CPUInfo: add DSP

Tools/CPUInfo/CPUInfo.cpp

@@ -13,6 +13,10 @@
 #include <AP_ESC_Telem/AP_ESC_Telem.h>
 #include "EKF_Maths.h"
 
+#if HAL_WITH_DSP && CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
+#include <arm_math.h>
+#endif
+
 void setup();
 void loop();
 
@@ -132,24 +136,31 @@ static void show_timings(void)
     TIMEIT("dmul", v_out_d *= v_d, 100);
     TIMEIT("ddiv", v_out_d /= v_d, 100);
 
-    TIMEIT("sinf()", v_out = sinf(v_f), 20);
+    TIMEIT("sinf()", v_out = sinf(v_f), 100);
-    TIMEIT("cosf()", v_out = cosf(v_f), 20);
+    TIMEIT("cosf()", v_out = cosf(v_f), 100);
-    TIMEIT("tanf()", v_out = tanf(v_f), 20);
+    #if HAL_WITH_DSP && CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
-    TIMEIT("acosf()", v_out = acosf(v_f * 0.2), 20);
+    TIMEIT("arm_sin_f32()", v_out = arm_sin_f32(v_f), 100);
-    TIMEIT("asinf()", v_out = asinf(v_f * 0.2), 20);
+    TIMEIT("arm_cos_f32()", v_out = arm_cos_f32(v_f), 100);
-    TIMEIT("atan2f()", v_out = atan2f(v_f * 0.2, v_f * 0.3), 20);
+    #endif
-    TIMEIT("sqrtf()",v_out = sqrtf(v_f), 20);
+    TIMEIT("tanf()", v_out = tanf(v_f), 100);
-
+    TIMEIT("acosf()", v_out = acosf(v_f * 0.2), 100);
-    TIMEIT("sin()", v_out = sin(v_f), 20);
+    TIMEIT("asinf()", v_out = asinf(v_f * 0.2), 100);
-    TIMEIT("cos()", v_out = cos(v_f), 20);
+    TIMEIT("atan2f()", v_out = atan2f(v_f * 0.2, v_f * 0.3), 100);
-    TIMEIT("tan()", v_out = tan(v_f), 20);
+    TIMEIT("sqrtf()",v_out = sqrtf(v_f), 100);
-    TIMEIT("acos()", v_out = acos(v_f * 0.2), 20);
+
-    TIMEIT("asin()", v_out = asin(v_f * 0.2), 20);
+    TIMEIT("sin()", v_out = sin(v_f), 100);
-    TIMEIT("atan2()", v_out = atan2(v_f * 0.2, v_f * 0.3), 20);
+    TIMEIT("cos()", v_out = cos(v_f), 100);
-    TIMEIT("sqrt()",v_out = sqrt(v_f), 20);
+    TIMEIT("tan()", v_out = tan(v_f), 100);
-    TIMEIT("sq()",v_out = sq(v_f), 20);
+    TIMEIT("acos()", v_out = acos(v_f * 0.2), 100);
-    TIMEIT("powf(v,2)",v_out = powf(v_f, 2), 20);
+    TIMEIT("asin()", v_out = asin(v_f * 0.2), 100);
-    TIMEIT("powf(v,3.1)",v_out = powf(v_f, 3.1), 20);
+    TIMEIT("atan2()", v_out = atan2(v_f * 0.2, v_f * 0.3), 100);
+    TIMEIT("sqrt()",v_out = sqrt(v_f), 100);
+    #if HAL_WITH_DSP && CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
+	TIMEIT("arm_sqrt_f32()", arm_sqrt_f32(v_f, (float32_t*)&v_out), 100);
+    #endif
+    TIMEIT("sq()",v_out = sq(v_f), 100);
+    TIMEIT("powf(v,2)",v_out = powf(v_f, 2), 100);
+    TIMEIT("powf(v,3.1)",v_out = powf(v_f, 3.1), 100);
     TIMEIT("EKF",v_out = ekf.test(), 5);
 
     TIMEIT("iadd8", v_out_8 += v_8, 100);

Tools/CPUInfo/Makefile

@@ -2,7 +2,7 @@
 
 all:
 	@cd ../../ && modules/waf/waf-light configure --board linux --debug
-	@cd ../../ && modules/waf/waf-light tools
+	@cd ../../ && modules/waf/waf-light tool
 	@cp ../../build/linux/tool/CPUInfo CPUInfo.elf
 	@echo Built CPUInfo.elf