diff options
Diffstat (limited to 'ChibiOS_20.3.2/os/ex/include/ex_accelerometer.h')
| -rw-r--r-- | ChibiOS_20.3.2/os/ex/include/ex_accelerometer.h | 219 |
1 files changed, 219 insertions, 0 deletions
diff --git a/ChibiOS_20.3.2/os/ex/include/ex_accelerometer.h b/ChibiOS_20.3.2/os/ex/include/ex_accelerometer.h new file mode 100644 index 0000000..4520ce0 --- /dev/null +++ b/ChibiOS_20.3.2/os/ex/include/ex_accelerometer.h @@ -0,0 +1,219 @@ +/*
+ 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_accelerometer.h
+ * @brief Generic accelerometer interface header.
+ *
+ * @addtogroup EX_ACCELEROMETER
+ * @{
+ */
+
+#ifndef EX_ACCELEROMETER_H
+#define EX_ACCELEROMETER_H
+
+#include "ex_sensors.h"
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @brief BaseAccelerometer specific methods.
+ */
+#define _base_accelerometer_methods_alone \
+ /* 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 BaseAccelerometer specific methods with inherited ones.
+ */
+#define _base_accelerometer_methods \
+ _base_sensor_methods \
+ _base_accelerometer_methods_alone
+
+/**
+ * @brief @p BaseAccelerometer virtual methods table.
+ */
+struct BaseAccelerometerVMT {
+ _base_accelerometer_methods
+};
+
+/**
+ * @brief @p BaseAccelerometer specific data.
+ */
+#define _base_accelerometer_data \
+ _base_sensor_data
+
+/**
+ * @extends BaseSensor
+ *
+ * @brief Base accelerometer class.
+ * @details This class represents a generic a generic accelerometer.
+ */
+typedef struct {
+ /** @brief Virtual Methods Table.*/
+ const struct BaseAccelerometerVMT *vmt;
+ _base_accelerometer_data
+} BaseAccelerometer;
+
+/*===========================================================================*/
+/* Driver macros. */
+/*===========================================================================*/
+
+/**
+ * @name Macro Functions (BaseAccelerometer)
+ * @{
+ */
+/**
+ * @brief Accelerometer get axes number.
+ *
+ * @param[in] ip pointer to a @p BaseAccelerometer class.
+ * @return The number of axes of the BaseAccelerometer
+ *
+ * @api
+ */
+#define accelerometerGetAxesNumber(ip) \
+ (ip)->vmt->get_channels_number(ip)
+
+/**
+ * @brief Accelerometer read raw data.
+ *
+ * @param[in] ip pointer to a @p BaseAccelerometer 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 accelerometerReadRaw(ip, dp) \
+ (ip)->vmt->read_raw(ip, dp)
+
+/**
+ * @brief Accelerometer read cooked data.
+ *
+ * @param[in] ip pointer to a @p BaseAccelerometer 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 accelerometerReadCooked(ip, dp) \
+ (ip)->vmt->read_cooked(ip, dp)
+
+/**
+ * @brief Updates accelerometer bias data from received buffer.
+ * @note The bias buffer must have the same length of the
+ * the accelerometer axes number.
+ *
+ *
+ * @param[in] ip pointer to a @p BaseAccelerometer 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 accelerometerSetBias(ip, bp) \
+ (ip)->vmt->set_bias(ip, bp)
+
+/**
+ * @brief Reset accelerometer bias data restoring it to zero.
+ *
+ * @param[in] ip pointer to a @p BaseAccelerometer class.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET if one or more errors occurred.
+ *
+ * @api
+ */
+#define accelerometerResetBias(ip) \
+ (ip)->vmt->reset_bias(ip)
+
+/**
+ * @brief Updates accelerometer sensitivity data from received buffer.
+ * @note The sensitivity buffer must have the same length of the
+ * the accelerometer axes number.
+ *
+ * @param[in] ip pointer to a @p BaseAccelerometer 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 accelerometerSetSensitivity(ip, sp) \
+ (ip)->vmt->set_sensitivity(ip, sp)
+
+/**
+ * @brief Reset accelerometer sensitivity data restoring it to its typical
+ * value.
+ *
+ * @param[in] ip pointer to a @p BaseAccelerometer class.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET if one or more errors occurred.
+ *
+ * @api
+ */
+#define accelerometerResetSensitivity(ip) \
+ (ip)->vmt->reset_sensitivity(ip)
+/** @} */
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* EX_ACCELEROMETER_H */
+
+/** @} */
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