mirror of https://github.com/ArduPilot/ardupilot
135 lines
3.4 KiB
C++
135 lines
3.4 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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* Example of DataFlash library.
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* originally based on code by Jordi MuÒoz and Jose Julio
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*/
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#include <AP_HAL/AP_HAL.h>
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#include <DataFlash/DataFlash.h>
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const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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#define LOG_TEST_MSG 1
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struct PACKED log_Test {
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LOG_PACKET_HEADER;
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uint16_t v1, v2, v3, v4;
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int32_t l1, l2;
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};
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static const struct LogStructure log_structure[] = {
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LOG_COMMON_STRUCTURES,
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{ LOG_TEST_MSG, sizeof(log_Test),
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"TEST", "HHHHii", "V1,V2,V3,V4,L1,L2" }
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};
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#define NUM_PACKETS 500
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static uint16_t log_num;
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class DataFlashTest {
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public:
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void setup();
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void loop();
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private:
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DataFlash_Class dataflash{"DF Test 0.1"};
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void print_mode(AP_HAL::BetterStream *port, uint8_t mode);
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};
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static DataFlashTest dataflashtest;
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void DataFlashTest::setup(void)
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{
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dataflash.Init(log_structure, ARRAY_SIZE(log_structure));
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hal.console->println("Dataflash Log Test 1.0");
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// Test
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hal.scheduler->delay(20);
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dataflash.ShowDeviceInfo(hal.console);
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if (dataflash.NeedPrep()) {
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hal.console->println("Preparing dataflash...");
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dataflash.Prep();
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}
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// We start to write some info (sequentialy) starting from page 1
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// This is similar to what we will do...
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dataflash.StartNewLog();
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log_num = dataflash.find_last_log();
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hal.console->printf("Using log number %u\n", log_num);
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hal.console->println("After testing perform erase before using DataFlash for logging!");
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hal.console->println("");
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hal.console->println("Writing to flash... wait...");
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uint32_t total_micros = 0;
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uint16_t i;
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for (i = 0; i < NUM_PACKETS; i++) {
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uint32_t start = AP_HAL::micros();
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// note that we use g++ style initialisers to make larger
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// structures easier to follow
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struct log_Test pkt = {
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LOG_PACKET_HEADER_INIT(LOG_TEST_MSG),
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v1 : (uint16_t)(2000 + i),
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v2 : (uint16_t)(2001 + i),
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v3 : (uint16_t)(2002 + i),
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v4 : (uint16_t)(2003 + i),
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l1 : (int32_t)(i * 5000),
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l2 : (int32_t)(i * 16268)
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};
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dataflash.WriteBlock(&pkt, sizeof(pkt));
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total_micros += AP_HAL::micros() - start;
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hal.scheduler->delay(20);
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}
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hal.console->printf("Average write time %.1f usec/byte\n",
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(double)total_micros/((double)i*sizeof(struct log_Test)));
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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dataflash.flush();
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#endif
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hal.scheduler->delay(100);
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}
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void DataFlashTest::loop(void)
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{
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uint16_t start, end;
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hal.console->printf("Start read of log %u\n", log_num);
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dataflash.get_log_boundaries(log_num, start, end);
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dataflash.LogReadProcess(log_num, start, end,
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FUNCTOR_BIND_MEMBER(&DataFlashTest::print_mode, void, AP_HAL::BetterStream *, uint8_t),//print_mode,
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hal.console);
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hal.console->printf("\nTest complete. Test will repeat in 20 seconds\n");
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hal.scheduler->delay(20000);
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}
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void DataFlashTest::print_mode(AP_HAL::BetterStream *port, uint8_t mode)
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{
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port->printf("Mode(%u)", (unsigned)mode);
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}
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/*
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compatibility with old pde style build
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*/
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void setup(void);
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void loop(void);
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void setup()
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{
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dataflashtest.setup();
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}
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void loop()
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{
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dataflashtest.loop();
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}
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AP_HAL_MAIN();
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