这个问题可能看起来很模糊，因此我已经包含了所提到模块的代码片段。我编写了一个程序，它从 I2C 总线上的各种传感器收集数据并将格式化后的值存储在一个文件中。这将在 Xilinx 称为 Zedboard 的 SoC 配置中的 ARM cortex A9 处理器(单核)上运行，并使用带有 vanilla linux 内核的 petalinux 操作系统。使用 clock_gettime() 测量时间。我注意到当在单个进程中按顺序访问所有传感器时，单个传感器访问时间显着减少。这次的比较是与仅访问单个传感器并且不将数据写入文件但将其打印到标准输出的各个进程的比较。
与模块一起使用的传感器:
GY521模块:
#include <linux/i2c-dev-user.h>
#include <stdio.h>
#include <stdlib.h>
#include <sys/ioctl.h>
#include <unistd.h>
#include <fcntl.h>
#include <stdint.h>
#include <inttypes.h>
#include "GY521.h"
#include <time.h>
#define ADDR 0x68
static int file;
static __s32 res;
static __u8 reg;
static __u8 values[14]; //array to hold all the register values
void set_sleep_gy521(int flag)
{
if(flag==0) //wake up the device
{
//Accessing reg 107
reg = 0x6B;
uint8_t val8 = 0x01; //write 0x00 if you want to set the internal 8MHz oscillator as CLK
res = i2c_smbus_write_byte_data(file, reg, val8);
if(res<0)
perror("Failed to wake it up");
/*else
printf("Device is awake\n");*/
}
else //set it to sleep
{
reg = 0x6B;
uint8_t val8 = 0x41; //write 0x40 if you want to set the internal 8MHz oscillator as CLK
res = i2c_smbus_write_byte_data(file, reg, val8);
if(res<0)
perror("Failed to go to sleep");
/*else
printf("In sleep mode\n");*/
}
}
void init_gy521()
{
char filename[20];
int adapter_no = 0;
snprintf(filename, 19, "/dev/i2c-%d", adapter_no);
file = open(filename, O_RDWR);
if(file<0)
{
perror("File not opened");
exit(1);
}
if(ioctl(file, I2C_SLAVE, ADDR)<0)
{
perror("Not able to access the device");
exit(EXIT_FAILURE);
}
//setting the sensitivity of the gyroscope and accelerometer
res = i2c_smbus_write_byte_data(file, 0x1B, 0x00);
if(res<0)
perror("Failed to set gyro range");
res = i2c_smbus_write_byte_data(file, 0x1C, 0x00);
if(res<0)
perror("Failed to set the accelerometer range");
set_sleep_gy521(0); //this also sets the clock source to X-axis gyro reference which is slightly better than the internal 8MHz oscillator
}
//get_values() stores all the register measurements in the array values
int get_values()
{
//reading all the values needed at once in a block
res = i2c_smbus_read_i2c_block_data(file, 0x3B, 14, (__u8*)values);
if(res<0)
perror("Failed to read using Block");
return res;
}
float get_Ax()
{
int c = get_values(); //calls get_values() to get all values at a time instant
int16_t xout;
if(c>0)
xout = (((int16_t)values[0])<<8) | values[1];
else
{
perror("Can't get the values");
exit(EXIT_FAILURE);
}
return xout/16384.0*9.8;
}
float get_Ay()
{
//concatenate the higher byte and the lower byte
int16_t yout = (((int16_t)values[2])<<8) | values[3];
return yout/16384.0*9.8;
}
float get_Az()
{
int16_t zout = (((int16_t)values[4])<<8) | values[5];
return zout/16384.0*9.8;
}
float get_temp_gy521()
{
__s16 temp = (((int16_t)values[6])<<8) | values[7];
return (temp/340.0 + 36.53);
}
float get_Wx()
{
__s16 xgyro = (((int16_t)values[8])<<8) | values[9];
return xgyro/131.0;
}
float get_Wy()
{
__s16 ygyro = (((int16_t)values[10])<<8) | values[11];
return ygyro/131.0;
}
float get_Wz()
{
__s16 zgyro = (((int16_t)values[12])<<8) | values[13];
return zgyro/131.0;
}
void clear_gy521()
{
close(file);
}
int main()
{
struct timespec start, end;
clock_gettime(CLOCK_PROCESS_CPUTIME_ID, &start);
init_gy521();
printf("Wx: %f\n", get_Wx());
printf("Wy: %f\n", get_Wy());
printf("Wz: %f\n", get_Wz());
printf("Ax: %f\n", get_Ax());
printf("Ay: %f\n", get_Ay());
printf("Az: %f\n", get_Az());
clock_gettime(CLOCK_PROCESS_CPUTIME_ID, &end);
printf("Time taken by GY521 is %d MuS\n", (end.tv_sec-start.tv_sec)*1000000L+(end.tv_nsec-start.tv_nsec)/1000);
}
LM75模块:
#include <linux/i2c-dev-user.h>
#include <stdlib.h>
#include <stdio.h>
#include <unistd.h>
#include <sys/ioctl.h>
#include <fcntl.h>
#include <time.h>
#define ADDRESS 0x48
static int file; //use static keyword to ensure that the scope of this variable is limited to this file.
static __u8 buffer[2];
int get_temp()
{
if(i2c_smbus_read_i2c_block_data(file, 0x00, 2, buffer)<0)
perror("Failed to read the block");
return buffer[0]&127;
}
//Initializes the file used by the userspace calls. [IMPORTANT] Must be run before any other function is called for this device!. This needs to be called only once for each process.
void init_LM75()
{
int adapter_number = 0; //check this.
char filename[20];
snprintf(filename, 19, "/dev/i2c-%d", adapter_number);
file = open(filename, O_RDWR);
if(file<0)
{
perror("File not opened");
exit(1);
}
if(ioctl(file, I2C_SLAVE, ADDRESS)<0)
{
perror("ioctl could not open file");
exit(1);
}
}
int main()
{
struct timespec start, end;
clock_gettime(CLOCK_PROCESS_CPUTIME_ID, &start);
init_LM75();
printf("Temperature is %d\n", get_temp());
clock_gettime(CLOCK_PROCESS_CPUTIME_ID, &end);
printf("Time taken %d\n", (end.tv_sec-start.tv_sec)*1000000L+(end.tv_nsec-start.tv_nsec)/1000);
}
HMC5883L模块:
#include <linux/i2c-dev-user.h>
#include <stdlib.h>
#include <stdio.h>
#include <unistd.h>
#include <sys/ioctl.h>
#include <fcntl.h>
#include "HMC5883L.h"
#include <time.h>
#define ADDRESS 0x1e
static int file; //use static keyword to ensure that the scope of this variable is limited to this file.
static float factor;
static __u8 buffer[6];
//register addresses
__u8 config_reg_A = 0x00;
__u8 mode_reg = 0x02;
__u8 gain_reg = 0x01;
__u8 data_X_H = 0x03;
__u8 data_X_L = 0x04;
__u8 data_Y_H = 0x07;
__u8 data_Y_L = 0x08;
__u8 data_Z_H = 0x05;
__u8 data_Z_L = 0x06;
/**
* The value of mode must be according to the following table:
* Value Mode
* 0 Continuous
* 1 Single (Default)
* 2 Idle
* 3 Idle
*
* After any mode change care must be taken to set it back to continuous mode before reading any values.
**/
void set_magnetometer_mode(int mode)
{
__u8 value = 0x00;
value |= mode;
if(i2c_smbus_write_byte_data(file, mode_reg, value)<0)
perror("Failed to change magnetometer mode");
}
void get_B()
{
if(i2c_smbus_read_i2c_block_data(file, data_X_H, 6, buffer)<0)
perror("Failed to read the block");
}
//[IMPORTANT] Note that the following 3 functions will return the field values in milli gauss by reading them from the buffer. So call get_Bx() first!
float get_Bx()
{
get_B();
int16_t temp;
//concatenate the upper and lower bits
temp = buffer[0];
int16_t b_X = (temp<<8) | buffer[1];
return (float)b_X*factor;
}
float get_By()
{
int16_t temp;
//concatenate the upper and lower bits
temp = buffer[4];
int16_t b_Y = (temp<<8) | buffer[5];
return (float)b_Y*factor;
}
float get_Bz()
{
int16_t temp;
//concatenate the upper and lower bits
temp = buffer[2];
int16_t b_Z = (temp<<8) | buffer[3];
return (float)b_Z*factor;
}
//Initializes the file used by the userspace calls. [IMPORTANT] Must be run before any other function is called for this device!. This needs to be called only once for each process.
void init_magnetometer()
{
int adapter_number = 0; //check this.
char filename[20];
snprintf(filename, 19, "/dev/i2c-%d", adapter_number);
file = open(filename, O_RDWR);
if(file<0)
{
perror("File not opened");
exit(1);
}
if(ioctl(file, I2C_SLAVE, ADDRESS)<0)
{
perror("ioctl could not open file");
exit(1);
}
factor = 0.92;
set_magnetometer_mode(0);
}
void clear_magnetometer()
{
close(file);
}
/**
* The value of freq must be according to the following table:
* Value Rate (Hz)
* 0 0.75
* 1 1.5
* 2 3
* 3 7.5
* 4 15 (Default)
* 5 30
* 6 75
**/
void set_magnetometer_frequency(int freq)
{
__u8 value = 0x00;
value |= freq<<2;
if(i2c_smbus_write_byte_data(file, config_reg_A, value)<0)
perror("Failed to change data rate");
}
/**
* The value of gain must be according to the following table:
* Value Field Range (+/- Gauss)
* 0 0.88
* 1 1.3 (Default)
* 2 1.9
* 3 2.5
* 4 4.0
* 5 4.7
* 6 5.6
* 7 8.1
*
* This function will also set the value of the factor to be multiplied to the raw data.
**/
void set_magnetometer_gain(int gain)
{
__u8 value = 0x00;
value |= gain<<5;
if(i2c_smbus_write_byte_data(file, gain_reg, value)<0)
perror("Failed to change magnetometer gain");
else
{
switch(gain)
{
case 0: factor = 0.73; break;
case 1: factor = 0.92; break;
case 2: factor = 1.22; break;
case 3: factor = 1.52; break;
case 4: factor = 2.27; break;
case 5: factor = 2.56; break;
case 6: factor = 3.03; break;
case 7: factor = 4.35; break;
}
}
}
int main()
{
struct timespec start, end;
clock_gettime(CLOCK_PROCESS_CPUTIME_ID, &start);
init_magnetometer();
printf("%f\t%f\t%f\n", get_Bx(), get_By(), get_Bz());
clear_magnetometer();
clock_gettime(CLOCK_PROCESS_CPUTIME_ID, &end);
printf("Time taken by HMC is %d MuS\n", (end.tv_sec-start.tv_sec)*1000000L+(end.tv_nsec-start.tv_nsec)/1000);
}
将所有三个组合在一起并将数据写入文件的单个模块:
#include <stdio.h>
#include <stdlib.h>
#include "hwfunctions.h"
#include <time.h>
int main()
{
struct timespec start_hk, end_hk, start_hmc, end_hmc, start_gy, end_gy, start_lm, end_lm;
clock_gettime(CLOCK_PROCESS_CPUTIME_ID, &start_hk);
char *finalstr = (char* ) malloc(50);
FILE *f = fopen("fullhk.txt", "a");
if(f==NULL)
{
perror("Couldn't open file\n");
exit(0);
}
//initialization of the three sensors
//init_gy80();
time_t curt;
time(&curt);
//fseek(f, 0, SEEK_END);
sprintf(finalstr, "Time: %s\n", ctime(&curt));fputs(finalstr, f);
clock_gettime(CLOCK_PROCESS_CPUTIME_ID, &start_hmc);
init_magnetometer();
sprintf(finalstr, "Bx: %f\n", get_Bx());fputs(finalstr, f);
sprintf(finalstr, "By: %f\n", get_By());fputs(finalstr, f);
sprintf(finalstr, "Bz: %f\n", get_Bz());fputs(finalstr, f);
clear_magnetometer();
clock_gettime(CLOCK_PROCESS_CPUTIME_ID, &end_hmc);
sprintf(finalstr, "S1: %f\n", get_S1());fputs(finalstr, f);
sprintf(finalstr, "S2: %f\n", get_S2());fputs(finalstr, f);
sprintf(finalstr, "S3: %f\n", get_S3());fputs(finalstr, f);
sprintf(finalstr, "S4: %f\n", get_S4());fputs(finalstr, f);
sprintf(finalstr, "S5: %f\n", get_S5());fputs(finalstr, f);
clock_gettime(CLOCK_PROCESS_CPUTIME_ID, &start_lm);
init_LM75();
sprintf(finalstr, "Temperature: %d\n", get_temp());fputs(finalstr, f);
clock_gettime(CLOCK_PROCESS_CPUTIME_ID, &end_lm);
clock_gettime(CLOCK_PROCESS_CPUTIME_ID, &start_gy);
init_gy521();
sprintf(finalstr, "Wy: %f\n", get_Wy());fputs(finalstr, f);
sprintf(finalstr, "Wz: %f\n", get_Wz());fputs(finalstr, f);
sprintf(finalstr, "Ax: %f\n", get_Ax());fputs(finalstr, f);
sprintf(finalstr, "Ay: %f\n", get_Ay());fputs(finalstr, f);
sprintf(finalstr, "Az: %f *end of block*\n\n", get_Az());
clear_gy521();
clock_gettime(CLOCK_PROCESS_CPUTIME_ID, &end_gy);
fputs(finalstr, f);
fclose(f);
//closing the three sensors
//clear_gy80();
free(finalstr);
clock_gettime(CLOCK_PROCESS_CPUTIME_ID, &end_hk);
printf("Time taken by single hmc instance: %ld microseconds\n", (end_hmc.tv_sec-start_hmc.tv_sec)*1000000L + (end_hmc.tv_nsec-start_hmc.tv_nsec)/1000);
printf("Time taken by single gy instance: %ld microseconds\n", (end_gy.tv_sec-start_gy.tv_sec)*1000000L + (end_gy.tv_nsec-start_gy.tv_nsec)/1000);
printf("Time taken by single lm instance: %ld microseconds\n", (end_lm.tv_sec-start_lm.tv_sec)*1000000L + (end_lm.tv_nsec-start_lm.tv_nsec)/1000);
printf("Time taken by single housekeeping instance: %ld microseconds\n", (end_hk.tv_sec-start_hk.tv_sec)*1000000L + (end_hk.tv_nsec-start_hk.tv_nsec)/1000);
}
Housekeeping 是单个模块的名称，housekeeping 输出上方的输出用于各个传感器模块。 housekeeping 模块已编译并与没有 main 函数的传感器模块链接，并且在交叉编译期间使用了 O2 优化标志。即使时间由 CLOCK_BOOTTIME 测量以包括内核抢占，这种时间差异也是相同的。
如果需要更多信息来揭开这个谜团，请发表评论!
最佳答案
当您第一次使用库函数时，我会怀疑后台发生了什么。
尝试禁用延迟绑定(bind)，例如，通过设置环境变量 LD_BIND_NOW = 1 ( Is there a linker flag to force it to load all shared libraries at start time? )
关于linux - 由于链接减少了多个模块的运行时间，我们在Stack Overflow上找到一个类似的问题： https://stackoverflow.com/questions/43476301/