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152 lines
5.0 KiB
C
152 lines
5.0 KiB
C
/*
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ChibiOS - Copyright (C) 2006..2018 Rocco Marco Guglielmi
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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*/
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/**
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* @file ex_sensors.h
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* @brief Generic sensors interface header.
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*
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* @addtogroup EX_SENSORS
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* @{
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*/
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#ifndef EX_SENSORS_H
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#define EX_SENSORS_H
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/*===========================================================================*/
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/* Driver constants. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver pre-compile time settings. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Derived constants and error checks. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver data structures and types. */
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/*===========================================================================*/
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/**
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* @brief BaseSensor specific methods.
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*/
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#define _base_sensor_methods_alone \
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/* Get number of channels.*/ \
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size_t (*get_channels_number)(void *instance); \
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/* Reads the sensor raw data.*/ \
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msg_t (*read_raw)(void *instance, int32_t axes[]); \
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/* Reads the sensor returning normalized data.*/ \
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msg_t (*read_cooked)(void *instance, float axes[]);
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/**
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* @brief BaseSensor specific methods with inherited ones.
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*/
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#define _base_sensor_methods \
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_base_object_methods \
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_base_sensor_methods_alone
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/**
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* @brief @p BaseSensor virtual methods table.
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*/
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struct BaseSensorVMT {
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_base_sensor_methods
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};
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/**
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* @brief @p BaseSensor specific data.
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* @note It is empty because @p BaseSensor is only an interface
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* without implementation.
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*/
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#define _base_sensor_data
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_base_object_data \
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/**
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* @extends BaseObject
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*
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* @brief Base stream class.
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* @details This class represents a generic blocking unbuffered sequential
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* data stream.
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*/
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typedef struct {
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/** @brief Virtual Methods Table.*/
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const struct BaseSensorVMT *vmt;
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_base_sensor_data
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} BaseSensor;
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/*===========================================================================*/
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/* Driver macros. */
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/*===========================================================================*/
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/**
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* @name Macro Functions (BaseSensor)
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* @{
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*/
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/**
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* @brief Sensors get channels number.
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*
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* @param[in] ip pointer to a @p BaseSensor or derived class.
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* @return The number of channels of the BaseSensor
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*
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* @api
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*/
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#define sensorGetChannelNumber(ip) (ip)->vmt->get_channels_number(ip)
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/**
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* @brief Sensors read raw data.
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*
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* @param[in] ip pointer to a @p BaseSensor or derived class.
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* @param[in] dp pointer to a data array.
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*
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* @return The operation status.
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* @retval MSG_OK if the function succeeded.
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* @retval MSG_RESET if one or more errors occurred.
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*
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* @api
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*/
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#define sensorReadRaw(ip, dp) (ip)->vmt->read_raw(ip, dp)
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/**
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* @brief Sensors read cooked data.
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*
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* @param[in] ip pointer to a @p BaseSensor or derived class.
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* @param[in] dp pointer to a data array.
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*
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* @return The operation status.
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* @retval MSG_OK if the function succeeded.
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* @retval MSG_RESET if one or more errors occurred.
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*
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* @api
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*/
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#define sensorReadCooked(ip, dp) (ip)->vmt->read_cooked(ip, dp)
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/** @} */
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/*===========================================================================*/
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/* External declarations. */
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/*===========================================================================*/
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#ifdef __cplusplus
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extern "C" {
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#endif
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#ifdef __cplusplus
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}
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#endif
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#endif /* EX_SENSORS_H */
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/** @} */
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