xiaoxiang781216 commented on code in PR #2988: URL: https://github.com/apache/nuttx-apps/pull/2988#discussion_r1945903155
########## sensors/accel_calib/accel_calib_main.c: ########## @@ -0,0 +1,151 @@ +/**************************************************************************** + * apps/sensors/accel_calib/accel_calib_main.c + * + * SPDX-License-Identifier: Apache-2.0 + * + * 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 <errno.h> +#include <fcntl.h> +#include <stdbool.h> +#include <stdio.h> +#include <stdlib.h> +#include <unistd.h> + +#include <uORB/uORB.h> + +/**************************************************************************** + * Preprocessor Definitions + ****************************************************************************/ + +/* Accelerometer sampling frequency in Hertz. */ + +#ifndef CONFIG_ACCEL_CALIB_SAMPLING_FREQ +#define CONFIG_ACCEL_CALIB_SAMPLING_FREQ 50 +#endif + +/* Delimiter for output data. Default is tab */ + +#ifndef CONFIG_ACCEL_CALIB_DELIM +#define CONFIG_ACCEL_CALIB_DELIM "\t" +#endif + +/* Shorthand for delimiter */ + +#define DLM CONFIG_ACCEL_CALIB_DELIM + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * hello_main + ****************************************************************************/ + +int main(int argc, char **argv) +{ + int err; + int imu; + unsigned frequency; + struct sensor_accel data; + char *name; + bool update = false; + + if (argc < 2) + { + fprintf(stderr, "Please provide the name of the accelerometer uORB " + "topic as an argument\n"); + fprintf(stderr, "Usage: accel_calib [topic]\n"); + fprintf(stderr, "Example: accel_calib sensor_accel0\n"); + return EXIT_FAILURE; + } + + name = argv[1]; + + /* Get accelerometer metadata */ + + const struct orb_metadata *imu_meta = orb_get_meta(name); + if (imu_meta == NULL) + { + fprintf(stderr, "Failed to get metadata for %s\n", name); + return EXIT_FAILURE; + } + + /* Subscribe to accelerometer */ + + imu = orb_subscribe(imu_meta); + if (imu < 0) + { + fprintf(stderr, "Could not subsribe to %s: %d\n", name, errno); + return EXIT_FAILURE; + } + + /* Set sampling rate to 50Hz */ + + err = orb_set_frequency(imu, CONFIG_ACCEL_CALIB_SAMPLING_FREQ); + if (err) + { + fprintf(stderr, "Wasn't able to set frequency to %uHz: %d\n", + CONFIG_ACCEL_CALIB_SAMPLING_FREQ, err); + return EXIT_FAILURE; + } + + /* Show sampling rate */ + + err = orb_get_frequency(imu, &frequency); + if (err) + { + fprintf(stderr, "Could not verify frequency: %d\n", err); + return EXIT_FAILURE; + } + + printf("Sampling frequency is %uHz\n", frequency); + + /* Loop forever while printing out tab separated data as X, Y, Z */ + + while (true) + { + err = orb_check(imu, &update); + if (err) + { + fprintf(stderr, "Failed to check for new data: %d\n", err); + continue; + } + + /* Grab latest data */ + + if (update) + { + err = orb_copy(imu_meta, imu, &data); + if (err) + { + fprintf(stderr, "Failed to get new data: %d\n", err); + continue; + } + + printf("%f" DLM "%f" DLM "%f\n", data.x, data.y, data.z); Review Comment: > I did consider this, however some of these applications read directly from a COM/serial port on the host device. I suppose maybe the UORB listener application could be extended if that functionality was required. Perhaps this application is not really necessary > There are many tools on both Windows, Linux or macOS to insert a virtual serial port between the script and the application like this: real serial port<->the script<->virtual serial port<->applicatin/algorithm > If I make a Python script I would likely not keep it in the NuttX apps, but external. host script could put into apps/tools folder. -- This is an automated message from the Apache Git Service. To respond to the message, please log on to GitHub and use the URL above to go to the specific comment. To unsubscribe, e-mail: commits-unsubscr...@nuttx.apache.org For queries about this service, please contact Infrastructure at: us...@infra.apache.org
