mirror of https://github.com/ArduPilot/ardupilot
99 lines
2.1 KiB
C++
99 lines
2.1 KiB
C++
/*
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simple test of UART interfaces
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on an UP2's hardware serial:
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DEVICE=/dev/ttyS5
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socat -,escape=0x0f $DEVICE,rawer,crnl,b4000000 | dd status=progress >/dev/null
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n.b. socat corrupts the data; screen(1) does not
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@ 4Mbaud:
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unbuffered:
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21526016 bytes (22 MB, 21 MiB) copied, 55.5364 s, 388 kB/s
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buffered:
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1702912 bytes (1.7 MB, 1.6 MiB) copied, 36.3764 s, 46.8 kB/s
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*/
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#include <AP_HAL/AP_HAL.h>
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#include <AP_BoardConfig/AP_BoardConfig.h>
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#define UNBUFFERED_WRITES 1
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#define FLOW_CONTROL_ENABLED 1
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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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static const uint32_t baud = 4000000;
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AP_HAL::UARTDriver *uart;
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uint8_t buffer[16384];
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uint16_t buflen = 0;
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void setup(void)
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{
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hal.scheduler->delay(1000); //Ensure that the uartA can be initialized
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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uart = hal.serial(0); // console
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#endif
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// uart = hal.serial(3); // 1st GPS
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#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
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uart = hal.serial(1); // telemetry 1
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#endif
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// uart = hal.serial(2); // telemetry 2
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// uart = hal.serial(4); // 2nd GPS
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if (uart == nullptr) {
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AP_HAL::panic("bad uart");
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}
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#if UNBUFFERED_WRITES
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uart->set_unbuffered_writes(true);
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#endif
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uart->begin(baud);
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#if FLOW_CONTROL_ENABLED
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uart->set_flow_control(AP_HAL::UARTDriver::flow_control::FLOW_CONTROL_ENABLE);
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#endif
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// populate chargen buffer
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for (uint8_t line=0; line<95; line++) {
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for (uint8_t i=0; i<72; i++) {
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uint8_t c = ' ' + line + i;
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if (c >= ' ' + 72) {
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c -= 72;
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}
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buffer[buflen++] = c;
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}
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buffer[buflen++] = '\r';
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buffer[buflen++] = '\n';
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}
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}
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void loop(void)
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{
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uint16_t offset = 0;
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while (offset < buflen) {
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uint16_t to_write = buflen-offset;
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const ssize_t ret = uart->write(&buffer[offset], to_write);
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if (ret > 0) {
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offset += ret;
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}
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#if !UNBUFFERED_WRITES
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// give the uart thread time to move data from buffer to uart:
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hal.scheduler->delay(1);
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#endif
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}
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}
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AP_HAL_MAIN();
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