ardupilot/libraries/AP_ESC_Telem/AP_ESC_Telem_Backend.cpp

43 lines
1.6 KiB
C++

/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "AP_ESC_Telem_Backend.h"
#include "AP_ESC_Telem.h"
#include <AP_HAL/AP_HAL.h>
#if HAL_WITH_ESC_TELEM
#include <AP_Math/AP_Math.h>
extern const AP_HAL::HAL& hal;
AP_ESC_Telem_Backend::AP_ESC_Telem_Backend() {
_frontend = AP_ESC_Telem::_singleton;
if (_frontend == nullptr) {
AP_HAL::panic("No ESC frontend");
}
}
// callback to update the rpm in the frontend, should be called by the driver when new data is available
void AP_ESC_Telem_Backend::update_rpm(const uint8_t esc_index, const uint16_t new_rpm, const float error_rate) {
_frontend->update_rpm(esc_index, new_rpm, error_rate);
}
// callback to update the data in the frontend, should be called by the driver when new data is available
void AP_ESC_Telem_Backend::update_telem_data(const uint8_t esc_index, const TelemetryData& new_data, const uint16_t data_present_mask) {
_frontend->update_telem_data(esc_index, new_data, data_present_mask);
}
#endif