mirror of https://github.com/ArduPilot/ardupilot
72 lines
1.5 KiB
C++
72 lines
1.5 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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const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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static AP_HAL::UARTDriver* uarts[] = {
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hal.uartA, // console
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};
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#define NUM_UARTS (sizeof(uarts)/sizeof(uarts[0]))
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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 == NULL) {
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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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setup_uart(hal.uartA, "uartA"); // console
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setup_uart(hal.uartB, "uartB"); // 1st GPS
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setup_uart(hal.uartC, "uartC"); // telemetry 1
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setup_uart(hal.uartD, "uartD"); // telemetry 2
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setup_uart(hal.uartE, "uartE"); // 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 == NULL) {
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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, hal.scheduler->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.uartA, "uartA");
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test_uart(hal.uartB, "uartB");
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test_uart(hal.uartC, "uartC");
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test_uart(hal.uartD, "uartD");
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test_uart(hal.uartE, "uartE");
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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", hal.scheduler->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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