mag_cal: Support fixed-point calculation.

Modified from floating point version.  This includes changes to
vec3, vec4, mat33, mat44, and mag_cal.
Now fixed-point type (fp_*) functions is a function wrapper for both
fixed-point and floating point version operations:

* define CONFIG_FPU to use floating version mag_cal
* undef CONFIG_FPU to use fixed-point version mag_cal

Also, add tests for both float and fp types operations.

TEST=define CONFIG_FPU; flash on reef; See ARC++ magnetmeter app moving.
TEST=undef CONFIG_FPU; flash on reef; See ARC++ magnetmeter app moving.
TEST=make runtests -j
TEST=make buildalltests -j
BUG=b:113364863
BRANCH=None

Change-Id: Ie695945acb666912babb2a603e09c602a0624d44
Signed-off-by: Yilun Lin <yllin@google.com>
Reviewed-on: https://chromium-review.googlesource.com/1260704
Commit-Ready: Yilun Lin <yllin@chromium.org>
Tested-by: Yilun Lin <yllin@chromium.org>
Reviewed-by: Nicolas Boichat <drinkcat@chromium.org>

5 files changed, 367 insertions, 0 deletions

diff --git a/test/build.mk b/test/build.mk
index b16b15e702..31cec03c9a 100644
--- a/test/build.mk
+++ b/test/build.mk
@@ -29,6 +29,8 @@ test-list-host += entropy
 test-list-host += extpwr_gpio
 test-list-host += fan
 test-list-host += flash
+test-list-host += float
+test-list-host += fp
 test-list-host += hooks
 test-list-host += host_command
 test-list-host += inductive_charging
@@ -124,4 +126,6 @@ usb_pd_rev30-y=usb_pd.o
 utils-y=utils.o
 utils_str-y=utils_str.o
 vboot-y=vboot.o
+float-y=fp.o
+fp-y=fp.o
 x25519-y=x25519.o
diff --git a/test/float.tasklist b/test/float.tasklist
new file mode 100644
index 0000000000..5e26d7102e
--- /dev/null
+++ b/test/float.tasklist
@@ -0,0 +1,17 @@
+/* Copyright 2018 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.
+ */
+
+/**
+ * List of enabled tasks in the priority order
+ *
+ * The first one has the lowest priority.
+ *
+ * For each task, use the macro TASK_TEST(n, r, d, s) where :
+ * 'n' in the name of the task
+ * 'r' in the main routine of the task
+ * 'd' in an opaque parameter passed to the routine at startup
+ * 's' is the stack size in bytes; must be a multiple of 8
+ */
+#define CONFIG_TEST_TASK_LIST  /* No test task */
diff --git a/test/fp.c b/test/fp.c
new file mode 100644
index 0000000000..296a78e4df
--- /dev/null
+++ b/test/fp.c
@@ -0,0 +1,319 @@
+/* Copyright 2018 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.
+ */
+
+/*
+ * Explicitly include common.h to populate predefined macros in test_config.h
+ * early. e.g. CONFIG_FPU, which is needed in math_util.h
+ */
+#include "common.h"
+
+#include "mat33.h"
+#include "mat44.h"
+#include "math_util.h"
+#include "test_util.h"
+#include "vec3.h"
+
+#if defined(TEST_FP) && !defined(CONFIG_FPU)
+#define NORM_TOLERANCE FLOAT_TO_FP(0.01f)
+#define NORM_SQUARED_TOLERANCE FLOAT_TO_FP(0.0f)
+#define DOT_TOLERANCE FLOAT_TO_FP(0.001f)
+#define SCALAR_MUL_TOLERANCE FLOAT_TO_FP(0.005f)
+#define EIGENBASIS_TOLERANCE FLOAT_TO_FP(0.03f)
+#define LUP_TOLERANCE FLOAT_TO_FP(0.0005f)
+#define SOLVE_TOLERANCE FLOAT_TO_FP(0.0005f)
+#elif defined(TEST_FLOAT) && defined(CONFIG_FPU)
+#define NORM_TOLERANCE FLOAT_TO_FP(0.0f)
+#define NORM_SQUARED_TOLERANCE FLOAT_TO_FP(0.0f)
+#define DOT_TOLERANCE FLOAT_TO_FP(0.0f)
+#define SCALAR_MUL_TOLERANCE FLOAT_TO_FP(0.005f)
+#define EIGENBASIS_TOLERANCE FLOAT_TO_FP(0.02f)
+#define LUP_TOLERANCE FLOAT_TO_FP(0.0f)
+#define SOLVE_TOLERANCE FLOAT_TO_FP(0.0f)
+#else
+#error "No such test configuration."
+#endif
+
+#define IS_FPV3_VECTOR_EQUAL(a, b, diff)                                       \
+	(IS_FP_EQUAL((a)[0], (b)[0], (diff)) &&                                \
+	 IS_FP_EQUAL((a)[1], (b)[1], (diff)) &&                                \
+	 IS_FP_EQUAL((a)[2], (b)[2], (diff)))
+#define IS_FP_EQUAL(a, b, diff) ((a) >= ((b)-diff) && (a) <= ((b) + diff))
+#define IS_FLOAT_EQUAL(a, b, diff) IS_FP_EQUAL(a, b, diff)
+
+static int test_fpv3_scalar_mul(void)
+{
+	const int N = 3;
+	const float s = 2.0f;
+	floatv3_t r = {1.0f, 2.0f, 4.0f};
+	/* Golden result g = s * r; */
+	const floatv3_t g = {2.0f, 4.0f, 8.0f};
+	int i;
+	fpv3_t a;
+
+	for (i = 0; i < N; ++i)
+		a[i] = FLOAT_TO_FP(r[i]);
+
+	fpv3_scalar_mul(a, FLOAT_TO_FP(s));
+
+	for (i = 0; i < N; ++i)
+		TEST_ASSERT(IS_FP_EQUAL(a[i], FLOAT_TO_FP(g[i]), 0));
+
+	return EC_SUCCESS;
+}
+
+static int test_fpv3_dot(void)
+{
+	const int N = 3;
+	int i;
+	floatv3_t a = {1.8f, 2.12f, 4.12f};
+	floatv3_t b = {3.1f, 4.3f, 5.8f};
+	/* Golden result g = dot(a, b) */
+	float g = 38.592f;
+	fpv3_t fpa, fpb;
+
+	for (i = 0; i < N; ++i) {
+		fpa[i] = FLOAT_TO_FP(a[i]);
+		fpb[i] = FLOAT_TO_FP(b[i]);
+	}
+
+	TEST_ASSERT(IS_FP_EQUAL(fpv3_dot(fpa, fpb), FLOAT_TO_FP(g),
+				DOT_TOLERANCE));
+
+	return EC_SUCCESS;
+}
+
+static int test_fpv3_norm_squared(void)
+{
+	const int N = 3;
+	int i;
+	floatv3_t a = {3.0f, 4.0f, 5.0f};
+	/* Golden result g = norm_squared(a) */
+	float g = 50.0f;
+	fpv3_t fpa;
+
+	for (i = 0; i < N; ++i)
+		fpa[i] = FLOAT_TO_FP(a[i]);
+
+	TEST_ASSERT(IS_FP_EQUAL(fpv3_norm_squared(fpa), FLOAT_TO_FP(g),
+				NORM_SQUARED_TOLERANCE));
+
+	return EC_SUCCESS;
+}
+
+static int test_fpv3_norm(void)
+{
+	const int N = 3;
+	floatv3_t a = {3.1f, 4.2f, 5.3f};
+	/* Golden result g = norm(a) */
+	float g = 7.439085483551025390625f;
+	int i;
+	fpv3_t fpa;
+
+	for (i = 0; i < N; ++i)
+		fpa[i] = FLOAT_TO_FP(a[i]);
+
+	TEST_ASSERT(
+		IS_FP_EQUAL(fpv3_norm(fpa), FLOAT_TO_FP(g), NORM_TOLERANCE));
+
+	return EC_SUCCESS;
+}
+
+static int test_mat33_fp_init_zero(void)
+{
+	const int N = 3;
+	int i, j;
+	mat33_fp_t a;
+
+	for (i = 0; i < N; ++i)
+		for (j = 0; j < N; ++j)
+			a[i][j] = FLOAT_TO_FP(55.66f);
+
+	mat33_fp_init_zero(a);
+
+	for (i = 0; i < N; ++i)
+		for (j = 0; j < N; ++j)
+			TEST_ASSERT(a[i][j] == FLOAT_TO_FP(0.0f));
+
+	return EC_SUCCESS;
+}
+
+static int test_mat33_fp_init_diagonal(void)
+{
+	const int N = 3;
+	int i, j;
+	mat33_fp_t a;
+	fp_t v = FLOAT_TO_FP(-3.45f);
+
+	for (i = 0; i < N; ++i)
+		for (j = 0; j < N; ++j)
+			a[i][j] = FLOAT_TO_FP(55.66f);
+
+	mat33_fp_init_diagonal(a, v);
+
+	for (i = 0; i < N; ++i)
+		for (j = 0; j < N; ++j) {
+			if (i == j)
+				TEST_ASSERT(a[i][j] == v);
+			else
+				TEST_ASSERT(a[i][j] == FLOAT_TO_FP(0.0f));
+		}
+
+	return EC_SUCCESS;
+}
+
+static int test_mat33_fp_scalar_mul(void)
+{
+	const int N = 3;
+	float scale = 3.11f;
+	mat33_float_t a = {
+		{1.0f, 2.0f, 3.0f},
+		{1.1f, 2.2f, 3.3f},
+		{0.38f, 13.2f, 88.3f}
+	};
+	/* Golden result g = scalar_mul(a, scale) */
+	mat33_float_t g = {{3.11f, 6.22f, 9.33f},
+			   {3.421f, 6.842f, 10.263f},
+			   {1.18179988861083984375f, 41.051998138427734375f,
+			    274.613006591796875f}
+	};
+	int i, j;
+	mat33_fp_t fpa;
+
+	for (i = 0; i < N; ++i)
+		for (j = 0; j < N; ++j)
+			fpa[i][j] = FLOAT_TO_FP(a[i][j]);
+
+	mat33_fp_scalar_mul(fpa, FLOAT_TO_FP(scale));
+
+	for (i = 0; i < N; ++i)
+		for (j = 0; j < N; ++j)
+			TEST_ASSERT(IS_FP_EQUAL(fpa[i][j], FLOAT_TO_FP(g[i][j]),
+						SCALAR_MUL_TOLERANCE));
+
+	return EC_SUCCESS;
+}
+
+static int test_mat33_fp_get_eigenbasis(void)
+{
+	mat33_fp_t s = {
+		{FLOAT_TO_FP(4.0f), FLOAT_TO_FP(2.0f), FLOAT_TO_FP(2.0f)},
+		{FLOAT_TO_FP(2.0f), FLOAT_TO_FP(4.0f), FLOAT_TO_FP(2.0f)},
+		{FLOAT_TO_FP(2.0f), FLOAT_TO_FP(2.0f), FLOAT_TO_FP(4.0f)}
+	};
+	fpv3_t e_vals;
+	mat33_fp_t e_vecs;
+	int i, j;
+
+	/* Golden result from float version. */
+	mat33_fp_t gold_vecs = {
+		{FLOAT_TO_FP(0.55735206f), FLOAT_TO_FP(0.55735206f),
+		 FLOAT_TO_FP(0.55735206f)},
+		{FLOAT_TO_FP(0.70710677f), FLOAT_TO_FP(-0.70710677f),
+		 FLOAT_TO_FP(0.0f)},
+		{FLOAT_TO_FP(-0.40824828f), FLOAT_TO_FP(-0.40824828f),
+		 FLOAT_TO_FP(0.81649655f)}
+	};
+	fpv3_t gold_vals = {FLOAT_TO_FP(8.0f), FLOAT_TO_FP(2.0f),
+			    FLOAT_TO_FP(2.0f)};
+
+	mat33_fp_get_eigenbasis(s, e_vals, e_vecs);
+
+	for (i = 0; i < 3; ++i) {
+		TEST_ASSERT(IS_FP_EQUAL(gold_vals[i], e_vals[i],
+					EIGENBASIS_TOLERANCE));
+		for (j = 0; j < 3; ++j) {
+			TEST_ASSERT(IS_FP_EQUAL(gold_vecs[i][j], e_vecs[i][j],
+						EIGENBASIS_TOLERANCE));
+		}
+	}
+
+	return EC_SUCCESS;
+}
+
+static int test_mat44_fp_decompose_lup(void)
+{
+	int i, j;
+	sizev4_t pivot;
+	mat44_fp_t fpa = {
+		{FLOAT_TO_FP(11.0f), FLOAT_TO_FP(9.0f),
+		 FLOAT_TO_FP(24.0f), FLOAT_TO_FP(2.0f)},
+		{FLOAT_TO_FP(1.0f), FLOAT_TO_FP(5.0f),
+		 FLOAT_TO_FP(2.0f), FLOAT_TO_FP(6.0f)},
+		{FLOAT_TO_FP(3.0f), FLOAT_TO_FP(17.0f),
+		 FLOAT_TO_FP(18.0f), FLOAT_TO_FP(1.0f)},
+		{FLOAT_TO_FP(2.0f), FLOAT_TO_FP(5.0f),
+		 FLOAT_TO_FP(7.0f), FLOAT_TO_FP(1.0f)}
+	};
+	/* Golden result from float version. */
+	mat44_fp_t gold_lu = {
+		{FLOAT_TO_FP(11.0f), FLOAT_TO_FP(0.8181818f),
+		 FLOAT_TO_FP(2.1818182f), FLOAT_TO_FP(0.18181819f)},
+		{FLOAT_TO_FP(3.0f), FLOAT_TO_FP(14.545454),
+		 FLOAT_TO_FP(0.7875f), FLOAT_TO_FP(0.03125f)},
+		{FLOAT_TO_FP(1.0f), FLOAT_TO_FP(4.181818f),
+		 FLOAT_TO_FP(-3.4750001f), FLOAT_TO_FP(-1.6366906f)},
+		{FLOAT_TO_FP(2.0f), FLOAT_TO_FP(3.3636365f),
+		 FLOAT_TO_FP(-0.012500286f), FLOAT_TO_FP(0.5107909f)}
+	};
+	sizev4_t gold_pivot = {0, 2, 2, 3};
+
+	mat44_fp_decompose_lup(fpa, pivot);
+
+	for (i = 0; i < 4; ++i) {
+		TEST_ASSERT(gold_pivot[i] == pivot[i]);
+		for (j = 0; j < 4; ++j)
+			TEST_ASSERT(IS_FP_EQUAL(gold_lu[i][j], fpa[i][j],
+						LUP_TOLERANCE));
+	}
+
+	return EC_SUCCESS;
+}
+
+static int test_mat44_fp_solve(void)
+{
+	int i;
+	fpv4_t x;
+	mat44_fp_t A = {
+		{FLOAT_TO_FP(11.0f), FLOAT_TO_FP(0.8181818f),
+		 FLOAT_TO_FP(2.1818182f), FLOAT_TO_FP(0.18181819f)},
+		{FLOAT_TO_FP(3.0f), FLOAT_TO_FP(14.545454),
+		 FLOAT_TO_FP(0.7875f), FLOAT_TO_FP(0.03125f)},
+		{FLOAT_TO_FP(1.0f), FLOAT_TO_FP(4.181818f),
+		 FLOAT_TO_FP(-3.4750001f), FLOAT_TO_FP(-1.6366906f)},
+		{FLOAT_TO_FP(2.0f), FLOAT_TO_FP(3.3636365f),
+		 FLOAT_TO_FP(-0.012500286f), FLOAT_TO_FP(0.5107909f)}
+	};
+	sizev4_t pivot = {0, 2, 2, 3};
+	fpv4_t b = {FLOAT_TO_FP(1.0f), FLOAT_TO_FP(3.3f), FLOAT_TO_FP(0.8f),
+		    FLOAT_TO_FP(8.9f)};
+	/* Golden result from float version. */
+	fpv4_t gold_x = {FLOAT_TO_FP(-43.50743f), FLOAT_TO_FP(-21.459526f),
+			 FLOAT_TO_FP(26.629248f), FLOAT_TO_FP(16.80776f)};
+
+	mat44_fp_solve(A, x, b, pivot);
+
+	for (i = 0; i < 4; ++i)
+		TEST_ASSERT(IS_FP_EQUAL(gold_x[i], x[i], SOLVE_TOLERANCE));
+
+	return EC_SUCCESS;
+}
+
+void run_test(void)
+{
+	test_reset();
+
+	RUN_TEST(test_fpv3_scalar_mul);
+	RUN_TEST(test_fpv3_dot);
+	RUN_TEST(test_fpv3_norm_squared);
+	RUN_TEST(test_fpv3_norm);
+	RUN_TEST(test_mat33_fp_init_zero);
+	RUN_TEST(test_mat33_fp_init_diagonal);
+	RUN_TEST(test_mat33_fp_scalar_mul);
+	RUN_TEST(test_mat33_fp_get_eigenbasis);
+	RUN_TEST(test_mat44_fp_decompose_lup);
+	RUN_TEST(test_mat44_fp_solve);
+
+	test_print_result();
+}
diff --git a/test/fp.tasklist b/test/fp.tasklist
new file mode 100644
index 0000000000..5e26d7102e
--- /dev/null
+++ b/test/fp.tasklist
@@ -0,0 +1,17 @@
+/* Copyright 2018 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.
+ */
+
+/**
+ * List of enabled tasks in the priority order
+ *
+ * The first one has the lowest priority.
+ *
+ * For each task, use the macro TASK_TEST(n, r, d, s) where :
+ * 'n' in the name of the task
+ * 'r' in the main routine of the task
+ * 'd' in an opaque parameter passed to the routine at startup
+ * 's' is the stack size in bytes; must be a multiple of 8
+ */
+#define CONFIG_TEST_TASK_LIST  /* No test task */
diff --git a/test/test_config.h b/test/test_config.h
index 8a972f10c3..a53ea87656 100644
--- a/test/test_config.h
+++ b/test/test_config.h
@@ -54,6 +54,16 @@
 #define CONFIG_MATH_UTIL
 #endif
 
+#ifdef TEST_FLOAT
+#define CONFIG_FPU
+#define CONFIG_MAG_CALIBRATE
+#endif
+
+#ifdef TEST_FP
+#undef CONFIG_FPU
+#define CONFIG_MAG_CALIBRATE
+#endif
+
 #ifdef TEST_MOTION_LID
 #define CONFIG_LID_ANGLE
 #define CONFIG_LID_ANGLE_INVALID_CHECK