From 2c29fd8ba4087d1fa3f13ee917ab1b59ecf9742e Mon Sep 17 00:00:00 2001
From: rmackay9 <rmackay9@yahoo.com>
Date: Sat, 29 Sep 2012 13:23:51 +0900
Subject: [PATCH] AP_TimerProcess: added simple example sketch

---
 .../AP_TimerProcess_Test.pde                  | 49 +++++++++++++++++++
 .../examples/AP_TimerProcess_Test/Makefile    |  4 ++
 2 files changed, 53 insertions(+)
 create mode 100644 libraries/AP_PeriodicProcess/examples/AP_TimerProcess_Test/AP_TimerProcess_Test.pde
 create mode 100644 libraries/AP_PeriodicProcess/examples/AP_TimerProcess_Test/Makefile

diff --git a/libraries/AP_PeriodicProcess/examples/AP_TimerProcess_Test/AP_TimerProcess_Test.pde b/libraries/AP_PeriodicProcess/examples/AP_TimerProcess_Test/AP_TimerProcess_Test.pde
new file mode 100644
index 0000000000..2fc064cb76
--- /dev/null
+++ b/libraries/AP_PeriodicProcess/examples/AP_TimerProcess_Test/AP_TimerProcess_Test.pde
@@ -0,0 +1,49 @@
+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
+
+//
+// Simple test for the AP_TimerProcess library
+//
+
+#include <FastSerial.h>
+#include <Arduino_Mega_ISR_Registry.h>
+#include <AP_PeriodicProcess.h>
+#include <AP_Math.h>
+#include <AP_Common.h>
+
+FastSerialPort0(Serial);
+FastSerialPort1(Serial1);
+
+Arduino_Mega_ISR_Registry isr_registry;
+AP_TimerProcess scheduler;
+
+uint32_t counter;
+
+void ping(uint32_t now)
+{
+    counter++;
+}
+
+void setup(void)
+{
+    Serial.begin(115200);
+    Serial.println("AP_TimerProcess Test ver 0.1");
+
+    isr_registry.init();
+    scheduler.init(&isr_registry);
+
+    // register our ping function
+    scheduler.register_process(ping);
+}
+
+void loop(void)
+{
+    static uint32_t secs = 0;
+
+    // check if 1second has passed
+    if( counter >= 1000 ) {
+        counter -= 1000;
+        secs++;
+        Serial.print("Seconds: ");
+        Serial.println(secs);
+    }
+}
diff --git a/libraries/AP_PeriodicProcess/examples/AP_TimerProcess_Test/Makefile b/libraries/AP_PeriodicProcess/examples/AP_TimerProcess_Test/Makefile
new file mode 100644
index 0000000000..fcdc8ff8fe
--- /dev/null
+++ b/libraries/AP_PeriodicProcess/examples/AP_TimerProcess_Test/Makefile
@@ -0,0 +1,4 @@
+include ../../../AP_Common/Arduino.mk
+
+sitl:
+	make -f ../../../../libraries/Desktop/Desktop.mk