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author | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-19 08:38:01 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-19 08:38:01 +0200 |
commit | 23ae096911226d35cff6a4ec124297c3d5313303 (patch) | |
tree | a0f4eda8ab413a545f7954a696fb379b22980ad4 | |
parent | 9a56be6907e884d774418bfdf809d7d5ed0c3cad (diff) | |
download | px4-firmware-23ae096911226d35cff6a4ec124297c3d5313303.tar.gz px4-firmware-23ae096911226d35cff6a4ec124297c3d5313303.tar.bz2 px4-firmware-23ae096911226d35cff6a4ec124297c3d5313303.zip |
Added simple, but complete code example
-rw-r--r-- | apps/examples/px4_simple_app/Makefile | 42 | ||||
-rw-r--r-- | apps/examples/px4_simple_app/px4_simple_app.c | 115 | ||||
-rw-r--r-- | apps/sensors/sensors.c | 45 | ||||
-rw-r--r-- | apps/uORB/uORB.cpp | 7 | ||||
-rw-r--r-- | nuttx/configs/px4fmu/nsh/appconfig | 4 |
5 files changed, 199 insertions, 14 deletions
diff --git a/apps/examples/px4_simple_app/Makefile b/apps/examples/px4_simple_app/Makefile new file mode 100644 index 000000000..102f51fd4 --- /dev/null +++ b/apps/examples/px4_simple_app/Makefile @@ -0,0 +1,42 @@ +############################################################################ +# +# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. 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. +# 3. Neither the name PX4 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 COPYRIGHT HOLDERS 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 +# COPYRIGHT OWNER OR 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. +# +############################################################################ + +# +# Basic example application +# + +APPNAME = px4_simple_app +PRIORITY = SCHED_PRIORITY_DEFAULT +STACKSIZE = 2048 + +include $(APPDIR)/mk/app.mk diff --git a/apps/examples/px4_simple_app/px4_simple_app.c b/apps/examples/px4_simple_app/px4_simple_app.c new file mode 100644 index 000000000..fd34a5dac --- /dev/null +++ b/apps/examples/px4_simple_app/px4_simple_app.c @@ -0,0 +1,115 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Example User <mail@example.com> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. 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. + * 3. Neither the name PX4 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 COPYRIGHT HOLDERS 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 + * COPYRIGHT OWNER OR 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. + * + ****************************************************************************/ + +/** + * @file px4_simple_app.c + * Minimal application example for PX4 autopilot + */ + +#include <nuttx/config.h> +#include <unistd.h> +#include <stdio.h> +#include <poll.h> + +#include <uORB/uORB.h> +#include <uORB/topics/sensor_combined.h> +#include <uORB/topics/vehicle_attitude.h> + +__EXPORT int px4_simple_app_main(int argc, char *argv[]); + +int px4_simple_app_main(int argc, char *argv[]) +{ + printf("Hello Sky!\n"); + + /* subscribe to sensor_combined topic */ + int sensor_sub_fd = orb_subscribe(ORB_ID(sensor_combined)); + orb_set_interval(sensor_sub_fd, 1000); + + /* advertise attitude topic */ + struct vehicle_attitude_s att; + memset(&att, 0, sizeof(att)); + int att_pub_fd = orb_advertise(ORB_ID(vehicle_attitude), &att); + + /* one could wait for multiple topics with this technique, just using one here */ + struct pollfd fds[] = { + { .fd = sensor_sub_fd, .events = POLLIN }, + /* there could be more file descriptors here, in the form like: + * { .fd = other_sub_fd, .events = POLLIN }, + */ + }; + + int error_counter = 0; + + while (true) { + /* wait for sensor update of 1 file descriptor for 1000 ms (1 second) */ + int poll_ret = poll(fds, 1, 1000); + + /* handle the poll result */ + if (poll_ret == 0) { + /* this means none of our providers is giving us data */ + printf("[px4_simple_app] Got no data within a second\n"); + } else if (poll_ret < 0) { + /* this is seriously bad - should be an emergency */ + if (error_counter < 10 || error_counter % 50 == 0) { + /* use a counter to prevent flooding (and slowing us down) */ + printf("[px4_simple_app] ERROR return value from poll(): %d\n" + , poll_ret); + } + error_counter++; + } else { + + if (fds[0].revents & POLLIN) { + /* obtained data for the first file descriptor */ + struct sensor_combined_s raw; + /* copy sensors raw data into local buffer */ + orb_copy(ORB_ID(sensor_combined), sensor_sub_fd, &raw); + printf("[px4_simple_app] Accelerometer:\t%8.4f\t%8.4f\t%8.4f\n", + (double)raw.accelerometer_m_s2[0], + (double)raw.accelerometer_m_s2[1], + (double)raw.accelerometer_m_s2[2]); + + /* set att and publish this information for other apps */ + att.roll = raw.accelerometer_m_s2[0]; + att.pitch = raw.accelerometer_m_s2[1]; + att.yaw = raw.accelerometer_m_s2[2]; + orb_publish(ORB_ID(vehicle_attitude), att_pub_fd, &att); + } + /* there could be more file descriptors here, in the form like: + * if (fds[1..n].revents & POLLIN) {} + */ + } + } + + return 0; +} diff --git a/apps/sensors/sensors.c b/apps/sensors/sensors.c index a3236277f..89a6d9c75 100644 --- a/apps/sensors/sensors.c +++ b/apps/sensors/sensors.c @@ -112,6 +112,7 @@ static int fd_barometer = -1; static int fd_adc = -1; static bool thread_should_exit = false; +static bool thread_running = false; static int sensors_task; /* Private functions declared static */ @@ -137,6 +138,11 @@ static int sensor_pub; __EXPORT int sensors_main(int argc, char *argv[]); /** + * Print the usage + */ +static void usage(const char *reason); + +/** * Initialize all sensor drivers. * * @return 0 on success, != 0 on failure @@ -425,6 +431,8 @@ int sensors_thread_main(int argc, char *argv[]) /* Enable high resolution timer callback to unblock main thread, run after 2 ms */ hrt_call_every(&sensors_hrt_call, 2000, SENSOR_INTERVAL_MICROSEC, &sensors_timer_loop, NULL); + thread_running = true; + while (1) { pthread_mutex_lock(&sensors_read_ready_mutex); @@ -909,6 +917,8 @@ int sensors_thread_main(int argc, char *argv[]) #endif } + + if (thread_should_exit) break; } /* Never really getting here */ @@ -922,39 +932,52 @@ int sensors_thread_main(int argc, char *argv[]) printf("[sensors] exiting.\n"); + thread_running = false; + return ret; } -/** - * Print the usage - */ -static void usage(const char *reason); - static void usage(const char *reason) { if (reason) fprintf(stderr, "%s\n", reason); - fprintf(stderr, "usage: sensors {start|stop}\n"); + fprintf(stderr, "usage: sensors {start|stop|status}\n"); exit(1); } int sensors_main(int argc, char *argv[]) { - int ch; - if (argc < 1) usage("missing command"); if (!strcmp(argv[1], "start")) { - thread_should_exit = false; - sensors_task = task_create("sensors", SCHED_PRIORITY_MAX - 5, 4096, sensors_thread_main, NULL); + if (thread_running) { + printf("sensors app already running\n"); + } else { + thread_should_exit = false; + sensors_task = task_create("sensors", SCHED_PRIORITY_MAX - 5, 4096, sensors_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL); + } exit(0); } if (!strcmp(argv[1], "stop")) { - thread_should_exit = true; + if (!thread_running) { + printf("sensors app not started\n"); + } else { + printf("stopping sensors app"); + thread_should_exit = true; + } + exit(0); + } + + if (!strcmp(argv[1], "status")) { + if (thread_running) { + printf("\tsensors app is running\n"); + } else { + printf("\tsensors app not started\n"); + } exit(0); } diff --git a/apps/uORB/uORB.cpp b/apps/uORB/uORB.cpp index 270e3861c..1e7cdc8db 100644 --- a/apps/uORB/uORB.cpp +++ b/apps/uORB/uORB.cpp @@ -728,7 +728,8 @@ uorb_main(int argc, char *argv[]) if (g_dev != nullptr) { fprintf(stderr, "[uorb] already loaded\n"); - return -EBUSY; + /* user wanted to start uorb, its already running, no error */ + return 0; } /* create the driver */ @@ -759,10 +760,10 @@ uorb_main(int argc, char *argv[]) /* * Print driver information. */ - if (!strcmp(argv[1], "info")) + if (!strcmp(argv[1], "status")) return info(); - fprintf(stderr, "unrecognised command, try 'start', 'test' or 'info'\n"); + fprintf(stderr, "unrecognised command, try 'start', 'test' or 'status'\n"); return -EINVAL; } diff --git a/nuttx/configs/px4fmu/nsh/appconfig b/nuttx/configs/px4fmu/nsh/appconfig index 36db854e3..4f0c5093f 100644 --- a/nuttx/configs/px4fmu/nsh/appconfig +++ b/nuttx/configs/px4fmu/nsh/appconfig @@ -52,6 +52,10 @@ CONFIGURED_APPS += systemcmds/boardinfo CONFIGURED_APPS += systemcmds/mixer #CONFIGURED_APPS += systemcmds/calibration +# Tutorial code from +# https://pixhawk.ethz.ch/px4/dev/hello_sky +# CONFIGURED_APPS += examples/px4_simple_app + CONFIGURED_APPS += uORB ifeq ($(CONFIG_MAVLINK),y) |