diff options
Diffstat (limited to 'ChibiOS_20.3.2/os/ex/include')
| -rw-r--r-- | ChibiOS_20.3.2/os/ex/include/ex.h | 107 | ||||
| -rw-r--r-- | ChibiOS_20.3.2/os/ex/include/ex_accelerometer.h | 219 | ||||
| -rw-r--r-- | ChibiOS_20.3.2/os/ex/include/ex_barometer.h | 218 | ||||
| -rw-r--r-- | ChibiOS_20.3.2/os/ex/include/ex_compass.h | 218 | ||||
| -rw-r--r-- | ChibiOS_20.3.2/os/ex/include/ex_displays.h | 112 | ||||
| -rw-r--r-- | ChibiOS_20.3.2/os/ex/include/ex_gyroscope.h | 238 | ||||
| -rw-r--r-- | ChibiOS_20.3.2/os/ex/include/ex_hygrometer.h | 218 | ||||
| -rw-r--r-- | ChibiOS_20.3.2/os/ex/include/ex_rangefinder.h | 218 | ||||
| -rw-r--r-- | ChibiOS_20.3.2/os/ex/include/ex_sensors.h | 151 | ||||
| -rw-r--r-- | ChibiOS_20.3.2/os/ex/include/ex_thermometer.h | 218 |
10 files changed, 1917 insertions, 0 deletions
diff --git a/ChibiOS_20.3.2/os/ex/include/ex.h b/ChibiOS_20.3.2/os/ex/include/ex.h new file mode 100644 index 0000000..8c521c4 --- /dev/null +++ b/ChibiOS_20.3.2/os/ex/include/ex.h @@ -0,0 +1,107 @@ +/*
+ ChibiOS - Copyright (C) 2016..2018 Rocco Marco Guglielmi
+
+ This file is part of ChibiOS.
+
+ ChibiOS is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @file ex.h
+ * @brief EX main include file.
+ *
+ * @addtogroup EX_INFO
+ * @details EX related info.
+ * @{
+ */
+
+#ifndef EX_H
+#define EX_H
+
+/*===========================================================================*/
+/* Module constants. */
+/*===========================================================================*/
+
+/**
+ * @brief ChibiOS/EX identification macro.
+ */
+#define _CHIBIOS_EX_
+
+/**
+ * @brief Stable release flag.
+ */
+#define CH_EX_STABLE 1
+
+/**
+ * @name ChibiOS/EX version identification
+ * @{
+ */
+/**
+ * @brief EX version string.
+ */
+#define CH_EX_VERSION "1.2.0"
+
+/**
+ * @brief EX version major number.
+ */
+#define CH_EX_MAJOR 1
+
+/**
+ * @brief EX version minor number.
+ */
+#define CH_EX_MINOR 2
+
+/**
+ * @brief EX version patch number.
+ */
+#define CH_EX_PATCH 0
+/** @} */
+
+/*===========================================================================*/
+/* Module pre-compile time settings. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module data structures and types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module macros. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Late inclusions. */
+/*===========================================================================*/
+
+#include "ex_sensors.h"
+#include "ex_accelerometer.h"
+#include "ex_barometer.h"
+#include "ex_compass.h"
+#include "ex_displays.h"
+#include "ex_gyroscope.h"
+#include "ex_hygrometer.h"
+#include "ex_rangefinder.h"
+#include "ex_thermometer.h"
+
+#endif /* EX_H */
+
+/** @} */
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 */
+
+/** @} */
diff --git a/ChibiOS_20.3.2/os/ex/include/ex_barometer.h b/ChibiOS_20.3.2/os/ex/include/ex_barometer.h new file mode 100644 index 0000000..b45f08c --- /dev/null +++ b/ChibiOS_20.3.2/os/ex/include/ex_barometer.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_barometer.h
+ * @brief Generic barometer interface header.
+ *
+ * @addtogroup EX_BAROMETER
+ * @{
+ */
+
+#ifndef EX_BAROMETER_H
+#define EX_BAROMETER_H
+
+#include "ex_sensors.h"
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @brief BaseBarometer specific methods.
+ */
+#define _base_barometer_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 BaseBarometer specific methods with inherited ones.
+ */
+#define _base_barometer_methods \
+ _base_sensor_methods \
+ _base_barometer_methods_alone
+
+/**
+ * @brief @p BaseBarometer virtual methods table.
+ */
+struct BaseBarometerVMT {
+ _base_barometer_methods
+};
+
+/**
+ * @brief @p BaseBarometer specific data.
+ */
+#define _base_barometer_data \
+ _base_sensor_data
+
+/**
+ * @extends BaseSensor
+ *
+ * @brief Base barometer class.
+ * @details This class represents a generic barometer.
+ */
+typedef struct {
+ /** @brief Virtual Methods Table.*/
+ const struct BaseBarometerVMT *vmt;
+ _base_barometer_data
+} BaseBarometer;
+
+/*===========================================================================*/
+/* Driver macros. */
+/*===========================================================================*/
+/**
+ * @name Macro Functions (BaseBarometer)
+ * @{
+ */
+/**
+ * @brief Barometer get channels number.
+ *
+ * @param[in] ip pointer to a @p BaseBarometer class.
+ * @return The number of channels of the BaseBarometer
+ *
+ * @api
+ */
+#define barometerGetChannelsNumber(ip) \
+ (ip)->vmt->get_channels_number(ip)
+
+/**
+ * @brief Barometer read raw data.
+ *
+ * @param[in] ip pointer to a @p BaseBarometer 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 barometerReadRaw(ip, dp) \
+ (ip)->vmt->read_raw(ip, dp)
+
+/**
+ * @brief Barometer read cooked data.
+ *
+ * @param[in] ip pointer to a @p BaseBarometer 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 barometerReadCooked(ip, dp) \
+ (ip)->vmt->read_cooked(ip, dp)
+
+/**
+ * @brief Updates barometer bias data from received buffer.
+ * @note The bias buffer must have the same length of the
+ * the barometer channels number.
+ *
+ * @param[in] ip pointer to a @p BaseBarometer 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 barometerSetBias(ip, bp) \
+ (ip)->vmt->set_bias(ip, bp)
+
+/**
+ * @brief Reset barometer bias data restoring it to zero.
+ *
+ * @param[in] ip pointer to a @p BaseBarometer class.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET if one or more errors occurred.
+ *
+ * @api
+ */
+#define barometerResetBias(ip) \
+ (ip)->vmt->reset_bias(ip)
+
+/**
+ * @brief Updates barometer sensitivity data from received buffer.
+ * @note The sensitivity buffer must have the same length of the
+ * the barometer channels number.
+ *
+ * @param[in] ip pointer to a @p BaseBarometer 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 barometerSetSensitivity(ip, sp) \
+ (ip)->vmt->set_sensitivity(ip, sp)
+
+/**
+ * @brief Reset barometer sensitivity data restoring it to its typical
+ * value.
+ *
+ * @param[in] ip pointer to a @p BaseBarometer class.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET if one or more errors occurred.
+ *
+ * @api
+ */
+#define barometerResetSensitivity(ip) \
+ (ip)->vmt->reset_sensitivity(ip)
+/** @} */
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* EX_BAROMETER_H */
+
+/** @} */
diff --git a/ChibiOS_20.3.2/os/ex/include/ex_compass.h b/ChibiOS_20.3.2/os/ex/include/ex_compass.h new file mode 100644 index 0000000..ddd38f2 --- /dev/null +++ b/ChibiOS_20.3.2/os/ex/include/ex_compass.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_compass.h
+ * @brief Generic compass interface header.
+ *
+ * @addtogroup EX_COMPASS
+ * @{
+ */
+
+#ifndef EX_COMPASS_H
+#define EX_COMPASS_H
+
+#include "ex_sensors.h"
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @brief BaseCompass specific methods.
+ */
+#define _base_compass_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 BaseCompass specific methods with inherited ones.
+ */
+#define _base_compass_methods \
+ _base_sensor_methods \
+ _base_compass_methods_alone
+
+/**
+ * @brief @p BaseCompass virtual methods table.
+ */
+struct BaseCompassVMT {
+ _base_compass_methods
+};
+
+/**
+ * @brief @p BaseCompass specific data.
+ */
+#define _base_compass_data \
+ _base_sensor_data
+
+/**
+ * @extends BaseSensor
+ *
+ * @brief Base compass class.
+ * @details This class represents a generic compass.
+ */
+typedef struct {
+ /** @brief Virtual Methods Table.*/
+ const struct BaseCompassVMT *vmt;
+ _base_compass_data
+} BaseCompass;
+
+/*===========================================================================*/
+/* Driver macros. */
+/*===========================================================================*/
+/**
+ * @name Macro Functions (BaseCompass)
+ * @{
+ */
+/**
+ * @brief Compass get axes number.
+ *
+ * @param[in] ip pointer to a @p BaseCompass class.
+ * @return The number of axes of the BaseCompass
+ *
+ * @api
+ */
+#define compassGetAxesNumber(ip) \
+ (ip)->vmt->get_channels_number(ip)
+
+/**
+ * @brief Compass read raw data.
+ *
+ * @param[in] ip pointer to a @p BaseCompass 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 compassReadRaw(ip, dp) \
+ (ip)->vmt->read_raw(ip, dp)
+
+/**
+ * @brief Compass read cooked data.
+ *
+ * @param[in] ip pointer to a @p BaseCompass 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 compassReadCooked(ip, dp) \
+ (ip)->vmt->read_cooked(ip, dp)
+
+/**
+ * @brief Updates compass bias data from received buffer.
+ * @note The bias buffer must have the same length of the
+ * the compass axes number.
+ *
+ * @param[in] ip pointer to a @p BaseCompass 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 compassSetBias(ip, bp) \
+ (ip)->vmt->set_bias(ip, bp)
+
+/**
+ * @brief Reset compass bias data restoring it to zero.
+ *
+ * @param[in] ip pointer to a @p BaseCompass class.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET if one or more errors occurred.
+ *
+ * @api
+ */
+#define compassResetBias(ip) \
+ (ip)->vmt->reset_bias(ip)
+
+/**
+ * @brief Updates compass sensitivity data from received buffer.
+ * @note The sensitivity buffer must have the same length of the
+ * the compass axes number.
+ *
+ * @param[in] ip pointer to a @p BaseCompass 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 compassSetSensitivity(ip, sp) \
+ (ip)->vmt->set_sensitivity(ip, sp)
+
+/**
+ * @brief Reset compass sensitivity data restoring it to its typical
+ * value.
+ *
+ * @param[in] ip pointer to a @p BaseCompass class.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET if one or more errors occurred.
+ *
+ * @api
+ */
+#define compassResetSensitivity(ip) \
+ (ip)->vmt->reset_sensitivity(ip)
+/** @} */
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* EX_COMPASS_H */
+
+/** @} */
diff --git a/ChibiOS_20.3.2/os/ex/include/ex_displays.h b/ChibiOS_20.3.2/os/ex/include/ex_displays.h new file mode 100644 index 0000000..81e3334 --- /dev/null +++ b/ChibiOS_20.3.2/os/ex/include/ex_displays.h @@ -0,0 +1,112 @@ +/*
+ 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_displays.h
+ * @brief Generic display interface header.
+ *
+ * @addtogroup EX_DISPLAYS
+ * @{
+ */
+
+#ifndef EX_DISPLAYS_H
+#define EX_DISPLAYS_H
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @brief @p BaseDisplay specific methods.
+ * @note No methods so far, just a common ancestor interface.
+ */
+#define _base_display_methods_alone
+
+/**
+ * @brief @p BaseDisplay specific methods with inherited ones.
+ */
+#define _base_display_methods \
+ _base_display_methods_alone
+
+/**
+ * @brief @p BaseDisplay virtual methods table.
+ */
+struct BaseDisplayVMT {
+ _base_display_methods
+};
+
+/**
+ * @brief @p BaseDisplay specific data.
+ * @note It is empty because @p BaseDisplay is only an interface
+ * without implementation.
+ */
+#define _base_display_data
+
+/**
+ * @brief Base display class.
+ */
+typedef struct {
+ /** @brief Virtual Methods Table.*/
+ const struct BaseDisplayVMT *vmt_basedisplay;
+ _base_display_data
+} BaseDisplay;
+
+/*===========================================================================*/
+/* Driver macros. */
+/*===========================================================================*/
+
+/**
+ * @name Macro Functions (BaseDisplay)
+ * @{
+ */
+/**
+ * @brief Sensors get axes number.
+ *
+ * @param[in] ip pointer to a @p BaseDisplay or derived class.
+ * @return The number of axes of the BaseDisplay
+ *
+ * @api
+ */
+#define displayGetType(ip) (ip)->vmt_basedisplay->get_type(ip)
+/** @} */
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* EX_DISPLAYS_H */
+
+/** @} */
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 */
+
+/** @} */
diff --git a/ChibiOS_20.3.2/os/ex/include/ex_hygrometer.h b/ChibiOS_20.3.2/os/ex/include/ex_hygrometer.h new file mode 100644 index 0000000..47b76a6 --- /dev/null +++ b/ChibiOS_20.3.2/os/ex/include/ex_hygrometer.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_hygrometer.h
+ * @brief Generic hygrometer interface header.
+ *
+ * @addtogroup EX_HYGROMETER
+ * @{
+ */
+
+#ifndef EX_HYGROMETER_H
+#define EX_HYGROMETER_H
+
+#include "ex_sensors.h"
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @brief BaseHygrometer specific methods.
+ */
+#define _base_hygrometer_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 BaseHygrometer specific methods with inherited ones.
+ */
+#define _base_hygrometer_methods \
+ _base_sensor_methods \
+ _base_hygrometer_methods_alone
+
+/**
+ * @brief @p BaseHygrometer virtual methods table.
+ */
+struct BaseHygrometerVMT {
+ _base_hygrometer_methods
+};
+
+/**
+ * @brief @p BaseHygrometer specific data.
+ */
+#define _base_hygrometer_data \
+ _base_sensor_data
+
+/**
+ * @extends BaseSensor
+ *
+ * @brief Base hygrometer class.
+ * @details This class represents a generic hygrometer.
+ */
+typedef struct {
+ /** @brief Virtual Methods Table.*/
+ const struct BaseHygrometerVMT *vmt;
+ _base_hygrometer_data
+} BaseHygrometer;
+
+/*===========================================================================*/
+/* Driver macros. */
+/*===========================================================================*/
+/**
+ * @name Macro Functions (BaseHygrometer)
+ * @{
+ */
+/**
+ * @brief Hygrometer get channels number.
+ *
+ * @param[in] ip pointer to a @p BaseHygrometer class.
+ * @return The number of channels of the BaseHygrometer
+ *
+ * @api
+ */
+#define hygrometerGetChannelsNumber(ip) \
+ (ip)->vmt->get_channels_number(ip)
+
+/**
+ * @brief Hygrometer read raw data.
+ *
+ * @param[in] ip pointer to a @p BaseHygrometer 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 hygrometerReadRaw(ip, dp) \
+ (ip)->vmt->read_raw(ip, dp)
+
+/**
+ * @brief Hygrometer read cooked data.
+ *
+ * @param[in] ip pointer to a @p BaseHygrometer 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 hygrometerReadCooked(ip, dp) \
+ (ip)->vmt->read_cooked(ip, dp)
+
+/**
+ * @brief Updates hygrometer bias data from received buffer.
+ * @note The bias buffer must have the same length of the
+ * the hygrometer channels number.
+ *
+ * @param[in] ip pointer to a @p BaseHygrometer 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 hygrometerSetBias(ip, bp) \
+ (ip)->vmt->set_bias(ip, bp)
+
+/**
+ * @brief Reset hygrometer bias data restoring it to zero.
+ *
+ * @param[in] ip pointer to a @p BaseHygrometer class.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET if one or more errors occurred.
+ *
+ * @api
+ */
+#define hygrometerResetBias(ip) \
+ (ip)->vmt->reset_bias(ip)
+
+/**
+ * @brief Updates hygrometer sensitivity data from received buffer.
+ * @note The sensitivity buffer must have the same length of the
+ * the hygrometer channels number.
+ *
+ * @param[in] ip pointer to a @p BaseHygrometer 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 hygrometerSetSensitivity(ip, sp) \
+ (ip)->vmt->set_sensitivity(ip, sp)
+
+/**
+ * @brief Reset hygrometer sensitivity data restoring it to its typical
+ * value.
+ *
+ * @param[in] ip pointer to a @p BaseHygrometer class.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET if one or more errors occurred.
+ *
+ * @api
+ */
+#define hygrometerResetSensitivity(ip) \
+ (ip)->vmt->reset_sensitivity(ip)
+/** @} */
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* EX_HYGROMETER_H */
+
+/** @} */
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 */
+
+/** @} */
diff --git a/ChibiOS_20.3.2/os/ex/include/ex_sensors.h b/ChibiOS_20.3.2/os/ex/include/ex_sensors.h new file mode 100644 index 0000000..3a0ef92 --- /dev/null +++ b/ChibiOS_20.3.2/os/ex/include/ex_sensors.h @@ -0,0 +1,151 @@ +/*
+ 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_sensors.h
+ * @brief Generic sensors interface header.
+ *
+ * @addtogroup EX_SENSORS
+ * @{
+ */
+
+#ifndef EX_SENSORS_H
+#define EX_SENSORS_H
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @brief BaseSensor specific methods.
+ */
+#define _base_sensor_methods_alone \
+ /* Get number of channels.*/ \
+ size_t (*get_channels_number)(void *instance); \
+ /* Reads the sensor raw data.*/ \
+ msg_t (*read_raw)(void *instance, int32_t axes[]); \
+ /* Reads the sensor returning normalized data.*/ \
+ msg_t (*read_cooked)(void *instance, float axes[]);
+
+/**
+ * @brief BaseSensor specific methods with inherited ones.
+ */
+#define _base_sensor_methods \
+ _base_object_methods \
+ _base_sensor_methods_alone
+
+/**
+ * @brief @p BaseSensor virtual methods table.
+ */
+struct BaseSensorVMT {
+ _base_sensor_methods
+};
+
+/**
+ * @brief @p BaseSensor specific data.
+ * @note It is empty because @p BaseSensor is only an interface
+ * without implementation.
+ */
+#define _base_sensor_data
+ _base_object_data \
+
+/**
+ * @extends BaseObject
+ *
+ * @brief Base stream class.
+ * @details This class represents a generic blocking unbuffered sequential
+ * data stream.
+ */
+typedef struct {
+ /** @brief Virtual Methods Table.*/
+ const struct BaseSensorVMT *vmt;
+ _base_sensor_data
+} BaseSensor;
+
+/*===========================================================================*/
+/* Driver macros. */
+/*===========================================================================*/
+
+/**
+ * @name Macro Functions (BaseSensor)
+ * @{
+ */
+/**
+ * @brief Sensors get channels number.
+ *
+ * @param[in] ip pointer to a @p BaseSensor or derived class.
+ * @return The number of channels of the BaseSensor
+ *
+ * @api
+ */
+#define sensorGetChannelNumber(ip) (ip)->vmt->get_channels_number(ip)
+
+/**
+ * @brief Sensors read raw data.
+ *
+ * @param[in] ip pointer to a @p BaseSensor or derived 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 sensorReadRaw(ip, dp) (ip)->vmt->read_raw(ip, dp)
+
+/**
+ * @brief Sensors read cooked data.
+ *
+ * @param[in] ip pointer to a @p BaseSensor or derived 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 sensorReadCooked(ip, dp) (ip)->vmt->read_cooked(ip, dp)
+/** @} */
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* EX_SENSORS_H */
+
+/** @} */
diff --git a/ChibiOS_20.3.2/os/ex/include/ex_thermometer.h b/ChibiOS_20.3.2/os/ex/include/ex_thermometer.h new file mode 100644 index 0000000..83af697 --- /dev/null +++ b/ChibiOS_20.3.2/os/ex/include/ex_thermometer.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_thermometer.h
+ * @brief Generic thermometer interface header.
+ *
+ * @addtogroup EX_THERMOMETER
+ * @{
+ */
+
+#ifndef EX_THERMOMETER_H
+#define EX_THERMOMETER_H
+
+#include "ex_sensors.h"
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @brief BaseThermometer specific methods.
+ */
+#define _base_thermometer_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 BaseThermometer specific methods with inherited ones.
+ */
+#define _base_thermometer_methods \
+ _base_sensor_methods \
+ _base_thermometer_methods_alone
+
+/**
+ * @brief @p BaseThermometer virtual methods table.
+ */
+struct BaseThermometerVMT {
+ _base_thermometer_methods
+};
+
+/**
+ * @brief @p BaseThermometer specific data.
+ */
+#define _base_thermometer_data \
+ _base_sensor_data
+
+/**
+ * @extends BaseSensor
+ *
+ * @brief Base thermometer class.
+ * @details This class represents a generic thermometer.
+ */
+typedef struct {
+ /** @brief Virtual Methods Table.*/
+ const struct BaseThermometerVMT *vmt;
+ _base_thermometer_data
+} BaseThermometer;
+
+/*===========================================================================*/
+/* Driver macros. */
+/*===========================================================================*/
+/**
+ * @name Macro Functions (BaseThermometer)
+ * @{
+ */
+/**
+ * @brief Thermometer get channels number.
+ *
+ * @param[in] ip pointer to a @p BaseThermometer class.
+ * @return The number of channels of the BaseThermometer
+ *
+ * @api
+ */
+#define thermometerGetChannelsNumber(ip) \
+ (ip)->vmt->get_channels_number(ip)
+
+/**
+ * @brief Thermometer read raw data.
+ *
+ * @param[in] ip pointer to a @p BaseThermometer 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 thermometerReadRaw(ip, dp) \
+ (ip)->vmt->read_raw(ip, dp)
+
+/**
+ * @brief Thermometer read cooked data.
+ *
+ * @param[in] ip pointer to a @p BaseThermometer 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 thermometerReadCooked(ip, dp) \
+ (ip)->vmt->read_cooked(ip, dp)
+
+/**
+ * @brief Updates thermometer bias data from received buffer.
+ * @note The bias buffer must have the same length of the
+ * the thermometer channels number.
+ *
+ * @param[in] ip pointer to a @p BaseThermometer 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 thermometerSetBias(ip, bp) \
+ (ip)->vmt->set_bias(ip, bp)
+
+/**
+ * @brief Reset thermometer bias data restoring it to zero.
+ *
+ * @param[in] ip pointer to a @p BaseThermometer class.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET if one or more errors occurred.
+ *
+ * @api
+ */
+#define thermometerResetBias(ip) \
+ (ip)->vmt->reset_bias(ip)
+
+/**
+ * @brief Updates thermometer sensitivity data from received buffer.
+ * @note The sensitivity buffer must have the same length of the
+ * the thermometer channels number.
+ *
+ * @param[in] ip pointer to a @p BaseThermometer 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 thermometerSetSensitivity(ip, sp) \
+ (ip)->vmt->set_sensitivity(ip, sp)
+
+/**
+ * @brief Reset thermometer sensitivity data restoring it to its typical
+ * value.
+ *
+ * @param[in] ip pointer to a @p BaseThermometer class.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET if one or more errors occurred.
+ *
+ * @api
+ */
+#define thermometerResetSensitivity(ip) \
+ (ip)->vmt->reset_sensitivity(ip)
+/** @} */
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* EX_THERMOMETER_H */
+
+/** @} */
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