/**
*
* @brief The test main function
*
* @return 0 on success
*/
int nanoIntLatency(void)
{
PRINT_FORMAT(" 1- Measure time to switch from fiber to ISR execution");
TICK_SYNCH();
task_fiber_start(&fiberStack[0], STACKSIZE,
(nano_fiber_entry_t) fiberInt, 0, 0, 6, 0);
PRINT_FORMAT(" switching time is %lu tcs = %lu nsec",
timestamp, SYS_CLOCK_HW_CYCLES_TO_NS(timestamp));
return 0;
}
/**
*
* @brief The test main function
*
* @return 0 on success
*/
int int_to_thread_evt(void)
{
PRINT_FORMAT(" 2 - Measure time from ISR to executing a different thread"
" (rescheduled)");
TICK_SYNCH();
k_sem_give(&INTSEMA);
k_alert_recv(&EVENT0, K_FOREVER);
timestamp = TIME_STAMP_DELTA_GET(timestamp);
PRINT_FORMAT(" switch time is %u tcs = %u nsec",
timestamp, SYS_CLOCK_HW_CYCLES_TO_NS(timestamp));
return 0;
}
/**
*
* @brief The test main function
*
* @return 0 on success
*/
int nanoIntToFiber(void)
{
PRINT_FORMAT(" 2- Measure time to switch from ISR back to interrupted"
" fiber");
TICK_SYNCH();
task_fiber_start(&fiberStack[0], STACKSIZE,
(nano_fiber_entry_t) fiberInt, 0, 0, 6, 0);
if (flagVar == 1) {
PRINT_FORMAT(" switching time is %lu tcs = %lu nsec",
timestamp, SYS_CLOCK_HW_CYCLES_TO_NS(timestamp));
}
return 0;
}
/**
*
* @brief The test main function
*
* @return 0 on success
*/
int nanoIntToFiberSem(void)
{
PRINT_FORMAT(" 3- Measure time from ISR to executing a different fiber"
" (rescheduled)");
nano_sem_init(&testSema);
TICK_SYNCH();
task_fiber_start(&waiterStack[0], STACKSIZE,
(nano_fiber_entry_t) fiberWaiter, 0, 0, 5, 0);
task_fiber_start(&intStack[0], STACKSIZE,
(nano_fiber_entry_t) fiberInt, 0, 0, 6, 0);
PRINT_FORMAT(" switching time is %lu tcs = %lu nsec",
timestamp, SYS_CLOCK_HW_CYCLES_TO_NS(timestamp));
return 0;
}
/**
*
* @brief Interrupt preparation fiber
*
* Fiber makes all the test preparations: registers the interrupt handler,
* gets the first timestamp and invokes the software interrupt.
*
* @return N/A
*/
static void fiberInt(void)
{
flagVar = 0;
irq_offload(latencyTestIsr, NULL);
if (flagVar != 1) {
PRINT_FORMAT(" Flag variable has not changed. FAILED");
} else {
timestamp = TIME_STAMP_DELTA_GET(timestamp);
}
}
/**
*
* @brief The test main function
*
* @return 0 on success
*/
int nanoIntLockUnlock(void)
{
int i;
unsigned int mask;
PRINT_FORMAT(" 5- Measure average time to lock then unlock interrupts");
bench_test_start();
timestamp = TIME_STAMP_DELTA_GET(0);
for (i = 0; i < NTESTS; i++) {
mask = irq_lock();
irq_unlock(mask);
}
timestamp = TIME_STAMP_DELTA_GET(timestamp);
if (bench_test_end() == 0) {
PRINT_FORMAT(" Average time for lock then unlock "
"is %lu tcs = %lu nsec",
timestamp / NTESTS, SYS_CLOCK_HW_CYCLES_TO_NS_AVG(timestamp, NTESTS));
} else {
errorCount++;
PRINT_OVERFLOW_ERROR();
}
return 0;
}
static void print_one_field(mavlink_message_t *msg, const mavlink_field_info_t *f, int idx)
{
#define PRINT_FORMAT(f, def) (f->print_format?f->print_format:def)
switch (f->type) {
case MAVLINK_TYPE_CHAR:
printf(PRINT_FORMAT(f, "%c"), _MAV_RETURN_char(msg, f->wire_offset+idx*1));
break;
case MAVLINK_TYPE_UINT8_T:
printf(PRINT_FORMAT(f, "%u"), _MAV_RETURN_uint8_t(msg, f->wire_offset+idx*1));
break;
case MAVLINK_TYPE_INT8_T:
printf(PRINT_FORMAT(f, "%d"), _MAV_RETURN_int8_t(msg, f->wire_offset+idx*1));
break;
case MAVLINK_TYPE_UINT16_T:
printf(PRINT_FORMAT(f, "%u"), _MAV_RETURN_uint16_t(msg, f->wire_offset+idx*2));
break;
case MAVLINK_TYPE_INT16_T:
printf(PRINT_FORMAT(f, "%d"), _MAV_RETURN_int16_t(msg, f->wire_offset+idx*2));
break;
case MAVLINK_TYPE_UINT32_T:
printf(PRINT_FORMAT(f, "%lu"), (unsigned long)_MAV_RETURN_uint32_t(msg, f->wire_offset+idx*4));
break;
case MAVLINK_TYPE_INT32_T:
printf(PRINT_FORMAT(f, "%ld"), (long)_MAV_RETURN_int32_t(msg, f->wire_offset+idx*4));
break;
case MAVLINK_TYPE_UINT64_T:
printf(PRINT_FORMAT(f, "%llu"), (unsigned long long)_MAV_RETURN_uint64_t(msg, f->wire_offset+idx*8));
break;
case MAVLINK_TYPE_INT64_T:
printf(PRINT_FORMAT(f, "%lld"), (long long)_MAV_RETURN_int64_t(msg, f->wire_offset+idx*8));
break;
case MAVLINK_TYPE_FLOAT:
printf(PRINT_FORMAT(f, "%f"), (double)_MAV_RETURN_float(msg, f->wire_offset+idx*4));
break;
case MAVLINK_TYPE_DOUBLE:
printf(PRINT_FORMAT(f, "%f"), _MAV_RETURN_double(msg, f->wire_offset+idx*8));
break;
}
}
