tests simple timing microbenchmark

platforms/posix/cmake/sitl_tests.cmake

@@ -21,6 +21,7 @@ set(tests
 	matrix
 	mavlink
 	mc_pos_control
+	microbench
 	mixer
 	param
 	parameters

src/include/unit_test.h

@@ -105,6 +105,7 @@ protected:
 			_tests_passed++;			\
 		}						\
 		_cleanup();					\
+		printf("\n");				\
 	} while (0)
 
 /// @brief Used to assert a value within a unit test.

src/lib/perf/perf_counter.c

@@ -458,11 +458,11 @@ perf_print_counter_fd(int fd, perf_counter_t handle)
 	case PC_ELAPSED: {
 			struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle;
 			float rms = sqrtf(pce->M2 / (pce->event_count - 1));
-			dprintf(fd, "%s: %llu events, %lluus elapsed, %lluus avg, min %lluus max %lluus %5.3fus rms\n",
+			dprintf(fd, "%s: %llu events, %lluus elapsed, %.2fus avg, min %lluus max %lluus %5.3fus rms\n",
 				handle->name,
 				(unsigned long long)pce->event_count,
 				(unsigned long long)pce->time_total,
-				(pce->event_count == 0) ? 0 : (unsigned long long)pce->time_total / pce->event_count,
+				(pce->event_count == 0) ? 0 : (double)pce->time_total / (double)pce->event_count,
 				(unsigned long long)pce->time_least,
 				(unsigned long long)pce->time_most,
 				(double)(1e6f * rms));
@@ -473,10 +473,10 @@ perf_print_counter_fd(int fd, perf_counter_t handle)
 			struct perf_ctr_interval *pci = (struct perf_ctr_interval *)handle;
 			float rms = sqrtf(pci->M2 / (pci->event_count - 1));
 
-			dprintf(fd, "%s: %llu events, %lluus avg, min %lluus max %lluus %5.3fus rms\n",
+			dprintf(fd, "%s: %llu events, %.2fus avg, min %lluus max %lluus %5.3fus rms\n",
 				handle->name,
 				(unsigned long long)pci->event_count,
-				(pci->event_count == 0) ? 0 : (unsigned long long)(pci->time_last - pci->time_first) / pci->event_count,
+				(pci->event_count == 0) ? 0 : (double)(pci->time_last - pci->time_first) / (double)pci->event_count,
 				(unsigned long long)pci->time_least,
 				(unsigned long long)pci->time_most,
 				(double)(1e6f * rms));
@@ -508,11 +508,11 @@ perf_print_counter_buffer(char *buffer, int length, perf_counter_t handle)
 	case PC_ELAPSED: {
 			struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle;
 			float rms = sqrtf(pce->M2 / (pce->event_count - 1));
-			num_written = snprintf(buffer, length, "%s: %llu events, %lluus elapsed, %lluus avg, min %lluus max %lluus %5.3fus rms",
+			num_written = snprintf(buffer, length, "%s: %llu events, %lluus elapsed, %.2fus avg, min %lluus max %lluus %5.3fus rms",
 					       handle->name,
 					       (unsigned long long)pce->event_count,
 					       (unsigned long long)pce->time_total,
-					       (pce->event_count == 0) ? 0 : (unsigned long long)pce->time_total / pce->event_count,
+					       (pce->event_count == 0) ? 0 : (double)pce->time_total / (double)pce->event_count,
 					       (unsigned long long)pce->time_least,
 					       (unsigned long long)pce->time_most,
 					       (double)(1e6f * rms));
@@ -523,10 +523,10 @@ perf_print_counter_buffer(char *buffer, int length, perf_counter_t handle)
 			struct perf_ctr_interval *pci = (struct perf_ctr_interval *)handle;
 			float rms = sqrtf(pci->M2 / (pci->event_count - 1));
 
-			num_written = snprintf(buffer, length, "%s: %llu events, %lluus avg, min %lluus max %lluus %5.3fus rms",
+			num_written = snprintf(buffer, length, "%s: %llu events, %.2f avg, min %lluus max %lluus %5.3fus rms",
 					       handle->name,
 					       (unsigned long long)pci->event_count,
-					       (pci->event_count == 0) ? 0 : (unsigned long long)(pci->time_last - pci->time_first) / pci->event_count,
+					       (pci->event_count == 0) ? 0 : (double)(pci->time_last - pci->time_first) / (double)pci->event_count,
 					       (unsigned long long)pci->time_least,
 					       (unsigned long long)pci->time_most,
 					       (double)(1e6f * rms));

src/modules/sensors/CMakeLists.txt

@@ -52,4 +52,5 @@ px4_add_module(
 		drivers__device
 		git_ecl
 		ecl_validation
+		mathlib
 	)

src/systemcmds/tests/CMakeLists.txt

@@ -49,6 +49,7 @@ set(srcs
 	test_led.c
 	test_mathlib.cpp
 	test_matrix.cpp
+	test_microbench.cpp
 	test_mixer.cpp
 	test_mount.c
 	test_param.c

src/systemcmds/tests/test_microbench.cpp

+
+#include <unit_test.h>
+
+#include <time.h>
+#include <stdlib.h>
+
+#include <drivers/drv_hrt.h>
+#include <perf/perf_counter.h>
+#include <px4_config.h>
+#include <px4_micro_hal.h>
+
+#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 { \
+		usleep(1000); \
+		reset(); \
+		perf_counter_t p = perf_alloc(PC_ELAPSED, name); \
+		for (int i = 0; i < count; i++) { \
+			lock(); \
+			perf_begin(p); \
+			op; \
+			perf_end(p); \
+			unlock(); \
+			reset(); \
+		} \
+		perf_print_counter(p); \
+		perf_free(p); \
+	} while (0)
+
+class MicroBench : public UnitTest
+{
+public:
+	virtual bool run_tests();
+
+private:
+	bool time_single_prevision_float();
+	bool time_single_prevision_float_trig();
+
+	bool time_double_prevision_float();
+	bool time_double_prevision_float_trig();
+
+	bool time_8bit_integers();
+	bool time_16bit_integers();
+	bool time_32bit_integers();
+	bool time_64bit_integers();
+
+	bool time_px4_hrt();
+
+	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 MicroBench::run_tests()
+{
+	ut_run_test(time_single_prevision_float);
+	ut_run_test(time_single_prevision_float_trig);
+	ut_run_test(time_double_prevision_float);
+	ut_run_test(time_double_prevision_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);
+	ut_run_test(time_px4_hrt);
+
+	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 MicroBench::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, MicroBench)
+
+bool MicroBench::time_single_prevision_float()
+{
+	PERF("float add", f32_out += f32, 1000);
+	PERF("float sub", f32_out -= f32, 1000);
+	PERF("float mul", f32_out *= f32, 1000);
+	PERF("float div", f32_out /= f32, 1000);
+	PERF("float sqrt", f32_out = sqrtf(f32), 1000);
+
+	return true;
+}
+
+bool MicroBench::time_single_prevision_float_trig()
+{
+	PERF("sinf()", f32_out = sinf(f32), 1000);
+	PERF("cosf()", f32_out = cosf(f32), 1000);
+	PERF("tanf()", f32_out = tanf(f32), 1000);
+
+	PERF("acosf()", f32_out = acosf(f32), 1000);
+	PERF("asinf()", f32_out = asinf(f32), 1000);
+	PERF("atan2f()", f32_out = atan2f(f32, 2.0f * f32), 1000);
+
+	return true;
+}
+
+bool MicroBench::time_double_prevision_float()
+{
+	PERF("double add", f64_out += f64, 1000);
+	PERF("double sub", f64_out -= f64, 1000);
+	PERF("double mul", f64_out *= f64, 1000);
+	PERF("double div", f64_out /= f64, 1000);
+	PERF("double sqrt", f64_out = sqrt(f64), 1000);
+
+	return true;
+}
+
+bool MicroBench::time_double_prevision_float_trig()
+{
+	PERF("sin()", f64_out = sin(f64), 1000);
+	PERF("cos()", f64_out = cos(f64), 1000);
+	PERF("tan()", f64_out = tan(f64), 1000);
+
+	PERF("acos()", f64_out = acos(f64 * 0.5), 1000);
+	PERF("asin()", f64_out = asin(f64 * 0.6), 1000);
+	PERF("atan2()", f64_out = atan2(f64 * 0.7, f64 * 0.8), 1000);
+
+	PERF("sqrt()", f64_out = sqrt(f64), 1000);
+
+	return true;
+}
+
+
+bool MicroBench::time_8bit_integers()
+{
+	PERF("int8 add", i_8_out += i_8, 1000);
+	PERF("int8 sub", i_8_out -= i_8, 1000);
+	PERF("int8 mul", i_8_out *= i_8, 1000);
+	PERF("int8 div", i_8_out /= i_8, 1000);
+
+	return true;
+}
+
+bool MicroBench::time_16bit_integers()
+{
+	PERF("int16 add", i_16_out += i_16, 1000);
+	PERF("int16 sub", i_16_out -= i_16, 1000);
+	PERF("int16 mul", i_16_out *= i_16, 1000);
+	PERF("int16 div", i_16_out /= i_16, 1000);
+
+	return true;
+}
+
+bool MicroBench::time_32bit_integers()
+{
+	PERF("int32 add", i_32_out += i_32, 1000);
+	PERF("int32 sub", i_32_out -= i_32, 1000);
+	PERF("int32 mul", i_32_out *= i_32, 1000);
+	PERF("int32 div", i_32_out /= i_32, 1000);
+
+	return true;
+}
+
+bool MicroBench::time_64bit_integers()
+{
+	PERF("int64 add", i_64_out += i_64, 1000);
+	PERF("int64 sub", i_64_out -= i_64, 1000);
+	PERF("int64 mul", i_64_out *= i_64, 1000);
+	PERF("int64 div", i_64_out /= i_64, 1000);
+
+	return true;
+}
+
+bool MicroBench::time_px4_hrt()
+{
+	PERF("hrt_absolute_time()", u_64_out = hrt_absolute_time(), 1000);
+	PERF("hrt_elapsed_time()", u_64_out = hrt_elapsed_time(&u_64), 1000);
+
+	return true;
+}

src/systemcmds/tests/tests_main.c

@@ -115,6 +115,7 @@ const struct {
 	{"jig_voltages",	test_jig_voltages,	OPT_NOALLTEST},
 	{"mathlib",		test_mathlib,	0},
 	{"matrix",		test_matrix,	0},
+	{"microbench",		test_microbench,	0},
 	{"mount",		test_mount,	OPT_NOJIGTEST | OPT_NOALLTEST},
 	{"param",		test_param,	0},
 	{"parameters",	test_parameters,	0},

src/systemcmds/tests/tests_main.h

@@ -69,6 +69,7 @@ extern int	test_jig_voltages(int argc, char *argv[]);
 extern int	test_led(int argc, char *argv[]);
 extern int	test_mathlib(int argc, char *argv[]);
 extern int	test_matrix(int argc, char *argv[]);
+extern int	test_microbench(int argc, char *argv[]);
 extern int	test_mixer(int argc, char *argv[]);
 extern int	test_mount(int argc, char *argv[]);
 extern int	test_param(int argc, char *argv[]);