59 lines
1.7 KiB
C
59 lines
1.7 KiB
C
#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;
|
|
}
|