AP_HAL_AVR: Scheduler unit tests

libraries/AP_HAL_AVR/examples/Scheduler/Makefile

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+include ../../../AP_Common/Arduino.mk

libraries/AP_HAL_AVR/examples/Scheduler/Scheduler.pde

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+
+#include <AP_Common.h>
+#include <AP_HAL.h>
+#include <AP_HAL_AVR.h>
+
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
+
+/** 
+ * You'll want to use a logic analyzer to watch the effects of this test.
+ * On the APM2 its pretty easy to hook up an analyzer to pins A0 through A3.
+ */
+#define DELAY_TOGGLE_PIN 54        /* A0 */
+#define FAILSAFE_TOGGLE_PIN 55     /* A1 */
+#define SCHEDULED_TOGGLE_PIN_1 56  /* A2 */
+#define SCHEDULED_TOGGLE_PIN_2 57  /* A3 */
+
+
+void delay_toggle() {
+    volatile int i;
+    hal.gpio->write(DELAY_TOGGLE_PIN, 1);
+    for (i = 0; i < 10; i++);
+    hal.gpio->write(DELAY_TOGGLE_PIN, 0);
+}
+
+void failsafe_toggle(uint32_t machtnichts) {
+    volatile int i;
+    hal.gpio->write(FAILSAFE_TOGGLE_PIN, 1);
+    for (i = 0; i < 10; i++);
+    hal.gpio->write(FAILSAFE_TOGGLE_PIN, 0);
+}
+
+
+void schedule_toggle_1(uint32_t machtnichts) {
+    volatile int i;
+    hal.gpio->write(SCHEDULED_TOGGLE_PIN_1, 1);
+    for (i = 0; i < 10; i++);
+    hal.gpio->write(SCHEDULED_TOGGLE_PIN_1, 0);
+}
+
+void schedule_toggle_2(uint32_t machtnichts) {
+    volatile int i;
+    hal.gpio->write(SCHEDULED_TOGGLE_PIN_2, 1);
+    for (i = 0; i < 10; i++);
+    hal.gpio->write(SCHEDULED_TOGGLE_PIN_2, 0);
+}
+
+void schedule_toggle_hang(uint32_t machtnichts) {
+    hal.gpio->write(SCHEDULED_TOGGLE_PIN_2, 1); 
+    for(;;);
+}
+
+void setup_pin(int pin_num) {
+    hal.uart0->printf_P(PSTR("Setup pin %d\r\n"), pin_num);
+    hal.gpio->pinMode(pin_num,GPIO_OUTPUT);
+    /* Blink so we can see setup on the logic analyzer.*/
+    hal.gpio->write(pin_num,1);
+    hal.gpio->write(pin_num,0);
+}
+
+void setup (void) {
+    hal.uart0->printf_P(PSTR("Starting AP_HAL_AVR::Scheduler test\r\n"));
+
+    setup_pin(DELAY_TOGGLE_PIN);
+    setup_pin(FAILSAFE_TOGGLE_PIN);
+    setup_pin(SCHEDULED_TOGGLE_PIN_1);
+    setup_pin(SCHEDULED_TOGGLE_PIN_2);
+
+    hal.uart0->printf_P(PSTR("Testing delay callback. "
+                "Pin %d should toggle at 1khz:\r\n"),
+            (int) DELAY_TOGGLE_PIN);
+
+    hal.scheduler->register_delay_callback(delay_toggle);
+
+    hal.scheduler->delay(100);
+
+    hal.uart0->printf_P(PSTR("Testing failsafe callback. "
+                "Pin %d should toggle at 1khz:\r\n"),
+            (int) FAILSAFE_TOGGLE_PIN);
+
+    hal.scheduler->register_timer_failsafe(failsafe_toggle, 1000);
+
+    hal.scheduler->delay(100);
+
+    hal.uart0->printf_P(PSTR("Testing running timer processes.\r\n"));
+    hal.uart0->printf_P(PSTR("Pin %d should toggle at 1khz.\r\n"),
+            (int) SCHEDULED_TOGGLE_PIN_1);
+    hal.uart0->printf_P(PSTR("Pin %d should toggle at 1khz.\r\n"),
+            (int) SCHEDULED_TOGGLE_PIN_2);
+
+    hal.scheduler->register_timer_process(schedule_toggle_1, 1000, 0);
+    hal.scheduler->register_timer_process(schedule_toggle_2, 1000, 0);
+
+    hal.scheduler->delay(100);
+
+    hal.uart0->printf_P(PSTR("Test running a pathological timer process.\r\n"
+                "Failsafe should continue even as pathological process "
+                "dominates the processor."));
+    hal.uart0->printf_P(PSTR("Pin %d should toggle then go high forever.\r\n"),
+            (int) SCHEDULED_TOGGLE_PIN_2);
+    hal.scheduler->register_timer_process(schedule_toggle_hang, 1000, 0);
+}
+
+void loop (void) { }
+
+extern "C" {
+int main (void) {
+    hal.init(NULL);
+    setup();
+    for(;;) loop();
+    return 0;
+}
+}