From 1bd62362a4880f554eed10b26108e920f6dbc135 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Wed, 18 Aug 2021 21:42:17 +1000 Subject: [PATCH] AP_HAL_ChibiOS: move from HAL_NO_GCS to HAL_GCS_ENABLED --- libraries/AP_HAL_ChibiOS/Util.cpp | 10 +++++++--- libraries/AP_HAL_ChibiOS/hwdef/BirdCANdy/hwdef.dat | 2 +- libraries/AP_HAL_ChibiOS/hwdef/CUAV_GPS/hwdef.dat | 1 - .../AP_HAL_ChibiOS/hwdef/CubeBlack-periph/hwdef.dat | 1 - .../AP_HAL_ChibiOS/hwdef/CubeOrange-periph/hwdef.dat | 1 - libraries/AP_HAL_ChibiOS/hwdef/FreeflyRTK/hwdef.dat | 1 - libraries/AP_HAL_ChibiOS/hwdef/G4-ESC/hwdef.dat | 1 - libraries/AP_HAL_ChibiOS/hwdef/H757I_EVAL/hwdef.dat | 2 +- .../AP_HAL_ChibiOS/hwdef/H757I_EVAL_intf/hwdef.dat | 2 +- libraries/AP_HAL_ChibiOS/hwdef/HereCommon/hwdef.inc | 2 +- libraries/AP_HAL_ChibiOS/hwdef/HerePro/hwdef-bl.dat | 1 - libraries/AP_HAL_ChibiOS/hwdef/HerePro/hwdef.dat | 2 +- libraries/AP_HAL_ChibiOS/hwdef/HitecMosaic/hwdef.dat | 1 - libraries/AP_HAL_ChibiOS/hwdef/HolybroGPS/hwdef.dat | 1 - .../AP_HAL_ChibiOS/hwdef/MatekH743-periph/hwdef.dat | 1 - .../AP_HAL_ChibiOS/hwdef/Pixracer-periph/hwdef.dat | 1 - libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef-bl.dat | 1 - libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef.dat | 1 - libraries/AP_HAL_ChibiOS/hwdef/f103-periph/hwdef.inc | 1 - libraries/AP_HAL_ChibiOS/hwdef/f303-MatekGPS/hwdef.dat | 2 -- libraries/AP_HAL_ChibiOS/hwdef/f303-periph/hwdef.inc | 2 -- libraries/AP_HAL_ChibiOS/hwdef/f405-MatekGPS/hwdef.dat | 1 - libraries/AP_HAL_ChibiOS/hwdef/mRo-M10095/hwdef.dat | 1 - .../AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py | 3 +++ 24 files changed, 15 insertions(+), 27 deletions(-) diff --git a/libraries/AP_HAL_ChibiOS/Util.cpp b/libraries/AP_HAL_ChibiOS/Util.cpp index ed36f937ec..1f345d0cd6 100644 --- a/libraries/AP_HAL_ChibiOS/Util.cpp +++ b/libraries/AP_HAL_ChibiOS/Util.cpp @@ -227,11 +227,15 @@ uint64_t Util::get_hw_rtc() const #if !defined(HAL_NO_FLASH_SUPPORT) && !defined(HAL_NO_ROMFS_SUPPORT) -#if defined(HAL_NO_GCS) || defined(HAL_BOOTLOADER_BUILD) -#define Debug(fmt, args ...) do { hal.console->printf(fmt, ## args); } while (0) -#else +#ifndef HAL_BOOTLOADER_BUILD #include +#if HAL_GCS_ENABLED #define Debug(fmt, args ...) do { gcs().send_text(MAV_SEVERITY_INFO, fmt, ## args); } while (0) +#endif // HAL_GCS_ENABLED +#endif // ifndef HAL_BOOT_LOADER_BUILD + +#ifndef Debug +#define Debug(fmt, args ...) do { hal.console->printf(fmt, ## args); } while (0) #endif Util::FlashBootloader Util::flash_bootloader() diff --git a/libraries/AP_HAL_ChibiOS/hwdef/BirdCANdy/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/BirdCANdy/hwdef.dat index 3d7c89e1c7..0cd10d5649 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/BirdCANdy/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/BirdCANdy/hwdef.dat @@ -106,7 +106,7 @@ define HAL_CAN_DEFAULT_NODE_ID 0 define CAN_APP_NODE_NAME "org.ardupilot.birdcandy" -define HAL_NO_GCS +define HAL_GCS_ENABLED 0 define HAL_NO_LOGGING define HAL_NO_MONITOR_THREAD diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CUAV_GPS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CUAV_GPS/hwdef.dat index dfef2f43b9..f3969df4ec 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/CUAV_GPS/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/CUAV_GPS/hwdef.dat @@ -133,7 +133,6 @@ define HAL_CAN_DEFAULT_NODE_ID 0 define CAN_APP_NODE_NAME "org.ardupilot.cuav_gps" -define HAL_NO_GCS define HAL_NO_MONITOR_THREAD define HAL_MINIMIZE_FEATURES 0 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeBlack-periph/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeBlack-periph/hwdef.dat index 8dae6af17c..10e40cf877 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/CubeBlack-periph/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeBlack-periph/hwdef.dat @@ -39,7 +39,6 @@ define GPS_MAX_RECEIVERS 1 define GPS_MAX_INSTANCES 1 define HAL_COMPASS_MAX_SENSORS 1 -define HAL_NO_GCS define HAL_NO_MONITOR_THREAD define HAL_DISABLE_LOOP_DELAY diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph/hwdef.dat index 3ef80e3296..e304e3cef4 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph/hwdef.dat @@ -35,7 +35,6 @@ define GPS_MAX_RECEIVERS 1 define GPS_MAX_INSTANCES 1 define HAL_COMPASS_MAX_SENSORS 1 -define HAL_NO_GCS define HAL_NO_MONITOR_THREAD define HAL_DISABLE_LOOP_DELAY diff --git a/libraries/AP_HAL_ChibiOS/hwdef/FreeflyRTK/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/FreeflyRTK/hwdef.dat index ee19933cb3..b4f2810ce7 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/FreeflyRTK/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/FreeflyRTK/hwdef.dat @@ -129,7 +129,6 @@ define HAL_CAN_DEFAULT_NODE_ID 0 define CAN_APP_NODE_NAME "org.ardupilot.FreeflyRTK" -define HAL_NO_GCS define HAL_NO_MONITOR_THREAD define HAL_MINIMIZE_FEATURES 0 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/G4-ESC/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/G4-ESC/hwdef.dat index 824853cd6e..a455c39818 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/G4-ESC/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/G4-ESC/hwdef.dat @@ -137,7 +137,6 @@ define HAL_UART_MIN_RX_SIZE 128 define HAL_UART_STACK_SIZE 0x200 -define HAL_NO_GCS define HAL_NO_MONITOR_THREAD define HAL_MINIMIZE_FEATURES 0 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/H757I_EVAL/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/H757I_EVAL/hwdef.dat index 95915f4717..f8f0752095 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/H757I_EVAL/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/H757I_EVAL/hwdef.dat @@ -26,7 +26,7 @@ FLASH_SIZE_KB 2048 # env AP_PERIPH 1 # define HAL_BUILD_AP_PERIPH -# define HAL_NO_GCS +# define HAL_GCS_ENABLED 0 # bootloader is installed at zero offset FLASH_RESERVE_START_KB 128 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/H757I_EVAL_intf/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/H757I_EVAL_intf/hwdef.dat index 257725f6d8..8c6309e2b6 100755 --- a/libraries/AP_HAL_ChibiOS/hwdef/H757I_EVAL_intf/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/H757I_EVAL_intf/hwdef.dat @@ -26,7 +26,7 @@ FLASH_SIZE_KB 2048 # env AP_PERIPH 1 # define HAL_BUILD_AP_PERIPH -# define HAL_NO_GCS +# define HAL_GCS_ENABLED 0 # bootloader is installed at zero offset FLASH_RESERVE_START_KB 128 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/HereCommon/hwdef.inc b/libraries/AP_HAL_ChibiOS/hwdef/HereCommon/hwdef.inc index 3de5e2f35f..30e93ac4a0 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/HereCommon/hwdef.inc +++ b/libraries/AP_HAL_ChibiOS/hwdef/HereCommon/hwdef.inc @@ -81,4 +81,4 @@ define STM32_ADC_USE_ADC1 FALSE define HAL_DISABLE_ADC_DRIVER TRUE define HAL_CAN_DEFAULT_NODE_ID 0 -define HAL_NO_GCS +define HAL_GCS_ENABLED 0 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/HerePro/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/HerePro/hwdef-bl.dat index bcc8a43d22..c866a30ab4 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/HerePro/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/HerePro/hwdef-bl.dat @@ -40,7 +40,6 @@ SERIAL_ORDER OTG1 UART7 define HAL_NO_LOGGING TRUE define HAL_NO_MONITOR_THREAD -define HAL_NO_GCS # USART3 F9 PD9 USART3_RX USART3 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/HerePro/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/HerePro/hwdef.dat index beb63aab02..c4f86347d2 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/HerePro/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/HerePro/hwdef.dat @@ -59,7 +59,7 @@ define CONFIGURE_PPS_PIN TRUE FLASH_RESERVE_START_KB 256 define GPS_UBLOX_MOVING_BASELINE TRUE -# define HAL_NO_LOGGING TRUE +define HAL_GCS_ENABLED 1 define HAL_LOGGING_ENABLED TRUE define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS" define HAL_NO_MONITOR_THREAD diff --git a/libraries/AP_HAL_ChibiOS/hwdef/HitecMosaic/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/HitecMosaic/hwdef.dat index ee1969b1d7..59e9f73e06 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/HitecMosaic/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/HitecMosaic/hwdef.dat @@ -111,7 +111,6 @@ define HAL_UART_MIN_RX_SIZE 128 define HAL_UART_STACK_SIZE 0x200 -define HAL_NO_GCS define HAL_NO_MONITOR_THREAD define HAL_MINIMIZE_FEATURES 0 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/HolybroGPS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/HolybroGPS/hwdef.dat index 30551f087f..19ccbd14d1 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/HolybroGPS/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/HolybroGPS/hwdef.dat @@ -144,7 +144,6 @@ define HAL_CAN_DEFAULT_NODE_ID 0 define CAN_APP_NODE_NAME "org.ardupilot.HolybroGPS" -define HAL_NO_GCS define HAL_NO_LOGGING define HAL_NO_MONITOR_THREAD diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekH743-periph/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekH743-periph/hwdef.dat index 6e192e9ebe..95ace1e7f6 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/MatekH743-periph/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekH743-periph/hwdef.dat @@ -49,7 +49,6 @@ define HAL_PERIPH_ADSB_PORT_DEFAULT 3 # default ADSB off by setting 0 baudrate define HAL_PERIPH_ADSB_BAUD_DEFAULT 0 -define HAL_NO_GCS define HAL_NO_MONITOR_THREAD define HAL_DISABLE_LOOP_DELAY define HAL_USE_RTC FALSE diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixracer-periph/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Pixracer-periph/hwdef.dat index abb392479d..b211be7dec 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/Pixracer-periph/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/Pixracer-periph/hwdef.dat @@ -39,7 +39,6 @@ define GPS_MAX_RECEIVERS 1 define GPS_MAX_INSTANCES 1 define HAL_COMPASS_MAX_SENSORS 1 -define HAL_NO_GCS define HAL_NO_MONITOR_THREAD define HAL_DISABLE_LOOP_DELAY diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef-bl.dat index 8fccb325ec..62951ee97b 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef-bl.dat @@ -103,7 +103,6 @@ define HAL_UART_MIN_RX_SIZE 128 define HAL_UART_STACK_SIZE 256 define STORAGE_THD_WA_SIZE 512 -define HAL_NO_GCS define HAL_NO_MONITOR_THREAD define HAL_MINIMIZE_FEATURES 0 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef.dat index c30a253973..8c3e21c3e3 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef.dat @@ -155,7 +155,6 @@ define HAL_BARO_ALLOW_INIT_NO_BARO # use DNA define HAL_CAN_DEFAULT_NODE_ID 0 -define HAL_NO_GCS define HAL_NO_MONITOR_THREAD define HAL_PERIPH_ENABLE_GPS diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f103-periph/hwdef.inc b/libraries/AP_HAL_ChibiOS/hwdef/f103-periph/hwdef.inc index 32f061a64d..a21391e82a 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/f103-periph/hwdef.inc +++ b/libraries/AP_HAL_ChibiOS/hwdef/f103-periph/hwdef.inc @@ -104,7 +104,6 @@ define HAL_UART_STACK_SIZE 256 define STORAGE_THD_WA_SIZE 300 define IO_THD_WA_SIZE 300 -define HAL_NO_GCS define HAL_NO_MONITOR_THREAD define HAL_MINIMIZE_FEATURES 0 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f303-MatekGPS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/f303-MatekGPS/hwdef.dat index e617dbe865..7088e9dd80 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/f303-MatekGPS/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/f303-MatekGPS/hwdef.dat @@ -81,8 +81,6 @@ define HAL_UART_STACK_SIZE 512 define STORAGE_THD_WA_SIZE 512 define IO_THD_WA_SIZE 512 -define HAL_NO_GCS - define HAL_MINIMIZE_FEATURES 0 define HAL_BUILD_AP_PERIPH diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f303-periph/hwdef.inc b/libraries/AP_HAL_ChibiOS/hwdef/f303-periph/hwdef.inc index c21a059b5e..f781e020a9 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/f303-periph/hwdef.inc +++ b/libraries/AP_HAL_ChibiOS/hwdef/f303-periph/hwdef.inc @@ -104,8 +104,6 @@ define HAL_UART_STACK_SIZE 0x300 define STORAGE_THD_WA_SIZE 512 define IO_THD_WA_SIZE 512 -define HAL_NO_GCS - define HAL_MINIMIZE_FEATURES 0 define HAL_BUILD_AP_PERIPH diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f405-MatekGPS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/f405-MatekGPS/hwdef.dat index c9d1672f21..6cec912823 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/f405-MatekGPS/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/f405-MatekGPS/hwdef.dat @@ -49,7 +49,6 @@ define DMA_RESERVE_SIZE 0 define HAL_DISABLE_LOOP_DELAY -define HAL_NO_GCS define HAL_NO_MONITOR_THREAD define HAL_MINIMIZE_FEATURES 0 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/mRo-M10095/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/mRo-M10095/hwdef.dat index dfc7d3238a..c40cfe6ad5 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/mRo-M10095/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/mRo-M10095/hwdef.dat @@ -86,7 +86,6 @@ define HAL_DISABLE_LOOP_DELAY PA11 CAN1_RX CAN1 PA12 CAN1_TX CAN1 -define HAL_NO_GCS define HAL_NO_MONITOR_THREAD define HAL_MINIMIZE_FEATURES 0 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py index 22a1babb81..78ac3e037a 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py +++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py @@ -2358,6 +2358,9 @@ def add_apperiph_defaults(f): #ifndef HAL_LOGGING_ENABLED #define HAL_LOGGING_ENABLED 0 #endif +#ifndef HAL_GCS_ENABLED +#define HAL_GCS_ENABLED 0 +#endif // default to no protocols, AP_Periph enables with params #define HAL_SERIAL1_PROTOCOL -1 #define HAL_SERIAL2_PROTOCOL -1