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AP_RobotisServo: move serial port init of RobotisServo protocol into RobotisServo library

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This commit is contained in:
Peter Barker 2023-09-26 08:05:51 +10:00
parent 94380eb9be
commit 9e16112e7f
2 changed files with 11 additions and 5 deletions
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13
libraries/AP_RobotisServo/AP_RobotisServo.cpp
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@ -138,11 +138,18 @@ void AP_RobotisServo::init(void)
{ {
AP_SerialManager &serial_manager = AP::serialmanager(); AP_SerialManager &serial_manager = AP::serialmanager();
port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Robotis,0); port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Robotis,0);
if (port) { if (port == nullptr) {
baudrate = serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Robotis, 0); return;
}
const uint32_t baudrate = serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Robotis, 0);
port->begin(baudrate, 128, 128);
port->set_unbuffered_writes(true);
port->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
us_per_byte = 10 * 1e6 / baudrate; us_per_byte = 10 * 1e6 / baudrate;
us_gap = 4 * 1e6 / baudrate; us_gap = 4 * 1e6 / baudrate;
}
} }
/* /*

1
libraries/AP_RobotisServo/AP_RobotisServo.h
View File

@ -42,7 +42,6 @@ public:
private: private:
AP_HAL::UARTDriver *port; AP_HAL::UARTDriver *port;
uint32_t baudrate;
uint32_t us_per_byte; uint32_t us_per_byte;
uint32_t us_gap; uint32_t us_gap;