mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-20 15:37:35 +08:00
Daniel Agar
126 lines
3.6 KiB
C
126 lines
3.6 KiB
C
/****************************************************************************
|
|
*
|
|
* Copyright (C) 2012-2019 PX4 Development Team. All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* 1. Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in
|
|
* the documentation and/or other materials provided with the
|
|
* distribution.
|
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
|
* used to endorse or promote products derived from this software
|
|
* without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/**
|
|
* @file test_time.c
|
|
* Tests clocks/timekeeping.
|
|
*/
|
|
|
|
#include <px4_platform_common/px4_config.h>
|
|
#include <px4_platform_common/defines.h>
|
|
#include <px4_platform_common/posix.h>
|
|
#include <sys/types.h>
|
|
|
|
#include <stdio.h>
|
|
#include <stdlib.h>
|
|
#include <unistd.h>
|
|
#include <fcntl.h>
|
|
#include <errno.h>
|
|
|
|
#include "tests_main.h"
|
|
|
|
#include <math.h>
|
|
#include <float.h>
|
|
#include <drivers/drv_hrt.h>
|
|
|
|
|
|
static hrt_abstime
|
|
cycletime(void)
|
|
{
|
|
/* emulate hrt_absolute_time using the cycle counter */
|
|
static uint64_t basetime;
|
|
static uint32_t lasttime;
|
|
uint32_t cycles;
|
|
|
|
cycles = *(unsigned long *)0xe0001004;
|
|
|
|
if (cycles < lasttime) {
|
|
basetime += 0x100000000ULL;
|
|
}
|
|
|
|
lasttime = cycles;
|
|
|
|
return (basetime + cycles) / 168; /* XXX magic number */
|
|
}
|
|
|
|
int test_time(int argc, char *argv[])
|
|
{
|
|
int maxdelta = 0;
|
|
|
|
/* enable the cycle counter */
|
|
(*(unsigned long *)0xe000edfc) |= (1 << 24); /* DEMCR |= DEMCR_TRCENA */
|
|
(*(unsigned long *)0xe0001000) |= 1; /* DWT_CTRL |= DWT_CYCCNT_ENA */
|
|
|
|
/* get an average delta between the two clocks - this should stay roughly the same */
|
|
int delta = 0;
|
|
|
|
for (unsigned i = 0; i < 100; i++) {
|
|
irqstate_t flags = px4_enter_critical_section();
|
|
hrt_abstime h = hrt_absolute_time();
|
|
hrt_abstime c = cycletime();
|
|
px4_leave_critical_section(flags);
|
|
|
|
delta += h - c;
|
|
}
|
|
|
|
int lowdelta = abs(delta / 100);
|
|
|
|
/* loop checking the time */
|
|
for (unsigned i = 0; i < 100; i++) {
|
|
|
|
usleep(rand() % SHRT_MAX);
|
|
|
|
uint32_t flags = px4_enter_critical_section();
|
|
|
|
hrt_abstime c = cycletime();
|
|
hrt_abstime h = hrt_absolute_time();
|
|
|
|
px4_leave_critical_section(flags);
|
|
|
|
delta = h - c;
|
|
int deltadelta = abs(delta - lowdelta);
|
|
|
|
if (deltadelta > maxdelta) {
|
|
maxdelta = deltadelta;
|
|
}
|
|
|
|
if (deltadelta > 1000) {
|
|
fprintf(stderr, "h %" PRIu64 " c %" PRIu64 " d %d\n", h, c, delta - lowdelta);
|
|
}
|
|
}
|
|
|
|
printf("Maximum jitter %dus\n", maxdelta);
|
|
|
|
return 0;
|
|
}
|