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author | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-31 17:09:11 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-31 17:09:11 +0100 |
commit | fbdf30b7d4da08fe5505d3eb74e8e9a5d0a35d1f (patch) | |
tree | 34f5d211e794a7a131240255db253ca718751726 /apps/systemcmds | |
parent | 0ddfd7c75c1f692fe83fcc88f832b42e2b04f0af (diff) | |
parent | 34a3b260f34398994a315388b3ffed22a1fe22fb (diff) | |
download | px4-firmware-fbdf30b7d4da08fe5505d3eb74e8e9a5d0a35d1f.tar.gz px4-firmware-fbdf30b7d4da08fe5505d3eb74e8e9a5d0a35d1f.tar.bz2 px4-firmware-fbdf30b7d4da08fe5505d3eb74e8e9a5d0a35d1f.zip |
Merge branch 'master' of github.com:PX4/Firmware
Diffstat (limited to 'apps/systemcmds')
-rw-r--r-- | apps/systemcmds/led/Makefile | 42 | ||||
-rw-r--r-- | apps/systemcmds/led/led.c | 209 |
2 files changed, 0 insertions, 251 deletions
diff --git a/apps/systemcmds/led/Makefile b/apps/systemcmds/led/Makefile deleted file mode 100644 index eb9d8f909..000000000 --- a/apps/systemcmds/led/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. -# -############################################################################ - -# -# 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 deleted file mode 100644 index 15d448118..000000000 --- a/apps/systemcmds/led/led.c +++ /dev/null @@ -1,209 +0,0 @@ -/**************************************************************************** - * - * 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 <drivers/drv_hrt.h> -#include <arch/board/drv_led.h> - -#include <systemlib/err.h> -#include <systemlib/systemlib.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(void) -{ - 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(void) -{ - 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_spawn("led", - SCHED_DEFAULT, - 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; -} - |