Added temperature measurement, added led system command

5 files changed, 262 insertions, 7 deletions

diff --git a/apps/drivers/drv_accel.h b/apps/drivers/drv_accel.h
index 55b7a6b2b..6d0c8c545 100644
--- a/apps/drivers/drv_accel.h
+++ b/apps/drivers/drv_accel.h
@@ -52,14 +52,17 @@
  */
 struct accel_report {
 	uint64_t timestamp;
-	float x;
-	float y;
-	float z;
-	float range_m_s2;
+	float x;		/**< acceleration in the NED X board axis in m/s^2 */
+	float y;		/**< acceleration in the NED Y board axis in m/s^2 */
+	float z;		/**< acceleration in the NED Z board axis in m/s^2 */
+	float temperature;	/**< temperature in degrees celsius */
+	float range_m_s2;	/**< range in m/s^2 (+- this value) */
 	float scaling;
+
 	int16_t x_raw;
 	int16_t y_raw;
 	int16_t z_raw;
+	int16_t temperature_raw;
 };
 
 /** accel scaling factors; Vout = (Vin * Vscale) + Voffset */
diff --git a/apps/drivers/drv_gyro.h b/apps/drivers/drv_gyro.h
index 9c34ac314..5c646f243 100644
--- a/apps/drivers/drv_gyro.h
+++ b/apps/drivers/drv_gyro.h
@@ -52,15 +52,17 @@
  */
 struct gyro_report {
 	uint64_t timestamp;
-	float x;
-	float y;
-	float z;
+	float x;		/**< angular velocity in the NED X board axis in rad/s */
+	float y;		/**< angular velocity in the NED Y board axis in rad/s */
+	float z;		/**< angular velocity in the NED Z board axis in rad/s */
+	float temperature;	/**< temperature in degrees celcius */
 	float range_rad_s;
 	float scaling;
 	
 	int16_t x_raw;
 	int16_t y_raw;
 	int16_t z_raw;
+	int16_t temperature_raw;
 };
 
 /** gyro scaling factors; Vout = (Vin * Vscale) + Voffset */
diff --git a/apps/drivers/mpu6000/mpu6000.cpp b/apps/drivers/mpu6000/mpu6000.cpp
index 83bd13860..04ba4cbbb 100644
--- a/apps/drivers/mpu6000/mpu6000.cpp
+++ b/apps/drivers/mpu6000/mpu6000.cpp
@@ -877,6 +877,9 @@ MPU6000::measure()
 	_accel_report.scaling = _accel_range_scale;
 	_accel_report.range_m_s2 = _accel_range_m_s2;
 
+	_accel_report.temperature_raw = report.temp;
+	_accel_report.temperature = (report.temp) / 361.0f + 35.0f;
+
 	_gyro_report.x_raw = report.gyro_x;
 	_gyro_report.y_raw = report.gyro_y;
 	_gyro_report.z_raw = report.gyro_z;
@@ -887,6 +890,9 @@ MPU6000::measure()
 	_gyro_report.scaling = _gyro_range_scale;
 	_gyro_report.range_rad_s = _gyro_range_rad_s;
 
+	_gyro_report.temperature_raw = report.temp;
+	_gyro_report.temperature = (report.temp) / 361.0f + 35.0f;
+
 	/* notify anyone waiting for data */
 	poll_notify(POLLIN);
 	_gyro->parent_poll_notify();
@@ -1041,6 +1047,10 @@ test()
 	warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
 		(int)((g_report.range_rad_s / M_PI_F) * 180.0f+0.5f));
 
+	warnx("temp:  \t%8.4f\tdeg celsius", (double)a_report.temperature);
+	warnx("temp:  \t%d\traw 0x%0x", (short)a_report.temperature_raw, (unsigned short)a_report.temperature_raw);
+
+
 	/* XXX add poll-rate tests here too */
 
 	reset();
diff --git a/apps/systemcmds/led/Makefile b/apps/systemcmds/led/Makefile
new file mode 100644
index 000000000..eb9d8f909
--- /dev/null
+++ b/apps/systemcmds/led/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.
+#
+############################################################################
+
+#
+# Makefile to build ardrone interface
+#
+
+APPNAME		 = led
+PRIORITY	 = SCHED_PRIORITY_MAX - 15
+STACKSIZE	 = 2048
+
+include $(APPDIR)/mk/app.mk
diff --git a/apps/systemcmds/led/led.c b/apps/systemcmds/led/led.c
new file mode 100644
index 000000000..a6d73210a
--- /dev/null
+++ b/apps/systemcmds/led/led.c
@@ -0,0 +1,198 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * 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 led.c
+ * Plain, stupid led outputs
+ */
+
+#include <nuttx/config.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <stdbool.h>
+#include <unistd.h>
+#include <math.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <debug.h>
+#include <termios.h>
+#include <time.h>
+#include <sys/prctl.h>
+#include <arch/board/up_hrt.h>
+#include <arch/board/drv_led.h>
+
+__EXPORT int led_main(int argc, char *argv[]);
+
+
+static bool thread_should_exit = false;	/**< Deamon exit flag */
+static bool thread_running = false;	/**< Deamon status flag */
+static int led_task;			/**< Handle of deamon task / thread */
+static int leds;
+
+static int led_init()
+{
+	leds = open("/dev/led", O_RDONLY | O_NONBLOCK);
+
+	if (leds < 0) {
+		errx(1, "[led] LED: open fail\n");
+	}
+
+	if (ioctl(leds, LED_ON, LED_BLUE) || ioctl(leds, LED_ON, LED_AMBER)) {
+		errx(1, "[led] LED: ioctl fail\n");
+	}
+
+	return 0;
+}
+
+static void led_deinit()
+{
+	close(leds);
+}
+
+static int led_toggle(int led)
+{
+	static int last_blue = LED_ON;
+	static int last_amber = LED_ON;
+
+	if (led == LED_BLUE) last_blue = (last_blue == LED_ON) ? LED_OFF : LED_ON;
+
+	if (led == LED_AMBER) last_amber = (last_amber == LED_ON) ? LED_OFF : LED_ON;
+
+	return ioctl(leds, ((led == LED_BLUE) ? last_blue : last_amber), led);
+}
+
+static int led_on(int led)
+{
+	return ioctl(leds, LED_ON, led);
+}
+
+static int led_off(int led)
+{
+	return ioctl(leds, LED_OFF, led);
+}
+
+/**
+ * Mainloop of led.
+ */
+int led_thread_main(int argc, char *argv[]);
+
+/**
+ * Print the correct usage.
+ */
+static void usage(const char *reason);
+
+static void
+usage(const char *reason)
+{
+	if (reason)
+		fprintf(stderr, "%s\n", reason);
+	fprintf(stderr, "usage: led {start|stop|status} [-d <UART>]\n\n");
+	exit(1);
+}
+
+/**
+ * The deamon app only briefly exists to start
+ * the background job. The stack size assigned in the
+ * Makefile does only apply to this management task.
+ * 
+ * The actual stack size should be set in the call
+ * to task_create().
+ */
+int led_main(int argc, char *argv[])
+{
+	if (argc < 1)
+		usage("missing command");
+
+	if (!strcmp(argv[1], "start")) {
+
+		if (thread_running) {
+			printf("led already running\n");
+			/* this is not an error */
+			exit(0);
+		}
+
+		thread_should_exit = false;
+		led_task = task_create("led", SCHED_PRIORITY_MAX - 15, 4096, led_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL);
+		thread_running = true;
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "stop")) {
+		thread_should_exit = true;
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "status")) {
+		if (thread_running) {
+			printf("\tled is running\n");
+		} else {
+			printf("\tled not started\n");
+		}
+		exit(0);
+	}
+
+	usage("unrecognized command");
+	exit(1);
+}
+
+int led_thread_main(int argc, char *argv[])
+{
+	/* welcome user */
+	printf("[led] Control started, taking over motors\n");
+
+	/* open leds */
+	led_init();
+
+	unsigned int rate = 200;
+
+	while (!thread_should_exit) {
+		/* swell blue led */
+		
+
+		/* 200 Hz base loop */
+		usleep(1000000 / rate);
+	}
+
+	/* close leds */
+	led_deinit();
+
+	printf("[led] ending now...\n\n");
+	fflush(stdout);
+
+	thread_running = false;
+
+	return OK;
+}
+