From e8d8ca5eef6293fd815bd42e7bdc9abe4319af4a Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Thu, 14 Jul 2016 09:26:03 +1000 Subject: [PATCH] AP_Module: updated example module --- .../examples/ModuleTest/module/Makefile | 7 +++-- .../examples/ModuleTest/module/moduletest.c | 30 ++++++++++++++++++- 2 files changed, 33 insertions(+), 4 deletions(-) diff --git a/libraries/AP_Module/examples/ModuleTest/module/Makefile b/libraries/AP_Module/examples/ModuleTest/module/Makefile index 8e3dedcc56..6bbdb13383 100644 --- a/libraries/AP_Module/examples/ModuleTest/module/Makefile +++ b/libraries/AP_Module/examples/ModuleTest/module/Makefile @@ -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 diff --git a/libraries/AP_Module/examples/ModuleTest/module/moduletest.c b/libraries/AP_Module/examples/ModuleTest/module/moduletest.c index 24acc32d5a..17a6ea58ae 100644 --- a/libraries/AP_Module/examples/ModuleTest/module/moduletest.c +++ b/libraries/AP_Module/examples/ModuleTest/module/moduletest.c @@ -7,7 +7,7 @@ #include #include -#include "../../../AP_Module_Structures.h" +#include 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]); +}