Aversive++: initial import

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

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

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

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;
+}