From 7da0b3aaf287e2e0870d6a1404978444688674dc Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Thu, 14 Apr 2022 16:28:05 +1000 Subject: [PATCH] AP_HAL_ChibiOS: allow airspeed backends to be compiled out --- libraries/AP_HAL_ChibiOS/hwdef/F35Lightning/hwdef.dat | 4 ++-- libraries/AP_HAL_ChibiOS/hwdef/FlywooF745/hwdef.dat | 4 ++-- libraries/AP_HAL_ChibiOS/hwdef/KakuteF4/hwdef.dat | 4 ++-- libraries/AP_HAL_ChibiOS/hwdef/MambaF405v2/hwdef.dat | 4 ++-- libraries/AP_HAL_ChibiOS/hwdef/OmnibusNanoV6/hwdef.dat | 4 ++-- libraries/AP_HAL_ChibiOS/hwdef/SuccexF4/hwdef.dat | 4 ++-- libraries/AP_HAL_ChibiOS/hwdef/VRUBrain-v51/hwdef.dat | 4 ++-- libraries/AP_HAL_ChibiOS/hwdef/fmuv2/hwdef.dat | 4 ++-- libraries/AP_HAL_ChibiOS/hwdef/include/minimal.inc | 2 ++ .../AP_HAL_ChibiOS/hwdef/include/minimal_Airspeed.inc | 10 ++++++++++ libraries/AP_HAL_ChibiOS/hwdef/omnibusf4v6/hwdef.dat | 4 ++-- .../AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py | 7 +++++++ libraries/AP_HAL_ChibiOS/hwdef/speedybeef4/hwdef.dat | 4 ++-- 13 files changed, 39 insertions(+), 20 deletions(-) create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/include/minimal.inc create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/include/minimal_Airspeed.inc diff --git a/libraries/AP_HAL_ChibiOS/hwdef/F35Lightning/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/F35Lightning/hwdef.dat index 79044ed95d..1389685f41 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/F35Lightning/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/F35Lightning/hwdef.dat @@ -161,8 +161,8 @@ define HAL_BATT_CURR_PIN 12 define HAL_BATT_VOLT_SCALE 11 define HAL_BATT_CURR_SCALE 25 -# minimal GPS drivers to reduce flash usage -include ../include/minimal_GPS.inc +# minimal drivers to reduce flash usage +include ../include/minimal.inc # enable IMU fast sampling define HAL_DEFAULT_INS_FAST_SAMPLE 1 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/FlywooF745/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/FlywooF745/hwdef.dat index 6d0bade20c..e7eaf40a99 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/FlywooF745/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/FlywooF745/hwdef.dat @@ -168,8 +168,8 @@ define GRIPPER_ENABLED 0 define HAL_PARACHUTE_ENABLED 0 -# minimal GPS drivers to reduce flash usage -include ../include/minimal_GPS.inc +# minimal drivers to reduce flash usage +include ../include/minimal.inc define HAL_SPRAYER_ENABLED 0 define AP_BATTMON_SMBUS_ENABLE 0 define AP_BATTMON_FUEL_ENABLE 0 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/KakuteF4/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/KakuteF4/hwdef.dat index 7ecc774671..14b44b12ce 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/KakuteF4/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/KakuteF4/hwdef.dat @@ -148,5 +148,5 @@ define OSD_ENABLED 1 define HAL_OSD_TYPE_DEFAULT 1 ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin -# minimal GPS drivers to reduce flash usage -include ../include/minimal_GPS.inc +# minimal drivers to reduce flash usage +include ../include/minimal.inc diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MambaF405v2/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MambaF405v2/hwdef.dat index 81900704a3..99a1307e9a 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/MambaF405v2/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/MambaF405v2/hwdef.dat @@ -154,5 +154,5 @@ ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin # To complementary channels work we define this #define STM32_PWM_USE_ADVANCED TRUE -# minimal GPS drivers to reduce flash usage -include ../include/minimal_GPS.inc +# minimal drivers to reduce flash usage +include ../include/minimal.inc diff --git a/libraries/AP_HAL_ChibiOS/hwdef/OmnibusNanoV6/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/OmnibusNanoV6/hwdef.dat index a13f998eb9..b05872e0e0 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/OmnibusNanoV6/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/OmnibusNanoV6/hwdef.dat @@ -151,5 +151,5 @@ ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin define HAL_MOUNT_ENABLED 0 -# minimal GPS drivers to reduce flash usage -include ../include/minimal_GPS.inc +# minimal drivers to reduce flash usage +include ../include/minimal.inc diff --git a/libraries/AP_HAL_ChibiOS/hwdef/SuccexF4/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/SuccexF4/hwdef.dat index dc84b5bbe2..af9715dfcd 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/SuccexF4/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/SuccexF4/hwdef.dat @@ -132,5 +132,5 @@ define HAL_SPRAYER_ENABLED 0 # reduce max size of embedded params for apj_tool.py define AP_PARAM_MAX_EMBEDDED_PARAM 1024 -# minimal GPS drivers to reduce flash usage -include ../include/minimal_GPS.inc +# minimal drivers to reduce flash usage +include ../include/minimal.inc diff --git a/libraries/AP_HAL_ChibiOS/hwdef/VRUBrain-v51/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/VRUBrain-v51/hwdef.dat index 8b1bc8fb3d..434ec5e279 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/VRUBrain-v51/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/VRUBrain-v51/hwdef.dat @@ -181,5 +181,5 @@ define HAL_SPEKTRUM_TELEM_ENABLED 0 define HAL_SOARING_ENABLED 0 define AP_OPTICALFLOW_ENABLED 0 -# minimal GPS drivers to reduce flash usage -include ../include/minimal_GPS.inc +# minimal drivers to reduce flash usage +include ../include/minimal.inc diff --git a/libraries/AP_HAL_ChibiOS/hwdef/fmuv2/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/fmuv2/hwdef.dat index fdff906557..4dc49ae514 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/fmuv2/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/fmuv2/hwdef.dat @@ -14,5 +14,5 @@ define HAL_MINIMIZE_FEATURES 1 # we don't have a flash page spare to write parameters to: undef STORAGE_FLASH_PAGE -# minimal GPS drivers to reduce flash usage -include ../include/minimal_GPS.inc +# minimal drivers to reduce flash usage +include ../include/minimal.inc diff --git a/libraries/AP_HAL_ChibiOS/hwdef/include/minimal.inc b/libraries/AP_HAL_ChibiOS/hwdef/include/minimal.inc new file mode 100644 index 0000000000..11b5127c1c --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/include/minimal.inc @@ -0,0 +1,2 @@ +include minimal_GPS.inc +include minimal_Airspeed.inc diff --git a/libraries/AP_HAL_ChibiOS/hwdef/include/minimal_Airspeed.inc b/libraries/AP_HAL_ChibiOS/hwdef/include/minimal_Airspeed.inc new file mode 100644 index 0000000000..3201ff23e4 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/include/minimal_Airspeed.inc @@ -0,0 +1,10 @@ +# include file to reduce flash by including *fewer* Airspeed drivers + +define AP_AIRSPEED_BACKEND_DEFAULT_ENABLED 0 +define AP_AIRSPEED_MS4525_ENABLED 1 +define AP_AIRSPEED_ANALOG_ENABLED 1 +define AP_AIRSPEED_MS5525_ENABLED 1 +define AP_AIRSPEED_SDP3X_ENABLED 1 +define AP_AIRSPEED_NMEA_ENABLED 1 # additional checks for vehicle type in .cpp + +define AP_AIRSPEED_UAVCAN_ENABLED HAL_ENABLE_LIBUAVCAN_DRIVERS diff --git a/libraries/AP_HAL_ChibiOS/hwdef/omnibusf4v6/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/omnibusf4v6/hwdef.dat index 42c9137c9c..442d66928c 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/omnibusf4v6/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/omnibusf4v6/hwdef.dat @@ -150,5 +150,5 @@ define OSD_ENABLED 1 #font for the osd ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin -# minimal GPS drivers to reduce flash usage -include ../include/minimal_GPS.inc +# minimal drivers to reduce flash usage +include ../include/minimal.inc diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py index 171a23f137..cc6fb375ca 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py +++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py @@ -2828,6 +2828,13 @@ def add_apperiph_defaults(f): #define HAL_SIM_GPS_ENABLED (AP_SIM_ENABLED && defined(HAL_PERIPH_ENABLE_GPS)) #endif +/* + * Airspeed Backends - we selectively turn backends *off* + */ +#ifndef AP_AIRSPEED_ANALOG_ENABLED +#define AP_AIRSPEED_ANALOG_ENABLED 0 +#endif + ''') diff --git a/libraries/AP_HAL_ChibiOS/hwdef/speedybeef4/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/speedybeef4/hwdef.dat index f8ffafeb71..9141e7602c 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/speedybeef4/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/speedybeef4/hwdef.dat @@ -146,5 +146,5 @@ define OSD_ENABLED 1 define HAL_OSD_TYPE_DEFAULT 1 ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin -# minimal GPS drivers to reduce flash usage -include ../include/minimal_GPS.inc +# minimal drivers to reduce flash usage +include ../include/minimal.inc