Tools: make CPUInfo test fairer, add data for external flash

fix CPUInfo on linux
make cache disabling optional in CPUInfo

Tools/AP_Bootloader/AP_Bootloader.cpp

@@ -32,7 +32,7 @@
 #include "bl_protocol.h"
 #include "can.h"
 #include <stdio.h>
-#if EXTERNAL_PROG_FLASH_MB
+#if EXT_FLASH_SIZE_MB
 #include <AP_FlashIface/AP_FlashIface_JEDEC.h>
 #endif
 
@@ -44,7 +44,7 @@ struct boardinfo board_info = {
     .board_type = APJ_BOARD_ID,
     .board_rev = 0,
     .fw_size = (BOARD_FLASH_SIZE - (FLASH_BOOTLOADER_LOAD_KB + FLASH_RESERVE_END_KB + APP_START_OFFSET_KB))*1024,
-    .extf_size = (EXTERNAL_PROG_FLASH_MB * 1024 * 1024)
+    .extf_size = (EXT_FLASH_SIZE_MB * 1024 * 1024)
 };
 
 #ifndef HAL_BOOTLOADER_TIMEOUT
@@ -55,7 +55,7 @@ struct boardinfo board_info = {
 #define HAL_STAY_IN_BOOTLOADER_VALUE 0
 #endif
 
-#if EXTERNAL_PROG_FLASH_MB
+#if EXT_FLASH_SIZE_MB
 AP_FlashIface_JEDEC ext_flash;
 #endif
 
@@ -151,7 +151,7 @@ int main(void)
     flash_init();
 
 
-#if EXTERNAL_PROG_FLASH_MB
+#if EXT_FLASH_SIZE_MB
     while (!ext_flash.init()) {
         // keep trying until we get it working
         // there's no future without it

Tools/AP_Bootloader/bl_protocol.cpp

@@ -50,7 +50,7 @@
 #include "support.h"
 #include "can.h"
 #include <AP_HAL_ChibiOS/hwdef/common/watchdog.h>
-#if EXTERNAL_PROG_FLASH_MB
+#if EXT_FLASH_SIZE_MB
 #include <AP_FlashIface/AP_FlashIface_JEDEC.h>
 #endif
 // #pragma GCC optimize("O0")
@@ -148,7 +148,7 @@ volatile unsigned timer[NTIMERS];
 #define RESERVE_LEAD_WORDS 8
 
 
-#if EXTERNAL_PROG_FLASH_MB
+#if EXT_FLASH_SIZE_MB
 extern AP_FlashIface_JEDEC ext_flash;
 #endif
 
@@ -233,7 +233,7 @@ jump_to_app()
     const uint32_t *app_base = (const uint32_t *)(APP_START_ADDRESS);
 
     // If we have QSPI chip start it
-#if EXTERNAL_PROG_FLASH_MB
+#if EXT_FLASH_SIZE_MB
     uint8_t* ext_flash_start_addr;
     if (!ext_flash.start_xip_mode((void**)&ext_flash_start_addr)) {
         return;
@@ -314,7 +314,7 @@ jump_to_app()
     /* extract the stack and entrypoint from the app vector table and go */
     do_jump(app_base[0], app_base[1]);
 exit:
-#if EXTERNAL_PROG_FLASH_MB
+#if EXT_FLASH_SIZE_MB
     ext_flash.stop_xip_mode();
 #endif
     return;
@@ -432,7 +432,7 @@ bootloader(unsigned timeout)
 #endif
 
     uint32_t	address = board_info.fw_size;	/* force erase before upload will work */
-#if EXTERNAL_PROG_FLASH_MB
+#if EXT_FLASH_SIZE_MB
     uint32_t	extf_address = board_info.extf_size;	/* force erase before upload will work */
 #endif
     uint32_t	read_address = 0;
@@ -627,7 +627,7 @@ bootloader(unsigned timeout)
         // readback failure:	INSYNC/FAILURE
         //
         case PROTO_EXTF_ERASE:
-#if EXTERNAL_PROG_FLASH_MB
+#if EXT_FLASH_SIZE_MB
         {
             if (!done_sync || !CHECK_GET_DEVICE_FINISHED(done_get_device_flags)) {
                 // lower chance of random data on a uart triggering erase
@@ -684,7 +684,7 @@ bootloader(unsigned timeout)
         }
 #else
             goto cmd_bad;
-#endif // EXTERNAL_PROG_FLASH_MB
+#endif // EXT_FLASH_SIZE_MB
             break;
 
         // program bytes at current external flash address
@@ -696,7 +696,7 @@ bootloader(unsigned timeout)
         //
         case PROTO_EXTF_PROG_MULTI:
         {
-#if EXTERNAL_PROG_FLASH_MB
+#if EXT_FLASH_SIZE_MB
             if (!done_sync || !CHECK_GET_DEVICE_FINISHED(done_get_device_flags)) {
                 // lower chance of random data on a uart triggering erase
                 goto cmd_bad;
@@ -883,7 +883,7 @@ bootloader(unsigned timeout)
         // reply:			<crc:4>/INSYNC/OK
         //
         case PROTO_EXTF_GET_CRC: {
-#if EXTERNAL_PROG_FLASH_MB
+#if EXT_FLASH_SIZE_MB
             // expect EOC
             uint32_t cmd_verify_bytes;
             if (cin_word(&cmd_verify_bytes, 100)) {

Tools/AP_Bootloader/board_types.txt

@@ -157,6 +157,8 @@ AP_HW_SierraF412                     1055
 AP_HW_BEASTF7v2                      1057
 AP_HW_KakuteH7Mini                   1058
 AP_HW_JHEMCUGSF405A                  1059
+AP_HW_SPRACINGH7                     1060
+AP_HW_DEVEBOXH7                      1061
 
 AP_HW_CUBEORANGE_PERIPH              1400
 AP_HW_CUBEBLACK_PERIPH               1401

Tools/AP_Bootloader/wscript

@@ -5,7 +5,7 @@ def build(bld):
     if not bld.env.BOOTLOADER:
         return
 
-    if bld.env.EXTERNAL_PROG_FLASH_MB:
+    if bld.env.EXT_FLASH_SIZE_MB:
         flashiface_lib = ['AP_HAL', 'AP_FlashIface', 'AP_HAL_Empty']
     else:
         flashiface_lib = []

Tools/CPUInfo/CPUInfo.cpp

@@ -10,6 +10,7 @@
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Common/AP_Common.h>
 #include <AP_Math/AP_Math.h>
+#include <AP_ESC_Telem/AP_ESC_Telem.h>
 #include "EKF_Maths.h"
 
 void setup();
@@ -17,6 +18,13 @@ void loop();
 
 const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 
+#if CONFIG_HAL_BOARD != HAL_BOARD_LINUX
+
+// On H750 we want to measure external flash to ram performance
+#if defined(EXT_FLASH_SIZE_MB) && defined(STM32H7)
+#define DISABLE_CACHES
+#endif
+
 #ifdef STM32_SYS_CK
 static uint32_t sysclk = STM32_SYS_CK;
 #elif defined(STM32_SYSCLK)
@@ -28,8 +36,13 @@ static uint32_t sysclk = 0;
 static EKF_Maths ekf;
 
 HAL_Semaphore sem;
+AP_ESC_Telem telem;
 
 void setup() {
+#ifdef DISABLE_CACHES
+    SCB_DisableDCache();
+    SCB_DisableICache();
+#endif
     ekf.init();
 }
 
@@ -86,6 +99,7 @@ static void show_timings(void)
     v_f = 1+(AP_HAL::micros() % 5);
     v_out = 1+(AP_HAL::micros() % 3);
 
+    v_32 = AP_HAL::millis();
     v_32 = 1+(AP_HAL::micros() % 5);
     v_out_32 = 1+(AP_HAL::micros() % 3);
 
@@ -174,4 +188,9 @@ void loop()
     hal.scheduler->delay(3000);
 }
 
+#else
+void loop() {}
+void setup() {}
+#endif
+
 AP_HAL_MAIN();

Tools/CPUInfo/output-H743.txt

@@ -1,6 +1,7 @@
-dcache enabled, 384MHz
+ICache and DCache disabled
+
+SYSCLK 400MHz
 
-SYSCLK 384MHz
 Type sizes:
 char      : 1
 short     : 2
@@ -15,48 +16,54 @@ printing -Inf: -inf
 
 Operation timings:
 Note: timings for some operations are very data dependent
-nop           0.00 usec/call
-micros()      0.39 usec/call
-millis()      0.42 usec/call
-fadd          0.00 usec/call
-fsub          0.00 usec/call
-fmul          0.00 usec/call
-fdiv /=       0.04 usec/call
-fdiv 2/x      0.04 usec/call
-dadd          0.14 usec/call
-dsub          0.14 usec/call
-dmul          0.06 usec/call
-ddiv          0.08 usec/call
-sinf()        0.30 usec/call
-cosf()        0.30 usec/call
-tanf()        0.50 usec/call
-acosf()       0.40 usec/call
-asinf()       0.30 usec/call
-atan2f()      0.40 usec/call
-sqrtf()       0.10 usec/call
-sin()         4.40 usec/call
-cos()         4.10 usec/call
-tan()         8.40 usec/call
-acos()        5.70 usec/call
-asin()        5.10 usec/call
-atan2()       7.50 usec/call
-sqrt()        1.20 usec/call
-iadd8         0.00 usec/call
-isub8         0.00 usec/call
-imul8         0.00 usec/call
-idiv8         0.02 usec/call
-iadd16        0.00 usec/call
-isub16        0.00 usec/call
-imul16        0.00 usec/call
-idiv16        0.02 usec/call
-iadd32        0.00 usec/call
-isub32        0.00 usec/call
-imul32        0.00 usec/call
-idiv32        0.02 usec/call
-iadd64        0.00 usec/call
-isub64        0.00 usec/call
-imul64        0.02 usec/call
-idiv64        0.16 usec/call
-memcpy128     1.06 usec/call
-memset128     1.06 usec/call
-delay(1)   1000.00 usec/call
+nop         0.0032 usec/call
+micros()    1.1417 usec/call
+millis()    1.8733 usec/call
+micros64()  1.1517 usec/call
+fadd        0.0422 usec/call
+fsub        0.0380 usec/call
+fmul        0.0402 usec/call
+fdiv /=     0.0446 usec/call
+fdiv 2/x    0.0768 usec/call
+dadd        0.0698 usec/call
+dsub        0.0648 usec/call
+dmul        0.0704 usec/call
+ddiv        0.0648 usec/call
+sinf()      0.7500 usec/call
+cosf()      0.7590 usec/call
+tanf()      1.6720 usec/call
+acosf()     1.1660 usec/call
+asinf()     1.2430 usec/call
+atan2f()    1.6100 usec/call
+sqrtf()     0.0910 usec/call
+sin()       0.7500 usec/call
+cos()       0.7560 usec/call
+tan()       1.6920 usec/call
+acos()      1.1510 usec/call
+asin()      1.2290 usec/call
+atan2()     1.5860 usec/call
+sqrt()      0.0920 usec/call
+sq()        0.0400 usec/call
+powf(v,2)   0.0400 usec/call
+powf(v,3.1)  1.2070 usec/call
+EKF        72.4120 usec/call
+iadd8       0.0496 usec/call
+isub8       0.0474 usec/call
+imul8       0.0514 usec/call
+idiv8       0.0584 usec/call
+iadd16      0.0488 usec/call
+isub16      0.0484 usec/call
+imul16      0.0442 usec/call
+idiv16      0.0678 usec/call
+iadd32      0.0388 usec/call
+isub32      0.0404 usec/call
+imul32      0.0404 usec/call
+idiv32      0.0564 usec/call
+iadd64      0.0636 usec/call
+isub64      0.0946 usec/call
+imul64      0.0880 usec/call
+idiv64      0.5328 usec/call
+memcpy128   4.3514 usec/call
+memset128   9.7858 usec/call
+delay(1)   1010.236 usec/call
+SEM         2.2752 usec/call