From 48026bb824fd2d9cfb00ecd040db6ef3a416bae9 Mon Sep 17 00:00:00 2001 From: Clyne Sullivan Date: Fri, 22 Jan 2021 21:43:36 -0500 Subject: upload initial port --- ChibiOS_20.3.2/os/ex/include/ex_rangefinder.h | 218 ++++++++++++++++++++++++++ 1 file changed, 218 insertions(+) create mode 100644 ChibiOS_20.3.2/os/ex/include/ex_rangefinder.h (limited to 'ChibiOS_20.3.2/os/ex/include/ex_rangefinder.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 */ + +/** @} */ -- cgit v1.2.3