diff options
author | px4dev <px4@purgatory.org> | 2012-08-04 15:12:36 -0700 |
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committer | px4dev <px4@purgatory.org> | 2012-08-04 15:12:36 -0700 |
commit | 8a365179eafdf3aea98e60ab9f5882b200d4c759 (patch) | |
tree | 4f38d6d4cd80bd0b6e22e2bb534c3f117ce44e56 /apps/systemcmds | |
download | px4-firmware-8a365179eafdf3aea98e60ab9f5882b200d4c759.tar.gz px4-firmware-8a365179eafdf3aea98e60ab9f5882b200d4c759.tar.bz2 px4-firmware-8a365179eafdf3aea98e60ab9f5882b200d4c759.zip |
Fresh import of the PX4 firmware sources.
Diffstat (limited to 'apps/systemcmds')
-rw-r--r-- | apps/systemcmds/boardinfo/.context | 0 | ||||
-rw-r--r-- | apps/systemcmds/boardinfo/Makefile | 42 | ||||
-rw-r--r-- | apps/systemcmds/boardinfo/boardinfo.c | 265 | ||||
-rw-r--r-- | apps/systemcmds/calibration/Makefile | 42 | ||||
-rwxr-xr-x | apps/systemcmds/calibration/calibration.c | 147 | ||||
-rw-r--r-- | apps/systemcmds/calibration/calibration.h | 60 | ||||
-rwxr-xr-x | apps/systemcmds/calibration/channels_cal.c | 196 | ||||
-rwxr-xr-x | apps/systemcmds/calibration/range_cal.c | 224 | ||||
-rw-r--r-- | apps/systemcmds/calibration/servo_cal.c | 264 | ||||
-rw-r--r-- | apps/systemcmds/perf/.context | 0 | ||||
-rw-r--r-- | apps/systemcmds/perf/Makefile | 42 | ||||
-rw-r--r-- | apps/systemcmds/perf/perf.c | 72 | ||||
-rw-r--r-- | apps/systemcmds/reboot/.context | 0 | ||||
-rw-r--r-- | apps/systemcmds/reboot/Makefile | 42 | ||||
-rw-r--r-- | apps/systemcmds/reboot/reboot.c | 72 | ||||
-rw-r--r-- | apps/systemcmds/top/.context | 0 | ||||
-rw-r--r-- | apps/systemcmds/top/Makefile | 42 | ||||
-rw-r--r-- | apps/systemcmds/top/top.c | 245 |
18 files changed, 1755 insertions, 0 deletions
diff --git a/apps/systemcmds/boardinfo/.context b/apps/systemcmds/boardinfo/.context new file mode 100644 index 000000000..e69de29bb --- /dev/null +++ b/apps/systemcmds/boardinfo/.context diff --git a/apps/systemcmds/boardinfo/Makefile b/apps/systemcmds/boardinfo/Makefile new file mode 100644 index 000000000..753a6843e --- /dev/null +++ b/apps/systemcmds/boardinfo/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. +# +############################################################################ + +# +# Build the boardinfo tool. +# + +APPNAME = boardinfo +PRIORITY = SCHED_PRIORITY_DEFAULT +STACKSIZE = 2048 + +include $(APPDIR)/mk/app.mk diff --git a/apps/systemcmds/boardinfo/boardinfo.c b/apps/systemcmds/boardinfo/boardinfo.c new file mode 100644 index 000000000..61a6ea221 --- /dev/null +++ b/apps/systemcmds/boardinfo/boardinfo.c @@ -0,0 +1,265 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * 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 autopilot and carrier board information app */ + + +#include <nuttx/config.h> +#include <unistd.h> +#include <stdio.h> +#include <string.h> +#include <stdlib.h> + +#include "systemlib/systemlib.h" + +__EXPORT int boardinfo_main(int argc, char *argv[]); + +/* + * Reads out the board information + * + * @param argc the number of string arguments (including the executable name) + * @param argv the argument strings + * + * @return 0 on success, 1 on error + */ +int boardinfo_main(int argc, char *argv[]) +{ + const char *commandline_usage = "\tusage: boardinfo [-c|-f] [-t id] [-w \"<info>\"]\n"; + + bool carrier_mode = false; + bool fmu_mode = false; + bool write_mode = false; + char *write_string = 0; + bool silent = false; + bool test_enabled = false; + int test_boardid = -1; + int ch; + + while ((ch = getopt(argc, argv, "cft:w:v")) != -1) { + switch (ch) { + case 'c': + carrier_mode = true; + break; + + case 'f': + fmu_mode = true; + break; + + case 't': + test_enabled = true; + test_boardid = strtol(optarg, NULL, 10); + silent = true; + break; + + case 'w': + write_mode = true; + write_string = optarg; + break; + + default: + printf(commandline_usage); + exit(0); + } + } + + /* Check if write is required - only one mode is allowed then */ + if (write_mode && fmu_mode && carrier_mode) { + fprintf(stderr, "[boardinfo] Please choose only one mode for writing: --carrier or --fmu\n"); + printf(commandline_usage); + return ERROR; + } + + /* Write FMU information + if (fmu_mode && write_mode) { + struct fmu_board_info_s info; + int ret = fmu_store_board_info(&info); + + + if (ret == OK) { + printf("[boardinfo] Successfully wrote FMU board info\n"); + } else { + fprintf(stderr, "[boardinfo] ERROR writing board info to FMU EEPROM, aborting\n"); + return ERROR; + } + }*/ + + /* write carrier board info */ + if (carrier_mode && write_mode) { + + struct carrier_board_info_s info; + bool parse_ok = true; + unsigned parse_idx = 0; + //int maxlen = strlen(write_string); + char *curr_char; + + /* Parse board info string */ + if (write_string[0] != 'P' || write_string[1] != 'X' || write_string[2] != '4') { + fprintf(stderr, "[boardinfo] header must start with 'PX4'\n"); + parse_ok = false; + } + + info.header[0] = 'P'; info.header[1] = 'X'; info.header[2] = '4'; + parse_idx = 3; + /* Copy board name */ + + int i = 0; + + while (write_string[parse_idx] != 0x20 && (parse_idx < sizeof(info.board_name) + sizeof(info.header))) { + info.board_name[i] = write_string[parse_idx]; + i++; parse_idx++; + } + + /* Enforce null termination */ + info.board_name[sizeof(info.board_name) - 1] = '\0'; + + curr_char = write_string + parse_idx; + + /* Index is now on next field */ + info.board_id = strtol(curr_char, &curr_char, 10);//atoi(write_string + parse_index); + info.board_version = strtol(curr_char, &curr_char, 10); + + /* Read in multi ports */ + for (i = 0; i < MULT_COUNT; i++) { + info.multi_port_config[i] = strtol(curr_char, &curr_char, 10); + } + + /* Read in production data */ + info.production_year = strtol(curr_char, &curr_char, 10); + + if (info.production_year < 2012 || info.production_year > 3000) { + fprintf(stderr, "[boardinfo] production year is invalid: %d\n", info.production_year); + parse_ok = false; + } + + info.production_month = strtol(curr_char, &curr_char, 10); + + if (info.production_month < 1 || info.production_month > 12) { + fprintf(stderr, "[boardinfo] production month is invalid: %d\n", info.production_month); + parse_ok = false; + } + + info.production_day = strtol(curr_char, &curr_char, 10); + + if (info.production_day < 1 || info.production_day > 31) { + fprintf(stderr, "[boardinfo] production day is invalid: %d\n", info.production_day); + parse_ok = false; + } + + info.production_fab = strtol(curr_char, &curr_char, 10); + info.production_tester = strtol(curr_char, &curr_char, 10); + + if (!parse_ok) { + /* Parsing failed */ + fprintf(stderr, "[boardinfo] failed parsing info string:\n\t%s\naborting\n", write_string); + return ERROR; + + } else { + int ret = carrier_store_board_info(&info); + + /* Display result */ + if (ret == sizeof(info)) { + printf("[boardinfo] Successfully wrote carrier board info\n"); + + } else { + fprintf(stderr, "[boardinfo] ERROR writing board info to carrier EEPROM (forgot to pull the WRITE_ENABLE line high?), aborting\n"); + return ERROR; + } + } + } + + /* Print FMU information */ + if (fmu_mode && !silent) { + struct fmu_board_info_s info; + int ret = fmu_get_board_info(&info); + + /* Print human readable name */ + if (ret == sizeof(info)) { + printf("[boardinfo] Autopilot:\n\t%s\n", info.header); + + } else { + fprintf(stderr, "[boardinfo] ERROR loading board info from FMU, aborting\n"); + return ERROR; + } + } + + /* print carrier information */ + if (carrier_mode && !silent) { + + struct carrier_board_info_s info; + int ret = carrier_get_board_info(&info); + + /* Print human readable name */ + if (ret == sizeof(info)) { + printf("[boardinfo] Carrier board:\n\t%s\n", info.header); + printf("\tboard id:\t\t%d\n", info.board_id); + printf("\tversion:\t\t%d\n", info.board_version); + + for (unsigned i = 0; i < MULT_COUNT; i++) { + printf("\tmulti port #%d:\t\t%s: function #%d\n", i, multiport_info.port_names[i], info.multi_port_config[i]); + } + + printf("\tproduction date:\t%d-%d-%d (fab #%d / tester #%d)\n", info.production_year, info.production_month, info.production_day, info.production_fab, info.production_tester); + + } else { + fprintf(stderr, "[boardinfo] ERROR loading board info from carrier EEPROM (errno #%d), aborting\n", -ret); + return ERROR; + } + } + + /* test for a specific carrier */ + if (test_enabled) { + + struct carrier_board_info_s info; + int ret = carrier_get_board_info(&info); + + if (ret != sizeof(info)) { + fprintf(stderr, "[boardinfo] ERROR loading board info from EEPROM (errno #%d), aborting\n", -ret); + exit(1); + } + + if (info.board_id == test_boardid) { + printf("[boardinfo] Found carrier board with ID %d, test succeeded\n", info.board_id); + exit(0); + + } else { + /* exit silently with an error so we can test for multiple boards quietly */ + exit(1); + } + } + + return 0; +} + + diff --git a/apps/systemcmds/calibration/Makefile b/apps/systemcmds/calibration/Makefile new file mode 100644 index 000000000..aa1aa7761 --- /dev/null +++ b/apps/systemcmds/calibration/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 the calibration tool +# + +APPNAME = calibration +PRIORITY = SCHED_PRIORITY_MAX - 1 +STACKSIZE = 4096 + +include $(APPDIR)/mk/app.mk diff --git a/apps/systemcmds/calibration/calibration.c b/apps/systemcmds/calibration/calibration.c new file mode 100755 index 000000000..7f8b9240f --- /dev/null +++ b/apps/systemcmds/calibration/calibration.c @@ -0,0 +1,147 @@ +/**************************************************************************** + * calibration.c + * + * Copyright (C) 2012 Ivan Ovinnikov. All rights reserved. + * Authors: Nils Wenzler <wenzlern@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 NuttX 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. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ +#include <stdio.h> +#include <stdlib.h> +#include <string.h> +#include "calibration.h" + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +static int calibrate_help(int argc, char *argv[]); +static int calibrate_all(int argc, char *argv[]); + +__EXPORT int calibration_main(int argc, char *argv[]); + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +struct { + const char *name; + int (* fn)(int argc, char *argv[]); + unsigned options; +#define OPT_NOHELP (1<<0) +#define OPT_NOALLTEST (1<<1) +} calibrates[] = { + {"range", range_cal, 0}, + {"servo", servo_cal, 0}, + {"all", calibrate_all, OPT_NOALLTEST}, + {"help", calibrate_help, OPT_NOALLTEST | OPT_NOHELP}, + {NULL, NULL} +}; + +/**************************************************************************** + * Public Data + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +static int +calibrate_help(int argc, char *argv[]) +{ + unsigned i; + + printf("Available calibration routines:\n"); + + for (i = 0; calibrates[i].name; i++) + printf(" %s\n", calibrates[i].name); + + return 0; +} + +static int +calibrate_all(int argc, char *argv[]) +{ + unsigned i; + char *args[2] = {"all", NULL}; + + printf("Running all calibration routines...\n\n"); + + for (i = 0; calibrates[i].name; i++) { + printf(" %s:\n", calibrates[i].name); + + if (calibrates[i].fn(1, args)) { + printf(" FAIL\n"); + + } else { + printf(" DONE\n"); + } + } + + return 0; +} + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +void press_enter(void) +{ + int c; + printf("Press CTRL+ENTER to continue... \n"); + fflush(stdout); + + do c = getchar(); while ((c != '\n') && (c != EOF)); +} + +/**************************************************************************** + * Name: calibrate_main + ****************************************************************************/ + +int calibration_main(int argc, char *argv[]) +{ + unsigned i; + + if (argc < 2) { + printf("calibration: missing name - 'calibration help' for a list of routines\n"); + return 1; + } + + for (i = 0; calibrates[i].name; i++) { + if (!strcmp(calibrates[i].name, argv[1])) + return calibrates[i].fn(argc - 1, argv + 1); + } + + printf("calibrate: no routines called '%s' - 'calibration help' for a list of routines\n", argv[1]); + return 1; +} diff --git a/apps/systemcmds/calibration/calibration.h b/apps/systemcmds/calibration/calibration.h new file mode 100644 index 000000000..028853ec8 --- /dev/null +++ b/apps/systemcmds/calibration/calibration.h @@ -0,0 +1,60 @@ +/**************************************************************************** + * + * 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. + * + ****************************************************************************/ + +#ifndef _CALIBRATION_H +#define _CALIBRATION_H + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +/**************************************************************************** + * Definitions + ****************************************************************************/ + +/**************************************************************************** + * Public Types + ****************************************************************************/ + +/**************************************************************************** + * Public Variables + ****************************************************************************/ + +/**************************************************************************** + * Public Function Prototypes + ****************************************************************************/ + +extern int range_cal(int argc, char *argv[]); +extern int servo_cal(int argc, char *argv[]); + +#endif diff --git a/apps/systemcmds/calibration/channels_cal.c b/apps/systemcmds/calibration/channels_cal.c new file mode 100755 index 000000000..575138b12 --- /dev/null +++ b/apps/systemcmds/calibration/channels_cal.c @@ -0,0 +1,196 @@ +/**************************************************************************** + * channels_cal.c + * + * Copyright (C) 2012 Nils Wenzler. All rights reserved. + * Authors: Nils Wenzler <wenzlern@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 NuttX 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. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ +#include <stdio.h> +#include <string.h> +#include <stdlib.h> +#include "calibration.h" + +/**************************************************************************** + * Defines + ****************************************************************************/ +#define ABS(a) (((a) < 0) ? -(a) : (a)) +#define MIN(a,b) (((a)<(b))?(a):(b)) +#define MAX(a,b) (((a)>(b))?(a):(b)) + +/**************************************************************************** + * Private Data + ****************************************************************************/ +//Store the values here before writing them to global_data_rc_channels +uint16_t old_values[NR_CHANNELS]; +uint16_t cur_values[NR_CHANNELS]; +uint8_t function_map[NR_CHANNELS]; +char names[12][9]; + + + +/**************************************************************************** + * Private Functions + ****************************************************************************/ +void press_enter_2(void) +{ + int c; + printf("Press CTRL+ENTER to continue... \n"); + fflush(stdout); + + do c = getchar(); while ((c != '\n') && (c != EOF)); +} + +/**This gets all current values and writes them to min or max + */ +uint8_t get_val(uint16_t *buffer) +{ + if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) { + uint8_t i; + + for (i = 0; i < NR_CHANNELS; i++) { + printf("Channel: %i\t RAW Value: %i: \n", i, global_data_rc_channels->chan[i].raw); + buffer[i] = global_data_rc_channels->chan[i].raw; + } + + global_data_unlock(&global_data_rc_channels->access_conf); + return 0; + + } else + return -1; +} + +void set_channel(void) +{ + static uint8_t j = 0; + uint8_t i; + + for (i = 0; i < NR_CHANNELS; i++) { + if (ABS(old_values - cur_values) > 50) { + function_map[j] = i; + strcpy(names[i], global_data_rc_channels->function_names[j]); + j++; + } + } +} + +void write_dat(void) +{ + global_data_lock(&global_data_rc_channels->access_conf); + uint8_t i; + + for (i = 0; i < NR_CHANNELS; i++) { + global_data_rc_channels->function[i] = function_map[i]; + strcpy(global_data_rc_channels->chan[i].name, names[i]); + + printf("Channel %i\t Function %s\n", i, + global_data_rc_channels->chan[i].name); + } + + global_data_unlock(&global_data_rc_channels->access_conf); +} + + +/**************************************************************************** + * Public Functions + ****************************************************************************/ +int channels_cal(int argc, char *argv[]) +{ + + printf("This routine maps the input functions on the remote control\n"); + printf("to the corresponding function (Throttle, Roll,..)\n"); + printf("Always move the stick all the way\n"); + press_enter_2(); + + printf("Pull the THROTTLE stick down\n"); + press_enter_2(); + + while (get_val(old_values)); + + printf("Move the THROTTLE stick up\n "); + press_enter_2(); + + while (get_val(cur_values)); + + set_channel(); + + printf("Pull the PITCH stick down\n"); + press_enter_2(); + + while (get_val(old_values)); + + printf("Move the PITCH stick up\n "); + press_enter_2(); + + while (get_val(cur_values)); + + set_channel(); + + printf("Put the ROLL stick to the left\n"); + press_enter_2(); + + while (get_val(old_values)); + + printf("Put the ROLL stick to the right\n "); + press_enter_2(); + + while (get_val(cur_values)); + + set_channel(); + + printf("Put the YAW stick to the left\n"); + press_enter_2(); + + while (get_val(old_values)); + + printf("Put the YAW stick to the right\n "); + press_enter_2(); + + while (get_val(cur_values)); + + set_channel(); + + uint8_t k; + + for (k = 5; k < NR_CHANNELS; k++) { + function_map[k] = k; + strcpy(names[k], global_data_rc_channels->function_names[k]); + } + +//write the values to global_data_rc_channels + write_dat(); + + return 0; + +} + diff --git a/apps/systemcmds/calibration/range_cal.c b/apps/systemcmds/calibration/range_cal.c new file mode 100755 index 000000000..159a0d06b --- /dev/null +++ b/apps/systemcmds/calibration/range_cal.c @@ -0,0 +1,224 @@ +/**************************************************************************** + * range_cal.c + * + * Copyright (C) 2012 Nils Wenzler. All rights reserved. + * Authors: Nils Wenzler <wenzlern@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 NuttX 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. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ +#include <stdio.h> +#include <stdlib.h> +#include "calibration.h" + +/**************************************************************************** + * Defines + ****************************************************************************/ + +/**************************************************************************** + * Private Data + ****************************************************************************/ +//Store the values here before writing them to global_data_rc_channels +uint16_t max_values[NR_CHANNELS]; +uint16_t min_values[NR_CHANNELS]; +uint16_t mid_values[NR_CHANNELS]; + + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/**This sets the middle values + */ +uint8_t set_mid(void) +{ + if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) { + uint8_t i; + + for (i = 0; i < NR_CHANNELS; i++) { + if (i == global_data_rc_channels->function[ROLL] || + i == global_data_rc_channels->function[YAW] || + i == global_data_rc_channels->function[PITCH]) { + + mid_values[i] = global_data_rc_channels->chan[i].raw; + + } else { + mid_values[i] = (max_values[i] + min_values[i]) / 2; + } + + } + + global_data_unlock(&global_data_rc_channels->access_conf); + return 0; + + } else + return -1; +} + +/**This gets all current values and writes them to min or max + */ +uint8_t get_value(void) +{ + if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) { + uint8_t i; + + for (i = 0; i < NR_CHANNELS; i++) { + //see if the value is bigger or smaller than 1500 (roughly neutral) + //and write to the appropriate array + if (global_data_rc_channels->chan[i].raw != 0 && + global_data_rc_channels->chan[i].raw < 1500) { + min_values[i] = global_data_rc_channels->chan[i].raw; + + } else if (global_data_rc_channels->chan[i].raw != 0 && + global_data_rc_channels->chan[i].raw > 1500) { + max_values[i] = global_data_rc_channels->chan[i].raw; + + } else { + max_values[i] = 0; + min_values[i] = 0; + } + } + + global_data_unlock(&global_data_rc_channels->access_conf); + return 0; + + } else + return -1; +} + + +void write_data(void) +{ + // global_data_lock(&global_data_rc_channels->access_conf); + // uint8_t i; + // for(i=0; i < NR_CHANNELS; i++){ + // //Write the data to global_data_rc_channels (if not 0) + // if(mid_values[i]!=0 && min_values[i]!=0 && max_values[i]!=0){ + // global_data_rc_channels->chan[i].scaling_factor = + // 10000/((max_values[i] - min_values[i])/2); + // + // global_data_rc_channels->chan[i].mid = mid_values[i]; + // } + // + // printf("Channel %i\t Function %s \t\t Min %i\t\t Max %i\t\t Scaling Factor: %i\t Middle Value %i\n", + // i, + // global_data_rc_channels->function_name[global_data_rc_channels->function[i]], + // min_values[i], max_values[i], + // global_data_rc_channels->chan[i].scaling_factor, + // global_data_rc_channels->chan[i].mid); + // } + // global_data_unlock(&global_data_rc_channels->access_conf); + + //Write to the Parameter storage + + global_data_parameter_storage->pm.param_values[PARAM_RC1_MIN] = min_values[0]; + global_data_parameter_storage->pm.param_values[PARAM_RC2_MIN] = min_values[1]; + global_data_parameter_storage->pm.param_values[PARAM_RC3_MIN] = min_values[2]; + global_data_parameter_storage->pm.param_values[PARAM_RC4_MIN] = min_values[3]; + global_data_parameter_storage->pm.param_values[PARAM_RC5_MIN] = min_values[4]; + global_data_parameter_storage->pm.param_values[PARAM_RC6_MIN] = min_values[5]; + global_data_parameter_storage->pm.param_values[PARAM_RC7_MIN] = min_values[6]; + global_data_parameter_storage->pm.param_values[PARAM_RC8_MIN] = min_values[7]; + + + global_data_parameter_storage->pm.param_values[PARAM_RC1_MAX] = max_values[0]; + global_data_parameter_storage->pm.param_values[PARAM_RC2_MAX] = max_values[1]; + global_data_parameter_storage->pm.param_values[PARAM_RC3_MAX] = max_values[2]; + global_data_parameter_storage->pm.param_values[PARAM_RC4_MAX] = max_values[3]; + global_data_parameter_storage->pm.param_values[PARAM_RC5_MAX] = max_values[4]; + global_data_parameter_storage->pm.param_values[PARAM_RC6_MAX] = max_values[5]; + global_data_parameter_storage->pm.param_values[PARAM_RC7_MAX] = max_values[6]; + global_data_parameter_storage->pm.param_values[PARAM_RC8_MAX] = max_values[7]; + + + global_data_parameter_storage->pm.param_values[PARAM_RC1_TRIM] = mid_values[0]; + global_data_parameter_storage->pm.param_values[PARAM_RC2_TRIM] = mid_values[1]; + global_data_parameter_storage->pm.param_values[PARAM_RC3_TRIM] = mid_values[2]; + global_data_parameter_storage->pm.param_values[PARAM_RC4_TRIM] = mid_values[3]; + global_data_parameter_storage->pm.param_values[PARAM_RC5_TRIM] = mid_values[4]; + global_data_parameter_storage->pm.param_values[PARAM_RC6_TRIM] = mid_values[5]; + global_data_parameter_storage->pm.param_values[PARAM_RC7_TRIM] = mid_values[6]; + global_data_parameter_storage->pm.param_values[PARAM_RC8_TRIM] = mid_values[7]; + + usleep(3e6); + uint8_t i; + + for (i = 0; i < NR_CHANNELS; i++) { + printf("Channel %i:\t\t Min %i\t\t Max %i\t\t Scaling Factor: %i\t Middle Value %i\n", + i, + min_values[i], max_values[i], + global_data_rc_channels->chan[i].scaling_factor, + global_data_rc_channels->chan[i].mid); + } + + +} + +/**************************************************************************** + * Public Functions + ****************************************************************************/ +int range_cal(int argc, char *argv[]) +{ + + printf("The range calibration routine assumes you already did the channel\n"); + printf("assignment\n"); + printf("This routine chooses the minimum, maximum and middle\n"); + printf("value for each channel separatly. The ROLL, PITCH and YAW function\n"); + printf("get their middle value from the RC direct, for the rest it is\n"); + printf("calculated out of the min and max values.\n"); + press_enter(); + + printf("Hold both sticks in lower left corner and continue\n "); + press_enter(); + usleep(500000); + + while (get_value()); + + printf("Hold both sticks in upper right corner and continue\n"); + press_enter(); + usleep(500000); + + while (get_value()); + + printf("Set the trim to 0 and leave the sticks in the neutral position\n"); + press_enter(); + + //Loop until successfull + while (set_mid()); + + //write the values to global_data_rc_channels + write_data(); + + return 0; + +} + diff --git a/apps/systemcmds/calibration/servo_cal.c b/apps/systemcmds/calibration/servo_cal.c new file mode 100644 index 000000000..96b3045a9 --- /dev/null +++ b/apps/systemcmds/calibration/servo_cal.c @@ -0,0 +1,264 @@ +/**************************************************************************** + * servo_cal.c + * + * Copyright (C) 2012 Nils Wenzler. All rights reserved. + * Authors: Nils Wenzler <wenzlern@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 NuttX 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. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ +#include <stdio.h> +#include <stdlib.h> +#include <arch/board/drv_pwm_servo.h> +#include <fcntl.h> +#include "calibration.h" + +/**************************************************************************** + * Defines + ****************************************************************************/ + +/**************************************************************************** + * Private Data + ****************************************************************************/ +//Store the values here before writing them to global_data_rc_channels +uint16_t max_values_servo[PWM_SERVO_MAX_CHANNELS]; +uint16_t min_values_servo[PWM_SERVO_MAX_CHANNELS]; +uint16_t mid_values_servo[PWM_SERVO_MAX_CHANNELS]; + +// Servo loop thread + +pthread_t servo_calib_thread; + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/**This sets the middle values + */ +uint8_t set_mid_s(void) +{ + if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) { + uint8_t i; + + for (i = 0; i < PWM_SERVO_MAX_CHANNELS; i++) { + if (i == global_data_rc_channels->function[ROLL] || + i == global_data_rc_channels->function[YAW] || + i == global_data_rc_channels->function[PITCH]) { + + mid_values_servo[i] = global_data_rc_channels->chan[i].raw; + + } else { + mid_values_servo[i] = (max_values_servo[i] + min_values_servo[i]) / 2; + } + + } + + global_data_unlock(&global_data_rc_channels->access_conf); + return 0; + + } else + return -1; +} + +/**This gets all current values and writes them to min or max + */ +uint8_t get_value_s(void) +{ + if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) { + uint8_t i; + + for (i = 0; i < PWM_SERVO_MAX_CHANNELS; i++) { + //see if the value is bigger or smaller than 1500 (roughly neutral) + //and write to the appropriate array + if (global_data_rc_channels->chan[i].raw != 0 && + global_data_rc_channels->chan[i].raw < 1500) { + min_values_servo[i] = global_data_rc_channels->chan[i].raw; + + } else if (global_data_rc_channels->chan[i].raw != 0 && + global_data_rc_channels->chan[i].raw > 1500) { + max_values_servo[i] = global_data_rc_channels->chan[i].raw; + + } else { + max_values_servo[i] = 0; + min_values_servo[i] = 0; + } + } + + global_data_unlock(&global_data_rc_channels->access_conf); + return 0; + + } else + return -1; +} + + +void write_data_s(void) +{ + // global_data_lock(&global_data_rc_channels->access_conf); + // uint8_t i; + // for(i=0; i < NR_CHANNELS; i++){ + // //Write the data to global_data_rc_channels (if not 0) + // if(mid_values_servo[i]!=0 && min_values_servo[i]!=0 && max_values_servo[i]!=0){ + // global_data_rc_channels->chan[i].scaling_factor = + // 10000/((max_values_servo[i] - min_values_servo[i])/2); + // + // global_data_rc_channels->chan[i].mid = mid_values_servo[i]; + // } + // + // printf("Channel %i\t Function %s \t\t Min %i\t\t Max %i\t\t Scaling Factor: %i\t Middle Value %i\n", + // i, + // global_data_rc_channels->function_name[global_data_rc_channels->function[i]], + // min_values_servo[i], max_values_servo[i], + // global_data_rc_channels->chan[i].scaling_factor, + // global_data_rc_channels->chan[i].mid); + // } + // global_data_unlock(&global_data_rc_channels->access_conf); + + //Write to the Parameter storage + + + + global_data_lock(&global_data_parameter_storage->access_conf); + + global_data_parameter_storage->pm.param_values[PARAM_SERVO1_MIN] = min_values_servo[0]; + global_data_parameter_storage->pm.param_values[PARAM_SERVO2_MIN] = min_values_servo[1]; + global_data_parameter_storage->pm.param_values[PARAM_SERVO3_MIN] = min_values_servo[2]; + global_data_parameter_storage->pm.param_values[PARAM_SERVO4_MIN] = min_values_servo[3]; + + global_data_parameter_storage->pm.param_values[PARAM_SERVO1_MAX] = max_values_servo[0]; + global_data_parameter_storage->pm.param_values[PARAM_SERVO2_MAX] = max_values_servo[1]; + global_data_parameter_storage->pm.param_values[PARAM_SERVO3_MAX] = max_values_servo[2]; + global_data_parameter_storage->pm.param_values[PARAM_SERVO4_MAX] = max_values_servo[3]; + + global_data_parameter_storage->pm.param_values[PARAM_SERVO1_TRIM] = mid_values_servo[0]; + global_data_parameter_storage->pm.param_values[PARAM_SERVO2_TRIM] = mid_values_servo[1]; + global_data_parameter_storage->pm.param_values[PARAM_SERVO3_TRIM] = mid_values_servo[2]; + global_data_parameter_storage->pm.param_values[PARAM_SERVO4_TRIM] = mid_values_servo[3]; + + global_data_unlock(&global_data_parameter_storage->access_conf); + + usleep(3e6); + uint8_t i; + + for (i = 0; i < NR_CHANNELS; i++) { + printf("Channel %i:\t\t Min %i\t\t Max %i\t\t Scaling Factor: %i\t Middle Value %i\n", + i, + min_values_servo[i], max_values_servo[i], + global_data_rc_channels->chan[i].scaling_factor, + global_data_rc_channels->chan[i].mid); + } + +} + +static void *servo_loop(void *arg) +{ + + // Set thread name + prctl(1, "calibration servo", getpid()); + + // initialize servos + int fd; + servo_position_t data[PWM_SERVO_MAX_CHANNELS]; + + fd = open("/dev/pwm_servo", O_RDWR); + + if (fd < 0) { + printf("failed opening /dev/pwm_servo\n"); + } + + ioctl(fd, PWM_SERVO_ARM, 0); + + while (1) { + int i; + + for (i = 0; i < 4; i++) { + data[i] = global_data_rc_channels->chan[global_data_rc_channels->function[THROTTLE]].raw; + } + + int result = write(fd, &data, sizeof(data)); + + if (result != sizeof(data)) { + printf("failed bulk-reading channel values\n"); + } + + // 5Hz loop + usleep(200000); + } + + return NULL; +} + + +/**************************************************************************** + * Public Functions + ****************************************************************************/ +int servo_cal(int argc, char *argv[]) +{ + // pthread_attr_t servo_loop_attr; + // pthread_attr_init(&servo_loop_attr); + // pthread_attr_setstacksize(&servo_loop_attr, 1024); + pthread_create(&servo_calib_thread, NULL, servo_loop, NULL); + pthread_join(servo_calib_thread, NULL); + + printf("The servo calibration routine assumes you already did the channel\n"); + printf("assignment with 'calibration channels'\n"); + printf("This routine chooses the minimum, maximum and middle\n"); + printf("value for each channel separately. The ROLL, PITCH and YAW function\n"); + printf("get their middle value from the RC direct, for the rest it is\n"); + printf("calculated out of the min and max values.\n"); + press_enter(); + + printf("Hold both sticks in lower left corner and continue\n "); + press_enter(); + usleep(500000); + + while (get_value_s()); + + printf("Hold both sticks in upper right corner and continue\n"); + press_enter(); + usleep(500000); + + while (get_value_s()); + + printf("Set the trim to 0 and leave the sticks in the neutral position\n"); + press_enter(); + + //Loop until successfull + while (set_mid_s()); + + //write the values to global_data_rc_channels + write_data_s(); + + return 0; + +} + diff --git a/apps/systemcmds/perf/.context b/apps/systemcmds/perf/.context new file mode 100644 index 000000000..e69de29bb --- /dev/null +++ b/apps/systemcmds/perf/.context diff --git a/apps/systemcmds/perf/Makefile b/apps/systemcmds/perf/Makefile new file mode 100644 index 000000000..0134c9948 --- /dev/null +++ b/apps/systemcmds/perf/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. +# +############################################################################ + +# +# perf_counter reporting tool +# + +APPNAME = perf +PRIORITY = SCHED_PRIORITY_DEFAULT +STACKSIZE = 2048 + +include $(APPDIR)/mk/app.mk diff --git a/apps/systemcmds/perf/perf.c b/apps/systemcmds/perf/perf.c new file mode 100644 index 000000000..72406e9c7 --- /dev/null +++ b/apps/systemcmds/perf/perf.c @@ -0,0 +1,72 @@ +/**************************************************************************** + * + * Copyright (C) 2012 Lorenz Meier. All rights reserved. + * 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 NuttX 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. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + + +#include <nuttx/config.h> +#include <unistd.h> +#include <stdio.h> + +#include "systemlib/perf_counter.h" + + +/**************************************************************************** + * Definitions + ****************************************************************************/ + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +__EXPORT int perf_main(int argc, char *argv[]); + +/**************************************************************************** + * user_start + ****************************************************************************/ + +int perf_main(int argc, char *argv[]) +{ + perf_print_all(); + fflush(stdout); + return 0; +} + + diff --git a/apps/systemcmds/reboot/.context b/apps/systemcmds/reboot/.context new file mode 100644 index 000000000..e69de29bb --- /dev/null +++ b/apps/systemcmds/reboot/.context diff --git a/apps/systemcmds/reboot/Makefile b/apps/systemcmds/reboot/Makefile new file mode 100644 index 000000000..9609a24fd --- /dev/null +++ b/apps/systemcmds/reboot/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. +# +############################################################################ + +# +# Reboot command. +# + +APPNAME = reboot +PRIORITY = SCHED_PRIORITY_DEFAULT +STACKSIZE = 2048 + +include $(APPDIR)/mk/app.mk diff --git a/apps/systemcmds/reboot/reboot.c b/apps/systemcmds/reboot/reboot.c new file mode 100644 index 000000000..2a4cb18d0 --- /dev/null +++ b/apps/systemcmds/reboot/reboot.c @@ -0,0 +1,72 @@ +/**************************************************************************** + * apps/reboot.c + * + * Copyright (C) 2012 Lorenz Meier. All rights reserved. + * 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 NuttX 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. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + + +#include <nuttx/config.h> +#include <unistd.h> +#include <stdio.h> + +#include "systemlib/systemlib.h" + + +/**************************************************************************** + * Definitions + ****************************************************************************/ + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +__EXPORT int reboot_main(int argc, char *argv[]); + +/**************************************************************************** + * user_start + ****************************************************************************/ + +int reboot_main(int argc, char *argv[]) +{ + reboot(); + return 0; +} + + diff --git a/apps/systemcmds/top/.context b/apps/systemcmds/top/.context new file mode 100644 index 000000000..e69de29bb --- /dev/null +++ b/apps/systemcmds/top/.context diff --git a/apps/systemcmds/top/Makefile b/apps/systemcmds/top/Makefile new file mode 100644 index 000000000..c45775f4b --- /dev/null +++ b/apps/systemcmds/top/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. +# +############################################################################ + +# +# realtime system performance display +# + +APPNAME = top +PRIORITY = SCHED_PRIORITY_DEFAULT - 10 +STACKSIZE = 3000 + +include $(APPDIR)/mk/app.mk diff --git a/apps/systemcmds/top/top.c b/apps/systemcmds/top/top.c new file mode 100644 index 000000000..af1bb23d9 --- /dev/null +++ b/apps/systemcmds/top/top.c @@ -0,0 +1,245 @@ +/**************************************************************************** + * apps/reboot.c + * + * Copyright (C) 2012 Lorenz Meier. All rights reserved. + * 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 NuttX 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. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + + +#include <nuttx/config.h> +#include <stdio.h> +#include <fcntl.h> +#include <stdbool.h> +#include <unistd.h> +#include <string.h> +#include <poll.h> + +#include <arch/board/up_cpuload.h> +#include <arch/board/up_hrt.h> + +/**************************************************************************** + * Definitions + ****************************************************************************/ + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +__EXPORT int top_main(int argc, char *argv[]); + +/**************************************************************************** + * user_start + ****************************************************************************/ + +extern struct system_load_s system_load; + +bool top_sigusr1_rcvd = false; + +int top_main(int argc, char *argv[]) +{ + int t; + + uint64_t total_user_time = 0; + + int running_count = 0; + int blocked_count = 0; + + uint64_t new_time = hrt_absolute_time(); + uint64_t interval_start_time = new_time; + + uint64_t last_times[CONFIG_MAX_TASKS]; + float curr_loads[CONFIG_MAX_TASKS]; + + for (t = 0; t < CONFIG_MAX_TASKS; t++) + last_times[t] = 0; + + float interval_time_ms_inv = 0.f; + + /* Open console directly to grab CTRL-C signal */ + int console = open("/dev/console", O_NONBLOCK | O_RDONLY | O_NOCTTY); + + while (true) +// for (t = 0; t < 10; t++) + { + int i; + + uint64_t curr_time_ms = (hrt_absolute_time() / 1000LLU); + unsigned int curr_time_s = curr_time_ms / 1000LLU; + + uint64_t idle_time_total_ms = (system_load.tasks[0].total_runtime / 1000LLU); + unsigned int idle_time_total_s = idle_time_total_ms / 1000LLU; + + if (new_time > interval_start_time) + interval_time_ms_inv = 1.f / ((float)((new_time - interval_start_time) / 1000)); + + running_count = 0; + blocked_count = 0; + total_user_time = 0; + + for (i = 0; i < CONFIG_MAX_TASKS; i++) { + uint64_t interval_runtime = (system_load.tasks[i].valid && last_times[i] > 0 && system_load.tasks[i].total_runtime > last_times[i]) ? (system_load.tasks[i].total_runtime - last_times[i]) / 1000 : 0; + + last_times[i] = system_load.tasks[i].total_runtime; + + if (system_load.tasks[i].valid && (new_time > interval_start_time)) { + curr_loads[i] = interval_runtime * interval_time_ms_inv; + + if (i > 0) + total_user_time += interval_runtime; + + } else + curr_loads[i] = 0; + } + + for (i = 0; i < CONFIG_MAX_TASKS; i++) { + if (system_load.tasks[i].valid && (new_time > interval_start_time)) { + if (system_load.tasks[i].tcb->pid == 0) { + float idle = curr_loads[0]; + float task_load = (float)(total_user_time) * interval_time_ms_inv; + + if (task_load > (1.f - idle)) task_load = (1.f - idle); /* this can happen if one tasks total runtime was not computed correctly by the scheduler instrumentation TODO */ + + float sched_load = 1.f - idle - task_load; + + /* print system information */ + printf("\033[H"); /* cursor home */ + printf("\033[KProcesses: %d total, %d running, %d sleeping\n", system_load.total_count, running_count, blocked_count); + printf("\033[KCPU usage: %d.%02d%% tasks, %d.%02d%% sched, %d.%02d%% idle\n", (int)(task_load * 100), (int)((task_load * 10000.0f) - (int)(task_load * 100.0f) * 100), (int)(sched_load * 100), (int)((sched_load * 10000.0f) - (int)(sched_load * 100.0f) * 100), (int)(idle * 100), (int)((idle * 10000.0f) - ((int)(idle * 100)) * 100)); + printf("\033[KUptime: %u.%03u s total, %d.%03d s idle\n\033[K\n", curr_time_s, (unsigned int)(curr_time_ms - curr_time_s * 1000LLU), idle_time_total_s, (int)(idle_time_total_ms - idle_time_total_s * 1000)); + + /* 34 chars command name length (32 chars plus two spaces) */ + char header_spaces[CONFIG_TASK_NAME_SIZE + 1]; + memset(header_spaces, ' ', CONFIG_TASK_NAME_SIZE); + header_spaces[CONFIG_TASK_NAME_SIZE] = '\0'; +#if CONFIG_RR_INTERVAL > 0 + printf("\033[KPID\tCOMMAND%s CPU TOTAL \t%%CPU CURR \tMIN STACK USE\tCURR (BASE) PRIO\tRR SLICE\n", header_spaces); +#else + printf("\033[KPID\tCOMMAND%s CPU TOTAL \t%%CPU CURR \tMIN STACK USE\tCURR (BASE) PRIO\n", header_spaces); +#endif + + } else { + enum tstate_e task_state = (enum tstate_e)system_load.tasks[i].tcb->task_state; + + if (task_state == TSTATE_TASK_PENDING || + task_state == TSTATE_TASK_READYTORUN || + task_state == TSTATE_TASK_RUNNING) { + running_count++; + } + + if (task_state == TSTATE_TASK_INACTIVE || /* BLOCKED - Initialized but not yet activated */ + task_state == TSTATE_WAIT_SEM /* BLOCKED - Waiting for a semaphore */ +#ifndef CONFIG_DISABLE_SIGNALS + || task_state == TSTATE_WAIT_SIG /* BLOCKED - Waiting for a signal */ +#endif +#ifndef CONFIG_DISABLE_MQUEUE + || task_state == TSTATE_WAIT_MQNOTEMPTY /* BLOCKED - Waiting for a MQ to become not empty. */ + || task_state == TSTATE_WAIT_MQNOTFULL /* BLOCKED - Waiting for a MQ to become not full. */ +#endif +#ifdef CONFIG_PAGING + || task_state == TSTATE_WAIT_PAGEFILL /* BLOCKED - Waiting for page fill */ +#endif + ) { + blocked_count++; + } + + char spaces[CONFIG_TASK_NAME_SIZE + 2]; + + /* count name len */ + int namelen = 0; + + while (namelen < CONFIG_TASK_NAME_SIZE) { + if (system_load.tasks[i].tcb->name[namelen] == '\0') break; + + namelen++; + } + + int s = 0; + + for (s = 0; s < CONFIG_TASK_NAME_SIZE + 2 - namelen; s++) { + spaces[s] = ' '; + } + + spaces[s] = '\0'; + + char *runtime_spaces = " "; + + if ((system_load.tasks[i].total_runtime / 1000) < 99) { + runtime_spaces = ""; + } + + printf("\033[K % 2d\t%s%s\t% 8lld ms%s \t % 2d.%03d \t % 6d B", (int)system_load.tasks[i].tcb->pid, system_load.tasks[i].tcb->name, spaces, (system_load.tasks[i].total_runtime / 1000), runtime_spaces, (int)(curr_loads[i] * 100), (int)(curr_loads[i] * 100000.0f - (int)(curr_loads[i] * 1000.0f) * 100), (uint32_t)system_load.tasks[i].tcb->adj_stack_ptr - (uint32_t)system_load.tasks[i].tcb->xcp.regs[REG_R13]); + /* Print scheduling info with RR time slice */ +#if CONFIG_RR_INTERVAL > 0 + printf("\t%d\t(%d)\t\t%d\n", (int)system_load.tasks[i].tcb->sched_priority, (int)system_load.tasks[i].tcb->base_priority, (int)system_load.tasks[i].tcb->timeslice); +#else + /* Print scheduling info without time slice*/ + printf("\t%d (%d)\n", (int)system_load.tasks[i].tcb->sched_priority, (int)system_load.tasks[i].tcb->base_priority); +#endif + } + } + } + + printf("\033[K[ Hit Ctrl-C to quit. ]\n\033[J"); + fflush(stdout); + + interval_start_time = new_time; + + char c; + + /* Sleep 200 ms waiting for user input four times */ + /* XXX use poll ... */ + for (int k = 0; k < 4; k++) { + if (read(console, &c, 1) == 1) { + if (c == 0x03 || c == 0x63) { + printf("Abort\n"); + close(console); + return OK; + } + } + + usleep(200000); + } + + new_time = hrt_absolute_time(); + } + + close(console); + + return OK; +} |