mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-22 09:53:33 +08:00
Beat Küng
3198610f85
and remove the px4_ prefix, except for px4_config.h.
command to update includes:
for k in app.h atomic.h cli.h console_buffer.h defines.h getopt.h i2c.h init.h log.h micro_hal.h module.h module_params.h param.h param_macros.h posix.h sem.h sem.hpp shmem.h shutdown.h tasks.h time.h workqueue.h; do for i in $(grep -rl 'include <px4_'$k src platforms boards); do sed -i 's/#include <px4_'$k'/#include <px4_platform_common\/'$k/ $i; done; done
for in $(grep -rl 'include <px4_config.h' src platforms boards); do sed -i 's/#include <px4_config.h/#include <px4_platform_common\/px4_config.h'/ $i; done
Transitional headers for submodules are added (px4_{defines,log,time}.h)
96 lines
3.0 KiB
C++
96 lines
3.0 KiB
C++
|
|
/****************************************************************************
|
|
*
|
|
* Copyright (C) 2015 Mark Charlebois. 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 hrt_test.cpp
|
|
* Test High Resolution Timers in Linux
|
|
*
|
|
* @author Mark Charlebois <charlebm@gmail.com>
|
|
*/
|
|
|
|
#include "hrt_test.h"
|
|
|
|
#include <drivers/drv_hrt.h>
|
|
#include <px4_platform_common/log.h>
|
|
#include <px4_platform_common/time.h>
|
|
|
|
#include <unistd.h>
|
|
#include <stdio.h>
|
|
#include <cstring>
|
|
|
|
px4::AppState HRTTest::appState;
|
|
|
|
static struct hrt_call t1;
|
|
static int update_interval = 1;
|
|
|
|
static void timer_expired(void *arg)
|
|
{
|
|
static int i = 0;
|
|
PX4_INFO("Test\n");
|
|
|
|
if (i < 5) {
|
|
i++;
|
|
hrt_call_after(&t1, update_interval, timer_expired, (void *)nullptr);
|
|
}
|
|
}
|
|
|
|
int HRTTest::main()
|
|
{
|
|
appState.setRunning(true);
|
|
|
|
hrt_abstime t = hrt_absolute_time();
|
|
px4_usleep(1000000);
|
|
hrt_abstime elt = hrt_elapsed_time_atomic(&t);
|
|
PX4_INFO("Elapsed time %llu in 1 sec (usleep)\n", (unsigned long long)elt);
|
|
PX4_INFO("Start time %llu\n", (unsigned long long)t);
|
|
|
|
t = hrt_absolute_time();
|
|
px4_sleep(1);
|
|
elt = hrt_elapsed_time_atomic(&t);
|
|
PX4_INFO("Elapsed time %llu in 1 sec (sleep)\n", (unsigned long long)elt);
|
|
PX4_INFO("Start time %llu\n", (unsigned long long)t);
|
|
|
|
memset(&t1, 0, sizeof(t1));
|
|
|
|
PX4_INFO("HRT_CALL %d\n", hrt_called(&t1));
|
|
|
|
hrt_call_after(&t1, update_interval, timer_expired, (void *)nullptr);
|
|
px4_sleep(2);
|
|
PX4_INFO("HRT_CALL - %d\n", hrt_called(&t1));
|
|
hrt_cancel(&t1);
|
|
PX4_INFO("HRT_CALL + %d\n", hrt_called(&t1));
|
|
|
|
return 0;
|
|
}
|