ardupilot/libraries/AP_HAL_PX4/Device.h

49 lines
1.4 KiB
C++

/*
* This file is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published
* by the Free Software Foundation, either version 3 of the License,
* or (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include <inttypes.h>
#include <AP_HAL/HAL.h>
#include "Semaphores.h"
#include "Scheduler.h"
namespace PX4 {
class DeviceBus {
public:
DeviceBus(uint8_t _thread_priority = APM_I2C_PRIORITY) :
thread_priority(_thread_priority) {}
struct DeviceBus *next;
Semaphore semaphore;
AP_HAL::Device::PeriodicHandle register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb, AP_HAL::Device *hal_device);
static void *bus_thread(void *arg);
private:
struct callback_info {
struct callback_info *next;
AP_HAL::Device::PeriodicCb cb;
uint32_t period_usec;
uint64_t next_usec;
} *callbacks;
uint8_t thread_priority;
pthread_t thread_ctx;
bool thread_started;
AP_HAL::Device *hal_device;
};
}