mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-02 05:04:08 +08:00
de4f594937
The bulk of this change was tightly coupled and needed to be deleted in one pass. Some of the smaller changes were things that broke as a result of the initial purge and subsequently fixed by further eradicating unnecessary platform differences. Finally, I deleted any dead code I came across in the related files I touched while going through everything.
- DriverFramework (src/lib/DriverFramework submodule) completely removed
- added dspal submodule in qurt platform (was brought in via DriverFramework)
- all df wrapper drivers removed
- all boards using df wrapper drivers updated to use in tree equivalents
- unused empty arch/board.h on posix and qurt removed
- unused IOCTLs removed (pub block, priv, etc)
- Integrator delete methods only used from df wrapper drivers
- commander: sensor calibration use "NuttX version" everywhere for now
- sensors: update to px4_{open, read, close} instead of DevMgr wrapper (adc open for analog differential pressure)
- battery_status: update to px4_{open, read, close} instead of DevMgr wrapper (adc open for analog differential pressure)
- cdev cleanup conflicting typedefs and names with actual OS (pollevent_t, etc)
- load_mon and top remove from linux boards (unused)
- delete unused PX4_MAIN_FUNCTION
- delete unused getreg32 macro
- delete unused SIOCDEVPRIVATE define
- named each platform tasks consistently
- posix list_devices and list_topics removed (list_files now shows all virtual files)
97 lines
2.9 KiB
C
97 lines
2.9 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_uart_send.c
|
|
* Tests the uart send functionality.
|
|
*
|
|
* @author Lorenz Meier <lorenz@px4.io>
|
|
*/
|
|
|
|
#include <px4_platform_common/px4_config.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>
|
|
|
|
|
|
int test_uart_send(int argc, char *argv[])
|
|
{
|
|
/* input handling */
|
|
char *uart_name = "/dev/ttyS3";
|
|
|
|
if (argc > 1) { uart_name = argv[1]; }
|
|
|
|
/* assuming NuttShell is on UART1 (/dev/ttyS0) */
|
|
int test_uart = open(uart_name, O_RDWR | O_NONBLOCK | O_NOCTTY); //
|
|
|
|
if (test_uart < 0) {
|
|
printf("ERROR opening UART %s, aborting..\n", uart_name);
|
|
return test_uart;
|
|
|
|
} else {
|
|
printf("Writing to UART %s\n", uart_name);
|
|
}
|
|
|
|
char sample_test_uart[25];// = {'S', 'A', 'M', 'P', 'L', 'E', ' ', '\n'};
|
|
|
|
int i, n;
|
|
|
|
uint64_t start_time = hrt_absolute_time();
|
|
|
|
for (i = 0; i < 30000; i++) {
|
|
n = sprintf(sample_test_uart, "SAMPLE #%d\n", i);
|
|
write(test_uart, sample_test_uart, n);
|
|
}
|
|
|
|
int interval = hrt_absolute_time() - start_time;
|
|
|
|
int bytes = i * sizeof(sample_test_uart);
|
|
|
|
printf("Wrote %d bytes in %d ms on UART %s\n", bytes, interval / 1000, uart_name);
|
|
|
|
close(test_uart);
|
|
|
|
return 0;
|
|
}
|