fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-15 05:13:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Resync new repository with old repo r5166

Browse Source 
git-svn-id: http://svn.code.sf.net/p/nuttx/code/trunk@5153 42af7a65-404d-4744-a932-0658087f49c3
This commit is contained in:
patacongo
2012-09-17 18:18:44 +00:00
commit 57623d42eb
5691 changed files with 1361853 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
apps/examples/qencoder/Kconfig
+13
View File
@@ -0,0 +1,13 @@
#
# For a description of the syntax of this configuration file,
# see misc/tools/kconfig-language.txt.
#
config EXAMPLES_QENCODER
bool "Quadrature encoder example"
default n
---help---
Enable the quadrature encoder example
if EXAMPLES_QENCODER
endif
apps/examples/qencoder/Makefile
+105
View File
@@ -0,0 +1,105 @@
############################################################################
# apps/examples/qe/Makefile
#
# Copyright (C) 2012 Gregory Nutt. All rights reserved.
# Author: Gregory Nutt <gnutt@nuttx.org>
#
# 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 NuttX 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.
#
############################################################################
-include $(TOPDIR)/.config
-include $(TOPDIR)/Make.defs
include $(APPDIR)/Make.defs
# NuttX NX Graphics Example.
ASRCS =
CSRCS = qe_main.c
AOBJS = $(ASRCS:.S=$(OBJEXT))
COBJS = $(CSRCS:.c=$(OBJEXT))
SRCS = $(ASRCS) $(CSRCS)
OBJS = $(AOBJS) $(COBJS)
ifeq ($(WINTOOL),y)
BIN = "${shell cygpath -w $(APPDIR)/libapps$(LIBEXT)}"
else
BIN = "$(APPDIR)/libapps$(LIBEXT)"
endif
ROOTDEPPATH = --dep-path .
# Quadrature Encoder built-in application info
APPNAME = qe
PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 2048
# Common build
VPATH =
all: .built
.PHONY: context clean depend distclean
$(AOBJS): %$(OBJEXT): %.S
$(call ASSEMBLE, $<, $@)
$(COBJS): %$(OBJEXT): %.c
$(call COMPILE, $<, $@)
.built: $(OBJS)
@( for obj in $(OBJS) ; do \
$(call ARCHIVE, $(BIN), $${obj}); \
done ; )
@touch .built
.context:
ifeq ($(CONFIG_NSH_BUILTIN_APPS),y)
$(call REGISTER,$(APPNAME),$(PRIORITY),$(STACKSIZE),$(APPNAME)_main)
@touch $@
endif
context: .context
.depend: Makefile $(SRCS)
@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
@touch $@
depend: .depend
clean:
@rm -f *.o *~ .*.swp .built
$(call CLEAN)
distclean: clean
@rm -f Make.dep .depend
-include Make.dep
apps/examples/qencoder/qe.h
+134
View File
@@ -0,0 +1,134 @@
/****************************************************************************
* examples/examples/qe/qe.h
*
* Copyright (C) 2011 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* 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 NuttX 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.
*
****************************************************************************/
#ifndef __APPS_EXAMPLES_QENCODER_QE_H
#define __APPS_EXAMPLES_QENCODER_QE_H
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
/****************************************************************************
* Definitions
****************************************************************************/
/* Configuration ************************************************************/
/* CONFIG_NSH_BUILTIN_APPS - Build the QE test as an NSH built-in function.
* Default: Built as a standalone problem
* CONFIG_EXAMPLES_QENCODER_DEVPATH - The path to the QE device. Default:
* /dev/qe0
* CONFIG_EXAMPLES_QENCODER_NSAMPLES - If CONFIG_NSH_BUILTIN_APPS
* is defined, then the number of samples is provided on the command line
* and this value is ignored. Otherwise, this number of samples is
* collected and the program terminates. Default: Samples are collected
* indefinitely.
* CONFIG_EXAMPLES_QENCODER_DELAY - This value provides the delay (in
* milliseonds) between each sample. If CONFIG_NSH_BUILTIN_APPS
* is defined, then this value is the default delay if no other delay is
* provided on the command line. Default: 100 milliseconds
*/
#ifndef CONFIG_QENCODER
# error "QE device support is not enabled (CONFIG_QENCODER)"
#endif
#ifndef CONFIG_EXAMPLES_QENCODER_DEVPATH
# define CONFIG_EXAMPLES_QENCODER_DEVPATH "/dev/qe0"
#endif
#ifndef CONFIG_EXAMPLES_QENCODER_DELAY
# define CONFIG_EXAMPLES_QENCODER_DELAY 100
#endif
/* Debug ********************************************************************/
#ifdef CONFIG_CPP_HAVE_VARARGS
# ifdef CONFIG_DEBUG
# define message(...) lib_rawprintf(__VA_ARGS__)
# define msgflush()
# else
# define message(...) printf(__VA_ARGS__)
# define msgflush() fflush(stdout)
# endif
#else
# ifdef CONFIG_DEBUG
# define message lib_rawprintf
# define msgflush()
# else
# define message printf
# define msgflush() fflush(stdout)
# endif
#endif
/****************************************************************************
* Public Types
****************************************************************************/
#ifdef CONFIG_NSH_BUILTIN_APPS
struct qe_example_s
{
bool initialized; /* True: QE devices have been initialized */
bool reset; /* True: set the count back to zero */
FAR char *devpath; /* Path to the QE device */
unsigned int nloops; /* Collect this number of samples */
unsigned int delay; /* Delay this number of seconds between samples */
};
#endif
/****************************************************************************
* Public Variables
****************************************************************************/
#ifdef CONFIG_NSH_BUILTIN_APPS
extern struct qe_example_s g_qeexample;
#endif
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
/****************************************************************************
* Name: qe_devinit()
*
* Description:
* Perform architecuture-specific initialization of the QE hardware. This
* interface must be provided by all configurations using apps/examples/qe
*
****************************************************************************/
int qe_devinit(void);
#endif /* __APPS_EXAMPLES_QENCODER_QE_H */
apps/examples/qencoder/qe_main.c
+362
View File
@@ -0,0 +1,362 @@
/****************************************************************************
* examples/qe/qe_main.c
*
* Copyright (C) 2012 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* 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 NuttX 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.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <sys/types.h>
#include <sys/ioctl.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include <fcntl.h>
#include <limits.h>
#include <errno.h>
#include <debug.h>
#include <nuttx/sensors/qencoder.h>
#include "qe.h"
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/****************************************************************************
* Private Types
****************************************************************************/
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
/****************************************************************************
* Private Data
****************************************************************************/
/****************************************************************************
* Public Data
****************************************************************************/
#ifdef CONFIG_NSH_BUILTIN_APPS
struct qe_example_s g_qeexample;
#endif
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: qe_devpath
****************************************************************************/
static void qe_devpath(FAR const char *devpath)
{
/* Get rid of any old device path */
if (g_qeexample.devpath)
{
free(g_qeexample.devpath);
}
/* The set-up the new device path by copying the string */
g_qeexample.devpath = strdup(devpath);
}
/****************************************************************************
* Name: qe_help
****************************************************************************/
#ifdef CONFIG_NSH_BUILTIN_APPS
static void qe_help(void)
{
message("\nUsage: qe [OPTIONS]\n\n");
message("OPTIONS include:\n");
message(" [-p devpath] QE device path\n");
message(" [-n samples] Number of samples\n");
message(" [-t msec] Delay between samples (msec)\n");
message(" [-r] Reset the position to zero\n");
message(" [-h] Shows this message and exits\n\n");
}
#endif
/****************************************************************************
* Name: arg_string
****************************************************************************/
#ifdef CONFIG_NSH_BUILTIN_APPS
static int arg_string(FAR char **arg, FAR char **value)
{
FAR char *ptr = *arg;
if (ptr[2] == '\0')
{
*value = arg[1];
return 2;
}
else
{
*value = &ptr[2];
return 1;
}
}
#endif
/****************************************************************************
* Name: arg_decimal
****************************************************************************/
#ifdef CONFIG_NSH_BUILTIN_APPS
static int arg_decimal(FAR char **arg, FAR long *value)
{
FAR char *string;
int ret;
ret = arg_string(arg, &string);
*value = strtol(string, NULL, 10);
return ret;
}
#endif
/****************************************************************************
* Name: parse_args
****************************************************************************/
#ifdef CONFIG_NSH_BUILTIN_APPS
static void parse_args(int argc, FAR char **argv)
{
FAR char *ptr;
FAR char *str;
long value;
int index;
int nargs;
g_qeexample.reset = false;
g_qeexample.nloops = 1;
g_qeexample.delay = CONFIG_EXAMPLES_QENCODER_DELAY;
for (index = 1; index < argc; )
{
ptr = argv[index];
if (ptr[0] != '-')
{
message("Invalid options format: %s\n", ptr);
exit(0);
}
switch (ptr[1])
{
case 'n':
nargs = arg_decimal(&argv[index], &value);
if (value < 0 || value > INT_MAX)
{
message("Sample count out of range: %ld\n", value);
exit(1);
}
g_qeexample.nloops = (unsigned int)value;
index += nargs;
break;
case 'p':
nargs = arg_string(&argv[index], &str);
qe_devpath(str);
index += nargs;
break;
case 't':
nargs = arg_decimal(&argv[index], &value);
if (value < 0 || value > INT_MAX)
{
message("Sample delay out of range: %ld\n", value);
exit(1);
}
g_qeexample.delay = (unsigned int)value;
index += nargs;
break;
case 'r':
g_qeexample.reset = true;
index++;
break;
case 'h':
qe_help();
exit(EXIT_SUCCESS);
default:
message("Unsupported option: %s\n", ptr);
qe_help();
exit(EXIT_FAILURE);
}
}
}
#endif
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: qe_main
****************************************************************************/
int qe_main(int argc, char *argv[])
{
int32_t position;
int fd;
int exitval = EXIT_SUCCESS;
int ret;
#if defined(CONFIG_NSH_BUILTIN_APPS) || defined(CONFIG_EXAMPLES_QENCODER_NSAMPLES)
int nloops;
#endif
/* Check if we have initialized */
if (!g_qeexample.initialized)
{
/* Initialization of the encoder hardware is performed by logic external to
* this test.
*/
message("qe_main: Initializing external encoder(s)\n");
ret = qe_devinit();
if (ret != OK)
{
message("qe_main: qe_devinit failed: %d\n", ret);
exitval = EXIT_FAILURE;
goto errout;
}
/* Set the default values */
qe_devpath(CONFIG_EXAMPLES_QENCODER_DEVPATH);
g_qeexample.initialized = true;
}
/* Parse command line arguments */
#ifdef CONFIG_NSH_BUILTIN_APPS
parse_args(argc, argv);
#endif
/* Open the encoder device for reading */
message("qe_main: Hardware initialized. Opening the encoder device: %s\n",
g_qeexample.devpath);
fd = open(g_qeexample.devpath, O_RDONLY);
if (fd < 0)
{
message("qe_main: open %s failed: %d\n", g_qeexample.devpath, errno);
exitval = EXIT_FAILURE;
goto errout_with_dev;
}
/* Reset the count if so requested */
if (g_qeexample.reset)
{
message("qe_main: Resetting the count...\n");
ret = ioctl(fd, QEIOC_RESET, 0);
if (ret < 0)
{
message("qe_main: ioctl(QEIOC_RESET) failed: %d\n", errno);
exitval = EXIT_FAILURE;
goto errout_with_dev;
}
}
/* Now loop the appropriate number of times, displaying the collected
* encoder samples.
*/
#if defined(CONFIG_NSH_BUILTIN_APPS)
message("qe_main: Number of samples: %d\n", g_qeexample.nloops);
for (nloops = 0; nloops < g_qeexample.nloops; nloops++)
#elif defined(CONFIG_EXAMPLES_QENCODER_NSAMPLES)
message("qe_main: Number of samples: %d\n", CONFIG_EXAMPLES_QENCODER_NSAMPLES);
for (nloops = 0; nloops < CONFIG_EXAMPLES_QENCODER_NSAMPLES; nloops++)
#else
for (;;)
#endif
{
/* Flush any output before the loop entered or from the previous pass
* through the loop.
*/
msgflush();
/* Get the positions data using the ioctl */
ret = ioctl(fd, QEIOC_POSITION, (unsigned long)((uintptr_t)&position));
if (ret < 0)
{
message("qe_main: ioctl(QEIOC_POSITION) failed: %d\n", errno);
exitval = EXIT_FAILURE;
goto errout_with_dev;
}
/* Print the sample data on successful return */
else
{
message("qe_main: %3d. %d\n", nloops+1, position);
}
/* Delay a little bit */
#if defined(CONFIG_NSH_BUILTIN_APPS)
usleep(g_qeexample.delay * 1000);
#else
usleep(CONFIG_EXAMPLES_QENCODER_DELAY * 1000);
#endif
}
errout_with_dev:
close(fd);
errout:
message("Terminating!\n");
msgflush();
return exitval;
}