mirror of https://github.com/ArduPilot/ardupilot
73 lines
1.5 KiB
C++
73 lines
1.5 KiB
C++
#pragma once
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#include <AP_HAL/AP_HAL_Boards.h>
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#ifdef HAL_PERIPH_ENABLE_NETWORKING
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#include <AP_Networking/AP_Networking.h>
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#ifndef HAL_PERIPH_NETWORK_NUM_PASSTHRU
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#define HAL_PERIPH_NETWORK_NUM_PASSTHRU 2
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#endif
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#ifndef AP_PERIPH_NET_PPP_PORT_DEFAULT
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#define AP_PERIPH_NET_PPP_PORT_DEFAULT -1
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#endif
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#ifndef AP_PERIPH_NET_PPP_BAUD_DEFAULT
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#define AP_PERIPH_NET_PPP_BAUD_DEFAULT 12500000
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#endif
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class Networking_Periph {
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public:
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Networking_Periph() {
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AP_Param::setup_object_defaults(this, var_info);
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}
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static const struct AP_Param::GroupInfo var_info[];
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void init();
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void update();
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private:
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#if HAL_PERIPH_NETWORK_NUM_PASSTHRU > 0
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class Passthru {
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public:
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friend class Networking_Periph;
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CLASS_NO_COPY(Passthru);
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Passthru() {
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AP_Param::setup_object_defaults(this, var_info);
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}
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void init();
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void update();
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static const struct AP_Param::GroupInfo var_info[];
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private:
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AP_Int8 enabled;
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AP_Int8 ep1;
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AP_Int8 ep2;
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AP_Int32 baud1;
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AP_Int32 baud2;
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AP_Int32 options1;
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AP_Int32 options2;
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AP_HAL::UARTDriver *port1;
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AP_HAL::UARTDriver *port2;
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} passthru[HAL_PERIPH_NETWORK_NUM_PASSTHRU];
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#endif // HAL_PERIPH_NETWORK_NUM_PASSTHRU
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AP_Networking networking_lib;
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#if AP_NETWORKING_BACKEND_PPP
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AP_Int8 ppp_port;
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AP_Int32 ppp_baud;
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#endif
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};
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#endif // HAL_PERIPH_ENABLE_NETWORKING
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