mirror of https://github.com/ArduPilot/ardupilot
71 lines
1.7 KiB
C
71 lines
1.7 KiB
C
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/*
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* AP_Loop.h
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* Copyright (C) James Goppert 2010 <james.goppert@gmail.com>
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*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (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.
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* See the GNU 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 along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef AP_Loop_H
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#define AP_Loop_H
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#include "AP_Vector.h"
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/**
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* Start of apo namespace
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* The above functions must be in the global
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* namespace for c++ to function properly
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*/
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namespace apo
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{
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class Loop
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{
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public:
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Loop() : _fptr(), _data(), _period(), _subLoops(), _timeStamp(), _load(), _dt() {};
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Loop(float frequency, void (*fptr)(void *) = NULL, void * data = NULL);
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void update();
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Vector<Loop *> & subLoops() {
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return _subLoops;
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}
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uint32_t frequency() {
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return 1.0e6/_period;
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}
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void frequency(float frequency) {
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_period = 1e6/frequency;
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}
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uint32_t timeStamp() {
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return _timeStamp;
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}
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float dt() {
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return _dt;
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}
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uint8_t load() {
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return _load;
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}
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private:
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void (*_fptr)(void *);
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void * _data;
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uint32_t _period;
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Vector<Loop *> _subLoops;
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uint32_t _timeStamp;
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uint8_t _load;
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float _dt;
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};
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} // apo
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#endif
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// vim:ts=4:sw=4:expandtab
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