ardupilot/libraries/AP_HAL/examples/UART_test/UART_test.cpp

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/*
simple test of UART interfaces
*/
#include <AP_HAL/AP_HAL.h>
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#if HAL_OS_POSIX_IO
#include <stdio.h>
#endif
void setup();
void loop();
const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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/*
setup one UART at 57600
*/
static void setup_uart(AP_HAL::UARTDriver *uart, const char *name)
{
if (uart == nullptr) {
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// that UART doesn't exist on this platform
return;
}
uart->begin(57600);
}
void setup(void)
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{
/*
start all UARTs at 57600 with default buffer sizes
*/
hal.scheduler->delay(1000); //Ensure that the uartA can be initialized
setup_uart(hal.serial(0), "SERIAL0"); // console
setup_uart(hal.serial(1), "SERIAL1"); // telemetry 1
setup_uart(hal.serial(2), "SERIAL2"); // telemetry 2
setup_uart(hal.serial(3), "SERIAL3"); // 1st GPS
setup_uart(hal.serial(4), "SERIAL4"); // 2nd GPS
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}
static void test_uart(AP_HAL::UARTDriver *uart, const char *name)
{
if (uart == nullptr) {
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// that UART doesn't exist on this platform
return;
}
uart->printf("Hello on UART %s at %.3f seconds\n",
name, (double)(AP_HAL::millis() * 0.001f));
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}
void loop(void)
{
test_uart(hal.serial(0), "SERIAL0");
test_uart(hal.serial(1), "SERIAL1");
test_uart(hal.serial(2), "SERIAL2");
test_uart(hal.serial(3), "SERIAL3");
test_uart(hal.serial(4), "SERIAL4");
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// also do a raw printf() on some platforms, which prints to the
// debug console
#if HAL_OS_POSIX_IO
::printf("Hello on debug console at %.3f seconds\n", (double)(AP_HAL::millis() * 0.001f));
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#endif
hal.scheduler->delay(1000);
}
AP_HAL_MAIN();