gyro.h

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/* SPDX-License-Identifier: MIT */
/*
 * Author: Andreas Werner <kernel@andy89.org>
 * Date: 2016
 */
#ifndef GYRO_H_
#define GYRO_H_
#include <stdint.h>
#include <stdbool.h>
#include <system.h>
#include <FreeRTOS.h>
#include <semphr.h>
#include <hal.h>
#include <vec.h>
struct gyro;
#ifdef CONFIG_GYRO_MULTI
 
struct gyro_ops {
        struct gyro *(*gyro_init)(uint32_t index);
        int32_t (*gyro_deinit)(struct gyro *gyro);
 
        int32_t (*gyro_get)(struct gyro *gyro, struct vector *vector, TickType_t waittime);
        int32_t (*gyro_getISR)(struct gyro *gyro, struct vector *vector);
};
#endif
 
struct gyro_generic {
        bool init;
#ifdef CONFIG_INSTANCE_NAME
 
        const char *name;
#endif
#ifdef CONFIG_GYRO_THREAD_SAVE
 
        OS_DEFINE_MUTEX_RECURSIVE(lock);
#endif
#ifdef CONFIG_GYRO_MULTI
 
        const struct gyro_ops *ops;
#endif
};
 
#ifndef CONFIG_GYRO_MULTI
 
struct gyro *gyro_init(uint32_t index);
int32_t gyro_deinit(struct gyro *gyro);
int32_t gyro_get(struct gyro *gyro, struct vector *vector, TickType_t waittime);
int32_t gyro_getISR(struct gyro *gyro, struct vector *vector);
#else
inline struct gyro *gyro_init(uint32_t index) {
        HAL_DEFINE_GLOBAL_ARRAY(gyro);
        struct gyro_generic *a = (struct gyro_generic *) HAL_GET_DEV(gyro, index);
        if (a == NULL) {
                return NULL;
        }
        return a->ops->gyro_init(index);
}
inline int32_t gyro_deinit(struct gyro *gyro) {
        struct gyro_generic *a = (struct gyro_generic *) gyro;
        return a->ops->gyro_deinit(gyro);
}
 
inline int32_t gyro_get(struct gyro *gyro, struct vector *vector, TickType_t waittime) {
        struct gyro_generic *a = (struct gyro_generic *) gyro;
        return a->ops->gyro_get(gyro, vector, waittime);
}
inline int32_t gyro_getISR(struct gyro *gyro, struct vector *vector) {
        struct gyro_generic *a = (struct gyro_generic *) gyro;
        return a->ops->gyro_getISR(gyro, vector);
}
#endif
 
#endif