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authorGiovanni Di Sirio <gdisirio@gmail.com>2016-03-15 14:48:56 +0000
committerGiovanni Di Sirio <gdisirio@gmail.com>2016-03-15 14:48:56 +0000
commit7e2682c0e801e6b3f4edaeb291db221a1df7056a (patch)
tree0f2eea4b4a601a9ed2dc07376e9212972656be4a /os/hal/lib/peripherals/sensors
parente76e50a9d5a02c52f05d17439a856acd0fae7915 (diff)
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git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9114 35acf78f-673a-0410-8e92-d51de3d6d3f4
Diffstat (limited to 'os/hal/lib/peripherals/sensors')
-rw-r--r--os/hal/lib/peripherals/sensors/hal_accelerometer.h145
-rw-r--r--os/hal/lib/peripherals/sensors/hal_compass.h144
-rw-r--r--os/hal/lib/peripherals/sensors/hal_gyroscope.h177
-rw-r--r--os/hal/lib/peripherals/sensors/hal_sensors.h147
4 files changed, 613 insertions, 0 deletions
diff --git a/os/hal/lib/peripherals/sensors/hal_accelerometer.h b/os/hal/lib/peripherals/sensors/hal_accelerometer.h
new file mode 100644
index 000000000..7cd296e2f
--- /dev/null
+++ b/os/hal/lib/peripherals/sensors/hal_accelerometer.h
@@ -0,0 +1,145 @@
+/*
+ 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_accelerometer.h
+ * @brief Generic accelerometer interface header.
+ *
+ * @addtogroup HAL_ACCELEROMETER
+ * @{
+ */
+
+#ifndef _HAL_ACCELEROMETER_H_
+#define _HAL_ACCELEROMETER_H_
+
+#include "hal_sensors.h"
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @brief BaseAccelerometer specific methods.
+ */
+#define _base_accelerometer_methods_alone
+
+/**
+ * @brief BaseAccelerometer specific methods with inherited ones.
+ */
+#define _base_accelerometer_methods \
+ _base_sensor_methods \
+ _base_accelerometer_methods_alone
+
+/**
+ * @brief @p BaseAccelerometer virtual methods table.
+ */
+struct BaseAccelerometerVMT {
+ _base_accelerometer_methods
+};
+
+/**
+ * @brief @p BaseAccelerometer specific data.
+ */
+#define _base_accelerometer_data \
+ _base_sensor_data
+
+/**
+ * @brief Base accelerometer class.
+ * @details This class represents a generic a generic accelerometer.
+ */
+typedef struct {
+ /** @brief Virtual Methods Table.*/
+ const struct BaseAccelerometerVMT *vmt_baseaccelerometer;
+ _base_sensor_data
+} BaseAccelerometer;
+
+/*===========================================================================*/
+/* Driver macros. */
+/*===========================================================================*/
+
+/**
+ * @name Macro Functions (BaseAccelerometer)
+ * @{
+ */
+/**
+ * @brief Accelerometer get axes number.
+ *
+ * @param[in] ip pointer to a @p BaseAccelerometer class.
+ * @return The number of axes of the BaseSensor
+ *
+ * @api
+ */
+#define accelerometerGetAxesNumber(ip) \
+ (ip)->vmt_baseaccelerometer->get_axes_number(ip)
+
+/**
+ * @brief Accelerometer read raw data.
+ *
+ * @param[in] ip pointer to a @p BaseAccelerometer 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 accelerometerReadRaw(ip, dp) \
+ (ip)->vmt_baseaccelerometer->read_raw(ip, dp)
+
+/**
+ * @brief Accelerometer read cooked data.
+ *
+ * @param[in] ip pointer to a @p BaseAccelerometer 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 accelerometerReadCooked(ip, dp) \
+ (ip)->vmt_baseaccelerometer->read_cooked(ip, dp)
+/** @} */
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _HAL_ACCELEROMETER_H_ */
+
+/** @} */
diff --git a/os/hal/lib/peripherals/sensors/hal_compass.h b/os/hal/lib/peripherals/sensors/hal_compass.h
new file mode 100644
index 000000000..6ae9a9735
--- /dev/null
+++ b/os/hal/lib/peripherals/sensors/hal_compass.h
@@ -0,0 +1,144 @@
+/*
+ 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_compass.h
+ * @brief Generic compass interface header.
+ *
+ * @addtogroup HAL_COMPASS
+ * @{
+ */
+
+#ifndef _HAL_COMPASS_H_
+#define _HAL_COMPASS_H_
+
+#include "hal_sensors.h"
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @brief BaseCompass specific methods.
+ */
+#define _base_compass_methods_alone
+
+/**
+ * @brief BaseCompass specific methods with inherited ones.
+ */
+#define _base_compass_methods \
+ _base_sensor_methods \
+ _base_compass_methods_alone
+
+/**
+ * @brief @p BaseCompass virtual methods table.
+ */
+struct BaseCompassVMT {
+ _base_compass_methods
+};
+
+/**
+ * @brief @p BaseCompass specific data.
+ */
+#define _base_compass_data \
+ _base_sensor_data
+
+/**
+ * @brief Base compass class.
+ * @details This class represents a generic compass.
+ */
+typedef struct {
+ /** @brief Virtual Methods Table.*/
+ const struct BaseCompassVMT *vmt_basecompass;
+ _base_compass_data
+} BaseCompass;
+
+/*===========================================================================*/
+/* Driver macros. */
+/*===========================================================================*/
+/**
+ * @name Macro Functions (BaseCompass)
+ * @{
+ */
+/**
+ * @brief Compass get axes number.
+ *
+ * @param[in] ip pointer to a @p BaseCompass class.
+ * @return The number of axes of the BaseSensor
+ *
+ * @api
+ */
+#define compassGetAxesNumber(ip) \
+ (ip)->vmt_basecompass->get_axes_number(ip)
+
+/**
+ * @brief Compass read raw data.
+ *
+ * @param[in] ip pointer to a @p BaseCompass 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 compassReadRaw(ip, dp) \
+ (ip)->vmt_basecompass->read_raw(ip, dp)
+
+/**
+ * @brief Compass read cooked data.
+ *
+ * @param[in] ip pointer to a @p BaseCompass 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 compassReadCooked(ip, dp) \
+ (ip)->vmt_basecompass->read_cooked(ip, dp)
+/** @} */
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _HAL_COMPASS_H_ */
+
+/** @} */
diff --git a/os/hal/lib/peripherals/sensors/hal_gyroscope.h b/os/hal/lib/peripherals/sensors/hal_gyroscope.h
new file mode 100644
index 000000000..06ec8644a
--- /dev/null
+++ b/os/hal/lib/peripherals/sensors/hal_gyroscope.h
@@ -0,0 +1,177 @@
+/*
+ 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_alone \
+ /* Remove the calibration data.*/ \
+ msg_t (*reset_calibration)(void *instance); \
+ /* Invokes the calibration procedure.*/ \
+ msg_t (*calibrate)(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_basegyroscope;
+ _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) \
+ (ip)->vmt_basegyroscope->get_axes_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_basegyroscope->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_basegyroscope->read_cooked(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_basegyroscope->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_basegyroscope->calibrate(ip)
+/** @} */
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _HAL_GYROSCOPE_H_ */
+
+/** @} */
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_ */
+
+/** @} */
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