AP_RCProtocol: make singleton

used by iomcu

libraries/AP_RCProtocol/AP_RCProtocol.cpp

@@ -24,6 +24,9 @@
 #include "AP_RCProtocol_SRXL.h"
 #include "AP_RCProtocol_ST24.h"
 
+// singleton
+AP_RCProtocol *AP_RCProtocol::instance;
+
 void AP_RCProtocol::init()
 {
     backend[AP_RCProtocol::PPM] = new AP_RCProtocol_PPMSum(*this);

libraries/AP_RCProtocol/AP_RCProtocol.h

@@ -22,8 +22,12 @@
 #define MIN_RCIN_CHANNELS  5
 
 class AP_RCProtocol_Backend;
+
 class AP_RCProtocol {
 public:
+    AP_RCProtocol() {
+        instance = this;
+    }
     enum rcprotocol_t {
         PPM = 0,
         SBUS,
@@ -50,12 +54,19 @@ public:
     bool new_input();
     void start_bind(void);
 
+    // access to singleton
+    static AP_RCProtocol *get_instance(void) {
+        return instance;
+    }
+
 private:
     enum rcprotocol_t _detected_protocol = NONE;
     AP_RCProtocol_Backend *backend[NONE];
     bool _new_input = false;
     uint32_t _last_input_ms;
     bool _valid_serial_prot = false;
+
+    static AP_RCProtocol *instance;
 };
 
 #include "AP_RCProtocol_Backend.h"