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58 lines
2.1 KiB
58 lines
2.1 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_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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