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AP_SerialManager: adding Volz Support 

and make AP_SerialManager a singleton
This commit is contained in:
Guy Tzoler 2017-11-03 13:27:29 +11:00 committed by Andrew Tridgell
parent 65032919e2
commit 2442f3fb06
2 changed files with 25 additions and 1 deletions
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12
libraries/AP_SerialManager/AP_SerialManager.cpp
View File

@ -129,9 +129,13 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = {
AP_GROUPEND
};
// singleton instance
AP_SerialManager *AP_SerialManager::_instance;
// Constructor
AP_SerialManager::AP_SerialManager()
{
_instance = this;
// setup parameter defaults
AP_Param::setup_object_defaults(this, var_info);
}
@ -221,6 +225,14 @@ void AP_SerialManager::init()
AP_SERIALMANAGER_ULANDING_BUFSIZE_RX,
AP_SERIALMANAGER_ULANDING_BUFSIZE_TX);
break;
case SerialProtocol_Volz:
// Note baudrate is hardcoded to 115200
state[i].baud = AP_SERIALMANAGER_VOLZ_BAUD; // update baud param in case user looks at it
state[i].uart->begin(map_baudrate(state[i].baud),
AP_SERIALMANAGER_VOLZ_BUFSIZE_RX,
AP_SERIALMANAGER_VOLZ_BUFSIZE_TX);
break;
}
}
}

14
libraries/AP_SerialManager/AP_SerialManager.h
View File

@ -69,6 +69,10 @@
#define AP_SERIALMANAGER_ULANDING_BUFSIZE_RX 128
#define AP_SERIALMANAGER_ULANDING_BUFSIZE_TX 128
#define AP_SERIALMANAGER_VOLZ_BAUD 115
#define AP_SERIALMANAGER_VOLZ_BUFSIZE_RX 128
#define AP_SERIALMANAGER_VOLZ_BUFSIZE_TX 128
class AP_SerialManager {
public:
@ -87,9 +91,15 @@ public:
SerialProtocol_FrSky_SPort_Passthrough = 10, // FrSky SPort Passthrough (OpenTX) protocol (X-receivers)
SerialProtocol_Lidar360 = 11, // Lightware SF40C, TeraRanger Tower or RPLidarA2
SerialProtocol_Aerotenna_uLanding = 12, // Ulanding support
SerialProtocol_Beacon = 13
SerialProtocol_Beacon = 13,
SerialProtocol_Volz = 14, // Volz servo protocol
};
// get singleton instance
static AP_SerialManager *get_instance(void) {
return _instance;
}
static AP_SerialManager create() { return AP_SerialManager{}; }
constexpr AP_SerialManager(AP_SerialManager &&other) = default;
@ -135,6 +145,8 @@ public:
private:
AP_SerialManager();
static AP_SerialManager *_instance;
// array of uart info
struct {
AP_Int8 protocol;