xiaoxiang781216 commented on code in PR #2113: URL: https://github.com/apache/nuttx-apps/pull/2113#discussion_r1355461856
########## examples/sensor_fusion/sensor_fusion_main.c: ########## @@ -0,0 +1,157 @@ +/**************************************************************************** + * apps/examples/sensor_fusion/sensor_fusion_main.c + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ +#include <nuttx/config.h> +#include <stdio.h> +#include <fcntl.h> +#include <unistd.h> +#include <nuttx/sensors/sensor.h> +#include "Fusion/Fusion.h" + Review Comment: add predefine section ########## examples/sensor_fusion/sensor_fusion_main.c: ########## @@ -0,0 +1,157 @@ +/**************************************************************************** + * apps/examples/sensor_fusion/sensor_fusion_main.c + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ Review Comment: add blank line after the comment ########## examples/sensor_fusion/sensor_fusion_main.c: ########## @@ -0,0 +1,157 @@ +/**************************************************************************** + * apps/examples/sensor_fusion/sensor_fusion_main.c + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ +#include <nuttx/config.h> +#include <stdio.h> +#include <fcntl.h> +#include <unistd.h> +#include <nuttx/sensors/sensor.h> +#include "Fusion/Fusion.h" + +#define REG_LOW_MASK 0xFF00 +#define REG_HIGH_MASK 0x00FF +#define MPU6050_FS_SEL 65.5f +#define MPU6050_AFS_SEL 4096.0f + +/**************************************************************************** + * Public Data + ****************************************************************************/ + +struct mpu6050_imu_msg +{ + int16_t acc_x; + int16_t acc_y; + int16_t acc_z; + int16_t temp; + int16_t gyro_x; + int16_t gyro_y; + int16_t gyro_z; +}; + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +void read_mpu6050(int fd, struct sensor_accel *acc_data, + struct sensor_gyro *gyro_data); + +/**************************************************************************** + * sensor_fusion_main + ****************************************************************************/ + +int main(int argc, FAR char *argv[]) +{ + int fd; + int iterations = CONFIG_EXAMPLES_SENSOR_FUSION_SAMPLES; + float acq_period = CONFIG_EXAMPLES_SENSOR_FUSION_SAMPLE_RATE / 1000.0f; + + printf("Sensor Fusion example\n"); + printf("Sample Rate: %.2f Hz\n", 1.0 / acq_period); + + /* Minimal required data for Fusion library. Use of magnetometer data + * is optional and can improve performance. + */ + + struct sensor_accel imu_acc_data; + struct sensor_gyro imu_gyro_data; Review Comment: ALL local variable need be declared at the begin of function ########## examples/sensor_fusion/sensor_fusion_main.c: ########## @@ -0,0 +1,157 @@ +/**************************************************************************** + * apps/examples/sensor_fusion/sensor_fusion_main.c + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ +#include <nuttx/config.h> +#include <stdio.h> +#include <fcntl.h> +#include <unistd.h> +#include <nuttx/sensors/sensor.h> +#include "Fusion/Fusion.h" + +#define REG_LOW_MASK 0xFF00 +#define REG_HIGH_MASK 0x00FF +#define MPU6050_FS_SEL 65.5f +#define MPU6050_AFS_SEL 4096.0f + +/**************************************************************************** + * Public Data Review Comment: Types not Data ########## inertial/Kconfig: ########## @@ -0,0 +1,10 @@ +# +# For a description of the syntax of this configuration file, +# see the file kconfig-language.txt in the NuttX tools repository. +# +# This file is autogenerated, do not edit. +# + +menu "Inertial Libraries Support" +source "/root/nuttxspace/nuttx-apps/inertial/madgwick/Kconfig" Review Comment: wrong source -- This is an automated message from the Apache Git Service. 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