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 = px4_enter_critical_section();
h = hrt_absolute_time();
c = cycletime();
px4_leave_critical_section(flags);
delta += h - c;
}
lowdelta = abs(delta / 100);
/* loop checking the time */
for (unsigned i = 0; i < 100; i++) {
usleep(rand());
uint32_t flags = px4_enter_critical_section();
c = cycletime();
h = hrt_absolute_time();
px4_leave_critical_section(flags);
delta = abs(h - c);
deltadelta = abs(delta - lowdelta);
if (deltadelta > maxdelta) {
maxdelta = deltadelta;
}
if (deltadelta > 1000) {
fprintf(stderr, "h %" PRIu64 " c %" PRIu64 " d %" PRId64 "\n", h, c, delta - lowdelta);
}
}
printf("Maximum jitter %" PRId64 "us\n", maxdelta);
return 0;
}
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 < 100000; i++) {
usleep(rand() * 10);
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 %lld\n", maxdelta);
return 0;
}
dotime(void)
{
int index;
cycletime();
for ( index = 0 ; index < nname ; index += 1 ) {
timepropagate( topsortnlp[ index ] );
}
}
static
void
dotime(
void)
{
unsigned long index;
cycletime();
for(index = 0; index < nname; index += 1){
timepropagate(topsortnlp[index]);
}
}
