From 2d7123fcffc6e43ec1f75031a6173e99b446f847 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 3 May 2023 23:08:00 +1000
Subject: [PATCH] AP_HAL_ChibiOS: add and use AP_RCPROTOCOL_ENABLED

---
 libraries/AP_HAL_ChibiOS/RCInput.cpp          | 15 +++++++++-----
 .../hwdef/scripts/chibios_hwdef.py            | 20 +++++++++++++++++++
 .../hwdef/skyviper-v2450/hwdef.dat            |  4 ++--
 3 files changed, 32 insertions(+), 7 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/RCInput.cpp b/libraries/AP_HAL_ChibiOS/RCInput.cpp
index 8eebf702ed..cd44c7b364 100644
--- a/libraries/AP_HAL_ChibiOS/RCInput.cpp
+++ b/libraries/AP_HAL_ChibiOS/RCInput.cpp
@@ -21,6 +21,8 @@
 #include "hwdef/common/ppm.h"
 #if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
 
+#include <AP_RCProtocol/AP_RCProtocol_config.h>
+
 #if HAL_WITH_IO_MCU
 #include <AP_BoardConfig/AP_BoardConfig.h>
 #include <AP_IOMCU/AP_IOMCU.h>
@@ -38,7 +40,7 @@ using namespace ChibiOS;
 extern const AP_HAL::HAL& hal;
 void RCInput::init()
 {
-#ifndef HAL_BUILD_AP_PERIPH
+#if AP_RCPROTOCOL_ENABLED
     AP::RC().init();
 #endif
 
@@ -153,7 +155,7 @@ void RCInput::_timer_tick(void)
     RCSource source = last_source;
 #endif
 
-#ifndef HAL_BUILD_AP_PERIPH
+#if AP_RCPROTOCOL_ENABLED
     AP_RCProtocol &rcprot = AP::RC();
 
 #if HAL_USE_ICU == TRUE
@@ -176,16 +178,19 @@ void RCInput::_timer_tick(void)
     }
 #endif
 
+#endif  // AP_RCPROTOCOL_ENABLED
+
 #if HAL_WITH_IO_MCU
     uint32_t now = AP_HAL::millis();
     const bool have_iocmu_rc = (_rcin_last_iomcu_ms != 0 && now - _rcin_last_iomcu_ms < 400);
     if (!have_iocmu_rc) {
         _rcin_last_iomcu_ms = 0;
     }
-#else
+#elif AP_RCPROTOCOL_ENABLED || HAL_RCINPUT_WITH_AP_RADIO
     const bool have_iocmu_rc = false;
 #endif
 
+#if AP_RCPROTOCOL_ENABLED
     if (rcprot.new_input() && !have_iocmu_rc) {
         WITH_SEMAPHORE(rcin_mutex);
         _rcin_timestamp_last_signal = AP_HAL::micros();
@@ -199,7 +204,7 @@ void RCInput::_timer_tick(void)
         source = rcprot.using_uart() ? RCSource::RCPROT_BYTES : RCSource::RCPROT_PULSES;
 #endif
     }
-#endif // HAL_BUILD_AP_PERIPH
+#endif // AP_RCPROTOCOL_ENABLED
 
 #if HAL_RCINPUT_WITH_AP_RADIO
     if (radio && radio->last_recv_us() != last_radio_us && !have_iocmu_rc) {
@@ -259,7 +264,7 @@ bool RCInput::rc_bind(int dsmMode)
     }
 #endif
 
-#ifndef HAL_BUILD_AP_PERIPH
+#if AP_RCPROTOCOL_ENABLED
     // ask AP_RCProtocol to start a bind
     AP::RC().start_bind();
 #endif
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
index e9b347ed07..50546e8eac 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
@@ -3110,6 +3110,12 @@ INCLUDE common.ld
 #define AP_RC_CHANNEL_ENABLED 0
 #endif
 
+#ifndef AP_RCPROTOCOL_ENABLED
+#define AP_RCPROTOCOL_ENABLED 0
+#endif
+
+#define HAL_CRSF_TELEM_ENABLED 0
+
 /*
  * GPS Backends - we selectively turn backends on.
  *   Note also that f103-GPS explicitly disables some of these backends.
@@ -3223,6 +3229,18 @@ INCLUDE common.ld
 #define AP_WINCH_ENABLED 0
 #endif
 
+#ifndef AP_VIDEOTX_ENABLED
+#define AP_VIDEOTX_ENABLED 0
+#endif
+
+#ifndef AP_FRSKY_TELEM_ENABLED
+#define AP_FRSKY_TELEM_ENABLED 0
+#endif
+
+#ifndef HAL_SPEKTRUM_TELEM_ENABLED
+#define HAL_SPEKTRUM_TELEM_ENABLED 0
+#endif
+
 // end AP_Periph defaults
 ''')
 
@@ -3289,6 +3307,8 @@ INCLUDE common.ld
 
 #define HAL_DSHOT_ALARM_ENABLED 0
 
+#define HAL_LOGGING_ENABLED 0
+
 // IOMCUs *definitely* don't use the FFT library:
 #ifndef HAL_GYROFFT_ENABLED
 #define HAL_GYROFFT_ENABLED 0
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/skyviper-v2450/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/skyviper-v2450/hwdef.dat
index 2f4c4efa29..c51b54aa88 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/skyviper-v2450/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/skyviper-v2450/hwdef.dat
@@ -170,8 +170,8 @@ define AP_WINCH_ENABLED 0
 define AP_CAMERA_BACKEND_DEFAULT_ENABLED 0
 define AP_CAMERA_MAVLINK_ENABLED 1
 
-// remove RC Protocol support:
-define AP_RCPROTOCOL_BACKEND_DEFAULT_ENABLED 0
+# SkyViper uses AP_Radio, which does its own RC protocol decoding:
+define AP_RCPROTOCOL_ENABLED 0
 
 // few prelcnad backends are applicable
 define AC_PRECLAND_BACKEND_DEFAULT_ENABLED 0