#636 Re-added loco functions to public API.

examples/app_api/Makefile

@@ -4,7 +4,7 @@ APP=1
 APP_STACKSIZE=300
 
 VPATH += src/
-PROJ_OBJ += app_main.o app_ledseq.o app_high_level_commander.o app_lighthouse.o app_memory_mapping.o
+PROJ_OBJ += app_main.o app_ledseq.o app_high_level_commander.o app_lighthouse.o app_memory_mapping.o app_loco.o
 
 CRAZYFLIE_BASE=../..
 include $(CRAZYFLIE_BASE)/Makefile

examples/app_api/src/app_loco.c

@@ -0,0 +1,41 @@
+/**
+ * ,---------,       ____  _ __
+ * |  ,-^-,  |      / __ )(_) /_______________ _____  ___
+ * | (  O  ) |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+ * | / ,--´  |    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+ *    +------`   /_____/_/\__/\___/_/   \__,_/ /___/\___/
+ *
+ * Crazyflie control firmware
+ *
+ * Copyright (C) 2020 Bitcraze AB
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, in version 3.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ *
+ * app_loco.c - LPS example calls
+ *
+ * This code is mainly intended to make sure code is compiled in CI
+ */
+
+
+#include "locodeck.h"
+#include "app_loco.h"
+
+void appLocoExampleCalls() {
+  point_t position;
+  locoDeckGetAnchorPosition(0, &position);
+
+  uint8_t unorderedAnchorList[5];
+  locoDeckGetAnchorIdList(unorderedAnchorList, 5);
+  locoDeckGetActiveAnchorIdList(unorderedAnchorList, 5);
+}

examples/app_api/src/app_loco.h

@@ -0,0 +1,30 @@
+/**
+ * ,---------,       ____  _ __
+ * |  ,-^-,  |      / __ )(_) /_______________ _____  ___
+ * | (  O  ) |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+ * | / ,--´  |    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+ *    +------`   /_____/_/\__/\___/_/   \__,_/ /___/\___/
+ *
+ * Crazyflie control firmware
+ *
+ * Copyright (C) 2020 Bitcraze AB
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, in version 3.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ *
+ * app_loco.h - LPS example calls
+ */
+
+#pragma once
+
+void appLocoExampleCalls();

examples/app_api/src/app_main.c

@@ -44,6 +44,7 @@
 #include "app_high_level_commander.h"
 #include "app_lighthouse.h"
 #include "app_memory_mapping.h"
+#include "app_loco.h"
 
 #define DEBUG_MODULE "APPAPI"
 
@@ -52,6 +53,7 @@ void appMain() {
   appEnableHighLevelCommander();
   appInitLighthouse();
   appRegisterMemory();
+  appLocoExampleCalls();
 
   while(1) {
     vTaskDelay(M2T(3000));

src/deck/drivers/interface/locodeck.h

@@ -81,6 +81,10 @@ typedef struct {
   uint32_t nextSwitchTick;
 } lpsAlgoOptions_t;
 
+bool locoDeckGetAnchorPosition(const uint8_t anchorId, point_t* position);
+uint8_t locoDeckGetAnchorIdList(uint8_t unorderedAnchorList[], const int maxListSize);
+uint8_t locoDeckGetActiveAnchorIdList(uint8_t unorderedAnchorList[], const int maxListSize);
+
 // Callbacks for uwb algorithms
 typedef struct uwbAlgorithm_s {
   void (*init)(dwDevice_t *dev);

src/deck/drivers/src/locodeck.c

@@ -159,9 +159,6 @@ static const MemoryHandlerDef_t memDef = {
   .write = 0, // Write is not supported
 };
 static void buildAnchorMemList(const uint32_t memAddr, const uint8_t readLen, uint8_t* dest, const uint32_t pageBase_address, const uint8_t anchorCount, const uint8_t unsortedAnchorList[]);
-static bool locoDeckGetAnchorPosition(const uint8_t anchorId, point_t* position);
-static uint8_t locoDeckGetAnchorIdList(uint8_t unorderedAnchorList[], const int maxListSize);
-static uint8_t locoDeckGetActiveAnchorIdList(uint8_t unorderedAnchorList[], const int maxListSize);
 
 static void txCallback(dwDevice_t *dev)
 {
@@ -237,7 +234,7 @@ static void buildAnchorMemList(const uint32_t memAddr, const uint8_t readLen, ui
 
 // This function is called from the memory sub system that runs in a different
 // task, protect it from concurrent calls from this task
-static bool locoDeckGetAnchorPosition(const uint8_t anchorId, point_t* position)
+bool locoDeckGetAnchorPosition(const uint8_t anchorId, point_t* position)
 {
   if (!isInit) {
     return false;
@@ -251,7 +248,7 @@ static bool locoDeckGetAnchorPosition(const uint8_t anchorId, point_t* position)
 
 // This function is called from the memory sub system that runs in a different
 // task, protect it from concurrent calls from this task
-static uint8_t locoDeckGetAnchorIdList(uint8_t unorderedAnchorList[], const int maxListSize) {
+uint8_t locoDeckGetAnchorIdList(uint8_t unorderedAnchorList[], const int maxListSize) {
   if (!isInit) {
     return 0;
   }
@@ -264,7 +261,7 @@ static uint8_t locoDeckGetAnchorIdList(uint8_t unorderedAnchorList[], const int
 
 // This function is called from the memory sub system that runs in a different
 // task, protect it from concurrent calls from this task
-static uint8_t locoDeckGetActiveAnchorIdList(uint8_t unorderedAnchorList[], const int maxListSize) {
+uint8_t locoDeckGetActiveAnchorIdList(uint8_t unorderedAnchorList[], const int maxListSize) {
   if (!isInit) {
     return 0;
   }