mirror of https://github.com/ArduPilot/ardupilot
hil-sensors: added stub libraries for InertialSensor and PeriodicProcess
* Also added dummy ivar to APM_BMP085_hil
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@ -16,6 +16,7 @@ class APM_BMP085_HIL_Class
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void Init(int initialiseWireLib = 1, bool purple_hardware=false);
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uint8_t Read();
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void setHIL(float Temp, float Press);
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int32_t _offset_press;
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};
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#endif
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@ -57,5 +57,6 @@ class AP_InertialSensor
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#include "AP_InertialSensor_Oilpan.h"
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#include "AP_InertialSensor_MPU6000.h"
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#include "AP_InertialSensor_Stub.h"
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#endif // __AP_INERTIAL_SENSOR_H__
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@ -0,0 +1,26 @@
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#include "AP_InertialSensor_Stub.h"
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void AP_InertialSensor_Stub::init( AP_PeriodicProcess * scheduler ) {}
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/*================ AP_INERTIALSENSOR PUBLIC INTERFACE ==================== */
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bool AP_InertialSensor_Stub::update( void ) {}
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float AP_InertialSensor_Stub::gx() { return 0.0f; }
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float AP_InertialSensor_Stub::gy() { return 0.0f; }
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float AP_InertialSensor_Stub::gz() { return 0.0f; }
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void AP_InertialSensor_Stub::get_gyros( float * g ) { }
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float AP_InertialSensor_Stub::ax() { return 0.0f; }
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float AP_InertialSensor_Stub::ay() { return 0.0f; }
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float AP_InertialSensor_Stub::az() { return 0.0f; }
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void AP_InertialSensor_Stub::get_accels( float * a ) {}
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void AP_InertialSensor_Stub::get_sensors( float * sensors ) {}
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float AP_InertialSensor_Stub::temperature() { return 0.0; }
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uint32_t AP_InertialSensor_Stub::sample_time() { return 0; }
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void AP_InertialSensor_Stub::reset_sample_time() {}
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@ -0,0 +1,35 @@
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#ifndef __AP_INERTIAL_SENSOR_STUB_H__
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#define __AP_INERTIAL_SENSOR_STUB_H__
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#include <string.h>
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#include <stdint.h>
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#include "../AP_PeriodicProcess/AP_PeriodicProcess.h"
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#include "AP_InertialSensor.h"
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class AP_InertialSensor_Stub : public AP_InertialSensor
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{
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public:
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AP_InertialSensor_Stub() {}
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void init( AP_PeriodicProcess * scheduler );
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/* Concrete implementation of AP_InertialSensor functions: */
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bool update();
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float gx();
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float gy();
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float gz();
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void get_gyros( float * );
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float ax();
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float ay();
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float az();
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void get_accels( float * );
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void get_sensors( float * );
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float temperature();
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uint32_t sample_time();
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void reset_sample_time();
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};
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#endif // __AP_INERTIAL_SENSOR_STUB_H__
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@ -3,6 +3,7 @@
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#define __AP_PERIODIC_PROCESS_H__
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#include "PeriodicProcess.h"
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#include "AP_PeriodicProcessStub.h"
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#include "AP_TimerProcess.h"
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#include "AP_TimerAperiodicProcess.h"
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@ -0,0 +1,6 @@
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#include "AP_PeriodicProcessStub.h"
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AP_PeriodicProcessStub::AP_PeriodicProcessStub(int period) {}
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void AP_PeriodicProcessStub::init( Arduino_Mega_ISR_Registry * isr_reg ){}
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void AP_PeriodicProcessStub::register_process(void (*proc)(void) ) {}
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void AP_PeriodicProcessStub::run(void) {}
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@ -0,0 +1,21 @@
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#ifndef __AP_PERIODIC_PROCESS_STUB_H__
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#define __AP_PERIODIC_PROCESS_STUB_H__
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#include "PeriodicProcess.h"
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#include "../Arduino_Mega_ISR_Registry/Arduino_Mega_ISR_Registry.h"
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class AP_PeriodicProcessStub : public AP_PeriodicProcess
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{
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public:
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AP_PeriodicProcessStub(int period = 0);
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void init( Arduino_Mega_ISR_Registry * isr_reg );
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void register_process(void (* proc)(void));
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static void run(void);
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protected:
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static int _period;
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static void (*_proc)(void);
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};
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#endif
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