From 6b1c9175524f5cb16d3ac6d4d5485473e864af6a Mon Sep 17 00:00:00 2001
From: David Ingraham <davingrahamd@gmail.com>
Date: Sun, 10 Dec 2023 17:19:59 -0800
Subject: [PATCH] Rover: Add Absolute Encoder Support

This instantiates the absolute encoder driver in rover, for use in the AP_Windvane Driver.
---
 Rover/Parameters.cpp | 5 +++++
 Rover/Parameters.h   | 4 ++++
 Rover/Rover.cpp      | 3 ++-
 Rover/system.cpp     | 2 ++
 Rover/wscript        | 1 +
 5 files changed, 14 insertions(+), 1 deletion(-)

diff --git a/Rover/Parameters.cpp b/Rover/Parameters.cpp
index 5d4a84fc9b08b6..24ebdbfead8a9f 100644
--- a/Rover/Parameters.cpp
+++ b/Rover/Parameters.cpp
@@ -703,6 +703,10 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Path: mode_circle.cpp
     AP_SUBGROUPINFO(mode_circle, "CIRC", 57, ParametersG2, ModeCircle),
 
+    // @Group: AENC
+    // @Path: ../libraries/AP_AbsoluteEncoder/AP_AbsoluteEncoder.cpp
+    AP_SUBGROUPINFO(absoluteencoder, "AENC", 58, ParametersG2, AP_AbsoluteEncoder),
+
     AP_GROUPEND
 };
 
@@ -758,6 +762,7 @@ ParametersG2::ParametersG2(void)
 #if AP_FOLLOW_ENABLED
     follow(),
 #endif
+    absoluteencoder(),
     windvane(),
     pos_control(attitude_control),
     wp_nav(attitude_control, pos_control),
diff --git a/Rover/Parameters.h b/Rover/Parameters.h
index 035d16f4d0ffb4..1a780329764f54 100644
--- a/Rover/Parameters.h
+++ b/Rover/Parameters.h
@@ -15,6 +15,7 @@
 #include <AP_Stats/AP_Stats.h>
 #include "AP_Torqeedo/AP_Torqeedo.h"
 #include <AP_WindVane/AP_WindVane.h>
+#include <AP_AbsoluteEncoder/AP_AbsoluteEncoder.h>
 
 #define AP_PARAM_VEHICLE_NAME rover
 
@@ -392,6 +393,9 @@ class ParametersG2 {
     // windvane
     AP_WindVane windvane;
 
+    // Absolute Encoder
+    AP_AbsoluteEncoder absoluteencoder;
+
     // mission behave
     AP_Int8 mis_done_behave;
 
diff --git a/Rover/Rover.cpp b/Rover/Rover.cpp
index 82b7f46e371397..0e12b71ca5dab1 100644
--- a/Rover/Rover.cpp
+++ b/Rover/Rover.cpp
@@ -86,7 +86,8 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
 #if HAL_PROXIMITY_ENABLED
     SCHED_TASK_CLASS(AP_Proximity,        &rover.g2.proximity,     update,         50,  200,  27),
 #endif
-    SCHED_TASK_CLASS(AP_WindVane,         &rover.g2.windvane,      update,         20,  100,  30),
+    SCHED_TASK_CLASS(AP_AbsoluteEncoder,  &rover.g2.absoluteencoder, update,       20,  100,  30),
+    SCHED_TASK_CLASS(AP_WindVane,         &rover.g2.windvane,      update,         20,  100,  31),
     SCHED_TASK(update_wheel_encoder,   50,    200,  36),
     SCHED_TASK(update_compass,         10,    200,  39),
     SCHED_TASK(update_logging1,        10,    200,  45),
diff --git a/Rover/system.cpp b/Rover/system.cpp
index 492463e8a2345a..71cfb79e123c87 100644
--- a/Rover/system.cpp
+++ b/Rover/system.cpp
@@ -42,6 +42,8 @@ void Rover::init_ardupilot()
 
     rssi.init();
 
+    g2.absoluteencoder.init();
+
     g2.windvane.init(serial_manager);
 
     // init baro before we start the GCS, so that the CLI baro test works
diff --git a/Rover/wscript b/Rover/wscript
index b77de5b6e40161..bd2f69dfe2dd34 100644
--- a/Rover/wscript
+++ b/Rover/wscript
@@ -27,6 +27,7 @@ def build(bld):
             'AP_Torqeedo',
             'AC_PrecLand',
             'AP_IRLock',
+            'AP_AbsoluteEncoder',
         ],
     )