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<title>ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/AP_Common/AP_Loop.h Source File</title>
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<h1>/home/jgoppert/Projects/ap/libraries/AP_Common/AP_Loop.h</h1> </div>
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<a href="_a_p___loop_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
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<a name="l00002"></a>00002 <span class="comment"> * AP_Loop.h</span>
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<a name="l00003"></a>00003 <span class="comment"> * Copyright (C) James Goppert 2010 <james.goppert@gmail.com></span>
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<a name="l00004"></a>00004 <span class="comment"> *</span>
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<a name="l00005"></a>00005 <span class="comment"> * This file is free software: you can redistribute it and/or modify it</span>
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<a name="l00006"></a>00006 <span class="comment"> * under the terms of the GNU General Public License as published by the</span>
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<a name="l00007"></a>00007 <span class="comment"> * Free Software Foundation, either version 3 of the License, or</span>
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<a name="l00008"></a>00008 <span class="comment"> * (at your option) any later version.</span>
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<a name="l00009"></a>00009 <span class="comment"> *</span>
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<a name="l00010"></a>00010 <span class="comment"> * This file is distributed in the hope that it will be useful, but</span>
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<a name="l00011"></a>00011 <span class="comment"> * WITHOUT ANY WARRANTY; without even the implied warranty of</span>
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<a name="l00012"></a>00012 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.</span>
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<a name="l00013"></a>00013 <span class="comment"> * See the GNU General Public License for more details.</span>
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<a name="l00014"></a>00014 <span class="comment"> *</span>
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<a name="l00015"></a>00015 <span class="comment"> * You should have received a copy of the GNU General Public License along</span>
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<a name="l00016"></a>00016 <span class="comment"> * with this program. If not, see <http://www.gnu.org/licenses/>.</span>
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<a name="l00017"></a>00017 <span class="comment"> */</span>
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<a name="l00018"></a>00018
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<a name="l00019"></a>00019 <span class="preprocessor">#ifndef AP_Loop_H</span>
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<a name="l00020"></a>00020 <span class="preprocessor"></span><span class="preprocessor">#define AP_Loop_H</span>
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<a name="l00021"></a>00021 <span class="preprocessor"></span>
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<a name="l00022"></a>00022 <span class="preprocessor">#include "<a class="code" href="_a_p___vector_8h.html">AP_Vector.h</a>"</span>
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<a name="l00023"></a>00023
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<a name="l00029"></a>00029 <span class="keyword">namespace </span>apo
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<a name="l00030"></a>00030 {
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<a name="l00031"></a>00031
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<a name="l00032"></a><a class="code" href="classapo_1_1_loop.html">00032</a> <span class="keyword">class </span><a class="code" href="classapo_1_1_loop.html">Loop</a>
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<a name="l00033"></a>00033 {
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<a name="l00034"></a>00034 <span class="keyword">public</span>:
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<a name="l00035"></a><a class="code" href="classapo_1_1_loop.html#a4a6ea4aeec32061bf86df9c9c32c5b24">00035</a> <a class="code" href="classapo_1_1_loop.html#a4a6ea4aeec32061bf86df9c9c32c5b24">Loop</a>() : _fptr(), _data(), _period(), _subLoops(), _timeStamp(), _load(), _dt() {};
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<a name="l00036"></a>00036 <a class="code" href="classapo_1_1_loop.html#a4a6ea4aeec32061bf86df9c9c32c5b24">Loop</a>(<span class="keywordtype">float</span> <a class="code" href="classapo_1_1_loop.html#a6b88aae6e3f55895037ce5538f36076d">frequency</a>, <span class="keywordtype">void</span> (*fptr)(<span class="keywordtype">void</span> *) = NULL, <span class="keywordtype">void</span> * data = NULL);
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<a name="l00037"></a>00037 <span class="keywordtype">void</span> <a class="code" href="classapo_1_1_loop.html#a9e46986a766ed78a9fff0667d9dcf813">update</a>();
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<a name="l00038"></a><a class="code" href="classapo_1_1_loop.html#a35a3d49da20cbad8a4dc863228632a57">00038</a> <a class="code" href="class_vector.html">Vector<Loop *></a> & <a class="code" href="classapo_1_1_loop.html#a35a3d49da20cbad8a4dc863228632a57">subLoops</a>() {
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<a name="l00039"></a>00039 <span class="keywordflow">return</span> _subLoops;
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<a name="l00040"></a>00040 }
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<a name="l00041"></a><a class="code" href="classapo_1_1_loop.html#a6b88aae6e3f55895037ce5538f36076d">00041</a> uint32_t <a class="code" href="classapo_1_1_loop.html#a6b88aae6e3f55895037ce5538f36076d">frequency</a>() {
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<a name="l00042"></a>00042 <span class="keywordflow">return</span> 1.0e6/_period;
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<a name="l00043"></a>00043 }
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<a name="l00044"></a><a class="code" href="classapo_1_1_loop.html#aec93940b1c7ca50ebda47b7326c339ba">00044</a> <span class="keywordtype">void</span> <a class="code" href="classapo_1_1_loop.html#aec93940b1c7ca50ebda47b7326c339ba">frequency</a>(<span class="keywordtype">float</span> frequency) {
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<a name="l00045"></a>00045 _period = 1e6/frequency;
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<a name="l00046"></a>00046 }
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<a name="l00047"></a><a class="code" href="classapo_1_1_loop.html#af6f23eac39d89deb194d3e3f5cdd8df1">00047</a> uint32_t <a class="code" href="classapo_1_1_loop.html#af6f23eac39d89deb194d3e3f5cdd8df1">timeStamp</a>() {
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<a name="l00048"></a>00048 <span class="keywordflow">return</span> _timeStamp;
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<a name="l00049"></a>00049 }
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<a name="l00050"></a><a class="code" href="classapo_1_1_loop.html#a0dd58e809ffa1104cdd9e008918886aa">00050</a> <span class="keywordtype">float</span> <a class="code" href="classapo_1_1_loop.html#a0dd58e809ffa1104cdd9e008918886aa">dt</a>() {
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<a name="l00051"></a>00051 <span class="keywordflow">return</span> _dt;
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<a name="l00052"></a>00052 }
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<a name="l00053"></a><a class="code" href="classapo_1_1_loop.html#af3017e1bf118c134e550cdda81c54d43">00053</a> uint8_t <a class="code" href="classapo_1_1_loop.html#af3017e1bf118c134e550cdda81c54d43">load</a>() {
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<a name="l00054"></a>00054 <span class="keywordflow">return</span> _load;
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<a name="l00055"></a>00055 }
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<a name="l00056"></a>00056 <span class="keyword">private</span>:
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<a name="l00057"></a>00057 void (*_fptr)(<span class="keywordtype">void</span> *);
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<a name="l00058"></a>00058 <span class="keywordtype">void</span> * _data;
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<a name="l00059"></a>00059 uint32_t _period;
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<a name="l00060"></a>00060 <a class="code" href="class_vector.html">Vector<Loop *></a> _subLoops;
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<a name="l00061"></a>00061 uint32_t _timeStamp;
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<a name="l00062"></a>00062 uint8_t _load;
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<a name="l00063"></a>00063 <span class="keywordtype">float</span> _dt;
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<a name="l00064"></a>00064 };
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<a name="l00065"></a>00065
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<a name="l00066"></a>00066 } <span class="comment">// apo</span>
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<a name="l00067"></a>00067
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<a name="l00068"></a>00068 <span class="preprocessor">#endif</span>
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<a name="l00069"></a>00069 <span class="preprocessor"></span>
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<a name="l00070"></a>00070 <span class="comment">// vim:ts=4:sw=4:expandtab</span>
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</pre></div></div>
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<hr class="footer"/><address class="footer"><small>Generated on Sun Dec 26 2010 21:58:34 for ArduPilot Libraries by
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<img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.7.1 </small></address>
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