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https://github.com/ArduPilot/ardupilot
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2e464a53c2
The switching between different AP_HAL was happening by giving different definitions of AP_HAL_BOARD_DRIVER, and the programs would use it to instantiate. A program or library code would have to explicitly include (and depend) on the concrete implementation of the HAL, even when using it only via interface. The proposed change move this dependency to be link time. There is a AP_HAL::get_HAL() function that is used by the client code. Each implementation of HAL provides its own definition of this function, returning the appropriate concrete instance. Since this replaces the job of AP_HAL_BOARD_DRIVER, the definition was removed. The static variables for PX4 and VRBRAIN were named differently to avoid shadowing the extern symbol 'hal'.
168 lines
5.1 KiB
C++
168 lines
5.1 KiB
C++
/// -*- 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/AP_HAL.h>
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#include <AP_HAL_AVR/AP_HAL_AVR.h>
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#include <AP_HAL_SITL/AP_HAL_SITL.h>
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#include <AP_HAL_PX4/AP_HAL_PX4.h>
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#include <AP_HAL_Empty/AP_HAL_Empty.h>
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#include <AP_Common/AP_Common.h>
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#include <AP_Scheduler/AP_Scheduler.h>
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#include <AP_Baro/AP_Baro.h>
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#include <AP_ADC/AP_ADC.h>
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#include <AP_GPS/AP_GPS.h>
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#include <AP_InertialSensor/AP_InertialSensor.h>
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#include <AP_Notify/AP_Notify.h>
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#include <DataFlash/DataFlash.h>
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#include <GCS_MAVLink/GCS_MAVLink.h>
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#include <AP_Compass/AP_Compass.h>
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#include <AP_Declination/AP_Declination.h>
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#include <SITL/SITL.h>
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#include <Filter/Filter.h>
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#include <AP_Param/AP_Param.h>
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#include <StorageManager/StorageManager.h>
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#include <AP_Progmem/AP_Progmem.h>
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#include <AP_Math/AP_Math.h>
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#include <AP_AHRS/AP_AHRS.h>
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#include <AP_NavEKF/AP_NavEKF.h>
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#include <AP_Airspeed/AP_Airspeed.h>
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#include <AP_Vehicle/AP_Vehicle.h>
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#include <AP_Mission/AP_Mission.h>
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#include <AP_Terrain/AP_Terrain.h>
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#include <AP_BattMonitor/AP_BattMonitor.h>
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#include <AP_Rally/AP_Rally.h>
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#include <AP_ADC_AnalogSource/AP_ADC_AnalogSource.h>
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#include <AP_OpticalFlow/AP_OpticalFlow.h>
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#include <AP_RangeFinder/AP_RangeFinder.h>
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const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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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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