Tools: create and use AP_PERIPH_RANGEFINDER_ENABLED

ArduPilot · Jan 31, 2025 · 1306136 · 1306136
1 parent 48b7827
commit 1306136
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Showing 8 changed files with 12 additions and 12 deletions.
diff --git a/Tools/AP_Periph/AP_Periph.cpp b/Tools/AP_Periph/AP_Periph.cpp
@@ -235,7 +235,7 @@ void AP_Periph_FW::init()
 
 #endif
 
-#ifdef HAL_PERIPH_ENABLE_RANGEFINDER
+#if AP_PERIPH_RANGEFINDER_ENABLED
     bool have_rangefinder = false;
     for (uint8_t i=0; i<RANGEFINDER_MAX_INSTANCES; i++) {
         if ((rangefinder.get_type(i) != RangeFinder::Type::NONE) && (g.rangefinder_port[i] >= 0)) {
@@ -432,7 +432,7 @@ void AP_Periph_FW::update()
 #if AP_PERIPH_BARO_ENABLED
         hal.serial(0)->printf("BARO H=%u P=%.2f T=%.2f\n", baro.healthy(), baro.get_pressure(), baro.get_temperature());
 #endif
-#ifdef HAL_PERIPH_ENABLE_RANGEFINDER
+#if AP_PERIPH_RANGEFINDER_ENABLED
         hal.serial(0)->printf("Num RNG sens %u\n", rangefinder.num_sensors());
         for (uint8_t i=0; i<RANGEFINDER_MAX_INSTANCES; i++) {
             AP_RangeFinder_Backend *backend = rangefinder.get_backend(i);

diff --git a/Tools/AP_Periph/AP_Periph.h b/Tools/AP_Periph/AP_Periph.h
@@ -178,7 +178,7 @@ class AP_Periph_FW {
     void can_imu_update();
 #endif
 
-#ifdef HAL_PERIPH_ENABLE_RANGEFINDER
+#if AP_PERIPH_RANGEFINDER_ENABLED
     void can_rangefinder_update();
 #endif
     void can_battery_update();
@@ -298,7 +298,7 @@ class AP_Periph_FW {
     AP_Airspeed airspeed;
 #endif
 
-#ifdef HAL_PERIPH_ENABLE_RANGEFINDER
+#if AP_PERIPH_RANGEFINDER_ENABLED
     RangeFinder rangefinder;
     uint32_t last_rangefinder_update_ms;
     uint32_t last_rangefinder_sample_ms[RANGEFINDER_MAX_INSTANCES];

diff --git a/Tools/AP_Periph/Parameters.cpp b/Tools/AP_Periph/Parameters.cpp
@@ -301,7 +301,7 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
     GOBJECT(airspeed, "ARSPD", AP_Airspeed),
 #endif
 
-#ifdef HAL_PERIPH_ENABLE_RANGEFINDER
+#if AP_PERIPH_RANGEFINDER_ENABLED
     // @Param: RNGFND_BAUDRATE
     // @DisplayName: Rangefinder serial baudrate
     // @Description: Rangefinder serial baudrate.

diff --git a/Tools/AP_Periph/Parameters.h b/Tools/AP_Periph/Parameters.h
@@ -126,7 +126,7 @@ class Parameters {
     AP_Int8 flash_bootloader;
 #endif
 
-#ifdef HAL_PERIPH_ENABLE_RANGEFINDER
+#if AP_PERIPH_RANGEFINDER_ENABLED
     AP_Int32 rangefinder_baud[RANGEFINDER_MAX_INSTANCES];
     AP_Int8 rangefinder_port[RANGEFINDER_MAX_INSTANCES];
     AP_Int16 rangefinder_max_rate;

diff --git a/Tools/AP_Periph/can.cpp b/Tools/AP_Periph/can.cpp
@@ -361,7 +361,7 @@ void AP_Periph_FW::handle_param_executeopcode(CanardInstance* canard_instance, C
 #ifdef HAL_PERIPH_ENABLE_AIRSPEED
         AP_Param::setup_object_defaults(&airspeed, airspeed.var_info);
 #endif
-#ifdef HAL_PERIPH_ENABLE_RANGEFINDER
+#if AP_PERIPH_RANGEFINDER_ENABLED
         AP_Param::setup_object_defaults(&rangefinder, rangefinder.var_info);
 #endif
     }
@@ -1900,7 +1900,7 @@ void AP_Periph_FW::can_update()
 #ifdef HAL_PERIPH_ENABLE_AIRSPEED
         can_airspeed_update();
 #endif
-#ifdef HAL_PERIPH_ENABLE_RANGEFINDER
+#if AP_PERIPH_RANGEFINDER_ENABLED
         can_rangefinder_update();
 #endif
 #ifdef HAL_PERIPH_ENABLE_PROXIMITY

diff --git a/Tools/AP_Periph/rangefinder.cpp b/Tools/AP_Periph/rangefinder.cpp
@@ -1,6 +1,6 @@
 #include "AP_Periph.h"
 
-#ifdef HAL_PERIPH_ENABLE_RANGEFINDER
+#if AP_PERIPH_RANGEFINDER_ENABLED
 
 /*
   rangefinder support
@@ -118,4 +118,4 @@ void AP_Periph_FW::can_rangefinder_update(void)
     }
 }
 
-#endif // HAL_PERIPH_ENABLE_RANGEFINDER
+#endif // AP_PERIPH_RANGEFINDER_ENABLED
diff --git a/Tools/AP_Periph/serial_tunnel.cpp b/Tools/AP_Periph/serial_tunnel.cpp
@@ -48,7 +48,7 @@ int8_t AP_Periph_FW::get_default_tunnel_serial_port(void) const
         uart_num = g.gps_port;
     }
 #endif
-#ifdef HAL_PERIPH_ENABLE_RANGEFINDER
+#if AP_PERIPH_RANGEFINDER_ENABLED
     if (uart_num == -1) {
         uart_num = g.rangefinder_port[0];
     }

diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
@@ -957,7 +957,7 @@ def configure_env(self, cfg, env):
             AP_PERIPH_MAG_ENABLED = 1,
             AP_PERIPH_BARO_ENABLED = 1,
             HAL_PERIPH_ENABLE_IMU = 1,
-            HAL_PERIPH_ENABLE_RANGEFINDER = 1,
+            AP_PERIPH_RANGEFINDER_ENABLED = 1,
             AP_PERIPH_BATTERY_ENABLED = 1,
             AP_PERIPH_BATTERY_BALANCE_ENABLED = 0,
             HAL_PERIPH_ENABLE_EFI = 1,