diff options
Diffstat (limited to 'os/hal/lib/peripherals/include/hal_gyroscope.h')
| -rw-r--r-- | os/hal/lib/peripherals/include/hal_gyroscope.h | 92 |
1 files changed, 81 insertions, 11 deletions
diff --git a/os/hal/lib/peripherals/include/hal_gyroscope.h b/os/hal/lib/peripherals/include/hal_gyroscope.h index c593f8fe6..142832094 100644 --- a/os/hal/lib/peripherals/include/hal_gyroscope.h +++ b/os/hal/lib/peripherals/include/hal_gyroscope.h @@ -25,6 +25,8 @@ #ifndef _HAL_GYROSCOPE_H_
#define _HAL_GYROSCOPE_H_
+#include "hal_sensors.h"
+
/*===========================================================================*/
/* Driver constants. */
/*===========================================================================*/
@@ -42,6 +44,16 @@ /*===========================================================================*/
/**
+ * @brief BaseGyroscope specific methods.
+ */
+#define _base_gyroscope_methods \
+ _base_sensor_methods \
+ /* Remove the calibration data.*/ \
+ msg_t (*reset_calibration)(void *instance); \
+ /* Invokes the calibration procedure.*/ \
+ msg_t (*calibrate)(void *instance);
+
+/**
* @brief @p BaseGyroscope virtual methods table.
*/
struct BaseGyroscopeVMT {
@@ -49,6 +61,12 @@ struct BaseGyroscopeVMT { };
/**
+ * @brief @p BaseGyroscope specific data.
+ */
+#define _base_gyroscope_data \
+ _base_sensor_data
+
+/**
* @brief Base gyroscope class.
* @details This class represents a generic gyroscope.
*/
@@ -63,21 +81,73 @@ typedef struct { /*===========================================================================*/
/**
- * @brief BaseGyroscope specific methods.
+ * @name Macro Functions (BaseGyroscope)
+ * @{
*/
-#define _base_gyroscope_methods \
- _base_sensor_methods \
- /* Remove the calibration data.*/ \
- msg_t (*reset_calibration)(void); \
- /* Invokes the calibration procedure.*/ \
- msg_t (*calibrate)(void);
+/**
+ * @brief Gyroscope get axes number.
+ *
+ * @param[in] ip pointer to a @p BaseGyroscope class.
+ * @return The number of axes of the BaseSensor
+ *
+ * @api
+ */
+#define gyroscopeGetAxesNumber(ip) sensorGetAxesNumber(ip)
/**
- * @brief @p BaseGyroscope specific data.
- * @note It is empty because @p BaseGyroscope is only an interface
- * without implementation.
+ * @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 _base_gyroscope_data
+#define gyroscopeReadRaw(ip, dp) sensorReadRaw(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) sensorReadCooked(ip, dp)
+
+/**
+ * @brief Delete calibration data.
+ *
+ * @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 gyroscopeResetCalibration(ip) ((ip)->vmt->reset_calibration(ip))
+
+/**
+ * @brief Gyroscope calibration 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 gyroscopeCalibrate(ip) ((ip)->vmt->calibrate(ip))
+/** @} */
/*===========================================================================*/
/* External declarations. */
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