From 6d2d6d745421bd8d1cbaf26f05e92fd80098af19 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 2 Nov 2019 13:32:48 +1100
Subject: [PATCH] AP_IOCMU: added singleton in AP namespace

---
 libraries/AP_IOMCU/AP_IOMCU.cpp | 13 ++++++++++++-
 libraries/AP_IOMCU/AP_IOMCU.h   | 10 ++++++++++
 2 files changed, 22 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_IOMCU/AP_IOMCU.cpp b/libraries/AP_IOMCU/AP_IOMCU.cpp
index cf5b965364..399eb302e1 100644
--- a/libraries/AP_IOMCU/AP_IOMCU.cpp
+++ b/libraries/AP_IOMCU/AP_IOMCU.cpp
@@ -44,7 +44,9 @@ enum ioevents {
 
 AP_IOMCU::AP_IOMCU(AP_HAL::UARTDriver &_uart) :
     uart(_uart)
-{}
+{
+    singleton = this;
+}
 
 #define IOMCU_DEBUG_ENABLE 0
 
@@ -54,6 +56,8 @@ AP_IOMCU::AP_IOMCU(AP_HAL::UARTDriver &_uart) :
 #define debug(fmt, args ...)
 #endif
 
+AP_IOMCU *AP_IOMCU::singleton;
+
 /*
   initialise library, starting thread
  */
@@ -999,4 +1003,11 @@ void AP_IOMCU::check_iomcu_reset(void)
     trigger_event(IOEVENT_SET_DEFAULT_RATE);
 }
 
+
+namespace AP {
+    AP_IOMCU *iomcu(void) {
+        return AP_IOMCU::get_singleton();
+    }
+};
+
 #endif // HAL_WITH_IO_MCU
diff --git a/libraries/AP_IOMCU/AP_IOMCU.h b/libraries/AP_IOMCU/AP_IOMCU.h
index 06b745decb..b74c8aec04 100644
--- a/libraries/AP_IOMCU/AP_IOMCU.h
+++ b/libraries/AP_IOMCU/AP_IOMCU.h
@@ -106,6 +106,10 @@ public:
     // channel group masks
     const uint8_t ch_masks[3] = { 0x03,0x0C,0xF0 };
 
+    static AP_IOMCU *get_singleton(void) {
+        return singleton;
+    }
+
 private:
     AP_HAL::UARTDriver &uart;
 
@@ -238,6 +242,8 @@ private:
     void handle_repeated_failures();
     void check_iomcu_reset();
 
+    static AP_IOMCU *singleton;
+
     enum {
         PROTO_NOP               = 0x00,
         PROTO_OK                = 0x10,
@@ -270,4 +276,8 @@ private:
     };
 };
 
+namespace AP {
+    AP_IOMCU *iomcu(void);
+};
+
 #endif // HAL_WITH_IO_MCU