Line data    Source code

       1             : /*
       2             :    This program is free software: you can redistribute it and/or modify
       3             :    it under the terms of the GNU General Public License as published by
       4             :    the Free Software Foundation, either version 3 of the License, or
       5             :    (at your option) any later version.
       6             : 
       7             :    This program is distributed in the hope that it will be useful,
       8             :    but WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
      10             :    GNU General Public License for more details.
      11             : 
      12             :    You should have received a copy of the GNU General Public License
      13             :    along with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             :  */
      15             : #pragma once
      16             : 
      17             : #include "AP_RPM.h"
      18             : 
      19             : #if AP_RPM_ENABLED
      20             : 
      21             : class AP_RPM_Backend
      22             : {
      23             : public:
      24             :     // constructor. This incorporates initialisation as well.
      25             :     AP_RPM_Backend(AP_RPM &_ap_rpm, uint8_t instance, AP_RPM::RPM_State &_state);
      26             : 
      27             :     // we declare a virtual destructor so that RPM drivers can
      28             :     // override with a custom destructor if need be
      29           0 :     virtual ~AP_RPM_Backend(void) {}
      30             : 
      31             :     // update the state structure. All backends must implement this.
      32             :     virtual void update() = 0;
      33             : 
      34           0 :     int8_t get_pin(void) const {
      35           0 :         if (state.instance >= RPM_MAX_INSTANCES) {
      36           0 :             return -1;
      37             :         }
      38           0 :         return ap_rpm._params[state.instance].pin.get();
      39             :     }
      40             : 
      41             :     void update_esc_telem_outbound();
      42             : 
      43             : protected:
      44             : 
      45             :     AP_RPM &ap_rpm;
      46             :     AP_RPM::RPM_State &state;
      47             : };
      48             : 
      49             : #endif   // AP_RPM_ENABLED