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