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Diffstat (limited to 'apps/px4/tests/test_time.c')
| -rw-r--r-- | apps/px4/tests/test_time.c | 160 |
1 files changed, 0 insertions, 160 deletions
diff --git a/apps/px4/tests/test_time.c b/apps/px4/tests/test_time.c deleted file mode 100644 index 8a164f3fc..000000000 --- a/apps/px4/tests/test_time.c +++ /dev/null @@ -1,160 +0,0 @@ -/**************************************************************************** - * px4/tests/test_time.c - * - * Copyright (C) 2012 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. - * - ****************************************************************************/ - -/**************************************************************************** - * Included Files - ****************************************************************************/ - -#include <nuttx/config.h> - -#include <sys/types.h> - -#include <stdio.h> -#include <stdlib.h> -#include <unistd.h> -#include <fcntl.h> -#include <errno.h> -#include <debug.h> - -#include <arch/board/board.h> - -#include "tests.h" - -#include <math.h> -#include <float.h> -#include <drivers/drv_hrt.h> - - -/**************************************************************************** - * Pre-processor Definitions - ****************************************************************************/ - -/**************************************************************************** - * Private Types - ****************************************************************************/ - -/**************************************************************************** - * Private Function Prototypes - ****************************************************************************/ - -/**************************************************************************** - * Private Data - ****************************************************************************/ - -/**************************************************************************** - * Public Data - ****************************************************************************/ - -/**************************************************************************** - * Private Functions - ****************************************************************************/ - -/* emulate hrt_absolute_time using the cycle counter */ -static hrt_abstime -cycletime(void) -{ - static uint64_t basetime; - static uint32_t lasttime; - uint32_t cycles; - - cycles = *(unsigned long *)0xe0001004; - - if (cycles < lasttime) - basetime += 0x100000000ULL; - - lasttime = cycles; - - return (basetime + cycles) / 168; /* XXX magic number */ -} - -/**************************************************************************** - * Public Functions - ****************************************************************************/ - -/**************************************************************************** - * Name: test_led - ****************************************************************************/ - -int test_time(int argc, char *argv[]) -{ - hrt_abstime h, c; - int64_t lowdelta, maxdelta = 0; - int64_t delta, deltadelta; - - /* enable the cycle counter */ - (*(unsigned long *)0xe000edfc) |= (1 << 24); /* DEMCR |= DEMCR_TRCENA */ - (*(unsigned long *)0xe0001000) |= 1; /* DWT_CTRL |= DWT_CYCCNT_ENA */ - - /* get an average delta between the two clocks - this should stay roughly the same */ - delta = 0; - - for (unsigned i = 0; i < 100; i++) { - uint32_t flags = irqsave(); - - h = hrt_absolute_time(); - c = cycletime(); - - irqrestore(flags); - - delta += h - c; - } - - lowdelta = abs(delta / 100); - - /* loop checking the time */ - for (unsigned i = 0; i < 100; i++) { - - usleep(rand()); - - uint32_t flags = irqsave(); - - c = cycletime(); - h = hrt_absolute_time(); - - irqrestore(flags); - - delta = abs(h - c); - deltadelta = abs(delta - lowdelta); - - if (deltadelta > maxdelta) - maxdelta = deltadelta; - - if (deltadelta > 1000) - fprintf(stderr, "h %llu c %llu d %lld\n", h, c, delta - lowdelta); - } - - printf("Maximum jitter %lldus\n", maxdelta); - - return 0; -} |