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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
59e86c490d
The reason for this is that log.h includes drv_hrt.h which sucks in half the project's include files with it, which causes strange build issues
83 lines
2.8 KiB
C++
83 lines
2.8 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_hrt.c
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* Tests the high resolution timer.
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*/
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#include <drivers/drv_hrt.h>
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#include <px4_platform_common/log.h>
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#include <px4_platform_common/posix.h>
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#include <sys/time.h>
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#include "tests_main.h"
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int test_hrt(int argc, char *argv[])
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{
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struct hrt_call call;
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hrt_abstime prev, now;
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int i;
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struct timeval tv1, tv2;
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printf("start-time (hrt, sec/usec), end-time (hrt, sec/usec), microseconds per 1/10 second\n");
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for (i = 0; i < 10; i++) {
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prev = hrt_absolute_time();
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gettimeofday(&tv1, nullptr);
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px4_usleep(100000);
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now = hrt_absolute_time();
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gettimeofday(&tv2, nullptr);
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printf("%lu (%lu/%lu), %lu (%lu/%lu), %lu\n",
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(unsigned long)prev, (unsigned long)tv1.tv_sec, (unsigned long)tv1.tv_usec,
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(unsigned long)now, (unsigned long)tv2.tv_sec, (unsigned long)tv2.tv_usec,
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(unsigned long)(hrt_absolute_time() - prev));
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}
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px4_usleep(1000000);
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printf("one-second ticks\n");
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for (i = 0; i < 3; i++) {
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hrt_call_after(&call, 1000000, nullptr, nullptr);
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while (!hrt_called(&call)) {
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px4_usleep(1000);
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}
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printf("tick\n");
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}
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return 0;
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}
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