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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-06-06 17:47:25 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-06-06 17:47:25 +0200 |
commit | c4280a7cd83f7793d4773ffedd36e0fa220e2c07 (patch) | |
tree | 82be780c4b7830c7be408d95eab5a0cd7b22edd5 /src/examples/matlab_csv_serial/matlab_csv_serial.c | |
parent | c4e2232078f2f28cbf97b8280f40fd988a5c2a75 (diff) | |
download | px4-firmware-c4280a7cd83f7793d4773ffedd36e0fa220e2c07.tar.gz px4-firmware-c4280a7cd83f7793d4773ffedd36e0fa220e2c07.tar.bz2 px4-firmware-c4280a7cd83f7793d4773ffedd36e0fa220e2c07.zip |
matlab logging: Initial CSV example
Diffstat (limited to 'src/examples/matlab_csv_serial/matlab_csv_serial.c')
-rw-r--r-- | src/examples/matlab_csv_serial/matlab_csv_serial.c | 246 |
1 files changed, 246 insertions, 0 deletions
diff --git a/src/examples/matlab_csv_serial/matlab_csv_serial.c b/src/examples/matlab_csv_serial/matlab_csv_serial.c new file mode 100644 index 000000000..7c8bcc31e --- /dev/null +++ b/src/examples/matlab_csv_serial/matlab_csv_serial.c @@ -0,0 +1,246 @@ +/**************************************************************************** + * + * Copyright (C) 2014 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. + * + ****************************************************************************/ + +/** + * @file matlab_csv_serial_main.c + * + * Matlab CSV / ASCII format interface at 921600 baud, 8 data bits, + * 1 stop bit, no parity + * + * @author Lorenz Meier <lm@inf.ethz.ch> + */ + +#include <nuttx/config.h> +#include <unistd.h> +#include <stdlib.h> +#include <stdio.h> +#include <string.h> +#include <stdbool.h> +#include <fcntl.h> +#include <float.h> +#include <nuttx/sched.h> +#include <sys/prctl.h> +#include <drivers/drv_hrt.h> +#include <termios.h> +#include <errno.h> +#include <limits.h> +#include <math.h> +#include <uORB/uORB.h> +#include <drivers/drv_accel.h> +#include <drivers/drv_gyro.h> +#include <systemlib/perf_counter.h> +#include <systemlib/systemlib.h> +#include <poll.h> + +__EXPORT int matlab_csv_serial_main(int argc, char *argv[]); +static bool thread_should_exit = false; /**< Daemon exit flag */ +static bool thread_running = false; /**< Daemon status flag */ +static int daemon_task; /**< Handle of daemon task / thread */ + +int matlab_csv_serial_thread_main(int argc, char *argv[]); +static void usage(const char *reason); + +static void usage(const char *reason) +{ + if (reason) + fprintf(stderr, "%s\n", reason); + fprintf(stderr, "usage: daemon {start|stop|status} [-p <additional params>]\n\n"); + exit(1); +} + +/** + * The daemon 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_spawn_cmd(). + */ +int matlab_csv_serial_main(int argc, char *argv[]) +{ + if (argc < 1) + usage("missing command"); + + if (!strcmp(argv[1], "start")) + { + if (thread_running) + { + printf("flow position estimator already running\n"); + /* this is not an error */ + exit(0); + } + + thread_should_exit = false; + daemon_task = task_spawn_cmd("matlab_csv_serial", + SCHED_DEFAULT, + SCHED_PRIORITY_MAX - 5, + 2000, + matlab_csv_serial_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) { + warnx("running"); + } else { + warnx("stopped"); + } + + exit(0); + } + + usage("unrecognized command"); + exit(1); +} + +int matlab_csv_serial_thread_main(int argc, char *argv[]) +{ + /* welcome user */ + thread_running = true; + + if (argc < 2) { + errx(1, "need a serial port name as argument"); + } + + int serial_fd = open(argv[1], O_RDWR | O_NOCTTY); + + unsigned speed = 921600; + + if (serial_fd < 0) { + err(1, "failed to open port: %s", argv[1]); + } + + /* Try to set baud rate */ + struct termios uart_config; + int termios_state; + bool is_usb = false; + + /* Back up the original uart configuration to restore it after exit */ + if ((termios_state = tcgetattr(_uart_fd, uart_config_original)) < 0) { + warnx("ERR GET CONF %s: %d\n", uart_name, termios_state); + close(_uart_fd); + return -1; + } + + /* Fill the struct for the new configuration */ + tcgetattr(_uart_fd, &uart_config); + + /* Clear ONLCR flag (which appends a CR for every LF) */ + uart_config.c_oflag &= ~ONLCR; + + /* USB serial is indicated by /dev/ttyACM0*/ + if (strcmp(uart_name, "/dev/ttyACM0") != OK && strcmp(uart_name, "/dev/ttyACM1") != OK) { + + /* Set baud rate */ + if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) { + warnx("ERR SET BAUD %s: %d\n", argv[1], termios_state); + close(serial_fd); + return -1; + } + + } + + if ((termios_state = tcsetattr(serial_fd, TCSANOW, &uart_config)) < 0) { + warnx("ERR SET CONF %s\n", argv[1]); + close(serial_fd); + return -1; + } + + /* subscribe to vehicle status, attitude, sensors and flow*/ + struct accel_report accel0; + struct accel_report accel1; + struct gyro_report gyro0; + struct gyro_report gyro1; + + /* subscribe to parameter changes */ + int accel0_sub = orb_subscribe(ORB_ID(sensor_accel)); + int accel1_sub; + int gyro0_sub; + int gyro1_sub; + + while (!thread_should_exit) + { + + /*This runs at the rate of the sensors */ + struct pollfd fds[] = { + { .fd = accel0_sub, .events = POLLIN }, + { .fd = accel1_sub, .events = POLLIN }, + { .fd = gyro0_sub, .events = POLLIN }, + { .fd = gyro1_sub, .events = POLLIN } + }; + + /* wait for a sensor update, check for exit condition every 500 ms */ + int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), 500); + + if (ret < 0) + { + /* poll error, count it in perf */ + perf_count(mc_err_perf); + + } + else if (ret == 0) + { + /* no return value, ignore */ + warnx("no sensor data"); + } + else + { + + /* parameter update available? */ + if (fds[0].revents & POLLIN) + { + orb_copy(ORB_ID(sensor_accel), accel0_sub, &accel0); + + // write out on accel 0, but collect for all other sensors as they have updates + vdprintf(serial_fd, "%llu,%d\n", accel0.timestamp, (int)accel0.x_raw); + } + + } + } + + warnx("exiting"); + thread_running = false; + + fflush(stdout); + return 0; +} + + |