AP_Frsky_Telem: allow FRSky to be compiled out

libraries/AP_Frsky_Telem/AP_Frsky_Backend.cpp

@@ -1,5 +1,7 @@
 #include "AP_Frsky_Backend.h"
 
+#if AP_FRSKY_TELEM_ENABLED
+
 #include <AP_Baro/AP_Baro.h>
 #include <AP_AHRS/AP_AHRS.h>
 #include <AP_RPM/AP_RPM.h>
@@ -164,3 +166,5 @@ bool AP_Frsky_Backend::calc_rpm(const uint8_t instance, int32_t &value) const
     return false;
 #endif
 }
+
+#endif  // AP_FRSKY_TELEM_ENABLED

libraries/AP_Frsky_Telem/AP_Frsky_Backend.h

@@ -1,11 +1,10 @@
 #pragma once
 
-#include <AP_HAL/AP_HAL.h>
+#include "AP_Frsky_config.h"
-#include <GCS_MAVLink/GCS_MAVLink.h>
 
-#ifndef HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
+#if AP_FRSKY_TELEM_ENABLED
-#define HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL 1
+
-#endif
+#include <GCS_MAVLink/GCS_MAVLink.h>
 
 class AP_Frsky_Backend
 {
@@ -148,3 +147,5 @@ private:
     void loop(void);
 
 };
+
+#endif  // AP_FRSKY_TELEM_ENABLED

libraries/AP_Frsky_Telem/AP_Frsky_D.cpp

@@ -1,5 +1,7 @@
 #include "AP_Frsky_D.h"
 
+#if AP_FRSKY_D_TELEM_ENABLED
+
 #include <AP_AHRS/AP_AHRS.h>
 #include <AP_BattMonitor/AP_BattMonitor.h>
 #include <AP_GPS/AP_GPS.h>
@@ -82,3 +84,5 @@ void AP_Frsky_D::send(void)
         }
     }
 }
+
+#endif  // AP_FRSKY_D_TELEM_ENABLED

libraries/AP_Frsky_Telem/AP_Frsky_D.h

@@ -2,6 +2,8 @@
 
 #include "AP_Frsky_Backend.h"
 
+#if AP_FRSKY_D_TELEM_ENABLED
+
 class AP_Frsky_D : public AP_Frsky_Backend
 {
 
@@ -29,3 +31,5 @@ private:
     } _D;
 
 };
+
+#endif  // AP_FRSKY_D_TELEM_ENABLED

libraries/AP_Frsky_Telem/AP_Frsky_MAVlite_MAVliteToSPort.h

@@ -1,5 +1,9 @@
 #pragma once
 
+#include "AP_Frsky_config.h"
+
+#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
+
 #include "AP_Frsky_MAVlite_Message.h"
 #include "AP_Frsky_SPort.h"
 
@@ -7,7 +11,6 @@
 
 #include <stdint.h>
 
-#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
 /*
  * An instance of this class encodes a MAVlite message into several
  * SPort packets, and pushes them onto the supplied queue.
@@ -51,4 +54,5 @@ private:
     int16_t checksum;                       // sent at end of packet
     void update_checksum(const uint8_t c);
 };
-#endif
+
+#endif  // HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL

libraries/AP_Frsky_Telem/AP_Frsky_SPort.cpp

@@ -1,5 +1,7 @@
 #include "AP_Frsky_SPort.h"
 
+#if AP_FRSKY_SPORT_TELEM_ENABLED
+
 #include <AP_HAL/utility/sparse-endian.h>
 #include <AP_BattMonitor/AP_BattMonitor.h>
 #include <AP_GPS/AP_GPS.h>
@@ -472,3 +474,5 @@ namespace AP {
         return AP_Frsky_SPort::get_singleton();
     }
 };
+
+#endif  // AP_FRSKY_SPORT_TELEM_ENABLED

libraries/AP_Frsky_Telem/AP_Frsky_SPort.h

@@ -2,6 +2,8 @@
 
 #include "AP_Frsky_Backend.h"
 
+#if AP_FRSKY_SPORT_TELEM_ENABLED
+
 class AP_Frsky_SPort : public AP_Frsky_Backend
 {
 
@@ -64,3 +66,5 @@ private:
 namespace AP {
     AP_Frsky_SPort *frsky_sport();
 };
+
+#endif  // AP_FRSKY_SPORT_TELEM_ENABLED

libraries/AP_Frsky_Telem/AP_Frsky_SPortParser.h

@@ -1,9 +1,9 @@
 #pragma once
 
-#include <AP_HAL/AP_HAL.h>
-
 #include "AP_Frsky_SPort.h"
 
+#if AP_FRSKY_SPORT_TELEM_ENABLED
+
 #include <stdint.h>
 
 // for SPort X protocol
@@ -47,3 +47,5 @@ private:
     bool should_process_packet(const uint8_t *packet, bool discard_duplicates);
     bool get_packet(AP_Frsky_SPort::sport_packet_t &sport_packet, bool discard_duplicates);
 };
+
+#endif  // AP_FRSKY_SPORT_TELEM_ENABLED

libraries/AP_Frsky_Telem/AP_Frsky_SPort_Passthrough.cpp

@@ -1,5 +1,7 @@
 #include "AP_Frsky_SPort_Passthrough.h"
 
+#if AP_FRSKY_SPORT_PASSTHROUGH_ENABLED
+
 #include <AP_AHRS/AP_AHRS.h>
 #include <AP_BattMonitor/AP_BattMonitor.h>
 #include <AP_GPS/AP_GPS.h>
@@ -966,3 +968,5 @@ AP_Frsky_SPort_Passthrough *frsky_passthrough_telem()
     return AP_Frsky_SPort_Passthrough::get_singleton();
 }
 };
+
+#endif  // AP_FRSKY_SPORT_PASSTHROUGH_ENABLED

libraries/AP_Frsky_Telem/AP_Frsky_SPort_Passthrough.h

@@ -1,6 +1,9 @@
 #pragma once
 
 #include "AP_Frsky_SPort.h"
+
+#if AP_FRSKY_SPORT_PASSTHROUGH_ENABLED
+
 #include <AP_RCTelemetry/AP_RCTelemetry.h>
 
 #include "AP_Frsky_SPortParser.h"
@@ -173,3 +176,6 @@ private:
 namespace AP {
     AP_Frsky_SPort_Passthrough *frsky_passthrough_telem();
 };
+
+
+#endif  // AP_FRSKY_SPORT_PASSTHROUGH_ENABLED

libraries/AP_Frsky_Telem/AP_Frsky_Telem.cpp

@@ -22,6 +22,10 @@
    FRSKY Telemetry library
 */
 
+#include "AP_Frsky_config.h"
+
+#if AP_FRSKY_TELEM_ENABLED
+
 #include "AP_Frsky_Telem.h"
 #include "AP_Frsky_Parameters.h"
 
@@ -61,11 +65,17 @@ bool AP_Frsky_Telem::init(bool use_external_data)
     // check for protocol configured for a serial port - only the first serial port with one of these protocols will then run (cannot have FrSky on multiple serial ports)
     AP_HAL::UARTDriver *port;
     if ((port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_FrSky_D, 0))) {
+#if AP_FRSKY_D_TELEM_ENABLED
         _backend = new AP_Frsky_D(port);
+#endif
     } else if ((port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_FrSky_SPort, 0))) {
+#if AP_FRSKY_SPORT_TELEM_ENABLED
         _backend = new AP_Frsky_SPort(port);
+#endif
     } else if (use_external_data || (port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_FrSky_SPort_Passthrough, 0))) {
+#if AP_FRSKY_SPORT_PASSTHROUGH_ENABLED
         _backend = new AP_Frsky_SPort_Passthrough(port, use_external_data, _frsky_parameters);
+#endif
     }
 
     if (_backend == nullptr) {
@@ -147,3 +157,5 @@ AP_Frsky_Telem *frsky_telem()
     return AP_Frsky_Telem::get_singleton();
 }
 };
+
+#endif  // AP_FRSKY_TELEM_ENABLED

libraries/AP_Frsky_Telem/AP_Frsky_Telem.h

@@ -14,6 +14,10 @@
 */
 #pragma once
 
+#include "AP_Frsky_config.h"
+
+#if AP_FRSKY_TELEM_ENABLED
+
 #include "AP_Frsky_Backend.h"
 #include "AP_Frsky_SPort.h"
 
@@ -69,3 +73,5 @@ private:
 namespace AP {
     AP_Frsky_Telem *frsky_telem();
 };
+
+#endif  // AP_FRSKY_TELEM_ENABLED

libraries/AP_Frsky_Telem/AP_Frsky_config.h

@@ -0,0 +1,23 @@
+#pragma once
+
+#include <AP_HAL/AP_HAL_Boards.h>
+
+#ifndef AP_FRSKY_TELEM_ENABLED
+#define AP_FRSKY_TELEM_ENABLED 1
+#endif
+
+#ifndef AP_FRSKY_D_TELEM_ENABLED
+#define AP_FRSKY_D_TELEM_ENABLED AP_FRSKY_TELEM_ENABLED
+#endif
+
+#ifndef AP_FRSKY_SPORT_TELEM_ENABLED
+#define AP_FRSKY_SPORT_TELEM_ENABLED AP_FRSKY_TELEM_ENABLED
+#endif
+
+#ifndef AP_FRSKY_SPORT_PASSTHROUGH_ENABLED
+#define AP_FRSKY_SPORT_PASSTHROUGH_ENABLED AP_FRSKY_SPORT_TELEM_ENABLED
+#endif
+
+#ifndef HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
+#define HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL AP_FRSKY_SPORT_PASSTHROUGH_ENABLED
+#endif