ardupilot/libraries/DataFlash/examples/DataFlash_test/DataFlash_test.cpp

144 lines
3.5 KiB
C++

/*
* Example of DataFlash library.
* originally based on code by Jordi MuÒoz and Jose Julio
*/
#include <AP_HAL/AP_HAL.h>
#include <DataFlash/DataFlash.h>
#include <GCS_MAVLink/GCS_Dummy.h>
#include <stdio.h>
const AP_HAL::HAL& hal = AP_HAL::get_HAL();
#define LOG_TEST_MSG 1
struct PACKED log_Test {
LOG_PACKET_HEADER;
uint16_t v1, v2, v3, v4;
int32_t l1, l2;
};
static const struct LogStructure log_structure[] = {
LOG_COMMON_STRUCTURES,
{ LOG_TEST_MSG, sizeof(log_Test),
"TEST",
"HHHHii",
"V1,V2,V3,V4,L1,L2",
"------",
"------"
}
};
#define NUM_PACKETS 500
static uint16_t log_num;
class DataFlashTest {
public:
void setup();
void loop();
private:
AP_Int32 log_bitmask;
DataFlash_Class dataflash{"DF Test 0.1", log_bitmask};
void print_mode(AP_HAL::BetterStream *port, uint8_t mode);
};
static DataFlashTest dataflashtest;
void DataFlashTest::setup(void)
{
hal.console->printf("Dataflash Log Test 1.0\n");
log_bitmask = (uint32_t)-1;
dataflash.Init(log_structure, ARRAY_SIZE(log_structure));
dataflash.set_vehicle_armed(true);
dataflash.Log_Write_Message("DataFlash Test");
// Test
hal.scheduler->delay(20);
dataflash.ShowDeviceInfo(hal.console);
// We start to write some info (sequentialy) starting from page 1
// This is similar to what we will do...
log_num = dataflash.find_last_log();
hal.console->printf("Using log number %u\n", log_num);
hal.console->printf("After testing perform erase before using DataFlash for logging!\n");
hal.console->printf("\n");
hal.console->printf("Writing to flash... wait...\n");
uint32_t total_micros = 0;
uint16_t i;
for (i = 0; i < NUM_PACKETS; i++) {
uint32_t start = AP_HAL::micros();
// note that we use g++ style initialisers to make larger
// structures easier to follow
struct log_Test pkt = {
LOG_PACKET_HEADER_INIT(LOG_TEST_MSG),
v1 : (uint16_t)(2000 + i),
v2 : (uint16_t)(2001 + i),
v3 : (uint16_t)(2002 + i),
v4 : (uint16_t)(2003 + i),
l1 : (int32_t)(i * 5000),
l2 : (int32_t)(i * 16268)
};
dataflash.WriteBlock(&pkt, sizeof(pkt));
total_micros += AP_HAL::micros() - start;
hal.scheduler->delay(20);
}
hal.console->printf("Average write time %.1f usec/byte\n",
(double)total_micros/((double)i*sizeof(struct log_Test)));
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX
dataflash.flush();
#endif
hal.scheduler->delay(100);
}
void DataFlashTest::loop(void)
{
uint16_t start, end;
hal.console->printf("Start read of log %u\n", log_num);
dataflash.get_log_boundaries(log_num, start, end);
dataflash.LogReadProcess(log_num, start, end,
FUNCTOR_BIND_MEMBER(&DataFlashTest::print_mode, void, AP_HAL::BetterStream *, uint8_t),//print_mode,
hal.console);
hal.console->printf("\nTest complete. Test will repeat in 20 seconds\n");
hal.scheduler->delay(20000);
}
void DataFlashTest::print_mode(AP_HAL::BetterStream *port, uint8_t mode)
{
port->printf("Mode(%u)", (unsigned)mode);
}
/*
compatibility with old pde style build
*/
void setup(void);
void loop(void);
void setup()
{
dataflashtest.setup();
}
void loop()
{
dataflashtest.loop();
}
const struct AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
AP_GROUPEND
};
GCS_Dummy _gcs;
AP_HAL_MAIN();