From 4ec6a74829c79c898c44539baff385c7a6e635ec Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Tue, 2 Dec 2014 13:12:41 +1100
Subject: [PATCH] AP_HAL: addex UART_test example sketch

---
 libraries/AP_HAL/examples/UART_test/Makefile  |   1 +
 .../AP_HAL/examples/UART_test/UART_test.pde   | 100 ++++++++++++++++++
 2 files changed, 101 insertions(+)
 create mode 100644 libraries/AP_HAL/examples/UART_test/Makefile
 create mode 100644 libraries/AP_HAL/examples/UART_test/UART_test.pde

diff --git a/libraries/AP_HAL/examples/UART_test/Makefile b/libraries/AP_HAL/examples/UART_test/Makefile
new file mode 100644
index 0000000000..f5daf25151
--- /dev/null
+++ b/libraries/AP_HAL/examples/UART_test/Makefile
@@ -0,0 +1 @@
+include ../../../../mk/apm.mk
diff --git a/libraries/AP_HAL/examples/UART_test/UART_test.pde b/libraries/AP_HAL/examples/UART_test/UART_test.pde
new file mode 100644
index 0000000000..aab53c8f77
--- /dev/null
+++ b/libraries/AP_HAL/examples/UART_test/UART_test.pde
@@ -0,0 +1,100 @@
+/*
+  simple test of UART interfaces
+ */
+#include <AP_HAL.h>
+#include <AP_HAL_AVR.h>
+#include <AP_HAL_AVR_SITL.h>
+#include <AP_HAL_PX4.h>
+#include <AP_HAL_Empty.h>
+#include <AP_Common.h>
+#include <AP_Baro.h>
+#include <AP_ADC.h>
+#include <AP_GPS.h>
+#include <AP_InertialSensor.h>
+#include <AP_Notify.h>
+#include <DataFlash.h>
+#include <GCS_MAVLink.h>
+#include <AP_Mission.h>
+#include <StorageManager.h>
+#include <AP_Terrain.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>
+#include <AP_AHRS.h>
+#include <AP_Airspeed.h>
+#include <AP_Vehicle.h>
+#include <AP_ADC_AnalogSource.h>
+#include <AP_NavEKF.h>
+#include <AP_Rally.h>
+#include <AP_Scheduler.h>
+#include <UARTDriver.h>
+
+#if HAL_OS_POSIX_IO
+#include <stdio.h>
+#endif
+
+const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
+
+static AP_HAL::UARTDriver* uarts[] = {
+    hal.uartA, // console
+};
+#define NUM_UARTS (sizeof(uarts)/sizeof(uarts[0]))
+
+
+/*
+  setup one UART at 57600
+ */
+static void setup_uart(AP_HAL::UARTDriver *uart, const char *name)
+{
+    if (uart == NULL) {
+        // that UART doesn't exist on this platform
+        return;
+    }
+    uart->begin(57600);
+}
+
+
+void setup(void) 
+{
+    /*
+      start all UARTs at 57600 with default buffer sizes
+     */
+    setup_uart(hal.uartA, "uartA"); // console
+    setup_uart(hal.uartB, "uartB"); // 1st GPS
+    setup_uart(hal.uartC, "uartC"); // telemetry 1
+    setup_uart(hal.uartD, "uartD"); // telemetry 2
+    setup_uart(hal.uartE, "uartE"); // 2nd GPS
+}
+
+static void test_uart(AP_HAL::UARTDriver *uart, const char *name)
+{
+    if (uart == NULL) {
+        // that UART doesn't exist on this platform
+        return;
+    }
+    uart->printf("Hello on UART %s at %.3f seconds\n",
+                 name, hal.scheduler->millis()*0.001f);
+}
+
+void loop(void) 
+{	
+    test_uart(hal.uartA, "uartA");
+    test_uart(hal.uartB, "uartB");
+    test_uart(hal.uartC, "uartC");
+    test_uart(hal.uartD, "uartD");
+    test_uart(hal.uartE, "uartE");
+
+    // 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", hal.scheduler->millis()*0.001f);
+#endif
+
+    hal.scheduler->delay(1000);
+}
+
+AP_HAL_MAIN();