1 files changed, 142 insertions, 0 deletions
diff --git a/testhal/AVR/ICU/main.c b/testhal/AVR/ICU/main.c
new file mode 100644
index 000000000..c6819ffe1
--- /dev/null
+++ b/testhal/AVR/ICU/main.c
@@ -0,0 +1,142 @@
+/*
+    ChibiOS/RT - Copyright (C) 2006-2014 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+#include "ch.h"
+#include "hal.h"
+#include "chprintf.h"
+
+#define LED  7
+
+static icucnt_t width = 0;
+static icucnt_t period = 0;
+
+static thread_t *thread1 = NULL;
+static thread_t *thread2 = NULL;
+static thread_t *thread_main = NULL;
+
+static const uint32_t ICU_CLK = F_CPU / 1024;
+
+void width_cb(ICUDriver *icup) {
+  width = icup->width;
+}
+
+void period_cb(ICUDriver *icup) {
+  period = icup->period;
+  chSysLockFromISR();
+  chEvtSignalI(thread1, (eventmask_t) 1);
+  chSysUnlockFromISR();
+}
+
+void overflow_cb(ICUDriver *icup) {
+  chSysLockFromISR();
+  chEvtSignalI(thread2, (eventmask_t) 1);
+  chSysUnlockFromISR();
+}
+
+void output_single_cycle(const uint16_t low, const uint16_t high) {
+  palClearPad(IOPORT2, LED);
+  palClearPad(IOPORT4, 4);
+  chThdSleepMilliseconds(low);
+  palSetPad(IOPORT2, LED);
+  palSetPad(IOPORT4, 4);
+  chThdSleepMilliseconds(high);
+  palClearPad(IOPORT2, LED);
+  palClearPad(IOPORT4, 4);
+}
+
+static WORKING_AREA(waThread1, 64);
+static msg_t Thread1(void *arg) {
+
+  BaseSequentialStream *serp = (BaseSequentialStream *) &SD1;
+  thread1 = chThdGetSelfX();
+  while (TRUE) {
+    chEvtWaitAny((eventmask_t) 1);
+    chprintf(serp, "WIDTH[%lu ms, %u ticks] PERIOD[%lu ms, %u ticks]\r\n",
+                   ((uint32_t) width * 1000) / ICU_CLK,
+                   width,
+                   ((uint32_t) period * 1000) / ICU_CLK,
+                   period);
+    chEvtSignal(thread_main, (eventmask_t) 1);
+  }
+  return 0;
+}
+
+static WORKING_AREA(waThread2, 64);
+static msg_t Thread2(void *arg) {
+
+  BaseSequentialStream *serp = (BaseSequentialStream *) &SD1;
+  thread2 = chThdGetSelfX();
+  while (TRUE) {
+    chEvtWaitAny((eventmask_t) 1);
+    chprintf(serp, "OVERFLOW\r\n");
+    chEvtSignal(thread_main, (eventmask_t) 2);
+  }
+  return 0;
+}
+
+int main(void) {
+
+  halInit();
+
+  static ICUConfig icu3cfg = {
+    ICU_INPUT_ACTIVE_HIGH,
+    0, /* bogus frequency */
+    width_cb,
+    period_cb,
+    overflow_cb,
+  };
+
+  palSetPadMode(IOPORT2, LED, PAL_MODE_OUTPUT_PUSHPULL);
+  palSetPadMode(IOPORT4, 4, PAL_MODE_OUTPUT_PUSHPULL);
+  palClearPad(IOPORT2, LED);
+  palClearPad(IOPORT4, 4);
+
+  sdStart(&SD1, NULL);
+  icuStart(&ICUD3, &icu3cfg);
+
+  chSysInit();
+  thread_main = chThdGetSelfX();
+
+  chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);
+  chThdCreateStatic(waThread2, sizeof(waThread2), NORMALPRIO, Thread2, NULL);
+
+  while (1) {
+    BaseSequentialStream *serp = (BaseSequentialStream *) &SD1;
+
+    chprintf(serp, "Testing 50 duty cycle\r\n");
+    icuEnable(&ICUD3);
+    output_single_cycle(500, 500);
+    icuDisable(&ICUD3);
+    chEvtWaitAny((eventmask_t) 3);
+
+    chprintf(serp, "Testing 25 duty cycle\r\n");
+    icuEnable(&ICUD3);
+    output_single_cycle(250, 750);
+    icuDisable(&ICUD3);
+    chEvtWaitAny((eventmask_t) 3);
+
+    chprintf(serp, "Testing 75 duty cycle\r\n");
+    icuEnable(&ICUD3);
+    output_single_cycle(750, 250);
+    icuDisable(&ICUD3);
+    chEvtWaitAny((eventmask_t) 3);
+
+    chprintf(serp, "Testing overflow\r\n");
+    icuEnable(&ICUD3);
+    chEvtWaitAny((eventmask_t) 3);
+    icuDisable(&ICUD3);
+  }
+}