SRV_Channel: reduce dependencies for AP_Periph builds

libraries/SRV_Channel/SRV_Channel.h

@@ -21,7 +21,11 @@
 #include <AP_SBusOut/AP_SBusOut.h>
 #include <AP_BLHeli/AP_BLHeli.h>
 
-#define NUM_SERVO_CHANNELS 16
+#if !defined(NUM_SERVO_CHANNELS) && defined(HAL_BUILD_AP_PERIPH) && defined(HAL_PWM_COUNT) && (HAL_PWM_COUNT >= 1)
+    #define NUM_SERVO_CHANNELS HAL_PWM_COUNT
+#else
+    #define NUM_SERVO_CHANNELS 16
+#endif
 
 class SRV_Channels;
 
@@ -525,6 +529,7 @@ private:
     static SRV_Channel *channels;
     static SRV_Channels *_singleton;
 
+#ifndef HAL_BUILD_AP_PERIPH
     // support for Volz protocol
     AP_Volz_Protocol volz;
     static AP_Volz_Protocol *volz_ptr;
@@ -542,6 +547,8 @@ private:
     AP_BLHeli blheli;
     static AP_BLHeli *blheli_ptr;
 #endif
+#endif // HAL_BUILD_AP_PERIPH
+
     static uint16_t disabled_mask;
 
     // mask of outputs which use a digital output protocol, not

libraries/SRV_Channel/SRV_Channel_aux.cpp

@@ -26,6 +26,7 @@ extern const AP_HAL::HAL& hal;
 /// map a function to a servo channel and output it
 void SRV_Channel::output_ch(void)
 {
+#ifndef HAL_BUILD_AP_PERIPH
     int8_t passthrough_from = -1;
 
     // take care of special function cases
@@ -59,6 +60,8 @@ void SRV_Channel::output_ch(void)
             }
         }
     }
+#endif // HAL_BUILD_AP_PERIPH
+
     if (!(SRV_Channels::disabled_mask & (1U<<ch_num))) {
         hal.rcout->write(ch_num, output_pwm);
     }

libraries/SRV_Channel/SRV_Channels.cpp

@@ -38,9 +38,13 @@ extern const AP_HAL::HAL& hal;
 
 SRV_Channel *SRV_Channels::channels;
 SRV_Channels *SRV_Channels::_singleton;
+
+#ifndef HAL_BUILD_AP_PERIPH
 AP_Volz_Protocol *SRV_Channels::volz_ptr;
 AP_SBusOut *SRV_Channels::sbus_ptr;
 AP_RobotisServo *SRV_Channels::robotis_ptr;
+#endif // HAL_BUILD_AP_PERIPH
+
 uint16_t SRV_Channels::override_counter[NUM_SERVO_CHANNELS];
 
 #if HAL_SUPPORT_RCOUT_SERIAL
@@ -58,76 +62,110 @@ Bitmask<SRV_Channel::k_nr_aux_servo_functions> SRV_Channels::function_mask;
 SRV_Channels::srv_function SRV_Channels::functions[SRV_Channel::k_nr_aux_servo_functions];
 
 const AP_Param::GroupInfo SRV_Channels::var_info[] = {
+#if (NUM_SERVO_CHANNELS >= 1)
     // @Group: 1_
     // @Path: SRV_Channel.cpp
     AP_SUBGROUPINFO(obj_channels[0], "1_",  1, SRV_Channels, SRV_Channel),
+#endif
 
+#if (NUM_SERVO_CHANNELS >= 2)
     // @Group: 2_
     // @Path: SRV_Channel.cpp
     AP_SUBGROUPINFO(obj_channels[1], "2_",  2, SRV_Channels, SRV_Channel),
+#endif
 
+#if (NUM_SERVO_CHANNELS >= 3)
     // @Group: 3_
     // @Path: SRV_Channel.cpp
     AP_SUBGROUPINFO(obj_channels[2], "3_",  3, SRV_Channels, SRV_Channel),
+#endif
 
+#if (NUM_SERVO_CHANNELS >= 4)
     // @Group: 4_
     // @Path: SRV_Channel.cpp
     AP_SUBGROUPINFO(obj_channels[3], "4_",  4, SRV_Channels, SRV_Channel),
+#endif
 
+#if (NUM_SERVO_CHANNELS >= 5)
     // @Group: 5_
     // @Path: SRV_Channel.cpp
     AP_SUBGROUPINFO(obj_channels[4], "5_",  5, SRV_Channels, SRV_Channel),
+#endif
 
+#if (NUM_SERVO_CHANNELS >= 6)
     // @Group: 6_
     // @Path: SRV_Channel.cpp
     AP_SUBGROUPINFO(obj_channels[5], "6_",  6, SRV_Channels, SRV_Channel),
+#endif
 
+#if (NUM_SERVO_CHANNELS >= 7)
     // @Group: 7_
     // @Path: SRV_Channel.cpp
     AP_SUBGROUPINFO(obj_channels[6], "7_",  7, SRV_Channels, SRV_Channel),
+#endif
 
+#if (NUM_SERVO_CHANNELS >= 8)
     // @Group: 8_
     // @Path: SRV_Channel.cpp
     AP_SUBGROUPINFO(obj_channels[7], "8_",  8, SRV_Channels, SRV_Channel),
+#endif
 
+#if (NUM_SERVO_CHANNELS >= 9)
     // @Group: 9_
     // @Path: SRV_Channel.cpp
     AP_SUBGROUPINFO(obj_channels[8], "9_",  9, SRV_Channels, SRV_Channel),
+#endif
 
+#if (NUM_SERVO_CHANNELS >= 10)
     // @Group: 10_
     // @Path: SRV_Channel.cpp
     AP_SUBGROUPINFO(obj_channels[9], "10_",  10, SRV_Channels, SRV_Channel),
+#endif
 
+#if (NUM_SERVO_CHANNELS >= 11)
     // @Group: 11_
     // @Path: SRV_Channel.cpp
     AP_SUBGROUPINFO(obj_channels[10], "11_",  11, SRV_Channels, SRV_Channel),
+#endif
 
+#if (NUM_SERVO_CHANNELS >= 12)
     // @Group: 12_
     // @Path: SRV_Channel.cpp
     AP_SUBGROUPINFO(obj_channels[11], "12_",  12, SRV_Channels, SRV_Channel),
+#endif
 
+#if (NUM_SERVO_CHANNELS >= 13)
     // @Group: 13_
     // @Path: SRV_Channel.cpp
     AP_SUBGROUPINFO(obj_channels[12], "13_",  13, SRV_Channels, SRV_Channel),
+#endif
 
+#if (NUM_SERVO_CHANNELS >= 14)
     // @Group: 14_
     // @Path: SRV_Channel.cpp
     AP_SUBGROUPINFO(obj_channels[13], "14_",  14, SRV_Channels, SRV_Channel),
+#endif
 
+#if (NUM_SERVO_CHANNELS >= 15)
     // @Group: 15_
     // @Path: SRV_Channel.cpp
     AP_SUBGROUPINFO(obj_channels[14], "15_",  15, SRV_Channels, SRV_Channel),
+#endif
 
+#if (NUM_SERVO_CHANNELS >= 16)
     // @Group: 16_
     // @Path: SRV_Channel.cpp
     AP_SUBGROUPINFO(obj_channels[15], "16_",  16, SRV_Channels, SRV_Channel),
+#endif
 
+#ifndef  HAL_BUILD_AP_PERIPH
     // @Param{Plane}: _AUTO_TRIM
     // @DisplayName: Automatic servo trim
     // @Description: This enables automatic servo trim in flight. Servos will be trimed in stabilized flight modes when the aircraft is close to level. Changes to servo trim will be saved every 10 seconds and will persist between flights. The automatic trim won't go more than 20% away from a centered trim.
     // @Values: 0:Disable,1:Enable
     // @User: Advanced
     AP_GROUPINFO_FRAME("_AUTO_TRIM",  17, SRV_Channels, auto_trim, 0, AP_PARAM_FRAME_PLANE),
+#endif
 
     // @Param: _RATE
     // @DisplayName: Servo default output rate
@@ -137,6 +175,7 @@ const AP_Param::GroupInfo SRV_Channels::var_info[] = {
     // @Units: Hz
     AP_GROUPINFO("_RATE",  18, SRV_Channels, default_rate, 50),
 
+#ifndef HAL_BUILD_AP_PERIPH
     // @Group: _VOLZ_
     // @Path: ../AP_Volz_Protocol/AP_Volz_Protocol.cpp
     AP_SUBGROUPINFO(volz, "_VOLZ_",  19, SRV_Channels, AP_Volz_Protocol),
@@ -154,6 +193,7 @@ const AP_Param::GroupInfo SRV_Channels::var_info[] = {
     // @Group: _ROB_
     // @Path: ../AP_RobotisServo/AP_RobotisServo.cpp
     AP_SUBGROUPINFO(robotis, "_ROB_",  22, SRV_Channels, AP_RobotisServo),
+#endif // HAL_BUILD_AP_PERIPH
 
     AP_GROUPEND
 };
@@ -174,12 +214,14 @@ SRV_Channels::SRV_Channels(void)
         channels[i].ch_num = i;
     }
 
+#ifndef HAL_BUILD_AP_PERIPH
     volz_ptr = &volz;
     sbus_ptr = &sbus;
     robotis_ptr = &robotis;
 #if HAL_SUPPORT_RCOUT_SERIAL
     blheli_ptr = &blheli;
 #endif
+#endif // HAL_BUILD_AP_PERIPH
 }
 
 /*
@@ -264,6 +306,7 @@ void SRV_Channels::push()
 {
     hal.rcout->push();
 
+#ifndef HAL_BUILD_AP_PERIPH
     // give volz library a chance to update
     volz_ptr->update();
 
@@ -277,6 +320,7 @@ void SRV_Channels::push()
     // give blheli telemetry a chance to update
     blheli_ptr->update_telemetry();
 #endif
+#endif // HAL_BUILD_AP_PERIPH
 
 #if HAL_MAX_CAN_PROTOCOL_DRIVERS
     // push outputs to CAN