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34 lines
655 B
34 lines
655 B
#pragma once |
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#include "RangeFinder.h" |
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#include "RangeFinder_Backend.h" |
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#define PRU0_CTRL_BASE 0x4a322000 |
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#define PRU0_IRAM_BASE 0x4a334000 |
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#define PRU0_IRAM_SIZE 0x2000 |
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#define PRU0_DRAM_BASE 0x4a300000 |
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#define PRU0_DRAM_SIZE 0x2000 |
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struct range { |
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uint32_t distance; |
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uint32_t status; |
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}; |
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class AP_RangeFinder_BBB_PRU : public AP_RangeFinder_Backend |
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{ |
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public: |
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// constructor |
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AP_RangeFinder_BBB_PRU(RangeFinder &ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state); |
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// static detection function |
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static bool detect(RangeFinder &ranger, uint8_t instance); |
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// update state |
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void update(void); |
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private: |
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};
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