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/*
ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
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_alone \
/* Invoke the sample bias procedure.*/ \
msg_t (*sample_bias)(void *instance); \
/* Invoke the set bias procedure.*/ \
msg_t (*set_bias)(void *instance, float 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 BaseGyroscope specific methods with inherited ones.
*/
#define _base_gyroscope_methods \
_base_sensor_methods \
_base_gyroscope_methods_alone
/**
* @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_gyroscope;
_base_gyroscope_data
} BaseGyroscope;
/*===========================================================================*/
/* Driver macros. */
/*===========================================================================*/
/**
* @name Macro Functions (BaseGyroscope)
* @{
*/
/**
* @brief Instance getter.
* @details This special method is used to get the instance of this class
* object from a derived class.
*/
#define getBaseGyroscope(ip) ((BaseGyroscope *)&(ip)->vmt_gyroscope)
/**
* @brief Gyroscope get axes number.
*
* @param[in] ip pointer to a @p BaseGyroscope class.
* @return The number of axes of the BaseGyroscope
*
* @api
*/
#define gyroscopeGetAxesNumber(ip) \
(ip)->vmt_gyroscope->get_channels_number(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) \
(ip)->vmt_gyroscope->read_raw(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) \
(ip)->vmt_gyroscope->read_cooked(ip, dp)
/**
* @brief Gyroscope bias sampling procedure.
* @note During this procedure gyroscope must be kept hold in the rest
* position. Sampled bias will be automatically removed after
* calling this 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 gyroscopeSampleBias(ip) \
(ip)->vmt_gyroscope->sample_bias(ip)
/**
* @brief Updates gyroscope bias data from received buffer.
* @note The bias buffer must have the same length of the
* the gyroscope axes number.
*
* @param[in] ip pointer to a @p BaseGyroscope 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 gyroscopeSetBias(ip, bp) \
(ip)->vmt_gyroscope->set_bias(ip, bp)
/**
* @brief Reset gyroscope bias data restoring it to zero.
*
* @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 gyroscopeResetBias(ip) \
(ip)->vmt_gyroscope->reset_bias(ip)
/**
* @brief Updates gyroscope sensitivity data from received buffer.
* @note The sensitivity buffer must have the same length of the
* the gyroscope axes number.
*
* @param[in] ip pointer to a @p BaseGyroscope 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 gyroscopeSetSensitivity(ip, sp) \
(ip)->vmt_gyroscope->set_sensitivity(ip, sp)
/**
* @brief Reset gyroscope sensitivity data restoring it to its typical
* value.
*
* @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 gyroscopeResetSensitivity(ip) \
(ip)->vmt_gyroscope->reset_sensitivity(ip)
/** @} */
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
#ifdef __cplusplus
extern "C" {
#endif
#ifdef __cplusplus
}
#endif
#endif /* HAL_GYROSCOPE_H */
/** @} */
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