/*
    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio

    Licensed under the Apache License, Version 2.0 (the "License");
    you may not use this file except in compliance with the License.
    You may obtain a copy of the License at

        http://www.apache.org/licenses/LICENSE-2.0

    Unless required by applicable law or agreed to in writing, software
    distributed under the License is distributed on an "AS IS" BASIS,
    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    See the License for the specific language governing permissions and
    limitations under the License.
*/

/**
 * @file    hal_gyroscope.h
 * @brief   Generic gyroscope interface header.
 *
 * @addtogroup HAL_GYROSCOPE
 * @{
 */

#ifndef HAL_GYROSCOPE_H
#define HAL_GYROSCOPE_H

#include "hal_sensors.h"

/*===========================================================================*/
/* Driver constants.                                                         */
/*===========================================================================*/

/*===========================================================================*/
/* Driver pre-compile time settings.                                         */
/*===========================================================================*/

/*===========================================================================*/
/* Derived constants and error checks.                                       */
/*===========================================================================*/

/*===========================================================================*/
/* Driver data structures and types.                                         */
/*===========================================================================*/

/**
 * @brief   BaseGyroscope specific methods.
 */
#define _base_gyroscope_methods_alone                                       \
  /* Invoke the sample bias procedure.*/                                    \
  msg_t (*sample_bias)(void *instance);                                     \
  /* Invoke the set bias procedure.*/                                       \
  msg_t (*set_bias)(void *instance, float biases[]);                        \
  /* Remove bias stored data.*/                                             \
  msg_t (*reset_bias)(void *instance);                                      \
  /* Invoke the set sensitivity procedure.*/                                \
  msg_t (*set_sensitivity)(void *instance, float sensitivities[]);          \
  /* Restore sensitivity stored data to default.*/                          \
  msg_t (*reset_sensitivity)(void *instance);
  
  
/**
 * @brief   BaseGyroscope specific methods with inherited ones.
 */
#define _base_gyroscope_methods                                             \
  _base_sensor_methods                                                      \
  _base_gyroscope_methods_alone

/**
 * @brief   @p BaseGyroscope virtual methods table.
 */
struct BaseGyroscopeVMT {
  _base_gyroscope_methods
};

/**
 * @brief   @p BaseGyroscope specific data.
 */
#define _base_gyroscope_data                                                \
  _base_sensor_data

/**
 * @extends BaseSensor
 *
 * @brief   Base gyroscope class.
 * @details This class represents a generic gyroscope.
 */
typedef struct {
  /** @brief Virtual Methods Table.*/
  const struct BaseGyroscopeVMT *vmt;
  _base_gyroscope_data
} BaseGyroscope;

/*===========================================================================*/
/* Driver macros.                                                            */
/*===========================================================================*/

/**
 * @name    Macro Functions (BaseGyroscope)
 * @{
 */
/**
 * @brief   Gyroscope get axes number.
 *
 * @param[in] ip        pointer to a @p BaseGyroscope class.
 * @return              The number of axes of the BaseGyroscope
 *
 * @api
 */
#define gyroscopeGetAxesNumber(ip)                                          \
        (ip)->vmt->get_channels_number(ip)

/**
 * @brief   Gyroscope read raw data.
 *
 * @param[in] ip        pointer to a @p BaseGyroscope class.
 * @param[in] dp        pointer to a data array.
 * 
 * @return              The operation status.
 * @retval MSG_OK       if the function succeeded.
 * @retval MSG_RESET    if one or more errors occurred.
 *
 * @api
 */
#define gyroscopeReadRaw(ip, dp)                                            \
        (ip)->vmt->read_raw(ip, dp)

/**
 * @brief   Gyroscope read cooked data.
 *
 * @param[in] ip        pointer to a @p BaseGyroscope class.
 * @param[in] dp        pointer to a data array.
 * 
 * @return              The operation status.
 * @retval MSG_OK       if the function succeeded.
 * @retval MSG_RESET    if one or more errors occurred.
 *
 * @api
 */
#define gyroscopeReadCooked(ip, dp)                                         \
        (ip)->vmt->read_cooked(ip, dp)

/**
 * @brief   Gyroscope bias sampling procedure.
 * @note    During this procedure gyroscope must be kept hold in the rest
 *          position. Sampled bias will be automatically removed after 
 *          calling this procedure.
 *
 * @param[in] ip        pointer to a @p BaseGyroscope class.
 * 
 * @return              The operation status.
 * @retval MSG_OK       if the function succeeded.
 * @retval MSG_RESET    if one or more errors occurred.
 *
 * @api
 */
#define gyroscopeSampleBias(ip)                                             \
        (ip)->vmt->sample_bias(ip)

/**
 * @brief   Updates gyroscope bias data from received buffer.
 * @note    The bias buffer must have the same length of the
 *          the gyroscope axes number.
 *
 * @param[in] ip        pointer to a @p BaseGyroscope class.
 * @param[in] bp        pointer to a buffer of bias values.
 * 
 * @return              The operation status.
 * @retval MSG_OK       if the function succeeded.
 * @retval MSG_RESET    if one or more errors occurred.
 *
 * @api
 */
#define gyroscopeSetBias(ip, bp)                                            \
        (ip)->vmt->set_bias(ip, bp)
		
/**
 * @brief   Reset gyroscope bias data restoring it to zero.
 *
 * @param[in] ip        pointer to a @p BaseGyroscope class.
 * 
 * @return              The operation status.
 * @retval MSG_OK       if the function succeeded.
 * @retval MSG_RESET    if one or more errors occurred.
 *
 * @api
 */
#define gyroscopeResetBias(ip)                                               \
        (ip)->vmt->reset_bias(ip)
		
/**
 * @brief   Updates gyroscope sensitivity data from received buffer.
 * @note    The sensitivity buffer must have the same length of the
 *          the gyroscope axes number.
 *
 * @param[in] ip        pointer to a @p BaseGyroscope class.
 * @param[in] sp        pointer to a buffer of sensitivity values.
 * 
 * @return              The operation status.
 * @retval MSG_OK       if the function succeeded.
 * @retval MSG_RESET    if one or more errors occurred.
 *
 * @api
 */
#define gyroscopeSetSensitivity(ip, sp)                                     \
        (ip)->vmt->set_sensitivity(ip, sp)
		
/**
 * @brief   Reset gyroscope sensitivity data restoring it to its typical 
 *          value.
 *
 * @param[in] ip        pointer to a @p BaseGyroscope class.
 * 
 * @return              The operation status.
 * @retval MSG_OK       if the function succeeded.
 * @retval MSG_RESET    if one or more errors occurred.
 *
 * @api
 */
#define gyroscopeResetSensitivity(ip)                                       \
        (ip)->vmt->reset_sensitivity(ip)
/** @} */

/*===========================================================================*/
/* External declarations.                                                    */
/*===========================================================================*/

#ifdef __cplusplus
extern "C" {
#endif

#ifdef __cplusplus
}
#endif

#endif /* HAL_GYROSCOPE_H */

/** @} */
