From 85535ce68f1b55150a59eb87a54074c5f49ab585 Mon Sep 17 00:00:00 2001
From: "ucart@co3050-12" <dawehr@iastate.edu>
Date: Sat, 21 Jan 2017 17:00:20 -0600
Subject: [PATCH] Added timing functionality to timer.c
---
quad/scripts/test_uart_comm.py | 11 +++++++++--
quad/sw/modular_quad_pid/src/initialize_components.c | 11 ++++++-----
quad/sw/modular_quad_pid/src/timer.c | 4 ++++
quad/sw/modular_quad_pid/src/timer.h | 2 ++
4 files changed, 21 insertions(+), 7 deletions(-)
diff --git a/quad/scripts/test_uart_comm.py b/quad/scripts/test_uart_comm.py
index 1a28e3ba6..324f73b1f 100755
--- a/quad/scripts/test_uart_comm.py
+++ b/quad/scripts/test_uart_comm.py
@@ -1,6 +1,7 @@
#!/usr/bin/python
import sys
+import time
print(sys.version_info)
import serial
@@ -44,7 +45,13 @@ def query_received(ser):
if __name__ == '__main__':
with serial.Serial('/dev/ttyUSB0', 921600, timeout=5) as ser:
- ser.write(create_test_packet(8))
+ ser.reset_input_buffer()
+ ser.write(create_test_packet(40))
+ time.sleep(0.05)
+ #while ser.in_waiting != 0:
+ # resp = read_packet(ser)
+ # elapsed = int.from_bytes(resp, byteorder='little')
+ # print(f"Took {elapsed} cycles, {elapsed / 100} us")
ser.flush()
- print(query_received(ser))
+ #print(query_received(ser))
diff --git a/quad/sw/modular_quad_pid/src/initialize_components.c b/quad/sw/modular_quad_pid/src/initialize_components.c
index fac31e173..e00a27b8c 100644
--- a/quad/sw/modular_quad_pid/src/initialize_components.c
+++ b/quad/sw/modular_quad_pid/src/initialize_components.c
@@ -56,6 +56,12 @@ int initializeAllComponents(user_input_t * user_input_struct, log_t * log_struct
// Xilinx given initialization
init_platform();
+
+ // Initialize loop timers
+ if (timer_init()) {
+ return -1;
+ }
+
// Initialize UART0 (Bluetooth)
if (initUartComms()) {
return -1;
@@ -69,11 +75,6 @@ int initializeAllComponents(user_input_t * user_input_struct, log_t * log_struct
// Initialize PWM Recorders and Motor outputs
pwm_init();
- // Initialize loop timers
- if (timer_init()) {
- return -1;
- }
-
//manual flight mode
user_defined_struct->flight_mode = MANUAL_FLIGHT_MODE;
diff --git a/quad/sw/modular_quad_pid/src/timer.c b/quad/sw/modular_quad_pid/src/timer.c
index 7d5f3b11b..2c39ed1a7 100644
--- a/quad/sw/modular_quad_pid/src/timer.c
+++ b/quad/sw/modular_quad_pid/src/timer.c
@@ -64,3 +64,7 @@ int timer_end_loop(log_t *log_struct)
return 0;
}
+
+u32 timer_get_count() {
+ return XTmrCtr_GetValue(&axi_timer, 0);
+}
diff --git a/quad/sw/modular_quad_pid/src/timer.h b/quad/sw/modular_quad_pid/src/timer.h
index dbd719027..64e067e9a 100644
--- a/quad/sw/modular_quad_pid/src/timer.h
+++ b/quad/sw/modular_quad_pid/src/timer.h
@@ -53,4 +53,6 @@ int timer_start_loop();
*/
int timer_end_loop(log_t *log_struct);
+u32 timer_get_count();
+
#endif /* TIMER_H_ */
--
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