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45 lines
1.6 KiB
45 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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#pragma once |
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#include <AP_Common/AP_Common.h> |
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#include <AP_HAL/AP_HAL.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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