--- /dev/null
+/*
+ * Copyright (c) <2014>, Olivier Matz <zer0@droids-corp.org>
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * * Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * * Neither the name of the University of California, Berkeley nor the
+ * names of its contributors may be used to endorse or promote products
+ * derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE REGENTS AND CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <stdarg.h>
+
+#include <aversive/wait.h>
+
+#include <callout.h>
+#include <timer.h>
+#include <uart.h>
+#include <hostsim.h>
+
+static struct callout_mgr global_cm;
+static volatile uint16_t time_ref;
+
+#define C1_TIME_MS 500
+#define C2_TIME_MS 500
+#define C3_TIME_MS 1000
+#define C4_TIME_MS 4000
+
+/* return the current time reference (the variable is incremented in the
+ * interuption */
+static uint16_t get_time_ms(void)
+{
+ uint8_t flags;
+ uint16_t ret;
+
+ IRQ_LOCK(flags);
+ ret = time_ref;
+ IRQ_UNLOCK(flags);
+ return ret;
+}
+
+/* printf with a timestamp */
+static void ts_printf(const char *fmt, ...)
+{
+ va_list ap;
+
+ printf("%d: ", get_time_ms());
+ va_start(ap, fmt);
+ vfprintf(stdout, fmt, ap);
+ va_end(ap);
+}
+
+static void f1(struct callout_mgr *cm, struct callout *tim, void *arg)
+{
+ (void)arg;
+ ts_printf("%s\n", __FUNCTION__);
+
+ callout_reschedule(cm, tim, C1_TIME_MS);
+}
+
+static void f2(struct callout_mgr *cm, struct callout *tim, void *arg)
+{
+ (void)arg;
+ ts_printf("%s\n", __FUNCTION__);
+
+ callout_reschedule(cm, tim, C2_TIME_MS);
+}
+
+static void f3(struct callout_mgr *cm, struct callout *tim, void *arg)
+{
+ (void)arg;
+ ts_printf("%s START\n", __FUNCTION__);
+ wait_ms(600);
+ ts_printf("%s END\n", __FUNCTION__);
+
+ callout_reschedule(cm, tim, C3_TIME_MS);
+}
+
+static void supp(struct callout_mgr *cm, struct callout *tim, void *arg)
+{
+ struct callout *c2 = arg;
+
+ ts_printf("stopping c1\n");
+ callout_stop(cm, c2);
+}
+
+static void timer_interrupt(void)
+{
+#ifndef HOST_VERSION
+ static uint16_t cycles;
+
+ cycles += 256 * 8; /* 8 bits timer + 8 divisor */
+ if (cycles > (CONFIG_QUARTZ/1000)) {
+ cycles -= (CONFIG_QUARTZ/1000);
+ time_ref++;
+ }
+#else
+ time_ref++;
+#endif
+
+ sei(); /* callout_manage() must be called with irq allowed */
+ callout_manage(&global_cm);
+}
+
+static void dump_stats(char c)
+{
+ if (c != 's')
+ return;
+
+ callout_dump_stats(&global_cm);
+}
+
+int main(void)
+{
+ struct callout c1, c2, c3, c4;
+ uint8_t old_prio;
+
+#ifdef HOST_VERSION
+ hostsim_uart_init();
+ hostsim_ittimer_add(timer_interrupt, 1 * 1000 * 1000); /* 1ms period */
+ hostsim_ittimer_enable(100); /* 100 us */
+#else
+ uart_init();
+ fdevopen(uart0_dev_send, uart0_dev_recv);
+ timer_init();
+ timer0_register_OV_intr(timer_interrupt);
+#endif
+ uart_register_rx_event(0, dump_stats);
+
+ callout_mgr_init(&global_cm, get_time_ms);
+ sei();
+
+ printf("f1 every %d ms, high prio (200)\n", C1_TIME_MS);
+ printf("f2 every %d ms, low prio (50)\n", C2_TIME_MS);
+ printf("f3 every %d ms, med prio (100), the function lasts 600ms\n",
+ C3_TIME_MS);
+ printf("f4 only once after %d ms, very high prio (250), "
+ "stop task f2\n", C4_TIME_MS);
+ printf("type s to dump stats\n");
+
+ callout_init(&c1, f1, NULL, 200);
+ callout_init(&c2, f2, NULL, 50);
+ callout_init(&c3, f3, NULL, 100);
+ callout_init(&c4, supp, &c2, 250);
+
+ callout_schedule(&global_cm, &c1, C1_TIME_MS);
+ callout_schedule(&global_cm, &c2, C2_TIME_MS);
+ callout_schedule(&global_cm, &c3, C3_TIME_MS);
+ callout_schedule(&global_cm, &c4, C4_TIME_MS);
+
+ while (get_time_ms() < 2900)
+ ;
+
+ old_prio = callout_mgr_set_prio(&global_cm, 150);
+ ts_printf("set prio 150\n");
+
+ while (get_time_ms() < 3100)
+ ;
+
+ ts_printf("set prio 0\n");
+ callout_mgr_restore_prio(&global_cm, old_prio);
+
+ while (get_time_ms() < 5000)
+ ;
+
+ callout_stop(&global_cm, &c1);
+ callout_stop(&global_cm, &c3);
+ callout_stop(&global_cm, &c4);
+
+ callout_dump_stats(&global_cm);
+ wait_ms(10);
+
+#ifdef HOST_VERSION
+ hostsim_uart_exit();
+#endif
+
+ return 0;
+}
git.droids-corp.org / aversive.git / blobdiff