Tools: create AP_PERIPH_GPS_ENABLED

ArduPilot · Jan 14, 2025 · 47894ef · 47894ef
1 parent e44e3c5
commit 47894ef
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Showing 9 changed files with 25 additions and 25 deletions.
diff --git a/Tools/AP_Periph/AP_Periph.cpp b/Tools/AP_Periph/AP_Periph.cpp
@@ -148,7 +148,7 @@ void AP_Periph_FW::init()
     serial_options.init();
 #endif
 
-#ifdef HAL_PERIPH_ENABLE_GPS
+#if AP_PERIPH_GPS_ENABLED
     gps.set_default_type_for_gps1(HAL_GPS1_TYPE_DEFAULT);
     if (gps.get_type(0) != AP_GPS::GPS_Type::GPS_TYPE_NONE && g.gps_port >= 0) {
         serial_manager.set_protocol_and_baud(g.gps_port, AP_SerialManager::SerialProtocol_GPS, AP_SERIALMANAGER_GPS_BAUD);
@@ -158,7 +158,7 @@ void AP_Periph_FW::init()
 #endif
         gps.init();
     }
-#endif
+#endif  // AP_PERIPH_GPS_ENABLED
 
 #ifdef HAL_PERIPH_ENABLE_MAG
     compass.init();
@@ -422,7 +422,7 @@ void AP_Periph_FW::update()
         }
 #endif
 #if 0
-#ifdef HAL_PERIPH_ENABLE_GPS
+#if AP_PERIPH_GPS_ENABLED
         hal.serial(0)->printf("GPS status: %u\n", (unsigned)gps.status());
 #endif
 #ifdef HAL_PERIPH_ENABLE_MAG

diff --git a/Tools/AP_Periph/AP_Periph.h b/Tools/AP_Periph/AP_Periph.h
@@ -62,9 +62,9 @@
 #endif
 
 #include <AP_NMEA_Output/AP_NMEA_Output.h>
-#if HAL_NMEA_OUTPUT_ENABLED && !(HAL_GCS_ENABLED && defined(HAL_PERIPH_ENABLE_GPS))
+#if HAL_NMEA_OUTPUT_ENABLED && !(HAL_GCS_ENABLED && AP_PERIPH_GPS_ENABLED)
     // Needs SerialManager + (AHRS or GPS)
-    #error "AP_NMEA_Output requires Serial/GCS and either AHRS or GPS. Needs HAL_GCS_ENABLED and HAL_PERIPH_ENABLE_GPS"
+    #error "AP_NMEA_Output requires Serial/GCS and either AHRS or GPS. Needs HAL_GCS_ENABLED and AP_PERIPH_GPS_ENABLED"
 #endif
 
 #if HAL_GCS_ENABLED
@@ -216,7 +216,7 @@ class AP_Periph_FW {
     AP_Stats node_stats;
 #endif
 
-#ifdef HAL_PERIPH_ENABLE_GPS
+#if AP_GPS_ENABLED
     AP_GPS gps;
 #if HAL_NUM_CAN_IFACES >= 2
     int8_t gps_mb_can_port = -1;
@@ -452,7 +452,7 @@ class AP_Periph_FW {
 #ifdef HAL_PERIPH_ENABLE_MAG
     uint32_t last_mag_update_ms;
 #endif
-#ifdef HAL_PERIPH_ENABLE_GPS
+#if AP_PERIPH_GPS_ENABLED
     uint32_t last_gps_update_ms;
     uint32_t last_gps_yaw_ms;
 #endif
@@ -463,7 +463,7 @@ class AP_Periph_FW {
 #ifdef HAL_PERIPH_ENABLE_AIRSPEED
     uint32_t last_airspeed_update_ms;
 #endif
-#ifdef HAL_PERIPH_ENABLE_GPS
+#if AP_PERIPH_GPS_ENABLED
     bool saw_gps_lock_once;
 #endif
 

diff --git a/Tools/AP_Periph/Parameters.cpp b/Tools/AP_Periph/Parameters.cpp
@@ -224,7 +224,7 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
     GSCALAR(buzz_volume,     "BUZZER_VOLUME", 100),
 #endif
 
-#ifdef HAL_PERIPH_ENABLE_GPS
+#if AP_PERIPH_GPS_ENABLED
     // GPS driver
     // @Group: GPS
     // @Path: ../libraries/AP_GPS/AP_GPS.cpp

diff --git a/Tools/AP_Periph/Parameters.h b/Tools/AP_Periph/Parameters.h
@@ -166,7 +166,7 @@ class Parameters {
     AP_Int8 pole_count[ESC_NUMBERS];
 #endif
 
-#ifdef HAL_PERIPH_ENABLE_GPS
+#if AP_PERIPH_GPS_ENABLED
     AP_Int8 gps_port;
 #if GPS_MOVING_BASELINE
     AP_Int8 gps_mb_only_can_port;

diff --git a/Tools/AP_Periph/can.cpp b/Tools/AP_Periph/can.cpp
@@ -346,7 +346,7 @@ void AP_Periph_FW::handle_param_executeopcode(CanardInstance* canard_instance, C
         AP_Param::erase_all();
         AP_Param::load_all();
         AP_Param::setup_sketch_defaults();
-#ifdef HAL_PERIPH_ENABLE_GPS
+#if AP_PERIPH_GPS_ENABLED
         AP_Param::setup_object_defaults(&gps, gps.var_info);
 #endif
 #ifdef HAL_PERIPH_ENABLE_BATTERY
@@ -474,7 +474,7 @@ void AP_Periph_FW::handle_allocation_response(CanardInstance* canard_instance, C
         canardSetLocalNodeID(canard_instance, msg.node_id);
         printf("IF%d Node ID allocated: %d\n", dronecan.dna_interface, msg.node_id);
 
-#if defined(HAL_PERIPH_ENABLE_GPS) && (HAL_NUM_CAN_IFACES >= 2) && GPS_MOVING_BASELINE
+#if AP_PERIPH_GPS_ENABLED && (HAL_NUM_CAN_IFACES >= 2) && GPS_MOVING_BASELINE
         if (g.gps_mb_only_can_port) {
             // we need to assign the unallocated port to be used for Moving Baseline only
             gps_mb_can_port = (dronecan.dna_interface+1)%HAL_NUM_CAN_IFACES;
@@ -832,7 +832,7 @@ void AP_Periph_FW::onTransferReceived(CanardInstance* canard_instance,
         handle_arming_status(canard_instance, transfer);
         break;
 
-#ifdef HAL_PERIPH_ENABLE_GPS
+#if AP_PERIPH_GPS_ENABLED
     case UAVCAN_EQUIPMENT_GNSS_RTCMSTREAM_ID:
         handle_RTCMStream(canard_instance, transfer);
         break;
@@ -842,7 +842,7 @@ void AP_Periph_FW::onTransferReceived(CanardInstance* canard_instance,
         handle_MovingBaselineData(canard_instance, transfer);
         break;
 #endif
-#endif // HAL_PERIPH_ENABLE_GPS
+#endif // AP_PERIPH_GPS_ENABLED
 
 #if AP_UART_MONITOR_ENABLED
     case UAVCAN_TUNNEL_TARGETTED_ID:
@@ -955,7 +955,7 @@ bool AP_Periph_FW::shouldAcceptTransfer(const CanardInstance* canard_instance,
         *out_data_type_signature = UAVCAN_EQUIPMENT_INDICATION_LIGHTSCOMMAND_SIGNATURE;
         return true;
 #endif
-#ifdef HAL_PERIPH_ENABLE_GPS
+#if AP_PERIPH_GPS_ENABLED
     case UAVCAN_EQUIPMENT_GNSS_RTCMSTREAM_ID:
         *out_data_type_signature = UAVCAN_EQUIPMENT_GNSS_RTCMSTREAM_SIGNATURE;
         return true;
@@ -965,7 +965,7 @@ bool AP_Periph_FW::shouldAcceptTransfer(const CanardInstance* canard_instance,
         *out_data_type_signature = ARDUPILOT_GNSS_MOVINGBASELINEDATA_SIGNATURE;
         return true;
 #endif
-#endif // HAL_PERIPH_ENABLE_GPS
+#endif // AP_PERIPH_GPS_ENABLED
 
 #if AP_UART_MONITOR_ENABLED
     case UAVCAN_TUNNEL_TARGETTED_ID:
@@ -1877,7 +1877,7 @@ void AP_Periph_FW::can_update()
 #ifdef HAL_PERIPH_ENABLE_MAG
         can_mag_update();
 #endif
-#ifdef HAL_PERIPH_ENABLE_GPS
+#if AP_PERIPH_GPS_ENABLED
         can_gps_update();
 #endif
 #if AP_UART_MONITOR_ENABLED

diff --git a/Tools/AP_Periph/gps.cpp b/Tools/AP_Periph/gps.cpp
@@ -1,6 +1,6 @@
 #include "AP_Periph.h"
 
-#ifdef HAL_PERIPH_ENABLE_GPS
+#if AP_PERIPH_GPS_ENABLED
 
 /*
   GPS support
@@ -317,4 +317,4 @@ void AP_Periph_FW::send_relposheading_msg() {
 #endif // GPS_MOVING_BASELINE
 }
 
-#endif // HAL_PERIPH_ENABLE_GPS
+#endif // AP_PERIPH_GPS_ENABLED
diff --git a/Tools/AP_Periph/msp.cpp b/Tools/AP_Periph/msp.cpp
@@ -45,7 +45,7 @@ void AP_Periph_FW::msp_sensor_update(void)
     if (msp.port.uart == nullptr) {
         return;
     }
-#ifdef HAL_PERIPH_ENABLE_GPS
+#if AP_PERIPH_GPS_ENABLED
     send_msp_GPS();
 #endif
 #ifdef HAL_PERIPH_ENABLE_BARO
@@ -60,7 +60,7 @@ void AP_Periph_FW::msp_sensor_update(void)
 }
 
 
-#ifdef HAL_PERIPH_ENABLE_GPS
+#if AP_PERIPH_GPS_ENABLED
 /*
   send MSP GPS packet
  */
@@ -122,7 +122,7 @@ void AP_Periph_FW::send_msp_GPS(void)
 
     send_msp_packet(MSP2_SENSOR_GPS, &p, sizeof(p));
 }
-#endif // HAL_PERIPH_ENABLE_GPS
+#endif // AP_PERIPH_GPS_ENABLED
 
 
 #ifdef HAL_PERIPH_ENABLE_BARO

diff --git a/Tools/AP_Periph/serial_tunnel.cpp b/Tools/AP_Periph/serial_tunnel.cpp
@@ -43,7 +43,7 @@ extern const AP_HAL::HAL &hal;
 int8_t AP_Periph_FW::get_default_tunnel_serial_port(void) const
 {
     int8_t uart_num = -1;
-#ifdef HAL_PERIPH_ENABLE_GPS
+#if AP_PERIPH_GPS_ENABLED
     if (uart_num == -1) {
         uart_num = g.gps_port;
     }

diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
@@ -945,7 +945,7 @@ def configure_env(self, cfg, env):
             CAN_APP_NODE_NAME = '"org.ardupilot.ap_periph_universal"',
             APJ_BOARD_ID = 100,
 
-            HAL_PERIPH_ENABLE_GPS = 1,
+            AP_PERIPH_GPS_ENABLED = 1,
             HAL_PERIPH_ENABLE_AIRSPEED = 1,
             HAL_PERIPH_ENABLE_MAG = 1,
             HAL_PERIPH_ENABLE_BARO = 1,
@@ -977,7 +977,7 @@ def configure_env(self, cfg, env):
             CAN_APP_NODE_NAME = '"org.ardupilot.ap_periph_gps"',
             APJ_BOARD_ID = 101,
 
-            HAL_PERIPH_ENABLE_GPS = 1,
+            AP_PERIPH_GPS_ENABLED = 1,
         )
 
 class sitl_periph_battmon(sitl_periph):