From 84f93439cad9e74c14a8b739dfac45cef6db5ce3 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 3 Nov 2016 13:16:16 +1100
Subject: [PATCH] HAL_PX4: delay peripheral starup

moved to AP_BoardConfig
---
 libraries/AP_HAL_PX4/AnalogIn.cpp      |  5 +++++
 libraries/AP_HAL_PX4/AnalogIn.h        | 12 ++++++------
 libraries/AP_HAL_PX4/GPIO.h            | 18 +++++++++---------
 libraries/AP_HAL_PX4/HAL_PX4_Class.cpp |  5 -----
 libraries/AP_HAL_PX4/RCInput.h         | 18 +++++++++---------
 5 files changed, 29 insertions(+), 29 deletions(-)

diff --git a/libraries/AP_HAL_PX4/AnalogIn.cpp b/libraries/AP_HAL_PX4/AnalogIn.cpp
index 9a4d9687c7..778a6bf80a 100644
--- a/libraries/AP_HAL_PX4/AnalogIn.cpp
+++ b/libraries/AP_HAL_PX4/AnalogIn.cpp
@@ -246,6 +246,11 @@ void PX4AnalogIn::next_stop_pin(void)
  */
 void PX4AnalogIn::_timer_tick(void)
 {
+    if (_adc_fd == -1) {
+        // not initialised yet
+        return;
+    }
+
     // read adc at 100Hz
     uint32_t now = AP_HAL::micros();
     uint32_t delta_t = now - _last_run;
diff --git a/libraries/AP_HAL_PX4/AnalogIn.h b/libraries/AP_HAL_PX4/AnalogIn.h
index ca23697619..4e15aec8d7 100644
--- a/libraries/AP_HAL_PX4/AnalogIn.h
+++ b/libraries/AP_HAL_PX4/AnalogIn.h
@@ -52,15 +52,15 @@ private:
 class PX4::PX4AnalogIn : public AP_HAL::AnalogIn {
 public:
     PX4AnalogIn();
-    void init();
-    AP_HAL::AnalogSource* channel(int16_t pin);
+    void init() override;
+    AP_HAL::AnalogSource* channel(int16_t pin) override;
     void _timer_tick(void);
-    float board_voltage(void) { return _board_voltage; }
-    float servorail_voltage(void) { return _servorail_voltage; }
-    uint16_t power_status_flags(void) { return _power_flags; }
+    float board_voltage(void) override { return _board_voltage; }
+    float servorail_voltage(void) override { return _servorail_voltage; }
+    uint16_t power_status_flags(void) override { return _power_flags; }
 
 private:
-    int _adc_fd;
+    int _adc_fd = -1;
     int _battery_handle;
     int _servorail_handle;
     int _system_power_handle;
diff --git a/libraries/AP_HAL_PX4/GPIO.h b/libraries/AP_HAL_PX4/GPIO.h
index a39e8ab83f..249df28f49 100644
--- a/libraries/AP_HAL_PX4/GPIO.h
+++ b/libraries/AP_HAL_PX4/GPIO.h
@@ -27,21 +27,21 @@
 class PX4::PX4GPIO : public AP_HAL::GPIO {
 public:
     PX4GPIO();
-    void    init();
-    void    pinMode(uint8_t pin, uint8_t output);
-    int8_t  analogPinToDigitalPin(uint8_t pin);
-    uint8_t read(uint8_t pin);
-    void    write(uint8_t pin, uint8_t value);
-    void    toggle(uint8_t pin);
+    void    init() override;
+    void    pinMode(uint8_t pin, uint8_t output) override;
+    int8_t  analogPinToDigitalPin(uint8_t pin) override;
+    uint8_t read(uint8_t pin) override;
+    void    write(uint8_t pin, uint8_t value) override;
+    void    toggle(uint8_t pin) override;
 
     /* Alternative interface: */
-    AP_HAL::DigitalSource* channel(uint16_t n);
+    AP_HAL::DigitalSource* channel(uint16_t n) override;
 
     /* Interrupt interface: */
-    bool attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p, uint8_t mode);
+    bool attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p, uint8_t mode) override;
 
     /* return true if USB cable is connected */
-    bool usb_connected(void);
+    bool usb_connected(void) override;
 
     // used by UART code to avoid a hw bug in the AUAV-X2
     void set_usb_connected(void) { _usb_connected = true; }
diff --git a/libraries/AP_HAL_PX4/HAL_PX4_Class.cpp b/libraries/AP_HAL_PX4/HAL_PX4_Class.cpp
index f6704f0a0c..4ede6088f6 100644
--- a/libraries/AP_HAL_PX4/HAL_PX4_Class.cpp
+++ b/libraries/AP_HAL_PX4/HAL_PX4_Class.cpp
@@ -134,11 +134,6 @@ static int main_loop(int argc, char **argv)
     hal.uartD->begin(57600);
     hal.uartE->begin(57600);
     hal.scheduler->init();
-    hal.rcin->init();
-    hal.rcout->init();
-    hal.analogin->init();
-    hal.gpio->init();
-
 
     /*
       run setup() at low priority to ensure CLI doesn't hang the
diff --git a/libraries/AP_HAL_PX4/RCInput.h b/libraries/AP_HAL_PX4/RCInput.h
index e8282994ad..4421fe945a 100644
--- a/libraries/AP_HAL_PX4/RCInput.h
+++ b/libraries/AP_HAL_PX4/RCInput.h
@@ -12,19 +12,19 @@
 
 class PX4::PX4RCInput : public AP_HAL::RCInput {
 public:
-    void init();
-    bool new_input();
-    uint8_t num_channels();
-    uint16_t read(uint8_t ch);
-    uint8_t read(uint16_t* periods, uint8_t len);
+    void init() override;
+    bool new_input() override;
+    uint8_t num_channels() override;
+    uint16_t read(uint8_t ch) override;
+    uint8_t read(uint16_t* periods, uint8_t len) override;
 
-    bool set_overrides(int16_t *overrides, uint8_t len);
-    bool set_override(uint8_t channel, int16_t override);
-    void clear_overrides();
+    bool set_overrides(int16_t *overrides, uint8_t len) override;
+    bool set_override(uint8_t channel, int16_t override) override;
+    void clear_overrides() override;
 
     void _timer_tick(void);
 
-    bool rc_bind(int dsmMode);
+    bool rc_bind(int dsmMode) override;
 
 private:
     /* override state */