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239 lines
8.0 KiB
C
239 lines
8.0 KiB
C
4 years ago
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/*
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ChibiOS - Copyright (C) 2006..2018 Rocco Marco Guglielmi
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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*/
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/**
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* @file ex_gyroscope.h
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* @brief Generic gyroscope interface header.
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*
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* @addtogroup EX_GYROSCOPE
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* @{
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*/
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#ifndef EX_GYROSCOPE_H
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#define EX_GYROSCOPE_H
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#include "ex_sensors.h"
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/*===========================================================================*/
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/* Driver constants. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver pre-compile time settings. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Derived constants and error checks. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver data structures and types. */
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/*===========================================================================*/
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/**
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* @brief BaseGyroscope specific methods.
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*/
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#define _base_gyroscope_methods_alone \
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/* Invoke the sample bias procedure.*/ \
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msg_t (*sample_bias)(void *instance); \
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/* Invoke the set bias procedure.*/ \
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msg_t (*set_bias)(void *instance, float biases[]); \
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/* Remove bias stored data.*/ \
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msg_t (*reset_bias)(void *instance); \
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/* Invoke the set sensitivity procedure.*/ \
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msg_t (*set_sensitivity)(void *instance, float sensitivities[]); \
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/* Restore sensitivity stored data to default.*/ \
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msg_t (*reset_sensitivity)(void *instance);
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/**
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* @brief BaseGyroscope specific methods with inherited ones.
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*/
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#define _base_gyroscope_methods \
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_base_sensor_methods \
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_base_gyroscope_methods_alone
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/**
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* @brief @p BaseGyroscope virtual methods table.
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*/
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struct BaseGyroscopeVMT {
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_base_gyroscope_methods
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};
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/**
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* @brief @p BaseGyroscope specific data.
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*/
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#define _base_gyroscope_data \
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_base_sensor_data
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/**
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* @extends BaseSensor
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*
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* @brief Base gyroscope class.
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* @details This class represents a generic gyroscope.
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*/
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typedef struct {
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/** @brief Virtual Methods Table.*/
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const struct BaseGyroscopeVMT *vmt;
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_base_gyroscope_data
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} BaseGyroscope;
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/*===========================================================================*/
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/* Driver macros. */
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/*===========================================================================*/
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/**
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* @name Macro Functions (BaseGyroscope)
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* @{
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*/
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/**
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* @brief Gyroscope get axes number.
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*
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* @param[in] ip pointer to a @p BaseGyroscope class.
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* @return The number of axes of the BaseGyroscope
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*
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* @api
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*/
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#define gyroscopeGetAxesNumber(ip) \
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(ip)->vmt->get_channels_number(ip)
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/**
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* @brief Gyroscope read raw data.
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*
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* @param[in] ip pointer to a @p BaseGyroscope class.
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* @param[in] dp pointer to a data array.
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*
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* @return The operation status.
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* @retval MSG_OK if the function succeeded.
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* @retval MSG_RESET if one or more errors occurred.
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*
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* @api
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*/
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#define gyroscopeReadRaw(ip, dp) \
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(ip)->vmt->read_raw(ip, dp)
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/**
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* @brief Gyroscope read cooked data.
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*
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* @param[in] ip pointer to a @p BaseGyroscope class.
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* @param[in] dp pointer to a data array.
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*
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* @return The operation status.
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* @retval MSG_OK if the function succeeded.
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* @retval MSG_RESET if one or more errors occurred.
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*
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* @api
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*/
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#define gyroscopeReadCooked(ip, dp) \
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(ip)->vmt->read_cooked(ip, dp)
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/**
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* @brief Gyroscope bias sampling procedure.
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* @note During this procedure gyroscope must be kept hold in the rest
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* position. Sampled bias will be automatically removed after
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* calling this procedure.
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*
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* @param[in] ip pointer to a @p BaseGyroscope class.
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*
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* @return The operation status.
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* @retval MSG_OK if the function succeeded.
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* @retval MSG_RESET if one or more errors occurred.
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*
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* @api
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*/
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#define gyroscopeSampleBias(ip) \
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(ip)->vmt->sample_bias(ip)
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/**
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* @brief Updates gyroscope bias data from received buffer.
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* @note The bias buffer must have the same length of the
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* the gyroscope axes number.
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*
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* @param[in] ip pointer to a @p BaseGyroscope class.
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* @param[in] bp pointer to a buffer of bias values.
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*
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* @return The operation status.
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* @retval MSG_OK if the function succeeded.
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* @retval MSG_RESET if one or more errors occurred.
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*
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* @api
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*/
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#define gyroscopeSetBias(ip, bp) \
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(ip)->vmt->set_bias(ip, bp)
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/**
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* @brief Reset gyroscope bias data restoring it to zero.
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*
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* @param[in] ip pointer to a @p BaseGyroscope class.
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*
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* @return The operation status.
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* @retval MSG_OK if the function succeeded.
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* @retval MSG_RESET if one or more errors occurred.
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*
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* @api
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*/
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#define gyroscopeResetBias(ip) \
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(ip)->vmt->reset_bias(ip)
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/**
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* @brief Updates gyroscope sensitivity data from received buffer.
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* @note The sensitivity buffer must have the same length of the
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* the gyroscope axes number.
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*
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* @param[in] ip pointer to a @p BaseGyroscope class.
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* @param[in] sp pointer to a buffer of sensitivity values.
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*
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* @return The operation status.
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* @retval MSG_OK if the function succeeded.
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* @retval MSG_RESET if one or more errors occurred.
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*
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* @api
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*/
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#define gyroscopeSetSensitivity(ip, sp) \
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(ip)->vmt->set_sensitivity(ip, sp)
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/**
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* @brief Reset gyroscope sensitivity data restoring it to its typical
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* value.
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*
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* @param[in] ip pointer to a @p BaseGyroscope class.
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*
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* @return The operation status.
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* @retval MSG_OK if the function succeeded.
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* @retval MSG_RESET if one or more errors occurred.
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*
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* @api
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*/
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#define gyroscopeResetSensitivity(ip) \
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(ip)->vmt->reset_sensitivity(ip)
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/** @} */
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/*===========================================================================*/
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/* External declarations. */
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/*===========================================================================*/
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#ifdef __cplusplus
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extern "C" {
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#endif
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#ifdef __cplusplus
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}
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#endif
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#endif /* EX_GYROSCOPE_H */
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/** @} */
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