211 lines
6.2 KiB
C
211 lines
6.2 KiB
C
/*
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*
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* Copyright (c) [2020] by InvenSense, Inc.
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*
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* Permission to use, copy, modify, and/or distribute this software for any
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* purpose with or without fee is hereby granted.
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*
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* THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
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* WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
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* MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY
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* SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
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* WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION
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* OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN
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* CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
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*
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*/
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#ifndef _SYSTEM_INTERFACE_H_
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#define _SYSTEM_INTERFACE_H_
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#include "imu/inv_imu_transport.h"
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/*
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* Board
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*/
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/** @brief Initialize board.
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* @return 0 on success, negative value on error.
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*/
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int si_board_init();
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/*
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* UART
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*/
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#define SI_UART_ID_FTDI 0
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#define SI_UART_ID_EDBG 1
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typedef uint32_t inv_uart_num_t;
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/** @brief Configure UART to transmit characters.
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* Baudrate: 921600
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* Flow control: None
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* @param[in] id UART to configure.
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* @param[in] level Trace level (enum inv_msg_level).
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* @return 0 on success, negative value on error.
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*/
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int si_config_uart_for_print(inv_uart_num_t id, int level);
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/** @brief Configure UART to transmit binary data.
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* Baudrate: 2000000
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* Flow control: RTS/CTS
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* @param[in] id UART to configure.
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* @return 0 on success, negative value on error.
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*/
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int si_config_uart_for_bin(inv_uart_num_t id);
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/** @brief Get user command from UART.
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* @param[in] id UART to read from.
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* @param[out] cmd User command if one has been sent, 0 otherwise.
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* @return 0 on success, negative value on error.
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*/
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int si_get_uart_command(inv_uart_num_t id, char *cmd);
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/*
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* I/O for IMU device
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*/
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/** @brief Configure I/O for IMU device.
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* @param[in] serif_type Serial interface type to be used.
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* @return 0 on success, negative value on error.
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*/
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int si_io_imu_init(uint32_t serif_type);
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/** @brief Read register(s) implementation for IMU device.
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* @param[in] serif Serial interface.
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* @param[in] reg Register address to be read.
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* @param[out] buf Output data from the register.
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* @param[in] len Number of byte to be read.
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* @return 0 on success, negative value on error.
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*/
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int si_io_imu_read_reg(struct inv_imu_serif *serif, uint8_t reg, uint8_t *buf, uint32_t len);
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/** @brief Write register(s) implementation for IMU device.
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* @param[in] serif Serial interface.
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* @param[in] reg Register address to be written.
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* @param[in] buf Input data to write.
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* @param[in] len Number of byte to be written.
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* @return 0 on success, negative value on error.
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*/
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int si_io_imu_write_reg(struct inv_imu_serif *serif, uint8_t reg, const uint8_t *buf, uint32_t len);
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/*
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* Timers
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*/
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/** @brief Initialize timers IP.
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* @return 0 on success, negative value on error.
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*/
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int si_init_timers();
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/** @brief Sleep function implementation.
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* @param[in] us Time to sleep in microseconds.
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*/
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void si_sleep_us(uint32_t us);
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/** @brief Get current time function implementation.
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* @return The current time in us or 0 if get_time_us pointer is null.
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*/
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uint64_t si_get_time_us();
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/** @brief Start a periodic timer.
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* @param[in] period_us Period of the timer in us.
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* @param[in] callback Function to be called when period expires.
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* @param[out] ch Channel number of the timer.
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* @return 0 on success, negative value on error.
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*/
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int si_start_periodic_timer(const uint32_t period_us, void callback(void *context), int *ch);
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/** @brief Stop a periodic timer.
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* @param[in] ch Channel number of the timer.
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* @return 0 on success, negative value on error.
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*/
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int si_stop_periodic_timer(int ch);
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/*
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* GPIO
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*/
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#define SI_GPIO_INT1 0
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#define SI_GPIO_INT2 1
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/** @brief Initializes GPIO module to trigger callback when interrupt from IMU fires.
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* @param[in] int_num Interrupt pin (`SI_GPIO_INT1` or `SI_GPIO_INT2`).
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* @param[in] int_cb Callback to be called when interrupt fires.
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* @return 0 on success, negative value on error.
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*/
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int si_init_gpio_int(unsigned int_num, void (*int_cb)(void *context, unsigned int_num));
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/** @brief Initializes GPIO module to initializes FSYNC output pin and trigger callback at
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* a given frequency to allow user to toggle FSYNC pin at regular interval to emulate
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* camera module.
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* @param[in] freq Frequency at which fsync_timer_cb should be called (0 if no timer is to be enabled)
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* @param[in] fsync_timer_cb Callback to be called when FSYNC timer expires.
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* @return 0 on success, negative value on error.
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*/
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int si_start_gpio_fsync(uint32_t freq, void (*fsync_timer_cb)(void *context));
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/** @brief Stop FSYNC module.
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* @return 0 on success, negative value on error.
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*/
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int si_stop_gpio_fsync();
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/** @brief Toggles GPIO FSYNC output pin.
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*/
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void si_toggle_gpio_fsync();
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/*
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* Common
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*/
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/** @brief Disable core interrupts.
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*/
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void si_disable_irq();
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/** @brief Enable core interrupts.
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*/
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void si_enable_irq();
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/*
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* Error codes
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*/
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/** @brief In case of error, print message, file and line and block program execution.
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* @param[in] rc Error code (rc).
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*/
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#define SI_CHECK_RC(rc) \
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do { \
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} while (0);
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/** @brief Check return code from driver and print message if it is an error.
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* @param[in] rc Return code from the driver.
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* @return Error code (rc).
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*/
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int si_print_error_if_any(int rc);
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/*
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* Message
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*/
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enum inv_msg_level {
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INV_MSG_LEVEL_OFF = 0,
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INV_MSG_LEVEL_ERROR,
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INV_MSG_LEVEL_WARNING,
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INV_MSG_LEVEL_INFO,
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INV_MSG_LEVEL_VERBOSE,
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INV_MSG_LEVEL_DEBUG,
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INV_MSG_LEVEL_MAX
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};
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#define INV_MSG(level, ...) inv_msg(level, __VA_ARGS__)
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/** @brief Display a message.
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* @param[in] level Level for the message
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* @param[in] str Message string
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* @param[in] ... Optional arguments
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* @return none
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*/
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void inv_msg(int level, const char *str, ...);
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#endif /* !_SYSTEM_INTERFACE_H_ */
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