add framed binary telemetry transport

2026-08-17 11:13:53 -04:00
parent a5c3087ee4
commit aceaa2b270
13 changed files with 1320 additions and 110 deletions
@@ -0,0 +1,58 @@
+#include <stdint.h>
+#include <stdio.h>
+
+#include "trikke_protocol.h"
+
+int main(void)
+{
+    uint8_t packet[TRIKKE_WIRE_MAX_PACKET_SIZE] = {0};
+    const trikke_wire_metadata_t metadata = {
+        .sample_rate_hz = 100,
+        .accel_range_g = 8,
+        .gyro_range_dps = 500,
+        .flags = TRIKKE_METADATA_FLAG_ACCEL_Y_NEGX_Z |
+                 TRIKKE_METADATA_FLAG_GYRO_IDENTITY,
+        .accel_offset_counts = {-1.5f, -4.5f, 12.0f},
+        .accel_counts_per_g = {259.0f, 260.0f, 246.0f},
+        .gyro_bias_counts = {9.0f, -154.0f, -7.0f},
+        .gyro_mdps_per_lsb = 17.5f,
+    };
+    size_t size = trikke_encode_metadata_packet(
+        packet, sizeof(packet), 41, 1234567, 2, 3, &metadata);
+    if (size == 0 || fwrite(packet, 1, size, stdout) != size) {
+        return 1;
+    }
+
+    const trikke_wire_sample_t samples[] = {
+        {
+            .sequence = 1000,
+            .timestamp_us = 2000000,
+            .accel_x = 1,
+            .accel_y = -2,
+            .accel_z = 258,
+            .gyro_x = -10,
+            .gyro_y = 20,
+            .gyro_z = -30,
+            .accel_status = 0x82,
+            .gyro_status = 0x0F,
+        },
+        {
+            .sequence = 1001,
+            .timestamp_us = 2010000,
+            .accel_x = 4,
+            .accel_y = -5,
+            .accel_z = 257,
+            .gyro_x = 40,
+            .gyro_y = -50,
+            .gyro_z = 60,
+            .accel_status = 0x02,
+            .gyro_status = 0xFF,
+        },
+    };
+    size = trikke_encode_sample_packet(packet, sizeof(packet), 42, 2, 3,
+                                       samples, 2);
+    if (size == 0 || fwrite(packet, 1, size, stdout) != size) {
+        return 1;
+    }
+    return 0;
+}