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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-26 22:53:34 +08:00
Mark Charlebois
ed621a6a8d
In STM32, the ISR handler calls hrt_call_invoke(). There is no interrupt timer inthe POSIX port so a work item is put on the high priority work queue to expire at the next event (in ticks) or at the next max delay interval. Counter wrapping is likely still not handled properly in this code. Signed-off-by: Mark Charlebois <charlebm@gmail.com>
85 lines
2.8 KiB
C++
85 lines
2.8 KiB
C++
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/****************************************************************************
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*
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* Copyright (C) 2015 Mark Charlebois. 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 hrt_test.cpp
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* Test High Resolution Timers in Linux
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*
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* @author Mark Charlebois <charlebm@gmail.com>
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*/
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#include <drivers/drv_hrt.h>
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#include "hrt_test.h"
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#include <unistd.h>
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#include <stdio.h>
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px4::AppState HRTTest::appState;
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static void timer_expired(void *arg)
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{
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printf("Test\n");
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}
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int HRTTest::main()
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{
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appState.setRunning(true);
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hrt_abstime t = hrt_absolute_time();
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usleep(1000000);
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hrt_abstime elt = hrt_elapsed_time(&t);
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printf("Elapsed time %llu in 1 sec (usleep)\n", (unsigned long long)elt);
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printf("Start time %llu\n", (unsigned long long)t);
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t = hrt_absolute_time();
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sleep(1);
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elt = hrt_elapsed_time(&t);
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printf("Elapsed time %llu in 1 sec (sleep)\n", (unsigned long long)elt);
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printf("Start time %llu\n", (unsigned long long)t);
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struct hrt_call t1;
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int update_interval = 1;
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memset(&t1, 0, sizeof(t1));
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printf("HRT_CALL %d\n", hrt_called(&t1));
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hrt_call_after(&t1, update_interval, timer_expired, (void *)0);
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sleep(2);
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printf("HRT_CALL %d\n", hrt_called(&t1));
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hrt_cancel(&t1);
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printf("HRT_CALL %d\n", hrt_called(&t1));
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return 0;
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}
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