mirror of https://github.com/ArduPilot/ardupilot
114 lines
3.3 KiB
Plaintext
114 lines
3.3 KiB
Plaintext
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#include <AP_Common.h>
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#include <AP_Math.h>
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#include <AP_Param.h>
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#include <AP_Progmem.h>
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#include <AP_HAL.h>
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#include <AP_HAL_AVR.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
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const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
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#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
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const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
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#endif
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/**
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* You'll want to use a logic analyzer to watch the effects of this test.
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* On the APM2 its pretty easy to hook up an analyzer to pins A0 through A3.
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*/
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#define DELAY_TOGGLE_PIN 54 /* A0 */
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#define FAILSAFE_TOGGLE_PIN 55 /* A1 */
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#define SCHEDULED_TOGGLE_PIN_1 56 /* A2 */
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#define SCHEDULED_TOGGLE_PIN_2 57 /* A3 */
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void delay_toggle() {
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volatile int i;
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hal.gpio->write(DELAY_TOGGLE_PIN, 1);
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for (i = 0; i < 10; i++);
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hal.gpio->write(DELAY_TOGGLE_PIN, 0);
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}
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void failsafe_toggle(void *) {
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volatile int i;
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hal.gpio->write(FAILSAFE_TOGGLE_PIN, 1);
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for (i = 0; i < 10; i++);
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hal.gpio->write(FAILSAFE_TOGGLE_PIN, 0);
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}
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void schedule_toggle_1(void *) {
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volatile int i;
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hal.gpio->write(SCHEDULED_TOGGLE_PIN_1, 1);
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for (i = 0; i < 10; i++);
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hal.gpio->write(SCHEDULED_TOGGLE_PIN_1, 0);
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}
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void schedule_toggle_2(void *) {
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volatile int i;
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hal.gpio->write(SCHEDULED_TOGGLE_PIN_2, 1);
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for (i = 0; i < 10; i++);
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hal.gpio->write(SCHEDULED_TOGGLE_PIN_2, 0);
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}
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void schedule_toggle_hang(void *) {
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hal.gpio->write(SCHEDULED_TOGGLE_PIN_2, 1);
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for(;;);
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}
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void setup_pin(int pin_num) {
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hal.console->printf_P(PSTR("Setup pin %d\r\n"), pin_num);
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hal.gpio->pinMode(pin_num,HAL_GPIO_OUTPUT);
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/* Blink so we can see setup on the logic analyzer.*/
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hal.gpio->write(pin_num,1);
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hal.gpio->write(pin_num,0);
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}
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void setup (void) {
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hal.console->printf_P(PSTR("Starting AP_HAL_AVR::Scheduler test\r\n"));
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setup_pin(DELAY_TOGGLE_PIN);
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setup_pin(FAILSAFE_TOGGLE_PIN);
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setup_pin(SCHEDULED_TOGGLE_PIN_1);
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setup_pin(SCHEDULED_TOGGLE_PIN_2);
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hal.console->printf_P(PSTR("Testing delay callback. "
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"Pin %d should toggle at 1khz:\r\n"),
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(int) DELAY_TOGGLE_PIN);
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hal.scheduler->register_delay_callback(delay_toggle,0);
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hal.scheduler->delay(100);
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hal.console->printf_P(PSTR("Testing failsafe callback. "
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"Pin %d should toggle at 1khz:\r\n"),
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(int) FAILSAFE_TOGGLE_PIN);
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hal.scheduler->register_timer_failsafe(failsafe_toggle, 1000);
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hal.scheduler->delay(100);
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hal.console->printf_P(PSTR("Testing running timer processes.\r\n"));
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hal.console->printf_P(PSTR("Pin %d should toggle at 1khz.\r\n"),
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(int) SCHEDULED_TOGGLE_PIN_1);
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hal.console->printf_P(PSTR("Pin %d should toggle at 1khz.\r\n"),
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(int) SCHEDULED_TOGGLE_PIN_2);
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hal.scheduler->register_timer_process(schedule_toggle_1, NULL);
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hal.scheduler->register_timer_process(schedule_toggle_2, NULL);
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hal.scheduler->delay(100);
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hal.console->printf_P(PSTR("Test running a pathological timer process.\r\n"
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"Failsafe should continue even as pathological process "
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"dominates the processor."));
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hal.console->printf_P(PSTR("Pin %d should toggle then go high forever.\r\n"),
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(int) SCHEDULED_TOGGLE_PIN_2);
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hal.scheduler->register_timer_process(schedule_toggle_hang, NULL);
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}
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void loop (void) { }
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AP_HAL_MAIN();
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