mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-16 23:03:34 +08:00
Cleaned up NuttX appconfig, added examples to config
This commit is contained in:
Lorenz Meier
@@ -1,42 +0,0 @@
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############################################################################
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#
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# 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.
|
||||
#
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############################################################################
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#
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# Basic example application
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#
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APPNAME = px4_deamon_app
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PRIORITY = SCHED_PRIORITY_DEFAULT
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STACKSIZE = 2048
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include $(APPDIR)/mk/app.mk
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@@ -1,137 +0,0 @@
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* 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.
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*
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****************************************************************************/
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/**
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* @file px4_deamon_app.c
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* Deamon application example for PX4 autopilot
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*/
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#include <nuttx/config.h>
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#include <unistd.h>
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#include <stdio.h>
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static bool thread_should_exit = false; /**< Deamon exit flag */
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static bool thread_running = false; /**< Deamon status flag */
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static int deamon_task; /**< Handle of deamon task / thread */
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/**
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* Deamon management function.
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*/
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__EXPORT int px4_deamon_app_main(int argc, char *argv[]);
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/**
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* Mainloop of deamon.
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*/
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int px4_deamon_thread_main(int argc, char *argv[]);
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/**
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* Print the correct usage.
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*/
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static void usage(const char *reason);
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static void
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usage(const char *reason)
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{
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if (reason)
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fprintf(stderr, "%s\n", reason);
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fprintf(stderr, "usage: deamon {start|stop|status} [-p <additional params>]\n\n");
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exit(1);
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}
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/**
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* The deamon app only briefly exists to start
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* the background job. The stack size assigned in the
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* Makefile does only apply to this management task.
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*
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* The actual stack size should be set in the call
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* to task_create().
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*/
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int px4_deamon_app_main(int argc, char *argv[])
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{
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if (argc < 1)
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usage("missing command");
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if (!strcmp(argv[1], "start")) {
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if (thread_running) {
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printf("deamon already running\n");
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/* this is not an error */
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exit(0);
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}
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thread_should_exit = false;
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deamon_task = task_spawn("deamon",
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SCHED_DEFAULT,
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SCHED_PRIORITY_DEFAULT,
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4096,
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px4_deamon_thread_main,
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(argv) ? (const char **)&argv[2] : (const char **)NULL);
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exit(0);
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}
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if (!strcmp(argv[1], "stop")) {
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thread_should_exit = true;
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exit(0);
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}
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if (!strcmp(argv[1], "status")) {
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if (thread_running) {
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printf("\tdeamon app is running\n");
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} else {
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printf("\tdeamon app not started\n");
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}
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exit(0);
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}
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usage("unrecognized command");
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exit(1);
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}
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int px4_deamon_thread_main(int argc, char *argv[]) {
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printf("[deamon] starting\n");
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thread_running = true;
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while (!thread_should_exit) {
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printf("Hello Deamon!\n");
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sleep(10);
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}
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printf("[deamon] exiting.\n");
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thread_running = false;
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return 0;
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}
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@@ -1,42 +0,0 @@
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############################################################################
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||||
#
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||||
# 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.
|
||||
#
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||||
############################################################################
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#
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# Basic example application
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#
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APPNAME = px4_mavlink_debug
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PRIORITY = SCHED_PRIORITY_DEFAULT
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STACKSIZE = 2048
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include $(APPDIR)/mk/app.mk
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@@ -1,74 +0,0 @@
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/****************************************************************************
|
||||
*
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||||
* 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.
|
||||
*
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****************************************************************************/
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/**
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* @file px4_mavlink_debug.c
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* Debug application example for PX4 autopilot
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*/
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#include <nuttx/config.h>
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#include <unistd.h>
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#include <stdio.h>
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#include <poll.h>
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#include <systemlib/err.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/debug_key_value.h>
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__EXPORT int px4_mavlink_debug_main(int argc, char *argv[]);
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int px4_mavlink_debug_main(int argc, char *argv[])
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{
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printf("Hello Debug!\n");
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/* advertise debug value */
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struct debug_key_value_s dbg = { .key = "velx", .value = 0.0f };
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orb_advert_t pub_dbg = orb_advertise(ORB_ID(debug_key_value), &dbg);
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int value_counter = 0;
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while (value_counter < 100) {
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/* send one value */
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dbg.value = value_counter;
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orb_publish(ORB_ID(debug_key_value), pub_dbg, &dbg);
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warnx("sent one more value..");
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value_counter++;
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usleep(500000);
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}
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return 0;
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}
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@@ -1,42 +0,0 @@
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############################################################################
|
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#
|
||||
# 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# Basic example application
|
||||
#
|
||||
|
||||
APPNAME = px4_simple_app
|
||||
PRIORITY = SCHED_PRIORITY_DEFAULT
|
||||
STACKSIZE = 2048
|
||||
|
||||
include $(APPDIR)/mk/app.mk
|
||||
@@ -1,115 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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;
|
||||
}
|
||||
-237
@@ -1,237 +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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# Common Makefile for nsh command modules and utility libraries; should be
|
||||
# included by the module-specific Makefile.
|
||||
#
|
||||
# To build an app that appears as an nsh external command, the caller
|
||||
# must define:
|
||||
#
|
||||
# APPNAME - the name of the application, defaults to the name
|
||||
# of the parent directory.
|
||||
#
|
||||
# If APPNAME is not defined, a utility library is built instead. The library
|
||||
# name is normally automatically determined, but it can be overridden by
|
||||
# setting:
|
||||
#
|
||||
# LIBNAME - the name of the library, defaults to the name of the
|
||||
# directory
|
||||
#
|
||||
# The calling makefile may also set:
|
||||
#
|
||||
# ASRCS - list of assembly source files, defaults to all .S
|
||||
# files in the directory
|
||||
#
|
||||
# CSRCS - list of C source files, defaults to all .c files
|
||||
# in the directory
|
||||
#
|
||||
# CXXSRCS - list of C++ source files, defaults to all .cpp
|
||||
# files in the directory
|
||||
#
|
||||
# INCLUDES - list of directories to be added to the include
|
||||
# search path
|
||||
#
|
||||
# PRIORITY - thread priority for the command (defaults to
|
||||
# SCHED_PRIORITY_DEFAULT)
|
||||
#
|
||||
# STACKSIZE - stack size for the command (defaults to
|
||||
# CONFIG_PTHREAD_STACK_DEFAULT)
|
||||
#
|
||||
# Symbols in the module are private to the module unless deliberately exported
|
||||
# using the __EXPORT tag, or DEFAULT_VISIBILITY is set
|
||||
#
|
||||
|
||||
############################################################################
|
||||
# No user-serviceable parts below
|
||||
############################################################################
|
||||
|
||||
|
||||
############################################################################
|
||||
# Work out who included us so we can report decent errors
|
||||
#
|
||||
THIS_MAKEFILE := $(lastword $(MAKEFILE_LIST))
|
||||
ifeq ($(APP_MAKEFILE),)
|
||||
APP_MAKEFILE := $(lastword $(filter-out $(THIS_MAKEFILE),$(MAKEFILE_LIST)))
|
||||
endif
|
||||
|
||||
############################################################################
|
||||
# Get configuration
|
||||
#
|
||||
-include $(TOPDIR)/.config
|
||||
-include $(TOPDIR)/Make.defs
|
||||
include $(APPDIR)/Make.defs
|
||||
|
||||
############################################################################
|
||||
# Sanity-check the information we've been given and set any defaults
|
||||
#
|
||||
SRCDIR ?= $(dir $(APP_MAKEFILE))
|
||||
PRIORITY ?= SCHED_PRIORITY_DEFAULT
|
||||
STACKSIZE ?= CONFIG_PTHREAD_STACK_DEFAULT
|
||||
|
||||
INCLUDES += $(APPDIR)
|
||||
|
||||
ASRCS ?= $(wildcard $(SRCDIR)/*.S)
|
||||
CSRCS ?= $(wildcard $(SRCDIR)/*.c)
|
||||
CHDRS ?= $(wildcard $(SRCDIR)/*.h)
|
||||
CXXSRCS ?= $(wildcard $(SRCDIR)/*.cpp)
|
||||
CXXHDRS ?= $(wildcard $(SRCDIR)/*.hpp)
|
||||
|
||||
# if APPNAME is not set, this is a library
|
||||
ifeq ($(APPNAME),)
|
||||
LIBNAME ?= $(lastword $(subst /, ,$(realpath $(SRCDIR))))
|
||||
endif
|
||||
|
||||
# there has to be a source file
|
||||
ifeq ($(ASRCS)$(CSRCS)$(CXXSRCS),)
|
||||
$(error $(realpath $(APP_MAKEFILE)): at least one of ASRCS, CSRCS or CXXSRCS must be set)
|
||||
endif
|
||||
|
||||
# check that C++ is configured if we have C++ source files and we are building
|
||||
ifneq ($(CXXSRCS),)
|
||||
ifneq ($(CONFIG_HAVE_CXX),y)
|
||||
ifeq ($(MAKECMDGOALS),build)
|
||||
$(error $(realpath $(APP_MAKEFILE)): cannot set CXXSRCS if CONFIG_HAVE_CXX not set in configuration)
|
||||
endif
|
||||
endif
|
||||
endif
|
||||
|
||||
############################################################################
|
||||
# Adjust compilation flags to implement EXPORT
|
||||
#
|
||||
|
||||
ifeq ($(DEFAULT_VISIBILITY),)
|
||||
DEFAULT_VISIBILITY = hidden
|
||||
else
|
||||
DEFAULT_VISIBILITY = default
|
||||
endif
|
||||
|
||||
CFLAGS += -fvisibility=$(DEFAULT_VISIBILITY) -include $(APPDIR)/systemlib/visibility.h
|
||||
CXXFLAGS += -fvisibility=$(DEFAULT_VISIBILITY) -include $(APPDIR)/systemlib/visibility.h
|
||||
|
||||
############################################################################
|
||||
# Add extra include directories
|
||||
#
|
||||
CFLAGS += $(addprefix -I,$(INCLUDES))
|
||||
CXXFLAGS += $(addprefix -I,$(INCLUDES))
|
||||
|
||||
############################################################################
|
||||
# Things we are going to build
|
||||
#
|
||||
|
||||
SRCS = $(ASRCS) $(CSRCS) $(CXXSRCS)
|
||||
AOBJS = $(patsubst %.S,%.o,$(ASRCS))
|
||||
COBJS = $(patsubst %.c,%.o,$(CSRCS))
|
||||
CXXOBJS = $(patsubst %.cpp,%.o,$(CXXSRCS))
|
||||
OBJS = $(AOBJS) $(COBJS) $(CXXOBJS)
|
||||
|
||||
# Automatic depdendency generation
|
||||
DEPS = $(OBJS:$(OBJEXT)=.d)
|
||||
CFLAGS += -MD
|
||||
CXXFLAGS += -MD
|
||||
|
||||
# The prelinked object that we are ultimately going to build
|
||||
ifneq ($(APPNAME),)
|
||||
PRELINKOBJ = $(APPNAME).pre.o
|
||||
else
|
||||
PRELINKOBJ = $(LIBNAME).pre.o
|
||||
endif
|
||||
|
||||
# The archive the prelinked object will be linked into
|
||||
# XXX does WINTOOL ever get set?
|
||||
ifeq ($(WINTOOL),y)
|
||||
INCDIROPT = -w
|
||||
BIN = "$(shell cygpath -w $(APPDIR)/libapps$(LIBEXT))"
|
||||
else
|
||||
BIN = "$(APPDIR)/libapps$(LIBEXT)"
|
||||
endif
|
||||
|
||||
############################################################################
|
||||
# Rules for building things
|
||||
#
|
||||
|
||||
all: .built
|
||||
.PHONY: clean depend distclean
|
||||
|
||||
#
|
||||
# Top-level build; add prelinked object to the apps archive
|
||||
#
|
||||
.built: $(PRELINKOBJ)
|
||||
@$(call ARCHIVE, $(BIN), $(PRELINKOBJ))
|
||||
@touch $@
|
||||
|
||||
#
|
||||
# Source dependencies
|
||||
#
|
||||
depend:
|
||||
@exit 0
|
||||
|
||||
ifneq ($(APPNAME),)
|
||||
#
|
||||
# App registration
|
||||
#
|
||||
context: .context
|
||||
.context: $(MAKEFILE_LIST)
|
||||
$(call REGISTER,$(APPNAME),$(PRIORITY),$(STACKSIZE),$(APPNAME)_main)
|
||||
@touch $@
|
||||
else
|
||||
context:
|
||||
@exit 0
|
||||
endif
|
||||
|
||||
#
|
||||
# Object files
|
||||
#
|
||||
$(PRELINKOBJ): $(OBJS)
|
||||
$(call PRELINK, $@, $(OBJS))
|
||||
|
||||
$(AOBJS): %.o : %.S $(MAKEFILE_LIST)
|
||||
$(call ASSEMBLE, $<, $@)
|
||||
|
||||
$(COBJS): %.o : %.c $(MAKEFILE_LIST)
|
||||
$(call COMPILE, $<, $@)
|
||||
|
||||
$(CXXOBJS): %.o : %.cpp $(MAKEFILE_LIST)
|
||||
$(call COMPILEXX, $<, $@)
|
||||
|
||||
#
|
||||
# Tidying up
|
||||
#
|
||||
clean:
|
||||
@rm -f $(OBJS) $(DEPS) $(PRELINKOBJ) .built
|
||||
$(call CLEAN)
|
||||
|
||||
distclean: clean
|
||||
@rm -f Make.dep .depend
|
||||
|
||||
-include $(DEPS)
|
||||
Reference in New Issue
Block a user