epicardium.h 6.23 KB
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#ifndef _EPICARDIUM_H
#define _EPICARDIUM_H
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#include <stdint.h>
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#include <errno.h>
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#ifndef __SPHINX_DOC
/* stddef.h is not recognized by hawkmoth for some odd reason */
#include <stddef.h>
#else
typedef unsigned int size_t;
#endif /* __SPHINX_DOC */

/*
 * These definitions are required for the code-generator.  Please don't touch!
 */
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#ifndef API
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#define API(id, def) def
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#endif
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#ifndef API_ISR
#define API_ISR(id, isr) void isr(void);
#endif
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/*
 * IDs for all defined API calls.  These IDs should not be needed in application
 * code on any side.
 */

/* clang-format off */
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#define API_UART_WRITE         0x1
#define API_UART_READ          0x2
#define API_LEDS_SET           0x3
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#define API_VIBRA_SET          0x4
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#define API_VIBRA_VIBRATE      0x5
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#define API_STREAM_READ        0x6
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#define API_INTERRUPT_ENABLE   0x7
#define API_INTERRUPT_DISABLE  0x8
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/* clang-format on */

typedef uint32_t api_int_id_t;

/**
 * Interrupts
 * ==========
 * Next to API calls, Epicardium API also has an interrupt mechanism to serve
 * the other direction.  These interrupts can be enabled/disabled
 * (masked/unmasked) using :c:func:`epic_interrupt_enable` and
 * :c:func:`epic_interrupt_disable`.
 */

/**
 * Enable/unmask an API interrupt.
 *
 * :param int_id: The interrupt to be enabled
 */
API(API_INTERRUPT_ENABLE, int epic_interrupt_enable(api_int_id_t int_id));

/**
 * Disable/mask an API interrupt.
 *
 * :param int_id: The interrupt to be disabled
 */
API(API_INTERRUPT_DISABLE, int epic_interrupt_disable(api_int_id_t int_id));

/**
 * The following interrupts are defined:
 */
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/* clang-format off */
/** Reset Handler? **TODO** */
#define EPIC_INT_RESET                  0
/** ``^C`` interrupt. See :c:func:`epic_isr_ctrl_c` for details.  */
#define EPIC_INT_CTRL_C                 1
/* Debug interrupt, please ignore */
#define EPIC_INT_BHI160_TEST            2
API_ISR(EPIC_INT_BHI160_TEST, epic_isr_bhi160_test);

/* Number of defined interrupts. */
#define EPIC_INT_NUM                    3
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/* clang-format on */

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API_ISR(EPIC_INT_RESET, epic_isr_reset);


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/**
 * UART/Serial Interface
 * =====================
 */

/**
 * Write a string to all connected serial devices.  This includes:
 *
 * - Real UART, whose pins are mapped onto USB-C pins.  Accessible via the HW-debugger.
 * - A CDC-ACM device available via USB.
 * - Maybe, in the future, bluetooth serial?
 *
 * :param str:  String to write.  Does not necessarily have to be NULL-terminated.
 * :param length:  Amount of bytes to print.
 */
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API(API_UART_WRITE, void epic_uart_write_str(const char *str, intptr_t length));
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/**
 * Blocking read a single character from any connected serial device.
 * ``epic_uart_read_chr`` only returns
 * once one byte has been read.
 *
 * :return:  The byte.
 */
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API(API_UART_READ, char epic_uart_read_chr(void));

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/**
 * **Interrupt Service Routine**
 *
 * A user-defineable ISR which is triggered when a ``^C`` (``0x04``) is received
 * on any serial input device.  This function is weakly aliased to
 * :c:func:`epic_isr_default` by default.
 *
 * To enable this interrupt, you need to enable :c:data:`EPIC_INT_CTRL_C`:
 *
 * .. code-block:: cpp
 *
 *    epic_interrupt_enable(EPIC_INT_CTRL_C);
 */
API_ISR(EPIC_INT_CTRL_C, epic_isr_ctrl_c);

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/**
 * LEDs
 * ====
 */

/**
 * Set one of card10's RGB LEDs to a certain color.
 *
 * :param led:  Which led to set.  0-10 are the leds on the top and 11-14 are the 4 "ambient" leds.
 * :param r:  Red component of the color.
 * :param g:  Green component of the color.
 * :param b:  Blue component of the color.
 */
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API(API_LEDS_SET, void epic_leds_set(int led, uint8_t r, uint8_t g, uint8_t b));

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/**
 * Sensor Data Streams
 * ===================
 * A few of card10's sensors can do continuous measurements.  To allow
 * performant access to their data, the following function is made for generic
 * access to streams.
 */

/**
 * Read sensor data into a buffer.  ``epic_stream_read()`` will read as many
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 * sensor samples into the provided buffer as possible and return the number of
 * samples written.  If no samples are available, ``epic_stream_read()`` will
 * return ``0`` immediately.
 *
 * ``epic_stream_read()`` expects the provided buffer to have a size which is a
 * multiple of the sample size for the given stream.  For the sample-format and
 * size, please consult the sensors documentation.
 *
 * Before reading the internal sensor sample queue, ``epic_stream_read()`` will
 * call a sensor specific *poll* function to allow the sensor driver to fetch
 * new samples from its hardware.  This should, however, never take a long
 * amount of time.
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 *
 * :param int sd: Sensor Descriptor.  You get sensor descriptors as return
 *    values when activating the respective sensors.
 * :param void* buf: Buffer where sensor data should be read into.
 * :param size_t count: How many bytes to read at max.  Note that fewer bytes
 *    might be read.  In most cases, this should be ``sizeof(buf)``.
 * :return: Number of data packets read (**not** number of bytes) or a negative
 *    error value.  Possible errors:
 *
 *    - ``-ENODEV``: Sensor is not currently available.
 *    - ``-EBADF``: The given sensor descriptor is unknown.
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 *    - ``-EINVAL``:  ``count`` is not a multiple of the sensor's sample size.
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 *    - ``-EBUSY``: The descriptor table lock could not be acquired.
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 *
 * **Example**:
 *
 * .. code-block:: cpp
 *
 *    #include "epicardium.h"
 *
 *    struct foo_measurement sensor_data[16];
 *    int foo_sd, n;
 *
 *    foo_sd = epic_foo_sensor_enable(9001);
 *
 *    while (1) {
 *            n = epic_stream_read(
 *                    foo_sd,
 *                    &sensor_data,
 *                    sizeof(sensor_data)
 *            );
 *
 *            // Print out the measured sensor samples
 *            for (int i = 0; i < n; i++) {
 *                    printf("Measured: %?\n", sensor_data[i]);
 *            }
 *    }
 */
API(API_STREAM_READ, int epic_stream_read(int sd, void *buf, size_t count));

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/**
 * Misc
 * ====
 */

/**
 * Turn vibration motor on or off
 *
 * :param status: 1 to turn on, 0 to turn off.
 */
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API(API_VIBRA_SET, void epic_vibra_set(int status));

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/**
 * Turn vibration motor on for a given time
 *
 * :param millis: number of milliseconds to run the vibration motor.
 */
API(API_VIBRA_VIBRATE, void epic_vibra_vibrate(int millis));

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#endif /* _EPICARDIUM_H */