ardupilot & px4 书写自己的app & drivers (一)

此blog应该是连载，先记录下最简单的部分，添加将自己的app&drivers添加进px4和ardupilot系统中。

添加px4 app & dirvers

新建一个文件夹“my_app”，里面包含CmakeLists.txt和my_app_main.cpp

CmakeLists.txt里面的内容

px4_add_module(    MODULE modules__my_app  //用my_app替换    MAIN my_app             //用my_app替换    COMPILE_FLAGS    STACK_MAIN 1200    SRCS        my_app_main.cpp     //用my_app_main.cpp替换    DEPENDS        platforms__common    )

my_app_main.cpp内容

#include <stdio.h>#include <termios.h>#include <unistd.h>#include <stdbool.h>#include <errno.h>#include <drivers/drv_hrt.h>extern "C" __EXPORT int my_app_main(int argc, char *argv[]);//注意添加extern "C" int my_app_main(int argc, char *argv[]){    printf("czyv587\n");    return 0;}

在nuttx_px4fmu-v2_default.cmake里面添加

modules/my_app

效果图

添加ardupilot dirvers

新建一个文件夹“my_drivers”，里面包含CmakeLists.txt、module.mk和my_dirvers.cpp

CmakeLists.txt里面的内容

px4_add_module(    MODULE drivers__my_drivers  //用my_drivers替换    MAIN my_drivers             //用my_drivers替换    STACK 1200    COMPILE_FLAGS        -Weffc++        -Os    SRCS        my_drivers.cpp          //用my_drivers.cpp替换    DEPENDS        platforms__common    )

module.mk里面的内容

MODULE_COMMAND  = my_drivers   //用my_drivers替换SRCS        = my_drivers.cpp   //用my_drivers.cpp替换MODULE_STACKSIZE    = 1200EXTRACXXFLAGS   = -Weffc++MAXOPTIMIZATION  = -Os

my_dirvers.cpp里面的内容

#include <px4_config.h>#include <syspes.h>#include <stdint.h>#include <stdbool.h>#include <stddef.h>#include <stdlib.h>#include <semaphore.h>#include <string.h>#include <fcntl.h>#include <poll.h>#include <errno.h>#include <stdio.h>#include <math.h>#include <unistd.h>#include <getopt.h>#include <systemlib/perf_counter.h>#include <systemlib/err.h>#include <systemlib/conversions.h>#include <nuttx/arch.h>#include <nuttx/clock.h>#include <board_config.h>#include <drivers/drv_hrt.h>#include <drivers/device/spi.h>#include <drivers/device/ringbuffer.h>#include <drivers/drv_accel.h>#include <drivers/drv_gyro.h>#include <mathlib/math/filter/LowPassFilter2p.hpp>#include <lib/conversion/rotation.h>/** driver 'main' command */extern "C" { __EXPORT int my_drivers_main(int argc, char *argv[]); }//注意添加extern "C" intmy_drivers_main(int argc, char *argv[]){    printf("czyv587!!!");    return 0;}

px4_common.mk里面添加

MODULES     += drivers/my_drivers

效果图

控制fmu_led

输入一次指令“my_drivers”led亮，再输入一次指令“my_drivers”led灭……

#include <px4_config.h>#include <stdint.h>#include <stdbool.h>#include <stddef.h>#include <stdlib.h>#include <semaphore.h>#include <string.h>#include <fcntl.h>#include <poll.h>#include <errno.h>#include <stdio.h>#include <math.h>#include <unistd.h>#include <getopt.h>#include <systemlib/perf_counter.h>#include <systemlib/err.h>#include <systemlib/conversions.h>#include <nuttx/arch.h>#include <nuttx/clock.h>#include <board_config.h>#include <drivers/drv_hrt.h>#include <drivers/device/spi.h>#include <drivers/device/ringbuffer.h>#include <drivers/drv_accel.h>#include <drivers/drv_gyro.h>#include <mathlib/math/filter/LowPassFilter2p.hpp>#include <lib/conversion/rotation.h>/** driver 'main' command */extern "C" { __EXPORT int my_drivers_main(int argc, char *argv[]); }//注意添加extern "C" __BEGIN_DECLSextern void led_init();extern void led_on(int led);extern void led_off(int led);extern void led_toggle(int led);__END_DECLSint l_i=0;int my_drivers_main(int argc, char *argv[]){    if(l_i==0)    {//      led_on(1);//led亮        led_toggle(1);//led翻转        l_i=1;        printf("czy");    }    else if(l_i==1)    {//      led_off(1);//led灭        led_toggle(1);//led翻转        l_i=0;        printf("v587!!!");    }    return 0;}

其中led函数为

/** * @file px4fmu2_led.c * * PX4FMU LED backend. */#include <px4_config.h>#include <stdbool.h>#include "stm32.h"#include "board_config.h"#include <arch/board/board.h>/* * Ideally we'd be able to get these from up_internal.h, * but since we want to be able to disable the NuttX use * of leds for system indication at will and there is no * separate switch, we need to build independent of the * CONFIG_ARCH_LEDS configuration switch. */__BEGIN_DECLSextern void led_init(void);extern void led_on(int led);extern void led_off(int led);extern void led_toggle(int led);__END_DECLS__EXPORT void led_init(){    /* Configure LED1 GPIO for output */    stm32_configgpio(GPIO_LED1);}__EXPORT void led_on(int led){    if (led == 1) {        /* Pull down to switch on */        stm32_gpiowrite(GPIO_LED1, false);    }}__EXPORT void led_off(int led){    if (led == 1) {        /* Pull up to switch off */        stm32_gpiowrite(GPIO_LED1, true);    }}__EXPORT void led_toggle(int led){    if (led == 1) {        if (stm32_gpioread(GPIO_LED1)) {            stm32_gpiowrite(GPIO_LED1, false);        } else {            stm32_gpiowrite(GPIO_LED1, true);        }    }}

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