5244559010
Most of AP_Progmem is already gone so we can stop including it in most of the places. The only places that need it are the ones using pgm_read_*() APIs. In some cases the header needed to be added in the .cpp since it was removed from the .h to reduce scope. In those cases the headers were also reordered.
116 lines
3.4 KiB
C++
116 lines
3.4 KiB
C++
|
|
#include <AP_Common/AP_Common.h>
|
|
#include <AP_Math/AP_Math.h>
|
|
#include <AP_Param/AP_Param.h>
|
|
|
|
#include <AP_HAL/AP_HAL.h>
|
|
#include <AP_HAL_FLYMAPLE/AP_HAL_FLYMAPLE.h>
|
|
|
|
const AP_HAL::HAL& hal = AP_HAL::get_HAL();
|
|
|
|
/**
|
|
* 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("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("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("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("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("Testing running timer processes.\r\n");
|
|
hal.console->printf("Pin %d should toggle at 1khz.\r\n",
|
|
(int) SCHEDULED_TOGGLE_PIN_1);
|
|
hal.console->printf("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("Test running a pathological timer process.\r\n"
|
|
"Failsafe should continue even as pathological process "
|
|
"dominates the processor.");
|
|
hal.console->printf("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();
|