AP_RPM: use AP_PERIPH_RPM_ENABLED and AP_PERIPH_RPM_STREAM_ENABLED

ArduPilot · Feb 3, 2025 · 9ebc2bd · 9ebc2bd
1 parent ae594cb
commit 9ebc2bd
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Showing 5 changed files with 8 additions and 4 deletions.
diff --git a/libraries/AP_RPM/AP_RPM.cpp b/libraries/AP_RPM/AP_RPM.cpp
@@ -325,7 +325,7 @@ void AP_RPM::Log_RPM() const
 }
 #endif
 
-#ifdef HAL_PERIPH_ENABLE_RPM_STREAM
+#if AP_RPM_STREAM_ENABLED
 // Return the sensor id to use for streaming over DroneCAN, negative number disables
 int8_t AP_RPM::get_dronecan_sensor_id(uint8_t instance) const
 {

diff --git a/libraries/AP_RPM/AP_RPM.h b/libraries/AP_RPM/AP_RPM.h
@@ -107,7 +107,7 @@ class AP_RPM
     // check settings are valid
     bool arming_checks(size_t buflen, char *buffer) const;
 
-#ifdef HAL_PERIPH_ENABLE_RPM_STREAM
+#if AP_RPM_STREAM_ENABLED
     // Return the sensor id to use for streaming over DroneCAN, negative number disables
     int8_t get_dronecan_sensor_id(uint8_t instance) const;
 #endif

diff --git a/libraries/AP_RPM/AP_RPM_Params.cpp b/libraries/AP_RPM/AP_RPM_Params.cpp
@@ -78,7 +78,7 @@ const AP_Param::GroupInfo AP_RPM_Params::var_info[] = {
     AP_GROUPINFO("ESC_INDEX", 8, AP_RPM_Params, esc_telem_outbound_index, 0),
 #endif
 
-#if AP_RPM_DRONECAN_ENABLED || defined(HAL_PERIPH_ENABLE_RPM_STREAM)
+#if AP_RPM_DRONECAN_ENABLED || AP_PERIPH_RPM_STREAM_ENABLED
     // @Param: DC_ID
     // @DisplayName: DroneCAN Sensor ID
     // @Description: DroneCAN sensor ID to assign to this backend

diff --git a/libraries/AP_RPM/AP_RPM_Params.h b/libraries/AP_RPM/AP_RPM_Params.h
@@ -33,7 +33,7 @@ class AP_RPM_Params {
 #if AP_RPM_ESC_TELEM_OUTBOUND_ENABLED
     AP_Int8  esc_telem_outbound_index;
 #endif
-#if AP_RPM_DRONECAN_ENABLED || defined(HAL_PERIPH_ENABLE_RPM_STREAM)
+#if AP_RPM_DRONECAN_ENABLED || AP_RPM_STREAM_ENABLED
     AP_Int8 dronecan_sensor_id;
 #endif
     static const struct AP_Param::GroupInfo var_info[];

diff --git a/libraries/AP_RPM/AP_RPM_config.h b/libraries/AP_RPM/AP_RPM_config.h
@@ -53,3 +53,7 @@
 #if AP_RPM_DRONECAN_ENABLED && !HAL_ENABLE_DRONECAN_DRIVERS
     #error AP_RPM_DRONECAN_ENABLED requires HAL_ENABLE_DRONECAN_DRIVERS
 #endif
+
+#ifndef AP_RPM_STREAM_ENABLED
+#define AP_RPM_STREAM_ENABLED 0
+#endif