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AP_BoardConfig: moved optional sensors to the sensor startup

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this makes startup much faster
This commit is contained in:
Andrew Tridgell 2016-08-03 14:46:11 +10:00
parent 36e0c7229a
commit 7806aa4274
2 changed files with 5 additions and 24 deletions
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6
libraries/AP_BoardConfig/AP_BoardConfig.h
View File

@ -33,6 +33,11 @@ public:
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
// public method to start a driver
static bool px4_start_driver(main_fn_t main_function, const char *name, const char *arguments);
#endif
private: private:
AP_Int16 vehicleSerialNumber; AP_Int16 vehicleSerialNumber;
@ -68,7 +73,6 @@ private:
void px4_setup_drivers(void); void px4_setup_drivers(void);
void px4_sensor_error(const char *reason); void px4_sensor_error(const char *reason);
bool px4_start_driver(main_fn_t main_function, const char *name, const char *arguments);
void px4_start_common_sensors(void); void px4_start_common_sensors(void);
void px4_start_fmuv1_sensors(void); void px4_start_fmuv1_sensors(void);
void px4_start_fmuv2_sensors(void); void px4_start_fmuv2_sensors(void);

23
libraries/AP_BoardConfig/px4_drivers.cpp
View File

@ -60,10 +60,6 @@ extern "C" {
int trone_main(int, char **); int trone_main(int, char **);
int mb12xx_main(int, char **); int mb12xx_main(int, char **);
int pwm_input_main(int, char **); int pwm_input_main(int, char **);
int oreoled_main(int, char **);
int batt_smbus_main(int, char **);
int irlock_main(int, char **);
int px4flow_main(int, char **);
int uavcan_main(int, char **); int uavcan_main(int, char **);
}; };
@ -445,29 +441,10 @@ void AP_BoardConfig::px4_start_optional_sensors(void)
if (px4_start_driver(mb12xx_main, "mb12xx", "start")) { if (px4_start_driver(mb12xx_main, "mb12xx", "start")) {
printf("Found mb12xx sensor\n"); printf("Found mb12xx sensor\n");
} }
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) || defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
if (px4_start_driver(px4flow_main, "px4flow", "start")) {
printf("Found px4flow sensor\n");
}
#endif
if (px4_start_driver(pwm_input_main, "pwm_input", "start")) { if (px4_start_driver(pwm_input_main, "pwm_input", "start")) {
printf("started pwm_input driver\n"); printf("started pwm_input driver\n");
} }
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
if (px4_start_driver(oreoled_main, "oreoled", "start autoupdate")) {
printf("oreoled started OK\n");
}
#endif
if (px4_start_driver(batt_smbus_main, "batt_smbus", "-b 2 start")) {
printf("Found batt_smbus\n");
}
if (px4_start_driver(irlock_main, "irlock", "start")) {
printf("irlock started\n");
}
} }