +
pkg/libfixmath/Makefile.template | 3 +
pkg/libfixmath/Makefile.template-unittests | 3 +
tests/libfixmath/Makefile | 6 +
tests/libfixmath/do-test.py | 96 ++++++++++
tests/libfixmath/main.c | 195 +++++++++++++++++++++
tests/libfixmath_unittests/Makefile | 12 ++
tests/libfixmath_unittests/main.c | 36 ++++
11 files changed, 425 insertions(+)
create mode 100644 pkg/libfixmath/.gitignore
create mode 100644 pkg/libfixmath/Makefile
create mode 100644 pkg/libfixmath/Makefile.include
create mode 100644 pkg/libfixmath/Makefile.template
create mode 100644 pkg/libfixmath/Makefile.template-unittests
create mode 100644 tests/libfixmath/Makefile
create mode 100755 tests/libfixmath/do-test.py
create mode 100644 tests/libfixmath/main.c
create mode 100644 tests/libfixmath_unittests/Makefile
create mode 100644 tests/libfixmath_unittests/main.c
diff --git a/Makefile.dep b/Makefile.dep
index 7455a419b7..64207bf61b 100644
--- a/Makefile.dep
+++ b/Makefile.dep
@@ -85,3 +85,7 @@ endif
ifneq (,$(filter pipe,$(USEMODULE)))
USEMODULE += lib
endif
+
+ifneq (,$(filter libfixmath-unittests,$(USEMODULE)))
+ USEPKG += libfixmath
+endif
diff --git a/pkg/libfixmath/.gitignore b/pkg/libfixmath/.gitignore
new file mode 100644
index 0000000000..5e660dc18e
--- /dev/null
+++ b/pkg/libfixmath/.gitignore
@@ -0,0 +1 @@
+/checkout
diff --git a/pkg/libfixmath/Makefile b/pkg/libfixmath/Makefile
new file mode 100644
index 0000000000..1f0b2d79b3
--- /dev/null
+++ b/pkg/libfixmath/Makefile
@@ -0,0 +1,65 @@
+PKG_NAME := libfixmath
+PKG_VERSION := 91
+PKG_BRANCH := trunk
+PKG_URL := http://libfixmath.googlecode.com/svn/$(PKG_BRANCH)/
+
+CHECKOUT_FOLDER := $(CURDIR)/checkout/$(PKG_BRANCH)-r$(PKG_VERSION)
+
+.PHONY: all clean distclean
+
+all: $(BINDIR)$(PKG_NAME).a
+
+all-unittests: $(BINDIR)$(PKG_NAME)-unittests.a
+
+ifneq (,$(filter libfixmath-unittests,$(USEMODULE)))
+ all: all-unittests
+endif
+
+$(BINDIR)$(PKG_NAME).a: $(BINDIR)$(PKG_NAME)-src/Makefile $(BINDIR)$(PKG_NAME)-headers/fix16.h
+ "$(MAKE)" -C $(<D)
+
+$(BINDIR)$(PKG_NAME)-unittests.a: $(BINDIR)$(PKG_NAME)-unittests-src/Makefile $(BINDIR)$(PKG_NAME)-headers/fix16.h
+ "$(MAKE)" -C $(<D)
+
+$(BINDIR)$(PKG_NAME)-src/Makefile: $(CHECKOUT_FOLDER)/svn_info.xml
+ @rm -rf $(@D)
+ @mkdir -p $(@D)
+ $(AD)cp $(CURDIR)/Makefile.template $@
+ $(AD)cp $(CHECKOUT_FOLDER)/libfixmath/*.[ch] $(@D)
+ $(AD)rm -f $(BINDIR)$(PKG_NAME)-src/fix16.h
+
+ cd $(@D) && sed -i -e "s/1 <</(uint32_t) 1 <</g" uint32.c
+
+$(BINDIR)$(PKG_NAME)-unittests-src/Makefile:
+ @rm -rf $(@D)
+ @mkdir -p $(@D)
+ $(AD)cp $(CURDIR)/Makefile.template-unittests $@
+ $(AD)cp $(CHECKOUT_FOLDER)/unittests/*.[ch] $(@D)
+
+ $(AD)cd $(@D) && for C_FILE in *.[ch]; do \
+ sed -e "s/int main()/int $$(basename $${C_FILE} .c)(void)/" \
+ -e '/fflush/d' \
+ -e 's/fprintf(std[^,]*,/printf(/' \
+ -i $${C_FILE}; \
+ done
+
+$(BINDIR)$(PKG_NAME)-headers/fix16.h: $(CHECKOUT_FOLDER)/svn_info.xml
+ @rm -rf $(@D)
+ @mkdir -p $(@D)
+ $(AD)cp $(CHECKOUT_FOLDER)/libfixmath/fix16.h $(@D)
+ @echo $(patsubst %,'extern int %(void);',$(shell basename -a -s .c $(CHECKOUT_FOLDER)/unittests/*.c)) \
+ $(patsubst %,'%();',$(shell basename -a -s .c $(CHECKOUT_FOLDER)/unittests/*.c)) | sed -e 's/;\s*/;\n/g' > $(@D)/fix16_unittests.inc
+
+$(CHECKOUT_FOLDER)/svn_info.xml:
+ @mkdir -p $(@D)
+ svn checkout -r $(PKG_VERSION) $(PKG_URL) $(@D)
+ @svn info --xml $(@D) > $@
+
+clean::
+ rm -rf $(BINDIR)$(PKG_NAME)-src/ $(BINDIR)$(PKG_NAME)-headers/
+
+distclean:: clean
+ rm -rf $(CHECKOUT_FOLDER)
+
+Makefile.include:
+ @true
diff --git a/pkg/libfixmath/Makefile.include b/pkg/libfixmath/Makefile.include
new file mode 100644
index 0000000000..147ba409f3
--- /dev/null
+++ b/pkg/libfixmath/Makefile.include
@@ -0,0 +1,4 @@
+# The static cache is huge, disable it.
+CFLAGS += -DFIXMATH_NO_CACHE
+
+INCLUDES += -I$(BINDIR)libfixmath-headers/
diff --git a/pkg/libfixmath/Makefile.template b/pkg/libfixmath/Makefile.template
new file mode 100644
index 0000000000..c875b98543
--- /dev/null
+++ b/pkg/libfixmath/Makefile.template
@@ -0,0 +1,3 @@
+MODULE = libfixmath
+
+include $(RIOTBASE)/Makefile.base
diff --git a/pkg/libfixmath/Makefile.template-unittests b/pkg/libfixmath/Makefile.template-unittests
new file mode 100644
index 0000000000..245ffb9416
--- /dev/null
+++ b/pkg/libfixmath/Makefile.template-unittests
@@ -0,0 +1,3 @@
+MODULE = libfixmath-unittests
+
+include $(RIOTBASE)/Makefile.base
diff --git a/tests/libfixmath/Makefile b/tests/libfixmath/Makefile
new file mode 100644
index 0000000000..f589677d67
--- /dev/null
+++ b/tests/libfixmath/Makefile
@@ -0,0 +1,6 @@
+APPLICATION = libfixmath
+include ../Makefile.tests_common
+
+USEPKG += libfixmath
+
+include $(RIOTBASE)/Makefile.include
diff --git a/tests/libfixmath/do-test.py b/tests/libfixmath/do-test.py
new file mode 100755
index 0000000000..70393f32c7
--- /dev/null
+++ b/tests/libfixmath/do-test.py
@@ -0,0 +1,96 @@
+#!/usr/bin/env python3
+
+import math
+import operator
+import sys
+
+
+def rem(a, b):
+ ret = a % b
+ if ret < 0 and a > 0 and b < 0 or \
+ ret > 0 and a < 0 and b > 0:
+ ret -= b
+ return ret
+
+
+FUNS = {
+ 'add': operator.add,
+ 'sub': operator.sub,
+ 'mul': operator.mul,
+ 'div': operator.truediv,
+ 'mod': rem,
+
+ 'sadd': operator.add,
+ 'ssub': operator.sub,
+ 'smul': operator.mul,
+ 'sdiv': operator.truediv,
+
+ 'min': min,
+ 'max': max,
+
+ 'abs': abs,
+ 'sqrt': math.sqrt,
+ 'sq': lambda x: x * x,
+
+ 'sin': math.sin,
+ 'cos': math.cos,
+ 'tan': math.tan,
+ 'asin': math.asin,
+ 'acos': math.acos,
+ 'atan': math.atan,
+
+ 'exp': math.exp,
+ 'log': math.log,
+ 'log2': math.log2,
+ 'slog2': math.log2,
+}
+
+ABS_ERROR_LIMIT = 0.011
+
+def main():
+ total = 0
+ errors = 0
+
+ print('Calculation: abs result != exp result, abs error > limit')
+
+ started = False
+ for line in sys.stdin:
+ line = line.strip()
+ if not started:
+ if line == 'Unary.':
+ print(line)
+ started = True
+ continue
+ elif line == 'Binary.':
+ print(line)
+ continue
+ elif line == 'Done.':
+ print(line)
+ break
+
+ total += 1
+ try:
+ res_locals = {}
+ res_locals['input'], res_locals['expected'] = map(str.strip, line.split('='))
+ exec('result = {}'.format(res_locals['input']), FUNS, res_locals)
+
+ abs_error = abs(res_locals['result'] - float(res_locals['expected']))
+ res_locals['result'] = '{:.4f}'.format(res_locals['result'])
+ if abs_error > ABS_ERROR_LIMIT:
+ print('{}: {} != {}, {:.4f} > {}'.format(res_locals['input'], res_locals['result'], res_locals['expected'],
+ abs_error, ABS_ERROR_LIMIT))
+ errors += 1
+ except:
+ errors += 1
+ print('ERROR {}'.format(line))
+
+ print('{} calculations passed.'.format(total - errors))
+ if errors:
+ print('{} calculations had errors.'.format(errors))
+ return 1
+ else:
+ return 0
+
+
+if __name__ == '__main__':
+ sys.exit(main())
diff --git a/tests/libfixmath/main.c b/tests/libfixmath/main.c
new file mode 100644
index 0000000000..dd6763e073
--- /dev/null
+++ b/tests/libfixmath/main.c
@@ -0,0 +1,195 @@
+/*
+ * Copyright (C) 2014 René Kijewski <rene.kijewski@fu-berlin.de>
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * 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.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+/**
+ * @ingroup tests
+ * @{
+ *
+ * @file
+ * @brief Print some calculations for libfixmath
+ *
+ * @author René Kijewski <rene.kijewski@fu-berlin.de>
+ *
+ * @}
+ */
+
+#include <stdio.h>
+
+#include "fix16.h"
+
+#ifndef M_PI
+# define M_PI 3.14159265359
+#endif
+
+static void binary_ops(void)
+{
+ static const struct {
+ const char *op;
+ fix16_t (*fun)(fix16_t, fix16_t);
+ } ops[] = {
+ { "add", fix16_add },
+ { "sub", fix16_sub },
+ { "mul", fix16_mul },
+ { "div", fix16_div },
+ { "mod", fix16_mod },
+
+ { "sadd", fix16_sadd },
+ { "ssub", fix16_ssub },
+ { "smul", fix16_smul },
+ { "sdiv", fix16_sdiv },
+
+ { "min", fix16_min },
+ { "max", fix16_max },
+ };
+
+ for (fix16_t a = fix16_from_dbl(-5.0); a < fix16_from_dbl(5.0); a += fix16_from_dbl(0.25)) {
+ for (fix16_t b = fix16_from_dbl(-5.0); b < fix16_from_dbl(5.0); b += fix16_from_dbl(0.25)) {
+ if (b == 0) {
+ continue;
+ }
+
+
+ for (unsigned o = 0; o < sizeof(ops) / sizeof(*ops); ++o) {
+ fix16_t c = ops[o].fun(a, b);
+
+ char buf[3][14];
+ fix16_to_str(a, buf[0], 12);
+ fix16_to_str(b, buf[1], 12);
+ fix16_to_str(c, buf[2], 12);
+
+ printf("%s(%s, %s) = %s\n", ops[o].op, buf[0], buf[1], buf[2]);
+ }
+ }
+ }
+}
+
+static void unary_ops(void)
+{
+ /* range [-10 : +10 : 0.25] */
+ {
+ static const struct {
+ const char *op;
+ fix16_t (*fun)(fix16_t);
+ } ops[] = {
+ { "abs", fix16_abs },
+ { "sq", fix16_sq },
+
+ { "atan", fix16_atan },
+
+ { "exp", fix16_exp },
+ };
+
+ for (fix16_t input = fix16_from_dbl(-10.0); input < fix16_from_dbl(+10.0); input += fix16_from_dbl(0.25)) {
+ for (unsigned o = 0; o < sizeof(ops) / sizeof(*ops); ++o) {
+ fix16_t result = ops[o].fun(input);
+
+ char buf[2][14];
+ fix16_to_str(input, buf[0], 12);
+ fix16_to_str(result, buf[1], 12);
+
+ printf("%s(%s) = %s\n", ops[o].op, buf[0], buf[1]);
+ }
+ }
+ }
+
+ /* range [-pi/2 : +pi/2 : 0.05] */
+ {
+ static const struct {
+ const char *op;
+ fix16_t (*fun)(fix16_t);
+ } ops[] = {
+ /* { "sin_parabola", fix16_sin_parabola }, FIXME: what is sin_parabola? */
+ { "sin", fix16_sin },
+ { "cos", fix16_cos },
+ { "tan", fix16_tan },
+ };
+
+ for (fix16_t input = fix16_from_dbl(-M_PI/2); input < fix16_from_dbl(+M_PI/2); input += fix16_from_dbl(0.05)) {
+ for (unsigned o = 0; o < sizeof(ops) / sizeof(*ops); ++o) {
+ fix16_t result = ops[o].fun(input);
+
+ char buf[2][14];
+ fix16_to_str(input, buf[0], 12);
+ fix16_to_str(result, buf[1], 12);
+
+ printf("%s(%s) = %s\n", ops[o].op, buf[0], buf[1]);
+ }
+ }
+ }
+
+ /* range [-1 : +1 : 0.05] */
+ {
+ static const struct {
+ const char *op;
+ fix16_t (*fun)(fix16_t);
+ } ops[] = {
+ { "asin", fix16_asin },
+ { "acos", fix16_acos },
+ };
+
+ for (fix16_t input = fix16_from_dbl(-1.0); input < fix16_from_dbl(+1.0); input += fix16_from_dbl(0.05)) {
+ for (unsigned o = 0; o < sizeof(ops) / sizeof(*ops); ++o) {
+ fix16_t result = ops[o].fun(input);
+
+ char buf[2][14];
+ fix16_to_str(input, buf[0], 12);
+ fix16_to_str(result, buf[1], 12);
+
+ printf("%s(%s) = %s\n", ops[o].op, buf[0], buf[1]);
+ }
+ }
+ }
+
+ /* range [+0.05 : +10 : 0.25] */
+ {
+ static const struct {
+ const char *op;
+ fix16_t (*fun)(fix16_t);
+ } ops[] = {
+ { "sqrt", fix16_sqrt },
+
+ { "log", fix16_log },
+ { "log2", fix16_log2 },
+ { "slog2", fix16_slog2 },
+ };
+
+ for (fix16_t input = fix16_from_dbl(0.05); input < fix16_from_dbl(+10.0); input += fix16_from_dbl(0.25)) {
+ for (unsigned o = 0; o < sizeof(ops) / sizeof(*ops); ++o) {
+ fix16_t result = ops[o].fun(input);
+
+ char buf[2][14];
+ fix16_to_str(input, buf[0], 12);
+ fix16_to_str(result, buf[1], 12);
+
+ printf("%s(%s) = %s\n", ops[o].op, buf[0], buf[1]);
+ }
+ }
+ }
+}
+
+int main(void)
+{
+ puts("Unary.");
+ unary_ops();
+
+ puts("Binary.");
+ binary_ops();
+
+ puts("Done.");
+ return 0;
+}
diff --git a/tests/libfixmath_unittests/Makefile b/tests/libfixmath_unittests/Makefile
new file mode 100644
index 0000000000..162d11afa1
--- /dev/null
+++ b/tests/libfixmath_unittests/Makefile
@@ -0,0 +1,12 @@
+APPLICATION = libfixmath_unittests
+include ../Makefile.tests_common
+
+# The MSP boards don't feature round(), exp(), and log(), which are used in the unittests
+BOARD_INSUFFICIENT_RAM := chronos msb-430 msb-430h telosb wsn430-v1_3b wsn430-v1_4 z1
+
+# Insufficient RAM / ROM
+BOARD_INSUFFICIENT_RAM += redbee-econotag stm32f0discovery
+
+USEMODULE += libfixmath-unittests
+
+include $(RIOTBASE)/Makefile.include
diff --git a/tests/libfixmath_unittests/main.c b/tests/libfixmath_unittests/main.c
new file mode 100644
index 0000000000..a5f040a6dc
--- /dev/null
+++ b/tests/libfixmath_unittests/main.c
@@ -0,0 +1,36 @@
+/*
+ * Copyright (C) 2014 René Kijewski <rene.kijewski@fu-berlin.de>
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * 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.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+/**
+ * @ingroup tests
+ * @{
+ *
+ * @file
+ * @brief execute libfixmath's unittests in RIOT
+ *
+ * @author René Kijewski <rene.kijewski@fu-berlin.de>
+ *
+ * @}
+ */
+
+int main(void)
+{
+#include "fix16_unittests.inc"
+
+ return 0;
+}
--
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