diff options
| author | Clyne Sullivan <clyne@bitgloo.com> | 2021-01-22 21:43:36 -0500 |
|---|---|---|
| committer | Clyne Sullivan <clyne@bitgloo.com> | 2021-01-22 21:43:36 -0500 |
| commit | 48026bb824fd2d9cfb00ecd040db6ef3a416bae9 (patch) | |
| tree | c14713aedfe78ee8b34f2e1252408782e2e2ff5d /ChibiOS_20.3.2/os/ex/include/ex_gyroscope.h | |
| parent | e080a26651f90c88176140d63a74c93c2f4041a2 (diff) | |
upload initial port
Diffstat (limited to 'ChibiOS_20.3.2/os/ex/include/ex_gyroscope.h')
| -rw-r--r-- | ChibiOS_20.3.2/os/ex/include/ex_gyroscope.h | 238 |
1 files changed, 238 insertions, 0 deletions
diff --git a/ChibiOS_20.3.2/os/ex/include/ex_gyroscope.h b/ChibiOS_20.3.2/os/ex/include/ex_gyroscope.h new file mode 100644 index 0000000..5f04dc2 --- /dev/null +++ b/ChibiOS_20.3.2/os/ex/include/ex_gyroscope.h @@ -0,0 +1,238 @@ +/*
+ ChibiOS - Copyright (C) 2006..2018 Rocco Marco Guglielmi
+
+ Licensed 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.
+*/
+
+/**
+ * @file ex_gyroscope.h
+ * @brief Generic gyroscope interface header.
+ *
+ * @addtogroup EX_GYROSCOPE
+ * @{
+ */
+
+#ifndef EX_GYROSCOPE_H
+#define EX_GYROSCOPE_H
+
+#include "ex_sensors.h"
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @brief BaseGyroscope specific methods.
+ */
+#define _base_gyroscope_methods_alone \
+ /* Invoke the sample bias procedure.*/ \
+ msg_t (*sample_bias)(void *instance); \
+ /* Invoke the set bias procedure.*/ \
+ msg_t (*set_bias)(void *instance, float biases[]); \
+ /* Remove bias stored data.*/ \
+ msg_t (*reset_bias)(void *instance); \
+ /* Invoke the set sensitivity procedure.*/ \
+ msg_t (*set_sensitivity)(void *instance, float sensitivities[]); \
+ /* Restore sensitivity stored data to default.*/ \
+ msg_t (*reset_sensitivity)(void *instance);
+
+
+/**
+ * @brief BaseGyroscope specific methods with inherited ones.
+ */
+#define _base_gyroscope_methods \
+ _base_sensor_methods \
+ _base_gyroscope_methods_alone
+
+/**
+ * @brief @p BaseGyroscope virtual methods table.
+ */
+struct BaseGyroscopeVMT {
+ _base_gyroscope_methods
+};
+
+/**
+ * @brief @p BaseGyroscope specific data.
+ */
+#define _base_gyroscope_data \
+ _base_sensor_data
+
+/**
+ * @extends BaseSensor
+ *
+ * @brief Base gyroscope class.
+ * @details This class represents a generic gyroscope.
+ */
+typedef struct {
+ /** @brief Virtual Methods Table.*/
+ const struct BaseGyroscopeVMT *vmt;
+ _base_gyroscope_data
+} BaseGyroscope;
+
+/*===========================================================================*/
+/* Driver macros. */
+/*===========================================================================*/
+
+/**
+ * @name Macro Functions (BaseGyroscope)
+ * @{
+ */
+/**
+ * @brief Gyroscope get axes number.
+ *
+ * @param[in] ip pointer to a @p BaseGyroscope class.
+ * @return The number of axes of the BaseGyroscope
+ *
+ * @api
+ */
+#define gyroscopeGetAxesNumber(ip) \
+ (ip)->vmt->get_channels_number(ip)
+
+/**
+ * @brief Gyroscope read raw data.
+ *
+ * @param[in] ip pointer to a @p BaseGyroscope class.
+ * @param[in] dp pointer to a data array.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET if one or more errors occurred.
+ *
+ * @api
+ */
+#define gyroscopeReadRaw(ip, dp) \
+ (ip)->vmt->read_raw(ip, dp)
+
+/**
+ * @brief Gyroscope read cooked data.
+ *
+ * @param[in] ip pointer to a @p BaseGyroscope class.
+ * @param[in] dp pointer to a data array.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET if one or more errors occurred.
+ *
+ * @api
+ */
+#define gyroscopeReadCooked(ip, dp) \
+ (ip)->vmt->read_cooked(ip, dp)
+
+/**
+ * @brief Gyroscope bias sampling procedure.
+ * @note During this procedure gyroscope must be kept hold in the rest
+ * position. Sampled bias will be automatically removed after
+ * calling this procedure.
+ *
+ * @param[in] ip pointer to a @p BaseGyroscope class.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET if one or more errors occurred.
+ *
+ * @api
+ */
+#define gyroscopeSampleBias(ip) \
+ (ip)->vmt->sample_bias(ip)
+
+/**
+ * @brief Updates gyroscope bias data from received buffer.
+ * @note The bias buffer must have the same length of the
+ * the gyroscope axes number.
+ *
+ * @param[in] ip pointer to a @p BaseGyroscope class.
+ * @param[in] bp pointer to a buffer of bias values.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET if one or more errors occurred.
+ *
+ * @api
+ */
+#define gyroscopeSetBias(ip, bp) \
+ (ip)->vmt->set_bias(ip, bp)
+
+/**
+ * @brief Reset gyroscope bias data restoring it to zero.
+ *
+ * @param[in] ip pointer to a @p BaseGyroscope class.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET if one or more errors occurred.
+ *
+ * @api
+ */
+#define gyroscopeResetBias(ip) \
+ (ip)->vmt->reset_bias(ip)
+
+/**
+ * @brief Updates gyroscope sensitivity data from received buffer.
+ * @note The sensitivity buffer must have the same length of the
+ * the gyroscope axes number.
+ *
+ * @param[in] ip pointer to a @p BaseGyroscope class.
+ * @param[in] sp pointer to a buffer of sensitivity values.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET if one or more errors occurred.
+ *
+ * @api
+ */
+#define gyroscopeSetSensitivity(ip, sp) \
+ (ip)->vmt->set_sensitivity(ip, sp)
+
+/**
+ * @brief Reset gyroscope sensitivity data restoring it to its typical
+ * value.
+ *
+ * @param[in] ip pointer to a @p BaseGyroscope class.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET if one or more errors occurred.
+ *
+ * @api
+ */
+#define gyroscopeResetSensitivity(ip) \
+ (ip)->vmt->reset_sensitivity(ip)
+/** @} */
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* EX_GYROSCOPE_H */
+
+/** @} */
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