From bdf0efbbe7c0a73b5c6d6da9a2957033d6565180 Mon Sep 17 00:00:00 2001
From: Tom Pittenger <tom.pittenger@KrausAerospace.com>
Date: Fri, 30 Apr 2021 18:29:55 -0700
Subject: [PATCH] AP_CANManager: reorganize precompiler for
 HAL_ENABLE_LIBUAVCAN_DRIVERS and HAL_MAX_PROTOCOL_DRIVERS

---
 libraries/AP_CANManager/AP_CANDriver.cpp        | 2 +-
 libraries/AP_CANManager/AP_CANIfaceParams.cpp   | 2 +-
 libraries/AP_CANManager/AP_CANManager.cpp       | 2 +-
 libraries/AP_CANManager/AP_CANTester.cpp        | 2 +-
 libraries/AP_CANManager/AP_CANTester.h          | 2 +-
 libraries/AP_CANManager/AP_CANTester_KDECAN.cpp | 2 +-
 libraries/AP_CANManager/AP_SLCANIface.cpp       | 4 +++-
 7 files changed, 9 insertions(+), 7 deletions(-)

diff --git a/libraries/AP_CANManager/AP_CANDriver.cpp b/libraries/AP_CANManager/AP_CANDriver.cpp
index 63094b8059..b66d6b7ced 100644
--- a/libraries/AP_CANManager/AP_CANDriver.cpp
+++ b/libraries/AP_CANManager/AP_CANDriver.cpp
@@ -15,7 +15,7 @@
 
 #include <AP_HAL/AP_HAL.h>
 
-#if HAL_MAX_CAN_PROTOCOL_DRIVERS
+#if HAL_MAX_CAN_PROTOCOL_DRIVERS && HAL_ENABLE_LIBUAVCAN_DRIVERS
 #include "AP_CANManager.h"
 #include <AP_Vehicle/AP_Vehicle.h>
 
diff --git a/libraries/AP_CANManager/AP_CANIfaceParams.cpp b/libraries/AP_CANManager/AP_CANIfaceParams.cpp
index 0058b048ba..ca632e5886 100644
--- a/libraries/AP_CANManager/AP_CANIfaceParams.cpp
+++ b/libraries/AP_CANManager/AP_CANIfaceParams.cpp
@@ -15,7 +15,7 @@
 
 #include <AP_HAL/AP_HAL.h>
 
-#if HAL_MAX_CAN_PROTOCOL_DRIVERS
+#if HAL_ENABLE_LIBUAVCAN_DRIVERS
 #include "AP_CANManager.h"
 
 // table of user settable CAN bus parameters
diff --git a/libraries/AP_CANManager/AP_CANManager.cpp b/libraries/AP_CANManager/AP_CANManager.cpp
index bbd078bea3..fdf9128984 100644
--- a/libraries/AP_CANManager/AP_CANManager.cpp
+++ b/libraries/AP_CANManager/AP_CANManager.cpp
@@ -20,7 +20,7 @@
 #include <AP_Common/AP_Common.h>
 #include "AP_CANManager.h"
 
-#if HAL_MAX_CAN_PROTOCOL_DRIVERS
+#if HAL_ENABLE_LIBUAVCAN_DRIVERS
 
 #include <AP_Vehicle/AP_Vehicle.h>
 #include <AP_UAVCAN/AP_UAVCAN.h>
diff --git a/libraries/AP_CANManager/AP_CANTester.cpp b/libraries/AP_CANManager/AP_CANTester.cpp
index 23729c12e3..a5dd158a93 100644
--- a/libraries/AP_CANManager/AP_CANTester.cpp
+++ b/libraries/AP_CANManager/AP_CANTester.cpp
@@ -20,7 +20,7 @@
 #include <AP_Common/AP_Common.h>
 
 #include "AP_CANManager.h"
-#if HAL_MAX_CAN_PROTOCOL_DRIVERS > 1 && !HAL_MINIMIZE_FEATURES && HAL_MAX_CAN_PROTOCOL_DRIVERS
+#if HAL_MAX_CAN_PROTOCOL_DRIVERS > 1 && !HAL_MINIMIZE_FEATURES && HAL_ENABLE_LIBUAVCAN_DRIVERS
 #include "AP_CANTester.h"
 #include <AP_SerialManager/AP_SerialManager.h>
 #include <stdio.h>
diff --git a/libraries/AP_CANManager/AP_CANTester.h b/libraries/AP_CANManager/AP_CANTester.h
index ca243c8ee0..cb4b92637e 100644
--- a/libraries/AP_CANManager/AP_CANTester.h
+++ b/libraries/AP_CANManager/AP_CANTester.h
@@ -18,7 +18,7 @@
 #include "AP_CANDriver.h"
 #include <AP_HAL/Semaphores.h>
 #include <AP_UAVCAN/AP_UAVCAN.h>
-#if HAL_MAX_CAN_PROTOCOL_DRIVERS > 1 && !HAL_MINIMIZE_FEATURES
+#if HAL_MAX_CAN_PROTOCOL_DRIVERS > 1 && !HAL_MINIMIZE_FEATURES && HAL_ENABLE_LIBUAVCAN_DRIVERS
 
 class CANTester : public AP_CANDriver
 {
diff --git a/libraries/AP_CANManager/AP_CANTester_KDECAN.cpp b/libraries/AP_CANManager/AP_CANTester_KDECAN.cpp
index c9ee5ead4f..75ff1bfeed 100644
--- a/libraries/AP_CANManager/AP_CANTester_KDECAN.cpp
+++ b/libraries/AP_CANManager/AP_CANTester_KDECAN.cpp
@@ -19,7 +19,7 @@
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Common/AP_Common.h>
 
-#if HAL_MAX_CAN_PROTOCOL_DRIVERS > 1 && !HAL_MINIMIZE_FEATURES && HAL_MAX_CAN_PROTOCOL_DRIVERS
+#if HAL_MAX_CAN_PROTOCOL_DRIVERS > 1 && !HAL_MINIMIZE_FEATURES && HAL_ENABLE_LIBUAVCAN_DRIVERS
 #include "AP_CANTester_KDECAN.h"
 #include "AP_CANManager.h"
 #include <AP_Math/AP_Math.h>
diff --git a/libraries/AP_CANManager/AP_SLCANIface.cpp b/libraries/AP_CANManager/AP_SLCANIface.cpp
index b9a0db3523..d307a83ab0 100644
--- a/libraries/AP_CANManager/AP_SLCANIface.cpp
+++ b/libraries/AP_CANManager/AP_SLCANIface.cpp
@@ -245,7 +245,9 @@ bool SLCAN::CANIface::init_passthrough(uint8_t i)
     _can_iface = hal.can[i];
     _iface_num = _slcan_can_port - 1;
     _prev_ser_port = -1;
+#if HAL_ENABLE_LIBUAVCAN_DRIVERS
     AP::can().log_text(AP_CANManager::LOG_INFO, LOG_TAG, "Setting SLCAN Passthrough for CAN%d\n", _slcan_can_port - 1);
+#endif
     return true;
 }
 
@@ -483,7 +485,7 @@ void SLCAN::CANIface::update_slcan_port()
         }
         _port->lock_port(_serial_lock_key, _serial_lock_key);
         _prev_ser_port = _slcan_ser_port;
-        gcs().send_text(MAV_SEVERITY_INFO, "CANManager: Starting SLCAN Passthrough on Serial %d with CAN%d", _slcan_ser_port.get(), _iface_num);
+        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "CANManager: Starting SLCAN Passthrough on Serial %d with CAN%d", _slcan_ser_port.get(), _iface_num);
         _last_had_activity = AP_HAL::native_millis();
     }
     if (_port == nullptr) {