rt debug scripts (#2165)

* rt debug scripts

* bigger buffer

* cleanup

* move to internal

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: ebab660622

scripts/restart_modem.sh

@@ -0,0 +1,2 @@
+#!/usr/bin/bash
+echo "restart" > /sys/kernel/debug/msm_subsys/modem

selfdrive/debug/internal/rt/atrace.sh

@@ -0,0 +1,4 @@
+#!/usr/bin/bash
+
+echo 96000 > /d/tracing/buffer_size_kb
+atrace -t 10 sched workq -b 96000 > /tmp/trace.txt

selfdrive/debug/internal/rt/record_trace.sh

@@ -0,0 +1,25 @@
+#!/usr/bin/bash
+
+cd /d/tracing
+
+# setup tracer
+echo "function" > current_tracer
+
+echo "start tracing"
+echo 1 > tracing_on
+
+# do stuff
+sleep 2
+#/data/openpilot/scripts/restart_modem.sh
+#sleep 3
+#/data/openpilot/scripts/restart_modem.sh
+sleep 5
+
+# disable tracing
+echo "done tracing"
+echo 0 > tracing_on
+
+# copy
+echo "copy traces"
+cp trace /tmp/trace.txt
+cp per_cpu/cpu3/trace /tmp/trace_cpu3.txt

selfdrive/debug/internal/rt/waste3.c

@@ -0,0 +1,63 @@
+#define _GNU_SOURCE
+#include <stdio.h>
+#include <stdlib.h>
+#include <sched.h>
+#include <arm_neon.h>
+#include <sys/prctl.h>
+#include <sys/syscall.h>
+#include "../../common/util.h"
+#include "../../common/timing.h"
+
+#define CORES 3
+double ttime[CORES];
+double oout[CORES];
+
+void waste(int core) {
+  prctl(PR_SET_NAME, (unsigned long)"waste", 0, 0, 0);
+
+  cpu_set_t my_set;
+  CPU_ZERO(&my_set);
+  CPU_SET(core, &my_set);
+  int ret = sched_setaffinity(0, sizeof(cpu_set_t), &my_set);
+  printf("set affinity to %d: %d\n", core, ret);
+
+  //struct sched_param sa;
+  //memset(&sa, 0, sizeof(sa));
+  //sa.sched_priority = 51;
+  //sched_setscheduler(syscall(SYS_gettid), SCHED_FIFO, &sa);
+
+  float32x4_t *tmp = (float32x4_t *)malloc(0x1000008*sizeof(float32x4_t));
+  float32x4_t out;
+
+  uint64_t i = 0;
+  double sec = seconds_since_boot();
+  while(1) {
+    int j;
+    for (j = 0; j < 0x1000000; j++) {
+      out = vmlaq_f32(out, tmp[j], tmp[j+1]);
+    }
+    if (i == 0x8) {
+      double nsec = seconds_since_boot();
+      ttime[core] = nsec-sec;
+      oout[core] = out[0] + out[1] + out[2] + out[3];
+      i = 0;
+      sec = nsec;
+    }
+    i++;
+  }
+}
+
+int main() {
+  pthread_t waster[CORES];
+  for (int i = 0 ; i < CORES; i++) {
+    pthread_create(&waster[i], NULL, waste, (void*)i);
+  }
+  while (1) {
+    for (int i = 0 ; i < CORES; i++) {
+      printf("%.2f ", ttime[i]);
+    }
+    printf("\n");
+    sleep(1);
+  }
+}
+