diff --git a/examples/app_api/Makefile b/examples/app_api/Makefile
index 07032a80e1..66fc23208e 100644
--- a/examples/app_api/Makefile
+++ b/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
diff --git a/examples/app_api/src/app_loco.c b/examples/app_api/src/app_loco.c
new file mode 100644
index 0000000000..2c721f1869
--- /dev/null
+++ b/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 .
+ *
+ *
+ * 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);
+}
diff --git a/examples/app_api/src/app_loco.h b/examples/app_api/src/app_loco.h
new file mode 100644
index 0000000000..858594dd87
--- /dev/null
+++ b/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 .
+ *
+ *
+ * app_loco.h - LPS example calls
+ */
+
+#pragma once
+
+void appLocoExampleCalls();
diff --git a/examples/app_api/src/app_main.c b/examples/app_api/src/app_main.c
index da0be4fe60..d460dce33c 100644
--- a/examples/app_api/src/app_main.c
+++ b/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));
diff --git a/src/deck/drivers/interface/locodeck.h b/src/deck/drivers/interface/locodeck.h
index fc8dc40d4e..2de85e77a4 100644
--- a/src/deck/drivers/interface/locodeck.h
+++ b/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);
diff --git a/src/deck/drivers/src/locodeck.c b/src/deck/drivers/src/locodeck.c
index e5558c2965..996b6a3d35 100644
--- a/src/deck/drivers/src/locodeck.c
+++ b/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;
}