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