Tools: use new AP_PERIPH_ESC_APD_ENABLED define

Author: shiv-tyagi

Tools/AP_Periph/AP_Periph.cpp

@@ -273,7 +273,7 @@ void AP_Periph_FW::init()
     hwesc_telem.init(hal.serial(HAL_PERIPH_HWESC_SERIAL_PORT));
 #endif
 
-#ifdef HAL_PERIPH_ENABLE_ESC_APD
+#if AP_PERIPH_ESC_APD_ENABLED
     for (uint8_t i = 0; i < ESC_NUMBERS; i++) {
         const uint8_t port = g.esc_serial_port[i];
         if (port < SERIALMANAGER_NUM_PORTS) { // skip bad ports

Tools/AP_Periph/AP_Periph.h

@@ -335,7 +335,7 @@ class AP_Periph_FW {
     AP_KDECAN kdecan;
 #endif
 
-#ifdef HAL_PERIPH_ENABLE_ESC_APD
+#if AP_PERIPH_ESC_APD_ENABLED
     ESC_APD_Telem *apd_esc_telem[APD_ESC_INSTANCES];
     void apd_esc_telem_update();
 #endif

Tools/AP_Periph/Parameters.cpp

@@ -392,7 +392,7 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
     GSCALAR(hardpoint_rate, "HARDPOINT_RATE", 100),
 #endif
 
-#if AP_PERIPH_HOBBYWING_ESC_ENABLED || defined(HAL_PERIPH_ENABLE_ESC_APD)
+#if AP_PERIPH_HOBBYWING_ESC_ENABLED || AP_PERIPH_ESC_APD_ENABLED
     // @Param: ESC_NUMBER
     // @DisplayName: ESC number
     // @Description: This is the ESC number to report as in UAVCAN ESC telemetry feedback packets.
@@ -589,11 +589,11 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
     GOBJECT(kdecan, "KDE_",   AP_KDECAN),
 #endif
 
-#if defined(HAL_PERIPH_ENABLE_ESC_APD)
+#if AP_PERIPH_ESC_APD_ENABLED
     GARRAY(pole_count, 0, "ESC_NUM_POLES", 22),
 #endif
 
-#if defined(HAL_PERIPH_ENABLE_ESC_APD)
+#if AP_PERIPH_ESC_APD_ENABLED
     // @Param: ESC_APD_SERIAL_1
     // @DisplayName: ESC APD Serial 1
     // @Description: Which serial port to use for APD ESC data

Tools/AP_Periph/Parameters.h

@@ -149,7 +149,7 @@ class Parameters {
     AP_Int8 hardpoint_rate;
 #endif
 
-#if AP_PERIPH_HOBBYWING_ESC_ENABLED || defined(HAL_PERIPH_ENABLE_ESC_APD)
+#if AP_PERIPH_HOBBYWING_ESC_ENABLED || AP_PERIPH_ESC_APD_ENABLED
     #if defined ESC_NUMBERS
         #error "ESC_NUMBERS should not have been previously defined"
     #endif

Tools/AP_Periph/can.cpp

@@ -1839,7 +1839,7 @@ void AP_Periph_FW::esc_telem_extended_update(const uint32_t &now_ms)
 }
 #endif
 
-#ifdef HAL_PERIPH_ENABLE_ESC_APD
+#if AP_PERIPH_ESC_APD_ENABLED
 void AP_Periph_FW::apd_esc_telem_update()
 {
     for(uint8_t i = 0; i < ARRAY_SIZE(apd_esc_telem); i++) {
@@ -1872,7 +1872,7 @@ void AP_Periph_FW::apd_esc_telem_update()
     }
 
 }
-#endif // HAL_PERIPH_ENABLE_ESC_APD
+#endif // AP_PERIPH_ESC_APD_ENABLED
 #endif // AP_PERIPH_RC_OUT_ENABLED
 
 void AP_Periph_FW::can_update()
@@ -1951,7 +1951,7 @@ void AP_Periph_FW::can_update()
     #if AP_PERIPH_HOBBYWING_ESC_ENABLED
         hwesc_telem_update();
     #endif
-#ifdef HAL_PERIPH_ENABLE_ESC_APD
+#if AP_PERIPH_ESC_APD_ENABLED
         apd_esc_telem_update();
 #endif
     #if AP_PERIPH_MSP_ENABLED

Tools/AP_Periph/esc_apd_telem.cpp

@@ -9,7 +9,7 @@
 #include <AP_Math/definitions.h>
 #include <string.h>
 
-#ifdef HAL_PERIPH_ENABLE_ESC_APD
+#if AP_PERIPH_ESC_APD_ENABLED
 
 extern const AP_HAL::HAL& hal;
 
@@ -95,4 +95,4 @@ float ESC_APD_Telem::convert_temperature(uint16_t raw) const {
     return temperature;
 }
 
-#endif // HAL_PERIPH_ENABLE_ESC_APD
+#endif // AP_PERIPH_ESC_APD_ENABLED

Tools/AP_Periph/esc_apd_telem.h

@@ -6,7 +6,7 @@
 
 #include <AP_HAL/AP_HAL.h>
 
-#ifdef HAL_PERIPH_ENABLE_ESC_APD
+#if AP_PERIPH_ESC_APD_ENABLED
 
 class ESC_APD_Telem {
 public:
@@ -58,4 +58,4 @@ class ESC_APD_Telem {
     void shift_buffer(void);
 };
 
-#endif // HAL_PERIPH_ENABLE_ESC_APD
+#endif // AP_PERIPH_ESC_APD_ENABLED

Tools/ardupilotwaf/boards.py

@@ -984,6 +984,7 @@ def configure_env(self, cfg, env):
             AP_PERIPH_NETWORKING_ENABLED = 0,
             AP_PERIPH_NOTIFY_ENABLED = 0,
             AP_PERIPH_PWM_HARDPOINT_ENABLED = 0,
+            AP_PERIPH_ESC_APD_ENABLED = 0,
         )
 
 class sitl_periph_gps(sitl_periph):
@@ -1019,7 +1020,8 @@ def configure_env(self, cfg, env):
             AP_PERIPH_HOBBYWING_ESC_ENABLED = 0,
             AP_PERIPH_NETWORKING_ENABLED = 0,
             AP_PERIPH_NOTIFY_ENABLED = 0,
-            AP_PERIPH_PWM_HARDPOINT_ENABLED =0,
+            AP_PERIPH_PWM_HARDPOINT_ENABLED = 0,
+            AP_PERIPH_ESC_APD_ENABLED = 0,
         )
 
 class sitl_periph_battmon(sitl_periph):
@@ -1056,6 +1058,7 @@ def configure_env(self, cfg, env):
             AP_PERIPH_NETWORKING_ENABLED = 0,
             AP_PERIPH_NOTIFY_ENABLED = 0,
             AP_PERIPH_PWM_HARDPOINT_ENABLED = 0,
+            AP_PERIPH_ESC_APD_ENABLED = 0,
         )
 
 class esp32(Board):