Refactor pingpair_test to remove all serial io from within the irq handler, as necessitated by Arduino 1.0

This commit is contained in:
maniacbug 2012-01-15 22:15:45 -08:00
parent dec61af85f
commit dc48235343
5 changed files with 208 additions and 165 deletions

View File

@ -1,69 +1,89 @@
PROJECT_NAME = $(PWD:B) ; # (1) Project Information
PROJECT_DIR = . ;
PROJECT_LIBS = SPI RF24 ; PROJECT_LIBS = SPI RF24 ;
PROJECT_DIRS = $(PWD) ;
OUT_DIR = ojam ; # (2) Board Information
F_CPU = 16000000 ;
MCU = atmega328p ;
PORTS = /dev/tty.usbserial-A600eHIs /dev/tty.usbserial-A40081RP /dev/tty.usbserial-A9007LmI ;
UPLOAD_RATE = 57600 ; UPLOAD_PROTOCOL ?= arduino ;
AVRDUDE_PROTOCOL = stk500v1 ; UPLOAD_SPEED ?= 57600 ;
COM = 33 ; MCU ?= atmega328p ;
F_CPU ?= 16000000 ;
CORE ?= arduino ;
VARIANT ?= standard ;
ARDUINO_VERSION ?= 100 ;
# (3) USB Ports
PORTS = p4 p6 p9 u0 u1 u2 ;
PORT_p6 = /dev/tty.usbserial-A600eHIs ;
PORT_p4 = /dev/tty.usbserial-A40081RP ;
PORT_p9 = /dev/tty.usbserial-A9007LmI ;
PORT_u0 = /dev/ttyUSB0 ;
PORT_u1 = /dev/ttyUSB1 ;
PORT_u2 = /dev/ttyUSB2 ;
# (4) Location of AVR tools
#
# This configuration assumes using avr-tools that were obtained separate from the Arduino
# distribution.
# Host-specific overrides for locations
if $(OS) = MACOSX if $(OS) = MACOSX
{ {
ARDUINO_VERSION = 22 ; AVR_BIN ?= /usr/local/avrtools/bin ;
OLD_DIR = /opt/arduino-0021 ; AVR_ETC = /usr/local/avrtools/etc ;
AVR_TOOLS_PATH = $(OLD_DIR)/hardware/tools/avr/bin ; AVR_INCLUDE = /usr/local/avrtools/include ;
AVRDUDECONFIG_PATH = $(OLD_DIR)/hardware/tools/avr/etc ; }
#ARDUINO_DIR = /opt/Arduino ; else
ARDUINO_DIR = $(OLD_DIR) ; {
ARDUINO_AVR = /usr/lib/avr/include ; AVR_BIN ?= /usr/bin ;
AVR_INCLUDE = /usr/lib/avr/include ;
AVR_ETC = /etc ;
} }
# Where is everything? # (5) Directories where Arduino core and libraries are located
ARDUINO_VERSION ?= 22 ;
AVR_TOOLS_PATH ?= /usr/bin ; ARDUINO_DIR ?= /opt/Arduino ;
ARDUINO_DIR ?= /opt/arduino-00$(ARDUINO_VERSION) ; ARDUINO_CORE = $(ARDUINO_DIR)/hardware/arduino/cores/$(CORE) $(ARDUINO_DIR)/hardware/arduino/variants/$(VARIANT) ;
ARDUINO_AVR ?= $(ARDUINO_DIR)/hardware/tools/avr/avr/include/avr ;
AVRDUDECONFIG_PATH ?= $(ARDUINO_DIR)/hardware/tools ;
ARDUINO_CORE = $(ARDUINO_DIR)/hardware/arduino/cores/arduino ;
ARDUINO_LIB = $(ARDUINO_DIR)/libraries ; ARDUINO_LIB = $(ARDUINO_DIR)/libraries ;
SKETCH_LIB = $(HOME)/Source/Arduino/libraries ; SKETCH_LIB = $(HOME)/Source/Arduino/libraries ;
AVR_CC = $(AVR_TOOLS_PATH)/avr-gcc ;
AVR_CXX = $(AVR_TOOLS_PATH)/avr-g++ ;
AVR_LD = $(AVR_TOOLS_PATH)/avr-gcc ;
AVR_OBJCOPY = $(AVR_TOOLS_PATH)/avr-objcopy ;
AVRDUDE = $(AVR_TOOLS_PATH)/avrdude ;
DEFINES = F_CPU=$(F_CPU)L ARDUINO=$(ARDUINO_VERSION) VERSION_H ; #
CTUNING = -ffunction-sections -fdata-sections ; # --------------------------------------------------
CXXTUNING = -fno-exceptions -fno-strict-aliasing ; # Below this line usually never needs to be modified
CFLAGS = -Os -Wall -Wextra -mmcu=$(MCU) $(CTUNING) ; #
CXXFLAGS = $(CFLAGS) $(CXXTUNING) ;
LDFLAGS = -Os -lm -Wl,--gc-sections -mmcu=atmega328p ; # Tool locations
CC = $(AVR_BIN)/avr-gcc ;
C++ = $(AVR_BIN)/avr-g++ ;
LINK = $(AVR_BIN)/avr-gcc ;
AR = $(AVR_BIN)/avr-ar rcs ;
RANLIB = ;
OBJCOPY = $(AVR_BIN)/avr-objcopy ;
AVRDUDE ?= $(AVR_BIN)/avrdude ;
# Flags
DEFINES += F_CPU=$(F_CPU)L ARDUINO=$(ARDUINO_VERSION) VERSION_H ;
OPTIM = -Os ;
CCFLAGS = -Wall -Wextra -Wno-strict-aliasing -mmcu=$(MCU) -ffunction-sections -fdata-sections ;
C++FLAGS = $(CCFLAGS) -fno-exceptions -fno-strict-aliasing ;
LINKFLAGS = $(OPTIM) -lm -Wl,--gc-sections -mmcu=$(MCU) ;
AVRDUDEFLAGS = -V -F -D -C $(AVR_ETC)/avrdude.conf -p $(MCU) -c $(UPLOAD_PROTOCOL) -b $(UPLOAD_SPEED) ;
# Search everywhere for headers # Search everywhere for headers
HDRS = $(PROJECT_DIR) $(ARDUINO_AVR) $(ARDUINO_CORE) [ GLOB $(ARDUINO_LIB) $(SKETCH_LIB) : [^.]* ] ;
# Grab everything from the core directory HDRS = $(PROJECT_DIRS) $(AVR_INCLUDE) $(ARDUINO_CORE) $(ARDUINO_LIB)/$(PROJECT_LIBS) $(ARDUINO_LIB)/$(PROJECT_LIBS)/utility $(SKETCH_LIB)/$(PROJECT_LIBS) ;
CORE_MODULES = [ GLOB $(ARDUINO_CORE) : *.c *.cpp ] ;
# Grab everything from libraries. To avoid this "grab everything" behaviour, you # Output locations
# can specify specific modules to pick up in PROJECT_MODULES
LIB_MODULES = [ GLOB $(ARDUINO_LIB)/$(PROJECT_LIBS) $(SKETCH_LIB)/$(PROJECT_LIBS) : *.cpp ] ;
# In addition to explicitly-specified program modules, pick up anything from the current LOCATE_TARGET = $(F_CPU) ;
# dir. LOCATE_SOURCE = $(F_CPU) ;
PROJECT_MODULES += [ GLOB $(PROJECT_DIR) : *.c *.cpp *.pde ] ;
# Shortcut for the out files #
OUT = $(OUT_DIR)/$(PROJECT_NAME) ; # Custom rules
#
# AvrDude setup
AVRDUDE_FLAGS = -V -F -D -C $(AVRDUDECONFIG_PATH)/avrdude.conf -p $(MCU) -c $(AVRDUDE_PROTOCOL) -b $(UPLOAD_RATE) ;
rule GitVersion rule GitVersion
{ {
@ -80,128 +100,120 @@ actions GitVersion
GitVersion version.h ; GitVersion version.h ;
rule AvrCc
{
Depends $(<) : $(>) ;
Depends $(<) : $(<:D) ;
Clean clean : $(<) ;
CCHDRS on $(<) = [ on $(<) FIncludes $(HDRS) ] ;
CCDEFS on $(<) = [ on $(<) FDefines $(DEFINES) ] ;
}
actions AvrCc
{
$(AVR_CC) -c -o $(<) $(CCHDRS) $(CCDEFS) $(CFLAGS) $(>)
}
rule AvrC++
{
Depends $(<) : $(>) ;
Depends $(<) : $(<:D) ;
Clean clean : $(<) ;
CCHDRS on $(<) = [ on $(<) FIncludes $(HDRS) ] ;
CCDEFS on $(<) = [ on $(<) FDefines $(DEFINES) ] ;
}
actions AvrC++
{
$(AVR_CXX) -c -o $(<) $(CCHDRS) $(CCDEFS) $(CXXFLAGS) $(>)
}
rule Pde rule Pde
{ {
Depends $(<) : $(>) ; Depends $(<) : $(>) ;
Depends $(<) : $(<:D) ; MakeLocate $(<) : $(LOCATE_SOURCE) ;
Clean clean : $(<) ; Clean clean : $(<) ;
}
if ( $(ARDUINO_VERSION) < 100 )
{
ARDUINO_H = WProgram.h ;
}
else
{
ARDUINO_H = Arduino.h ;
} }
actions Pde actions Pde
{ {
echo "#include <WProgram.h>" > $(<) echo "#include <$(ARDUINO_H)>" > $(<)
echo "#line 1 \"$(>)\"" >> $(<) echo "#line 1 \"$(>)\"" >> $(<)
cat $(>) >> $(<) cat $(>) >> $(<)
} }
rule AvrPde rule C++Pde
{ {
local _CPP = $(OUT_DIR)/$(_I:B).cpp ; local _CPP = $(>:B).cpp ;
Pde $(_CPP) : $(>) ; Pde $(_CPP) : $(>) ;
AvrC++ $(<) : $(_CPP) ; C++ $(<) : $(_CPP) ;
} }
rule AvrObject rule UserObject
{ {
switch $(>:S) switch $(>:S)
{ {
case .c : AvrCc $(<) : $(>) ; case .ino : C++Pde $(<) : $(>) ;
case .cpp : AvrC++ $(<) : $(>) ; case .pde : C++Pde $(<) : $(>) ;
case .pde : AvrPde $(<) : $(>) ;
} }
} }
rule AvrObjects rule Objects
{ {
for _I in $(<) local _i ;
for _i in [ FGristFiles $(<) ]
{ {
AvrObject $(OUT_DIR)/$(_I:B).o : $(_I) ; local _b = $(_i:B)$(SUFOBJ) ;
local _o = $(_b:G=$(SOURCE_GRIST:E)) ;
Object $(_o) : $(_i) ;
Depends obj : $(_o) ;
} }
} }
rule AvrMainFromObjects rule Library
{
LibraryFromObjects $(<) : $(>:B)$(SUFOBJ) ;
Objects $(>) ;
}
rule Main
{
MainFromObjects $(<) : $(>:B)$(SUFOBJ) ;
Objects $(>) ;
}
rule Hex
{ {
Depends $(<) : $(>) ; Depends $(<) : $(>) ;
Depends $(<) : $(<:D) ; MakeLocate $(<) : $(LOCATE_TARGET) ;
MkDir $(<:D) ;
Depends all : $(<) ;
Clean clean : $(<) ;
}
actions AvrMainFromObjects
{
$(AVR_LD) $(LDFLAGS) -o $(<) $(>)
}
rule AvrMain
{
AvrMainFromObjects $(<) : $(OUT_DIR)/$(>:B).o ;
AvrObjects $(>) ;
}
rule AvrHex
{
Depends $(<) : $(>) ;
Depends $(<) : $(<:D) ;
Depends hex : $(<) ; Depends hex : $(<) ;
Clean clean : $(<) ; Clean clean : $(<) ;
} }
actions AvrHex actions Hex
{ {
$(AVR_OBJCOPY) -O ihex -R .eeprom $(>) $(<) $(OBJCOPY) -O ihex -R .eeprom $(>) $(<)
} }
rule AvrUpload rule Upload
{ {
Depends $(1) : $(2) ; Depends $(1) : $(2) ;
Depends $(2) : $(3) ; Depends $(2) : $(3) ;
NotFile $(1) ; NotFile $(1) ;
Always $(1) ; Always $(1) ;
Always $(2) ; Always $(2) ;
AvrUploadAction $(2) : $(3) ; UploadAction $(2) : $(3) ;
} }
actions AvrUploadAction actions UploadAction
{ {
$(AVRDUDE) $(AVRDUDE_FLAGS) -P $(<) $(AVRDUDE_WRITE_FLASH) -U flash:w:$(>):i $(AVRDUDE) $(AVRDUDEFLAGS) -P $(<) $(AVRDUDE_WRITE_FLASH) -U flash:w:$(>):i
} }
AvrMain $(OUT).elf : $(CORE_MODULES) $(LIB_MODULES) $(PROJECT_MODULES) ; rule Arduino
AvrHex $(OUT).hex : $(OUT).elf ; {
LINKFLAGS on $(<) = $(LINKFLAGS) -Wl,-Map=$(LOCATE_TARGET)/$(<:B).map ;
Main $(<) : $(>) ;
LinkLibraries $(<) : core libs ;
Hex $(<:B).hex : $(<) ;
for _p in $(PORTS)
{
Upload $(_p) : $(PORT_$(_p)) : $(<:B).hex ;
}
}
AvrUpload p6 : /dev/tty.usbserial-A600eHIs : $(OUT).hex ; #
AvrUpload p4 : /dev/tty.usbserial-A40081RP : $(OUT).hex ; # Targets
AvrUpload p9 : /dev/tty.usbserial-A9007LmI : $(OUT).hex ; #
# Grab everything from the core directory
Library core : [ GLOB $(ARDUINO_CORE) : *.c *.cpp ] ;
# Grab everything from libraries. To avoid this "grab everything" behaviour, you
# can specify specific modules to pick up in PROJECT_MODULES
Library libs : [ GLOB $(ARDUINO_LIB)/$(PROJECT_LIBS) $(ARDUINO_LIB)/$(PROJECT_LIBS)/utility $(SKETCH_LIB)/$(PROJECT_LIBS) : *.cpp *.c ] ;
# Main output executable
Arduino $(PWD:B).elf : $(PROJECT_MODULES) [ GLOB $(PROJECT_DIRS) : *.c *.cpp *.pde *.ino ] ;

View File

@ -230,7 +230,7 @@ void setup(void)
// Dump the configuration of the rf unit for debugging // Dump the configuration of the rf unit for debugging
// //
radio.printDetails(); //radio.printDetails();
// //
// Attach interrupt handler to interrupt #0 (using pin 2) // Attach interrupt handler to interrupt #0 (using pin 2)
@ -238,8 +238,23 @@ void setup(void)
// //
attachInterrupt(0, check_radio, FALLING); attachInterrupt(0, check_radio, FALLING);
if ( role == role_receiver )
printf("\n\r+OK ");
} }
//
// Print buffer
//
// Printing from the interrupt handler is a bad idea, so we print from there
// to this intermediate buffer
//
char prbuf[1000];
char *prbuf_end = prbuf + sizeof(prbuf);
char *prbuf_in = prbuf;
char *prbuf_out = prbuf;
// //
// Loop // Loop
// //
@ -274,7 +289,7 @@ void loop(void)
delay(interval); delay(interval);
// Timeout if we have not received anything back ever // Timeout if we have not received anything back ever
if ( ! last_message_count && millis() > interval * 10 ) if ( ! last_message_count && millis() > interval * 100 )
{ {
printf("No responses received. Are interrupts connected??\n\r"); printf("No responses received. Are interrupts connected??\n\r");
done = true; done = true;
@ -285,6 +300,17 @@ void loop(void)
// Receiver role: Does nothing! All the work is in IRQ // Receiver role: Does nothing! All the work is in IRQ
// //
//
// Spew print buffer
//
size_t write_length = prbuf_in - prbuf_out;
if ( write_length )
{
Serial.write(reinterpret_cast<uint8_t*>(prbuf_out),write_length);
prbuf_out += write_length;
}
// //
// Stop the test if we're done and report results // Stop the test if we're done and report results
// //
@ -299,8 +325,6 @@ void loop(void)
printf("FAIL\n\r\n\r"); printf("FAIL\n\r\n\r");
} }
//
//
} }
void check_radio(void) void check_radio(void)
@ -313,10 +337,10 @@ void check_radio(void)
if ( tx ) if ( tx )
{ {
if ( role == role_sender ) if ( role == role_sender )
printf("Send:OK "); prbuf_in += sprintf(prbuf_in,"Send:OK ");
if ( role == role_receiver ) if ( role == role_receiver )
printf("Ack Payload:Sent\n\r"); prbuf_in += sprintf(prbuf_in,"Ack Payload:Sent\n\r");
} }
// Have we failed to transmit? // Have we failed to transmit?
@ -324,14 +348,14 @@ void check_radio(void)
{ {
if ( role == role_sender ) if ( role == role_sender )
{ {
printf("Send:Failed "); prbuf_in += sprintf(prbuf_in,"Send:Failed ");
// log status of this line // log status of this line
one_failed(); one_failed();
} }
if ( role == role_receiver ) if ( role == role_receiver )
printf("Ack Payload:Failed\n\r"); prbuf_in += sprintf(prbuf_in,"Ack Payload:Failed\n\r");
} }
// Transmitter can power down for now, because // Transmitter can power down for now, because
@ -346,19 +370,19 @@ void check_radio(void)
if ( role == role_sender ) if ( role == role_sender )
{ {
radio.read(&message_count,sizeof(message_count)); radio.read(&message_count,sizeof(message_count));
printf("Ack:%lu ",message_count); prbuf_in += sprintf(prbuf_in,"Ack:%lu ",message_count);
// is this ack what we were expecting? to account // is this ack what we were expecting? to account
// for failures, we simply want to make sure we get a // for failures, we simply want to make sure we get a
// DIFFERENT ack every time. // DIFFERENT ack every time.
if ( ( message_count != last_message_count ) || ( configuration=='3' && message_count == 16 ) ) if ( ( message_count != last_message_count ) || ( configuration=='3' && message_count == 16 ) )
{ {
printf("OK "); prbuf_in += sprintf(prbuf_in,"OK ");
one_ok(); one_ok();
} }
else else
{ {
printf("FAILED "); prbuf_in += sprintf(prbuf_in,"FAILED ");
one_failed(); one_failed();
} }
last_message_count = message_count; last_message_count = message_count;
@ -382,7 +406,7 @@ void check_radio(void)
receive_payload[len] = 0; receive_payload[len] = 0;
// Spew it // Spew it
printf("Got payload size=%i value=%s strlen=%u\n\r",len,receive_payload,strlen(receive_payload)); prbuf_in += sprintf(prbuf_in,"Recv size=%i val=%s len=%u\n\r",len,receive_payload,strlen(receive_payload));
// Add an ack packet for the next time around. // Add an ack packet for the next time around.
// Here we will report back how many bytes we got this time. // Here we will report back how many bytes we got this time.

View File

@ -1,5 +1,5 @@
/* /*
Copyright (C) 2011 James Coliz, Jr. <maniacbug@ymail.com> Copyright (C) 2011 J. Coliz <maniacbug@ymail.com>
This program is free software; you can redistribute it and/or This program is free software; you can redistribute it and/or
modify it under the terms of the GNU General Public License modify it under the terms of the GNU General Public License
@ -16,7 +16,7 @@
#ifndef __PRINTF_H__ #ifndef __PRINTF_H__
#define __PRINTF_H__ #define __PRINTF_H__
#include "WProgram.h" #ifdef ARDUINO
int serial_putc( char c, FILE * ) int serial_putc( char c, FILE * )
{ {
@ -30,4 +30,8 @@ void printf_begin(void)
fdevopen( &serial_putc, 0 ); fdevopen( &serial_putc, 0 );
} }
#else
#error This example is only for use on Arduino.
#endif // ARDUINO
#endif // __PRINTF_H__ #endif // __PRINTF_H__

View File

@ -1,16 +1,8 @@
#!/bin/sh #!/bin/sh
# Connect p6 to receiver, p4 to sender # Connect u0 to receiver, u0 to sender
# WARNING: Test config 2 only works with PLUS units. # WARNING: Test config 2 only works with PLUS units.
jam p4 p6 || exit 1 jam u0 u1 && expect test.ex 1
./runtest.py /dev/tty.usbserial-A600eHIs 1 & jam u0 u1 && expect test.ex 2
./runtest.py /dev/tty.usbserial-A40081RP 1 || ( kill `jobs -p` && exit 1 ) jam u0 u1 && expect test.ex 3
kill `jobs -p`
./runtest.py /dev/tty.usbserial-A600eHIs 2 &
./runtest.py /dev/tty.usbserial-A40081RP 2 || ( kill `jobs -p` && exit 1 )
kill `jobs -p`
./runtest.py /dev/tty.usbserial-A600eHIs 3 &
./runtest.py /dev/tty.usbserial-A40081RP 3 || ( kill `jobs -p` && exit 1 )
kill `jobs -p`
exit 0

11
tests/pingpair_test/test.ex Executable file
View File

@ -0,0 +1,11 @@
#/usr/bin/expect
set timeout 100
spawn picocom -b 57600 /dev/ttyUSB0
expect "+READY"
send [lindex $argv 0]
expect "+OK"
spawn picocom -b 57600 /dev/ttyUSB1
expect "+READY"
send [lindex $argv 0]
expect "+OK"