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AP_Frsky_Telem: make get_telem_data() static 

auto-create the object when it is needed for FPort
This commit is contained in:
Andrew Tridgell 2020-01-01 17:32:04 +11:00
parent c5df48faa7
commit 9579e64a03
2 changed files with 25 additions and 20 deletions
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38
libraries/AP_Frsky_Telem/AP_Frsky_Telem.cpp
View File

@ -39,8 +39,9 @@ extern const AP_HAL::HAL& hal;
AP_Frsky_Telem *AP_Frsky_Telem::singleton;
AP_Frsky_Telem::AP_Frsky_Telem(void) :
_statustext_queue(FRSKY_TELEM_PAYLOAD_STATUS_CAPACITY)
AP_Frsky_Telem::AP_Frsky_Telem(bool _external_data) :
_statustext_queue(FRSKY_TELEM_PAYLOAD_STATUS_CAPACITY),
use_external_data(_external_data)
{
singleton = this;
}
@ -97,17 +98,6 @@ bool AP_Frsky_Telem::init()
} else if ((_port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_FrSky_SPort_Passthrough, 0))) {
_protocol = AP_SerialManager::SerialProtocol_FrSky_SPort_Passthrough; // FrSky SPort and SPort Passthrough (OpenTX) protocols (X-receivers)
setup_passthrough();
} else if ((_port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_RCIN, 0))) {
_protocol = AP_SerialManager::SerialProtocol_RCIN; // FrSky SPort over FPort
setup_passthrough();
}
if (_protocol == AP_SerialManager::SerialProtocol_RCIN) {
use_external_data = true;
setup_passthrough();
// we don't setup the thread, as output is driven by the AP_RCProtocol library
// calling get_telem_data();
return true;
}
if (_port != nullptr) {
@ -1101,12 +1091,8 @@ uint32_t AP_Frsky_Telem::sensor_status_flags() const
/*
fetch Sport data for an external transport, such as FPort
*/
bool AP_Frsky_Telem::get_telem_data(uint8_t &frame, uint16_t &appid, uint32_t &data)
bool AP_Frsky_Telem::_get_telem_data(uint8_t &frame, uint16_t &appid, uint32_t &data)
{
if (!use_external_data) {
// not initialised for external data
return false;
}
passthrough_wfq_adaptive_scheduler(0);
if (!external_data.pending) {
return false;
@ -1118,6 +1104,22 @@ bool AP_Frsky_Telem::get_telem_data(uint8_t &frame, uint16_t &appid, uint32_t &d
return true;
}
/*
fetch Sport data for an external transport, such as FPort
*/
bool AP_Frsky_Telem::get_telem_data(uint8_t &frame, uint16_t &appid, uint32_t &data)
{
if (!singleton && !hal.util->get_soft_armed()) {
// if telem data is requested when we are disarmed and don't
// yet have a AP_Frsky_Telem object then try to allocate one
new AP_Frsky_Telem(true);
}
if (!singleton) {
return false;
}
return singleton->_get_telem_data(frame, appid, data);
}
namespace AP {
AP_Frsky_Telem *frsky_telem() {
return AP_Frsky_Telem::get_singleton();

7
libraries/AP_Frsky_Telem/AP_Frsky_Telem.h
View File

@ -112,7 +112,7 @@ for FrSky SPort Passthrough
class AP_Frsky_Telem {
public:
AP_Frsky_Telem();
AP_Frsky_Telem(bool external_data=false);
~AP_Frsky_Telem();
@ -137,7 +137,7 @@ public:
}
// get next telemetry data for external consumers of SPort data
bool get_telem_data(uint8_t &frame, uint16_t &appid, uint32_t &data);
static bool get_telem_data(uint8_t &frame, uint16_t &appid, uint32_t &data);
private:
AP_HAL::UARTDriver *_port; // UART used to send data to FrSky receiver
@ -257,6 +257,9 @@ private:
// setup ready for passthrough operation
void setup_passthrough(void);
// get next telemetry data for external consumers of SPort data (internal function)
bool _get_telem_data(uint8_t &frame, uint16_t &appid, uint32_t &data);
static AP_Frsky_Telem *singleton;
// use_external_data is set when this library will