AP_Airspeed: allow backends to be compiled out

2022-05-04 18:13:29 +10:00 · 2022-05-04 18:13:29 +10:00 · 4b95ad12bf
parent 86d2ccf0e7
commit 4b95ad12bf
21 changed files with 168 additions and 40 deletions
--- a/libraries/AP_Airspeed/AP_Airspeed.cpp
+++ b/libraries/AP_Airspeed/AP_Airspeed.cpp
@ -45,15 +45,9 @@
 #include "AP_Airspeed_analog.h"
 #include "AP_Airspeed_ASP5033.h"
 #include "AP_Airspeed_Backend.h"
-#if HAL_ENABLE_LIBUAVCAN_DRIVERS
 #include "AP_Airspeed_UAVCAN.h"
-#endif
-#if APM_BUILD_TYPE(APM_BUILD_Rover) || APM_BUILD_TYPE(APM_BUILD_ArduSub)
 #include "AP_Airspeed_NMEA.h"
-#endif
-#if HAL_MSP_AIRSPEED_ENABLED
 #include "AP_Airspeed_MSP.h"
-#endif
 extern const AP_HAL::HAL &hal;

 #ifdef HAL_AIRSPEED_TYPE_DEFAULT
@ -394,65 +388,79 @@ void AP_Airspeed::init()
            // nothing to do
            break;
        case TYPE_I2C_MS4525:
+#if AP_AIRSPEED_MS4525_ENABLED
            sensor[i] = new AP_Airspeed_MS4525(*this, i);
+#endif
            break;
        case TYPE_ANALOG:
+#if AP_AIRSPEED_ANALOG_ENABLED
            sensor[i] = new AP_Airspeed_Analog(*this, i);
+#endif
            break;
        case TYPE_I2C_MS5525:
+#if AP_AIRSPEED_MS5525_ENABLED
            sensor[i] = new AP_Airspeed_MS5525(*this, i, AP_Airspeed_MS5525::MS5525_ADDR_AUTO);
+#endif
            break;
        case TYPE_I2C_MS5525_ADDRESS_1:
+#if AP_AIRSPEED_MS5525_ENABLED
            sensor[i] = new AP_Airspeed_MS5525(*this, i, AP_Airspeed_MS5525::MS5525_ADDR_1);
+#endif
            break;
        case TYPE_I2C_MS5525_ADDRESS_2:
+#if AP_AIRSPEED_MS5525_ENABLED
            sensor[i] = new AP_Airspeed_MS5525(*this, i, AP_Airspeed_MS5525::MS5525_ADDR_2);
+#endif
            break;
        case TYPE_I2C_SDP3X:
+#if AP_AIRSPEED_SDP3X_ENABLED
            sensor[i] = new AP_Airspeed_SDP3X(*this, i);
+#endif
            break;
        case TYPE_I2C_DLVR_5IN:
-#if !HAL_MINIMIZE_FEATURES
+#if AP_AIRSPEED_DLVR_ENABLED
            sensor[i] = new AP_Airspeed_DLVR(*this, i, 5);
-#endif // !HAL_MINIMIZE_FEATURES
+#endif
            break;
        case TYPE_I2C_DLVR_10IN:
-#if !HAL_MINIMIZE_FEATURES
+#if AP_AIRSPEED_DLVR_ENABLED
            sensor[i] = new AP_Airspeed_DLVR(*this, i, 10);
-#endif // !HAL_MINIMIZE_FEATURES
+#endif
            break;
        case TYPE_I2C_DLVR_20IN:
-#if !HAL_MINIMIZE_FEATURES
+#if AP_AIRSPEED_DLVR_ENABLED
            sensor[i] = new AP_Airspeed_DLVR(*this, i, 20);
-#endif // !HAL_MINIMIZE_FEATURES
+#endif
            break;
        case TYPE_I2C_DLVR_30IN:
-#if !HAL_MINIMIZE_FEATURES
+#if AP_AIRSPEED_DLVR_ENABLED
            sensor[i] = new AP_Airspeed_DLVR(*this, i, 30);
-#endif // !HAL_MINIMIZE_FEATURES
+#endif
            break;
        case TYPE_I2C_DLVR_60IN:
-#if !HAL_MINIMIZE_FEATURES
+#if AP_AIRSPEED_DLVR_ENABLED
            sensor[i] = new AP_Airspeed_DLVR(*this, i, 60);
-#endif // !HAL_MINIMIZE_FEATURES
+#endif  // AP_AIRSPEED_DLVR_ENABLED
            break;
        case TYPE_I2C_ASP5033:
-#if !HAL_MINIMIZE_FEATURES
+#if AP_AIRSPEED_ASP5033_ENABLED
            sensor[i] = new AP_Airspeed_ASP5033(*this, i);
-#endif // !HAL_MINIMIZE_FEATURES
+#endif
            break;
        case TYPE_UAVCAN:
-#if HAL_ENABLE_LIBUAVCAN_DRIVERS
+#if AP_AIRSPEED_UAVCAN_ENABLED
            sensor[i] = AP_Airspeed_UAVCAN::probe(*this, i);
 #endif
            break;
        case TYPE_NMEA_WATER:
+#if AP_AIRSPEED_NMEA_ENABLED
 #if APM_BUILD_TYPE(APM_BUILD_Rover) || APM_BUILD_TYPE(APM_BUILD_ArduSub) 
            sensor[i] = new AP_Airspeed_NMEA(*this, i);
+#endif
 #endif
            break;
        case TYPE_MSP:
-#if HAL_MSP_AIRSPEED_ENABLED
+#if AP_AIRSPEED_MSP_ENABLED
            sensor[i] = new AP_Airspeed_MSP(*this, i, 0);
 #endif
            break;
@ -657,7 +665,7 @@ void AP_Airspeed::update()
 #endif
 }

-#if HAL_MSP_AIRSPEED_ENABLED
+#if AP_AIRSPEED_MSP_ENABLED
 /*
  handle MSP airspeed data
 */
@ -801,7 +809,7 @@ bool AP_Airspeed::healthy(uint8_t i) const { return false; }
 float AP_Airspeed::get_airspeed(uint8_t i) const { return 0.0; }
 float AP_Airspeed::get_differential_pressure(uint8_t i) const { return 0.0; }

-#if HAL_MSP_AIRSPEED_ENABLED
+#if AP_AIRSPEED_MSP_ENABLED
 void AP_Airspeed::handle_msp(const MSP::msp_airspeed_data_message_t &pkt) {}
 #endif

--- a/libraries/AP_Airspeed/AP_Airspeed.h
+++ b/libraries/AP_Airspeed/AP_Airspeed.h
@ -11,6 +11,9 @@
 #define AP_AIRSPEED_ENABLED 1
 #endif

+#ifndef AP_AIRSPEED_MSP_ENABLED
+#define AP_AIRSPEED_MSP_ENABLED (AP_AIRSPEED_ENABLED && HAL_MSP_SENSORS_ENABLED)
+#endif

 class AP_Airspeed_Backend;

@ -22,9 +25,6 @@ class AP_Airspeed_Backend;
 #define AP_AIRSPEED_AUTOCAL_ENABLE AP_AIRSPEED_ENABLED
 #endif

-#ifndef HAL_MSP_AIRSPEED_ENABLED
-#define HAL_MSP_AIRSPEED_ENABLED HAL_MSP_SENSORS_ENABLED
-#endif
 class Airspeed_Calibration {
 public:
    friend class AP_Airspeed;
@ -172,7 +172,7 @@ public:
        return get_corrected_pressure(primary);
    }

-#if HAL_MSP_AIRSPEED_ENABLED
+#if AP_AIRSPEED_MSP_ENABLED
    void handle_msp(const MSP::msp_airspeed_data_message_t &pkt);
 #endif
    
--- a/libraries/AP_Airspeed/AP_Airspeed_ASP5033.cpp
+++ b/libraries/AP_Airspeed/AP_Airspeed_ASP5033.cpp
@ -19,6 +19,9 @@
 */

 #include "AP_Airspeed_ASP5033.h"
+
+#if AP_AIRSPEED_ASP5033_ENABLED
+
 #include <AP_HAL/I2CDevice.h>

 extern const AP_HAL::HAL &hal;
@ -174,3 +177,5 @@ bool AP_Airspeed_ASP5033::get_temperature(float &temperature)

    return true;
 }
+
+#endif
--- a/libraries/AP_Airspeed/AP_Airspeed_ASP5033.h
+++ b/libraries/AP_Airspeed/AP_Airspeed_ASP5033.h
@ -14,6 +14,14 @@
 */
 #pragma once

+#include <AP_HAL/AP_HAL_Boards.h>
+
+#ifndef AP_AIRSPEED_ASP5033_ENABLED
+#define AP_AIRSPEED_ASP5033_ENABLED AP_AIRSPEED_BACKEND_DEFAULT_ENABLED
+#endif
+
+#if AP_AIRSPEED_ASP5033_ENABLED
+
 /*
  backend driver for airspeed from I2C
 */
@ -44,3 +52,5 @@ private:

    AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev;
 };
+
+#endif  // AP_AIRSPEED_ASP5033_ENABLED
--- a/libraries/AP_Airspeed/AP_Airspeed_Backend.h
+++ b/libraries/AP_Airspeed/AP_Airspeed_Backend.h
@ -43,9 +43,7 @@ public:
    // return airspeed in m/s if available
    virtual bool get_airspeed(float& airspeed) {return false;}

-#if HAL_MSP_AIRSPEED_ENABLED
    virtual void handle_msp(const MSP::msp_airspeed_data_message_t &pkt) {}
-#endif 

 protected:
    int8_t get_pin(void) const;
--- a/libraries/AP_Airspeed/AP_Airspeed_DLVR.cpp
+++ b/libraries/AP_Airspeed/AP_Airspeed_DLVR.cpp
@ -18,6 +18,9 @@
 */

 #include "AP_Airspeed_DLVR.h"
+
+#if AP_AIRSPEED_DLVR_ENABLED
+
 #include <AP_Math/AP_Math.h>

 extern const AP_HAL::HAL &hal;
@ -176,3 +179,5 @@ bool AP_Airspeed_DLVR::get_temperature(float &_temperature)
    _temperature = temperature;
    return true;
 }
+
+#endif
--- a/libraries/AP_Airspeed/AP_Airspeed_DLVR.h
+++ b/libraries/AP_Airspeed/AP_Airspeed_DLVR.h
@ -17,6 +17,14 @@
 // backend driver for AllSensors DLVR differential airspeed sensor
 // currently assumes a 5" of water, noise reduced, sensor

+#include <AP_HAL/AP_HAL_Boards.h>
+
+#ifndef AP_AIRSPEED_DLVR_ENABLED
+#define AP_AIRSPEED_DLVR_ENABLED AP_AIRSPEED_BACKEND_DEFAULT_ENABLED
+#endif
+
+#if AP_AIRSPEED_DLVR_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include <AP_HAL/utility/OwnPtr.h>
 #include <AP_HAL/I2CDevice.h>
@ -60,3 +68,5 @@ private:
    
    AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev;
 };
+
+#endif  // AP_AIRSPEED_DLVR_ENABLED
--- a/libraries/AP_Airspeed/AP_Airspeed_MS4525.cpp
+++ b/libraries/AP_Airspeed/AP_Airspeed_MS4525.cpp
@ -18,6 +18,8 @@
 */
 #include "AP_Airspeed_MS4525.h"

+#if AP_AIRSPEED_MS4525_ENABLED
+
 #include <AP_Common/AP_Common.h>
 #include <AP_HAL/AP_HAL.h>
 #include <AP_HAL/I2CDevice.h>
@ -282,3 +284,5 @@ bool AP_Airspeed_MS4525::get_temperature(float &temperature)
    temperature = _temperature;
    return true;
 }
+
+#endif  // AP_AIRSPEED_MS4525_ENABLED
--- a/libraries/AP_Airspeed/AP_Airspeed_MS4525.h
+++ b/libraries/AP_Airspeed/AP_Airspeed_MS4525.h
@ -14,6 +14,14 @@
 */
 #pragma once

+#include <AP_HAL/AP_HAL_Boards.h>
+
+#ifndef AP_AIRSPEED_MS4525_ENABLED
+#define AP_AIRSPEED_MS4525_ENABLED AP_AIRSPEED_BACKEND_DEFAULT_ENABLED
+#endif
+
+#if AP_AIRSPEED_MS4525_ENABLED
+
 /*
  backend driver for airspeed from I2C
 */
@ -61,3 +69,5 @@ private:

    bool probe(uint8_t bus, uint8_t address);
 };
+
+#endif  // AP_AIRSPEED_MS4525_ENABLED
--- a/libraries/AP_Airspeed/AP_Airspeed_MS5525.cpp
+++ b/libraries/AP_Airspeed/AP_Airspeed_MS5525.cpp
@ -18,6 +18,8 @@
 */
 #include "AP_Airspeed_MS5525.h"

+#if AP_AIRSPEED_MS5525_ENABLED
+
 #include <stdio.h>
 #include <utility>

@ -298,3 +300,5 @@ bool AP_Airspeed_MS5525::get_temperature(float &_temperature)
    _temperature = temperature;
    return true;
 }
+
+#endif  // AP_AIRSPEED_MS5525_ENABLED
--- a/libraries/AP_Airspeed/AP_Airspeed_MS5525.h
+++ b/libraries/AP_Airspeed/AP_Airspeed_MS5525.h
@ -18,6 +18,14 @@
  backend driver for airspeed from I2C
 */

+#include <AP_HAL/AP_HAL_Boards.h>
+
+#ifndef AP_AIRSPEED_MS5525_ENABLED
+#define AP_AIRSPEED_MS5525_ENABLED AP_AIRSPEED_BACKEND_DEFAULT_ENABLED
+#endif
+
+#if AP_AIRSPEED_MS5525_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Param/AP_Param.h>
 #include <AP_HAL/utility/OwnPtr.h>
@ -76,3 +84,5 @@ private:
    
    AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev;
 };
+
+#endif  // AP_AIRSPEED_MS5525_ENABLED
--- a/libraries/AP_Airspeed/AP_Airspeed_MSP.cpp
+++ b/libraries/AP_Airspeed/AP_Airspeed_MSP.cpp
@ -1,6 +1,6 @@
 #include "AP_Airspeed_MSP.h"

-#if HAL_MSP_AIRSPEED_ENABLED
+#if AP_AIRSPEED_MSP_ENABLED

 AP_Airspeed_MSP::AP_Airspeed_MSP(AP_Airspeed &_frontend, uint8_t _instance, uint8_t _msp_instance) :
    AP_Airspeed_Backend(_frontend, _instance),
@ -66,4 +66,4 @@ void AP_Airspeed_MSP::handle_msp(const MSP::msp_airspeed_data_message_t &pkt)
    
 }

-#endif // HAL_MSP_AIRSPEED_ENABLED
+#endif // AP_AIRSPEED_MSP_ENABLED
--- a/libraries/AP_Airspeed/AP_Airspeed_MSP.h
+++ b/libraries/AP_Airspeed/AP_Airspeed_MSP.h
@ -3,9 +3,17 @@
 */
 #pragma once

-#include "AP_Airspeed_Backend.h"
+#include <AP_HAL/AP_HAL.h>
+#include <AP_HAL/AP_HAL_Boards.h>
+#include <AP_MSP/msp.h>

-#if HAL_MSP_AIRSPEED_ENABLED
+#ifndef AP_AIRSPEED_MSP_ENABLED
+#define AP_AIRSPEED_MSP_ENABLED HAL_MSP_SENSORS_ENABLED
+#endif
+
+#if AP_AIRSPEED_MSP_ENABLED
+
+#include "AP_Airspeed_Backend.h"

 class AP_Airspeed_MSP : public AP_Airspeed_Backend
 {
@ -32,4 +40,4 @@ private:
    uint8_t temp_count;
 };

-#endif // HAL_MSP_AIRSPEED_ENABLED
+#endif // AP_AIRSPEED_MSP_ENABLED
--- a/libraries/AP_Airspeed/AP_Airspeed_NMEA.cpp
+++ b/libraries/AP_Airspeed/AP_Airspeed_NMEA.cpp
@ -18,10 +18,13 @@
 *   https://gpsd.gitlab.io/gpsd/NMEA.html#_mtw_mean_temperature_of_water
 */

+#include "AP_Airspeed_NMEA.h"
+
+#if AP_AIRSPEED_NMEA_ENABLED
+
 #include <AP_Vehicle/AP_Vehicle.h>
 #if APM_BUILD_TYPE(APM_BUILD_Rover) || APM_BUILD_TYPE(APM_BUILD_ArduSub) 

-#include "AP_Airspeed_NMEA.h"
 #include "AP_Airspeed.h"

 #define TIMEOUT_MS 2000
@ -218,3 +221,5 @@ bool AP_Airspeed_NMEA::decode_latest_term()
 }

 #endif  // APM_BUILD_TYPE(APM_BUILD_Rover) || APM_BUILD_TYPE(APM_BUILD_ArduSub) 
+
+#endif  // AP_AIRSPEED_NMEA_ENABLED
--- a/libraries/AP_Airspeed/AP_Airspeed_NMEA.h
+++ b/libraries/AP_Airspeed/AP_Airspeed_NMEA.h
@ -1,5 +1,14 @@
 #pragma once

+#include <AP_HAL/AP_HAL_Boards.h>
+
+// note additional vehicle restrictions are made in the .cpp file!
+#ifndef AP_AIRSPEED_NMEA_ENABLED
+#define AP_AIRSPEED_NMEA_ENABLED AP_AIRSPEED_BACKEND_DEFAULT_ENABLED
+#endif
+
+#if AP_AIRSPEED_NMEA_ENABLED
+
 #include "AP_Airspeed_Backend.h"
 #include <AP_HAL/AP_HAL.h>
 #include <AP_SerialManager/AP_SerialManager.h>
@ -65,3 +74,5 @@ private:
    // time last message was received
    uint32_t _last_update_ms;
 };
+
+#endif  // AP_AIRSPEED_NMEA_ENABLED
--- a/libraries/AP_Airspeed/AP_Airspeed_SDP3X.cpp
+++ b/libraries/AP_Airspeed/AP_Airspeed_SDP3X.cpp
@ -19,6 +19,9 @@
  with thanks to https://github.com/PX4/Firmware/blob/master/src/drivers/sdp3x_airspeed
 */
 #include "AP_Airspeed_SDP3X.h"
+
+#if AP_AIRSPEED_SDP3X_ENABLED
+
 #include <GCS_MAVLink/GCS.h>
 #include <AP_Baro/AP_Baro.h>

@ -347,3 +350,5 @@ bool AP_Airspeed_SDP3X::_crc(const uint8_t data[], uint8_t size, uint8_t checksu
    // verify checksum
    return (crc_value == checksum);
 }
+
+#endif  // AP_AIRSPEED_SDP3X_ENABLED
--- a/libraries/AP_Airspeed/AP_Airspeed_SDP3X.h
+++ b/libraries/AP_Airspeed/AP_Airspeed_SDP3X.h
@ -14,6 +14,14 @@
 */
 #pragma once

+#include <AP_HAL/AP_HAL_Boards.h>
+
+#ifndef AP_AIRSPEED_SDP3X_ENABLED
+#define AP_AIRSPEED_SDP3X_ENABLED AP_AIRSPEED_BACKEND_DEFAULT_ENABLED
+#endif
+
+#if AP_AIRSPEED_SDP3X_ENABLED
+
 /*
  backend driver for airspeed from I2C
 */
@ -63,3 +71,6 @@ private:

    AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;
 };
+
+
+#endif  // AP_AIRSPEED_SDP3X_ENABLED
--- a/libraries/AP_Airspeed/AP_Airspeed_UAVCAN.cpp
+++ b/libraries/AP_Airspeed/AP_Airspeed_UAVCAN.cpp
@ -1,9 +1,7 @@
-#include <AP_HAL/AP_HAL.h>
-
-#if HAL_ENABLE_LIBUAVCAN_DRIVERS
-
 #include "AP_Airspeed_UAVCAN.h"

+#if AP_AIRSPEED_UAVCAN_ENABLED
+
 #include <AP_CANManager/AP_CANManager.h>
 #include <AP_UAVCAN/AP_UAVCAN.h>

@ -163,4 +161,4 @@ bool AP_Airspeed_UAVCAN::get_temperature(float &temperature)
    return true;
 }

-#endif // HAL_ENABLE_LIBUAVCAN_DRIVERS
+#endif // AP_AIRSPEED_UAVCAN_ENABLED
--- a/libraries/AP_Airspeed/AP_Airspeed_UAVCAN.h
+++ b/libraries/AP_Airspeed/AP_Airspeed_UAVCAN.h
@ -1,5 +1,13 @@
 #pragma once

+#include <AP_HAL/AP_HAL_Boards.h>
+
+#ifndef AP_AIRSPEED_UAVCAN_ENABLED
+#define AP_AIRSPEED_UAVCAN_ENABLED HAL_ENABLE_LIBUAVCAN_DRIVERS
+#endif
+
+#if AP_AIRSPEED_UAVCAN_ENABLED
+
 #include "AP_Airspeed_Backend.h"

 #include <AP_UAVCAN/AP_UAVCAN.h>
@ -44,3 +52,6 @@ private:
    static HAL_Semaphore _sem_registry;
    bool _have_temperature;
 };
+
+
+#endif  // AP_AIRSPEED_UAVCAN_ENABLED
--- a/libraries/AP_Airspeed/AP_Airspeed_analog.cpp
+++ b/libraries/AP_Airspeed/AP_Airspeed_analog.cpp
@ -16,11 +16,14 @@
 *   analog airspeed driver
 */

+#include "AP_Airspeed_analog.h"
+
+#if AP_AIRSPEED_ANALOG_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Common/AP_Common.h>

 #include "AP_Airspeed.h"
-#include "AP_Airspeed_analog.h"

 extern const AP_HAL::HAL &hal;

@ -48,3 +51,5 @@ bool AP_Airspeed_Analog::get_differential_pressure(float &pressure)
    pressure = _source->voltage_average_ratiometric() * VOLTS_TO_PASCAL / get_psi_range();
    return true;
 }
+
+#endif  // AP_AIRSPEED_ANALOG_ENABLED
--- a/libraries/AP_Airspeed/AP_Airspeed_analog.h
+++ b/libraries/AP_Airspeed/AP_Airspeed_analog.h
@ -1,5 +1,13 @@
 #pragma once

+#include <AP_HAL/AP_HAL_Boards.h>
+
+#ifndef AP_AIRSPEED_ANALOG_ENABLED
+#define AP_AIRSPEED_ANALOG_ENABLED AP_AIRSPEED_BACKEND_DEFAULT_ENABLED
+#endif
+
+#if AP_AIRSPEED_ANALOG_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Param/AP_Param.h>

@ -22,3 +30,5 @@ public:
 private:
    AP_HAL::AnalogSource *_source;
 };
+
+#endif  // AP_AIRSPEED_ANALOG_ENABLED