mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-20 20:03:54 +08:00
add sd_bench command, enable it on the px4fmu-v4 & posix_sitl build target
Useful to test maximum sequential write speed to the SD Card
This commit is contained in:
Beat Küng
Lorenz Meier
@@ -63,6 +63,7 @@ set(config_module_list
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systemcmds/mtd
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systemcmds/dumpfile
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systemcmds/ver
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systemcmds/sd_bench
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systemcmds/tests
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#
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@@ -24,6 +24,7 @@ set(config_module_list
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systemcmds/ver
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systemcmds/esc_calib
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systemcmds/reboot
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systemcmds/sd_bench
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systemcmds/topic_listener
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systemcmds/perf
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modules/uORB
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@@ -0,0 +1,44 @@
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############################################################################
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#
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# Copyright (c) 2016 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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px4_add_module(
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MODULE systemcmds__sd_bench
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MAIN sd_bench
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STACK_MAIN 2500
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COMPILE_FLAGS
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-Os
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SRCS
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sd_bench.c
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DEPENDS
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platforms__common
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)
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# vim: set noet ft=cmake fenc=utf-8 ff=unix :
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@@ -0,0 +1,215 @@
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/****************************************************************************
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*
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* Copyright (c) 2016 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 sd_bench.c
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*
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* SD Card benchmarking
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*/
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#include <stdio.h>
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#include <stdlib.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <px4_config.h>
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#include <px4_includes.h>
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#include <px4_getopt.h>
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#include <px4_log.h>
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#include <drivers/drv_hrt.h>
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static void usage(void);
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/** sequential write speed test */
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static void write_test(int fd, uint8_t *block, int block_size);
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/**
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* Measure the time for fsync.
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* @param fd
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* @return time in ms
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*/
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static inline unsigned int time_fsync(int fd);
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__EXPORT int sd_bench_main(int argc, char *argv[]);
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static const char *BENCHMARK_FILE = PX4_ROOTFSDIR"/fs/microsd/benchmark.tmp";
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static int num_runs; ///< number of runs
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static int run_duration; ///< duration of a single run [ms]
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static bool synchronized; ///< call fsync after each block?
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static void
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usage()
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{
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PX4_WARN(
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"Test the speed of an SD Card. Usage:\n"
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"sd_bench [-b <block_size>] [-r <runs>] [-d <duration>] [-s]\n"
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"\n"
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"\t-b <block_size>\t\tBlock size for each read/write (default=4096)\n"
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"\t-r <runs>\t\tNumber of runs (default=5)\n"
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"\t-d <duration>\t\tDuration of a run in ms (default=2000)\n"
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"\t-s \t\t\tCall fsync after each block (default=at end of each run)\n"
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);
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}
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int
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sd_bench_main(int argc, char *argv[])
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{
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int block_size = 4096;
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int myoptind = 1;
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int ch;
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const char *myoptarg = NULL;
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synchronized = false;
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num_runs = 5;
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run_duration = 2000;
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while ((ch = px4_getopt(argc, argv, "b:r:d:s", &myoptind, &myoptarg)) != EOF) {
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switch (ch) {
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case 'b':
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block_size = strtol(myoptarg, NULL, 0);
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break;
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case 'r':
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num_runs = strtol(myoptarg, NULL, 0);
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break;
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case 'd':
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run_duration = strtol(myoptarg, NULL, 0);
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break;
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case 's':
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synchronized = true;
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break;
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default:
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usage();
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return -1;
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break;
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}
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}
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int bench_fd = open(BENCHMARK_FILE, O_CREAT | O_WRONLY | O_TRUNC, PX4_O_MODE_666);
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if (bench_fd < 0) {
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PX4_ERR("Can't open benchmark file %s", BENCHMARK_FILE);
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return -1;
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}
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if (block_size <= 0 || num_runs <= 0) {
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PX4_ERR("invalid argument");
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return -1;
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}
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//create some data block
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uint8_t *block = (uint8_t *)malloc(block_size);
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if (!block) {
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PX4_ERR("Failed to allocate memory block");
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return -1;
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}
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for (int i = 0; i < block_size; ++i) {
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block[i] = (uint8_t)i;
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}
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PX4_INFO("Using block size = %i bytes, sync=%i", block_size, (int)synchronized);
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write_test(bench_fd, block, block_size);
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free(block);
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close(bench_fd);
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unlink(BENCHMARK_FILE);
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return 0;
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}
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unsigned int time_fsync(int fd)
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{
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hrt_abstime fsync_start = hrt_absolute_time();
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fsync(fd);
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return hrt_elapsed_time(&fsync_start) / 1000;
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}
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void write_test(int fd, uint8_t *block, int block_size)
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{
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PX4_INFO("");
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PX4_INFO("Testing Sequential Write Speed...");
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double total_elapsed = 0.;
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unsigned int total_blocks = 0;
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for (int run = 0; run < num_runs; ++run) {
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hrt_abstime start = hrt_absolute_time();
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unsigned int num_blocks = 0;
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unsigned int max_write_time = 0;
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unsigned int fsync_time = 0;
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while (hrt_elapsed_time(&start) < run_duration * 1000) {
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hrt_abstime write_start = hrt_absolute_time();
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size_t written = write(fd, block, block_size);
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unsigned int write_time = hrt_elapsed_time(&write_start) / 1000;
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if (write_time > max_write_time) {
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max_write_time = write_time;
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}
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if ((int)written != block_size) {
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PX4_ERR("Write error");
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return;
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}
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if (synchronized) {
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fsync_time += time_fsync(fd);
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}
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++num_blocks;
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}
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//Note: if testing a slow device (SD Card) and the OS buffers a lot (eg. Linux),
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//fsync can take really long, and it looks like the process hangs. But it does
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//not and the reported result will still be correct.
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fsync_time += time_fsync(fd);
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//report
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double elapsed = hrt_elapsed_time(&start) / 1.e6;
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PX4_INFO(" Run %2i: %8.2lf KB/s, max write time: %i ms (=%7.2lf KB/s), fsync: %i ms", run,
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(double)block_size * num_blocks / elapsed / 1024.,
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max_write_time, (double)block_size / max_write_time * 1000. / 1024., fsync_time);
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total_elapsed += elapsed;
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total_blocks += num_blocks;
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}
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PX4_INFO(" Avg : %8.2lf KB/s", (double)block_size * total_blocks / total_elapsed / 1024.);
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}
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