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https://github.com/zephyrproject-rtos/zephyr
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d84598256c
Updates the latency_measure benchmark so that its default configuration does not enable timeslicing. As it is still valuable to know what kind of performance overhead is incurred by enabling timeslicing, new test configurations have been added. Signed-off-by: Peter Mitsis <peter.mitsis@intel.com> |
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| .. | ||
| boards | ||
| src | ||
| CMakeLists.txt | ||
| prj_user.conf | ||
| prj.conf | ||
| README.rst | ||
| testcase.yaml | ||
Latency Measurements
####################
This benchmark measures the average latency of selected kernel capabilities,
including:
* Context switch time between preemptive threads using k_yield
* Context switch time between cooperative threads using k_yield
* Time to switch from ISR back to interrupted thread
* Time from ISR to executing a different thread (rescheduled)
* Times to signal a semaphore then test that semaphore
* Times to signal a semaphore then test that semaphore with a context switch
* Times to lock a mutex then unlock that mutex
* Time it takes to create a new thread (without starting it)
* Time it takes to start a newly created thread
* Time it takes to suspend a thread
* Time it takes to resume a suspended thread
* Time it takes to abort a thread
* Measure average time to alloc memory from heap then free that memory
When userspace is enabled using the prj_user.conf configuration file, this benchmark will
where possible, also test the above capabilities using various configurations involving user
threads:
* Kernel thread to kernel thread
* Kernel thread to user thread
* User thread to kernel thread
* User thread to user thread
Sample output of the benchmark (without userspace enabled)::
*** Booting Zephyr OS build v3.5.0-rc1-139-gdab69aeed11d ***
START - Time Measurement
Timing results: Clock frequency: 120 MHz
Preemptive threads ctx switch via k_yield (K -> K) : 519 cycles , 4325 ns :
Cooperative threads ctx switch via k_yield (K -> K) : 519 cycles , 4325 ns :
Switch from ISR back to interrupted thread : 508 cycles , 4241 ns :
Switch from ISR to another thread (kernel) : 554 cycles , 4616 ns :
Create kernel thread from kernel thread : 396 cycles , 3308 ns :
Start kernel thread from kernel thread : 603 cycles , 5033 ns :
Suspend kernel thread from kernel thread : 599 cycles , 4992 ns :
Resume kernel thread from kernel thread : 547 cycles , 4558 ns :
Abort kernel thread from kernel thread : 339 cycles , 2825 ns :
Give a semaphore (no waiters) from kernel thread : 134 cycles , 1116 ns :
Take a semaphore (no blocking) from kernel thread : 53 cycles , 441 ns :
Take a semaphore (context switch K -> K) : 689 cycles , 5742 ns :
Give a semaphore (context switch K -> K) : 789 cycles , 6575 ns :
Lock a mutex from kernel thread : 94 cycles , 783 ns :
Unlock a mutex from kernel thread : 24 cycles , 200 ns :
Average time for heap malloc : 620 cycles , 5166 ns :
Average time for heap free : 431 cycles , 3591 ns :
===================================================================
PROJECT EXECUTION SUCCESSFUL
Sample output of the benchmark (with userspace enabled)::
*** Booting Zephyr OS build v3.5.0-rc1-139-gdab69aeed11d ***
START - Time Measurement
Timing results: Clock frequency: 120 MHz
Preemptive threads ctx switch via k_yield (K -> K) : 1195 cycles , 9958 ns :
Preemptive threads ctx switch via k_yield (U -> U) : 1485 cycles , 12379 ns :
Preemptive threads ctx switch via k_yield (K -> U) : 1390 cycles , 11587 ns :
Preemptive threads ctx switch via k_yield (U -> K) : 1289 cycles , 10749 ns :
Cooperative threads ctx switch via k_yield (K -> K) : 1185 cycles , 9875 ns :
Cooperative threads ctx switch via k_yield (U -> U) : 1475 cycles , 12295 ns :
Cooperative threads ctx switch via k_yield (K -> U) : 1380 cycles , 11504 ns :
Cooperative threads ctx switch via k_yield (U -> K) : 1280 cycles , 10666 ns :
Switch from ISR back to interrupted thread : 1130 cycles , 9416 ns :
Switch from ISR to another thread (kernel) : 1184 cycles , 9874 ns :
Switch from ISR to another thread (user) : 1390 cycles , 11583 ns :
Create kernel thread from kernel thread : 985 cycles , 8208 ns :
Start kernel thread from kernel thread : 1275 cycles , 10625 ns :
Suspend kernel thread from kernel thread : 1220 cycles , 10167 ns :
Resume kernel thread from kernel thread : 1193 cycles , 9942 ns :
Abort kernel thread from kernel thread : 2555 cycles , 21292 ns :
Create user thread from kernel thread : 849 cycles , 7083 ns :
Start user thread from kernel thread : 6715 cycles , 55960 ns :
Suspend user thread from kernel thread : 1585 cycles , 13208 ns :
Resume user thread from kernel thread : 1383 cycles , 11525 ns :
Abort user thread from kernel thread : 2420 cycles , 20167 ns :
Create user thread from user thread : 2110 cycles , 17584 ns :
Start user thread from user thread : 7070 cycles , 58919 ns :
Suspend user thread from user thread : 1784 cycles , 14874 ns :
Resume user thread from user thread : 1740 cycles , 14502 ns :
Abort user thread from user thread : 3000 cycles , 25000 ns :
Start kernel thread from user thread : 1630 cycles , 13583 ns :
Suspend kernel thread from user thread : 1420 cycles , 11833 ns :
Resume kernel thread from user thread : 1550 cycles , 12917 ns :
Abort kernel thread from user thread : 3135 cycles , 26125 ns :
Give a semaphore (no waiters) from kernel thread : 160 cycles , 1333 ns :
Take a semaphore (no blocking) from kernel thread : 95 cycles , 791 ns :
Give a semaphore (no waiters) from user thread : 380 cycles , 3166 ns :
Take a semaphore (no blocking) from user thread : 315 cycles , 2625 ns :
Take a semaphore (context switch K -> K) : 1340 cycles , 11167 ns :
Give a semaphore (context switch K -> K) : 1460 cycles , 12167 ns :
Take a semaphore (context switch K -> U) : 1540 cycles , 12838 ns :
Give a semaphore (context switch U -> K) : 1800 cycles , 15000 ns :
Take a semaphore (context switch U -> K) : 1690 cycles , 14084 ns :
Give a semaphore (context switch K -> U) : 1650 cycles , 13750 ns :
Take a semaphore (context switch U -> U) : 1890 cycles , 15756 ns :
Give a semaphore (context switch U -> U) : 1990 cycles , 16583 ns :
Lock a mutex from kernel thread : 105 cycles , 875 ns :
Unlock a mutex from kernel thread : 17 cycles , 141 ns :
Lock a mutex from user thread : 330 cycles , 2750 ns :
Unlock a mutex from user thread : 255 cycles , 2125 ns :
Average time for heap malloc : 606 cycles , 5058 ns :
Average time for heap free : 422 cycles , 3516 ns :
===================================================================
PROJECT EXECUTION SUCCESSFUL