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.h | 107 +++++++++++ ChibiOS_20.3.2/os/ex/include/ex_accelerometer.h | 219 ++++++++++++++++++++++ ChibiOS_20.3.2/os/ex/include/ex_barometer.h | 218 ++++++++++++++++++++++ ChibiOS_20.3.2/os/ex/include/ex_compass.h | 218 ++++++++++++++++++++++ ChibiOS_20.3.2/os/ex/include/ex_displays.h | 112 +++++++++++ ChibiOS_20.3.2/os/ex/include/ex_gyroscope.h | 238 ++++++++++++++++++++++++ ChibiOS_20.3.2/os/ex/include/ex_hygrometer.h | 218 ++++++++++++++++++++++ ChibiOS_20.3.2/os/ex/include/ex_rangefinder.h | 218 ++++++++++++++++++++++ ChibiOS_20.3.2/os/ex/include/ex_sensors.h | 151 +++++++++++++++ ChibiOS_20.3.2/os/ex/include/ex_thermometer.h | 218 ++++++++++++++++++++++ 10 files changed, 1917 insertions(+) create mode 100644 ChibiOS_20.3.2/os/ex/include/ex.h create mode 100644 ChibiOS_20.3.2/os/ex/include/ex_accelerometer.h create mode 100644 ChibiOS_20.3.2/os/ex/include/ex_barometer.h create mode 100644 ChibiOS_20.3.2/os/ex/include/ex_compass.h create mode 100644 ChibiOS_20.3.2/os/ex/include/ex_displays.h create mode 100644 ChibiOS_20.3.2/os/ex/include/ex_gyroscope.h create mode 100644 ChibiOS_20.3.2/os/ex/include/ex_hygrometer.h create mode 100644 ChibiOS_20.3.2/os/ex/include/ex_rangefinder.h create mode 100644 ChibiOS_20.3.2/os/ex/include/ex_sensors.h create mode 100644 ChibiOS_20.3.2/os/ex/include/ex_thermometer.h (limited to 'ChibiOS_20.3.2/os/ex/include') 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 . +*/ + +/** + * @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 */ + +/** @} */ -- cgit v1.2.3