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

tests/pingpair_test/Jamfile

@@ -1,69 +1,89 @@
-PROJECT_NAME 	= $(PWD:B) ;
+# (1) Project Information
-PROJECT_DIR 	= . ;
+
 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 
 {
-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 ;
 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
-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
 {
@@ -80,128 +100,120 @@ actions GitVersion
 
 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
 {
 	Depends $(<) : $(>) ;
-  Depends $(<) : $(<:D) ;
+	MakeLocate $(<) : $(LOCATE_SOURCE) ;
 	Clean clean : $(<) ;
+}
 
+if ( $(ARDUINO_VERSION) < 100 )
+{
+	ARDUINO_H = WProgram.h ;
+}
+else
+{
+	ARDUINO_H = Arduino.h ;
 }
 
 actions Pde
 {
-  echo "#include <WProgram.h>" > $(<) 
+	echo "#include <$(ARDUINO_H)>" > $(<) 
 	echo "#line 1 \"$(>)\"" >> $(<)
 	cat $(>) >> $(<) 
 }
 
-rule AvrPde
+rule C++Pde
 {
-  local _CPP = $(OUT_DIR)/$(_I:B).cpp ;
+	local _CPP = $(>:B).cpp ;
 	Pde $(_CPP) : $(>) ;
-  AvrC++ $(<) : $(_CPP) ;
+	C++ $(<) : $(_CPP) ;
 }
 
-rule AvrObject
+rule UserObject
 {
 	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 $(<) : $(<: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 : $(<) ;
 	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 $(2) : $(3) ;
 	NotFile $(1) ;
 	Always $(1) ;
 	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 ] ;

tests/pingpair_test/pingpair_test.pde

@@ -230,7 +230,7 @@ void setup(void)
   // Dump the configuration of the rf unit for debugging
   //
 
-  radio.printDetails();
+  //radio.printDetails();
 
   //
   // Attach interrupt handler to interrupt #0 (using pin 2)
@@ -238,8 +238,23 @@ void setup(void)
   //
 
   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 
 //
@@ -274,7 +289,7 @@ void loop(void)
     delay(interval);
     
     // 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");
       done = true;
@@ -285,6 +300,17 @@ void loop(void)
   // 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
   //
@@ -299,8 +325,6 @@ void loop(void)
       printf("FAIL\n\r\n\r");
   }
 
-  //
-  //
 }
 
 void check_radio(void)
@@ -313,10 +337,10 @@ void check_radio(void)
   if ( tx )
   {
     if ( role == role_sender )
-      printf("Send:OK ");
+      prbuf_in += sprintf(prbuf_in,"Send:OK ");
 
     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?
@@ -324,14 +348,14 @@ void check_radio(void)
   {
     if ( role == role_sender )
     {
-      printf("Send:Failed ");
+      prbuf_in += sprintf(prbuf_in,"Send:Failed ");
 
       // log status of this line
       one_failed();
     }
 
     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
@@ -346,19 +370,19 @@ void check_radio(void)
     if ( role == role_sender )
     {
       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
       // for failures, we simply want to make sure we get a
       // DIFFERENT ack every time.
       if ( ( message_count != last_message_count ) || ( configuration=='3' && message_count == 16 ) )
       {
-	printf("OK ");
+	prbuf_in += sprintf(prbuf_in,"OK ");
 	one_ok();
       }
       else
       {
-	printf("FAILED ");
+	prbuf_in += sprintf(prbuf_in,"FAILED ");
 	one_failed();
       }
       last_message_count = message_count;
@@ -382,7 +406,7 @@ void check_radio(void)
       receive_payload[len] = 0;
 
       // 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.
       // Here we will report back how many bytes we got this time.

tests/pingpair_test/printf.h

@@ -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
  modify it under the terms of the GNU General Public License
@@ -16,7 +16,7 @@
 #ifndef __PRINTF_H__
 #define __PRINTF_H__
 
-#include "WProgram.h"
+#ifdef ARDUINO
 
 int serial_putc( char c, FILE * ) 
 {
@@ -30,4 +30,8 @@ void printf_begin(void)
   fdevopen( &serial_putc, 0 );
 }
 
+#else
+#error This example is only for use on Arduino.
+#endif // ARDUINO
+
 #endif // __PRINTF_H__

tests/pingpair_test/runtests.sh

@@ -1,16 +1,8 @@
 #!/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.
 
-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

tests/pingpair_test/test.ex

@@ -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"