diff options
Diffstat (limited to 'os/hal')
| -rw-r--r-- | os/hal/lib/peripherals/sensors/hal_accelerometer.h | 75 | ||||
| -rw-r--r-- | os/hal/lib/peripherals/sensors/hal_gyroscope.h | 3 |
2 files changed, 76 insertions, 2 deletions
diff --git a/os/hal/lib/peripherals/sensors/hal_accelerometer.h b/os/hal/lib/peripherals/sensors/hal_accelerometer.h index e2f05d7fb..da6a58b4b 100644 --- a/os/hal/lib/peripherals/sensors/hal_accelerometer.h +++ b/os/hal/lib/peripherals/sensors/hal_accelerometer.h @@ -46,7 +46,15 @@ /**
* @brief BaseAccelerometer specific methods.
*/
-#define _base_accelerometer_methods_alone
+#define _base_accelerometer_methods_alone \
+ /* Invoke the set bias procedure.*/ \
+ msg_t (*set_bias)(void *instance, int32_t 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.
@@ -126,6 +134,71 @@ typedef struct { */
#define accelerometerReadCooked(ip, dp) \
(ip)->vmt_baseaccelerometer->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. Bias must be computed on
+ * raw data and is a signed integer.
+ *
+ *
+ * @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_baseaccelerometer->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_baseaccelerometer->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_baseaccelerometer->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_baseaccelerometer->reset_sensitivity(ip)
/** @} */
/*===========================================================================*/
diff --git a/os/hal/lib/peripherals/sensors/hal_gyroscope.h b/os/hal/lib/peripherals/sensors/hal_gyroscope.h index 1fb36e8d8..6e43929d4 100644 --- a/os/hal/lib/peripherals/sensors/hal_gyroscope.h +++ b/os/hal/lib/peripherals/sensors/hal_gyroscope.h @@ -158,7 +158,8 @@ typedef struct { /**
* @brief Updates gyroscope bias data from received buffer.
* @note The bias buffer must have the same length of the
- * the gyroscope axes number.
+ * the gyroscope axes number. Bias must be computed on
+ * raw data and is a signed integer.
*
* @param[in] ip pointer to a @p BaseGyroscope class.
* @param[in] bp pointer to a buffer of bias values.
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