From cf62c892f9a8016ee238be269ee6c4b674928e7f Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 1 Sep 2012 19:55:48 +0200 Subject: Added temperature measurement, added led system command --- apps/drivers/drv_accel.h | 11 ++- apps/drivers/drv_gyro.h | 8 +- apps/drivers/mpu6000/mpu6000.cpp | 10 ++ apps/systemcmds/led/Makefile | 42 +++++++++ apps/systemcmds/led/led.c | 198 +++++++++++++++++++++++++++++++++++++++ 5 files changed, 262 insertions(+), 7 deletions(-) create mode 100644 apps/systemcmds/led/Makefile create mode 100644 apps/systemcmds/led/led.c (limited to 'apps') diff --git a/apps/drivers/drv_accel.h b/apps/drivers/drv_accel.h index 55b7a6b2b..6d0c8c545 100644 --- a/apps/drivers/drv_accel.h +++ b/apps/drivers/drv_accel.h @@ -52,14 +52,17 @@ */ struct accel_report { uint64_t timestamp; - float x; - float y; - float z; - float range_m_s2; + float x; /**< acceleration in the NED X board axis in m/s^2 */ + float y; /**< acceleration in the NED Y board axis in m/s^2 */ + float z; /**< acceleration in the NED Z board axis in m/s^2 */ + float temperature; /**< temperature in degrees celsius */ + float range_m_s2; /**< range in m/s^2 (+- this value) */ float scaling; + int16_t x_raw; int16_t y_raw; int16_t z_raw; + int16_t temperature_raw; }; /** accel scaling factors; Vout = (Vin * Vscale) + Voffset */ diff --git a/apps/drivers/drv_gyro.h b/apps/drivers/drv_gyro.h index 9c34ac314..5c646f243 100644 --- a/apps/drivers/drv_gyro.h +++ b/apps/drivers/drv_gyro.h @@ -52,15 +52,17 @@ */ struct gyro_report { uint64_t timestamp; - float x; - float y; - float z; + float x; /**< angular velocity in the NED X board axis in rad/s */ + float y; /**< angular velocity in the NED Y board axis in rad/s */ + float z; /**< angular velocity in the NED Z board axis in rad/s */ + float temperature; /**< temperature in degrees celcius */ float range_rad_s; float scaling; int16_t x_raw; int16_t y_raw; int16_t z_raw; + int16_t temperature_raw; }; /** gyro scaling factors; Vout = (Vin * Vscale) + Voffset */ diff --git a/apps/drivers/mpu6000/mpu6000.cpp b/apps/drivers/mpu6000/mpu6000.cpp index 83bd13860..04ba4cbbb 100644 --- a/apps/drivers/mpu6000/mpu6000.cpp +++ b/apps/drivers/mpu6000/mpu6000.cpp @@ -877,6 +877,9 @@ MPU6000::measure() _accel_report.scaling = _accel_range_scale; _accel_report.range_m_s2 = _accel_range_m_s2; + _accel_report.temperature_raw = report.temp; + _accel_report.temperature = (report.temp) / 361.0f + 35.0f; + _gyro_report.x_raw = report.gyro_x; _gyro_report.y_raw = report.gyro_y; _gyro_report.z_raw = report.gyro_z; @@ -887,6 +890,9 @@ MPU6000::measure() _gyro_report.scaling = _gyro_range_scale; _gyro_report.range_rad_s = _gyro_range_rad_s; + _gyro_report.temperature_raw = report.temp; + _gyro_report.temperature = (report.temp) / 361.0f + 35.0f; + /* notify anyone waiting for data */ poll_notify(POLLIN); _gyro->parent_poll_notify(); @@ -1041,6 +1047,10 @@ test() warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s, (int)((g_report.range_rad_s / M_PI_F) * 180.0f+0.5f)); + warnx("temp: \t%8.4f\tdeg celsius", (double)a_report.temperature); + warnx("temp: \t%d\traw 0x%0x", (short)a_report.temperature_raw, (unsigned short)a_report.temperature_raw); + + /* XXX add poll-rate tests here too */ reset(); diff --git a/apps/systemcmds/led/Makefile b/apps/systemcmds/led/Makefile new file mode 100644 index 000000000..eb9d8f909 --- /dev/null +++ b/apps/systemcmds/led/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 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 new file mode 100644 index 000000000..a6d73210a --- /dev/null +++ b/apps/systemcmds/led/led.c @@ -0,0 +1,198 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Lorenz Meier + * + * 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 +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +__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() +{ + 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() +{ + 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 ]\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_create("led", 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; +} + -- cgit v1.2.3