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Diffstat (limited to 'ChibiOS_20.3.2/os/ex/include/ex_rangefinder.h')
| -rw-r--r-- | ChibiOS_20.3.2/os/ex/include/ex_rangefinder.h | 218 |
1 files changed, 218 insertions, 0 deletions
diff --git a/ChibiOS_20.3.2/os/ex/include/ex_rangefinder.h b/ChibiOS_20.3.2/os/ex/include/ex_rangefinder.h new file mode 100644 index 0000000..e6ae33a --- /dev/null +++ b/ChibiOS_20.3.2/os/ex/include/ex_rangefinder.h @@ -0,0 +1,218 @@ +/*
+ 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_rangefinder.h
+ * @brief Generic rangefinder interface header.
+ *
+ * @addtogroup EX_RANGEFINDER
+ * @{
+ */
+
+#ifndef EX_RANGEFINDER_H
+#define EX_RANGEFINDER_H
+
+#include "ex_sensors.h"
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @brief BaseRangeFinder specific methods.
+ */
+#define _base_rangefinder_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 BaseRangeFinder specific methods with inherited ones.
+ */
+#define _base_rangefinder_methods \
+ _base_sensor_methods \
+ _base_rangefinder_methods_alone
+
+/**
+ * @brief @p BaseRangeFinder virtual methods table.
+ */
+struct BaseRangeFinderVMT {
+ _base_rangefinder_methods
+};
+
+/**
+ * @brief @p BaseRangeFinder specific data.
+ */
+#define _base_rangefinder_data \
+ _base_sensor_data
+
+/**
+ * @extends BaseSensor
+ *
+ * @brief Base rangefinder class.
+ * @details This class represents a generic rangefinder.
+ */
+typedef struct {
+ /** @brief Virtual Methods Table.*/
+ const struct BaseRangeFinderVMT *vmt;
+ _base_rangefinder_data
+} BaseRangeFinder;
+
+/*===========================================================================*/
+/* Driver macros. */
+/*===========================================================================*/
+/**
+ * @name Macro Functions (BaseRangeFinder)
+ * @{
+ */
+/**
+ * @brief RangeFinder get channels number.
+ *
+ * @param[in] ip pointer to a @p BaseRangeFinder class.
+ * @return The number of channels of the BaseRangeFinder
+ *
+ * @api
+ */
+#define rangefinderGetChannelsNumber(ip) \
+ (ip)->vmt->get_channels_number(ip)
+
+/**
+ * @brief RangeFinder read raw data.
+ *
+ * @param[in] ip pointer to a @p BaseRangeFinder 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 rangefinderReadRaw(ip, dp) \
+ (ip)->vmt->read_raw(ip, dp)
+
+/**
+ * @brief RangeFinder read cooked data.
+ *
+ * @param[in] ip pointer to a @p BaseRangeFinder 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 rangefinderReadCooked(ip, dp) \
+ (ip)->vmt->read_cooked(ip, dp)
+
+/**
+ * @brief Updates rangefinder bias data from received buffer.
+ * @note The bias buffer must have the same length of the
+ * the rangefinder channels number.
+ *
+ * @param[in] ip pointer to a @p BaseRangeFinder 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 rangefinderSetBias(ip, bp) \
+ (ip)->vmt->set_bias(ip, bp)
+
+/**
+ * @brief Reset rangefinder bias data restoring it to zero.
+ *
+ * @param[in] ip pointer to a @p BaseRangeFinder class.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET if one or more errors occurred.
+ *
+ * @api
+ */
+#define rangefinderResetBias(ip) \
+ (ip)->vmt->reset_bias(ip)
+
+/**
+ * @brief Updates rangefinder sensitivity data from received buffer.
+ * @note The sensitivity buffer must have the same length of the
+ * the rangefinder channels number.
+ *
+ * @param[in] ip pointer to a @p BaseRangeFinder 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 rangefinderSetSensitivity(ip, sp) \
+ (ip)->vmt->set_sensitivity(ip, sp)
+
+/**
+ * @brief Reset rangefinder sensitivity data restoring it to its typical
+ * value.
+ *
+ * @param[in] ip pointer to a @p BaseRangeFinder class.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET if one or more errors occurred.
+ *
+ * @api
+ */
+#define rangefinderResetSensitivity(ip) \
+ (ip)->vmt->reset_sensitivity(ip)
+/** @} */
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* EX_RANGEFINDER_H */
+
+/** @} */
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