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syswcet
dosek
Commits
73626dc7
Commit
73626dc7
authored
8 years ago
by
Christian Dietrich
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timing/new benchmark: I4Copter Benchmark
parent
3d7cd164
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3 changed files
app/benchmark/timing/CMakeLists.txt
+7
-0
7 additions, 0 deletions
app/benchmark/timing/CMakeLists.txt
app/benchmark/timing/copter.cc
+150
-0
150 additions, 0 deletions
app/benchmark/timing/copter.cc
app/benchmark/timing/copter.oil
+168
-0
168 additions, 0 deletions
app/benchmark/timing/copter.oil
with
325 additions
and
0 deletions
app/benchmark/timing/CMakeLists.txt
+
7
−
0
View file @
73626dc7
...
...
@@ -48,3 +48,10 @@ DOSEK_BINARY(
LIBS libtest timing
SOURCES alarm.cc
)
DOSEK_BINARY
(
NAME bench-timing-copter
SYSTEM_DESC copter.oil
LIBS libtest timing
SOURCES copter.cc
)
This diff is collapsed.
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app/benchmark/timing/copter.cc
0 → 100644
+
150
−
0
View file @
73626dc7
#include
"os.h"
#include
"test/test.h"
#include
"timing.h"
#include
"machine.h"
//extern "C" volatile uint32_t random_source =0 ;
DeclareTask
(
SignalGatherInitiateTask
);
DeclareTask
(
SignalGatherFinishedTask
);
DeclareTask
(
SignalGatherTimeoutTask
);
DeclareTask
(
SignalProcessingActuateTask
);
DeclareTask
(
SignalProcessingAttitudeTask
);
DeclareTask
(
ActuateTask
);
DeclareTask
(
FlightControlAttitudeTask
);
DeclareTask
(
FlightControlActuateTask
);
DeclareTask
(
MavlinkSendTask
);
DeclareTask
(
CopterControlTask
);
DeclareTask
(
MavlinkRecvHandler
);
DeclareResource
(
SPIBus
);
DeclareAlarm
(
CopterControlWatchdogAlarm
);
TEST_MAKE_OS_MAIN
(
StartOS
(
0
)
)
GENERATE_TIME_CONSUMER
(
calculation
,
100
)
GENERATE_TIME_CONSUMER
(
calculation_short
,
10
)
int
round
;
TASK
(
SignalGatherInitiateTask
)
{
if
(
round
==
9
)
{
calculation
();
timing_dump
();
ShutdownMachine
();
}
calculation
();
GetResource
(
SPIBus
);
calculation
();
if
((
round
%
2
)
==
0
)
{
ActivateTask
(
SignalGatherTimeoutTask
);
calculation
();
}
else
{
ActivateTask
(
SignalGatherFinishedTask
);
calculation
();
}
round
++
;
calculation
();
ReleaseResource
(
SPIBus
);
calculation
();
TerminateTask
();
}
TASK
(
SignalGatherFinishedTask
)
{
timing_start
(
0
);
calculation
();
ActivateTask
(
SignalProcessingAttitudeTask
);
calculation
();
ActivateTask
(
SignalProcessingActuateTask
);
calculation
();
timing_end
(
0
);
TerminateTask
();
}
TASK
(
SignalGatherTimeoutTask
)
{
calculation
();
GetResource
(
SPIBus
);
calculation
();
ReleaseResource
(
SPIBus
);
calculation
();
ChainTask
(
SignalGatherFinishedTask
);
}
volatile
int
calculate
;
TASK
(
SignalProcessingActuateTask
)
{
calculation
();
TerminateTask
();
}
TASK
(
SignalProcessingAttitudeTask
)
{
calculation
();
TerminateTask
();
}
TASK
(
FlightControlTask
)
{
calculation
();
ActivateTask
(
FlightControlAttitudeTask
);
calculation
();
ActivateTask
(
FlightControlActuateTask
);
calculation
();
ActivateTask
(
MavlinkSendTask
);
calculation
();
TerminateTask
();
}
TASK
(
FlightControlAttitudeTask
)
{
calculation
();
TerminateTask
();
}
TASK
(
FlightControlActuateTask
)
{
calculation
();
TerminateTask
();
}
TASK
(
MavlinkSendTask
)
{
calculation
();
GetResource
(
SPIBus
);
calculation
();
Machine
::
trigger_interrupt_from_user
(
37
);
ReleaseResource
(
SPIBus
);
calculation
();
TerminateTask
();
}
TASK
(
CopterControlTask
)
{
calculation
();
SuspendAllInterrupts
();
calculation
();
ResumeAllInterrupts
();
calculation
();
timing_end
(
1
);
if
(
round
<
5
)
{
CancelAlarm
(
CopterControlWatchdogAlarm
);
calculation
();
SetRelAlarm
(
CopterControlWatchdogAlarm
,
100
,
100
);
}
calculation
();
TerminateTask
();
}
ISR2
(
MavlinkRecvHandler
)
{
timing_start
(
1
);
calculation_short
();
ActivateTask
(
CopterControlTask
);
calculation_short
();
}
TASK
(
CopterControlWatchdogTask
)
{
calculation
();
TerminateTask
();
}
void
PreIdleHook
()
{
kout
<<
"I"
<<
round
<<
endl
;
}
This diff is collapsed.
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app/benchmark/timing/copter.oil
0 → 100644
+
168
−
0
View file @
73626dc7
CPU CopterMock {
OS Coptermock {
STATUS = STANDARD;
ERRORHOOK = FALSE;
STARTUPHOOK = FALSE;
SHUTDOWNHOOK = FALSE;
PRETASKHOOK = FALSE;
POSTTASKHOOK = FALSE;
};
TASKGROUP SignalGatherGroup {
PROMISE = SERIALIZED;
};
TASK SignalGatherInitiateTask {
SCHEDULE = FULL;
PRIORITY = 24;
ACTIVATION = 1;
AUTOSTART = FALSE;
RESOURCE = SPIBus;
TASKGROUP = SignalGatherGroup;
};
TASK SignalGatherFinishedTask {
SCHEDULE = FULL;
PRIORITY = 25;
ACTIVATION = 1;
AUTOSTART = FALSE;
RESOURCE = SPIBus;
TASKGROUP = SignalGatherGroup;
};
TASK SignalGatherTimeoutTask {
SCHEDULE = FULL;
PRIORITY = 23;
ACTIVATION = 1;
AUTOSTART = FALSE;
RESOURCE = SPIBus;
TASKGROUP = SignalGatherGroup;
};
TASK SignalProcessingActuateTask {
SCHEDULE = FULL;
PRIORITY = 22;
ACTIVATION = 1;
AUTOSTART = FALSE;
TASKGROUP = SignalGatherGroup;
};
TASK SignalProcessingAttitudeTask {
SCHEDULE = FULL;
PRIORITY = 21;
ACTIVATION = 1;
AUTOSTART = FALSE;
TASKGROUP = SignalGatherGroup;
};
/* Actuate Tasks */
TASKGROUP FlightControlGroup {
PROMISE = SERIALIZED;
};
TASK FlightControlTask {
SCHEDULE = NON;
PRIORITY = 11;
ACTIVATION = 1;
AUTOSTART = FALSE;
TASKGROUP = FlightControlGroup;
};
TASK FlightControlAttitudeTask {
SCHEDULE = FULL;
PRIORITY = 12;
ACTIVATION = 1;
AUTOSTART = FALSE;
TASKGROUP = FlightControlGroup;
};
TASK FlightControlActuateTask {
SCHEDULE = FULL;
PRIORITY = 13;
ACTIVATION = 1;
AUTOSTART = FALSE;
TASKGROUP = FlightControlGroup;
};
TASK MavlinkSendTask {
SCHEDULE = FULL;
PRIORITY = 10;
ACTIVATION = 1;
AUTOSTART = FALSE;
TASKGROUP = FlightControlGroup;
};
/* Watchdog Task */
TASKGROUP WatchdogGroup {
PROMISE = SERIALIZED;
};
TASK CopterControlWatchdogTask {
SCHEDULE = NON;
PRIORITY = 1;
ACTIVATION = 1;
AUTOSTART = FALSE;
TASKGROUP = WatchdogGroup;
};
/* Remote Control Task */
TASKGROUP MavlinkReceiveGroup {
PROMISE = SERIALIZED;
};
TASK CopterControlTask {
SCHEDULE = FULL;
PRIORITY = 5;
ACTIVATION = 1;
AUTOSTART = FALSE;
TASKGROUP = MavlinkReceiveGroup;
};
ISR MavlinkRecvHandler {
CATEGORY = 2;
PRIORITY = 100;
DEVICE = 37;
TASKGROUP = MavlinkReceiveGroup;
MINIAT = 200000;
};
RESOURCE SPIBus {
RESOURCEPROPERTY = STANDARD;
};
ALARM SignalGatherAlarm {
COUNTER = C1;
ACTION = ACTIVATETASK {
TASK = SignalGatherInitiateTask;
};
AUTOSTART = TRUE {
ALARMTIME = 10;
CYCLETIME = 30;
};
};
ALARM FlightControlAlarm {
COUNTER = C1;
ACTION = ACTIVATETASK {
TASK = FlightControlTask;
};
AUTOSTART = TRUE {
ALARMTIME = 10;
CYCLETIME = 90;
};
};
ALARM CopterControlWatchdogAlarm {
COUNTER = C1;
ACTION = ACTIVATETASK {
TASK = CopterControlWatchdogTask;
};
};
COUNTER C1 {
MAXALLOWEDVALUE = 50000;
TICKSPERBASE = 1;
MINCYCLE = 1;
};
};
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