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Add and use AP_SBUSOUTPUT_ENABLED #24070

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merged 4 commits into from Jun 27, 2023
Merged

Add and use AP_SBUSOUTPUT_ENABLED #24070

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5ce1250
AP_HAL_ChibiOS: add and use AP_SBUSOUTPUT_ENABLED
peterbarker Jun 15, 2023
b49f882
AP_SBusOut: add and use AP_SBUSOUTPUT_ENABLED
peterbarker Jun 15, 2023
581ba37
SRV_Channel: add and use AP_SBUSOUTPUT_ENABLED
peterbarker Jun 15, 2023
3ce29f9
Tools: add and use AP_SBUSOUTPUT_ENABLED
peterbarker Jun 15, 2023
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1 change: 1 addition & 0 deletions Tools/scripts/build_options.py
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Expand Up @@ -311,6 +311,7 @@ def __init__(self,
Feature('Actuators', 'Volz', 'AP_VOLZ_ENABLED', 'Enable Volz Protocol', 0, None),
Feature('Actuators', 'Volz_DroneCAN', 'AP_DRONECAN_VOLZ_FEEDBACK_ENABLED', 'Enable Volz DroneCAN Feedback', 0, None),
Feature('Actuators', 'RobotisServo', 'AP_ROBOTISSERVO_ENABLED', 'Enable RobotisServo Protocol', 0, None),
Feature('Actuators', 'SBUS Output', 'AP_SBUSOUTPUT_ENABLED', 'Enable SBUS Output on serial ports', 0, None),
Feature('Actuators', 'FETTecOneWire', 'AP_FETTEC_ONEWIRE_ENABLED', 'Enable FETTec OneWire ESCs', 0, None),
Feature('Actuators', 'KDECAN', 'AP_KDECAN_ENABLED', 'KDE Direct KDECAN ESC', 0, None),

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1 change: 1 addition & 0 deletions Tools/scripts/extract_features.py
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Expand Up @@ -162,6 +162,7 @@ def __init__(self, filename, nm="arm-none-eabi-nm"):
('AP_DRONECAN_VOLZ_FEEDBACK_ENABLED', r'AP_DroneCAN::handle_actuator_status_Volz\b',),
('AP_ROBOTISSERVO_ENABLED', r'AP_RobotisServo::init\b',),
('AP_FETTEC_ONEWIRE_ENABLED', r'AP_FETtecOneWire::init\b',),
('AP_SBUSOUTPUT_ENABLED', 'AP_SBusOut::sbus_format_frame',),
('AP_KDECAN_ENABLED', r'AP_KDECAN::update\b',),

('AP_RPM_ENABLED', 'AP_RPM::AP_RPM',),
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4 changes: 4 additions & 0 deletions libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
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Expand Up @@ -3079,6 +3079,10 @@ def add_apperiph_defaults(self, f):
#define AP_ROBOTISSERVO_ENABLED 0
#endif

#ifndef AP_SBUSOUTPUT_ENABLED
#define AP_SBUSOUTPUT_ENABLED 0
#endif

// by default an AP_Periph defines as many servo output channels as
// there are PWM outputs:
#ifndef NUM_SERVO_CHANNELS
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6 changes: 6 additions & 0 deletions libraries/AP_SBusOut/AP_SBusOut.cpp
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Expand Up @@ -37,6 +37,11 @@
* POSSIBILITY OF SUCH DAMAGE.
*
*/

#include "AP_SBusOut_config.h"

#if AP_SBUSOUTPUT_ENABLED

#include "AP_SBusOut.h"
#include <AP_Math/AP_Math.h>
#include <AP_SerialManager/AP_SerialManager.h>
Expand Down Expand Up @@ -189,3 +194,4 @@ void AP_SBusOut::init() {
sbus1_uart = serial_manager->find_serial(AP_SerialManager::SerialProtocol_Sbus1,0);
}

#endif // AP_SBUSOUTPUT_ENABLED
6 changes: 6 additions & 0 deletions libraries/AP_SBusOut/AP_SBusOut.h
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Expand Up @@ -7,6 +7,10 @@

#pragma once

#include "AP_SBusOut_config.h"

#if AP_SBUSOUTPUT_ENABLED

#include <AP_HAL/AP_HAL.h>
#include <AP_Param/AP_Param.h>

Expand Down Expand Up @@ -35,3 +39,5 @@ class AP_SBusOut {
AP_Int16 sbus_rate;
bool initialised;
};

#endif // AP_SBUSOUTPUT_ENABLED
7 changes: 7 additions & 0 deletions libraries/AP_SBusOut/AP_SBusOut_config.h
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@@ -0,0 +1,7 @@
#pragma once

#include <AP_HAL/AP_HAL_Boards.h>

#ifndef AP_SBUSOUTPUT_ENABLED
#define AP_SBUSOUTPUT_ENABLED 1
#endif
4 changes: 2 additions & 2 deletions libraries/SRV_Channel/SRV_Channel.h
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Expand Up @@ -601,11 +601,11 @@ class SRV_Channels {
static AP_Volz_Protocol *volz_ptr;
#endif

#ifndef HAL_BUILD_AP_PERIPH
#if AP_SBUSOUTPUT_ENABLED
// support for SBUS protocol
AP_SBusOut sbus;
static AP_SBusOut *sbus_ptr;
#endif // HAL_BUILD_AP_PERIPH
#endif

#if AP_ROBOTISSERVO_ENABLED
// support for Robotis servo protocol
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12 changes: 6 additions & 6 deletions libraries/SRV_Channel/SRV_Channels.cpp
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Expand Up @@ -45,7 +45,7 @@ SRV_Channels *SRV_Channels::_singleton;
AP_Volz_Protocol *SRV_Channels::volz_ptr;
#endif

#ifndef HAL_BUILD_AP_PERIPH
#if AP_SBUSOUTPUT_ENABLED
AP_SBusOut *SRV_Channels::sbus_ptr;
#endif

Expand Down Expand Up @@ -195,11 +195,11 @@ const AP_Param::GroupInfo SRV_Channels::var_info[] = {
AP_SUBGROUPINFO(volz, "_VOLZ_", 19, SRV_Channels, AP_Volz_Protocol),
#endif

#ifndef HAL_BUILD_AP_PERIPH
#if AP_SBUSOUTPUT_ENABLED
// @Group: _SBUS_
// @Path: ../AP_SBusOut/AP_SBusOut.cpp
AP_SUBGROUPINFO(sbus, "_SBUS_", 20, SRV_Channels, AP_SBusOut),
#endif // HAL_BUILD_AP_PERIPH
#endif

#if HAL_SUPPORT_RCOUT_SERIAL
// @Group: _BLH_
Expand Down Expand Up @@ -379,7 +379,7 @@ SRV_Channels::SRV_Channels(void)
volz_ptr = &volz;
#endif

#ifndef HAL_BUILD_AP_PERIPH
#if AP_SBUSOUTPUT_ENABLED
sbus_ptr = &sbus;
#endif

Expand Down Expand Up @@ -511,10 +511,10 @@ void SRV_Channels::push()
volz_ptr->update();
#endif

#ifndef HAL_BUILD_AP_PERIPH
#if AP_SBUSOUTPUT_ENABLED
// give sbus library a chance to update
sbus_ptr->update();
#endif // HAL_BUILD_AP_PERIPH
#endif

#if AP_ROBOTISSERVO_ENABLED
// give robotis library a chance to update
Expand Down