mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
273 lines
6.7 KiB
C++
273 lines
6.7 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (C) 2018-2019 PX4 Development Team. All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* 1. Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in
|
|
* the documentation and/or other materials provided with the
|
|
* distribution.
|
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
|
* used to endorse or promote products derived from this software
|
|
* without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/**
|
|
* @file test_microbench_math.cpp
|
|
* Tests for the microbench math library.
|
|
*/
|
|
|
|
#include <unit_test.h>
|
|
|
|
#include <time.h>
|
|
#include <stdlib.h>
|
|
#include <unistd.h>
|
|
#include <math.h>
|
|
|
|
#include <drivers/drv_hrt.h>
|
|
#include <perf/perf_counter.h>
|
|
#include <px4_platform_common/px4_config.h>
|
|
#include <px4_platform_common/micro_hal.h>
|
|
|
|
namespace MicroBenchMath
|
|
{
|
|
|
|
#ifdef __PX4_NUTTX
|
|
#include <nuttx/irq.h>
|
|
static irqstate_t flags;
|
|
#endif
|
|
|
|
void lock()
|
|
{
|
|
#ifdef __PX4_NUTTX
|
|
flags = px4_enter_critical_section();
|
|
#endif
|
|
}
|
|
|
|
void unlock()
|
|
{
|
|
#ifdef __PX4_NUTTX
|
|
px4_leave_critical_section(flags);
|
|
#endif
|
|
}
|
|
|
|
#define PERF(name, op, count) do { \
|
|
px4_usleep(1000); \
|
|
reset(); \
|
|
perf_counter_t p = perf_alloc(PC_ELAPSED, name); \
|
|
for (int i = 0; i < count; i++) { \
|
|
px4_usleep(1); \
|
|
lock(); \
|
|
perf_begin(p); \
|
|
op; \
|
|
perf_end(p); \
|
|
unlock(); \
|
|
reset(); \
|
|
} \
|
|
perf_print_counter(p); \
|
|
perf_free(p); \
|
|
} while (0)
|
|
|
|
class MicroBenchMath : public UnitTest
|
|
{
|
|
public:
|
|
virtual bool run_tests();
|
|
|
|
private:
|
|
bool time_single_precision_float();
|
|
bool time_single_precision_float_trig();
|
|
|
|
bool time_double_precision_float();
|
|
bool time_double_precision_float_trig();
|
|
|
|
bool time_8bit_integers();
|
|
bool time_16bit_integers();
|
|
bool time_32bit_integers();
|
|
bool time_64bit_integers();
|
|
|
|
void reset();
|
|
|
|
volatile float f32;
|
|
volatile float f32_out;
|
|
|
|
volatile double f64;
|
|
volatile double f64_out;
|
|
|
|
volatile uint8_t i_8;
|
|
volatile uint8_t i_8_out;
|
|
|
|
volatile uint16_t i_16;
|
|
volatile uint16_t i_16_out;
|
|
|
|
volatile uint32_t i_32;
|
|
volatile uint32_t i_32_out;
|
|
|
|
volatile int64_t i_64;
|
|
volatile int64_t i_64_out;
|
|
|
|
volatile uint64_t u_64;
|
|
volatile uint64_t u_64_out;
|
|
};
|
|
|
|
bool MicroBenchMath::run_tests()
|
|
{
|
|
ut_run_test(time_single_precision_float);
|
|
ut_run_test(time_single_precision_float_trig);
|
|
ut_run_test(time_double_precision_float);
|
|
ut_run_test(time_double_precision_float_trig);
|
|
ut_run_test(time_8bit_integers);
|
|
ut_run_test(time_16bit_integers);
|
|
ut_run_test(time_32bit_integers);
|
|
ut_run_test(time_64bit_integers);
|
|
|
|
return (_tests_failed == 0);
|
|
}
|
|
|
|
template<typename T>
|
|
T random(T min, T max)
|
|
{
|
|
const T scale = rand() / (T) RAND_MAX; /* [0, 1.0] */
|
|
return min + scale * (max - min); /* [min, max] */
|
|
}
|
|
|
|
void MicroBenchMath::reset()
|
|
{
|
|
srand(time(nullptr));
|
|
|
|
// initialize with random data
|
|
f32 = random(-2.0f * M_PI, 2.0f * M_PI); // somewhat representative range for angles in radians
|
|
f32_out = random(-2.0f * M_PI, 2.0f * M_PI);
|
|
|
|
f64 = random(-2.0 * M_PI, 2.0 * M_PI);
|
|
f64_out = random(-2.0 * M_PI, 2.0 * M_PI);
|
|
|
|
i_8 = rand();
|
|
i_8_out = rand();
|
|
|
|
i_16 = rand();
|
|
i_16_out = rand();
|
|
|
|
i_32 = rand();
|
|
i_32_out = rand();
|
|
|
|
i_64 = rand();
|
|
i_64_out = rand();
|
|
|
|
u_64 = rand();
|
|
u_64_out = rand();
|
|
}
|
|
|
|
ut_declare_test_c(test_microbench_math, MicroBenchMath)
|
|
|
|
bool MicroBenchMath::time_single_precision_float()
|
|
{
|
|
PERF("float add", f32_out += f32, 100);
|
|
PERF("float sub", f32_out -= f32, 100);
|
|
PERF("float mul", f32_out *= f32, 100);
|
|
PERF("float div", f32_out /= f32, 100);
|
|
PERF("float sqrt", f32_out = sqrtf(f32), 100);
|
|
|
|
return true;
|
|
}
|
|
|
|
bool MicroBenchMath::time_single_precision_float_trig()
|
|
{
|
|
PERF("sinf()", f32_out = sinf(f32), 100);
|
|
PERF("cosf()", f32_out = cosf(f32), 100);
|
|
PERF("tanf()", f32_out = tanf(f32), 100);
|
|
|
|
PERF("acosf()", f32_out = acosf(f32), 100);
|
|
PERF("asinf()", f32_out = asinf(f32), 100);
|
|
PERF("atan2f()", f32_out = atan2f(f32, 2.0f * f32), 100);
|
|
|
|
return true;
|
|
}
|
|
|
|
bool MicroBenchMath::time_double_precision_float()
|
|
{
|
|
PERF("double add", f64_out += f64, 100);
|
|
PERF("double sub", f64_out -= f64, 100);
|
|
PERF("double mul", f64_out *= f64, 100);
|
|
PERF("double div", f64_out /= f64, 100);
|
|
PERF("double sqrt", f64_out = sqrt(f64), 100);
|
|
|
|
return true;
|
|
}
|
|
|
|
bool MicroBenchMath::time_double_precision_float_trig()
|
|
{
|
|
PERF("sin()", f64_out = sin(f64), 100);
|
|
PERF("cos()", f64_out = cos(f64), 100);
|
|
PERF("tan()", f64_out = tan(f64), 100);
|
|
|
|
PERF("acos()", f64_out = acos(f64 * 0.5), 100);
|
|
PERF("asin()", f64_out = asin(f64 * 0.6), 100);
|
|
PERF("atan2()", f64_out = atan2(f64 * 0.7, f64 * 0.8), 100);
|
|
|
|
PERF("sqrt()", f64_out = sqrt(f64), 100);
|
|
|
|
return true;
|
|
}
|
|
|
|
|
|
bool MicroBenchMath::time_8bit_integers()
|
|
{
|
|
PERF("int8 add", i_8_out += i_8, 100);
|
|
PERF("int8 sub", i_8_out -= i_8, 100);
|
|
PERF("int8 mul", i_8_out *= i_8, 100);
|
|
PERF("int8 div", i_8_out /= i_8, 100);
|
|
|
|
return true;
|
|
}
|
|
|
|
bool MicroBenchMath::time_16bit_integers()
|
|
{
|
|
PERF("int16 add", i_16_out += i_16, 100);
|
|
PERF("int16 sub", i_16_out -= i_16, 100);
|
|
PERF("int16 mul", i_16_out *= i_16, 100);
|
|
PERF("int16 div", i_16_out /= i_16, 100);
|
|
|
|
return true;
|
|
}
|
|
|
|
bool MicroBenchMath::time_32bit_integers()
|
|
{
|
|
PERF("int32 add", i_32_out += i_32, 100);
|
|
PERF("int32 sub", i_32_out -= i_32, 100);
|
|
PERF("int32 mul", i_32_out *= i_32, 100);
|
|
PERF("int32 div", i_32_out /= i_32, 100);
|
|
|
|
return true;
|
|
}
|
|
|
|
bool MicroBenchMath::time_64bit_integers()
|
|
{
|
|
PERF("int64 add", i_64_out += i_64, 100);
|
|
PERF("int64 sub", i_64_out -= i_64, 100);
|
|
PERF("int64 mul", i_64_out *= i_64, 100);
|
|
PERF("int64 div", i_64_out /= i_64, 100);
|
|
|
|
return true;
|
|
}
|
|
|
|
} // namespace MicroBenchMath
|