C++ AP_SerialManager类代码示例

/*
 * init - perform required initialisation
 * for Copter
 */
void AP_Frsky_Telem::init(const AP_SerialManager &serial_manager, const char *firmware_str, const uint8_t mav_type, AP_Float *fs_batt_voltage, AP_Float *fs_batt_mah, uint32_t *ap_value, int32_t *home_distance, int32_t *home_bearing)
{
    // check for protocol configured for a serial port - only the first serial port with one of these protocols will then run (cannot have FrSky on multiple serial ports)
    if ((_port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_FrSky_D, 0))) {
        _protocol = AP_SerialManager::SerialProtocol_FrSky_D; // FrSky D protocol (D-receivers)
    } else if ((_port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_FrSky_SPort, 0))) {
        _protocol = AP_SerialManager::SerialProtocol_FrSky_SPort; // FrSky SPort protocol (X-receivers)
    } 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)
        // add firmware and frame info to message queue
        queue_message(MAV_SEVERITY_INFO, firmware_str);
        // save main parameters locally
        _params.mav_type = mav_type; // frame type (see MAV_TYPE in Mavlink definition file common.h)
        _params.fs_batt_voltage = fs_batt_voltage; // failsafe battery voltage in volts
        _params.fs_batt_mah = fs_batt_mah; // failsafe reserve capacity in mAh
        _ap.value = ap_value; // ap bit-field
        _ap.home_distance = home_distance;
        _ap.home_bearing = home_bearing;
    }
    
    if (_port != NULL) {
        hal.scheduler->register_io_process(FUNCTOR_BIND_MEMBER(&AP_Frsky_Telem::tick, void));
        // we don't want flow control for either protocol
        _port->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
    }

/*
 * init - perform required initialisation
 */
void AP_Frsky_Telem::init(const AP_SerialManager &serial_manager, const char *firmware_str, const uint8_t mav_type, const AP_Float *fs_batt_voltage, const AP_Float *fs_batt_mah, const uint32_t *ap_valuep)
{
    // check for protocol configured for a serial port - only the first serial port with one of these protocols will then run (cannot have FrSky on multiple serial ports)
    if ((_port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_FrSky_D, 0))) {
        _protocol = AP_SerialManager::SerialProtocol_FrSky_D; // FrSky D protocol (D-receivers)
    } else if ((_port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_FrSky_SPort, 0))) {
        _protocol = AP_SerialManager::SerialProtocol_FrSky_SPort; // FrSky SPort protocol (X-receivers)
    } 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)
        // make frsky_telemetry available to GCS_MAVLINK (used to queue statustext messages from GCS_MAVLINK)
        gcs().register_frsky_telemetry_callback(this);
        // add firmware and frame info to message queue
        queue_message(MAV_SEVERITY_INFO, firmware_str);
        // save main parameters locally
        _params.mav_type = mav_type; // frame type (see MAV_TYPE in Mavlink definition file common.h)
        _params.fs_batt_voltage = fs_batt_voltage; // failsafe battery voltage in volts
        _params.fs_batt_mah = fs_batt_mah; // failsafe reserve capacity in mAh
        if (ap_valuep == nullptr) { // ap bit-field
            _ap.value = 0x2000; // set "initialised" to 1 for rover and plane
            _ap.valuep = &_ap.value;
        } else {
            _ap.valuep = ap_valuep;
        }
    }
    
    if (_port != nullptr) {
        hal.scheduler->register_io_process(FUNCTOR_BIND_MEMBER(&AP_Frsky_Telem::tick, void));
        // we don't want flow control for either protocol
        _port->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
    }

// init - perform require initialisation including detecting which protocol to use
void AP_Frsky_Telem::init(const AP_SerialManager& serial_manager)
{
    // check for FRSky_DPort
    if ((_port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_FRSky_DPort, 0))) {
        _protocol = FrSkyDPORT;
        _initialised_uart = true;   // SerialManager initialises uart for us
    } else if ((_port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_FRSky_SPort, 0))) {
        // check for FRSky_SPort
        _protocol = FrSkySPORT;
        _gps_call = 0;
        _fas_call = 0;
        _vario_call = 0 ;
        _various_call = 0 ;
        _gps_data_ready = false;
        _battery_data_ready = false;
        _baro_data_ready = false;
        _mode_data_ready = false;
        _sats_data_ready = false;
        _sport_status = 0;
        hal.scheduler->register_io_process(AP_HAL_MEMBERPROC(&AP_Frsky_Telem::sport_tick));
    }

    if (_port != NULL) {
        // we don't want flow control for either protocol
        _port->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
    }
}

// constructor
AP_Beacon_Pozyx::AP_Beacon_Pozyx(AP_Beacon &frontend, AP_SerialManager &serial_manager) :
    AP_Beacon_Backend(frontend),
    linebuf_len(0)
{
    uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Beacon, 0);
    if (uart != nullptr) {
        uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Beacon, 0));
    }
}

/*
   The constructor also initialises the rangefinder. Note that this
   constructor is not called until detect() returns true, so we
   already know that we should setup the rangefinder
*/
AP_RangeFinder_uLanding::AP_RangeFinder_uLanding(RangeFinder::RangeFinder_State &_state,
                                                 AP_SerialManager &serial_manager) :
    AP_RangeFinder_Backend(_state)
{
    uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Aerotenna_uLanding, 0);
    if (uart != nullptr) {
        uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Aerotenna_uLanding, 0));
    }
}

/*
   The constructor also initialises the rangefinder. Note that this
   constructor is not called until detect() returns true, so we
   already know that we should setup the rangefinder
*/
AP_RangeFinder_LeddarOne::AP_RangeFinder_LeddarOne(RangeFinder::RangeFinder_State &_state,
                                                   AP_SerialManager &serial_manager) :
    AP_RangeFinder_Backend(_state)
{
    uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar, 0);
    if (uart != nullptr) {
        uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Lidar, 0));
    }
}

/*
   The constructor also initialises the rangefinder. Note that this
   constructor is not called until detect() returns true, so we
   already know that we should setup the rangefinder
*/
AP_RangeFinder_LeddarOne::AP_RangeFinder_LeddarOne(RangeFinder::RangeFinder_State &_state,
                                                   AP_SerialManager &serial_manager,
                                                   uint8_t serial_instance) :
    AP_RangeFinder_Backend(_state)
{
    uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance);
    if (uart != nullptr) {
        uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance));
    }
}

/* 
   The constructor also initialises the proximity sensor. Note that this
   constructor is not called until detect() returns true, so we
   already know that we should setup the proximity sensor
*/
AP_Proximity_LightWareSF40C::AP_Proximity_LightWareSF40C(AP_Proximity &_frontend,
                                                         AP_Proximity::Proximity_State &_state,
                                                         AP_SerialManager &serial_manager) :
    AP_Proximity_Backend(_frontend, _state)
{
    uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar360, 0);
    if (uart != nullptr) {
        uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Lidar360, 0));
    }
}

/*
   The constructor also initialises the rangefinder. Note that this
   constructor is not called until detect() returns true, so we
   already know that we should setup the rangefinder
*/
AP_RangeFinder_uLanding::AP_RangeFinder_uLanding(RangeFinder &_ranger, uint8_t instance,
                                                             RangeFinder::RangeFinder_State &_state,
                                                             AP_SerialManager &serial_manager) :
    AP_RangeFinder_Backend(_ranger, instance, _state, MAV_DISTANCE_SENSOR_RADAR)
{
    uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Aerotenna_uLanding, 0);
    if (uart != nullptr) {
        uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Aerotenna_uLanding, 0));
    }
}

/* 
   The constructor also initialises the rangefinder. Note that this
   constructor is not called until detect() returns true, so we
   already know that we should setup the rangefinder
*/
AP_RangeFinder_MaxsonarSerialLV::AP_RangeFinder_MaxsonarSerialLV(RangeFinder &_ranger, uint8_t instance,
                                                                 RangeFinder::RangeFinder_State &_state,
                                                                 AP_SerialManager &serial_manager) :
    AP_RangeFinder_Backend(_ranger, instance, _state)
{
    uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar, 0);
    if (uart != nullptr) {
        uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Lidar, 0));
    }
}

/* 
   The constructor also initialises the rangefinder. Note that this
   constructor is not called until detect() returns true, so we
   already know that we should setup the rangefinder
*/
AP_RangeFinder_LightWareSerial::AP_RangeFinder_LightWareSerial(RangeFinder::RangeFinder_State &_state,
                                                               AP_RangeFinder_Params &_params,
                                                               AP_SerialManager &serial_manager,
                                                               uint8_t serial_instance) :
    AP_RangeFinder_Backend(_state, _params)
{
    uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance);
    if (uart != nullptr) {
        uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance));
    }
}

/* 
   The constructor also initialises the rangefinder. Note that this
   constructor is not called until detect() returns true, so we
   already know that we should setup the rangefinder
*/
AP_RangeFinder_Benewake::AP_RangeFinder_Benewake(RangeFinder::RangeFinder_State &_state,
                                                             AP_SerialManager &serial_manager,
                                                             uint8_t serial_instance,
                                                             benewake_model_type model) :
    AP_RangeFinder_Backend(_state),
    model_type(model)
{
    uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance);
    if (uart != nullptr) {
        uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance));
    }
}

/// Startup initialisation.
void AP_GPS::init(DataFlash_Class *dataflash, const AP_SerialManager& serial_manager)
{
    _DataFlash = dataflash;
    primary_instance = 0;

    // search for serial ports with gps protocol
    _port[0] = serial_manager.find_serial(AP_SerialManager::SerialProtocol_GPS, 0);

#if GPS_MAX_INSTANCES > 1
    _port[1] = serial_manager.find_serial(AP_SerialManager::SerialProtocol_GPS, 1);
    _last_instance_swap_ms = 0;
#endif
}

AP_Beacon_Marvelmind::AP_Beacon_Marvelmind(AP_Beacon &frontend, AP_SerialManager &serial_manager) :
    AP_Beacon_Backend(frontend)
{
    uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Beacon, 0);
    if (uart != nullptr) {
        uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Beacon, 0));
        last_update_ms = 0;
        parse_state = RECV_HDR; // current state of receive data
        num_bytes_in_block_received = 0; // bytes received
        data_id = 0;
        hedge._have_new_values = false;
        hedge.positions_beacons.num_beacons = 0;
        hedge.positions_beacons.updated = false;

    }
}

// init - performs any required initialisation for this instance
void AP_Mount_SToRM32::init(const AP_SerialManager& serial_manager)
{
    // get_mavlink_channel for MAVLink2
    if (serial_manager.get_mavlink_channel(AP_SerialManager::SerialProtocol_MAVLink2, _chan)) {
        _initialised = true;
        set_mode((enum MAV_MOUNT_MODE)_state._default_mode.get());
    }
}