mirror of https://github.com/ArduPilot/ardupilot
49 lines
1.5 KiB
C
49 lines
1.5 KiB
C
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/*
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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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/*
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Mount driver backend class for serial drivers
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Mounts using custom serial protocols should be derived from this class
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*/
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#pragma once
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#include "AP_Mount_config.h"
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#if HAL_MOUNT_ENABLED
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#include "AP_Mount_Backend.h"
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class AP_Mount_Backend_Serial : public AP_Mount_Backend
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{
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public:
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// Constructor
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AP_Mount_Backend_Serial(class AP_Mount &frontend, class AP_Mount_Params ¶ms, uint8_t instance, uint8_t serial_instance) :
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AP_Mount_Backend(frontend, params, instance),
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_serial_instance(serial_instance)
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{}
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// perform any required initialisation for this instance
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void init() override;
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protected:
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// internal variables
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AP_HAL::UARTDriver *_uart; // uart connected to gimbal
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uint8_t _serial_instance; // this instance's serial instance number
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bool _initialised; // true if uart has been initialised
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};
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#endif // HAL_MOUNT_ENABLED
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