2c38e31c93
The PSTR is already define as a NOP for all supported platforms. It's only needed for AVR so here we remove all the uses throughout the codebase. This was automated with a simple python script so it also converts places which spans to multiple lines, removing the matching parentheses. AVR-specific places were not changed.
114 lines
2.4 KiB
C++
114 lines
2.4 KiB
C++
#include <AP_Common/AP_Common.h>
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#include <AP_Math/AP_Math.h>
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#include <AP_Param/AP_Param.h>
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#include <AP_Progmem/AP_Progmem.h>
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#include <AP_HAL/AP_HAL.h>
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#include <AP_HAL_FLYMAPLE/AP_HAL_FLYMAPLE.h>
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const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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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 PIN_A0 15 /* A0 */
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#define PIN_A1 16 /* A1 */
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#define PIN_A2 17 /* A2 */
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#define PIN_A3 18 /* A3 */
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/**
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* Create an AVRSemaphore for this test.
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*/
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AP_HAL::Semaphore *sem;
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void blink_a0() {
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volatile int i;
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hal.gpio->write(PIN_A0, 1);
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for (i = 0; i < 10; i++);
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hal.gpio->write(PIN_A0, 0);
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}
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void blink_a1() {
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volatile int i;
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hal.gpio->write(PIN_A1, 1);
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for (i = 0; i < 10; i++);
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hal.gpio->write(PIN_A1, 0);
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}
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void blink_a2() {
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volatile int i;
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hal.gpio->write(PIN_A2, 1);
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for (i = 0; i < 10; i++);
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hal.gpio->write(PIN_A2, 0);
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}
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void blink_a3() {
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volatile int i;
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hal.gpio->write(PIN_A3, 1);
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for (i = 0; i < 10; i++);
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hal.gpio->write(PIN_A3, 0);
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}
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void setup_pin(int pin_num) {
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hal.console->printf_P("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("Starting Semaphore test\r\n");
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setup_pin(PIN_A0);
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setup_pin(PIN_A1);
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setup_pin(PIN_A2);
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setup_pin(PIN_A3);
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hal.console->printf_P("Using SPIDeviceManager builtin Semaphore\r\n");
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AP_HAL::SPIDeviceDriver *dataflash = hal.spi->device(AP_HAL::SPIDevice_Dataflash); // not really
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if (dataflash == NULL) {
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hal.scheduler->panic("Error: No SPIDeviceDriver!");
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}
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sem = dataflash->get_semaphore();
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if (sem == NULL) {
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hal.scheduler->panic("Error: No SPIDeviceDriver semaphore!");
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}
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hal.scheduler->register_timer_process(async_blinker);
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}
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uint32_t async_last_run = 0;
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void async_blinker(uint32_t millis) {
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if (async_last_run - millis < 5) {
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return;
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}
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if (sem->take_nonblocking()) {
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blink_a0();
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sem->give();
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} else {
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blink_a1();
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}
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}
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void loop (void) {
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if (sem->take(1)) {
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blink_a2();
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sem->give();
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} else {
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/* This should never happen: */
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blink_a3();
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}
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}
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AP_HAL_MAIN();
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