pios_sensors.h

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/*
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
 * for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program; if not, see <http://www.gnu.org/licenses/>
 */

#ifndef PIOS_SENSOR_H
#define PIOS_SENSOR_H

#include "pios.h"
#include "stdint.h"
#include "pios_queue.h"

struct pios_sensor_gyro_data {
        float x;
        float y; 
        float z;
        float temperature;
};

struct pios_sensor_accel_data {
        float x;
        float y; 
        float z;
        float temperature;
};

struct pios_sensor_mag_data {
        float x;
        float y; 
        float z;
};

struct pios_sensor_optical_flow_data {
        float x_dot;
        float y_dot;
        float z_dot;

        uint8_t quality;
};

struct pios_sensor_rangefinder_data {
        float range;
        float velocity;
        bool range_status;
        bool velocity_status;
};

struct pios_sensor_baro_data {
        float temperature;
        float pressure;
        float altitude;
};

enum pios_sensor_type
{
        PIOS_SENSOR_ACCEL,
        PIOS_SENSOR_GYRO,
        PIOS_SENSOR_MAG,
        PIOS_SENSOR_BARO,
        PIOS_SENSOR_OPTICAL_FLOW,
        PIOS_SENSOR_RANGEFINDER,
        PIOS_SENSOR_NUM
};

typedef bool (*PIOS_SENSOR_Callback_t)(void *ctx, void *output,
                int ms_to_wait, int *next_call);

int32_t PIOS_SENSORS_Init();

int32_t PIOS_SENSORS_Register(enum pios_sensor_type type, struct pios_queue *queue);

int32_t PIOS_SENSORS_RegisterCallback(enum pios_sensor_type type,
                PIOS_SENSOR_Callback_t callback, void *ctx);

bool PIOS_SENSORS_IsRegistered(enum pios_sensor_type type);

bool PIOS_SENSORS_GetData(enum pios_sensor_type type, void *buf, int ms_to_wait);

void PIOS_SENSORS_SetMaxGyro(int32_t rate);

int32_t PIOS_SENSORS_GetMaxGyro();

void PIOS_SENSORS_SetSampleRate(enum pios_sensor_type type, uint32_t sample_rate);

uint32_t PIOS_SENSORS_GetSampleRate(enum pios_sensor_type type);

void PIOS_SENSORS_SetMissing(enum pios_sensor_type type);

bool PIOS_SENSORS_GetMissing(enum pios_sensor_type type);

#endif /* PIOS_SENSOR_H */