mirror of https://github.com/ArduPilot/ardupilot
151 lines
4.3 KiB
Plaintext
151 lines
4.3 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
|
|
/*
|
|
test CPU speed
|
|
Andrew Tridgell September 2011
|
|
*/
|
|
|
|
#include <AP_HAL.h>
|
|
#include <AP_HAL_AVR.h>
|
|
#include <AP_HAL_AVR_SITL.h>
|
|
#include <AP_HAL_PX4.h>
|
|
#include <AP_HAL_Empty.h>
|
|
#include <AP_Common.h>
|
|
#include <AP_Baro.h>
|
|
#include <AP_ADC.h>
|
|
#include <GCS_MAVLink.h>
|
|
#include <AP_Compass.h>
|
|
#include <AP_Declination.h>
|
|
#include <SITL.h>
|
|
#include <Filter.h>
|
|
#include <AP_Param.h>
|
|
#include <AP_Progmem.h>
|
|
#include <AP_Math.h>
|
|
|
|
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
|
|
|
|
void setup() {
|
|
}
|
|
|
|
static void show_sizes(void)
|
|
{
|
|
hal.console->println("Type sizes:");
|
|
hal.console->printf("char : %d\n", sizeof(char));
|
|
hal.console->printf("short : %d\n", sizeof(short));
|
|
hal.console->printf("int : %d\n", sizeof(int));
|
|
hal.console->printf("long : %d\n", sizeof(long));
|
|
hal.console->printf("long long : %d\n", sizeof(long long));
|
|
hal.console->printf("bool : %d\n", sizeof(bool));
|
|
hal.console->printf("void* : %d\n", sizeof(void *));
|
|
|
|
hal.console->printf("printing NaN: %f\n", sqrt(-1.0f));
|
|
hal.console->printf("printing +Inf: %f\n", 1.0f/0.0f);
|
|
hal.console->printf("printing -Inf: %f\n", -1.0f/0.0f);
|
|
}
|
|
|
|
#define TENTIMES(x) do { x; x; x; x; x; x; x; x; x; x; } while (0)
|
|
#define FIFTYTIMES(x) do { TENTIMES(x); TENTIMES(x); TENTIMES(x); TENTIMES(x); TENTIMES(x); } while (0)
|
|
|
|
#define TIMEIT(name, op, count) do { \
|
|
uint32_t us_end, us_start; \
|
|
us_start = hal.scheduler->micros(); \
|
|
for (uint8_t i=0; i<count; i++) { \
|
|
FIFTYTIMES(op); \
|
|
} \
|
|
us_end = hal.scheduler->micros(); \
|
|
hal.console->printf("%-10s %7.2f usec/call\n", name, double(us_end-us_start)/(count*50.0)); \
|
|
} while (0)
|
|
|
|
volatile float v_f = 1.0;
|
|
volatile float v_out;
|
|
volatile double v_d = 1.0;
|
|
volatile double v_out_d;
|
|
volatile uint32_t v_32 = 1;
|
|
volatile uint32_t v_out_32 = 1;
|
|
volatile uint16_t v_16 = 1;
|
|
volatile uint16_t v_out_16 = 1;
|
|
volatile uint8_t v_8 = 1;
|
|
volatile uint8_t v_out_8 = 1;
|
|
volatile uint8_t mbuf1[128], mbuf2[128];
|
|
volatile uint64_t v_64 = 1;
|
|
volatile uint64_t v_out_64 = 1;
|
|
|
|
static void show_timings(void)
|
|
{
|
|
|
|
v_f = 1+(hal.scheduler->micros() % 5);
|
|
v_out = 1+(hal.scheduler->micros() % 3);
|
|
|
|
v_32 = 1+(hal.scheduler->micros() % 5);
|
|
v_out_32 = 1+(hal.scheduler->micros() % 3);
|
|
|
|
v_16 = 1+(hal.scheduler->micros() % 5);
|
|
v_out_16 = 1+(hal.scheduler->micros() % 3);
|
|
|
|
v_8 = 1+(hal.scheduler->micros() % 5);
|
|
v_out_8 = 1+(hal.scheduler->micros() % 3);
|
|
|
|
|
|
hal.console->println("Operation timings:");
|
|
hal.console->println("Note: timings for some operations are very data dependent");
|
|
|
|
TIMEIT("nop", asm volatile("nop"::), 255);
|
|
|
|
TIMEIT("micros()", hal.scheduler->micros(), 200);
|
|
TIMEIT("millis()", hal.scheduler->millis(), 200);
|
|
|
|
TIMEIT("fadd", v_out += v_f, 100);
|
|
TIMEIT("fsub", v_out -= v_f, 100);
|
|
TIMEIT("fmul", v_out *= v_f, 100);
|
|
TIMEIT("fdiv /=", v_out /= v_f, 100);
|
|
TIMEIT("fdiv 2/x", v_out = 2.0f/v_f, 100);
|
|
|
|
TIMEIT("dadd", v_out_d += v_d, 100);
|
|
TIMEIT("dsub", v_out_d -= v_d, 100);
|
|
TIMEIT("dmul", v_out_d *= v_d, 100);
|
|
TIMEIT("ddiv", v_out_d /= v_d, 100);
|
|
|
|
TIMEIT("sin()", v_out = sinf(v_f), 20);
|
|
TIMEIT("cos()", v_out = cosf(v_f), 20);
|
|
TIMEIT("tan()", v_out = tanf(v_f), 20);
|
|
TIMEIT("acos()", v_out = acosf(v_f * 0.2), 20);
|
|
TIMEIT("asin()", v_out = asinf(v_f * 0.2), 20);
|
|
TIMEIT("atan2()", v_out = atan2f(v_f * 0.2, v_f * 0.3), 20);
|
|
TIMEIT("sqrt()",v_out = sqrtf(v_f), 20);
|
|
|
|
TIMEIT("iadd8", v_out_8 += v_8, 100);
|
|
TIMEIT("isub8", v_out_8 -= v_8, 100);
|
|
TIMEIT("imul8", v_out_8 *= v_8, 100);
|
|
TIMEIT("idiv8", v_out_8 /= v_8, 100);
|
|
|
|
TIMEIT("iadd16", v_out_16 += v_16, 100);
|
|
TIMEIT("isub16", v_out_16 -= v_16, 100);
|
|
TIMEIT("imul16", v_out_16 *= v_16, 100);
|
|
TIMEIT("idiv16", v_out_16 /= v_16, 100);
|
|
|
|
TIMEIT("iadd32", v_out_32 += v_32, 100);
|
|
TIMEIT("isub32", v_out_32 -= v_32, 100);
|
|
TIMEIT("imul32", v_out_32 *= v_32, 100);
|
|
TIMEIT("idiv32", v_out_32 /= v_32, 100);
|
|
|
|
TIMEIT("iadd64", v_out_64 += v_64, 100);
|
|
TIMEIT("isub64", v_out_64 -= v_64, 100);
|
|
TIMEIT("imul64", v_out_64 *= v_64, 100);
|
|
TIMEIT("idiv64", v_out_64 /= v_64, 100);
|
|
|
|
TIMEIT("memcpy128", memcpy((void*)mbuf1, (const void *)mbuf2, sizeof(mbuf1)), 20);
|
|
TIMEIT("memset128", memset((void*)mbuf1, 1, sizeof(mbuf1)), 20);
|
|
TIMEIT("delay(1)", hal.scheduler->delay(1), 5);
|
|
}
|
|
|
|
void loop()
|
|
{
|
|
show_sizes();
|
|
hal.console->println("");
|
|
show_timings();
|
|
hal.console->println("");
|
|
hal.scheduler->delay(3000);
|
|
}
|
|
|
|
AP_HAL_MAIN();
|