1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
|
/********************************************************************
* Description: mathtest.c - A small file to test for unresolved
* symbols in loadable kernel modules.
*
* Author: Paul_C - Derived from a file by Fred Proctor.
* Created at: Mon Feb 16 20:39:42 GMT 2004
* Computer: Morphix
* System: Linux
*
* Copyright (c) 2004 All rights reserved.
*
* Last change:
********************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program 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 General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#define MODULE
#include <linux/kernel.h>
#include <linux/module.h>
#include <linux/version.h>
#include <math.h> /* sin(), cos(), isnan() etc. */
#include <float.h> /* DBL_MAX */
#include <errno.h> /* errno, EDOM */
/*
math functions are:
extern double sin(double); used in posemath, siggen, & noncartesian kins
extern double cos(double); used in posemath, siggen, & noncartesian kins
extern double tan(double); not used in RT
extern double asin(double); not used in RT
extern double acos(double); used in posemath & noncartesian kins
extern double atan2(double, double); used in posemath & noncartesian kins
extern double sinh(double); not used in RT
extern double cosh(double); not used in RT
extern double tanh(double); not used in RT
extern double exp(double); not used in RT
extern double log(double); not used in RT
extern double log10(double); not used in RT
extern double pow(double, double); not used in RT
extern double sqrt(double); used in tc, segmot, & noncartesean kins.
extern double ceil(double); used in segmot & emcpid
extern double floor(double); used by siggen & segmot
extern double fabs(double); used a lot in RT
extern double ldexp(double, int); not used in RT
extern double sincos(double, double *, double *); Is called at four places in
posemath - None of the resulting
functions are used in EMC.
Extras:
extern int isnan(double); Not used directly in RT - But is called
by several (all ?) of the floating point
math functions.
*/
/* Declare as volatile and gcc *shouldn't* optimize too much... */
volatile double a = 0;
volatile double b = 0;
volatile double c = 0;
volatile double x;
double d;
int n;
/*
isnan() - C99 extensions to the math library functions
IEEE double-precision floating point:
N = (-1)^S * 2^(E-1023) * 1.F
where S, E and F are composed of bits as labeled in these 8 bytes:
[7] [6] [5] [0]
SEEEEEEE EEEEFFFF FFFFFFFF ... FFFFFFFF
If E = 2047 and F is nonzero, N = Not a Number (NaN)
If E = 2047 and F = 0 and S = 1, N = -Inf
If E = 2047 and F = 0 and S = 0, N = Inf
If 0 < E < 2047, N = (-1)^S * 2^(E-1023) * 1.F
If E = 0 and F is nonzero, N = (-1)^S * 2^(-1022) * 0.F ("unnormalized")
If E = 0 and F = 0 and S = 1, N = -0
If E = 0 and F = 0 and S = 0, N = 0
Example: for N = -1, S = 1, E = 1023, F = 0, and
byte[0] = 10111111 = BF
byte[1] = 11110000 = F0
byte[2-7] = 0
*/
int isnan(double d)
{
int e;
unsigned char * c = (unsigned char *) &d;
e = (int) (c[7] & 0x7F);
e <<= 4;
e += (int) ((c[6] & 0xF0) >> 4);
return (e == 2047) && (c[0] || c[1] || c[2] || c[3] ||
c[4] || c[5] || (c[6] & 0x0F));
}
int math_test(void)
{
double v, u;
a = 1.00039276;
b = 1.9999 * a;
c = a / 2;
/* force a domain error, EDOM, and check that we got it */
x = acos(b);
if (isnan(x)) x = 0.0;
/* force a range error, ERANGE, and check that we got it */
x = pow(DBL_MAX, b);
if (isnan(x)) x = 0.0;
/* do some legit math */
x = sin(a) + cos(a) + tan(a) +
asin(c) + acos(c) + atan2(a, b) +
sinh(a) + cosh(a) + tanh(a) +
exp(a) + log(a) + log10(a) +
pow(a, b) + sqrt(a) + ceil(a) +
floor(a) + fabs(a) + ldexp(a, b);
/* Test the sincos func */
sincos(x, &v, &u);
return 0;
}
|
