/**
******************************************************************************
*
* @file pios_sensors.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
* @brief PiOS sensors handling
* --
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef PIOS_SENSORS_H
#define PIOS_SENSORS_H
#include <pios.h>
#include <utlist.h>
#include <stdint.h>
#include <vectors.h>
// needed for debug APIs.
typedef bool (*PIOS_SENSORS_test_function)(uintptr_t context);
typedef void (*PIOS_SENSORS_reset_function)(uintptr_t context);
typedef bool (*PIOS_SENSORS_poll_function)(uintptr_t context);
typedef void (*PIOS_SENSORS_fetch_function)(void *samples, uint8_t size, uintptr_t context);
/**
* return an array with current scale for the instance.
* Instances with multiples sensors returns several value in the same
* order as they appear in PIOS_SENSORS_TYPE enums.
*/
typedef void (*PIOS_SENSORS_get_scale_function)(float *, uint8_t size, uintptr_t context);
typedef QueueHandle_t (*PIOS_SENSORS_get_queue_function)(uintptr_t context);
typedef struct PIOS_SENSORS_Driver {
PIOS_SENSORS_test_function test; // called at startup to test the sensor
PIOS_SENSORS_poll_function poll; // called to check whether data are available for polled sensors
PIOS_SENSORS_fetch_function fetch; // called to fetch data for polled sensors
PIOS_SENSORS_reset_function reset; // reset sensor. for example if data are not received in the allotted time
PIOS_SENSORS_get_queue_function get_queue; // get the queue reference
PIOS_SENSORS_get_scale_function get_scale; // return scales for the sensors
bool is_polled;
} PIOS_SENSORS_Driver;
typedef enum PIOS_SENSORS_TYPE {
PIOS_SENSORS_TYPE_3AXIS_ACCEL = 0x01,
PIOS_SENSORS_TYPE_3AXIS_GYRO = 0x02,
PIOS_SENSORS_TYPE_3AXIS_GYRO_ACCEL = 0x03,
PIOS_SENSORS_TYPE_3AXIS_MAG = 0x04,
PIOS_SENSORS_TYPE_3AXIS_AUXMAG = 0x08,
PIOS_SENSORS_TYPE_1AXIS_BARO = 0x10,
} PIOS_SENSORS_TYPE;
#define PIOS_SENSORS_TYPE_1D (PIOS_SENSORS_TYPE_1AXIS_BARO)
#define PIOS_SENSORS_TYPE_3D (PIOS_SENSORS_TYPE_3AXIS_ACCEL | PIOS_SENSORS_TYPE_3AXIS_GYRO | PIOS_SENSORS_TYPE_3AXIS_MAG | PIOS_SENSORS_TYPE_3AXIS_AUXMAG)
typedef struct PIOS_SENSORS_Instance {
const PIOS_SENSORS_Driver *driver;
uintptr_t context;
struct PIOS_SENSORS_Instance *next;
uint8_t type;
} PIOS_SENSORS_Instance;
/**
* A 3d Accel sample with temperature
*/
typedef struct PIOS_SENSORS_3Axis_SensorsWithTemp {
uint32_t timestamp; // PIOS_DELAY_GetRaw() time of sensor read
uint16_t count; // number of sensor instances
int16_t temperature; // Degrees Celsius * 100
Vector3i16 sample[];
} PIOS_SENSORS_3Axis_SensorsWithTemp;
typedef struct PIOS_SENSORS_1Axis_SensorsWithTemp {
float sample; // sample
float temperature; // Degrees Celsius
} PIOS_SENSORS_1Axis_SensorsWithTemp;
/**
* Register a new sensor instance with sensor subsystem
* @param driver sensor driver
* @param type sensor type @ref PIOS_SENSORS_TYPE
* @param context context to be passed to sensor driver
* @return the new sensor instance
*/
PIOS_SENSORS_Instance *PIOS_SENSORS_Register(const PIOS_SENSORS_Driver *driver, PIOS_SENSORS_TYPE type, uintptr_t context);
/**
* return the list of registered sensors.
* @return the first sensor instance in the list.
*/
PIOS_SENSORS_Instance *PIOS_SENSORS_GetList();
/**
* Perform sensor test and return true if passed
* @param sensor instance to test
* @return true if test passes
*/
static inline bool PIOS_SENSORS_Test(const PIOS_SENSORS_Instance *sensor)
{
PIOS_Assert(sensor);
if (!sensor->driver->test) {
return true;
} else {
return sensor->driver->test(sensor->context);
}
}
/**
* Poll sensor for new values
* @param sensor instance to poll
* @return true if sensor has samples available
*/
static inline bool PIOS_SENSORS_Poll(const PIOS_SENSORS_Instance *sensor)
{
PIOS_Assert(sensor);
if (!sensor->driver->poll) {
return true;
} else {
return sensor->driver->poll(sensor->context);
}
}
/**
*
* @param sensor
* @param samples
* @param size
*/
static inline void PIOS_SENSOR_Fetch(const PIOS_SENSORS_Instance *sensor, void *samples, uint8_t size)
{
PIOS_Assert(sensor);
sensor->driver->fetch(samples, size, sensor->context);
}
static inline void PIOS_SENSOR_Reset(const PIOS_SENSORS_Instance *sensor)
{
PIOS_Assert(sensor);
sensor->driver->reset(sensor->context);
}
/**
* retrieve the sensor queue
* @param sensor
* @return sensor queue or null if not supported
*/
static inline QueueHandle_t PIOS_SENSORS_GetQueue(const PIOS_SENSORS_Instance *sensor)
{
PIOS_Assert(sensor);
if (!sensor->driver->get_queue) {
return NULL;
}
return sensor->driver->get_queue(sensor->context);
}
/**
* Get the sensor scales.
* @param sensor sensor instance
* @param scales float array that will contains scales
* @param size number of floats within the array
*/
static inline void PIOS_SENSORS_GetScales(const PIOS_SENSORS_Instance *sensor, float *scales, uint8_t size)
{
PIOS_Assert(sensor);
sensor->driver->get_scale(scales, size, sensor->context);
}
/**
* return head of sensor list
* @return head of sensor list
*/
PIOS_SENSORS_Instance *PIOS_SENSORS_GetList();
/**
* Return the first occurrence of specified sensor type
* @param previous_instance last instance found or 0
* @param type type of sensor to find
* @return the first occurence found or NULL
*/
PIOS_SENSORS_Instance *PIOS_SENSORS_GetInstanceByType(const PIOS_SENSORS_Instance *previous_instance, PIOS_SENSORS_TYPE type);
#endif /* PIOS_SENSORS_H */