AP_HAL_ChibiOS: move from HAL_NO_SHARED_DMA to AP_HAL_SHARED_DMA_ENABLED

This allows hwdef files to manipulate this value

libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp

@@ -213,7 +213,7 @@ static void main_loop()
     ChibiOS::I2CBus::clear_all();
 #endif
 
-#ifndef HAL_NO_SHARED_DMA
+#if AP_HAL_SHARED_DMA_ENABLED
     ChibiOS::Shared_DMA::init();
 #endif
 

libraries/AP_HAL_ChibiOS/RCOutput.cpp

@@ -224,7 +224,7 @@ __RAMFUNC__ void RCOutput::dshot_update_tick(void* p)
     chSysUnlockFromISR();
 }
 
-#ifndef HAL_NO_SHARED_DMA
+#if AP_HAL_SHARED_DMA_ENABLED
 // release locks on the groups that are pending in reverse order
 void RCOutput::dshot_collect_dma_locks(uint32_t time_out_us)
 {
@@ -279,7 +279,7 @@ void RCOutput::dshot_collect_dma_locks(uint32_t time_out_us)
         }
     }
 }
-#endif // HAL_NO_SHARED_DMA
+#endif // AP_HAL_SHARED_DMA_ENABLED
 
 /*
   setup the output frequency for a group and start pwm output

libraries/AP_HAL_ChibiOS/Util.cpp

@@ -461,7 +461,7 @@ __RAMFUNC__ void Util::thread_info(ExpandingString &str)
 // request information on dma contention
 void Util::dma_info(ExpandingString &str)
 {
-#ifndef HAL_NO_SHARED_DMA
+#if AP_HAL_SHARED_DMA_ENABLED
     ChibiOS::Shared_DMA::dma_info(str);
 #endif
 }

libraries/AP_HAL_ChibiOS/hwdef/iomcu/hwdef.dat

@@ -119,7 +119,7 @@ define HAL_NO_TIMER_THREAD
 define HAL_NO_RCIN_THREAD
 define HAL_NO_MONITOR_THREAD
 define HAL_NO_RCOUT_THREAD
-define HAL_NO_SHARED_DMA
+define AP_HAL_SHARED_DMA_ENABLED 0
 
 #defined to turn off undef warnings
 define __FPU_PRESENT 0

libraries/AP_HAL_ChibiOS/hwdef/iomcu_f103_8MHz/hwdef.dat

@@ -119,7 +119,7 @@ define HAL_NO_TIMER_THREAD
 define HAL_NO_RCIN_THREAD
 define HAL_NO_MONITOR_THREAD
 define HAL_NO_RCOUT_THREAD
-define HAL_NO_SHARED_DMA
+define AP_HAL_SHARED_DMA_ENABLED 0
 
 #defined to turn off undef warnings
 define __FPU_PRESENT 0

libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py

@@ -1109,7 +1109,9 @@ def write_mcu_config(f):
 #define HAL_NO_TIMER_THREAD
 #define HAL_NO_RCOUT_THREAD
 #define HAL_NO_RCIN_THREAD
-#define HAL_NO_SHARED_DMA FALSE
+#ifndef AP_HAL_SHARED_DMA_ENABLED
+#define AP_HAL_SHARED_DMA_ENABLED 0
+#endif
 #define HAL_NO_ROMFS_SUPPORT TRUE
 #define CH_CFG_USE_TM FALSE
 #define CH_CFG_USE_REGISTRY FALSE

libraries/AP_HAL_ChibiOS/shared_dma.cpp

@@ -22,7 +22,7 @@
   code to handle sharing of DMA channels between peripherals
  */
 
-#if CH_CFG_USE_MUTEXES == TRUE && !defined(HAL_NO_SHARED_DMA)
+#if CH_CFG_USE_MUTEXES == TRUE && AP_HAL_SHARED_DMA_ENABLED
 
 #include <AP_Common/ExpandingString.h>
 

libraries/AP_HAL_ChibiOS/shared_dma.h

@@ -23,7 +23,7 @@
 // DMA stream ID for stream_id2 when only one is needed
 #define SHARED_DMA_NONE 255
 
-#ifndef HAL_NO_SHARED_DMA
+#if AP_HAL_SHARED_DMA_ENABLED
 
 class ChibiOS::Shared_DMA
 {
@@ -114,4 +114,4 @@ private:
     } *_contention_stats;
 };
 
-#endif // HAL_NO_SHARED_DMA
+#endif // AP_HAL_SHARED_DMA_ENABLED