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Tools: make CPUInfo test fairer, add data for external flash 

fix CPUInfo on linux
make cache disabling optional in CPUInfo
This commit is contained in:
Andy Piper 2022-02-04 17:53:42 +00:00 committed by Peter Hall
parent 55db600c10
commit f6c07df162
6 changed files with 89 additions and 61 deletions
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8
Tools/AP_Bootloader/AP_Bootloader.cpp
View File

@ -32,7 +32,7 @@
#include "bl_protocol.h"
#include "can.h"
#include <stdio.h>
#if EXTERNAL_PROG_FLASH_MB
#if EXT_FLASH_SIZE_MB
#include <AP_FlashIface/AP_FlashIface_JEDEC.h>
#endif
@ -44,7 +44,7 @@ struct boardinfo board_info = {
.board_type = APJ_BOARD_ID,
.board_rev = 0,
.fw_size = (BOARD_FLASH_SIZE - (FLASH_BOOTLOADER_LOAD_KB + FLASH_RESERVE_END_KB + APP_START_OFFSET_KB))*1024,
.extf_size = (EXTERNAL_PROG_FLASH_MB * 1024 * 1024)
.extf_size = (EXT_FLASH_SIZE_MB * 1024 * 1024)
};
#ifndef HAL_BOOTLOADER_TIMEOUT
@ -55,7 +55,7 @@ struct boardinfo board_info = {
#define HAL_STAY_IN_BOOTLOADER_VALUE 0
#endif
#if EXTERNAL_PROG_FLASH_MB
#if EXT_FLASH_SIZE_MB
AP_FlashIface_JEDEC ext_flash;
#endif
@ -151,7 +151,7 @@ int main(void)
flash_init();
#if EXTERNAL_PROG_FLASH_MB
#if EXT_FLASH_SIZE_MB
while (!ext_flash.init()) {
// keep trying until we get it working
// there's no future without it

18
Tools/AP_Bootloader/bl_protocol.cpp
View File

@ -50,7 +50,7 @@
#include "support.h"
#include "can.h"
#include <AP_HAL_ChibiOS/hwdef/common/watchdog.h>
#if EXTERNAL_PROG_FLASH_MB
#if EXT_FLASH_SIZE_MB
#include <AP_FlashIface/AP_FlashIface_JEDEC.h>
#endif
// #pragma GCC optimize("O0")
@ -148,7 +148,7 @@ volatile unsigned timer[NTIMERS];
#define RESERVE_LEAD_WORDS 8
#if EXTERNAL_PROG_FLASH_MB
#if EXT_FLASH_SIZE_MB
extern AP_FlashIface_JEDEC ext_flash;
#endif
@ -233,7 +233,7 @@ jump_to_app()
const uint32_t *app_base = (const uint32_t *)(APP_START_ADDRESS);
// If we have QSPI chip start it
#if EXTERNAL_PROG_FLASH_MB
#if EXT_FLASH_SIZE_MB
uint8_t* ext_flash_start_addr;
if (!ext_flash.start_xip_mode((void**)&ext_flash_start_addr)) {
return;
@ -314,7 +314,7 @@ jump_to_app()
/* extract the stack and entrypoint from the app vector table and go */
do_jump(app_base[0], app_base[1]);
exit:
#if EXTERNAL_PROG_FLASH_MB
#if EXT_FLASH_SIZE_MB
ext_flash.stop_xip_mode();
#endif
return;
@ -432,7 +432,7 @@ bootloader(unsigned timeout)
#endif
uint32_t address = board_info.fw_size; /* force erase before upload will work */
#if EXTERNAL_PROG_FLASH_MB
#if EXT_FLASH_SIZE_MB
uint32_t extf_address = board_info.extf_size; /* force erase before upload will work */
#endif
uint32_t read_address = 0;
@ -627,7 +627,7 @@ bootloader(unsigned timeout)
// readback failure: INSYNC/FAILURE
//
case PROTO_EXTF_ERASE:
#if EXTERNAL_PROG_FLASH_MB
#if EXT_FLASH_SIZE_MB
{
if (!done_sync || !CHECK_GET_DEVICE_FINISHED(done_get_device_flags)) {
// lower chance of random data on a uart triggering erase
@ -684,7 +684,7 @@ bootloader(unsigned timeout)
}
#else
goto cmd_bad;
#endif // EXTERNAL_PROG_FLASH_MB
#endif // EXT_FLASH_SIZE_MB
break;
// program bytes at current external flash address
@ -696,7 +696,7 @@ bootloader(unsigned timeout)
//
case PROTO_EXTF_PROG_MULTI:
{
#if EXTERNAL_PROG_FLASH_MB
#if EXT_FLASH_SIZE_MB
if (!done_sync || !CHECK_GET_DEVICE_FINISHED(done_get_device_flags)) {
// lower chance of random data on a uart triggering erase
goto cmd_bad;
@ -883,7 +883,7 @@ bootloader(unsigned timeout)
// reply: <crc:4>/INSYNC/OK
//
case PROTO_EXTF_GET_CRC: {
#if EXTERNAL_PROG_FLASH_MB
#if EXT_FLASH_SIZE_MB
// expect EOC
uint32_t cmd_verify_bytes;
if (cin_word(&cmd_verify_bytes, 100)) {

2
Tools/AP_Bootloader/board_types.txt
View File

@ -157,6 +157,8 @@ AP_HW_SierraF412 1055
AP_HW_BEASTF7v2 1057
AP_HW_KakuteH7Mini 1058
AP_HW_JHEMCUGSF405A 1059
AP_HW_SPRACINGH7 1060
AP_HW_DEVEBOXH7 1061
AP_HW_CUBEORANGE_PERIPH 1400
AP_HW_CUBEBLACK_PERIPH 1401

2
Tools/AP_Bootloader/wscript
View File

@ -5,7 +5,7 @@ def build(bld):
if not bld.env.BOOTLOADER:
return
if bld.env.EXTERNAL_PROG_FLASH_MB:
if bld.env.EXT_FLASH_SIZE_MB:
flashiface_lib = ['AP_HAL', 'AP_FlashIface', 'AP_HAL_Empty']
else:
flashiface_lib = []

19
Tools/CPUInfo/CPUInfo.cpp
View File

@ -10,6 +10,7 @@
#include <AP_HAL/AP_HAL.h>
#include <AP_Common/AP_Common.h>
#include <AP_Math/AP_Math.h>
#include <AP_ESC_Telem/AP_ESC_Telem.h>
#include "EKF_Maths.h"
void setup();
@ -17,6 +18,13 @@ void loop();
const AP_HAL::HAL& hal = AP_HAL::get_HAL();
#if CONFIG_HAL_BOARD != HAL_BOARD_LINUX
// On H750 we want to measure external flash to ram performance
#if defined(EXT_FLASH_SIZE_MB) && defined(STM32H7)
#define DISABLE_CACHES
#endif
#ifdef STM32_SYS_CK
static uint32_t sysclk = STM32_SYS_CK;
#elif defined(STM32_SYSCLK)
@ -28,8 +36,13 @@ static uint32_t sysclk = 0;
static EKF_Maths ekf;
HAL_Semaphore sem;
AP_ESC_Telem telem;
void setup() {
#ifdef DISABLE_CACHES
SCB_DisableDCache();
SCB_DisableICache();
#endif
ekf.init();
}
@ -86,6 +99,7 @@ static void show_timings(void)
v_f = 1+(AP_HAL::micros() % 5);
v_out = 1+(AP_HAL::micros() % 3);
v_32 = AP_HAL::millis();
v_32 = 1+(AP_HAL::micros() % 5);
v_out_32 = 1+(AP_HAL::micros() % 3);
@ -174,4 +188,9 @@ void loop()
hal.scheduler->delay(3000);
}
#else
void loop() {}
void setup() {}
#endif
AP_HAL_MAIN();

101
Tools/CPUInfo/output-H743.txt
View File

@ -1,6 +1,7 @@
dcache enabled, 384MHz
ICache and DCache disabled
SYSCLK 400MHz
SYSCLK 384MHz
Type sizes:
char : 1
short : 2
@ -15,48 +16,54 @@ printing -Inf: -inf
Operation timings:
Note: timings for some operations are very data dependent
nop 0.00 usec/call
micros() 0.39 usec/call
millis() 0.42 usec/call
fadd 0.00 usec/call
fsub 0.00 usec/call
fmul 0.00 usec/call
fdiv /= 0.04 usec/call
fdiv 2/x 0.04 usec/call
dadd 0.14 usec/call
dsub 0.14 usec/call
dmul 0.06 usec/call
ddiv 0.08 usec/call
sinf() 0.30 usec/call
cosf() 0.30 usec/call
tanf() 0.50 usec/call
acosf() 0.40 usec/call
asinf() 0.30 usec/call
atan2f() 0.40 usec/call
sqrtf() 0.10 usec/call
sin() 4.40 usec/call
cos() 4.10 usec/call
tan() 8.40 usec/call
acos() 5.70 usec/call
asin() 5.10 usec/call
atan2() 7.50 usec/call
sqrt() 1.20 usec/call
iadd8 0.00 usec/call
isub8 0.00 usec/call
imul8 0.00 usec/call
idiv8 0.02 usec/call
iadd16 0.00 usec/call
isub16 0.00 usec/call
imul16 0.00 usec/call
idiv16 0.02 usec/call
iadd32 0.00 usec/call
isub32 0.00 usec/call
imul32 0.00 usec/call
idiv32 0.02 usec/call
iadd64 0.00 usec/call
isub64 0.00 usec/call
imul64 0.02 usec/call
idiv64 0.16 usec/call
memcpy128 1.06 usec/call
memset128 1.06 usec/call
delay(1) 1000.00 usec/call
nop 0.0032 usec/call
micros() 1.1417 usec/call
millis() 1.8733 usec/call
micros64() 1.1517 usec/call
fadd 0.0422 usec/call
fsub 0.0380 usec/call
fmul 0.0402 usec/call
fdiv /= 0.0446 usec/call
fdiv 2/x 0.0768 usec/call
dadd 0.0698 usec/call
dsub 0.0648 usec/call
dmul 0.0704 usec/call
ddiv 0.0648 usec/call
sinf() 0.7500 usec/call
cosf() 0.7590 usec/call
tanf() 1.6720 usec/call
acosf() 1.1660 usec/call
asinf() 1.2430 usec/call
atan2f() 1.6100 usec/call
sqrtf() 0.0910 usec/call
sin() 0.7500 usec/call
cos() 0.7560 usec/call
tan() 1.6920 usec/call
acos() 1.1510 usec/call
asin() 1.2290 usec/call
atan2() 1.5860 usec/call
sqrt() 0.0920 usec/call
sq() 0.0400 usec/call
powf(v,2) 0.0400 usec/call
powf(v,3.1) 1.2070 usec/call
EKF 72.4120 usec/call
iadd8 0.0496 usec/call
isub8 0.0474 usec/call
imul8 0.0514 usec/call
idiv8 0.0584 usec/call
iadd16 0.0488 usec/call
isub16 0.0484 usec/call
imul16 0.0442 usec/call
idiv16 0.0678 usec/call
iadd32 0.0388 usec/call
isub32 0.0404 usec/call
imul32 0.0404 usec/call
idiv32 0.0564 usec/call
iadd64 0.0636 usec/call
isub64 0.0946 usec/call
imul64 0.0880 usec/call
idiv64 0.5328 usec/call
memcpy128 4.3514 usec/call
memset128 9.7858 usec/call
delay(1) 1010.236 usec/call
SEM 2.2752 usec/call