From 18e55b9d6efcfca8a2cf6f1088ef9aba330d905f Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 28 Apr 2023 10:38:54 +1000
Subject: [PATCH] AP_RCProtocol: add and use AP_RCPROTOCOL_SBUS_ENABLED

---
 libraries/AP_RCProtocol/AP_RCProtocol.cpp      |  8 ++++++++
 libraries/AP_RCProtocol/AP_RCProtocol.h        |  8 ++++++++
 libraries/AP_RCProtocol/AP_RCProtocol_SBUS.cpp |  6 ++++++
 libraries/AP_RCProtocol/AP_RCProtocol_SBUS.h   |  6 ++++++
 libraries/AP_RCProtocol/AP_RCProtocol_config.h | 17 +++++++++++++----
 5 files changed, 41 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_RCProtocol/AP_RCProtocol.cpp b/libraries/AP_RCProtocol/AP_RCProtocol.cpp
index df5cb88dcc..1c1cc1cc4f 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol.cpp
+++ b/libraries/AP_RCProtocol/AP_RCProtocol.cpp
@@ -37,7 +37,9 @@ void AP_RCProtocol::init()
 {
     backend[AP_RCProtocol::PPM] = new AP_RCProtocol_PPMSum(*this);
     backend[AP_RCProtocol::IBUS] = new AP_RCProtocol_IBUS(*this);
+#if AP_RCPROTOCOL_SBUS_ENABLED
     backend[AP_RCProtocol::SBUS] = new AP_RCProtocol_SBUS(*this, true, 100000);
+#endif
 #if AP_RCPROTOCOL_FASTSBUS_ENABLED
     backend[AP_RCProtocol::FASTSBUS] = new AP_RCProtocol_SBUS(*this, true, 200000);
 #endif
@@ -47,7 +49,9 @@ void AP_RCProtocol::init()
     backend[AP_RCProtocol::SRXL] = new AP_RCProtocol_SRXL(*this);
 #endif
 #ifndef IOMCU_FW
+#if AP_RCPROTOCOL_SBUS_NI_ENABLED
     backend[AP_RCProtocol::SBUS_NI] = new AP_RCProtocol_SBUS(*this, false, 100000);
+#endif
 #if AP_RCPROTOCOL_SRXL2_ENABLED
     backend[AP_RCProtocol::SRXL2] = new AP_RCProtocol_SRXL2(*this);
 #endif
@@ -413,8 +417,12 @@ const char *AP_RCProtocol::protocol_name_from_protocol(rcprotocol_t protocol)
         return "PPM";
     case IBUS:
         return "IBUS";
+#if AP_RCPROTOCOL_SBUS_ENABLED
     case SBUS:
+#endif
+#if AP_RCPROTOCOL_SBUS_NI_ENABLED
     case SBUS_NI:
+#endif
         return "SBUS";
 #if AP_RCPROTOCOL_FASTSBUS_ENABLED
     case FASTSBUS:
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol.h b/libraries/AP_RCProtocol/AP_RCProtocol.h
index ad4e1f7807..59cd5ec891 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol.h
+++ b/libraries/AP_RCProtocol/AP_RCProtocol.h
@@ -35,8 +35,12 @@ public:
     enum rcprotocol_t {
         PPM        =  0,
         IBUS       =  1,
+#if AP_RCPROTOCOL_SBUS_ENABLED
         SBUS       =  2,
+#endif
+#if AP_RCPROTOCOL_SBUS_NI_ENABLED
         SBUS_NI    =  3,
+#endif
         DSM        =  4,
         SUMD       =  5,
 #if AP_RCPROTOCOL_SRXL_ENABLED
@@ -90,8 +94,12 @@ public:
 #if AP_RCPROTOCOL_FASTSBUS_ENABLED
         case FASTSBUS:
 #endif
+#if AP_RCPROTOCOL_SBUS_ENABLED
         case SBUS:
+#endif
+#if AP_RCPROTOCOL_SBUS_NI_ENABLED
         case SBUS_NI:
+#endif
         case PPM:
 #if AP_RCPROTOCOL_FPORT_ENABLED
         case FPORT:
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_SBUS.cpp b/libraries/AP_RCProtocol/AP_RCProtocol_SBUS.cpp
index 1ab64ffc99..94d8ce4411 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_SBUS.cpp
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_SBUS.cpp
@@ -53,6 +53,10 @@
 
 #include "AP_RCProtocol_SBUS.h"
 
+#include "AP_RCProtocol_config.h"
+
+#if AP_RCPROTOCOL_SBUS_ENABLED
+
 #define SBUS_FRAME_SIZE		25
 #define SBUS_INPUT_CHANNELS	16
 #define SBUS_FLAGS_BYTE		23
@@ -219,3 +223,5 @@ void AP_RCProtocol_SBUS::process_byte(uint8_t b, uint32_t baudrate)
     }
     _process_byte(AP_HAL::micros(), b);
 }
+
+#endif  // AP_RCPROTOCOL_SBUS_ENABLED
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_SBUS.h b/libraries/AP_RCProtocol/AP_RCProtocol_SBUS.h
index 48923d22a4..c9c43a052b 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_SBUS.h
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_SBUS.h
@@ -17,6 +17,10 @@
 
 #pragma once
 
+#include "AP_RCProtocol_config.h"
+
+#if AP_RCPROTOCOL_SBUS_ENABLED
+
 #include "AP_RCProtocol.h"
 #include "SoftSerial.h"
 
@@ -41,3 +45,5 @@ private:
         uint32_t last_byte_us;
     } byte_input;
 };
+
+#endif  // AP_RCPROTOCOL_SBUS_ENABLED
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_config.h b/libraries/AP_RCProtocol/AP_RCProtocol_config.h
index d1e3bcdf39..d894597ed2 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_config.h
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_config.h
@@ -11,10 +11,6 @@
 #define AP_RCPROTOCOL_CRSF_ENABLED AP_RCPROTOCOL_BACKEND_DEFAULT_ENABLED
 #endif
 
-#ifndef AP_RCPROTOCOL_FASTSBUS_ENABLED
-#define AP_RCPROTOCOL_FASTSBUS_ENABLED AP_RCPROTOCOL_BACKEND_DEFAULT_ENABLED
-#endif
-
 #ifndef AP_RCPROTOCOL_FPORT_ENABLED
 #define AP_RCPROTOCOL_FPORT_ENABLED AP_RCPROTOCOL_BACKEND_DEFAULT_ENABLED && AP_FRSKY_SPORT_TELEM_ENABLED
 #endif
@@ -22,6 +18,10 @@
 #define AP_RCPROTOCOL_FPORT2_ENABLED AP_RCPROTOCOL_BACKEND_DEFAULT_ENABLED && AP_FRSKY_SPORT_TELEM_ENABLED
 #endif
 
+#ifndef AP_RCPROTOCOL_SBUS_ENABLED
+#define AP_RCPROTOCOL_SBUS_ENABLED AP_RCPROTOCOL_BACKEND_DEFAULT_ENABLED
+#endif
+
 #ifndef AP_RCPROTOCOL_SRXL_ENABLED
 #define AP_RCPROTOCOL_SRXL_ENABLED AP_RCPROTOCOL_BACKEND_DEFAULT_ENABLED
 #endif
@@ -29,3 +29,12 @@
 #ifndef AP_RCPROTOCOL_SRXL2_ENABLED
 #define AP_RCPROTOCOL_SRXL2_ENABLED AP_RCPROTOCOL_BACKEND_DEFAULT_ENABLED
 #endif
+
+
+#ifndef AP_RCPROTOCOL_SBUS_NI_ENABLED
+#define AP_RCPROTOCOL_SBUS_NI_ENABLED AP_RCPROTOCOL_SBUS_ENABLED
+#endif
+
+#ifndef AP_RCPROTOCOL_FASTSBUS_ENABLED
+#define AP_RCPROTOCOL_FASTSBUS_ENABLED AP_RCPROTOCOL_SBUS_ENABLED
+#endif