mirror of
https://github.com/eclipse/upm.git
synced 2025-07-01 09:21:12 +03:00
enc03r: C port; FTI; C++ wraps C
The API for this driver has changed. See docs/apichanges.md. Signed-off-by: Jon Trulson <jtrulson@ics.com>
This commit is contained in:
Jon Trulson
@ -1,5 +1,9 @@
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set (libname "enc03r")
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set (libdescription "Enc03r single axis analog gyro module")
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set (module_src ${libname}.cxx)
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set (module_hpp ${libname}.hpp)
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upm_module_init()
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upm_mixed_module_init (NAME enc03r
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DESCRIPTION "Single-axis Analog Gyroscope"
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C_HDR enc03r.h
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C_SRC enc03r.c
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CPP_HDR enc03r.hpp
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CPP_SRC enc03r.cxx
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FTI_SRC enc03r_fti.c
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CPP_WRAPS_C
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REQUIRES mraa)
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158
src/enc03r/enc03r.c
Normal file
158
src/enc03r/enc03r.c
Normal file
@ -0,0 +1,158 @@
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/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2014-2017 Intel Corporation.
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*
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* Permission is hereby granted, free of charge, to any person obtaining
|
||||
* a copy of this software and associated documentation files (the
|
||||
* "Software"), to deal in the Software without restriction, including
|
||||
* without limitation the rights to use, copy, modify, merge, publish,
|
||||
* distribute, sublicense, and/or sell copies of the Software, and to
|
||||
* permit persons to whom the Software is furnished to do so, subject to
|
||||
* the following conditions:
|
||||
*
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||||
* The above copyright notice and this permission notice shall be
|
||||
* included in all copies or substantial portions of the Software.
|
||||
*
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||||
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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||||
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
|
||||
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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||||
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
|
||||
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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||||
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#include <stdio.h>
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#include <string.h>
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#include <assert.h>
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#include "enc03r.h"
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enc03r_context enc03r_init(int pin, float aref)
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{
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// make sure MRAA is initialized
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int mraa_rv;
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if ((mraa_rv = mraa_init()) != MRAA_SUCCESS)
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{
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printf("%s: mraa_init() failed (%d).\n", __FUNCTION__, mraa_rv);
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return NULL;
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}
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enc03r_context dev =
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(enc03r_context)malloc(sizeof(struct _enc03r_context));
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if (!dev)
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return NULL;
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// zero out context
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memset((void *)dev, 0, sizeof(struct _enc03r_context));
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dev->a_ref = aref;
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if ( !(dev->aio = mraa_aio_init(pin)) )
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{
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printf("%s: mraa_aio_init() failed.\n", __FUNCTION__);
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enc03r_close(dev);
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return NULL;
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}
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dev->offset = 0.0;
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dev->scale = 1.0;
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dev->a_res = (float)(1 << mraa_aio_get_bit(dev->aio)) - 1.0;
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dev->calibrationValue = 0.0;
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return dev;
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}
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void enc03r_close(enc03r_context dev)
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{
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assert(dev != NULL);
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if (dev->aio)
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mraa_aio_close(dev->aio);
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free(dev);
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}
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upm_result_t enc03r_update(enc03r_context dev)
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{
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assert(dev != NULL);
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float val = (float)mraa_aio_read(dev->aio);
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if (val < 0)
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{
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printf("%s: mraa_aio_read() failed\n", __FUNCTION__);
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return UPM_ERROR_OPERATION_FAILED;
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}
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dev->normalized = val / dev->a_res;
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// from seeed studio example
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dev->angular_velocity =
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((val - dev->calibrationValue) * (dev->a_ref * 1000.0)
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/ dev->a_res / 0.67);
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return UPM_SUCCESS;
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}
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upm_result_t enc03r_calibrate(const enc03r_context dev,
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unsigned int samples)
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{
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assert(dev != NULL);
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float total = 0.0;
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for (int i=0; i<samples; i++)
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{
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int val = mraa_aio_read(dev->aio);
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if (val < 0)
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{
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printf("%s: mraa_aio_read() failed\n", __FUNCTION__);
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return UPM_ERROR_OPERATION_FAILED;
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}
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total += (float)val;
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upm_delay_ms(2);
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}
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dev->calibrationValue = total / (float)samples;
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return UPM_SUCCESS;
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}
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float enc03r_calibration_value(const enc03r_context dev)
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{
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assert(dev != NULL);
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return dev->calibrationValue;
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}
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float enc03r_angular_velocity(const enc03r_context dev)
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{
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assert(dev != NULL);
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return dev->angular_velocity * dev->scale + (dev->offset * dev->scale);
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}
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void enc03r_set_offset(const enc03r_context dev, float offset)
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{
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assert(dev != NULL);
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dev->offset = offset;
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}
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void enc03r_set_scale(const enc03r_context dev, float scale)
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{
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assert(dev != NULL);
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dev->scale = scale;
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}
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float enc03r_get_normalized(const enc03r_context dev)
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{
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assert(dev != NULL);
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return dev->normalized;
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}
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@ -1,6 +1,6 @@
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/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2014 Intel Corporation.
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* Copyright (c) 2014-2017 Intel Corporation.
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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||||
* a copy of this software and associated documentation files (the
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@ -31,52 +31,49 @@
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using namespace upm;
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using namespace std;
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ENC03R::ENC03R(int pin, float vref)
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ENC03R::ENC03R(int pin, float aref) :
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m_enc03r(enc03r_init(pin, aref))
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{
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if ( !(m_aio = mraa_aio_init(pin)) )
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{
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throw std::invalid_argument(std::string(__FUNCTION__) +
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": mraa_aio_init() failed, invalid pin?");
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return;
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}
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m_vref = vref;
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m_calibrationValue = 0;
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if (!m_enc03r)
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throw std::runtime_error(string(__FUNCTION__)
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+ ": enc03r_init() failed");
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}
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ENC03R::~ENC03R()
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{
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mraa_aio_close(m_aio);
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}
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unsigned int ENC03R::value()
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{
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int x = mraa_aio_read(m_aio);
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if (x == -1) throw std::out_of_range(std::string(__FUNCTION__) +
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": Failed to do an aio read.");
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return (unsigned int) x;
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enc03r_close(m_enc03r);
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}
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void ENC03R::calibrate(unsigned int samples)
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{
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int val;
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float total = 0.0;
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for (unsigned int i=0; i<samples; i++)
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{
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val = mraa_aio_read(m_aio);
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if (val == -1) throw std::out_of_range(std::string(__FUNCTION__) +
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": Failed to do an aio read.");
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total += (float)val;
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usleep(2000);
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}
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m_calibrationValue = total / (float)samples;
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if (enc03r_calibrate(m_enc03r, samples))
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throw std::runtime_error(string(__FUNCTION__)
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+ ": enc03r_calibrate() failed");
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}
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double ENC03R::angularVelocity(unsigned int val)
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void ENC03R::update()
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{
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// from seeed studio example
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//return (((double)(val-m_calibrationValue)*(m_vref*1000.0))/1023.0/0.67);
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return (((double)(val-m_calibrationValue)*(m_vref*1000.0))/685.41);
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if (enc03r_update(m_enc03r))
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throw std::runtime_error(string(__FUNCTION__)
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+ ": enc03r_update() failed");
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}
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float ENC03R::angularVelocity()
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{
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return enc03r_angular_velocity(m_enc03r);
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}
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void ENC03R::setOffset(float offset)
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{
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enc03r_set_offset(m_enc03r, offset);
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}
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void ENC03R::setScale(float scale)
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{
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enc03r_set_scale(m_enc03r, scale);
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}
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float ENC03R::getNormalized()
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{
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return enc03r_get_normalized(m_enc03r);
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}
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159
src/enc03r/enc03r.h
Normal file
159
src/enc03r/enc03r.h
Normal file
@ -0,0 +1,159 @@
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/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2014-2017 Intel Corporation.
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emacs . *
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* Permission is hereby granted, free of charge, to any person obtaining
|
||||
* a copy of this software and associated documentation files (the
|
||||
* "Software"), to deal in the Software without restriction, including
|
||||
* without limitation the rights to use, copy, modify, merge, publish,
|
||||
* distribute, sublicense, and/or sell copies of the Software, and to
|
||||
* permit persons to whom the Software is furnished to do so, subject to
|
||||
* the following conditions:
|
||||
*
|
||||
* The above copyright notice and this permission notice shall be
|
||||
* included in all copies or substantial portions of the Software.
|
||||
*
|
||||
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
||||
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
|
||||
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
|
||||
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
|
||||
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
|
||||
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
|
||||
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
|
||||
*/
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#pragma once
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#include <stdint.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <mraa/aio.h>
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#include <upm.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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* @file enc03r.h
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* @library enc03r
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* @brief Generic API for AT command based UART devices
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*
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*/
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/**
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* Device context
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*/
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typedef struct _enc03r_context {
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mraa_aio_context aio;
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// determined by calibrate();
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float calibrationValue;
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// our computed value
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float angular_velocity;
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// analog reference voltage
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float a_ref;
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// analog ADC resolution (max value)
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float a_res;
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// offset
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float offset;
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// scale
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float scale;
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// normalized ADC value
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float normalized;
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} *enc03r_context;
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/**
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* ENC03R sensor constructor
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*
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* @param pin Analog pin to use
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* @param vref Reference voltage to use; default is 5.0 V
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* @return Device context
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*/
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enc03r_context enc03r_init(int pin, float aref);
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/**
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* ENC03R destructor
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*
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* @param dev Device context
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*/
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void enc03r_close(enc03r_context dev);
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/**
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* Update the internal state with the current reading. This
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* function must be called prior to calling
|
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* enc03r_angular_velocity().
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*
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* @param dev Device context
|
||||
* @return UPM result
|
||||
*/
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upm_result_t enc03r_update(enc03r_context dev);
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|
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/**
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||||
* Calibrates the sensor by determining an analog reading over many
|
||||
* samples with no movement of the sensor. This must be done
|
||||
* before attempting to use the sensor.
|
||||
*
|
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* @param dev Device context
|
||||
* @param samples Number of samples to use for calibration
|
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* @return UPM result
|
||||
*/
|
||||
upm_result_t enc03r_calibrate(const enc03r_context dev,
|
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unsigned int samples);
|
||||
|
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/**
|
||||
* Returns the currently stored calibration value
|
||||
*
|
||||
* @param dev Device context
|
||||
* @return Current calibration value
|
||||
*/
|
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float enc03r_calibration_value(const enc03r_context dev);
|
||||
|
||||
/**
|
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* Return the computed Angular Velocity in degrees per second.
|
||||
* You must have called encr03r_update() prior to calling this
|
||||
* function.
|
||||
*
|
||||
* @param dev Device context
|
||||
* @return Computed angular velocity
|
||||
*/
|
||||
float enc03r_angular_velocity(const enc03r_context dev);
|
||||
|
||||
/**
|
||||
* Set sensor offset. The offste is applied to the return value
|
||||
* before scaling. Default is 0.
|
||||
*
|
||||
* @param dev Device context
|
||||
* @param scale Scale to apply to value
|
||||
*/
|
||||
void enc03r_set_offset(const enc03r_context dev, float offset);
|
||||
|
||||
/**
|
||||
* Set sensor scale. The return value is scaled by this value
|
||||
* before the offset is applied. Default is 1.0.
|
||||
*
|
||||
* @param dev Device context
|
||||
* @param scale Offset to apply to value
|
||||
*/
|
||||
void enc03r_set_scale(const enc03r_context dev, float scale);
|
||||
|
||||
/**
|
||||
* Get a normalized ADC value from the sensor. The return value
|
||||
* will be between 0.0 (indicating no voltage) and 1.0 indicating
|
||||
* max voltage (aref). encr03r_update() must be called prior to
|
||||
* calling this function.
|
||||
*
|
||||
* @param dev Device context
|
||||
* @return The normalized reading from the ADC.
|
||||
*/
|
||||
float enc03r_get_normalized(const enc03r_context dev);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
@ -1,6 +1,6 @@
|
||||
/*
|
||||
* Author: Jon Trulson <jtrulson@ics.com>
|
||||
* Copyright (c) 2014 Intel Corporation.
|
||||
* Copyright (c) 2014-2017 Intel Corporation.
|
||||
*
|
||||
* Permission is hereby granted, free of charge, to any person obtaining
|
||||
* a copy of this software and associated documentation files (the
|
||||
@ -24,92 +24,116 @@
|
||||
#pragma once
|
||||
|
||||
#include <string>
|
||||
#include <mraa/aio.h>
|
||||
#include "enc03r.h"
|
||||
|
||||
namespace upm {
|
||||
|
||||
/**
|
||||
* @brief ENC03R Single Axis Gyro library
|
||||
* @defgroup enc03r libupm-enc03r
|
||||
* @ingroup seeed analog compass robok
|
||||
*/
|
||||
|
||||
/**
|
||||
* @library enc03r
|
||||
* @sensor enc03r
|
||||
* @comname ENC03R Single Axis Gyro
|
||||
* @altname Grove Single Axis Analog Gyro
|
||||
* @type compass
|
||||
* @man seeed
|
||||
* @con analog
|
||||
* @kit robok
|
||||
*
|
||||
* @brief API for the ENC03R Single Axis Analog Gyro
|
||||
*
|
||||
* UPM module for the ENC03R single axis analog gyro.
|
||||
* This gyroscope measures x-axis angular velocity, that is
|
||||
* how fast the sensor is rotating around the x-axis.
|
||||
* Calibration of the sensor is necessary for accurate readings.
|
||||
*
|
||||
* @image html enc03r.jpg
|
||||
* @snippet enc03r.cxx Interesting
|
||||
*/
|
||||
class ENC03R {
|
||||
public:
|
||||
/**
|
||||
* @brief ENC03R Single Axis Gyro library
|
||||
* @defgroup enc03r libupm-enc03r
|
||||
* @ingroup seeed analog compass robok
|
||||
*/
|
||||
|
||||
/**
|
||||
* ENC03R sensor constructor
|
||||
* @library enc03r
|
||||
* @sensor enc03r
|
||||
* @comname ENC03R Single Axis Gyro
|
||||
* @altname Grove Single Axis Analog Gyro
|
||||
* @type compass
|
||||
* @man seeed
|
||||
* @con analog
|
||||
* @kit robok
|
||||
*
|
||||
* @param pin Analog pin to use
|
||||
* @param vref Reference voltage to use; default is 5.0 V
|
||||
*/
|
||||
ENC03R(int pin, float vref=5.0);
|
||||
|
||||
/**
|
||||
* ENC03R destructor
|
||||
*/
|
||||
~ENC03R();
|
||||
|
||||
/**
|
||||
* Calibrates the sensor by determining an analog reading over many
|
||||
* samples with no movement of the sensor. This must be done
|
||||
* before attempting to use the sensor.
|
||||
* @brief API for the ENC03R Single Axis Analog Gyro
|
||||
*
|
||||
* @param samples Number of samples to use for calibration
|
||||
*/
|
||||
void calibrate(unsigned int samples);
|
||||
|
||||
/**
|
||||
* Returns the raw value of the sensor
|
||||
* UPM module for the ENC03R single axis analog gyro.
|
||||
* This gyroscope measures x-axis angular velocity, that is
|
||||
* how fast the sensor is rotating around the x-axis.
|
||||
* Calibration of the sensor is necessary for accurate readings.
|
||||
*
|
||||
* @return Raw value of the sensor
|
||||
* @image html enc03r.jpg
|
||||
* @snippet enc03r.cxx Interesting
|
||||
*/
|
||||
unsigned int value();
|
||||
class ENC03R {
|
||||
public:
|
||||
|
||||
/**
|
||||
* Returns the currently stored calibration value
|
||||
*
|
||||
* @return Current calibration value
|
||||
*/
|
||||
float calibrationValue() { return m_calibrationValue; };
|
||||
/**
|
||||
* ENC03R sensor constructor
|
||||
*
|
||||
* @param pin Analog pin to use
|
||||
* @param vref Reference voltage to use; default is 5.0 V
|
||||
*/
|
||||
ENC03R(int pin, float aref=5.0);
|
||||
|
||||
/**
|
||||
* Computes angular velocity based on the value and stored calibration
|
||||
* reference.
|
||||
*
|
||||
* @param val Value to use to compute angular velocity
|
||||
* @return Computed angular velocity
|
||||
*/
|
||||
double angularVelocity(unsigned int val);
|
||||
/**
|
||||
* ENC03R destructor
|
||||
*/
|
||||
~ENC03R();
|
||||
|
||||
private:
|
||||
// determined by calibrate();
|
||||
float m_calibrationValue;
|
||||
/**
|
||||
* Calibrates the sensor by determining an analog reading over many
|
||||
* samples with no movement of the sensor. This must be done
|
||||
* before attempting to use the sensor.
|
||||
*
|
||||
* @param samples Number of samples to use for calibration
|
||||
*/
|
||||
void calibrate(unsigned int samples);
|
||||
|
||||
// reference voltage
|
||||
float m_vref;
|
||||
mraa_aio_context m_aio;
|
||||
};
|
||||
/**
|
||||
* Update the internal state with the current reading. This
|
||||
* function must be called prior to calling
|
||||
* angularVelocity().
|
||||
*
|
||||
* @param dev Device context
|
||||
*/
|
||||
void update();
|
||||
|
||||
/**
|
||||
* Returns the currently stored calibration value
|
||||
*
|
||||
* @return Current calibration value
|
||||
*/
|
||||
float calibrationValue() { return enc03r_calibration_value(m_enc03r); };
|
||||
|
||||
/**
|
||||
* Computes angular velocity based on the value and stored calibration
|
||||
* reference.
|
||||
*
|
||||
* @param val Value to use to compute angular velocity
|
||||
* @return Computed angular velocity
|
||||
*/
|
||||
float angularVelocity();
|
||||
|
||||
/**
|
||||
* Set sensor offset. The offste is applied to the return value
|
||||
* before scaling. Default is 0.
|
||||
*
|
||||
* @param scale Scale to apply to value
|
||||
*/
|
||||
void setOffset(float offset);
|
||||
|
||||
/**
|
||||
* Set sensor scale. The return value is scaled by this value
|
||||
* before the offset is applied. Default is 1.0.
|
||||
*
|
||||
* @param dev Device context
|
||||
* @param scale Offset to apply to value
|
||||
*/
|
||||
void setScale(float scale);
|
||||
|
||||
/**
|
||||
* Get a normalized ADC value from the sensor. The return
|
||||
* value will be between 0.0 (indicating no voltage) and 1.0
|
||||
* indicating max voltage (aref). update() must be called
|
||||
* prior to calling this function.
|
||||
*
|
||||
* @return The normalized reading from the ADC.
|
||||
*/
|
||||
float getNormalized();
|
||||
|
||||
protected:
|
||||
enc03r_context m_enc03r;
|
||||
|
||||
private:
|
||||
};
|
||||
}
|
||||
|
||||
|
||||
|
||||
102
src/enc03r/enc03r_fti.c
Normal file
102
src/enc03r/enc03r_fti.c
Normal file
@ -0,0 +1,102 @@
|
||||
/*
|
||||
* Author: Jon Trulson <jtrulson@ics.com>
|
||||
* Copyright (c) 2017 Intel Corporation.
|
||||
*
|
||||
* Permission is hereby granted, free of charge, to any person obtaining
|
||||
* a copy of this software and associated documentation files (the
|
||||
* "Software"), to deal in the Software without restriction, including
|
||||
* without limitation the rights to use, copy, modify, merge, publish,
|
||||
* distribute, sublicense, and/or sell copies of the Software, and to
|
||||
* permit persons to whom the Software is furnished to do so, subject to
|
||||
* the following conditions:
|
||||
*
|
||||
* The above copyright notice and this permission notice shall be
|
||||
* included in all copies or substantial portions of the Software.
|
||||
*
|
||||
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
||||
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
|
||||
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
|
||||
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
|
||||
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
|
||||
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
|
||||
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
|
||||
*/
|
||||
|
||||
#include "enc03r.h"
|
||||
#include "upm_fti.h"
|
||||
|
||||
/**
|
||||
* This file implements the Function Table Interface (FTI) for this sensor
|
||||
*/
|
||||
|
||||
const char upm_enc03r_name[] = "ENC03R";
|
||||
const char upm_enc03r_description[] = "Analog Single Axis Gyroscope";
|
||||
const upm_protocol_t upm_enc03r_protocol[] = {UPM_ANALOG};
|
||||
const upm_sensor_t upm_enc03r_category[] = {UPM_GYROSCOPE};
|
||||
|
||||
// forward declarations
|
||||
const void* upm_enc03r_get_ft(upm_sensor_t sensor_type);
|
||||
void* upm_enc03r_init_name();
|
||||
void upm_enc03r_close(void *dev);
|
||||
upm_result_t upm_enc03r_get_value(void *dev, float *value);
|
||||
|
||||
const upm_sensor_descriptor_t upm_enc03r_get_descriptor()
|
||||
{
|
||||
upm_sensor_descriptor_t usd;
|
||||
usd.name = upm_enc03r_name;
|
||||
usd.description = upm_enc03r_description;
|
||||
usd.protocol_size = 1;
|
||||
usd.protocol = upm_enc03r_protocol;
|
||||
usd.category_size = 1;
|
||||
usd.category = upm_enc03r_category;
|
||||
return usd;
|
||||
}
|
||||
|
||||
static const upm_sensor_ft ft =
|
||||
{
|
||||
.upm_sensor_init_name = &upm_enc03r_init_name,
|
||||
.upm_sensor_close = &upm_enc03r_close,
|
||||
};
|
||||
|
||||
static const upm_gyroscope_ft gft =
|
||||
{
|
||||
.upm_gyroscope_get_value = &upm_enc03r_get_value
|
||||
};
|
||||
|
||||
const void* upm_enc03r_get_ft(upm_sensor_t sensor_type)
|
||||
{
|
||||
switch(sensor_type)
|
||||
{
|
||||
case UPM_SENSOR:
|
||||
return &ft;
|
||||
|
||||
case UPM_GYROSCOPE:
|
||||
return &gft;
|
||||
|
||||
default:
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
|
||||
void* upm_enc03r_init_name()
|
||||
{
|
||||
return NULL;
|
||||
}
|
||||
|
||||
|
||||
void upm_enc03r_close(void *dev)
|
||||
{
|
||||
enc03r_close((enc03r_context)dev);
|
||||
}
|
||||
|
||||
upm_result_t upm_enc03r_get_value(void *dev, float *value)
|
||||
{
|
||||
if (enc03r_update((enc03r_context)dev))
|
||||
return UPM_ERROR_OPERATION_FAILED;
|
||||
|
||||
value[0] = enc03r_angular_velocity((enc03r_context)dev);
|
||||
value[1] = 0.0;
|
||||
value[2] = 0.0;
|
||||
|
||||
return UPM_SUCCESS;
|
||||
}
|
||||
Reference in New Issue
Block a user