Platform.h

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* This software and associated documentation (the "Software") are the
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/*
HAL header file
 
Author: Alex Reynolds
*/
#ifndef FLIGHT_PLATFORM_H
#define FLIGHT_PLATFORM_H
 
#include "types.h"
 
#include "core/clockwerkerrors.h"
 
namespace warpos {

struct GpioConfig_t {
    uint8 bank;             // The bank on which to set the pin
    uint32 pin;             // The pin to set
    uint32 mode;            // Operating mode for the pin
    uint32 speed;           // Speed for output pins (not always used)
    uint32 pull;            // Sets pull (up/down/no) for the selected pin
    uint32 alternate;       // Specifies peripheral connected to pins
};

struct SpiConfig_t {
    const char *device;     // The device to configure SPI for
    uint32 clock_rate;      // The clock rate in Hz
    uint8 mode;             // The SPI mode to set mode to. Configuration items are same as Linux config.
    uint8 bits_per_word;    // The number of bits per SPI word. Typical is 8. Sometimes 16.
};

struct UartConfig_t {
    const char *device;     // The device to configure UART for
    uint32 baud_rate;       // The baud rate
    int8 parity;            // Parity bit config. Can be none, even, or odd
    uint8 data_bits;        // The number of bits in data. Typically 8
    uint8 stop_bits;        // The number of stop bits. 1 or 2
};

struct I2cConfig_t {
    const char *device;     // The device to configure I2C for
    uint32 clock_rate;      // The clock rate in Hz
    int timeout_ms;         // Timeout in milliseconds
};

struct PwmConfig_t {
    const char* device;     // The device to configure PWMs
    uint8 channel;          // Time channel to configure PWMs
    uint32 signal_rate;     // The signal rate in Hz
    int32 fd;               // File descriptor object
    // TODO add min/max pulse width
};

struct AdcConfig_t {
    const char *device;             // The device to configure the ADC interface for
    uint16 resolution_bits;          // The number of resolution bits on the ADC
    floating_point voltage_min;     // The minimum voltage in V that can be read by the ADC
    floating_point voltage_max;     // The maximum voltage in V that can be read by the ADC
    floating_point timeout_ms;      // ADC read timeout, in ms
};

class Platform {
public:
    Platform() {}
    virtual ~Platform() {}

    virtual int16 startup() {return ERROR_BUFFER_NOT_IMPLEMENTED;}

    virtual int16 setPinMode(const GpioConfig_t &config) {return ERROR_BUFFER_NOT_IMPLEMENTED;}
    virtual int16 writePin(uint8 bank, uint32 pin, uint32 value) {return ERROR_BUFFER_NOT_IMPLEMENTED;}
    virtual int16 readPin(uint8 bank, uint32 pin, uint32 &value) {return ERROR_BUFFER_NOT_IMPLEMENTED;}

    virtual int32 openSPI(const SpiConfig_t &config) {return ERROR_BUFFER_NOT_IMPLEMENTED;}
    virtual int16 readSPI(int32 spi_device, uint8 *buffer, uint8 size) {return ERROR_BUFFER_NOT_IMPLEMENTED;}
    virtual int16 writeSPI(int32 spi_device, uint8 *buffer, uint8 size) {return ERROR_BUFFER_NOT_IMPLEMENTED;}
    virtual int16 readWriteSPI(int32 spi_device, uint8 *buffer, uint8 size) {return ERROR_BUFFER_NOT_IMPLEMENTED;}

    virtual int32 openSerial(const UartConfig_t &config) {return ERROR_BUFFER_NOT_IMPLEMENTED;}
    virtual int16 writeSerial(int32 device_fd, uint8 *buffer, uint8 size) {return ERROR_BUFFER_NOT_IMPLEMENTED;}
    virtual uint32 readSerial(int32 device_fd, uint8 *buffer, uint32 size) {return ERROR_BUFFER_NOT_IMPLEMENTED;}
    virtual uint32 bytesReadySerial(int32 device_fd) {return ERROR_BUFFER_NOT_IMPLEMENTED;}

    virtual int32 openI2C(const I2cConfig_t &config) {return ERROR_BUFFER_NOT_IMPLEMENTED;}
    virtual int16 writeI2C(int32 i2c_fd, uint8 i2c_address, uint8 *buffer, uint8 size) {return ERROR_BUFFER_NOT_IMPLEMENTED;}
    virtual int16 readI2C(int32 i2c_fd, uint8 i2c_address, uint8 *buffer, uint32 size) {return ERROR_BUFFER_NOT_IMPLEMENTED;}
    virtual int16 writeI2CAddress(int32 i2c_fd, uint8 i2c_address, uint32 mem_address, uint8 *buffer, uint32 size, bool memory_16 = false) {return ERROR_BUFFER_NOT_IMPLEMENTED;}
    virtual int16 readI2CAddress(int32 i2c_fd, uint8 i2c_address, uint32 mem_address, uint8 *buffer, uint32 size, bool memory_16 = false) {return ERROR_BUFFER_NOT_IMPLEMENTED;}
    virtual int16 openPwmChannel(PwmConfig_t& config) {return ERROR_BUFFER_NOT_IMPLEMENTED;}
    virtual int16 writePwm(int32 pwm_fd, uint8 channel, uint32 value) {return ERROR_BUFFER_NOT_IMPLEMENTED;}

    virtual int32 openAdc(const AdcConfig_t &adc) {return ERROR_BUFFER_NOT_IMPLEMENTED;}

    virtual int16 readAdc(int32 adc_fd, uint32 adc_ch_idx, floating_point &read_voltage) {return ERROR_BUFFER_NOT_IMPLEMENTED;}
};
}
 
#endif