mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +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)
141 lines
3.7 KiB
C
141 lines
3.7 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2012-2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file test_uart_break.c
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* Tests the uart console.
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*
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* @author Lorenz Meier <lorenz@px4.io>
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* @author David Sidrane <david_s5@nscdg.com>
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*/
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#include <px4_platform_common/px4_config.h>
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#include <px4_platform_common/tasks.h>
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#include <sys/types.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <errno.h>
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#include "tests_main.h"
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#include <math.h>
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#include <float.h>
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#include <drivers/drv_hrt.h>
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static void *receive_loop(void *arg)
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{
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int uart_usb = open("/dev/ttyACM0", O_RDONLY | O_NOCTTY);
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while (1) {
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char c;
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read(uart_usb, &c, 1);
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printf("%c", c);
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fflush(stdout);
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}
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return NULL;
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}
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int test_uart_console(int argc, char *argv[])
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{
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/* assuming NuttShell is on UART1 (/dev/ttyS0) */
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int uart_usb = open("/dev/ttyACM0", O_WRONLY | O_NOCTTY);
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if (uart_usb < 0) {
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printf("ERROR opening /dev/ttyACM0. Do you need to run sercon first? Aborting..\n");
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return uart_usb;
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}
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uint8_t sample_uart_usb[] = {'S', 'A', 'M', 'P', 'L', 'E', ' ', '\n'};
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pthread_t receive_thread;
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pthread_create(&receive_thread, NULL, receive_loop, NULL);
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//wait for threads to complete:
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pthread_join(receive_thread, NULL);
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for (int i = 0; i < 30; i++) {
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write(uart_usb, sample_uart_usb, sizeof(sample_uart_usb));
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printf(".");
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fflush(stdout);
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px4_sleep(1);
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}
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// uint64_t start_time = hrt_absolute_time();
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//
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//// while (true)
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// for (int i = 0; i < 1000; i++)
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// {
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// //write(uart_usb, sample_uart_usb, sizeof(sample_uart_usb));
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// int nread = 0;
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// char c;
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// do {
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// nread = read(uart_usb, &c, 1);
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// if (nread > 0)
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// {
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// printf("%c", c);
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// }
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// } while (nread > 0);
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//
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// do {
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// nread = read(uart_console, &c, 1);
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// if (nread > 0)
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// {
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// if (c == 0x03)
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// {
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// close(uart_usb);
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// close(uart_console);
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// exit(OK);
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// }
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// else
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// {
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// write(uart_usb, &c, 1);
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// }
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// }
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// } while (nread > 0);
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// usleep(10000);
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// }
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//
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// int interval = hrt_absolute_time() - start_time;
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close(uart_usb);
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// close(uart_console);
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return 0;
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}
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