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Merge pull request #5670 from astralien3000/dev-aversiveplusplus

Added Aversive++ package.
pr/spi.typo
Francisco Acosta 6 years ago committed by GitHub
parent
commit
b412d1179a
  1. 10
      pkg/aversiveplusplus/Makefile
  2. 20
      pkg/aversiveplusplus/Makefile.include
  3. 8
      tests/pkg_aversiveplusplus/Makefile
  4. 50
      tests/pkg_aversiveplusplus/main.cpp

10
pkg/aversiveplusplus/Makefile

@ -0,0 +1,10 @@
PKG_NAME=aversiveplusplus
PKG_URL=https://github.com/AversivePlusPlus/AversivePlusPlus.git
PKG_VERSION=7189e63551fd156719528016d585d870996d8834
.PHONY: all
all: git-download
(cd $(PKG_BUILDDIR) && git submodule update --init --recursive)
include $(RIOTBASE)/pkg/pkg.mk

20
pkg/aversiveplusplus/Makefile.include

@ -0,0 +1,20 @@
AVERSIVEPLUSPLUS_MODULES_DIR = $(BINDIRBASE)/pkg/$(BOARD)/aversiveplusplus/modules
INCLUDES += -I$(AVERSIVEPLUSPLUS_MODULES_DIR)/base/include
INCLUDES += -I$(AVERSIVEPLUSPLUS_MODULES_DIR)/container/include
INCLUDES += -I$(AVERSIVEPLUSPLUS_MODULES_DIR)/filter/include
INCLUDES += -I$(AVERSIVEPLUSPLUS_MODULES_DIR)/stream/include
INCLUDES += -I$(AVERSIVEPLUSPLUS_MODULES_DIR)/stream-riot/include
INCLUDES += -I$(AVERSIVEPLUSPLUS_MODULES_DIR)/device/include
INCLUDES += -I$(AVERSIVEPLUSPLUS_MODULES_DIR)/device-control/include
INCLUDES += -I$(AVERSIVEPLUSPLUS_MODULES_DIR)/device-2wheel/include
INCLUDES += -I$(AVERSIVEPLUSPLUS_MODULES_DIR)/cas/include
INCLUDES += -I$(AVERSIVEPLUSPLUS_MODULES_DIR)/ik/include
INCLUDES += -I$(AVERSIVEPLUSPLUS_MODULES_DIR)/feetech/include
# The package is not compiled (header-only)
PSEUDOMODULES += aversiveplusplus

8
tests/pkg_aversiveplusplus/Makefile

@ -0,0 +1,8 @@
APPLICATION = pkg_aversiveplusplus
include ../Makefile.tests_common
USEPKG += aversiveplusplus
FEATURES_REQUIRED += cpp
CXXEXFLAGS += -std=c++11
include $(RIOTBASE)/Makefile.include

50
tests/pkg_aversiveplusplus/main.cpp

@ -0,0 +1,50 @@
/*
Copyright (c) 2016, Loïc Dauphin
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include <stdio.h>
#include <board.h>
#include <feetech/sc.hpp>
#include <stream/riot/uart_stream.hpp>
RIOT::UARTStream<> sc_uart(1, 1000000);
Feetech::SC<decltype(sc_uart)> sc(sc_uart);
int main(void)
{
for(int i = 0 ; i < 15 ; i++) {
if(sc.ping(i)) {
u16 pos = sc.getPosition(i);
printf("servo %d : %d\n", i, (int)pos);
}
else {
printf("servo %d : unavailable\n", i);
}
}
return 0;
}
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