mirror of https://github.com/ArduPilot/ardupilot
59 lines
1.5 KiB
C++
59 lines
1.5 KiB
C++
/*
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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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#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 "AP_HAL_ESP32.h"
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#include "Scheduler.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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namespace ESP32
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{
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class DeviceBus
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{
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public:
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DeviceBus(uint8_t _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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tskTaskControlBlock* bus_thread_handle;
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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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