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author | Lorenz Meier <lm@inf.ethz.ch> | 2013-04-28 10:37:07 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-04-28 10:37:07 +0200 |
commit | 25612cebc2c4ecfc131e545c926f6ff581e11030 (patch) | |
tree | e364911002eea58f0d8706e1747c97b57175fba4 /apps/examples | |
parent | 13fc6703862862f4263d8d5d085b7a16b87190e1 (diff) | |
download | px4-firmware-25612cebc2c4ecfc131e545c926f6ff581e11030.tar.gz px4-firmware-25612cebc2c4ecfc131e545c926f6ff581e11030.tar.bz2 px4-firmware-25612cebc2c4ecfc131e545c926f6ff581e11030.zip |
Cleaned up NuttX appconfig, added examples to config
Diffstat (limited to 'apps/examples')
-rw-r--r-- | apps/examples/px4_deamon_app/Makefile | 42 | ||||
-rw-r--r-- | apps/examples/px4_deamon_app/px4_deamon_app.c | 137 | ||||
-rw-r--r-- | apps/examples/px4_mavlink_debug/Makefile | 42 | ||||
-rw-r--r-- | apps/examples/px4_mavlink_debug/px4_mavlink_debug.c | 74 | ||||
-rw-r--r-- | apps/examples/px4_simple_app/Makefile | 42 | ||||
-rw-r--r-- | apps/examples/px4_simple_app/px4_simple_app.c | 115 |
6 files changed, 0 insertions, 452 deletions
diff --git a/apps/examples/px4_deamon_app/Makefile b/apps/examples/px4_deamon_app/Makefile deleted file mode 100644 index e4c169872..000000000 --- a/apps/examples/px4_deamon_app/Makefile +++ /dev/null @@ -1,42 +0,0 @@ -############################################################################ -# -# 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_deamon_app -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 - -include $(APPDIR)/mk/app.mk diff --git a/apps/examples/px4_deamon_app/px4_deamon_app.c b/apps/examples/px4_deamon_app/px4_deamon_app.c deleted file mode 100644 index a5d847777..000000000 --- a/apps/examples/px4_deamon_app/px4_deamon_app.c +++ /dev/null @@ -1,137 +0,0 @@ -/**************************************************************************** - * - * 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_deamon_app.c - * Deamon application example for PX4 autopilot - */ - -#include <nuttx/config.h> -#include <unistd.h> -#include <stdio.h> - -static bool thread_should_exit = false; /**< Deamon exit flag */ -static bool thread_running = false; /**< Deamon status flag */ -static int deamon_task; /**< Handle of deamon task / thread */ - -/** - * Deamon management function. - */ -__EXPORT int px4_deamon_app_main(int argc, char *argv[]); - -/** - * Mainloop of deamon. - */ -int px4_deamon_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: deamon {start|stop|status} [-p <additional params>]\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 px4_deamon_app_main(int argc, char *argv[]) -{ - if (argc < 1) - usage("missing command"); - - if (!strcmp(argv[1], "start")) { - - if (thread_running) { - printf("deamon already running\n"); - /* this is not an error */ - exit(0); - } - - thread_should_exit = false; - deamon_task = task_spawn("deamon", - SCHED_DEFAULT, - SCHED_PRIORITY_DEFAULT, - 4096, - px4_deamon_thread_main, - (argv) ? (const char **)&argv[2] : (const char **)NULL); - exit(0); - } - - if (!strcmp(argv[1], "stop")) { - thread_should_exit = true; - exit(0); - } - - if (!strcmp(argv[1], "status")) { - if (thread_running) { - printf("\tdeamon app is running\n"); - } else { - printf("\tdeamon app not started\n"); - } - exit(0); - } - - usage("unrecognized command"); - exit(1); -} - -int px4_deamon_thread_main(int argc, char *argv[]) { - - printf("[deamon] starting\n"); - - thread_running = true; - - while (!thread_should_exit) { - printf("Hello Deamon!\n"); - sleep(10); - } - - printf("[deamon] exiting.\n"); - - thread_running = false; - - return 0; -} diff --git a/apps/examples/px4_mavlink_debug/Makefile b/apps/examples/px4_mavlink_debug/Makefile deleted file mode 100644 index f59aef16f..000000000 --- a/apps/examples/px4_mavlink_debug/Makefile +++ /dev/null @@ -1,42 +0,0 @@ -############################################################################ -# -# 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_mavlink_debug -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 - -include $(APPDIR)/mk/app.mk diff --git a/apps/examples/px4_mavlink_debug/px4_mavlink_debug.c b/apps/examples/px4_mavlink_debug/px4_mavlink_debug.c deleted file mode 100644 index aa1eb5ed8..000000000 --- a/apps/examples/px4_mavlink_debug/px4_mavlink_debug.c +++ /dev/null @@ -1,74 +0,0 @@ -/**************************************************************************** - * - * 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_mavlink_debug.c - * Debug application example for PX4 autopilot - */ - -#include <nuttx/config.h> -#include <unistd.h> -#include <stdio.h> -#include <poll.h> - -#include <systemlib/err.h> - -#include <uORB/uORB.h> -#include <uORB/topics/debug_key_value.h> - -__EXPORT int px4_mavlink_debug_main(int argc, char *argv[]); - -int px4_mavlink_debug_main(int argc, char *argv[]) -{ - printf("Hello Debug!\n"); - - /* advertise debug value */ - struct debug_key_value_s dbg = { .key = "velx", .value = 0.0f }; - orb_advert_t pub_dbg = orb_advertise(ORB_ID(debug_key_value), &dbg); - - int value_counter = 0; - - while (value_counter < 100) { - /* send one value */ - dbg.value = value_counter; - orb_publish(ORB_ID(debug_key_value), pub_dbg, &dbg); - - warnx("sent one more value.."); - - value_counter++; - usleep(500000); - } - - return 0; -} diff --git a/apps/examples/px4_simple_app/Makefile b/apps/examples/px4_simple_app/Makefile deleted file mode 100644 index 102f51fd4..000000000 --- a/apps/examples/px4_simple_app/Makefile +++ /dev/null @@ -1,42 +0,0 @@ -############################################################################ -# -# 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 deleted file mode 100644 index 7f655964d..000000000 --- a/apps/examples/px4_simple_app/px4_simple_app.c +++ /dev/null @@ -1,115 +0,0 @@ -/**************************************************************************** - * - * 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)); - orb_advert_t att_pub = 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, &att); - } - /* there could be more file descriptors here, in the form like: - * if (fds[1..n].revents & POLLIN) {} - */ - } - } - - return 0; -} |