diff options
| -rw-r--r-- | os/hal/lib/peripherals/include/hal_gyroscope.h | 97 | ||||
| -rw-r--r-- | os/hal/lib/peripherals/include/hal_sensors.h | 98 |
2 files changed, 195 insertions, 0 deletions
diff --git a/os/hal/lib/peripherals/include/hal_gyroscope.h b/os/hal/lib/peripherals/include/hal_gyroscope.h new file mode 100644 index 000000000..b973b0059 --- /dev/null +++ b/os/hal/lib/peripherals/include/hal_gyroscope.h @@ -0,0 +1,97 @@ +/*
+ 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_
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @brief @p BaseSensor virtual methods table.
+ */
+struct BaseSensorVMT {
+ _base_sensor_methods
+};
+
+/**
+ * @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;
+ _base_sensor_data
+} BaseSensor;
+
+/*===========================================================================*/
+/* Driver macros. */
+/*===========================================================================*/
+
+/**
+ * @brief BaseGyroscope specific methods.
+ */
+#define _base_gyroscope_methods \
+ _base_sensor_methods \
+ /* Reads the sensor raw data.*/ \
+ msg_t (*reset_calibration)(void); \
+ /* Invokes the calibration procedure.*/ \
+ msg_t (*calibrate)(void);
+
+/**
+ * @brief @p BaseSensor specific data.
+ * @note It is empty because @p BaseSensor is only an interface
+ * without implementation.
+ */
+#define _base_gyroscope_data
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _HAL_GYROSCOPE_H_ */
+
+/** @} */
diff --git a/os/hal/lib/peripherals/include/hal_sensors.h b/os/hal/lib/peripherals/include/hal_sensors.h new file mode 100644 index 000000000..b3ed9dd5d --- /dev/null +++ b/os/hal/lib/peripherals/include/hal_sensors.h @@ -0,0 +1,98 @@ +/*
+ 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 @p BaseSensor virtual methods table.
+ */
+struct BaseSensorVMT {
+ _base_sensor_methods
+};
+
+/**
+ * @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;
+ _base_sensor_data
+} BaseSensor;
+
+/*===========================================================================*/
+/* Driver macros. */
+/*===========================================================================*/
+
+/**
+ * @brief BaseSensor specific methods.
+ */
+#define _base_sensor_methods \
+ /* Get number of axes.*/ \
+ size_t (*get_axes_number)(void); \
+ /* Reads the sensor raw data.*/ \
+ msg_t (*read_raw)(uint32_t axes[]); \
+ /* Reads the sensor returning normalized data.*/ \
+ msg_t (*read_cooked)(float axes[]);
+
+/**
+ * @brief @p BaseSensor specific data.
+ * @note It is empty because @p BaseSensor is only an interface
+ * without implementation.
+ */
+#define _base_sensor_data
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _HAL_SENSORS_H_ */
+
+/** @} */
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