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new 3927b3323 examples/bmi160:bmi160 add urob mode example.
3927b3323 is described below
commit 3927b33237e35238934633fe4f0415e3f04fdcfc
Author: likun17 <liku...@xiaomi.com>
AuthorDate: Fri Jun 14 15:32:13 2024 +0800
examples/bmi160:bmi160 add urob mode example.
Signed-off-by: likun17 <liku...@xiaomi.com>
---
examples/bmi160/CMakeLists.txt | 7 ++-
examples/bmi160/Kconfig | 7 +++
examples/bmi160/Makefile | 4 ++
examples/bmi160/sixaxis_uorb_main.c | 91 +++++++++++++++++++++++++++++++++++++
4 files changed, 108 insertions(+), 1 deletion(-)
diff --git a/examples/bmi160/CMakeLists.txt b/examples/bmi160/CMakeLists.txt
index c8aec0b60..18e1d01f9 100644
--- a/examples/bmi160/CMakeLists.txt
+++ b/examples/bmi160/CMakeLists.txt
@@ -19,6 +19,11 @@
#
##############################################################################
if(CONFIG_EXAMPLES_SIXAXIS)
+ if(CONFIG_EXAMPLES_SIXAXIS_UORB)
+ set(CSRC sixaxis_main.c)
+ else()
+ set(CSRC sixaxis_uorb_main.c)
+ endif()
nuttx_add_application(
NAME
${CONFIG_EXAMPLES_SIXAXIS_PROGNAME}
@@ -27,5 +32,5 @@ if(CONFIG_EXAMPLES_SIXAXIS)
STACKSIZE
${CONFIG_EXAMPLES_SIXAXIS_STACKSIZE}
SRCS
- sixaxis_main.c)
+ ${CSRC})
endif()
diff --git a/examples/bmi160/Kconfig b/examples/bmi160/Kconfig
index c84b3afda..a850a5887 100644
--- a/examples/bmi160/Kconfig
+++ b/examples/bmi160/Kconfig
@@ -11,6 +11,13 @@ config EXAMPLES_SIXAXIS
if EXAMPLES_SIXAXIS
+config EXAMPLES_SIXAXIS_UORB
+ bool "BMI160 sensor uorb example"
+ default n
+ ---help---
+ Enables Work with the UORB or Character Device interface.
+ If not set, the Character Device is used by default.
+
config EXAMPLES_SIXAXIS_PROGNAME
string "Program name"
default "sixaxis"
diff --git a/examples/bmi160/Makefile b/examples/bmi160/Makefile
index 56d39eb19..80d98ae2f 100644
--- a/examples/bmi160/Makefile
+++ b/examples/bmi160/Makefile
@@ -28,6 +28,10 @@ STACKSIZE = $(CONFIG_EXAMPLES_SIXAXIS_STACKSIZE)
# sixaxis Example
+ifeq ($(CONFIG_EXAMPLES_SIXAXIS_UORB),)
MAINSRC = sixaxis_main.c
+else
+MAINSRC = sixaxis_uorb_main.c
+endif
include $(APPDIR)/Application.mk
diff --git a/examples/bmi160/sixaxis_uorb_main.c
b/examples/bmi160/sixaxis_uorb_main.c
new file mode 100644
index 000000000..b07249ba5
--- /dev/null
+++ b/examples/bmi160/sixaxis_uorb_main.c
@@ -0,0 +1,91 @@
+/****************************************************************************
+ * apps/examples/bmi160/sixaxis_uorb_main.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership. The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <poll.h>
+#include <errno.h>
+#include <sensor/accel.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define ACC_TIMEOUT 1000
+#define READ_TIMES 100
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * sixaxis_main
+ ****************************************************************************/
+
+int main(int argc, FAR char *argv[])
+{
+ FAR const struct orb_metadata *meta;
+ struct sensor_accel accel_data;
+ struct pollfd fds;
+ int ret = OK;
+ int fd;
+ int i;
+
+ meta = ORB_ID(sensor_accel_uncal);
+ fd = orb_subscribe_multi(meta, 0);
+ if (fd < 0)
+ {
+ printf("sensor accel subscribe error! return:%d\n", fd);
+ return fd;
+ }
+
+ fds.fd = fd;
+ fds.events = POLLIN;
+
+ for (i = 0; i < READ_TIMES; i++)
+ {
+ if (poll(&fds, 1, ACC_TIMEOUT) > 0)
+ {
+ if (fds.revents & POLLIN)
+ {
+ ret = orb_copy(meta, fd, &accel_data);
+#ifdef CONFIG_DEBUG_UORB
+ if (ret == OK && meta->o_format != NULL)
+ {
+ orb_info(meta->o_format, meta->o_name, &accel_data);
+ }
+#endif
+ }
+ }
+ else if (errno != EINTR)
+ {
+ printf("Waited for %d milliseconds without a message. "
+ "Giving up. err:%d", ACC_TIMEOUT, errno);
+ break;
+ }
+ }
+
+ orb_unsubscribe(fd);
+ printf("sensor accel read examples exit.\n");
+
+ return ret;
+}
