diff options
Diffstat (limited to 'os/hal/lib/peripherals/include/hal_compass.h')
| -rw-r--r-- | os/hal/lib/peripherals/include/hal_compass.h | 88 |
1 files changed, 75 insertions, 13 deletions
diff --git a/os/hal/lib/peripherals/include/hal_compass.h b/os/hal/lib/peripherals/include/hal_compass.h index 53899953a..22bf22844 100644 --- a/os/hal/lib/peripherals/include/hal_compass.h +++ b/os/hal/lib/peripherals/include/hal_compass.h @@ -25,6 +25,8 @@ #ifndef _HAL_COMPASS_H_
#define _HAL_COMPASS_H_
+#include "hal_sensors.h"
+
/*===========================================================================*/
/* Driver constants. */
/*===========================================================================*/
@@ -42,14 +44,25 @@ /*===========================================================================*/
/**
+ * @brief BaseCompass specific methods.
+ */
+#define _base_compass_methods \
+ _base_sensor_methods
+
+/**
* @brief @p BaseCompass virtual methods table.
*/
-
struct BaseCompassVMT {
_base_compass_methods
};
/**
+ * @brief @p BaseCompass specific data.
+ */
+#define _base_compass_data \
+ _base_sensor_data
+
+/**
* @brief Base compass class.
* @details This class represents a generic compass.
*/
@@ -57,30 +70,79 @@ 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 BaseSensor
+ *
+ * @api
+ */
+#define compassGetAxesNumber(ip) sensorGetAxesNumber(ip)
/**
- * @brief BaseCompass specific methods.
+ * @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) sensorReadRaw(ip, dp)
-#define _base_compass_methods \
- _base_sensor_methods \
- /* Remove the calibration data.*/ \
- msg_t (*reset_calibration)(void); \
- /* Invokes the calibration procedure.*/ \
- msg_t (*calibrate)(void);
+/**
+ * @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) sensorReadCooked(ip, dp)
/**
- * @brief @p BaseCompass specific data.
- * @note It is empty because @p BaseCompass is only an interface
- * without implementation.
+ * @brief Delete calibration data.
+ *
+ * @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 compassResetCalibration(ip) ((ip)->vmt->reset_calibration(ip))
+
+/**
+ * @brief Compass calibration procedure.
+ *
+ * @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 _base_compass_data
+#define compassCalibrate(ip) ((ip)->vmt->calibrate(ip))
+/** @} */
/*===========================================================================*/
/* External declarations. */
|