ChibiOS  21.6.0
ex_compass.h
Go to the documentation of this file.
1 /*
2  ChibiOS - Copyright (C) 2006..2018 Rocco Marco Guglielmi
3 
4  Licensed under the Apache License, Version 2.0 (the "License");
5  you may not use this file except in compliance with the License.
6  You may obtain a copy of the License at
7 
8  http://www.apache.org/licenses/LICENSE-2.0
9 
10  Unless required by applicable law or agreed to in writing, software
11  distributed under the License is distributed on an "AS IS" BASIS,
12  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  See the License for the specific language governing permissions and
14  limitations under the License.
15 */
16 
17 /**
18  * @file ex_compass.h
19  * @brief Generic compass interface header.
20  *
21  * @addtogroup EX_COMPASS
22  * @{
23  */
24 
25 #ifndef EX_COMPASS_H
26 #define EX_COMPASS_H
27 
28 #include "ex_sensors.h"
29 
30 /*===========================================================================*/
31 /* Driver constants. */
32 /*===========================================================================*/
33 
34 /*===========================================================================*/
35 /* Driver pre-compile time settings. */
36 /*===========================================================================*/
37 
38 /*===========================================================================*/
39 /* Derived constants and error checks. */
40 /*===========================================================================*/
41 
42 /*===========================================================================*/
43 /* Driver data structures and types. */
44 /*===========================================================================*/
45 
46 /**
47  * @brief BaseCompass specific methods.
48  */
49 #define _base_compass_methods_alone \
50  /* Invoke the set bias procedure.*/ \
51  msg_t (*set_bias)(void *instance, float biases[]); \
52  /* Remove bias stored data.*/ \
53  msg_t (*reset_bias)(void *instance); \
54  /* Invoke the set sensitivity procedure.*/ \
55  msg_t (*set_sensitivity)(void *instance, float sensitivities[]); \
56  /* Restore sensitivity stored data to default.*/ \
57  msg_t (*reset_sensitivity)(void *instance);
58 
59 
60 /**
61  * @brief BaseCompass specific methods with inherited ones.
62  */
63 #define _base_compass_methods \
64  _base_sensor_methods \
65  _base_compass_methods_alone
66 
67 /**
68  * @brief @p BaseCompass virtual methods table.
69  */
70 struct BaseCompassVMT {
71  _base_compass_methods
72 };
73 
74 /**
75  * @brief @p BaseCompass specific data.
76  */
77 #define _base_compass_data \
78  _base_sensor_data
79 
80 /**
81  * @extends BaseSensor
82  *
83  * @brief Base compass class.
84  * @details This class represents a generic compass.
85  */
86 typedef struct {
87  /** @brief Virtual Methods Table.*/
88  const struct BaseCompassVMT *vmt;
89  _base_compass_data
90 } BaseCompass;
91 
92 /*===========================================================================*/
93 /* Driver macros. */
94 /*===========================================================================*/
95 /**
96  * @name Macro Functions (BaseCompass)
97  * @{
98  */
99 /**
100  * @brief Compass get axes number.
101  *
102  * @param[in] ip pointer to a @p BaseCompass class.
103  * @return The number of axes of the BaseCompass
104  *
105  * @api
106  */
107 #define compassGetAxesNumber(ip) \
108  (ip)->vmt->get_channels_number(ip)
109 
110 /**
111  * @brief Compass read raw data.
112  *
113  * @param[in] ip pointer to a @p BaseCompass class.
114  * @param[in] dp pointer to a data array.
115  *
116  * @return The operation status.
117  * @retval MSG_OK if the function succeeded.
118  * @retval MSG_RESET if one or more errors occurred.
119  *
120  * @api
121  */
122 #define compassReadRaw(ip, dp) \
123  (ip)->vmt->read_raw(ip, dp)
124 
125 /**
126  * @brief Compass read cooked data.
127  *
128  * @param[in] ip pointer to a @p BaseCompass class.
129  * @param[in] dp pointer to a data array.
130  *
131  * @return The operation status.
132  * @retval MSG_OK if the function succeeded.
133  * @retval MSG_RESET if one or more errors occurred.
134  *
135  * @api
136  */
137 #define compassReadCooked(ip, dp) \
138  (ip)->vmt->read_cooked(ip, dp)
139 
140 /**
141  * @brief Updates compass bias data from received buffer.
142  * @note The bias buffer must have the same length of the
143  * the compass axes number.
144  *
145  * @param[in] ip pointer to a @p BaseCompass class.
146  * @param[in] bp pointer to a buffer of bias values.
147  *
148  * @return The operation status.
149  * @retval MSG_OK if the function succeeded.
150  * @retval MSG_RESET if one or more errors occurred.
151  *
152  * @api
153  */
154 #define compassSetBias(ip, bp) \
155  (ip)->vmt->set_bias(ip, bp)
156 
157 /**
158  * @brief Reset compass bias data restoring it to zero.
159  *
160  * @param[in] ip pointer to a @p BaseCompass class.
161  *
162  * @return The operation status.
163  * @retval MSG_OK if the function succeeded.
164  * @retval MSG_RESET if one or more errors occurred.
165  *
166  * @api
167  */
168 #define compassResetBias(ip) \
169  (ip)->vmt->reset_bias(ip)
170 
171 /**
172  * @brief Updates compass sensitivity data from received buffer.
173  * @note The sensitivity buffer must have the same length of the
174  * the compass axes number.
175  *
176  * @param[in] ip pointer to a @p BaseCompass class.
177  * @param[in] sp pointer to a buffer of sensitivity values.
178  *
179  * @return The operation status.
180  * @retval MSG_OK if the function succeeded.
181  * @retval MSG_RESET if one or more errors occurred.
182  *
183  * @api
184  */
185 #define compassSetSensitivity(ip, sp) \
186  (ip)->vmt->set_sensitivity(ip, sp)
187 
188 /**
189  * @brief Reset compass sensitivity data restoring it to its typical
190  * value.
191  *
192  * @param[in] ip pointer to a @p BaseCompass class.
193  *
194  * @return The operation status.
195  * @retval MSG_OK if the function succeeded.
196  * @retval MSG_RESET if one or more errors occurred.
197  *
198  * @api
199  */
200 #define compassResetSensitivity(ip) \
201  (ip)->vmt->reset_sensitivity(ip)
202 /** @} */
203 
204 /*===========================================================================*/
205 /* External declarations. */
206 /*===========================================================================*/
207 
208 #ifdef __cplusplus
209 extern "C" {
210 #endif
211 
212 #ifdef __cplusplus
213 }
214 #endif
215 
216 #endif /* EX_COMPASS_H */
217 
218 /** @} */
BaseCompass
Base compass class.
Definition: ex_compass.h:86
_base_compass_methods
#define _base_compass_methods
BaseCompass specific methods with inherited ones.
Definition: ex_compass.h:63
BaseCompass::vmt
const struct BaseCompassVMT * vmt
Virtual Methods Table.
Definition: ex_compass.h:88
BaseCompassVMT
BaseCompass virtual methods table.
Definition: ex_compass.h:70
ex_sensors.h
Generic sensors interface header.
_base_compass_data
#define _base_compass_data
BaseCompass specific data.
Definition: ex_compass.h:77