mirror of https://github.com/ArduPilot/ardupilot
60 lines
2.0 KiB
C++
60 lines
2.0 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_ESC_Telem_Backend.h"
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#include "AP_ESC_Telem.h"
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#include <AP_HAL/AP_HAL.h>
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#if HAL_WITH_ESC_TELEM
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#include <AP_Math/AP_Math.h>
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#include <AP_Vehicle/AP_Vehicle_Type.h>
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extern const AP_HAL::HAL& hal;
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AP_ESC_Telem_Backend::AP_ESC_Telem_Backend() {
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_frontend = AP_ESC_Telem::_singleton;
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#if !APM_BUILD_TYPE(APM_BUILD_UNKNOWN)
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// we allow for no frontend in example fw and tools to make it
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// possible to run them on hardware with IOMCU
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if (_frontend == nullptr) {
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AP_HAL::panic("No ESC frontend");
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}
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#endif
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}
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// callback to update the rpm in the frontend, should be called by the driver when new data is available
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void AP_ESC_Telem_Backend::update_rpm(const uint8_t esc_index, const float new_rpm, const float error_rate) {
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_frontend->update_rpm(esc_index, new_rpm, error_rate);
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}
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// callback to update the data in the frontend, should be called by the driver when new data is available
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void AP_ESC_Telem_Backend::update_telem_data(const uint8_t esc_index, const TelemetryData& new_data, const uint16_t data_present_mask) {
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_frontend->update_telem_data(esc_index, new_data, data_present_mask);
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}
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/*
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return true if the data is stale
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*/
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bool AP_ESC_Telem_Backend::TelemetryData::stale(uint32_t now_ms) const volatile
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{
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if (now_ms == 0) {
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now_ms = AP_HAL::millis();
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}
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return last_update_ms == 0 || now_ms - last_update_ms > ESC_TELEM_DATA_TIMEOUT_MS;
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}
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#endif
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