mirror of https://github.com/ArduPilot/ardupilot
59 lines
2.1 KiB
C++
59 lines
2.1 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <AP_Common/AP_Common.h>
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#include "AP_WheelEncoder.h"
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#include "WheelEncoder_Backend.h"
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// base class constructor.
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AP_WheelEncoder_Backend::AP_WheelEncoder_Backend(AP_WheelEncoder &frontend, uint8_t instance, AP_WheelEncoder::WheelEncoder_State &state) :
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_frontend(frontend),
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_state(state)
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{
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state.instance = instance;
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}
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// return pin. returns -1 if pin is not defined for this instance
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int8_t AP_WheelEncoder_Backend::get_pin_a() const
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{
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if (_state.instance >= WHEELENCODER_MAX_INSTANCES) {
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return -1;
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}
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return _frontend._pina[_state.instance].get();
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}
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// return pin. returns -1 if pin is not defined for this instance
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int8_t AP_WheelEncoder_Backend::get_pin_b() const
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{
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if (_state.instance >= WHEELENCODER_MAX_INSTANCES) {
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return -1;
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}
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return _frontend._pinb[_state.instance].get();
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}
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// copy state to front end helper function
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void AP_WheelEncoder_Backend::copy_state_to_frontend(int32_t distance_count, uint32_t total_count, uint32_t error_count, uint32_t last_reading_ms)
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{
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// record distance and time change for calculating rate before previous state is overwritten
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_state.dt_ms = last_reading_ms - _state.last_reading_ms;
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_state.dist_count_change = distance_count - _state.distance_count;
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// copy distance and error count so it is accessible to front end
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_state.distance_count = distance_count;
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_state.total_count = total_count;
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_state.error_count = error_count;
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_state.last_reading_ms = last_reading_ms;
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}
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