system_calls.h

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#pragma once

#include <stdint.h>
#include <stddef.h>

typedef int32_t sys_millis_t;
typedef int32_t sys_micros_t;

#define SYSTEM_GYRO_RANGE 2000

#define SYSTEM_ACC_1G 1000

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

struct system_calls_pwm {
    void (*write_motor)(const struct system_calls_pwm *self, uint8_t id, uint16_t value);
    void (*write_servo)(const struct system_calls_pwm *self, uint8_t id, uint16_t value);
    uint16_t (*read_pwm)(const struct system_calls_pwm *self, uint8_t chan);
    uint16_t (*read_ppm)(const struct system_calls_pwm *self, uint8_t chan);
};

struct system_calls_imu {
    int (*read_gyro)(const struct system_calls_imu *self, int16_t out[3]);
    int (*read_acc)(const struct system_calls_imu *self, int16_t out[3]);
    int (*read_pressure)(const struct system_calls_imu *self, uint16_t *out);
    int (*read_temperature)(const struct system_calls_imu *self, uint16_t *out);
};

struct system_calls_leds {
    void (*on)(const struct system_calls_leds *self, uint8_t led, bool on);
    void (*toggle)(const struct system_calls_leds *self, uint8_t led);
};

struct system_calls_beeper {
    void (*on)(const struct system_calls_beeper *self, bool on);
};

struct system_calls_time {
    sys_micros_t (*micros)(const struct system_calls_time *self);
};

struct system_eeprom_info {
    uint16_t page_size;
    uint16_t num_pages;
};

struct system_calls_eeprom {
    int (*read)(const struct system_calls_eeprom *self, void *dst, uint16_t addr, size_t size);
    int (*write)(const struct system_calls_eeprom *self, uint16_t addr, const void *src, size_t size);
    int (*erase_page)(const struct system_calls_eeprom *self, uint16_t addr);
    void (*get_info)(const struct system_calls_eeprom *self, struct system_eeprom_info *info);
};

struct system_calls_range {
    int (*read_range)(const struct system_calls_range *self, uint16_t deg, uint16_t *range);
};

struct system_calls {
    struct system_calls_pwm pwm;
    struct system_calls_imu imu;
    struct system_calls_leds leds;
    struct system_calls_beeper beeper;
    struct system_calls_time time;
    struct system_calls_eeprom eeprom;
    struct system_calls_range range;
};

#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))