Cleaned up NuttX appconfig, added examples to config

2 files changed, 155 insertions, 0 deletions

diff --git a/src/examples/px4_simple_app/module.mk b/src/examples/px4_simple_app/module.mk
new file mode 100644
index 000000000..2c102fa50
--- /dev/null
+++ b/src/examples/px4_simple_app/module.mk
@@ -0,0 +1,40 @@
+############################################################################
+#
+#   Copyright (c) 2012, 2013 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
+#
+
+MODULE_COMMAND		= px4_simple_app
+
+SRCS				= px4_simple_app.c
diff --git a/src/examples/px4_simple_app/px4_simple_app.c b/src/examples/px4_simple_app/px4_simple_app.c
new file mode 100644
index 000000000..7f655964d
--- /dev/null
+++ b/src/examples/px4_simple_app/px4_simple_app.c
@@ -0,0 +1,115 @@
+/****************************************************************************
+ *
+ *   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;
+}