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AP_OpticalFlow: add and use AP_OpticalFlow_config.h

This commit is contained in:
Peter Barker 2023-05-03 21:02:35 +10:00 committed by Andrew Tridgell
parent da36de3b80
commit 3e1388b7e6
14 changed files with 80 additions and 64 deletions
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14
libraries/AP_OpticalFlow/AP_OpticalFlow.h
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@ -14,19 +14,7 @@
*/
#pragma once
#include <AP_HAL/AP_HAL_Boards.h>
#ifndef AP_OPTICALFLOW_ENABLED
#define AP_OPTICALFLOW_ENABLED 1
#endif
#ifndef HAL_MSP_OPTICALFLOW_ENABLED
#define HAL_MSP_OPTICALFLOW_ENABLED (AP_OPTICALFLOW_ENABLED && (HAL_MSP_ENABLED && !HAL_MINIMIZE_FEATURES))
#endif
#ifndef AP_OPTICALFLOW_SITL_ENABLED
#define AP_OPTICALFLOW_SITL_ENABLED AP_SIM_ENABLED
#endif
#include "AP_OpticalFlow_config.h"
#if AP_OPTICALFLOW_ENABLED

2
libraries/AP_OpticalFlow/AP_OpticalFlow_Backend.h
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@ -20,6 +20,8 @@
#include "AP_OpticalFlow.h"
#include <AP_HAL/Semaphores.h>
class OpticalFlow_backend
{
friend class AP_OpticalFlow;

8
libraries/AP_OpticalFlow/AP_OpticalFlow_CXOF.h
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@ -1,14 +1,10 @@
#pragma once
#include "AP_OpticalFlow.h"
#ifndef AP_OPTICALFLOW_CXOF_ENABLED
#define AP_OPTICALFLOW_CXOF_ENABLED AP_OPTICALFLOW_ENABLED
#endif
#include "AP_OpticalFlow_config.h"
#if AP_OPTICALFLOW_CXOF_ENABLED
#include <AP_HAL/utility/OwnPtr.h>
#include "AP_OpticalFlow_Backend.h"
class AP_OpticalFlow_CXOF : public OpticalFlow_backend
{

7
libraries/AP_OpticalFlow/AP_OpticalFlow_HereFlow.h
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@ -1,13 +1,10 @@
#pragma once
#include "AP_OpticalFlow.h"
#ifndef AP_OPTICALFLOW_HEREFLOW_ENABLED
#define AP_OPTICALFLOW_HEREFLOW_ENABLED (AP_OPTICALFLOW_ENABLED && HAL_ENABLE_DRONECAN_DRIVERS)
#endif
#include "AP_OpticalFlow_config.h"
#if AP_OPTICALFLOW_HEREFLOW_ENABLED
#include "AP_OpticalFlow_Backend.h"
#include <AP_DroneCAN/AP_DroneCAN.h>
class AP_OpticalFlow_HereFlow : public OpticalFlow_backend {

7
libraries/AP_OpticalFlow/AP_OpticalFlow_MAV.h
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@ -1,13 +1,10 @@
#pragma once
#include "AP_OpticalFlow.h"
#ifndef AP_OPTICALFLOW_MAV_ENABLED
#define AP_OPTICALFLOW_MAV_ENABLED AP_OPTICALFLOW_ENABLED
#endif
#include "AP_OpticalFlow_config.h"
#if AP_OPTICALFLOW_MAV_ENABLED
#include "AP_OpticalFlow_Backend.h"
#include <AP_HAL/utility/OwnPtr.h>
class AP_OpticalFlow_MAV : public OpticalFlow_backend

12
libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.cpp
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@ -12,17 +12,15 @@
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "AP_OpticalFlow_Onboard.h"
#include "AP_OpticalFlow_config.h"
#if AP_OPTICALFLOW_ONBOARD_ENABLED
#include "AP_OpticalFlow_Onboard.h"
#include <AP_HAL/AP_HAL.h>
#include "AP_OpticalFlow.h"
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX &&\
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
#ifndef OPTICALFLOW_ONBOARD_DEBUG
#define OPTICALFLOW_ONBOARD_DEBUG 0
#endif
@ -95,6 +93,4 @@ void AP_OpticalFlow_Onboard::update()
#endif
}
#endif
#endif // AP_OPTICALFLOW_ONBOARD_ENABLED

11
libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.h
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@ -14,18 +14,11 @@
*/
#pragma once
#include <AP_OpticalFlow/AP_OpticalFlow.h>
#ifndef AP_OPTICALFLOW_ONBOARD_ENABLED
#define AP_OPTICALFLOW_ONBOARD_ENABLED AP_OPTICALFLOW_ENABLED
#endif
#include "AP_OpticalFlow_config.h"
#if AP_OPTICALFLOW_ONBOARD_ENABLED
#include <AP_AHRS/AP_AHRS.h>
#include <AP_Math/AP_Math.h>
#include <AP_NavEKF2/AP_NavEKF2.h>
#include <AP_NavEKF3/AP_NavEKF3.h>
#include <AP_OpticalFlow/AP_OpticalFlow_Backend.h>
#include "AP_OpticalFlow.h"

4
libraries/AP_OpticalFlow/AP_OpticalFlow_PX4Flow.cpp
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@ -16,10 +16,12 @@
driver for PX4Flow optical flow sensor
*/
#include "AP_OpticalFlow_PX4Flow.h"
#include "AP_OpticalFlow_config.h"
#if AP_OPTICALFLOW_PX4FLOW_ENABLED
#include "AP_OpticalFlow_PX4Flow.h"
#include <AP_HAL/AP_HAL.h>
#include <AP_Math/crc.h>
#include <AP_AHRS/AP_AHRS.h>

7
libraries/AP_OpticalFlow/AP_OpticalFlow_PX4Flow.h
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@ -1,13 +1,10 @@
#pragma once
#include "AP_OpticalFlow.h"
#ifndef AP_OPTICALFLOW_PX4FLOW_ENABLED
#define AP_OPTICALFLOW_PX4FLOW_ENABLED AP_OPTICALFLOW_ENABLED
#endif
#include "AP_OpticalFlow_config.h"
#if AP_OPTICALFLOW_PX4FLOW_ENABLED
#include "AP_OpticalFlow_Backend.h"
#include <AP_HAL/utility/OwnPtr.h>
class AP_OpticalFlow_PX4Flow : public OpticalFlow_backend

4
libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.cpp
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@ -20,10 +20,12 @@
timing for register reads and writes is critical
*/
#include "AP_OpticalFlow_Pixart.h"
#include "AP_OpticalFlow_config.h"
#if AP_OPTICALFLOW_PIXART_ENABLED
#include "AP_OpticalFlow_Pixart.h"
#include <AP_HAL/AP_HAL.h>
#include <AP_Math/crc.h>
#include <AP_AHRS/AP_AHRS.h>

8
libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.h
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@ -1,13 +1,11 @@
#pragma once
#include "AP_OpticalFlow.h"
#ifndef AP_OPTICALFLOW_PIXART_ENABLED
#define AP_OPTICALFLOW_PIXART_ENABLED AP_OPTICALFLOW_ENABLED
#endif
#include "AP_OpticalFlow_config.h"
#if AP_OPTICALFLOW_PIXART_ENABLED
#include "AP_OpticalFlow_Backend.h"
#include <AP_HAL/utility/OwnPtr.h>
class AP_OpticalFlow_Pixart : public OpticalFlow_backend

4
libraries/AP_OpticalFlow/AP_OpticalFlow_SITL.h
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@ -1,9 +1,11 @@
#pragma once
#include "AP_OpticalFlow.h"
#include "AP_OpticalFlow_config.h"
#if AP_OPTICALFLOW_SITL_ENABLED
#include "AP_OpticalFlow.h"
class AP_OpticalFlow_SITL : public OpticalFlow_backend
{
public:

7
libraries/AP_OpticalFlow/AP_OpticalFlow_UPFLOW.h
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@ -1,13 +1,10 @@
#pragma once
#include "AP_OpticalFlow.h"
#ifndef AP_OPTICALFLOW_UPFLOW_ENABLED
#define AP_OPTICALFLOW_UPFLOW_ENABLED AP_OPTICALFLOW_ENABLED
#endif
#include "AP_OpticalFlow_config.h"
#if AP_OPTICALFLOW_UPFLOW_ENABLED
#include "AP_OpticalFlow_Backend.h"
#include <AP_HAL/utility/OwnPtr.h>
class AP_OpticalFlow_UPFLOW : public OpticalFlow_backend

49
libraries/AP_OpticalFlow/AP_OpticalFlow_config.h Normal file
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@ -0,0 +1,49 @@
#pragma once
#include <AP_HAL/AP_HAL_Boards.h>
#include <AP_MSP/AP_MSP_config.h>
#include <GCS_MAVLink/GCS_config.h>
#ifndef AP_OPTICALFLOW_ENABLED
#define AP_OPTICALFLOW_ENABLED 1
#endif
#ifndef AP_OPTICALFLOW_BACKEND_DEFAULT_ENABLED
#define AP_OPTICALFLOW_BACKEND_DEFAULT_ENABLED AP_OPTICALFLOW_ENABLED
#endif
#ifndef AP_OPTICALFLOW_CXOF_ENABLED
#define AP_OPTICALFLOW_CXOF_ENABLED AP_OPTICALFLOW_BACKEND_DEFAULT_ENABLED
#endif
#ifndef AP_OPTICALFLOW_HEREFLOW_ENABLED
#define AP_OPTICALFLOW_HEREFLOW_ENABLED (AP_OPTICALFLOW_BACKEND_DEFAULT_ENABLED && HAL_ENABLE_DRONECAN_DRIVERS)
#endif
#ifndef AP_OPTICALFLOW_MAV_ENABLED
#define AP_OPTICALFLOW_MAV_ENABLED (AP_OPTICALFLOW_BACKEND_DEFAULT_ENABLED && HAL_GCS_ENABLED)
#endif
#ifndef HAL_MSP_OPTICALFLOW_ENABLED
#define HAL_MSP_OPTICALFLOW_ENABLED (AP_OPTICALFLOW_BACKEND_DEFAULT_ENABLED && (HAL_MSP_ENABLED && !HAL_MINIMIZE_FEATURES))
#endif
#ifndef AP_OPTICALFLOW_ONBOARD_ENABLED
#define AP_OPTICALFLOW_ONBOARD_ENABLED (AP_OPTICALFLOW_BACKEND_DEFAULT_ENABLED && CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP)
#endif
#ifndef AP_OPTICALFLOW_PIXART_ENABLED
#define AP_OPTICALFLOW_PIXART_ENABLED AP_OPTICALFLOW_BACKEND_DEFAULT_ENABLED
#endif
#ifndef AP_OPTICALFLOW_PX4FLOW_ENABLED
#define AP_OPTICALFLOW_PX4FLOW_ENABLED AP_OPTICALFLOW_BACKEND_DEFAULT_ENABLED
#endif
#ifndef AP_OPTICALFLOW_SITL_ENABLED
#define AP_OPTICALFLOW_SITL_ENABLED (AP_OPTICALFLOW_BACKEND_DEFAULT_ENABLED && AP_SIM_ENABLED)
#endif
#ifndef AP_OPTICALFLOW_UPFLOW_ENABLED
#define AP_OPTICALFLOW_UPFLOW_ENABLED AP_OPTICALFLOW_BACKEND_DEFAULT_ENABLED
#endif