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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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73ab153fe0
The clock is simply not accurate enough to do that. Plus the measuring overhead is much higher than the executed instruction. Remaining issue: memory transfers (due to volatile) add non-negligible overhead and distort the result. Could be solved by using inline assembly.
281 lines
7.1 KiB
C++
281 lines
7.1 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2018-2021 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file test_microbench_math.cpp
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* Tests for the microbench math library.
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*/
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#include <unit_test.h>
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#include <time.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <math.h>
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#include <drivers/drv_hrt.h>
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#include <perf/perf_counter.h>
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#include <px4_platform_common/px4_config.h>
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#include <px4_platform_common/micro_hal.h>
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namespace MicroBenchMath
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{
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#ifdef __PX4_NUTTX
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#include <nuttx/irq.h>
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static irqstate_t flags;
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#endif
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void lock()
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{
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#ifdef __PX4_NUTTX
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flags = px4_enter_critical_section();
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#endif
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}
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void unlock()
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{
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#ifdef __PX4_NUTTX
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px4_leave_critical_section(flags);
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#endif
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}
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#define PERF(name, op, count) do { \
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reset(); \
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perf_counter_t p = perf_alloc(PC_ELAPSED, name); \
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for (int rep = 0; rep < 10; rep++) { \
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px4_usleep(1000); \
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lock(); \
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perf_begin(p); \
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for (int i = 0; i < (count)/10; i++) { \
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op; \
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op; \
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op; \
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op; \
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op; \
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op; \
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op; \
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op; \
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op; \
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op; \
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} \
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perf_end(p); \
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unlock(); \
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reset(); \
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} \
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perf_print_counter(p); \
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perf_free(p); \
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} while (0)
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class MicroBenchMath : public UnitTest
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{
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public:
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virtual bool run_tests();
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private:
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bool time_single_precision_float();
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bool time_single_precision_float_trig();
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bool time_double_precision_float();
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bool time_double_precision_float_trig();
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bool time_8bit_integers();
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bool time_16bit_integers();
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bool time_32bit_integers();
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bool time_64bit_integers();
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void reset();
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volatile float f32;
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volatile float f32_out;
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volatile double f64;
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volatile double f64_out;
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volatile uint8_t i_8;
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volatile uint8_t i_8_out;
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volatile uint16_t i_16;
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volatile uint16_t i_16_out;
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volatile uint32_t i_32;
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volatile uint32_t i_32_out;
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volatile int64_t i_64;
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volatile int64_t i_64_out;
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volatile uint64_t u_64;
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volatile uint64_t u_64_out;
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};
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bool MicroBenchMath::run_tests()
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{
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ut_run_test(time_single_precision_float);
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ut_run_test(time_single_precision_float_trig);
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ut_run_test(time_double_precision_float);
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ut_run_test(time_double_precision_float_trig);
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ut_run_test(time_8bit_integers);
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ut_run_test(time_16bit_integers);
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ut_run_test(time_32bit_integers);
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ut_run_test(time_64bit_integers);
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return (_tests_failed == 0);
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}
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template<typename T>
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T random(T min, T max)
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{
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const T scale = rand() / (T) RAND_MAX; /* [0, 1.0] */
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return min + scale * (max - min); /* [min, max] */
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}
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void MicroBenchMath::reset()
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{
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srand(time(nullptr));
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// initialize with random data
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f32 = random(-2.0f * M_PI, 2.0f * M_PI); // somewhat representative range for angles in radians
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f32_out = random(-2.0f * M_PI, 2.0f * M_PI);
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f64 = random(-2.0 * M_PI, 2.0 * M_PI);
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f64_out = random(-2.0 * M_PI, 2.0 * M_PI);
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i_8 = rand();
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i_8_out = rand();
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i_16 = rand();
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i_16_out = rand();
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i_32 = rand();
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i_32_out = rand();
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i_64 = rand();
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i_64_out = rand();
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u_64 = rand();
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u_64_out = rand();
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}
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ut_declare_test_c(test_microbench_math, MicroBenchMath)
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bool MicroBenchMath::time_single_precision_float()
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{
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PERF("float add (10k ops)", f32_out += f32, 10000);
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PERF("float sub (10k ops)", f32_out -= f32, 10000);
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PERF("float mul (10k ops)", f32_out *= f32, 10000);
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PERF("float div (10k ops)", f32_out /= f32, 10000);
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PERF("float sqrt (1k ops)", f32_out = sqrtf(f32), 1000);
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return true;
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}
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bool MicroBenchMath::time_single_precision_float_trig()
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{
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PERF("sinf() (1k ops)", f32_out = sinf(f32), 1000);
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PERF("cosf() (1k ops)", f32_out = cosf(f32), 1000);
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PERF("tanf() (1k ops)", f32_out = tanf(f32), 1000);
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PERF("acosf() (1k ops)", f32_out = acosf(f32), 1000);
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PERF("asinf() (1k ops)", f32_out = asinf(f32), 1000);
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PERF("atan2f() (1k ops)", f32_out = atan2f(f32, 2.0f * f32), 1000);
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return true;
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}
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bool MicroBenchMath::time_double_precision_float()
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{
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PERF("double add (1k ops)", f64_out += f64, 1000);
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PERF("double sub (1k ops)", f64_out -= f64, 1000);
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PERF("double mul (1k ops)", f64_out *= f64, 1000);
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PERF("double div (100 ops)", f64_out /= f64, 100);
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PERF("double sqrt (100 ops)", f64_out = sqrt(f64), 100);
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return true;
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}
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bool MicroBenchMath::time_double_precision_float_trig()
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{
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PERF("sin() (100 ops)", f64_out = sin(f64), 100);
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PERF("cos() (100 ops)", f64_out = cos(f64), 100);
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PERF("tan() (100 ops)", f64_out = tan(f64), 100);
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PERF("acos() (100 ops)", f64_out = acos(f64 * 0.5), 100);
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PERF("asin() (100 ops)", f64_out = asin(f64 * 0.6), 100);
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PERF("atan2() (100 ops)", f64_out = atan2(f64 * 0.7, f64 * 0.8), 100);
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return true;
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}
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bool MicroBenchMath::time_8bit_integers()
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{
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PERF("int8 add (10k ops)", i_8_out += i_8, 10000);
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PERF("int8 sub (10k ops)", i_8_out -= i_8, 10000);
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PERF("int8 mul (10k ops)", i_8_out *= i_8, 10000);
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PERF("int8 div (10k ops)", i_8_out /= i_8, 10000);
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return true;
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}
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bool MicroBenchMath::time_16bit_integers()
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{
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PERF("int16 add (10k ops)", i_16_out += i_16, 10000);
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PERF("int16 sub (10k ops)", i_16_out -= i_16, 10000);
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PERF("int16 mul (10k ops)", i_16_out *= i_16, 10000);
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PERF("int16 div (10k ops)", i_16_out /= i_16, 10000);
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return true;
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}
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bool MicroBenchMath::time_32bit_integers()
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{
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PERF("int32 add (10k ops)", i_32_out += i_32, 10000);
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PERF("int32 sub (10k ops)", i_32_out -= i_32, 10000);
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PERF("int32 mul (10k ops)", i_32_out *= i_32, 10000);
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PERF("int32 div (10k ops)", i_32_out /= i_32, 10000);
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return true;
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}
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bool MicroBenchMath::time_64bit_integers()
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{
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PERF("int64 add (1k ops)", i_64_out += i_64, 1000);
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PERF("int64 sub (1k ops)", i_64_out -= i_64, 1000);
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PERF("int64 mul (1k ops)", i_64_out *= i_64, 1000);
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PERF("int64 div (1k ops)", i_64_out /= i_64, 1000);
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return true;
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}
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} // namespace MicroBenchMath
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