From e1bcd39040ebe15fc6a86f86f9baa7e0728148ea Mon Sep 17 00:00:00 2001 From: Shiv Tyagi Date: Thu, 20 Feb 2025 22:55:33 +0530 Subject: [PATCH] Tools: use new AP_PERIPH_PROXIMITY_ENABLED define --- Tools/AP_Periph/AP_Periph.cpp | 2 +- Tools/AP_Periph/AP_Periph.h | 2 +- Tools/AP_Periph/Parameters.cpp | 4 ++-- Tools/AP_Periph/Parameters.h | 2 +- Tools/AP_Periph/can.cpp | 2 +- Tools/AP_Periph/proximity.cpp | 4 ++-- Tools/AP_Periph/serial_tunnel.cpp | 2 +- Tools/ardupilotwaf/boards.py | 3 +++ 8 files changed, 12 insertions(+), 9 deletions(-) diff --git a/Tools/AP_Periph/AP_Periph.cpp b/Tools/AP_Periph/AP_Periph.cpp index 0f6ab7642b..8994c2c2ae 100644 --- a/Tools/AP_Periph/AP_Periph.cpp +++ b/Tools/AP_Periph/AP_Periph.cpp @@ -254,7 +254,7 @@ void AP_Periph_FW::init() } #endif -#ifdef HAL_PERIPH_ENABLE_PROXIMITY +#if AP_PERIPH_PROXIMITY_ENABLED if (proximity.get_type(0) != AP_Proximity::Type::None && g.proximity_port >= 0) { auto *uart = hal.serial(g.proximity_port); if (uart != nullptr) { diff --git a/Tools/AP_Periph/AP_Periph.h b/Tools/AP_Periph/AP_Periph.h index d2570d2e5d..983405b468 100644 --- a/Tools/AP_Periph/AP_Periph.h +++ b/Tools/AP_Periph/AP_Periph.h @@ -304,7 +304,7 @@ public: uint32_t last_rangefinder_sample_ms[RANGEFINDER_MAX_INSTANCES]; #endif -#ifdef HAL_PERIPH_ENABLE_PROXIMITY +#if AP_PERIPH_PROXIMITY_ENABLED AP_Proximity proximity; #endif diff --git a/Tools/AP_Periph/Parameters.cpp b/Tools/AP_Periph/Parameters.cpp index 1443bf5c2d..e1efc4b293 100644 --- a/Tools/AP_Periph/Parameters.cpp +++ b/Tools/AP_Periph/Parameters.cpp @@ -543,7 +543,7 @@ const AP_Param::Info AP_Periph_FW::var_info[] = { GOBJECT(efi, "EFI", AP_EFI), #endif -#ifdef HAL_PERIPH_ENABLE_PROXIMITY +#if AP_PERIPH_PROXIMITY_ENABLED // @Param: PRX_BAUDRATE // @DisplayName: Proximity Sensor serial baudrate // @Description: Proximity Sensor serial baudrate. @@ -575,7 +575,7 @@ const AP_Param::Info AP_Periph_FW::var_info[] = { // @Group: PRX // @Path: ../libraries/AP_Proximity/AP_Proximity.cpp GOBJECT(proximity, "PRX", AP_Proximity), -#endif // HAL_PERIPH_ENABLE_PROXIMITY +#endif // AP_PERIPH_PROXIMITY_ENABLED #if HAL_NMEA_OUTPUT_ENABLED // @Group: NMEA_ diff --git a/Tools/AP_Periph/Parameters.h b/Tools/AP_Periph/Parameters.h index 17dfddd71f..1d9c79be08 100644 --- a/Tools/AP_Periph/Parameters.h +++ b/Tools/AP_Periph/Parameters.h @@ -132,7 +132,7 @@ public: AP_Int16 rangefinder_max_rate; #endif -#ifdef HAL_PERIPH_ENABLE_PROXIMITY +#if AP_PERIPH_PROXIMITY_ENABLED AP_Int32 proximity_baud; AP_Int8 proximity_port; AP_Int16 proximity_max_rate; diff --git a/Tools/AP_Periph/can.cpp b/Tools/AP_Periph/can.cpp index 14faae7558..4c3ccb9824 100644 --- a/Tools/AP_Periph/can.cpp +++ b/Tools/AP_Periph/can.cpp @@ -1933,7 +1933,7 @@ void AP_Periph_FW::can_update() #if AP_PERIPH_RANGEFINDER_ENABLED can_rangefinder_update(); #endif -#ifdef HAL_PERIPH_ENABLE_PROXIMITY +#if AP_PERIPH_PROXIMITY_ENABLED can_proximity_update(); #endif #if defined(HAL_PERIPH_ENABLE_BUZZER_WITHOUT_NOTIFY) || AP_PERIPH_NOTIFY_ENABLED diff --git a/Tools/AP_Periph/proximity.cpp b/Tools/AP_Periph/proximity.cpp index d0a3267e1d..1158b63d36 100644 --- a/Tools/AP_Periph/proximity.cpp +++ b/Tools/AP_Periph/proximity.cpp @@ -1,6 +1,6 @@ #include "AP_Periph.h" -#ifdef HAL_PERIPH_ENABLE_PROXIMITY +#if AP_PERIPH_PROXIMITY_ENABLED /* proximity support @@ -72,4 +72,4 @@ void AP_Periph_FW::can_proximity_update() } } -#endif // HAL_PERIPH_ENABLE_PROXIMITY +#endif // AP_PERIPH_PROXIMITY_ENABLED diff --git a/Tools/AP_Periph/serial_tunnel.cpp b/Tools/AP_Periph/serial_tunnel.cpp index d6b1f0ff96..c65b27c6a2 100644 --- a/Tools/AP_Periph/serial_tunnel.cpp +++ b/Tools/AP_Periph/serial_tunnel.cpp @@ -58,7 +58,7 @@ int8_t AP_Periph_FW::get_default_tunnel_serial_port(void) const uart_num = g.adsb_port; } #endif -#ifdef HAL_PERIPH_ENABLE_PROXIMITY +#if AP_PERIPH_PROXIMITY_ENABLED if (uart_num == -1) { uart_num = g.proximity_port; } diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py index 5198f8e362..8c5528baa8 100644 --- a/Tools/ardupilotwaf/boards.py +++ b/Tools/ardupilotwaf/boards.py @@ -964,6 +964,7 @@ class sitl_periph_universal(sitl_periph): AP_PERIPH_EFI_ENABLED = 1, AP_PERIPH_RPM_ENABLED = 1, AP_PERIPH_RPM_STREAM_ENABLED = 1, + AP_PERIPH_PROXIMITY_ENABLED = 0, AP_RPM_STREAM_ENABLED = 1, AP_PERIPH_RC_OUT_ENABLED = 1, AP_PERIPH_ADSB_ENABLED = 1, @@ -996,6 +997,7 @@ class sitl_periph_gps(sitl_periph): AP_PERIPH_BATTERY_ENABLED = 0, AP_PERIPH_SERIAL_OPTIONS_ENABLED = 0, AP_PERIPH_ADSB_ENABLED = 0, + AP_PERIPH_PROXIMITY_ENABLED = 0, AP_PERIPH_GPS_ENABLED = 1, AP_PERIPH_RELAY_ENABLED = 0, AP_PERIPH_IMU_ENABLED = 0, @@ -1033,6 +1035,7 @@ class sitl_periph_battmon(sitl_periph): AP_PERIPH_ADSB_ENABLED = 0, AP_PERIPH_BARO_ENABLED = 0, AP_PERIPH_RANGEFINDER_ENABLED = 0, + AP_PERIPH_PROXIMITY_ENABLED = 0, AP_PERIPH_GPS_ENABLED = 0, AP_PERIPH_MSP_ENABLED = 0, AP_PERIPH_IMU_ENABLED = 0,