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49 lines
1.5 KiB
49 lines
1.5 KiB
/* |
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* This file is free software: you can redistribute it and/or modify |
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* it under the terms of the GNU General Public License as published |
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* by the Free Software Foundation, either version 3 of the License, |
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* or (at your option) any later version. |
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* |
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* This file is distributed in the hope that it will be useful, but |
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* WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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* General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License |
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* along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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#pragma once |
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#include <inttypes.h> |
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#include <AP_HAL/HAL.h> |
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#include "Semaphores.h" |
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#include "Scheduler.h" |
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namespace VRBRAIN { |
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class DeviceBus { |
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public: |
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DeviceBus(uint8_t _thread_priority = APM_I2C_PRIORITY) : |
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thread_priority(_thread_priority) {} |
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struct DeviceBus *next; |
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Semaphore semaphore; |
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AP_HAL::Device::PeriodicHandle register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb, AP_HAL::Device *hal_device); |
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bool adjust_timer(AP_HAL::Device::PeriodicHandle h, uint32_t period_usec); |
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static void *bus_thread(void *arg); |
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private: |
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struct callback_info { |
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struct callback_info *next; |
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AP_HAL::Device::PeriodicCb cb; |
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uint32_t period_usec; |
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uint64_t next_usec; |
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} *callbacks; |
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uint8_t thread_priority; |
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pthread_t thread_ctx; |
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bool thread_started; |
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AP_HAL::Device *hal_device; |
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}; |
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}
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