X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=modules%2Fbase%2Fcallout%2Ftest%2Fmain.c;fp=modules%2Fbase%2Fcallout%2Ftest%2Fmain.c;h=38c57161c90be235fcb95904c4f413c61f4f492e;hp=0000000000000000000000000000000000000000;hb=9d7a205a0868595dc57f365eda4721b700e447b9;hpb=4dc5fba2e8aba8e89445fb532f9969a57e24b99c diff --git a/modules/base/callout/test/main.c b/modules/base/callout/test/main.c new file mode 100644 index 0000000..38c5716 --- /dev/null +++ b/modules/base/callout/test/main.c @@ -0,0 +1,195 @@ +/* + * Copyright (c) <2014>, Olivier Matz + * 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 + +#include + +#include +#include +#include +#include + +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; +}