zephyr: add tests to math library to fill in the gaps

Get the coverage of the math_util.c file to 100%

BRANCH=none
BUG=b:224582527
TEST=zmake test test-math_float && zmake test test-math_fixed

Signed-off-by: Yuval Peress <peress@google.com>
Change-Id: Iae45f38b56c4bd2573e9981af59edbda0c72e04a
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/3530112
Reviewed-by: Wai-Hong Tam <waihong@google.com>

10 files changed, 173 insertions, 0 deletions

diff --git a/zephyr/test/math/BUILD.py b/zephyr/test/math/BUILD.py
new file mode 100644
index 0000000000..eb901b78c3
--- /dev/null
+++ b/zephyr/test/math/BUILD.py
@@ -0,0 +1,11 @@
+# Copyright 2022 The Chromium OS Authors. All rights reserved.
+# Use of this source code is governed by a BSD-style license that can be
+# found in the LICENSE file.
+
+register_host_test(
+    "math_fixed", kconfig_files=[here / "prj.conf", here / "fixed_point.conf"]
+)
+# TODO (b/224582527) uncomment when FPU is enabled in POSIX arch
+# register_host_test("math_float",
+#                    kconfig_files=[here / "prj.conf",
+#                                   here / "floating_point.conf"])
diff --git a/zephyr/test/math/CMakeLists.txt b/zephyr/test/math/CMakeLists.txt
new file mode 100644
index 0000000000..e90ce4cf8c
--- /dev/null
+++ b/zephyr/test/math/CMakeLists.txt
@@ -0,0 +1,23 @@
+# Copyright 2022 The Chromium OS Authors. All rights reserved.
+# Use of this source code is governed by a BSD-style license that can be
+# found in the LICENSE file.
+
+cmake_minimum_required(VERSION 3.13.1)
+find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
+project(math)
+
+zephyr_include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
+zephyr_include_directories("${PLATFORM_EC}/include")
+
+target_sources(app PRIVATE ${PLATFORM_EC}/common/math_util.c)
+
+target_sources(
+	app PRIVATE
+		src/suite.c
+		src/math_util.c
+		src/vector.c
+		src/mask.c
+)
+
+# Fixed point specific tests
+target_sources_ifndef(CONFIG_FPU app PRIVATE src/fixed_point_int_sqrtf.c)
diff --git a/zephyr/test/math/fixed_point.conf b/zephyr/test/math/fixed_point.conf
new file mode 100644
index 0000000000..5274cb2287
--- /dev/null
+++ b/zephyr/test/math/fixed_point.conf
@@ -0,0 +1,5 @@
+# Copyright 2022 The Chromium OS Authors. All rights reserved.
+# Use of this source code is governed by a BSD-style license that can be
+# found in the LICENSE file.
+
+CONFIG_FPU=n
diff --git a/zephyr/test/math/floating_point.conf b/zephyr/test/math/floating_point.conf
new file mode 100644
index 0000000000..ce8f17011d
--- /dev/null
+++ b/zephyr/test/math/floating_point.conf
@@ -0,0 +1,5 @@
+# Copyright 2022 The Chromium OS Authors. All rights reserved.
+# Use of this source code is governed by a BSD-style license that can be
+# found in the LICENSE file.
+
+CONFIG_FPU=y
diff --git a/zephyr/test/math/prj.conf b/zephyr/test/math/prj.conf
new file mode 100644
index 0000000000..d1592a2932
--- /dev/null
+++ b/zephyr/test/math/prj.conf
@@ -0,0 +1,12 @@
+# Copyright 2022 The Chromium OS Authors. All rights reserved.
+# Use of this source code is governed by a BSD-style license that can be
+# found in the LICENSE file.
+
+CONFIG_ZTEST=y
+CONFIG_ZTEST_ASSERT_VERBOSE=1
+CONFIG_ZTEST_NEW_API=y
+CONFIG_ASSERT=y
+
+CONFIG_PLATFORM_EC=y
+CONFIG_CROS_EC=y
+CONFIG_PLATFORM_EC_MATH_UTIL=y
diff --git a/zephyr/test/math/src/fixed_point_int_sqrtf.c b/zephyr/test/math/src/fixed_point_int_sqrtf.c
new file mode 100644
index 0000000000..d8360ec189
--- /dev/null
+++ b/zephyr/test/math/src/fixed_point_int_sqrtf.c
@@ -0,0 +1,19 @@
+/* Copyright 2022 The Chromium OS Authors. All rights reserved.
+ * Use of this source code is governed by a BSD-style license that can be
+ * found in the LICENSE file.
+ */
+
+#include <ztest.h>
+
+#include "math.h"
+#include "math_util.h"
+
+ZTEST_USER(math, int_sqrtf_negative)
+{
+	zassert_equal(int_sqrtf(-100), 0, NULL);
+}
+
+ZTEST_USER(math, int_sqrtf_overflow)
+{
+	zassert_equal(int_sqrtf(INT64_MAX), INT32_MAX, NULL);
+}
diff --git a/zephyr/test/math/src/mask.c b/zephyr/test/math/src/mask.c
new file mode 100644
index 0000000000..9ced211a88
--- /dev/null
+++ b/zephyr/test/math/src/mask.c
@@ -0,0 +1,20 @@
+/* Copyright 2022 The Chromium OS Authors. All rights reserved.
+ * Use of this source code is governed by a BSD-style license that can be
+ * found in the LICENSE file.
+ */
+
+#include <inttypes.h>
+#include <ztest.h>
+
+#include "math.h"
+#include "math_util.h"
+
+ZTEST_USER(math, bitmask_uint64)
+{
+	zassert_equal(bitmask_uint64(-1), 0, NULL);
+	zassert_equal(bitmask_uint64(64), 0, NULL);
+	zassert_equal(bitmask_uint64(1), UINT64_C(1) << 1, NULL);
+	zassert_equal(bitmask_uint64(15), UINT64_C(1) << 15, NULL);
+	zassert_equal(bitmask_uint64(35), UINT64_C(1) << 35, NULL);
+	zassert_equal(bitmask_uint64(60), UINT64_C(1) << 60, NULL);
+}
diff --git a/zephyr/test/math/src/math_util.c b/zephyr/test/math/src/math_util.c
new file mode 100644
index 0000000000..901c3a6cc6
--- /dev/null
+++ b/zephyr/test/math/src/math_util.c
@@ -0,0 +1,41 @@
+/* Copyright 2022 The Chromium OS Authors. All rights reserved.
+ * Use of this source code is governed by a BSD-style license that can be
+ * found in the LICENSE file.
+ */
+
+#include <ztest.h>
+
+#include "math.h"
+#include "math_util.h"
+
+ZTEST_USER(math, arc_cos__x_below_range)
+{
+	fp_t result = arc_cos(FLOAT_TO_FP(-1.1));
+
+	zassert_within(result, FLOAT_TO_FP(180.0), FLOAT_TO_FP(1.0),
+		       "arc_cos(-1.1) was %d", FP_TO_INT(result));
+}
+
+ZTEST_USER(math, arc_cos__x_above_range)
+{
+	fp_t result = arc_cos(FLOAT_TO_FP(1.1));
+
+	zassert_within(result, FLOAT_TO_FP(0), FLOAT_TO_FP(1.0),
+		       "arc_cos(1.1) was %d", FP_TO_INT(result));
+}
+
+ZTEST_USER(math, int_sqrtf)
+{
+	zassert_equal(int_sqrtf(0), 0, NULL);
+	zassert_equal(int_sqrtf(15), 3, NULL);
+	zassert_equal(int_sqrtf(25), 5, NULL);
+	zassert_equal(int_sqrtf(1111088889), 33333, NULL);
+	zassert_equal(int_sqrtf(123456789), 11111, NULL);
+	zassert_equal(int_sqrtf(1000000000000000005), 1000000000, NULL);
+}
+
+ZTEST_USER(math, fp_sqrtf)
+{
+	zassert_within(fp_sqrtf(FLOAT_TO_FP(15)), FLOAT_TO_FP(3.872983),
+		       FLOAT_TO_FP(0.001), NULL);
+}
diff --git a/zephyr/test/math/src/suite.c b/zephyr/test/math/src/suite.c
new file mode 100644
index 0000000000..75b8e84bde
--- /dev/null
+++ b/zephyr/test/math/src/suite.c
@@ -0,0 +1,8 @@
+/* Copyright 2022 The Chromium OS Authors. All rights reserved.
+ * Use of this source code is governed by a BSD-style license that can be
+ * found in the LICENSE file.
+ */
+
+#include <ztest.h>
+
+ZTEST_SUITE(math, NULL, NULL, NULL, NULL, NULL);
diff --git a/zephyr/test/math/src/vector.c b/zephyr/test/math/src/vector.c
new file mode 100644
index 0000000000..2e8ca52c5d
--- /dev/null
+++ b/zephyr/test/math/src/vector.c
@@ -0,0 +1,29 @@
+/* Copyright 2022 The Chromium OS Authors. All rights reserved.
+ * Use of this source code is governed by a BSD-style license that can be
+ * found in the LICENSE file.
+ */
+
+#include <ztest.h>
+
+#include "math.h"
+#include "math_util.h"
+
+ZTEST_USER(math, cosine_of_angle_diff__zero_magnitude_vector)
+{
+	intv3_t v0 = { 0, 0, 0 };
+	intv3_t v1 = { 1, 1, 1 };
+
+	zassert_equal(cosine_of_angle_diff(v0, v1), 0, NULL);
+	zassert_equal(cosine_of_angle_diff(v1, v0), 0, NULL);
+}
+
+ZTEST_USER(math, rotate_inv__null_matrix)
+{
+	intv3_t v = { 1, 2, 3 };
+	intv3_t r = { 4, 5, 6 };
+
+	rotate_inv(v, NULL, r);
+	zassert_equal(v[0], r[0], NULL);
+	zassert_equal(v[1], r[1], NULL);
+	zassert_equal(v[2], r[2], NULL);
+}