Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Tools: added testing of _hrt_div1000()

This commit is contained in:
Andrew Tridgell 2023-12-18 12:15:52 +11:00
parent 6dbc3b6a70
commit 388fab1ef8
1 changed files with 41 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

43
Tools/CPUInfo/CPUInfo.cpp
View File

@ -13,10 +13,13 @@
#include <AP_ESC_Telem/AP_ESC_Telem.h>
#include "EKF_Maths.h"
#if HAL_WITH_DSP && CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
#if HAL_WITH_DSP
#include <arm_math.h>
#include <hrt.h>
#endif
#include <hrt.h>
#include <ch.h>
#endif // HAL_BOARD_CHIBIOS
void setup();
void loop();
@ -202,11 +205,47 @@ static void show_timings(void)
TIMEIT("SEM", { WITH_SEMAPHORE(sem); v_out_32 += v_32;}, 100);
}
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
static void test_div1000(void)
{
hal.console->printf("Testing div1000\n");
for (uint32_t i=0; i<2000000; i++) {
uint64_t v;
hal.util->get_random_vals((uint8_t*)&v, sizeof(v));
uint64_t v1 = v / 1000ULL;
uint64_t v2 = _hrt_div1000(v);
if (v1 != v2) {
AP_HAL::panic("ERROR: 0x%llx v1=0x%llx v2=0x%llx\n",
(unsigned long long)v, (unsigned long long)v1, (unsigned long long)v2);
return;
}
}
// test from locked context
for (uint32_t i=0; i<2000000; i++) {
uint64_t v;
hal.util->get_random_vals((uint8_t*)&v, sizeof(v));
chSysLock();
uint64_t v1 = v / 1000ULL;
uint64_t v2 = _hrt_div1000(v);
chSysUnlock();
if (v1 != v2) {
AP_HAL::panic("ERROR: 0x%llx v1=0x%llx v2=0x%llx\n",
(unsigned long long)v, (unsigned long long)v1, (unsigned long long)v2);
return;
}
}
hal.console->printf("div1000 OK\n");
}
#endif
void loop()
{
show_sizes();
hal.console->printf("\n");
show_timings();
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
test_div1000();
#endif
hal.console->printf("\n");
hal.scheduler->delay(3000);
}