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43 lines
1.6 KiB
43 lines
1.6 KiB
/* |
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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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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 (_frontend == nullptr) { |
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AP_HAL::panic("No ESC frontend"); |
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} |
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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 uint16_t 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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#endif |