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153 lines
3.7 KiB
C++
153 lines
3.7 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2018-2019 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_hrt.cpp
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* Tests for the microbench high resolution timer.
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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 <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 MicroBenchHRT
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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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px4_usleep(1000); \
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reset(); \
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perf_counter_t p = perf_alloc(PC_ELAPSED, name); \
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for (int i = 0; i < count; i++) { \
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px4_usleep(1); \
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lock(); \
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perf_begin(p); \
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op; \
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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 MicroBenchHRT : 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_px4_hrt();
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void reset();
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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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uint64_t u_64;
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uint64_t u_64_out;
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};
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bool MicroBenchHRT::run_tests()
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{
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ut_run_test(time_px4_hrt);
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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 MicroBenchHRT::reset()
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{
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srand(time(nullptr));
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// initialize with random data
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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_hrt, MicroBenchHRT)
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bool MicroBenchHRT::time_px4_hrt()
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{
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PERF("hrt_absolute_time()", u_64_out = hrt_absolute_time(), 1000);
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PERF("hrt_elapsed_time()", u_64_out = hrt_elapsed_time(&u_64), 1000);
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PERF("hrt_elapsed_time_atomic()", u_64_out = hrt_elapsed_time_atomic(&u_64), 1000);
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return true;
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}
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} // namespace MicroBenchHRT
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