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Lorenz Meier
2012-11-01 08:14:31 +01:00
parent 18dbdf0a54 8bfceef89c
commit 5e1416178a
35 changed files with 337 additions and 1664 deletions
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apps/systemcmds/led/Makefile
-42
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@@ -1,42 +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.
#
############################################################################
#
# Makefile to build ardrone interface
#
APPNAME = led
PRIORITY = SCHED_PRIORITY_MAX - 15
STACKSIZE = 2048
include $(APPDIR)/mk/app.mk
apps/systemcmds/led/led.c
-209
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@@ -1,209 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
*
* 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 <nuttx/config.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <stdbool.h>
#include <unistd.h>
#include <math.h>
#include <fcntl.h>
#include <errno.h>
#include <debug.h>
#include <termios.h>
#include <time.h>
#include <sys/prctl.h>
#include <drivers/drv_hrt.h>
#include <arch/board/drv_led.h>
#include <systemlib/err.h>
#include <systemlib/systemlib.h>
__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(void)
{
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(void)
{
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 <UART>]\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_spawn("led",
SCHED_DEFAULT,
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;
}
apps/systemcmds/param/param.c
+43 -17
View File
@@ -56,26 +56,48 @@
__EXPORT int param_main(int argc, char *argv[]);
static void do_save(void);
static void do_load(void);
static void do_import(void);
static void do_save(const char* param_file_name);
static void do_load(const char* param_file_name);
static void do_import(const char* param_file_name);
static void do_show(const char* search_string);
static void do_show_print(void *arg, param_t param);
static const char *param_file_name = "/eeprom/parameters";
int
param_main(int argc, char *argv[])
{
if (argc >= 2) {
if (!strcmp(argv[1], "save"))
do_save();
if (!strcmp(argv[1], "save")) {
if (argc >= 3) {
do_save(argv[2]);
} else {
do_save(param_get_default_file());
}
}
if (!strcmp(argv[1], "load"))
do_load();
if (!strcmp(argv[1], "load")) {
if (argc >= 3) {
do_load(argv[2]);
} else {
do_load(param_get_default_file());
}
}
if (!strcmp(argv[1], "import"))
do_import();
if (!strcmp(argv[1], "import")) {
if (argc >= 3) {
do_import(argv[2]);
} else {
do_import(param_get_default_file());
}
}
if (!strcmp(argv[1], "select")) {
if (argc >= 3) {
param_set_default_file(argv[2]);
} else {
param_set_default_file(NULL);
}
warnx("selected parameter file %s", param_get_default_file());
}
if (!strcmp(argv[1], "show"))
if (argc >= 3) {
@@ -84,12 +106,12 @@ param_main(int argc, char *argv[])
do_show(NULL);
}
}
errx(1, "expected a command, try 'load', 'import', 'show' or 'save'\n");
errx(1, "expected a command, try 'load', 'import', 'show', 'select' or 'save'");
}
static void
do_save(void)
do_save(const char* param_file_name)
{
/* delete the parameter file in case it exists */
unlink(param_file_name);
@@ -112,7 +134,7 @@ do_save(void)
}
static void
do_load(void)
do_load(const char* param_file_name)
{
int fd = open(param_file_name, O_RDONLY);
@@ -122,14 +144,18 @@ do_load(void)
int result = param_load(fd);
close(fd);
if (result < 0)
if (result < 0) {
errx(1, "error importing from '%s'", param_file_name);
} else {
/* set default file name for next storage operation */
param_set_default_file(param_file_name);
}
exit(0);
}
static void
do_import(void)
do_import(const char* param_file_name)
{
int fd = open(param_file_name, O_RDONLY);