AP_HAL_AVR: Semaphore unit test

libraries/AP_HAL_AVR/examples/Semaphore/Makefile

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+include ../../../../mk/apm.mk

libraries/AP_HAL_AVR/examples/Semaphore/Semaphore.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_AVR.h>
+
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
+#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
+#endif
+
+/** 
+ * 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 PIN_A0 54  /* A0 */
+#define PIN_A1 55  /* A1 */
+#define PIN_A2 56  /* A2 */
+#define PIN_A3 57  /* A3 */
+
+/** 
+ * Create an AVRSemaphore for this test.
+ */
+
+AP_HAL::Semaphore *sem;
+
+void blink_a0() {
+    volatile int i;
+    hal.gpio->write(PIN_A0, 1);
+    for (i = 0; i < 10; i++);
+    hal.gpio->write(PIN_A0, 0);
+}
+
+void blink_a1() {
+    volatile int i;
+    hal.gpio->write(PIN_A1, 1);
+    for (i = 0; i < 10; i++);
+    hal.gpio->write(PIN_A1, 0);
+}
+
+
+void blink_a2() {
+    volatile int i;
+    hal.gpio->write(PIN_A2, 1);
+    for (i = 0; i < 10; i++);
+    hal.gpio->write(PIN_A2, 0);
+}
+
+void blink_a3() {
+    volatile int i;
+    hal.gpio->write(PIN_A3, 1);
+    for (i = 0; i < 10; i++);
+    hal.gpio->write(PIN_A3, 0);
+}
+
+void setup_pin(int pin_num) {
+    hal.console->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.console->printf_P(PSTR("Starting Semaphore test\r\n"));
+
+    setup_pin(PIN_A0);
+    setup_pin(PIN_A1);
+    setup_pin(PIN_A2);
+    setup_pin(PIN_A3);
+    
+    hal.console->printf_P(PSTR("Using Dataflash's Semaphore\r\n"));
+
+    AP_HAL::SPIDeviceDriver *dataflash = hal.spi->device(
+            AP_HAL::SPIDevice_Dataflash);
+
+    if (dataflash == NULL) {
+        hal.scheduler->panic(PSTR("Error: No SPIDevice_Dataflash driver!"));
+    }
+   
+    sem = dataflash->get_semaphore();
+    if (sem == NULL) {
+        hal.scheduler->panic(PSTR("Error: No SPIDeviceDriver semaphore!"));
+    }
+
+    hal.scheduler->register_timer_process(async_blinker);
+}
+
+
+uint32_t async_last_run = 0;
+void async_blinker(uint32_t millis) {
+    if (async_last_run - millis < 5)  {
+        return;
+    }
+    
+    if (sem->take_nonblocking()) {
+        blink_a0();
+        sem->give();
+    } else {
+        blink_a1();
+    }
+}
+
+void loop (void) {
+
+    if (sem->take(1)) {
+        blink_a2();
+        sem->give();
+    } else {
+        /* This should never happen: */
+        blink_a3(); 
+    }
+}
+
+AP_HAL_MAIN();