mirror of https://github.com/ArduPilot/ardupilot
36 lines
714 B
C++
36 lines
714 B
C++
#ifndef __AP_RANGEFINDER_PRU_H__
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#define __AP_RANGEFINDER_PRU_H__
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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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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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#endif // __AP_RANGEFINDER_PRU_H__
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