amiro-os / include / amiro / BaseSensor.hpp @ c9fa414d
History | View | Annotate | Download (2.784 KB)
| 1 |
#ifndef AMIRO_BASE_SENSOR_H_
|
|---|---|
| 2 |
#define AMIRO_BASE_SENSOR_H_
|
| 3 |
|
| 4 |
/* ABOUT THE USED PREPROCESSOR DIRECTIVES IN THIS FILE
|
| 5 |
* AMIRO_NCALIBRATION:
|
| 6 |
* If defined, the calibration() function will be ignored for compilation.
|
| 7 |
* Thus, all inheriting classes must use this directive, too.
|
| 8 |
* AMIRO_NSELFTEST:
|
| 9 |
* If defined, the selftest() function will be ignored for compilation.
|
| 10 |
* Thus, all inheriting classes must use this directive, too.
|
| 11 |
*/
|
| 12 |
|
| 13 |
namespace amiro {
|
| 14 |
|
| 15 |
/**
|
| 16 |
* This is an interface class, which should be used as a blueprint for all drivers of the AMiRo.
|
| 17 |
*/
|
| 18 |
template<typename Init_t = void, typename Calib_t = void> |
| 19 |
class BaseSensor |
| 20 |
{
|
| 21 |
public:
|
| 22 |
BaseSensor() {}
|
| 23 |
virtual ~BaseSensor() {}
|
| 24 |
|
| 25 |
/**
|
| 26 |
* Some error codes that should be returned by the implementations of the virtual functions of this class.
|
| 27 |
*/
|
| 28 |
enum ErrorCodes {
|
| 29 |
SUCCESS = 0x00u, OK = 0x00u, |
| 30 |
ERROR = 0x80u, FAIL = 0x80u, |
| 31 |
NOT_IMPLEMENTED = 0xFFu
|
| 32 |
}; |
| 33 |
|
| 34 |
/**
|
| 35 |
* Initializes the hardware (e.g. sets register values).
|
| 36 |
* This function is optional.
|
| 37 |
*
|
| 38 |
* @param[in,out] driver specific initialization data (should be used for arguments and results); optional
|
| 39 |
* @return an error code
|
| 40 |
*/
|
| 41 |
virtual inline msg_t init(Init_t* = NULL) |
| 42 |
{
|
| 43 |
return NOT_IMPLEMENTED;
|
| 44 |
} |
| 45 |
|
| 46 |
/**
|
| 47 |
* Reads the most important values from the hardware and stores them in local buffers.
|
| 48 |
*
|
| 49 |
* @return an error code
|
| 50 |
*/
|
| 51 |
virtual msg_t update() = 0; |
| 52 |
|
| 53 |
/**
|
| 54 |
* If required, wakes the hardware from power saving mode into an active state.
|
| 55 |
* (Re)Initializes all local buffers with valid values, thus the update() function should be called.
|
| 56 |
*
|
| 57 |
* @return an error code
|
| 58 |
*/
|
| 59 |
virtual msg_t wakeup() = 0; |
| 60 |
|
| 61 |
/**
|
| 62 |
* Puts the hardware in a power saving mode to reduce energy consumption.
|
| 63 |
* This function is optional.
|
| 64 |
* @return an error code
|
| 65 |
*/
|
| 66 |
virtual msg_t hibernate()
|
| 67 |
{
|
| 68 |
return NOT_IMPLEMENTED;
|
| 69 |
} |
| 70 |
|
| 71 |
#ifndef AMIRO_NCALIBRATION
|
| 72 |
/**
|
| 73 |
* Runs a calibration of the hardware.
|
| 74 |
* This function is optional.
|
| 75 |
*
|
| 76 |
* @param[in,out] driver specific calibration data (should be used for arguments and results); optional
|
| 77 |
*
|
| 78 |
* @return an error code
|
| 79 |
*/
|
| 80 |
virtual msg_t calibration(Calib_t* = NULL) |
| 81 |
{
|
| 82 |
return NOT_IMPLEMENTED;
|
| 83 |
} |
| 84 |
#else
|
| 85 |
static uint8_t calibration(Calib_t* = NULL) |
| 86 |
{
|
| 87 |
return NOT_IMPLEMENTED;
|
| 88 |
} |
| 89 |
#endif
|
| 90 |
|
| 91 |
#ifndef AMIRO_NSELFTEST
|
| 92 |
/**
|
| 93 |
* Runs a self-test on the hardware and/or communication.
|
| 94 |
* This function is optional but highly recommended.
|
| 95 |
*
|
| 96 |
* @return an error code
|
| 97 |
*/
|
| 98 |
virtual msg_t selftest()
|
| 99 |
{
|
| 100 |
return NOT_IMPLEMENTED;
|
| 101 |
} |
| 102 |
#else
|
| 103 |
static msg_t selftest()
|
| 104 |
{
|
| 105 |
return NOT_IMPLEMENTED;
|
| 106 |
} |
| 107 |
#endif
|
| 108 |
|
| 109 |
}; |
| 110 |
|
| 111 |
} |
| 112 |
|
| 113 |
#endif /* AMIRO_BASE_SENSOR_H_ */ |