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Create and use AP_PERIPH_IMU_ENABLED #29232

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merged 2 commits into from
Feb 7, 2025
Merged

Create and use AP_PERIPH_IMU_ENABLED #29232

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86f25eb
Tools: use AP_PERIPH_IMU_ENABLED in place of HAL_PERIPH_ENABLE_IMU
shiv-tyagi Feb 5, 2025
86b5e59
AP_HAL_ChibiOS: use AP_PERIPH_IMU_ENABLED in place of HAL_PERIPH_ENAB…
shiv-tyagi Feb 5, 2025
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2 changes: 1 addition & 1 deletion Tools/AP_Periph/AP_Periph.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -168,7 +168,7 @@ void AP_Periph_FW::init()
baro.init();
#endif

#ifdef HAL_PERIPH_ENABLE_IMU
#if AP_PERIPH_IMU_ENABLED
if (g.imu_sample_rate) {
imu.init(g.imu_sample_rate);
if (imu.get_accel_count() > 0 || imu.get_gyro_count() > 0) {
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4 changes: 2 additions & 2 deletions Tools/AP_Periph/AP_Periph.h
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Expand Up @@ -174,7 +174,7 @@ class AP_Periph_FW {
void send_relposheading_msg();
void can_baro_update();
void can_airspeed_update();
#ifdef HAL_PERIPH_ENABLE_IMU
#if AP_PERIPH_IMU_ENABLED
void can_imu_update();
#endif

Expand Down Expand Up @@ -235,7 +235,7 @@ class AP_Periph_FW {
AP_Baro baro;
#endif

#ifdef HAL_PERIPH_ENABLE_IMU
#if AP_PERIPH_IMU_ENABLED
AP_InertialSensor imu;
#endif

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2 changes: 1 addition & 1 deletion Tools/AP_Periph/Parameters.cpp
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Expand Up @@ -724,7 +724,7 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
#endif


#ifdef HAL_PERIPH_ENABLE_IMU
#if AP_PERIPH_IMU_ENABLED
// @Param: IMU_SAMPLE_RATE
// @DisplayName: IMU Sample Rate
// @Description: IMU Sample Rate
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2 changes: 1 addition & 1 deletion Tools/AP_Periph/Parameters.h
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Expand Up @@ -213,7 +213,7 @@ class Parameters {
AP_Int8 efi_port;
#endif

#ifdef HAL_PERIPH_ENABLE_IMU
#if AP_PERIPH_IMU_ENABLED
AP_Int16 imu_sample_rate;
#endif

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4 changes: 2 additions & 2 deletions Tools/AP_Periph/imu.cpp
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@@ -1,6 +1,6 @@
#include "AP_Periph.h"

#ifdef HAL_PERIPH_ENABLE_IMU
#if AP_PERIPH_IMU_ENABLED
#include <dronecan_msgs.h>

extern const AP_HAL::HAL &hal;
Expand Down Expand Up @@ -59,4 +59,4 @@ void AP_Periph_FW::can_imu_update(void)
total_size);
}
}
#endif // HAL_PERIPH_ENABLE_IMU
#endif // AP_PERIPH_IMU_ENABLED
2 changes: 1 addition & 1 deletion Tools/ardupilotwaf/boards.py
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Expand Up @@ -956,7 +956,7 @@ def configure_env(self, cfg, env):
HAL_PERIPH_ENABLE_AIRSPEED = 1,
AP_PERIPH_MAG_ENABLED = 1,
AP_PERIPH_BARO_ENABLED = 1,
HAL_PERIPH_ENABLE_IMU = 1,
AP_PERIPH_IMU_ENABLED = 1,
AP_PERIPH_RANGEFINDER_ENABLED = 1,
AP_PERIPH_BATTERY_ENABLED = 1,
AP_PERIPH_BATTERY_BALANCE_ENABLED = 0,
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5 changes: 4 additions & 1 deletion libraries/AP_HAL_ChibiOS/hwdef/CubeNode-ETH/hwdef.dat
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Expand Up @@ -4,9 +4,12 @@ include ../CubeNode/hwdef.dat
undef PE0
undef PE1
undef PC12
undef HAL_PERIPH_ENABLE_IMU
undef AP_PERIPH_IMU_ENABLED
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Usually we'd group this with the enable, but this is fine

undef HAL_GCS_ENABLED

# disable IMU
def AP_PERIPH_IMU_ENABLED 0

# need to use UART8 to get RTS/CTS
PE1 UART8_TX UART8
PE0 UART8_RX UART8
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2 changes: 1 addition & 1 deletion libraries/AP_HAL_ChibiOS/hwdef/CubeNode/hwdef.dat
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Expand Up @@ -80,7 +80,7 @@ SPIDEV icm45686 SPI3 DEVID4 IMU_CS MODE0 24*MHZ 24*MHZ

IMU Invensensev3 SPI:icm45686 ROTATION_NONE

define HAL_PERIPH_ENABLE_IMU
define AP_PERIPH_IMU_ENABLED 1

# Periph GCS
define HAL_GCS_ENABLED 1
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2 changes: 1 addition & 1 deletion libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph-heavy/hwdef.dat
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Expand Up @@ -22,7 +22,7 @@ define AP_PERIPH_MAG_ENABLED 1
define AP_PERIPH_BARO_ENABLED 1
define HAL_PERIPH_ENABLE_RC_OUT
define HAL_PERIPH_ENABLE_NOTIFY
define HAL_PERIPH_ENABLE_IMU
define AP_PERIPH_IMU_ENABLED 1
define HAL_LOGGING_ENABLED TRUE


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2 changes: 1 addition & 1 deletion libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph/hwdef.dat
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Expand Up @@ -22,7 +22,7 @@ define AP_PERIPH_MAG_ENABLED 1
define AP_PERIPH_BARO_ENABLED 1
define HAL_PERIPH_ENABLE_RC_OUT
define HAL_PERIPH_ENABLE_NOTIFY
define HAL_PERIPH_ENABLE_IMU
define AP_PERIPH_IMU_ENABLED 1

define AP_KDECAN_ENABLED 1

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3 changes: 1 addition & 2 deletions libraries/AP_HAL_ChibiOS/hwdef/HolybroG4_GPS/hwdef.dat
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Expand Up @@ -138,13 +138,12 @@ SPIDEV icm42688 SPI1 DEVID1 ICM_CS MODE0 24*MHZ 24*MHZ

IMU Invensensev3 SPI:icm42688 ROTATION_YAW_180

define HAL_PERIPH_ENABLE_IMU
define AP_PERIPH_IMU_ENABLED 1

# GPS+MAG+LEDs
define AP_PERIPH_GPS_ENABLED 1
define AP_PERIPH_MAG_ENABLED 1
define AP_PERIPH_BARO_ENABLED 1
define HAL_PERIPH_ENABLE_IMU
define HAL_PERIPH_ENABLE_NOTIFY
define HAL_PERIPH_ENABLE_RC_OUT

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10 changes: 8 additions & 2 deletions libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h
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Expand Up @@ -181,6 +181,9 @@
#ifdef HAL_PERIPH_ENABLE_RANGEFINDER
#error "Change 'define HAL_PERIPH_ENABLE_RANGEFINDER' to 'define AP_PERIPH_RANGEFINDER_ENABLED 1'"
#endif
#ifdef HAL_PERIPH_ENABLE_IMU
#error "Change 'define HAL_PERIPH_ENABLE_IMU' to 'define AP_PERIPH_IMU_ENABLED 1'"
#endif

/*
* defaults for various AP_Periph features:
Expand All @@ -206,6 +209,9 @@
#ifndef AP_PERIPH_RANGEFINDER_ENABLED
#define AP_PERIPH_RANGEFINDER_ENABLED 0
#endif
#ifndef AP_PERIPH_IMU_ENABLED
#define AP_PERIPH_IMU_ENABLED 0
#endif

/*
* turning on of ArduPilot features based on which AP_Periph features
Expand All @@ -217,6 +223,8 @@
#define AP_COMPASS_ENABLED AP_PERIPH_MAG_ENABLED
#define AP_BARO_ENABLED AP_PERIPH_BARO_ENABLED
#define AP_RANGEFINDER_ENABLED AP_PERIPH_RANGEFINDER_ENABLED
#define AP_INERTIALSENSOR_ENABLED AP_PERIPH_IMU_ENABLED
#define AP_INERTIALSENSOR_ALLOW_NO_SENSORS AP_PERIPH_IMU_ENABLED

/*
* GPS Backends - we selectively turn backends on.
Expand Down Expand Up @@ -406,8 +414,6 @@
#define AP_RCPROTOCOL_ENABLED defined(HAL_PERIPH_ENABLE_RCIN)
#define AP_RTC_ENABLED defined(HAL_PERIPH_ENABLE_RTC)
#define HAL_VISUALODOM_ENABLED defined(HAL_PERIPH_ENABLE_VISUALODOM)
#define AP_INERTIALSENSOR_ENABLED defined(HAL_PERIPH_ENABLE_IMU)
#define AP_INERTIALSENSOR_ALLOW_NO_SENSORS defined(HAL_PERIPH_ENABLE_IMU)
#define AP_INERTIALSENSOR_HARMONICNOTCH_ENABLED 0

#ifndef AP_BOOTLOADER_ALWAYS_ERASE
Expand Down
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