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https://github.com/wpilibsuite/allwpilib
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Change hal sim to use spinlocks (#1291)
This makes callback registration completely thread safe. This patch also uses templates and macros to dramatically reduce the amount of manual boilerplate.
This commit is contained in:
Peter Johnson
@@ -7,7 +7,6 @@
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#include "../PortsInternal.h"
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#include "DigitalPWMDataInternal.h"
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#include "mockdata/NotifyCallbackHelpers.h"
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using namespace hal;
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@@ -22,120 +21,9 @@ void InitializeDigitalPWMData() {
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DigitalPWMData* hal::SimDigitalPWMData;
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void DigitalPWMData::ResetData() {
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m_initialized = false;
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m_initializedCallbacks = nullptr;
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m_dutyCycle = false;
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m_dutyCycleCallbacks = nullptr;
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m_pin = 0;
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m_pinCallbacks = nullptr;
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}
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int32_t DigitalPWMData::RegisterInitializedCallback(HAL_NotifyCallback callback,
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void* param,
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HAL_Bool initialNotify) {
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// Must return -1 on a null callback for error handling
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if (callback == nullptr) return -1;
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int32_t newUid = 0;
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{
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std::lock_guard<wpi::mutex> lock(m_registerMutex);
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m_initializedCallbacks = RegisterCallback(
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m_initializedCallbacks, "Initialized", callback, param, &newUid);
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}
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if (initialNotify) {
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// We know that the callback is not null because of earlier null check
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HAL_Value value = MakeBoolean(GetInitialized());
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callback("Initialized", param, &value);
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}
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return newUid;
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}
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void DigitalPWMData::CancelInitializedCallback(int32_t uid) {
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m_initializedCallbacks = CancelCallback(m_initializedCallbacks, uid);
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}
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void DigitalPWMData::InvokeInitializedCallback(HAL_Value value) {
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InvokeCallback(m_initializedCallbacks, "Initialized", &value);
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}
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HAL_Bool DigitalPWMData::GetInitialized() { return m_initialized; }
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void DigitalPWMData::SetInitialized(HAL_Bool initialized) {
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HAL_Bool oldValue = m_initialized.exchange(initialized);
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if (oldValue != initialized) {
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InvokeInitializedCallback(MakeBoolean(initialized));
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}
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}
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int32_t DigitalPWMData::RegisterDutyCycleCallback(HAL_NotifyCallback callback,
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void* param,
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HAL_Bool initialNotify) {
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// Must return -1 on a null callback for error handling
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if (callback == nullptr) return -1;
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int32_t newUid = 0;
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{
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std::lock_guard<wpi::mutex> lock(m_registerMutex);
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m_dutyCycleCallbacks = RegisterCallback(m_dutyCycleCallbacks, "DutyCycle",
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callback, param, &newUid);
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}
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if (initialNotify) {
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// We know that the callback is not null because of earlier null check
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HAL_Value value = MakeDouble(GetDutyCycle());
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callback("DutyCycle", param, &value);
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}
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return newUid;
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}
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void DigitalPWMData::CancelDutyCycleCallback(int32_t uid) {
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m_dutyCycleCallbacks = CancelCallback(m_dutyCycleCallbacks, uid);
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}
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void DigitalPWMData::InvokeDutyCycleCallback(HAL_Value value) {
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InvokeCallback(m_dutyCycleCallbacks, "DutyCycle", &value);
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}
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double DigitalPWMData::GetDutyCycle() { return m_dutyCycle; }
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void DigitalPWMData::SetDutyCycle(double dutyCycle) {
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double oldValue = m_dutyCycle.exchange(dutyCycle);
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if (oldValue != dutyCycle) {
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InvokeDutyCycleCallback(MakeDouble(dutyCycle));
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}
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}
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int32_t DigitalPWMData::RegisterPinCallback(HAL_NotifyCallback callback,
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void* param,
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HAL_Bool initialNotify) {
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// Must return -1 on a null callback for error handling
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if (callback == nullptr) return -1;
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int32_t newUid = 0;
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{
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std::lock_guard<wpi::mutex> lock(m_registerMutex);
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m_pinCallbacks =
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RegisterCallback(m_pinCallbacks, "Pin", callback, param, &newUid);
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}
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if (initialNotify) {
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// We know that the callback is not null because of earlier null check
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HAL_Value value = MakeInt(GetPin());
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callback("Pin", param, &value);
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}
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return newUid;
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}
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void DigitalPWMData::CancelPinCallback(int32_t uid) {
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m_pinCallbacks = CancelCallback(m_pinCallbacks, uid);
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}
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void DigitalPWMData::InvokePinCallback(HAL_Value value) {
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InvokeCallback(m_pinCallbacks, "Pin", &value);
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}
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int32_t DigitalPWMData::GetPin() { return m_pin; }
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void DigitalPWMData::SetPin(int32_t pin) {
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int32_t oldValue = m_pin.exchange(pin);
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if (oldValue != pin) {
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InvokePinCallback(MakeInt(pin));
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}
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initialized.Reset(false);
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dutyCycle.Reset(0.0);
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pin.Reset(0);
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}
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extern "C" {
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@@ -143,73 +31,23 @@ void HALSIM_ResetDigitalPWMData(int32_t index) {
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SimDigitalPWMData[index].ResetData();
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}
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int32_t HALSIM_RegisterDigitalPWMInitializedCallback(
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int32_t index, HAL_NotifyCallback callback, void* param,
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HAL_Bool initialNotify) {
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return SimDigitalPWMData[index].RegisterInitializedCallback(callback, param,
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initialNotify);
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}
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#define DEFINE_CAPI(TYPE, CAPINAME, LOWERNAME) \
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HAL_SIMDATAVALUE_DEFINE_CAPI(TYPE, HALSIM, DigitalPWM##CAPINAME, \
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SimDigitalPWMData, LOWERNAME)
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void HALSIM_CancelDigitalPWMInitializedCallback(int32_t index, int32_t uid) {
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SimDigitalPWMData[index].CancelInitializedCallback(uid);
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}
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DEFINE_CAPI(HAL_Bool, Initialized, initialized)
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DEFINE_CAPI(double, DutyCycle, dutyCycle)
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DEFINE_CAPI(int32_t, Pin, pin)
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HAL_Bool HALSIM_GetDigitalPWMInitialized(int32_t index) {
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return SimDigitalPWMData[index].GetInitialized();
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}
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void HALSIM_SetDigitalPWMInitialized(int32_t index, HAL_Bool initialized) {
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SimDigitalPWMData[index].SetInitialized(initialized);
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}
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int32_t HALSIM_RegisterDigitalPWMDutyCycleCallback(int32_t index,
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HAL_NotifyCallback callback,
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void* param,
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HAL_Bool initialNotify) {
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return SimDigitalPWMData[index].RegisterDutyCycleCallback(callback, param,
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initialNotify);
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}
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void HALSIM_CancelDigitalPWMDutyCycleCallback(int32_t index, int32_t uid) {
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SimDigitalPWMData[index].CancelDutyCycleCallback(uid);
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}
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double HALSIM_GetDigitalPWMDutyCycle(int32_t index) {
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return SimDigitalPWMData[index].GetDutyCycle();
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}
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void HALSIM_SetDigitalPWMDutyCycle(int32_t index, double dutyCycle) {
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SimDigitalPWMData[index].SetDutyCycle(dutyCycle);
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}
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int32_t HALSIM_RegisterDigitalPWMPinCallback(int32_t index,
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HAL_NotifyCallback callback,
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void* param,
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HAL_Bool initialNotify) {
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return SimDigitalPWMData[index].RegisterPinCallback(callback, param,
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initialNotify);
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}
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void HALSIM_CancelDigitalPWMPinCallback(int32_t index, int32_t uid) {
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SimDigitalPWMData[index].CancelPinCallback(uid);
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}
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int32_t HALSIM_GetDigitalPWMPin(int32_t index) {
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return SimDigitalPWMData[index].GetPin();
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}
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void HALSIM_SetDigitalPWMPin(int32_t index, int32_t pin) {
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SimDigitalPWMData[index].SetPin(pin);
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}
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#define REGISTER(NAME) \
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SimDigitalPWMData[index].NAME.RegisterCallback(callback, param, initialNotify)
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void HALSIM_RegisterDigitalPWMAllCallbacks(int32_t index,
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HAL_NotifyCallback callback,
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void* param,
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HAL_Bool initialNotify) {
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SimDigitalPWMData[index].RegisterInitializedCallback(callback, param,
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initialNotify);
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SimDigitalPWMData[index].RegisterDutyCycleCallback(callback, param,
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initialNotify);
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SimDigitalPWMData[index].RegisterPinCallback(callback, param, initialNotify);
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REGISTER(initialized);
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REGISTER(dutyCycle);
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REGISTER(pin);
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}
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} // extern "C"
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