AP_Periph: add AP_RPM support

Co-authored-by: Samuel Tabor <samuel.tabor@krausaerospace.com>

Tools/AP_Periph/AP_Periph.cpp

@@ -269,6 +269,10 @@ void AP_Periph_FW::init()
     nmea.init();
 #endif
 
+#ifdef HAL_PERIPH_ENABLE_RPM
+    rpm_sensor.init();
+#endif
+
 #ifdef HAL_PERIPH_ENABLE_NOTIFY
     notify.init();
 #endif
@@ -474,6 +478,13 @@ void AP_Periph_FW::update()
     temperature_sensor.update();
 #endif
 
+#ifdef HAL_PERIPH_ENABLE_RPM
+    if (now - rpm_last_update_ms >= 100) {
+        rpm_last_update_ms = now;
+        rpm_sensor.update();
+    }
+#endif
+
 #if HAL_LOGGING_ENABLED
     logger.periodic_tasks();
 #endif

Tools/AP_Periph/AP_Periph.h

@@ -26,6 +26,7 @@
 #include <AP_HAL/CANIface.h>
 #include <AP_Stats/AP_Stats.h>
 #include <AP_Networking/AP_Networking.h>
+#include <AP_RPM/AP_RPM.h>
 #include <AP_SerialManager/AP_SerialManager.h>
 #include <AP_ESC_Telem/AP_ESC_Telem_config.h>
 #if HAL_WITH_ESC_TELEM
@@ -159,6 +160,11 @@ public:
     AP_Baro baro;
 #endif
 
+#ifdef HAL_PERIPH_ENABLE_RPM
+    AP_RPM rpm_sensor;
+    uint32_t rpm_last_update_ms;
+#endif
+
 #ifdef HAL_PERIPH_ENABLE_BATTERY
     struct AP_Periph_Battery {
         void handle_battery_failsafe(const char* type_str, const int8_t action) { }

Tools/AP_Periph/Parameters.cpp

@@ -557,6 +557,12 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
     GOBJECT(networking, "NET_", AP_Networking),
 #endif
 
+#ifdef HAL_PERIPH_ENABLE_RPM
+    // @Group: RPM
+    // @Path: ../libraries/AP_RPM/AP_RPM.cpp
+    GOBJECT(rpm_sensor, "RPM", AP_RPM),
+#endif
+
     AP_VAREND
 };
 

Tools/AP_Periph/Parameters.h

@@ -77,6 +77,7 @@ public:
         k_param_pole_count1,
         k_param_esc_serial_port1,
         k_param_networking,
+        k_param_rpm_sensor,
     };
 
     AP_Int16 format_version;

Tools/AP_Periph/wscript

@@ -70,6 +70,7 @@ def build(bld):
                      'AP_Stats',
                      'AP_EFI',
                      'AP_CheckFirmware',
+                     'AP_RPM',
                      'AP_Proximity',
                      ]
     bld.ap_stlib(