Tools: convert CPUInfo to AP_HAL

Tools/CPUInfo/CPUInfo.pde

@@ -5,27 +5,42 @@
   Andrew Tridgell September 2011
 */
 
-#include <math.h>
+#include <AP_HAL.h>
-#include <FastSerial.h>
+#include <AP_HAL_AVR.h>
+#include <AP_HAL_AVR_SITL.h>
+#include <AP_Common.h>
+#include <AP_Baro.h>
+#include <AP_Compass.h>
+#include <AP_Declination.h>
+#include <SITL.h>
+#include <Filter.h>
+#include <AP_Param.h>
+#include <AP_Progmem.h>
+#include <AP_Math.h>
 
-FastSerialPort0(Serial);
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
-
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
-#define SERIAL0_BAUD 115200
+#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
+#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
+const AP_HAL::HAL& hal = AP_HAL_AVR_SITL;
+#else
+#error "Unknown CONFIG_HAL_BOARD type"
+#endif
 
 void setup() {
-	Serial.begin(SERIAL0_BAUD, 128, 128);
 }
 
 static void show_sizes(void)
 {
-	Serial.println("Type sizes:");
+	hal.console->println("Type sizes:");
-	Serial.printf("char      : %d\n", sizeof(char));
+	hal.console->printf("char      : %d\n", sizeof(char));
-	Serial.printf("short     : %d\n", sizeof(short));
+	hal.console->printf("short     : %d\n", sizeof(short));
-	Serial.printf("int       : %d\n", sizeof(int));
+	hal.console->printf("int       : %d\n", sizeof(int));
-	Serial.printf("long      : %d\n", sizeof(long));
+	hal.console->printf("long      : %d\n", sizeof(long));
-	Serial.printf("long long : %d\n", sizeof(long long));
+	hal.console->printf("long long : %d\n", sizeof(long long));
-	Serial.printf("bool      : %d\n", sizeof(bool));
+	hal.console->printf("bool      : %d\n", sizeof(bool));
-	Serial.printf("void*     : %d\n", sizeof(void *));
+	hal.console->printf("void*     : %d\n", sizeof(void *));
 }
 
 #define TENTIMES(x) do { x; x; x; x; x; x; x; x; x; x; } while (0)
@@ -33,12 +48,12 @@ static void show_sizes(void)
 
 #define TIMEIT(name, op, count) do { \
 	uint32_t us_end, us_start; \
-	us_start = micros(); \
+	us_start = hal.scheduler->micros(); \
 	for (uint8_t i=0; i<count; i++) { \
 		FIFTYTIMES(op);				\
 	} \
-	us_end = micros(); \
+	us_end = hal.scheduler->micros(); \
-	Serial.printf("%-10s %7.2f usec/call\n", name, double(us_end-us_start)/(count*50.0)); \
+	hal.console->printf("%-10s %7.2f usec/call\n", name, double(us_end-us_start)/(count*50.0)); \
 } while (0)
 
 volatile float v_f = 1.0;
@@ -58,27 +73,27 @@ volatile uint64_t v_out_64 = 1;
 static void show_timings(void)
 {
 
-	v_f = 1+(micros() % 5);
+	v_f = 1+(hal.scheduler->micros() % 5);
-	v_out = 1+(micros() % 3);
+	v_out = 1+(hal.scheduler->micros() % 3);
 
-	v_32 = 1+(micros() % 5);
+	v_32 = 1+(hal.scheduler->micros() % 5);
-	v_out_32 = 1+(micros() % 3);
+	v_out_32 = 1+(hal.scheduler->micros() % 3);
 
-	v_16 = 1+(micros() % 5);
+	v_16 = 1+(hal.scheduler->micros() % 5);
-	v_out_16 = 1+(micros() % 3);
+	v_out_16 = 1+(hal.scheduler->micros() % 3);
 
-	v_8 = 1+(micros() % 5);
+	v_8 = 1+(hal.scheduler->micros() % 5);
-	v_out_8 = 1+(micros() % 3);
+	v_out_8 = 1+(hal.scheduler->micros() % 3);
 
 
-	Serial.println("Operation timings:");
+	hal.console->println("Operation timings:");
-	Serial.println("Note: timings for some operations are very data dependent");
+	hal.console->println("Note: timings for some operations are very data dependent");
 
 	TIMEIT("nop", asm volatile("nop"::), 255);
-	TIMEIT("cli/sei", cli(); sei(), 255);
+	TIMEIT("cli/sei", hal.scheduler->begin_atomic(); hal.scheduler->end_atomic(), 255);
 
-	TIMEIT("micros()", micros(), 200);
+	TIMEIT("micros()", hal.scheduler->micros(), 200);
-	TIMEIT("millis()", millis(), 200);
+	TIMEIT("millis()", hal.scheduler->millis(), 200);
 
 	TIMEIT("fadd", v_out += v_f, 100);
 	TIMEIT("fsub", v_out -= v_f, 100);
@@ -120,14 +135,16 @@ static void show_timings(void)
 
 	TIMEIT("memcpy128", memcpy((void*)mbuf1, (const void *)mbuf2, sizeof(mbuf1)), 20);
 	TIMEIT("memset128", memset((void*)mbuf1, 1, sizeof(mbuf1)), 20);
-	TIMEIT("delay(1)", delay(1), 5);
+	TIMEIT("delay(1)", hal.scheduler->delay(1), 5);
 }
 
 void loop()
 {
 	show_sizes();
-	Serial.println("");
+	hal.console->println("");
 	show_timings();
-	Serial.println("");
+	hal.console->println("");
-	delay(3000);
+	hal.scheduler->delay(3000);
 }
+
+AP_HAL_MAIN();