mirror of https://github.com/ArduPilot/ardupilot
45 lines
1.6 KiB
C++
45 lines
1.6 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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#pragma once
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#include <AP_Common/AP_Common.h>
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#include "AP_WheelEncoder.h"
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class AP_WheelEncoder_Backend
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{
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public:
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// constructor. This incorporates initialisation as well.
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AP_WheelEncoder_Backend(AP_WheelEncoder &frontend, uint8_t instance, AP_WheelEncoder::WheelEncoder_State &state);
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// we declare a virtual destructor so that WheelEncoder drivers can
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// override with a custom destructor if need be
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virtual ~AP_WheelEncoder_Backend(void) {}
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// update the state structure. All backends must implement this.
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virtual void update() = 0;
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protected:
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// return pin number. returns -1 if pin is not defined for this instance
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int8_t get_pin_a() const;
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int8_t get_pin_b() const;
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// copy state to front end helper function
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void 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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AP_WheelEncoder &_frontend;
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AP_WheelEncoder::WheelEncoder_State &_state;
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};
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