12 changed files with 315 additions and 28 deletions
@ -0,0 +1,13 @@ |
|||||||
|
#include <sys/time.h> |
||||||
|
#include <inttypes.h> |
||||||
|
#include <drivers/drv_hrt.h> |
||||||
|
#include <stdio.h> |
||||||
|
|
||||||
|
uint64_t hrt_absolute_time() |
||||||
|
{ |
||||||
|
struct timeval te;
|
||||||
|
gettimeofday(&te, NULL); // get current time
|
||||||
|
unsigned long long us = static_cast<uint64_t>(te.tv_sec) * 1e6 + te.tv_usec; // caculate us
|
||||||
|
printf("us: %lld\n", us); |
||||||
|
return us; |
||||||
|
} |
@ -0,0 +1,133 @@ |
|||||||
|
/************************************************************************
|
||||||
|
* include/queue.h |
||||||
|
* |
||||||
|
* Copyright (C) 2007-2009 Gregory Nutt. All rights reserved. |
||||||
|
* Author: Gregory Nutt <gnutt@nuttx.org> |
||||||
|
* |
||||||
|
* Redistribution and use in source and binary forms, with or without |
||||||
|
* modification, are permitted provided that the following conditions |
||||||
|
* are met: |
||||||
|
* |
||||||
|
* 1. Redistributions of source code must retain the above copyright |
||||||
|
* notice, this list of conditions and the following disclaimer. |
||||||
|
* 2. Redistributions in binary form must reproduce the above copyright |
||||||
|
* notice, this list of conditions and the following disclaimer in |
||||||
|
* the documentation and/or other materials provided with the |
||||||
|
* distribution. |
||||||
|
* 3. Neither the name NuttX nor the names of its contributors may be |
||||||
|
* used to endorse or promote products derived from this software |
||||||
|
* without specific prior written permission. |
||||||
|
* |
||||||
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
||||||
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
||||||
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
||||||
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
||||||
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
||||||
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
||||||
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
||||||
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
||||||
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
||||||
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
||||||
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
||||||
|
* POSSIBILITY OF SUCH DAMAGE. |
||||||
|
* |
||||||
|
************************************************************************/ |
||||||
|
|
||||||
|
#ifndef __INCLUDE_QUEUE_H |
||||||
|
#define __INCLUDE_QUEUE_H |
||||||
|
|
||||||
|
#ifndef FAR |
||||||
|
#define FAR |
||||||
|
#endif |
||||||
|
|
||||||
|
/************************************************************************
|
||||||
|
* Included Files |
||||||
|
************************************************************************/ |
||||||
|
|
||||||
|
#include <sys/types.h> |
||||||
|
|
||||||
|
/************************************************************************
|
||||||
|
* Pre-processor Definitions |
||||||
|
************************************************************************/ |
||||||
|
|
||||||
|
#define sq_init(q) do { (q)->head = NULL; (q)->tail = NULL; } while (0) |
||||||
|
#define dq_init(q) do { (q)->head = NULL; (q)->tail = NULL; } while (0) |
||||||
|
|
||||||
|
#define sq_next(p) ((p)->flink) |
||||||
|
#define dq_next(p) ((p)->flink) |
||||||
|
#define dq_prev(p) ((p)->blink) |
||||||
|
|
||||||
|
#define sq_empty(q) ((q)->head == NULL) |
||||||
|
#define dq_empty(q) ((q)->head == NULL) |
||||||
|
|
||||||
|
#define sq_peek(q) ((q)->head) |
||||||
|
#define dq_peek(q) ((q)->head) |
||||||
|
|
||||||
|
/************************************************************************
|
||||||
|
* Global Type Declarations |
||||||
|
************************************************************************/ |
||||||
|
|
||||||
|
struct sq_entry_s |
||||||
|
{ |
||||||
|
FAR struct sq_entry_s *flink; |
||||||
|
}; |
||||||
|
typedef struct sq_entry_s sq_entry_t; |
||||||
|
|
||||||
|
struct dq_entry_s |
||||||
|
{ |
||||||
|
FAR struct dq_entry_s *flink; |
||||||
|
FAR struct dq_entry_s *blink; |
||||||
|
}; |
||||||
|
typedef struct dq_entry_s dq_entry_t; |
||||||
|
|
||||||
|
struct sq_queue_s |
||||||
|
{ |
||||||
|
FAR sq_entry_t *head; |
||||||
|
FAR sq_entry_t *tail; |
||||||
|
}; |
||||||
|
typedef struct sq_queue_s sq_queue_t; |
||||||
|
|
||||||
|
struct dq_queue_s |
||||||
|
{ |
||||||
|
FAR dq_entry_t *head; |
||||||
|
FAR dq_entry_t *tail; |
||||||
|
}; |
||||||
|
typedef struct dq_queue_s dq_queue_t; |
||||||
|
|
||||||
|
/************************************************************************
|
||||||
|
* Global Function Prototypes |
||||||
|
************************************************************************/ |
||||||
|
|
||||||
|
#ifdef __cplusplus |
||||||
|
#define EXTERN extern "C" |
||||||
|
extern "C" { |
||||||
|
#else |
||||||
|
#define EXTERN extern |
||||||
|
#endif |
||||||
|
|
||||||
|
EXTERN void sq_addfirst(FAR sq_entry_t *node, sq_queue_t *queue); |
||||||
|
EXTERN void dq_addfirst(FAR dq_entry_t *node, dq_queue_t *queue); |
||||||
|
EXTERN void sq_addlast(FAR sq_entry_t *node, sq_queue_t *queue); |
||||||
|
EXTERN void dq_addlast(FAR dq_entry_t *node, dq_queue_t *queue); |
||||||
|
EXTERN void sq_addafter(FAR sq_entry_t *prev, FAR sq_entry_t *node, |
||||||
|
sq_queue_t *queue); |
||||||
|
EXTERN void dq_addafter(FAR dq_entry_t *prev, FAR dq_entry_t *node, |
||||||
|
dq_queue_t *queue); |
||||||
|
EXTERN void dq_addbefore(FAR dq_entry_t *next, FAR dq_entry_t *node, |
||||||
|
dq_queue_t *queue); |
||||||
|
|
||||||
|
EXTERN FAR sq_entry_t *sq_remafter(FAR sq_entry_t *node, sq_queue_t *queue); |
||||||
|
EXTERN void sq_rem(FAR sq_entry_t *node, sq_queue_t *queue); |
||||||
|
EXTERN void dq_rem(FAR dq_entry_t *node, dq_queue_t *queue); |
||||||
|
EXTERN FAR sq_entry_t *sq_remlast(sq_queue_t *queue); |
||||||
|
EXTERN FAR dq_entry_t *dq_remlast(dq_queue_t *queue); |
||||||
|
EXTERN FAR sq_entry_t *sq_remfirst(sq_queue_t *queue); |
||||||
|
EXTERN FAR dq_entry_t *dq_remfirst(dq_queue_t *queue); |
||||||
|
|
||||||
|
#undef EXTERN |
||||||
|
#ifdef __cplusplus |
||||||
|
} |
||||||
|
#endif |
||||||
|
|
||||||
|
#endif /* __INCLUDE_QUEUE_H_ */ |
||||||
|
|
@ -0,0 +1,76 @@ |
|||||||
|
/****************************************************************************
|
||||||
|
* |
||||||
|
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. |
||||||
|
* |
||||||
|
* Redistribution and use in source and binary forms, with or without |
||||||
|
* modification, are permitted provided that the following conditions |
||||||
|
* are met: |
||||||
|
* |
||||||
|
* 1. Redistributions of source code must retain the above copyright |
||||||
|
* notice, this list of conditions and the following disclaimer. |
||||||
|
* 2. Redistributions in binary form must reproduce the above copyright |
||||||
|
* notice, this list of conditions and the following disclaimer in |
||||||
|
* the documentation and/or other materials provided with the |
||||||
|
* distribution. |
||||||
|
* 3. Neither the name PX4 nor the names of its contributors may be |
||||||
|
* used to endorse or promote products derived from this software |
||||||
|
* without specific prior written permission. |
||||||
|
* |
||||||
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
||||||
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
||||||
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
||||||
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
||||||
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
||||||
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
||||||
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
||||||
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
||||||
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
||||||
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
||||||
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
||||||
|
* POSSIBILITY OF SUCH DAMAGE. |
||||||
|
* |
||||||
|
****************************************************************************/ |
||||||
|
|
||||||
|
/**
|
||||||
|
* @file test_conv.cpp |
||||||
|
* Tests conversions used across the system. |
||||||
|
* |
||||||
|
*/ |
||||||
|
|
||||||
|
#include <nuttx/config.h> |
||||||
|
|
||||||
|
#include <sys/types.h> |
||||||
|
|
||||||
|
#include <stdio.h> |
||||||
|
#include <poll.h> |
||||||
|
#include <stdlib.h> |
||||||
|
#include <unistd.h> |
||||||
|
#include <fcntl.h> |
||||||
|
#include <errno.h> |
||||||
|
|
||||||
|
#include "tests.h" |
||||||
|
|
||||||
|
#include <math.h> |
||||||
|
#include <float.h> |
||||||
|
|
||||||
|
#include <systemlib/err.h> |
||||||
|
#include <unit_test/unit_test.h> |
||||||
|
#include <px4iofirmware/protocol.h> |
||||||
|
|
||||||
|
int test_conv(int argc, char *argv[]) |
||||||
|
{ |
||||||
|
warnx("Testing system conversions"); |
||||||
|
|
||||||
|
for (int i = -10000; i <= 10000; i+=1) { |
||||||
|
float f = i/10000.0f; |
||||||
|
float fres = REG_TO_FLOAT(FLOAT_TO_REG(f)); |
||||||
|
if (fabsf(f - fres) > 0.0001f) { |
||||||
|
warnx("conversion fail: input: %8.4f, intermediate: %d, result: %8.4f", f, REG_TO_SIGNED(FLOAT_TO_REG(f)), fres); |
||||||
|
return 1; |
||||||
|
} |
||||||
|
} |
||||||
|
|
||||||
|
warnx("All conversions clean"); |
||||||
|
|
||||||
|
return 0; |
||||||
|
} |
Loading…
Reference in new issue