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AP_ExternalAHRS: create and use backend defines for AP_ExternalAHRS

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This commit is contained in:
Peter Barker 2023-04-24 19:54:51 +10:00 committed by Peter Barker
parent eca456e521
commit b471f9bfac
7 changed files with 47 additions and 24 deletions
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13
libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
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@ -16,12 +16,15 @@
suppport for serial connected AHRS systems suppport for serial connected AHRS systems
*/ */
#include "AP_ExternalAHRS.h" #include "AP_ExternalAHRS_config.h"
#include "AP_ExternalAHRS_VectorNav.h"
#include "AP_ExternalAHRS_LORD.h"
#if HAL_EXTERNAL_AHRS_ENABLED #if HAL_EXTERNAL_AHRS_ENABLED
#include "AP_ExternalAHRS.h"
#include "AP_ExternalAHRS_backend.h"
#include "AP_ExternalAHRS_VectorNav.h"
#include "AP_ExternalAHRS_LORD.h"
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
extern const AP_HAL::HAL &hal; extern const AP_HAL::HAL &hal;
@ -90,13 +93,17 @@ void AP_ExternalAHRS::init(void)
case DevType::None: case DevType::None:
// nothing to do // nothing to do
break; break;
#if AP_EXTERNAL_AHRS_VECTORNAV_ENABLED
case DevType::VecNav: case DevType::VecNav:
backend = new AP_ExternalAHRS_VectorNav(this, state); backend = new AP_ExternalAHRS_VectorNav(this, state);
break; break;
#endif
#if AP_EXTERNAL_AHRS_LORD_ENABLED
case DevType::LORD: case DevType::LORD:
backend = new AP_ExternalAHRS_LORD(this, state); backend = new AP_ExternalAHRS_LORD(this, state);
break; break;
default: default:
#endif
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Unsupported ExternalAHRS type %u", unsigned(devtype)); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Unsupported ExternalAHRS type %u", unsigned(devtype));
break; break;
} }

4
libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
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@ -43,8 +43,12 @@ public:
enum class DevType : uint8_t { enum class DevType : uint8_t {
None = 0, None = 0,
#if AP_EXTERNAL_AHRS_VECTORNAV_ENABLED
VecNav = 1, VecNav = 1,
#endif
#if AP_EXTERNAL_AHRS_LORD_ENABLED
LORD = 2, LORD = 2,
#endif
}; };
static AP_ExternalAHRS *get_singleton(void) { static AP_ExternalAHRS *get_singleton(void) {

8
libraries/AP_ExternalAHRS/AP_ExternalAHRS_LORD.cpp
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@ -16,8 +16,11 @@
#define ALLOW_DOUBLE_MATH_FUNCTIONS #define ALLOW_DOUBLE_MATH_FUNCTIONS
#include "AP_ExternalAHRS_config.h"
#if AP_EXTERNAL_AHRS_LORD_ENABLED
#include "AP_ExternalAHRS_LORD.h" #include "AP_ExternalAHRS_LORD.h"
#if HAL_EXTERNAL_AHRS_LORD_ENABLED
#include <AP_Baro/AP_Baro.h> #include <AP_Baro/AP_Baro.h>
#include <AP_Compass/AP_Compass.h> #include <AP_Compass/AP_Compass.h>
#include <AP_GPS/AP_GPS.h> #include <AP_GPS/AP_GPS.h>
@ -582,5 +585,4 @@ double AP_ExternalAHRS_LORD::extract_double(const uint8_t *data, uint8_t offset)
return *reinterpret_cast<double*>(&tmp); return *reinterpret_cast<double*>(&tmp);
} }
#endif // HAL_EXTERNAL_AHRS_ENABLED #endif // AP_EXTERNAL_AHRS_LORD_ENABLE

16
libraries/AP_ExternalAHRS/AP_ExternalAHRS_LORD.h
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@ -16,15 +16,12 @@
#pragma once #pragma once
#include "AP_ExternalAHRS_config.h"
#if AP_EXTERNAL_AHRS_LORD_ENABLED
#include "AP_ExternalAHRS_backend.h" #include "AP_ExternalAHRS_backend.h"
#include <AP_GPS/AP_GPS.h>
#ifndef HAL_EXTERNAL_AHRS_LORD_ENABLED
#define HAL_EXTERNAL_AHRS_LORD_ENABLED HAL_EXTERNAL_AHRS_ENABLED
#endif
#if HAL_EXTERNAL_AHRS_LORD_ENABLED
#include <GCS_MAVLink/GCS_MAVLink.h>
class AP_ExternalAHRS_LORD: public AP_ExternalAHRS_backend class AP_ExternalAHRS_LORD: public AP_ExternalAHRS_backend
{ {
@ -153,5 +150,4 @@ private:
}; };
#endif // HAL_EXTERNAL_AHRS_ENABLED #endif // AP_EXTERNAL_AHRS_LORD_ENABLED

9
libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp
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@ -18,6 +18,10 @@
#define ALLOW_DOUBLE_MATH_FUNCTIONS #define ALLOW_DOUBLE_MATH_FUNCTIONS
#include "AP_ExternalAHRS_config.h"
#if AP_EXTERNAL_AHRS_VECTORNAV_ENABLED
#include "AP_ExternalAHRS_VectorNav.h" #include "AP_ExternalAHRS_VectorNav.h"
#include <AP_Math/AP_Math.h> #include <AP_Math/AP_Math.h>
#include <AP_Math/crc.h> #include <AP_Math/crc.h>
@ -31,8 +35,6 @@
#include <stdio.h> #include <stdio.h>
#include <AP_BoardConfig/AP_BoardConfig.h> #include <AP_BoardConfig/AP_BoardConfig.h>
#if HAL_EXTERNAL_AHRS_ENABLED
extern const AP_HAL::HAL &hal; extern const AP_HAL::HAL &hal;
/* /*
@ -819,5 +821,4 @@ void AP_ExternalAHRS_VectorNav::send_status_report(GCS_MAVLINK &link) const
mag_var, 0, 0); mag_var, 0, 0);
} }
#endif // HAL_EXTERNAL_AHRS_ENABLED #endif // AP_EXTERNAL_AHRS_VECTORNAV_ENABLED

9
libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.h
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@ -18,9 +18,11 @@
#pragma once #pragma once
#include "AP_ExternalAHRS_backend.h" #include "AP_ExternalAHRS_config.h"
#if HAL_EXTERNAL_AHRS_ENABLED #if AP_EXTERNAL_AHRS_VECTORNAV_ENABLED
#include "AP_ExternalAHRS_backend.h"
class AP_ExternalAHRS_VectorNav : public AP_ExternalAHRS_backend { class AP_ExternalAHRS_VectorNav : public AP_ExternalAHRS_backend {
@ -92,5 +94,4 @@ private:
}; };
#endif // HAL_EXTERNAL_AHRS_ENABLED #endif // AP_EXTERNAL_AHRS_VECTORNAV_ENABLED

12
libraries/AP_ExternalAHRS/AP_ExternalAHRS_config.h
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@ -5,3 +5,15 @@
#ifndef HAL_EXTERNAL_AHRS_ENABLED #ifndef HAL_EXTERNAL_AHRS_ENABLED
#define HAL_EXTERNAL_AHRS_ENABLED BOARD_FLASH_SIZE > 1024 #define HAL_EXTERNAL_AHRS_ENABLED BOARD_FLASH_SIZE > 1024
#endif #endif
#ifndef AP_EXTERNAL_AHRS_BACKEND_DEFAULT_ENABLED
#define AP_EXTERNAL_AHRS_BACKEND_DEFAULT_ENABLED HAL_EXTERNAL_AHRS_ENABLED
#endif
#ifndef AP_EXTERNAL_AHRS_LORD_ENABLED
#define AP_EXTERNAL_AHRS_LORD_ENABLED AP_EXTERNAL_AHRS_BACKEND_DEFAULT_ENABLED
#endif
#ifndef AP_EXTERNAL_AHRS_VECTORNAV_ENABLED
#define AP_EXTERNAL_AHRS_VECTORNAV_ENABLED AP_EXTERNAL_AHRS_BACKEND_DEFAULT_ENABLED
#endif