ardupilot/libraries/AP_HAL_FLYMAPLE/examples/Scheduler/Scheduler.pde

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#include <AP_Common.h>
#include <AP_Math.h>
#include <AP_Param.h>
#include <AP_Progmem.h>
#include <AP_HAL.h>
#include <AP_HAL_FLYMAPLE.h>
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
/**
* 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 15 /* A0 = pin 15 */
#define FAILSAFE_TOGGLE_PIN 16 /* A1 = pin 16 */
#define SCHEDULED_TOGGLE_PIN_1 17 /* A2 = pin 17 */
#define SCHEDULED_TOGGLE_PIN_2 18 /* A3 = pin 18 */
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(void) {
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(void) {
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(void) {
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(void) {
hal.gpio->write(SCHEDULED_TOGGLE_PIN_2, 1);
for(;;);
}
void setup_pin(int pin_num) {
hal.console->printf_P(PSTR("Setup pin %d\r\n"), pin_num);
hal.gpio->pinMode(pin_num,HAL_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.scheduler->delay(5000);
hal.console->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.console->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,0);
hal.scheduler->delay(2000);
hal.console->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(2000);
hal.console->printf_P(PSTR("Testing running timer processes.\r\n"));
hal.console->printf_P(PSTR("Pin %d should toggle at 1khz.\r\n"),
(int) SCHEDULED_TOGGLE_PIN_1);
hal.console->printf_P(PSTR("Pin %d should toggle at 1khz.\r\n"),
(int) SCHEDULED_TOGGLE_PIN_2);
hal.scheduler->register_timer_process(schedule_toggle_1);
hal.scheduler->register_timer_process(schedule_toggle_2);
hal.scheduler->delay(2000);
// not yet working on flymaple: see FLYMAPLEScheduler::_timer_procs_timer_event()
#if 1
hal.console->printf_P(PSTR("Test running a pathological timer process.\r\n"
"Failsafe should continue even as pathological process "
"dominates the processor."));
hal.console->printf_P(PSTR("Pin %d should toggle then go high forever.\r\n"),
(int) SCHEDULED_TOGGLE_PIN_2);
hal.scheduler->delay(200);
hal.scheduler->register_timer_process(schedule_toggle_hang);
#endif
// Wait a little then test reboot
// hal.scheduler->delay(5000);
// hal.scheduler->reboot();
}
void loop (void) { }
AP_HAL_MAIN();