test_hrt.cpp

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/**
 * @file test_hrt.c
 * Tests the high resolution timer.
 */

#include <drivers/drv_hrt.h>
#include <px4_platform_common/posix.h>
#include <sys/time.h>

#include "tests_main.h"

int test_hrt(int argc, char *argv[])
{
    struct hrt_call call;
    hrt_abstime prev, now;
    int i;
    struct timeval tv1, tv2;

    printf("start-time (hrt, sec/usec), end-time (hrt, sec/usec), microseconds per 1/10 second\n");

    for (i = 0; i < 10; i++) {
        prev = hrt_absolute_time();
        gettimeofday(&tv1, nullptr);
        px4_usleep(100000);
        now = hrt_absolute_time();
        gettimeofday(&tv2, nullptr);
        printf("%lu (%lu/%lu), %lu (%lu/%lu), %lu\n",
               (unsigned long)prev, (unsigned long)tv1.tv_sec, (unsigned long)tv1.tv_usec,
               (unsigned long)now, (unsigned long)tv2.tv_sec, (unsigned long)tv2.tv_usec,
               (unsigned long)(hrt_absolute_time() - prev));
        fflush(stdout);
    }

    px4_usleep(1000000);

    printf("one-second ticks\n");

    for (i = 0; i < 3; i++) {
        hrt_call_after(&call, 1000000, nullptr, nullptr);

        while (!hrt_called(&call)) {
            px4_usleep(1000);
        }

        printf("tick\n");
        fflush(stdout);
    }

    return 0;
}