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switch to single precision constants (#1880) 

* adjust builds

* fix test
This commit is contained in:
Matthew Kennedy 2020-10-14 17:04:35 -07:00 committed by GitHub
parent b39df90612
commit 2a0205e3c4
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 32 additions and 31 deletions
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2
firmware/Makefile
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@ -40,7 +40,7 @@ endif
# Compiler options here.
ifeq ($(USE_OPT),)
USE_OPT = $(EXTRA_PARAMS) $(DEBUG_LEVEL_OPT) $(RFLAGS) -fomit-frame-pointer -falign-functions=16
USE_OPT = $(EXTRA_PARAMS) $(DEBUG_LEVEL_OPT) $(RFLAGS) -fomit-frame-pointer -falign-functions=16 -fsingle-precision-constant
endif
USE_OPT += $(RUSEFI_OPT)

1
unit_tests/Makefile
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@ -27,6 +27,7 @@ ifeq ($(USE_OPT),)
USE_OPT += -fprofile-arcs -ftest-coverage
USE_OPT += -Werror=missing-field-initializers
USE_OPT += -Wno-unused-parameter -Wno-unused-function
USE_OPT += -fsingle-precision-constant
endif

60
unit_tests/tests/test_pid.cpp
View File

@ -23,21 +23,21 @@ TEST(util, pid) {
Pid pid(&pidS);
ASSERT_EQ( 90, pid.getOutput(14, 12, 0.1)) << "getValue#90";
ASSERT_FLOAT_EQ( 90, pid.getOutput(14, 12, 0.1)) << "getValue#90";
ASSERT_EQ( 10, pid.getOutput(14, 16, 0.1)) << "getValue#10";
ASSERT_EQ(10, pid.getOutput(14, 16, 1));
ASSERT_FLOAT_EQ( 10, pid.getOutput(14, 16, 0.1)) << "getValue#10";
ASSERT_FLOAT_EQ(10, pid.getOutput(14, 16, 1));
pid.updateFactors(29, 0, 0);
ASSERT_EQ(10, pid.getOutput(14, 16, 1));
// ASSERT_EQ(68, pid.getIntegration());
ASSERT_FLOAT_EQ(10, pid.getOutput(14, 16, 1));
// ASSERT_FLOAT_EQ(68, pid.getIntegration());
ASSERT_EQ(10, pid.getOutput(14, 16, 1));
// ASSERT_EQ(0, pid.getIntegration());
ASSERT_FLOAT_EQ(10, pid.getOutput(14, 16, 1));
// ASSERT_FLOAT_EQ(0, pid.getIntegration());
ASSERT_EQ(10, pid.getOutput(14, 16, 1));
// ASSERT_EQ(68, pid.getIntegration());
ASSERT_FLOAT_EQ(10, pid.getOutput(14, 16, 1));
// ASSERT_FLOAT_EQ(68, pid.getIntegration());
@ -51,17 +51,17 @@ TEST(util, pid) {
pid.reset();
ASSERT_EQ( 50, pid.getOutput(/*target*/50, /*input*/0)) << "target=50, input=0";
ASSERT_EQ( 0, pid.iTerm) << "target=50, input=0 iTerm";
ASSERT_FLOAT_EQ( 50, pid.getOutput(/*target*/50, /*input*/0)) << "target=50, input=0";
ASSERT_FLOAT_EQ( 0, pid.iTerm) << "target=50, input=0 iTerm";
ASSERT_EQ( 0, pid.getOutput(/*target*/50, /*input*/70)) << "target=50, input=70";
ASSERT_EQ( 0, pid.iTerm) << "target=50, input=70 iTerm";
ASSERT_FLOAT_EQ( 0, pid.getOutput(/*target*/50, /*input*/70)) << "target=50, input=70";
ASSERT_FLOAT_EQ( 0, pid.iTerm) << "target=50, input=70 iTerm";
ASSERT_EQ( 0, pid.getOutput(/*target*/50, /*input*/70)) << "target=50, input=70 #2";
ASSERT_EQ( 0, pid.iTerm) << "target=50, input=70 iTerm #2";
ASSERT_FLOAT_EQ( 0, pid.getOutput(/*target*/50, /*input*/70)) << "target=50, input=70 #2";
ASSERT_FLOAT_EQ( 0, pid.iTerm) << "target=50, input=70 iTerm #2";
ASSERT_EQ( 0, pid.getOutput(/*target*/50, /*input*/50)) << "target=50, input=50";
ASSERT_EQ( 0, pid.iTerm) << "target=50, input=50 iTerm";
ASSERT_FLOAT_EQ( 0, pid.getOutput(/*target*/50, /*input*/50)) << "target=50, input=50";
ASSERT_FLOAT_EQ( 0, pid.iTerm) << "target=50, input=50 iTerm";
}
static void commonPidTestParameters(pid_s * pidS) {
@ -77,15 +77,15 @@ static void commonPidTestParameters(pid_s * pidS) {
static void commonPidTest(Pid *pid) {
pid->iTermMax = 45;
ASSERT_EQ( 12.5, pid->getOutput(/*target*/50, /*input*/0)) << "target=50, input=0 #0";
ASSERT_EQ( 12.5, pid->getIntegration());
ASSERT_EQ( 25 , pid->getOutput(/*target*/50, /*input*/0)) << "target=50, input=0 #1";
ASSERT_FLOAT_EQ( 12.5, pid->getOutput(/*target*/50, /*input*/0)) << "target=50, input=0 #0";
ASSERT_FLOAT_EQ( 12.5, pid->getIntegration());
ASSERT_FLOAT_EQ( 25 , pid->getOutput(/*target*/50, /*input*/0)) << "target=50, input=0 #1";
ASSERT_EQ( 37.5, pid->getOutput(/*target*/50, /*input*/0)) << "target=50, input=0 #2";
ASSERT_EQ( 37.5, pid->getIntegration());
ASSERT_FLOAT_EQ( 37.5, pid->getOutput(/*target*/50, /*input*/0)) << "target=50, input=0 #2";
ASSERT_FLOAT_EQ( 37.5, pid->getIntegration());
ASSERT_EQ( 40.0, pid->getOutput(/*target*/50, /*input*/0)) << "target=50, input=0 #3";
ASSERT_EQ( 45, pid->getIntegration());
ASSERT_FLOAT_EQ( 40.0, pid->getOutput(/*target*/50, /*input*/0)) << "target=50, input=0 #3";
ASSERT_FLOAT_EQ( 45, pid->getIntegration());
}
TEST(util, parallelPidLimits) {
@ -126,12 +126,12 @@ TEST(util, pidIndustrial) {
float industValue = pid.getOutput(/*target*/1, /*input*/0);
// check if the first output is clamped because of large deviative
ASSERT_EQ(100.0, industValue);
ASSERT_FLOAT_EQ(100.0, industValue);
// check if all output of the 'zeroed' PidIndustrial (w/o new features) is the same as our "normal" Pid
for (int i = 0; i < 10; i++) {
float normalValue = pid0.getOutput(1, 0);
ASSERT_EQ(normalValue, industValue) << "[" << i << "]";
ASSERT_FLOAT_EQ(normalValue, industValue) << "[" << i << "]";
industValue = pid.getOutput(1, 0);
}
@ -141,11 +141,11 @@ TEST(util, pidIndustrial) {
pid.derivativeFilterLoss = 0.01;
// now the first value is less (and not clipped!) due to the derivative filtering
ASSERT_EQ(67.671669f, pid.getOutput(1, 0));
ASSERT_FLOAT_EQ(67.671669f, pid.getOutput(1, 0));
// here we still have some leftovers of the initial D-term
ASSERT_EQ(45.4544487f, pid.getOutput(1, 0));
ASSERT_FLOAT_EQ(45.4544487f, pid.getOutput(1, 0));
// but the value is quickly fading
ASSERT_EQ(30.6446342f, pid.getOutput(1, 0));
ASSERT_FLOAT_EQ(30.6446342f, pid.getOutput(1, 0));
pid.reset();
@ -166,7 +166,7 @@ TEST(util, pidIndustrial) {
pid.antiwindupFreq = 0.1;
// the first value is clipped, and that's when the anti-windup comes into effect
ASSERT_EQ(100.0f, pid.getOutput(1, 0));
ASSERT_FLOAT_EQ(100.0f, pid.getOutput(1, 0));
// it stores a small negative offset in the I-term to avoid it's saturation!
ASSERT_NEAR(-0.0455025025f, pid.getIntegration(), EPS4D);
// and that's why the second output is smaller then that of normal PID (=1.00999999)