amiro-os / include / amiro / BaseSensor.hpp @ f3972840
History | View | Annotate | Download (2.784 KB)
| 1 | 58fe0e0b | Thomas Schöpping | #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_ */ |