blob: 142832094921cd11dafbff128bea0aa4aa3fef5c (
plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
|
/*
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_gyroscope.h
* @brief Generic gyroscope interface header.
*
* @addtogroup HAL_GYROSCOPE
* @{
*/
#ifndef _HAL_GYROSCOPE_H_
#define _HAL_GYROSCOPE_H_
#include "hal_sensors.h"
/*===========================================================================*/
/* Driver constants. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver pre-compile time settings. */
/*===========================================================================*/
/*===========================================================================*/
/* Derived constants and error checks. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver data structures and types. */
/*===========================================================================*/
/**
* @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 {
_base_gyroscope_methods
};
/**
* @brief @p BaseGyroscope specific data.
*/
#define _base_gyroscope_data \
_base_sensor_data
/**
* @brief Base gyroscope class.
* @details This class represents a generic gyroscope.
*/
typedef struct {
/** @brief Virtual Methods Table.*/
const struct BaseGyroscopeVMT *vmt;
_base_gyroscope_data
} BaseGyroscope;
/*===========================================================================*/
/* Driver macros. */
/*===========================================================================*/
/**
* @name Macro Functions (BaseGyroscope)
* @{
*/
/**
* @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 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 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. */
/*===========================================================================*/
#ifdef __cplusplus
extern "C" {
#endif
#ifdef __cplusplus
}
#endif
#endif /* _HAL_GYROSCOPE_H_ */
/** @} */
|
