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