Syscalls

Collaboration diagram for Syscalls:

Files
file	system_calls.h

Data Structures
struct	system_calls_pwm
	pwm related system calls More...
struct	system_calls_imu
struct	system_calls_leds
struct	system_calls_beeper
struct	system_calls_time
struct	system_eeprom_info
struct	system_calls_eeprom
struct	system_calls_range
struct	system_calls

Macros
#define	SYSTEM_GYRO_RANGE   2000
#define	SYSTEM_ACC_1G   1000
#define	SYSTEM_GYRO_SCALE   ((float)SYSTEM_GYRO_RANGE / (int16_t)0x7fff)
#define	sys_led_on(sys, id)   sys->leds.on(&(sys)->leds, id, true)
#define	sys_led_off(sys, id)   sys->leds.on(&(sys)->leds, id, false)
#define	sys_led_toggle(sys, id)   sys->leds.toggle(&(sys)->leds, id)
#define	sys_beeper_on(sys)   sys->beeper.on(&(sys)->beeper, true)
#define	sys_beeper_off(sys)   sys->beeper.on(&(sys)->beeper, false)
#define	sys_millis(sys)   (sys->time.micros(&(sys)->time) / 1000)
#define	sys_micros(sys)   (sys->time.micros(&(sys)->time))
#define	sys_gyro_read(sys, data)   (sys->imu.read_gyro(&(sys)->imu, data))
#define	sys_acc_read(sys, data)   (sys->imu.read_acc(&(sys)->imu, data))
#define	sys_get_pressure(sys, data)   (sys->imu.read_pressure(&(sys)->imu, data))
#define	sys_get_temperature(sys, data)   (sys->imu.read_temperature(&(sys)->imu, data))
#define	sys_motor_write(sys, id, val)   (sys->pwm.write_motor(&(sys)->pwm, id, val))
#define	sys_servo_write(sys, id, val)   (sys->pwm.write_servo(&(sys)->pwm, id, val))
#define	sys_eeprom_write(sys, addr, src, size)   (sys->eeprom.write(&(sys)->eeprom, addr, src, size))
#define	sys_eeprom_read(sys, dst, addr, size)   (sys->eeprom.read(&(sys)->eeprom, dst, addr, size))
#define	sys_eeprom_get_info(sys, info)   (sys->eeprom.get_info(&(sys)->eeprom, info))
#define	sys_eeprom_erase_page(sys, addr)   (sys->eeprom.erase_page(&(sys)->eeprom, addr))
#define	sys_range_read(sys, deg, dst)   (sys->range.read_range(&(sys)->range, deg, dst))

Detailed Description

Macro Definition Documentation

#define sys_acc_read	(		sys,
			data
	)		(sys->imu.read_acc(&(sys)->imu, data))

#define sys_beeper_off

(

sys

)

sys->beeper.on(&(sys)->beeper, false)

#define sys_beeper_on

(

sys

)

sys->beeper.on(&(sys)->beeper, true)

#define sys_eeprom_erase_page	(		sys,
			addr
	)		(sys->eeprom.erase_page(&(sys)->eeprom, addr))

#define sys_eeprom_get_info	(		sys,
			info
	)		(sys->eeprom.get_info(&(sys)->eeprom, info))

#define sys_eeprom_read	(		sys,
			dst,
			addr,
			size
	)		(sys->eeprom.read(&(sys)->eeprom, dst, addr, size))

#define sys_eeprom_write	(		sys,
			addr,
			src,
			size
	)		(sys->eeprom.write(&(sys)->eeprom, addr, src, size))

#define sys_get_pressure	(		sys,
			data
	)		(sys->imu.read_pressure(&(sys)->imu, data))

#define sys_get_temperature	(		sys,
			data
	)		(sys->imu.read_temperature(&(sys)->imu, data))

#define sys_gyro_read	(		sys,
			data
	)		(sys->imu.read_gyro(&(sys)->imu, data))

#define sys_led_off	(		sys,
			id
	)		sys->leds.on(&(sys)->leds, id, false)

#define sys_led_on	(		sys,
			id
	)		sys->leds.on(&(sys)->leds, id, true)

#define sys_led_toggle	(		sys,
			id
	)		sys->leds.toggle(&(sys)->leds, id)

#define sys_micros

(

sys

)

(sys->time.micros(&(sys)->time))

#define sys_millis

(

sys

)

(sys->time.micros(&(sys)->time) / 1000)

#define sys_motor_write	(		sys,
			id,
			val
	)		(sys->pwm.write_motor(&(sys)->pwm, id, val))

#define sys_range_read	(		sys,
			deg,
			dst
	)		(sys->range.read_range(&(sys)->range, deg, dst))

#define sys_servo_write	(		sys,
			id,
			val
	)		(sys->pwm.write_servo(&(sys)->pwm, id, val))

#define SYSTEM_ACC_1G   1000

standard value for accelerometer readings that represents 1G. Drivers should use this value to scale accelerometer readings into this range.

#define SYSTEM_GYRO_RANGE   2000

standard maximum gyro rate in deg/s which the 2^15 (int16) gyro value range represents. System should use this value to scale the gyro readings to 2^15 range according to this value.

#define SYSTEM_GYRO_SCALE   ((float)SYSTEM_GYRO_RANGE / (int16_t)0x7fff)

Helper macro for multiplier to convert gyro reading into deg/s