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SRV_Channel: add and use AP_SBUSOUTPUT_ENABLED

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.... which will allow periphs to instantiate this if they really feel like it, and for it to be removed on smaller boards on the custom build server (and potentially on lower-specced boards.
This commit is contained in:
Peter Barker 2023-06-15 18:25:10 +10:00 committed by Andrew Tridgell
parent f99f9741fb
commit 89dcafcc5c
2 changed files with 8 additions and 8 deletions
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4
libraries/SRV_Channel/SRV_Channel.h
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@ -601,11 +601,11 @@ private:
static AP_Volz_Protocol *volz_ptr;
#endif
#ifndef HAL_BUILD_AP_PERIPH
#if AP_SBUSOUTPUT_ENABLED
// support for SBUS protocol
AP_SBusOut sbus;
static AP_SBusOut *sbus_ptr;
#endif // HAL_BUILD_AP_PERIPH
#endif
#if AP_ROBOTISSERVO_ENABLED
// support for Robotis servo protocol

12
libraries/SRV_Channel/SRV_Channels.cpp
View File

@ -45,7 +45,7 @@ SRV_Channels *SRV_Channels::_singleton;
AP_Volz_Protocol *SRV_Channels::volz_ptr;
#endif
#ifndef HAL_BUILD_AP_PERIPH
#if AP_SBUSOUTPUT_ENABLED
AP_SBusOut *SRV_Channels::sbus_ptr;
#endif
@ -195,11 +195,11 @@ const AP_Param::GroupInfo SRV_Channels::var_info[] = {
AP_SUBGROUPINFO(volz, "_VOLZ_", 19, SRV_Channels, AP_Volz_Protocol),
#endif
#ifndef HAL_BUILD_AP_PERIPH
#if AP_SBUSOUTPUT_ENABLED
// @Group: _SBUS_
// @Path: ../AP_SBusOut/AP_SBusOut.cpp
AP_SUBGROUPINFO(sbus, "_SBUS_", 20, SRV_Channels, AP_SBusOut),
#endif // HAL_BUILD_AP_PERIPH
#endif
#if HAL_SUPPORT_RCOUT_SERIAL
// @Group: _BLH_
@ -379,7 +379,7 @@ SRV_Channels::SRV_Channels(void)
volz_ptr = &volz;
#endif
#ifndef HAL_BUILD_AP_PERIPH
#if AP_SBUSOUTPUT_ENABLED
sbus_ptr = &sbus;
#endif
@ -511,10 +511,10 @@ void SRV_Channels::push()
volz_ptr->update();
#endif
#ifndef HAL_BUILD_AP_PERIPH
#if AP_SBUSOUTPUT_ENABLED
// give sbus library a chance to update
sbus_ptr->update();
#endif // HAL_BUILD_AP_PERIPH
#endif
#if AP_ROBOTISSERVO_ENABLED
// give robotis library a chance to update