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Added initial QuRT support

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Added the basic files to start building for QuRT

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2015-04-17 11:21:18 -07:00
parent dc52bb7703
commit e9c2e08770
19 changed files with 1129 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/platforms/px4_defines.h
+2 -2
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@@ -67,7 +67,7 @@
/* Get value of parameter by name, which is equal to the handle for ros */
#define PX4_PARAM_GET_BYNAME(_name, _destpt) ros::param::get(_name, *_destpt)
#elif defined(__PX4_NUTTX) || defined(__PX4_LINUX)
#elif defined(__PX4_NUTTX) || defined(__PX4_LINUX) || defined(__PX4_QURT)
/*
* Building for NuttX or Linux
*/
@@ -134,7 +134,7 @@ __END_DECLS
/* Defines for ROS and Linux */
#if defined(__PX4_ROS) || defined(__PX4_LINUX)
#if defined(__PX4_ROS) || defined(__PX4_LINUX) || defined(__PX4_QURT)
#define OK 0
#define ERROR -1
src/platforms/px4_includes.h
+2 -2
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@@ -102,7 +102,7 @@
#include <systemlib/param/param.h>
#include <systemlib/systemlib.h>
#elif defined(__PX4_LINUX)
#elif defined(__PX4_LINUX) || defined(__PX4_QURT)
#include <string.h>
#include <assert.h>
#include <uORB/uORB.h>
@@ -133,5 +133,5 @@
#include <systemlib/param/param.h>
#include <systemlib/systemlib.h>
#else
#define "No target platform defined"
#error "No target platform defined"
#endif
src/platforms/px4_tasks.h
+1 -1
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@@ -49,7 +49,7 @@ typedef int px4_task_t;
#define px4_task_exit(x) _exit(x)
#elif defined(__PX4_LINUX)
#elif defined(__PX4_LINUX) || defined(__PX4_QURT)
#include <pthread.h>
#include <sched.h>
src/platforms/qurt/include/arch/board/board.h
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src/platforms/qurt/include/board_config.h
+11
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@@ -0,0 +1,11 @@
#define UDID_START 0x1FFF7A10
/*
* I2C busses
*/
#define PX4_I2C_BUS_ESC 1
#define PX4_SIM_BUS_TEST 2
#define PX4_I2C_BUS_EXPANSION 3
#define PX4_I2C_BUS_LED 3
#define PX4_I2C_OBDEV_LED 0x55
src/platforms/qurt/include/crc32.h
+83
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@@ -0,0 +1,83 @@
/****************************************************************************
* include/crc.h
*
* Copyright (C) 2010 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 __INCLUDE_CRC32_H
#define __INCLUDE_CRC32_H
/****************************************************************************
* Included Files
****************************************************************************/
#include <sys/types.h>
#include <stdint.h>
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
#ifdef __cplusplus
#define EXTERN extern "C"
extern "C" {
#else
#define EXTERN extern
#endif
/****************************************************************************
* Name: crc32part
*
* Description:
* Continue CRC calculation on a part of the buffer.
*
****************************************************************************/
EXTERN uint32_t crc32part(const uint8_t *src, size_t len,
uint32_t crc32val);
/****************************************************************************
* Name: crc32
*
* Description:
* Return a 32-bit CRC of the contents of the 'src' buffer, length 'len'
*
****************************************************************************/
EXTERN uint32_t crc32(const uint8_t *src, size_t len);
#undef EXTERN
#ifdef __cplusplus
}
#endif
#endif /* __INCLUDE_CRC32_H */
src/platforms/qurt/include/queue.h
+135
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@@ -0,0 +1,135 @@
/************************************************************************
* include/queue.h
*
* Copyright (C) 2007-2009 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 __INCLUDE_QUEUE_H
#define __INCLUDE_QUEUE_H
/************************************************************************
* Included Files
************************************************************************/
#include <sys/types.h>
/************************************************************************
* Pre-processor Definitions
************************************************************************/
#define sq_init(q) do { (q)->head = NULL; (q)->tail = NULL; } while (0)
#define dq_init(q) do { (q)->head = NULL; (q)->tail = NULL; } while (0)
#define sq_next(p) ((p)->flink)
#define dq_next(p) ((p)->flink)
#define dq_prev(p) ((p)->blink)
#define sq_empty(q) ((q)->head == NULL)
#define dq_empty(q) ((q)->head == NULL)
#define sq_peek(q) ((q)->head)
#define dq_peek(q) ((q)->head)
// Required for Linux
#define FAR
#ifndef NULL
#define NULL (void *)0
#endif
/************************************************************************
* Global Type Declarations
************************************************************************/
struct sq_entry_s
{
FAR struct sq_entry_s *flink;
};
typedef struct sq_entry_s sq_entry_t;
struct dq_entry_s
{
FAR struct dq_entry_s *flink;
FAR struct dq_entry_s *blink;
};
typedef struct dq_entry_s dq_entry_t;
struct sq_queue_s
{
FAR sq_entry_t *head;
FAR sq_entry_t *tail;
};
typedef struct sq_queue_s sq_queue_t;
struct dq_queue_s
{
FAR dq_entry_t *head;
FAR dq_entry_t *tail;
};
typedef struct dq_queue_s dq_queue_t;
/************************************************************************
* Global Function Prototypes
************************************************************************/
#ifdef __cplusplus
#define EXTERN extern "C"
extern "C" {
#else
#define EXTERN extern
#endif
EXTERN void sq_addfirst(FAR sq_entry_t *node, sq_queue_t *queue);
EXTERN void dq_addfirst(FAR dq_entry_t *node, dq_queue_t *queue);
EXTERN void sq_addlast(FAR sq_entry_t *node, sq_queue_t *queue);
EXTERN void dq_addlast(FAR dq_entry_t *node, dq_queue_t *queue);
EXTERN void sq_addafter(FAR sq_entry_t *prev, FAR sq_entry_t *node,
sq_queue_t *queue);
EXTERN void dq_addafter(FAR dq_entry_t *prev, FAR dq_entry_t *node,
dq_queue_t *queue);
EXTERN void dq_addbefore(FAR dq_entry_t *next, FAR dq_entry_t *node,
dq_queue_t *queue);
EXTERN FAR sq_entry_t *sq_remafter(FAR sq_entry_t *node, sq_queue_t *queue);
EXTERN void sq_rem(FAR sq_entry_t *node, sq_queue_t *queue);
EXTERN void dq_rem(FAR dq_entry_t *node, dq_queue_t *queue);
EXTERN FAR sq_entry_t *sq_remlast(sq_queue_t *queue);
EXTERN FAR dq_entry_t *dq_remlast(dq_queue_t *queue);
EXTERN FAR sq_entry_t *sq_remfirst(sq_queue_t *queue);
EXTERN FAR dq_entry_t *dq_remfirst(dq_queue_t *queue);
#undef EXTERN
#ifdef __cplusplus
}
#endif
#endif /* __INCLUDE_QUEUE_H_ */
src/platforms/qurt/main.cpp
+104
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@@ -0,0 +1,104 @@
/****************************************************************************
*
* Copyright (C) 2015 Mark Charlebois. 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.
*
****************************************************************************/
/**
* @file main.cpp
* Basic shell to execute builtin "apps"
*
* @author Mark Charlebois <charlebm@gmail.com>
*/
#include <iostream>
#include <fstream>
#include <string>
#include <sstream>
#include <vector>
using namespace std;
typedef int (*px4_main_t)(int argc, char *argv[]);
#include "apps.h"
#include "px4_middleware.h"
void run_cmd(const vector<string> &appargs);
void run_cmd(const vector<string> &appargs) {
// command is appargs[0]
string command = appargs[0];
if (apps.find(command) != apps.end()) {
const char *arg[appargs.size()+2];
unsigned int i = 0;
while (i < appargs.size() && appargs[i] != "") {
arg[i] = (char *)appargs[i].c_str();
++i;
}
arg[i] = (char *)0;
apps[command](i,(char **)arg);
}
else
{
cout << "Invalid command" << endl;
list_builtins();
}
}
static void process_line(string &line)
{
vector<string> appargs(5);
stringstream(line) >> appargs[0] >> appargs[1] >> appargs[2] >> appargs[3] >> appargs[4];
run_cmd(appargs);
}
int main(int argc, char **argv)
{
// Execute a command list of provided
if (argc == 2) {
ifstream infile(argv[1]);
for (string line; getline(infile, line, '\n'); ) {
process_line(line);
}
}
string mystr;
px4::init(argc, argv, "mainapp");
while(1) {
cout << "Enter a command and its args:" << endl;
getline (cin,mystr);
process_line(mystr);
mystr = "";
}
}
src/platforms/qurt/tests/hello/hello_example.cpp
+61
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@@ -0,0 +1,61 @@
/****************************************************************************
*
* Copyright (C) 2015 Mark Charlebois. 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.
*
****************************************************************************/
/**
* @file hello_example.cpp
* Example for Linux
*
* @author Mark Charlebois <charlebm@gmail.com>
*/
#include "hello_example.h"
#include <unistd.h>
#include <stdio.h>
px4::AppState HelloExample::appState;
int HelloExample::main()
{
appState.setRunning(true);
int i=0;
while (!appState.exitRequested() && i<5) {
sleep(2);
printf(" Doing work...\n");
++i;
}
return 0;
}
src/platforms/qurt/tests/hello/hello_example.h
+53
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@@ -0,0 +1,53 @@
/****************************************************************************
*
* Copyright (C) 2015 Mark Charlebois. 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.
*
****************************************************************************/
/**
* @file hello_example.h
* Example app for Linux
*
* @author Mark Charlebois <charlebm@gmail.com>
*/
#pragma once
#include <px4_app.h>
class HelloExample {
public:
HelloExample() {};
~HelloExample() {};
int main();
static px4::AppState appState; /* track requests to terminate app */
};
src/platforms/qurt/tests/hello/hello_main.cpp
+55
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@@ -0,0 +1,55 @@
/****************************************************************************
*
* Copyright (C) 2015 Mark Charlebois. 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.
*
****************************************************************************/
/**
* @file hello_main.cpp
* Example for Linux
*
* @author Mark Charlebois <charlebm@gmail.com>
*/
#include <px4_middleware.h>
#include <px4_app.h>
#include "hello_example.h"
#include <stdio.h>
int PX4_MAIN(int argc, char **argv)
{
px4::init(argc, argv, "hello");
printf("hello\n");
HelloExample hello;
hello.main();
printf("goodbye\n");
return 0;
}
src/platforms/qurt/tests/hello/hello_start_linux.cpp
+100
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@@ -0,0 +1,100 @@
/****************************************************************************
*
* Copyright (C) 2015 Mark Charlebois. 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.
*
****************************************************************************/
/**
* @file hello_start_linux.cpp
*
* @author Thomas Gubler <thomasgubler@gmail.com>
* @author Mark Charlebois <mcharleb@gmail.com>
*/
#include "hello_example.h"
#include <px4_app.h>
#include <px4_tasks.h>
#include <stdio.h>
#include <string.h>
#include <sched.h>
#define SCHED_DEFAULT SCHED_FIFO
#define SCHED_PRIORITY_MAX sched_get_priority_max(SCHED_FIFO)
#define SCHED_PRIORITY_DEFAULT sched_get_priority_max(SCHED_FIFO)
static int daemon_task; /* Handle of deamon task / thread */
//using namespace px4;
extern "C" __EXPORT int hello_main(int argc, char *argv[]);
int hello_main(int argc, char *argv[])
{
if (argc < 2) {
printf("usage: hello {start|stop|status}\n");
return 1;
}
if (!strcmp(argv[1], "start")) {
if (HelloExample::appState.isRunning()) {
printf("already running\n");
/* this is not an error */
return 0;
}
daemon_task = px4_task_spawn_cmd("hello",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
2000,
PX4_MAIN,
(argv) ? (char* const*)&argv[2] : (char* const*)NULL);
return 0;
}
if (!strcmp(argv[1], "stop")) {
HelloExample::appState.requestExit();
return 0;
}
if (!strcmp(argv[1], "status")) {
if (HelloExample::appState.isRunning()) {
printf("is running\n");
} else {
printf("not started\n");
}
return 0;
}
printf("usage: hello_main {start|stop|status}\n");
return 1;
}
src/platforms/qurt/tests/hello/module.mk
+43
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@@ -0,0 +1,43 @@
############################################################################
#
# Copyright (c) 2014 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.
#
############################################################################
#
# Publisher Example Application
#
MODULE_COMMAND = hello
SRCS = hello_main.cpp \
hello_start_linux.cpp \
hello_example.cpp