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AP_RPM: make pwm_input driver start on demand

This commit is contained in:
Andrew Tridgell 2016-11-11 13:14:13 +11:00
parent 08f770125e
commit 0fb959a309
1 changed files with 10 additions and 0 deletions
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10
libraries/AP_RPM/RPM_PX4_PWM.cpp
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@ -16,6 +16,7 @@
#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
#include <AP_BoardConfig/AP_BoardConfig.h>
#include "RPM_PX4_PWM.h"
#include <sys/types.h>
@ -35,12 +36,21 @@
extern const AP_HAL::HAL& hal;
extern "C" {
int pwm_input_main(int, char **);
};
/*
open the sensor in constructor
*/
AP_RPM_PX4_PWM::AP_RPM_PX4_PWM(AP_RPM &_ap_rpm, uint8_t instance, AP_RPM::RPM_State &_state) :
AP_RPM_Backend(_ap_rpm, instance, _state)
{
#ifndef CONFIG_ARCH_BOARD_PX4FMU_V1
if (AP_BoardConfig::px4_start_driver(pwm_input_main, "pwm_input", "start")) {
hal.console->printf("started pwm_input driver\n");
}
#endif
_fd = open(PWMIN0_DEVICE_PATH, O_RDONLY);
if (_fd == -1) {
hal.console->printf("Unable to open %s\n", PWMIN0_DEVICE_PATH);