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AP_Module: updated example module

This commit is contained in:
Andrew Tridgell 2016-07-14 09:26:03 +10:00
parent 847bfda48a
commit e8d8ca5eef
2 changed files with 33 additions and 4 deletions
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7
libraries/AP_Module/examples/ModuleTest/module/Makefile
View File

@ -1,13 +1,14 @@
# minimal makefile setup for ARM linux targets
CC=arm-linux-gnueabihf-gcc
CFLAGS=-Wall -fPIC -g -shared
COMPILER ?= arm-linux-gnueabihf-gcc
AP_MODULE_PATH="../../.."
CFLAGS=-Wall -fPIC -g -shared -I$(AP_MODULE_PATH)
all: moduletest.so
moduletest.so: moduletest.c
$(CC) $(CFLAGS) -o moduletest.so moduletest.c -ldl
$(COMPILER) $(CFLAGS) -o moduletest.so moduletest.c -ldl
clean:
rm -f moduletest.so

30
libraries/AP_Module/examples/ModuleTest/module/moduletest.c
View File

@ -7,7 +7,7 @@
#include <stdbool.h>
#include <math.h>
#include "../../../AP_Module_Structures.h"
#include <AP_Module_Structures.h>
void hook_setup_start(uint64_t time_us)
{
@ -35,3 +35,31 @@ void hook_AHRS_update(const struct AHRS_state *state)
degrees(state->eulers[1]),
degrees(state->eulers[2]));
}
void hook_gyro_sample(const struct gyro_sample *state)
{
static uint64_t last_print_us;
if (state->time_us - last_print_us < 1000000UL) {
return;
}
last_print_us = state->time_us;
// print gyro rates once per second
printf("gyro (%.1f,%.1f,%.1f)\n",
degrees(state->gyro[0]),
degrees(state->gyro[1]),
degrees(state->gyro[2]));
}
void hook_accel_sample(const struct accel_sample *state)
{
static uint64_t last_print_us;
if (state->time_us - last_print_us < 1000000UL) {
return;
}
last_print_us = state->time_us;
// print accels once per second
printf("accel (%.1f,%.1f,%.1f)\n",
state->accel[0],
state->accel[1],
state->accel[2]);
}