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rahix authoredSigned-off-by:
Rahix <rahix@rahix.de>rahix authoredSigned-off-by:Rahix <rahix@rahix.de>
epicardium.h 6.31 KiB
#ifndef _EPICARDIUM_H
#define _EPICARDIUM_H
#include <stdint.h>
#include <errno.h>
#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!
*/
#ifndef API
#define API(id, def) def
#endif
#ifndef API_ISR
#define API_ISR(id, isr) void isr(void);
#endif
/*
* IDs for all defined API calls. These IDs should not be needed in application
* code on any side.
*/
/* clang-format off */
#define API_UART_WRITE 0x1
#define API_UART_READ 0x2
#define API_LEDS_SET 0x3
#define API_VIBRA_SET 0x4
#define API_VIBRA_VIBRATE 0x5
#define API_STREAM_READ 0x6
#define API_INTERRUPT_ENABLE 0x7
#define API_INTERRUPT_DISABLE 0x8
/* 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:
*/
/* 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
/* clang-format on */
API_ISR(EPIC_INT_RESET, epic_isr_reset);
/**
* 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.
*/
API(API_UART_WRITE, void epic_uart_write_str(const char *str, intptr_t length));
/**
* Blocking read a single character from any connected serial device.
* ``epic_uart_read_chr`` only returns once one byte has been read.
*
* .. todo::
*
* This API function is currently in violation of the API rules.
*
* :return: The byte.
*/
API(API_UART_READ, char epic_uart_read_chr(void));
/**
* **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);
/**
* 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. */
API(API_LEDS_SET, void epic_leds_set(int led, uint8_t r, uint8_t g, uint8_t b));
/**
* 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
* 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.
*
* :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.
* - ``-EINVAL``: ``count`` is not a multiple of the sensor's sample size.
* - ``-EBUSY``: The descriptor table lock could not be acquired.
*
* **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));
/**
* Misc
* ====
*/
/**
* Turn vibration motor on or off
*
* :param status: 1 to turn on, 0 to turn off.
*/
API(API_VIBRA_SET, void epic_vibra_set(int status));
/**
* 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));
#endif /* _EPICARDIUM_H */