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e1233c7780
Conflicts: flight/targets/Revolution/System/inc/openpilot.h flight/targets/SimPosix/System/inc/openpilot.h flight/targets/boards/coptercontrol/firmware/inc/openpilot.h flight/targets/boards/oplinkmini/firmware/inc/openpilot.h flight/targets/boards/revolution/firmware/inc/openpilot.h flight/targets/boards/revoproto/firmware/inc/openpilot.h
133 lines
5.0 KiB
C
133 lines
5.0 KiB
C
/**
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******************************************************************************
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*
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* @file callbacktest.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Example module to be used as a template for actual modules.
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* Event callback version.
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*
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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/**
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*
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* This is a test suite to test the callback scheduler,
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* including its forward scheduling ability
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*
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*/
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#include "openpilot.h"
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// Private constants
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#define STACK_SIZE configMINIMAL_STACK_SIZE
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#define CALLBACK_PRIORITY CALLBACK_PRIORITY_LOW
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#define TASK_PRIORITY CALLBACK_TASKPRIORITY_AUXILIARY
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// Private types
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//#define DEBUGPRINT(...) fprintf (stderr, __VA_ARGS__)
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#define DEBUGPRINT(...) xSemaphoreTakeRecursive(mutex, portMAX_DELAY); fprintf(stderr, __VA_ARGS__ ); xSemaphoreGiveRecursive(mutex);
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static xSemaphoreHandle mutex;
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// Private variables
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static DelayedCallbackInfo *cbinfo[10];
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static volatile int32_t counter[10]={0};
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static void DelayedCb0();
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static void DelayedCb1();
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static void DelayedCb2();
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static void DelayedCb3();
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static void DelayedCb4();
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static void DelayedCb5();
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static void DelayedCb6();
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/**
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* Initialise the module, called on startup.
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* \returns 0 on success or -1 if initialisation failed
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*/
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int32_t CallbackTestInitialize()
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{
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mutex = xSemaphoreCreateRecursiveMutex();
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cbinfo[0] = DelayedCallbackCreate(&DelayedCb0,CALLBACK_PRIORITY_LOW,tskIDLE_PRIORITY+2,STACK_SIZE);
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cbinfo[1] = DelayedCallbackCreate(&DelayedCb1,CALLBACK_PRIORITY_LOW,tskIDLE_PRIORITY+2,STACK_SIZE);
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cbinfo[2] = DelayedCallbackCreate(&DelayedCb2,CALLBACK_PRIORITY_CRITICAL,tskIDLE_PRIORITY+2,STACK_SIZE);
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cbinfo[3] = DelayedCallbackCreate(&DelayedCb3,CALLBACK_PRIORITY_CRITICAL,tskIDLE_PRIORITY+2,STACK_SIZE);
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cbinfo[4] = DelayedCallbackCreate(&DelayedCb4,CALLBACK_PRIORITY_LOW,tskIDLE_PRIORITY+2,STACK_SIZE);
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cbinfo[5] = DelayedCallbackCreate(&DelayedCb5,CALLBACK_PRIORITY_LOW,tskIDLE_PRIORITY+2,STACK_SIZE);
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cbinfo[6] = DelayedCallbackCreate(&DelayedCb6,CALLBACK_PRIORITY_LOW,tskIDLE_PRIORITY+20,STACK_SIZE);
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return 0;
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}
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int32_t CallbackTestStart() {
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xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
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DelayedCallbackDispatch(cbinfo[3]);
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DelayedCallbackDispatch(cbinfo[2]);
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DelayedCallbackDispatch(cbinfo[1]);
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DelayedCallbackDispatch(cbinfo[0]);
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// different callback priorities within a taskpriority
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DelayedCallbackSchedule(cbinfo[4],30000,CALLBACK_UPDATEMODE_NONE);
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DelayedCallbackSchedule(cbinfo[4],5000,CALLBACK_UPDATEMODE_OVERRIDE);
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DelayedCallbackSchedule(cbinfo[4],4000,CALLBACK_UPDATEMODE_SOONER);
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DelayedCallbackSchedule(cbinfo[4],10000,CALLBACK_UPDATEMODE_SOONER);
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DelayedCallbackSchedule(cbinfo[4],1000,CALLBACK_UPDATEMODE_LATER);
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DelayedCallbackSchedule(cbinfo[4],4800,CALLBACK_UPDATEMODE_LATER);
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DelayedCallbackSchedule(cbinfo[4],48000,CALLBACK_UPDATEMODE_NONE);
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// should be at 4.8 seconds after this, allowing for exactly 9 prints of the following
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DelayedCallbackSchedule(cbinfo[5],500,CALLBACK_UPDATEMODE_NONE);
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// delayed counter with 500 ms
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DelayedCallbackDispatch(cbinfo[6]);
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// high task prio
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xSemaphoreGiveRecursive(mutex);
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return 0;
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}
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static void DelayedCb0() {
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DEBUGPRINT("delayed counter low prio 0 updated: %i\n",counter[0]);
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if (++counter[0]<10) DelayedCallbackDispatch(cbinfo[0]);
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}
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static void DelayedCb1() {
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DEBUGPRINT("delayed counter low prio 1 updated: %i\n",counter[1]);
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if (++counter[1]<10) DelayedCallbackDispatch(cbinfo[1]);
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}
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static void DelayedCb2() {
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DEBUGPRINT("delayed counter high prio 2 updated: %i\n",counter[2]);
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if (++counter[2]<10) DelayedCallbackDispatch(cbinfo[2]);
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}
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static void DelayedCb3() {
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DEBUGPRINT("delayed counter high prio 3 updated: %i\n",counter[3]);
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if (++counter[3]<10) DelayedCallbackDispatch(cbinfo[3]);
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}
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static void DelayedCb4() {
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DEBUGPRINT("delayed scheduled callback 4 reached!\n");
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exit(0);
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}
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static void DelayedCb5() {
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DEBUGPRINT("delayed scheduled counter 5 updated: %i\n",counter[5]);
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if (++counter[5]<10) DelayedCallbackSchedule(cbinfo[5],500,CALLBACK_UPDATEMODE_NONE);
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// it will likely only reach 8 due to cb4 aborting the run
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}
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static void DelayedCb6() {
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DEBUGPRINT("delayed counter 6 (high task prio) updated: %i\n",counter[6]);
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if (++counter[6]<10) DelayedCallbackDispatch(cbinfo[6]);
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}
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