mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-17 22:53:33 +08:00
Merge remote-tracking branch 'px4/master' into pwm_ioctls
Conflicts: src/drivers/px4io/px4io.cpp
This commit is contained in:
Julian Oes
@@ -54,7 +54,8 @@
|
||||
int
|
||||
test_file(int argc, char *argv[])
|
||||
{
|
||||
const iterations = 200;
|
||||
const unsigned iterations = 100;
|
||||
const unsigned alignments = 65;
|
||||
|
||||
/* check if microSD card is mounted */
|
||||
struct stat buffer;
|
||||
@@ -63,68 +64,190 @@ test_file(int argc, char *argv[])
|
||||
return 1;
|
||||
}
|
||||
|
||||
uint8_t buf[512];
|
||||
hrt_abstime start, end;
|
||||
perf_counter_t wperf = perf_alloc(PC_ELAPSED, "SD writes (aligned)");
|
||||
/* perform tests for a range of chunk sizes */
|
||||
unsigned chunk_sizes[] = {1, 5, 8, 13, 16, 32, 33, 64, 70, 128, 133, 256, 300, 512, 555, 1024, 1500};
|
||||
|
||||
int fd = open("/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT);
|
||||
memset(buf, 0, sizeof(buf));
|
||||
for (unsigned c = 0; c < (sizeof(chunk_sizes) / sizeof(chunk_sizes[0])); c++) {
|
||||
|
||||
warnx("aligned write - please wait..");
|
||||
printf("\n====== FILE TEST: %u bytes chunks ======\n", chunk_sizes[c]);
|
||||
|
||||
if ((0x3 & (uintptr_t)buf))
|
||||
warnx("memory is unaligned!");
|
||||
for (unsigned a = 0; a < alignments; a++) {
|
||||
|
||||
start = hrt_absolute_time();
|
||||
for (unsigned i = 0; i < iterations; i++) {
|
||||
perf_begin(wperf);
|
||||
write(fd, buf, sizeof(buf));
|
||||
fsync(fd);
|
||||
perf_end(wperf);
|
||||
printf("\n");
|
||||
warnx("----- alignment test: %u bytes -----", a);
|
||||
|
||||
uint8_t write_buf[chunk_sizes[c] + alignments] __attribute__((aligned(64)));
|
||||
|
||||
/* fill write buffer with known values */
|
||||
for (int i = 0; i < sizeof(write_buf); i++) {
|
||||
/* this will wrap, but we just need a known value with spacing */
|
||||
write_buf[i] = i+11;
|
||||
}
|
||||
|
||||
uint8_t read_buf[chunk_sizes[c] + alignments] __attribute__((aligned(64)));
|
||||
hrt_abstime start, end;
|
||||
//perf_counter_t wperf = perf_alloc(PC_ELAPSED, "SD writes (aligned)");
|
||||
|
||||
int fd = open("/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT);
|
||||
|
||||
warnx("testing unaligned writes - please wait..");
|
||||
|
||||
start = hrt_absolute_time();
|
||||
for (unsigned i = 0; i < iterations; i++) {
|
||||
//perf_begin(wperf);
|
||||
int wret = write(fd, write_buf + a, chunk_sizes[c]);
|
||||
|
||||
if (wret != chunk_sizes[c]) {
|
||||
warn("WRITE ERROR!");
|
||||
|
||||
if ((0x3 & (uintptr_t)(write_buf + a)))
|
||||
errx(1, "memory is unaligned, align shift: %d", a);
|
||||
|
||||
}
|
||||
|
||||
fsync(fd);
|
||||
//perf_end(wperf);
|
||||
|
||||
}
|
||||
end = hrt_absolute_time();
|
||||
|
||||
//warnx("%dKiB in %llu microseconds", iterations / 2, end - start);
|
||||
|
||||
//perf_print_counter(wperf);
|
||||
//perf_free(wperf);
|
||||
|
||||
close(fd);
|
||||
fd = open("/fs/microsd/testfile", O_RDONLY);
|
||||
|
||||
/* read back data for validation */
|
||||
for (unsigned i = 0; i < iterations; i++) {
|
||||
int rret = read(fd, read_buf, chunk_sizes[c]);
|
||||
|
||||
if (rret != chunk_sizes[c]) {
|
||||
errx(1, "READ ERROR!");
|
||||
}
|
||||
|
||||
/* compare value */
|
||||
bool compare_ok = true;
|
||||
|
||||
for (int j = 0; j < chunk_sizes[c]; j++) {
|
||||
if (read_buf[j] != write_buf[j + a]) {
|
||||
warnx("COMPARISON ERROR: byte %d, align shift: %d", j, a);
|
||||
compare_ok = false;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
if (!compare_ok) {
|
||||
errx(1, "ABORTING FURTHER COMPARISON DUE TO ERROR");
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
/*
|
||||
* ALIGNED WRITES AND UNALIGNED READS
|
||||
*/
|
||||
|
||||
close(fd);
|
||||
int ret = unlink("/fs/microsd/testfile");
|
||||
fd = open("/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT);
|
||||
|
||||
warnx("testing aligned writes - please wait..");
|
||||
|
||||
start = hrt_absolute_time();
|
||||
for (unsigned i = 0; i < iterations; i++) {
|
||||
int wret = write(fd, write_buf, chunk_sizes[c]);
|
||||
|
||||
if (wret != chunk_sizes[c]) {
|
||||
err(1, "WRITE ERROR!");
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
fsync(fd);
|
||||
|
||||
warnx("reading data aligned..");
|
||||
|
||||
close(fd);
|
||||
fd = open("/fs/microsd/testfile", O_RDONLY);
|
||||
|
||||
bool align_read_ok = true;
|
||||
|
||||
/* read back data unaligned */
|
||||
for (unsigned i = 0; i < iterations; i++) {
|
||||
int rret = read(fd, read_buf, chunk_sizes[c]);
|
||||
|
||||
if (rret != chunk_sizes[c]) {
|
||||
err(1, "READ ERROR!");
|
||||
}
|
||||
|
||||
/* compare value */
|
||||
bool compare_ok = true;
|
||||
|
||||
for (int j = 0; j < chunk_sizes[c]; j++) {
|
||||
if (read_buf[j] != write_buf[j]) {
|
||||
warnx("COMPARISON ERROR: byte %d: %u != %u", j, (unsigned int)read_buf[j], (unsigned int)write_buf[j]);
|
||||
align_read_ok = false;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
if (!align_read_ok) {
|
||||
errx(1, "ABORTING FURTHER COMPARISON DUE TO ERROR");
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
warnx("align read result: %s\n", (align_read_ok) ? "OK" : "ERROR");
|
||||
|
||||
warnx("reading data unaligned..");
|
||||
|
||||
close(fd);
|
||||
fd = open("/fs/microsd/testfile", O_RDONLY);
|
||||
|
||||
bool unalign_read_ok = true;
|
||||
int unalign_read_err_count = 0;
|
||||
|
||||
memset(read_buf, 0, sizeof(read_buf));
|
||||
|
||||
/* read back data unaligned */
|
||||
for (unsigned i = 0; i < iterations; i++) {
|
||||
int rret = read(fd, read_buf + a, chunk_sizes[c]);
|
||||
|
||||
if (rret != chunk_sizes[c]) {
|
||||
err(1, "READ ERROR!");
|
||||
}
|
||||
|
||||
for (int j = 0; j < chunk_sizes[c]; j++) {
|
||||
|
||||
if ((read_buf + a)[j] != write_buf[j]) {
|
||||
warnx("COMPARISON ERROR: byte %d, align shift: %d: %u != %u", j, a, (unsigned int)read_buf[j + a], (unsigned int)write_buf[j]);
|
||||
unalign_read_ok = false;
|
||||
unalign_read_err_count++;
|
||||
|
||||
if (unalign_read_err_count > 10)
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
if (!unalign_read_ok) {
|
||||
errx(1, "ABORTING FURTHER COMPARISON DUE TO ERROR");
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
ret = unlink("/fs/microsd/testfile");
|
||||
close(fd);
|
||||
|
||||
if (ret)
|
||||
err(1, "UNLINKING FILE FAILED");
|
||||
|
||||
}
|
||||
}
|
||||
end = hrt_absolute_time();
|
||||
|
||||
warnx("%dKiB in %llu microseconds", iterations / 2, end - start);
|
||||
|
||||
perf_print_counter(wperf);
|
||||
perf_free(wperf);
|
||||
|
||||
int ret = unlink("/fs/microsd/testfile");
|
||||
|
||||
if (ret)
|
||||
err(1, "UNLINKING FILE FAILED");
|
||||
|
||||
warnx("unaligned write - please wait..");
|
||||
|
||||
struct {
|
||||
uint8_t byte;
|
||||
uint8_t unaligned[512];
|
||||
} unaligned_buf;
|
||||
|
||||
if ((0x3 & (uintptr_t)unaligned_buf.unaligned) == 0)
|
||||
warnx("creating unaligned memory failed.");
|
||||
|
||||
wperf = perf_alloc(PC_ELAPSED, "SD writes (unaligned)");
|
||||
|
||||
start = hrt_absolute_time();
|
||||
for (unsigned i = 0; i < iterations; i++) {
|
||||
perf_begin(wperf);
|
||||
write(fd, unaligned_buf.unaligned, sizeof(unaligned_buf.unaligned));
|
||||
fsync(fd);
|
||||
perf_end(wperf);
|
||||
}
|
||||
end = hrt_absolute_time();
|
||||
|
||||
close(fd);
|
||||
|
||||
warnx("%dKiB in %llu microseconds", iterations / 2, end - start);
|
||||
|
||||
perf_print_counter(wperf);
|
||||
perf_free(wperf);
|
||||
|
||||
/* list directory */
|
||||
DIR *d;
|
||||
struct dirent *dir;
|
||||
DIR *d;
|
||||
struct dirent *dir;
|
||||
d = opendir("/fs/microsd");
|
||||
if (d) {
|
||||
|
||||
|
||||
Reference in New Issue
Block a user