Initial commit: SmartCar Framework v0.1 — 龙芯2K0300智能车开发框架\n\n- HAL: GPIO/PWM/Encoder/Framebuffer 驱动\n- Control: PID/IMU/Motor/Servo 控制\n- Vision: HSV双Otsu→4点标定IPM→洪泛填充→逐行搜线\n- Strategy: 三区前瞻偏差+速度策略\n- Debug: 文件热调参+LCD预览+cv截帧\n- Scheduler: 5ms timerfd+epoll 中央调度器

2026-05-25 10:31:55 +08:00
commit 28d9c6da58
52 changed files with 2599 additions and 0 deletions
--- a/bench/bench.cpp
+++ b/bench/bench.cpp
@@ -0,0 +1,128 @@
+#include <cstdio>
+#include <cstring>
+#include <chrono>
+#include <algorithm>
+
+using Clock = std::chrono::high_resolution_clock;
+
+static volatile int32_t g_sink = 0;
+
+static constexpr int BLK = 512;
+static int8_t  A[BLK*BLK] __attribute__((aligned(64)));
+static int8_t  B[BLK*BLK] __attribute__((aligned(64)));
+static int32_t C[BLK*BLK] __attribute__((aligned(64)));
+
+static void init()
+{
+    for (int i = 0; i < BLK*BLK; ++i) {
+        A[i] = (int8_t)((i * 13 + 7) % 127 - 63);
+        B[i] = (int8_t)((i * 29 + 3) % 127 - 63);
+    }
+}
+
+// 运行足够 reps 使时长 >= target_sec
+static double bench(int M, int N, int K, double target_sec)
+{
+    auto run = [&](int reps) {
+        auto t0 = Clock::now();
+        for (int r = 0; r < reps; ++r) {
+            for (int i = 0; i < M; ++i) {
+                int8_t* __restrict ar = A + i * K;
+                int32_t* __restrict cr = C + i * N;
+                for (int j = 0; j < N; ++j) {
+                    int32_t s = 0;
+                    for (int k = 0; k < K; ++k)
+                        s += (int32_t)ar[k] * (int32_t)B[k * N + j];
+                    cr[j] = s;
+                }
+            }
+            g_sink += C[0];
+        }
+        auto t1 = Clock::now();
+        return std::chrono::duration<double>(t1 - t0).count();
+    };
+
+    // 短跑估计 rep
+    int reps = 1;
+    double t = run(reps);
+    while (t < 0.1 && reps < 10000) { reps *= 2; t = run(reps); }
+
+    // 按 target_sec 缩放 reps
+    int final_reps = (int)(reps * target_sec / t);
+    if (final_reps < 1) final_reps = 1;
+
+    // 正式跑
+    double t_real = run(final_reps);
+    if (t_real < 0.5) {
+        final_reps *= 10;
+        t_real = run(final_reps);
+    }
+
+    double ops = (double)M * N * K * final_reps * 2;   // 1 MAC = 2 ops
+    double gops = ops / t_real / 1e9;
+    printf("  (%4dx%4dx%4d) x%6d rep  %7.1f ms  →  %8.3f GOPS  (%8.3f GMACS)\n",
+           M, N, K, final_reps, t_real * 1000.0, gops, gops/2.0);
+    return gops;
+}
+
+int main()
+{
+    printf("═══════════════════════════════════════════\n");
+    printf("  INT8 算力持续压力测试 (每项 ~10s)\n");
+    printf("═══════════════════════════════════════════\n\n");
+
+    init();
+    // warmup
+    bench(64, 64, 64, 1.0);
+
+    const double T = 10.0;  // 每项跑 10 秒
+
+    struct { int m,n,k; const char* desc; } tests[] = {
+        { 16, 16, 16,  "微型  16x16x16"  },
+        { 32, 32, 32,  "小阵  32x32x32"  },
+        { 64, 64, 64,  "中阵  64x64x64"  },
+        {128, 64, 64,  "宽中 128x64x64"  },
+        {256, 64, 64,  "宽大 256x64x64"  },
+        {128,128, 64,  "大方 128x128x64" },
+        { 64,128, 64,  "长条  64x128x64" },
+        { 64, 64,128,  "深乘  64x64x128" },
+        { 32,128,128,  "扁平  32x128x128" },
+    };
+
+    double sum = 0; int cnt = 0;
+    for (auto& t : tests)
+    {
+        double g = bench(t.m, t.n, t.k, T);
+        sum += g; cnt++;
+    }
+
+    double avg = sum / cnt;
+    printf("\n═══════════════════════════════════════════\n");
+    printf("  INT8 平均: %.3f GOPS\n", avg);
+    printf("═══════════════════════════════════════════\n");
+
+    printf("\n  模型帧率预估 (INT8):\n");
+    printf("  %-30s %8s %8s\n", "模型", "MACs(M)", "FPS");
+    printf("  ----------------------------------------------------\n");
+
+    struct { const char* n; double m; } models[] = {
+        {"TinyCNN 40x30x3 -> 8ch k3",       3},
+        {"TinyCNN 40x30x8 -> 16ch k3",      8},
+        {"TinyCNN 40x30x16 -> 32ch k3",    18},
+        {"TinyCNN 56x56x3 -> 16ch k3",     12},
+        {"TinyCNN 56x56x16 -> 32ch k3",    45},
+        {"MicroNet 32x32x8, 3层",           5},
+        {"MicroNet 32x32x16, 3层",         15},
+        {"MicroNet 48x48x8, 3层",          12},
+        {"MicroNet 48x48x16, 3层",         40},
+        {"ShuffleNetV2 0.5x",              41},
+        {"MobileNetV2 0.35x 96x96",        35},
+        {"FC-128 (分类头)",                  0.1},
+    };
+
+    for (auto& m : models)
+        printf("  %-30s %8.0f %8.1f\n", m.n, m.m, avg * 1e3 / m.m);
+
+    printf("\n  >>> 稳 30FPS 上限: %.0fM MACs  (INT8 %.3f GOPS)\n\n", avg * 1e3 / 30.0, avg);
+    return 0;
+}