Diff: Components/Interfaces/GyroSensor.h

Revision:

43:2544d064d528

Child:

46:badcff0675e8

diff -r 5490ac2d0a10 -r 2544d064d528 Components/Interfaces/GyroSensor.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/Interfaces/GyroSensor.h	Mon Jun 08 13:57:32 2015 +0200
@@ -0,0 +1,128 @@
+/**
+ ******************************************************************************
+ * @file    GyroSensor.h
+ * @author  AST / EST
+ * @version V0.0.1
+ * @date    13-April-2015
+ * @brief   This file contains the abstract class describing in general
+ *          the interfaces of a gyroscope
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ *   1. Redistributions of source code must retain the above copyright notice,
+ *      this list of conditions and the following disclaimer.
+ *   2. Redistributions in binary form must reproduce the above copyright notice,
+ *      this list of conditions and the following disclaimer in the documentation
+ *      and/or other materials provided with the distribution.
+ *   3. Neither the name of STMicroelectronics nor the names of its contributors
+ *      may be used to endorse or promote products derived from this software
+ *      without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+/* Define to prevent from recursive inclusion --------------------------------*/
+#ifndef __GYRO_SENSOR_CLASS_H
+#define __GYRO_SENSOR_CLASS_H
+
+/* Includes ------------------------------------------------------------------*/
+#include <stdint.h>
+
+/* Classes  ------------------------------------------------------------------*/
+/** An abstract class for a Gyroscope
+ */
+class GyroSensor
+{
+ public:
+	/**
+	 * @brief       Initialization of gyroscope
+	 * @param[out]  ptr Pointer to device specific initalization structure
+	 * @return      0 in case of success, an error code otherwise
+	 */
+	virtual int Init(void *ptr) = 0;
+	
+	/**
+	 * @brief       Get ID of gyroscope
+	 * @param[out]  id Pointer to where to store the ID to
+	 * @return      0 in case of success, an error code otherwise
+	 */
+	virtual int ReadID(uint8_t *id) = 0;
+
+	/**
+	 * @brief       Get current gyroscope angular rate X/Y/Z-axes values 
+	 *              in standard data units [mdps]
+	 * @param[out]  pData Pointer to where to store angular rates to.
+	 *              pData must point to an array of (at least) three elements, where:
+	 *              pData[0] corresponds to X-axis,
+	 *              pData[1] corresponds to Y-axis, and
+	 *              pData[2] corresponds to Z-axis.
+	 * @return      0 in case of success, an error code otherwise
+	 */
+	virtual int Get_G_Axes(int32_t *pData) = 0;
+
+	/**
+	 * @brief       Get current gyroscope raw data X/Y/Z-axes values 
+	 *              in device sepcific LSB units
+	 * @param[out]  pData Pointer to where to store gyroscope raw data to.
+	 *              pData must point to an array of (at least) three elements, where:
+	 *              pData[0] corresponds to X-axis,
+	 *              pData[1] corresponds to Y-axis, and
+	 *              pData[2] corresponds to Z-axis.
+	 * @return      0 in case of success, an error code otherwise
+	 */
+	virtual int Get_G_AxesRaw(int16_t *pData) = 0;
+
+	/**
+	 * @brief       Get gyroscope's current sensitivity [mdps/LSB]
+	 * @param[out]  pfData Pointer to where the gyroscope's sensitivity is stored to
+	 * @return      0 in case of success, an error code otherwise
+	 */
+	virtual int Get_G_Sensitivity(float *pfData) = 0;
+	
+	/**
+	 * @brief       Get gyroscope's current output data rate [Hz]
+	 * @param[out]  pfData Pointer to where the gyroscope output data rate is stored to
+	 * @return      0 in case of success, an error code otherwise
+	 */
+	virtual int Get_G_ODR(float *pfData) = 0;
+
+	/**
+	 * @brief      Set gyroscope's output data rate
+	 * @param[in]  odr New value for gyroscope's output data rate in [Hz]
+	 * @return     0 in case of success, an error code otherwise
+	 */
+	virtual int Set_G_ODR(float odr) = 0;
+	
+	/**
+	 * @brief       Get gyroscope's full scale value
+	 *              i.e. min/max measurable value [dps]
+	 * @param[out]  pfData Pointer to where the gyroscope full scale value is stored to
+	 * @return      0 in case of success, an error code otherwise
+	 */
+	virtual int Get_G_FS(float *pfData) = 0;
+	
+	/**
+	 * @brief      Set gyroscope's full scale value
+	 *             i.e. min/max measurable value
+	 * @param[in]  fs New full scale value for gyroscope in [dps]
+	 * @return     0 in case of success, an error code otherwise
+	 */
+	virtual int Set_G_FS(float fs) = 0;
+};
+
+#endif /* __GYRO_SENSOR_CLASS_H */