test_hrt.cpp
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/****************************************************************************
*
* 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_hrt.c
* Tests the high resolution timer.
*/
#include <drivers/drv_hrt.h>
#include <px4_platform_common/posix.h>
#include <sys/time.h>
#include "tests_main.h"
int test_hrt(int argc, char *argv[])
{
struct hrt_call call;
hrt_abstime prev, now;
int i;
struct timeval tv1, tv2;
printf("start-time (hrt, sec/usec), end-time (hrt, sec/usec), microseconds per 1/10 second\n");
for (i = 0; i < 10; i++) {
prev = hrt_absolute_time();
gettimeofday(&tv1, nullptr);
px4_usleep(100000);
now = hrt_absolute_time();
gettimeofday(&tv2, nullptr);
printf("%lu (%lu/%lu), %lu (%lu/%lu), %lu\n",
(unsigned long)prev, (unsigned long)tv1.tv_sec, (unsigned long)tv1.tv_usec,
(unsigned long)now, (unsigned long)tv2.tv_sec, (unsigned long)tv2.tv_usec,
(unsigned long)(hrt_absolute_time() - prev));
}
px4_usleep(1000000);
printf("one-second ticks\n");
for (i = 0; i < 3; i++) {
hrt_call_after(&call, 1000000, nullptr, nullptr);
while (!hrt_called(&call)) {
px4_usleep(1000);
}
printf("tick\n");
}
return 0;
}