epicardium.h 4.73 KB
Newer Older
Rahix's avatar
Rahix committed
1
2
3
#ifndef _EPICARDIUM_H
#define _EPICARDIUM_H
#include <stdint.h>
4
5
#include <stddef.h>
#include <errno.h>
Rahix's avatar
Rahix committed
6

7
8
9
10
11
/* clang-format off */
#define API_INT_CTRL_C  1
#define API_INT_BHI160  2
#define API_INT_MAX     API_INT_BHI160

Rahix's avatar
Rahix committed
12
#ifndef API
Rahix's avatar
Rahix committed
13
#define API(id, def) def
Rahix's avatar
Rahix committed
14
15
#endif

Rahix's avatar
Rahix committed
16
17
18
#define API_UART_WRITE         0x1
#define API_UART_READ          0x2
#define API_LEDS_SET           0x3
Rahix's avatar
Rahix committed
19
#define API_VIBRA_SET          0x4
20
#define API_VIBRA_VIBRATE      0x5
21
#define API_STREAM_READ        0x6
22
23
24
#define API_INTERRUPT_ENABLE   0x7
#define API_INTERRUPT_DISABLE  0x8

Rahix's avatar
Rahix committed
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
/* clang-format on */

/**
 * 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.
 */
Rahix's avatar
Rahix committed
42
API(API_UART_WRITE, void epic_uart_write_str(const char *str, intptr_t length));
Rahix's avatar
Rahix committed
43

Rahix's avatar
Rahix committed
44
45
46
47
48
49
50
/**
 * 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.
 */
Rahix's avatar
Rahix committed
51
52
API(API_UART_READ, char epic_uart_read_chr(void));

Rahix's avatar
Rahix committed
53
54
55
56
57
58
59
60
61
62
63
64
65
/**
 * 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.
 */
66
67
API(API_LEDS_SET, void epic_leds_set(int led, uint8_t r, uint8_t g, uint8_t b));

68
69
70
71
72
73
74
75
76
77
/**
 * 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
Rahix's avatar
Rahix committed
78
79
80
81
82
83
84
85
86
87
88
89
 * 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.
90
91
92
93
94
95
96
97
98
99
100
 *
 * :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.
Rahix's avatar
Rahix committed
101
 *    - ``-EINVAL``:  ``count`` is not a multiple of the sensor's sample size.
102
 *    - ``-EBUSY``: The descriptor table lock could not be acquired.
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
 *
 * **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));

Rahix's avatar
Rahix committed
130
131
132
133
134
135
136
137
138
139
/**
 * Misc
 * ====
 */

/**
 * Turn vibration motor on or off
 *
 * :param status: 1 to turn on, 0 to turn off.
 */
Gerd's avatar
Gerd committed
140
141
API(API_VIBRA_SET, void epic_vibra_set(int status));

142
143
144
145
146
147
148
/**
 * 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));

149
150
151
152
153
154
155
156
157
158
/**
 * API interrupt type
 */
typedef uint32_t api_int_id_t;

/**
 * Enable/unmask an API interrupt
 *
 * :param int_id: The interrupt to be enabled
 */
159
API(API_INTERRUPT_ENABLE, int epic_interrupt_enable(api_int_id_t int_id));
160
161
162
163
164
165

/**
 * Disable/mask an API interrupt
 *
 * :param int_id: The interrupt to be disabled
 */
166
API(API_INTERRUPT_DISABLE, int epic_interrupt_disable(api_int_id_t int_id));
167

Rahix's avatar
Rahix committed
168
#endif /* _EPICARDIUM_H */