1 files changed, 147 insertions, 0 deletions
diff --git a/os/hal/lib/peripherals/sensors/hal_sensors.h b/os/hal/lib/peripherals/sensors/hal_sensors.h
new file mode 100644
index 000000000..fc2766d64
--- /dev/null
+++ b/os/hal/lib/peripherals/sensors/hal_sensors.h
@@ -0,0 +1,147 @@
+/*
+    ChibiOS - Copyright (C) 2016 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    hal_sensors.h
+ * @brief   Generic sensors interface header.
+ *
+ * @addtogroup HAL_SENSORS
+ * @{
+ */
+
+#ifndef _HAL_SENSORS_H_
+#define _HAL_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 axes.*/                                                  \
+  size_t (*get_axes_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_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
+
+/**
+ * @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_basesensor;
+  _base_sensor_data
+} BaseSensor;
+
+/*===========================================================================*/
+/* Driver macros.                                                            */
+/*===========================================================================*/
+
+/**
+ * @name    Macro Functions (BaseSensor)
+ * @{
+ */
+/**
+ * @brief   Sensors get axes number.
+ *
+ * @param[in] ip        pointer to a @p BaseSensor or derived class.
+ * @return              The number of axes of the BaseSensor
+ *
+ * @api
+ */
+#define sensorGetAxesNumber(ip) (ip)->vmt_basesensor->get_axes_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_basesensor->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_basesensor->read_cooked(ip, dp)
+/** @} */
+
+/*===========================================================================*/
+/* External declarations.                                                    */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _HAL_SENSORS_H_ */
+
+/** @} */