ArduPilot · shiv-tyagi · Feb 3, 2025 · Feb 3, 2025 · Feb 3, 2025
diff --git a/Tools/AP_Periph/AP_Periph.cpp b/Tools/AP_Periph/AP_Periph.cpp
@@ -296,7 +296,7 @@ void AP_Periph_FW::init()
     nmea.init();
 #endif
 
-#ifdef HAL_PERIPH_ENABLE_RPM
+#if AP_PERIPH_RPM_ENABLED
     rpm_sensor.init();
 #endif
 
@@ -522,7 +522,7 @@ void AP_Periph_FW::update()
     temperature_sensor.update();
 #endif
 
-#ifdef HAL_PERIPH_ENABLE_RPM
+#if AP_PERIPH_RPM_ENABLED
     if (now - rpm_last_update_ms >= 100) {
         rpm_last_update_ms = now;
         rpm_sensor.update();

diff --git a/Tools/AP_Periph/AP_Periph.h b/Tools/AP_Periph/AP_Periph.h
@@ -92,8 +92,8 @@
     #endif
 #endif
 
-#if defined(HAL_PERIPH_ENABLE_RPM_STREAM) && !defined(HAL_PERIPH_ENABLE_RPM)
-    #error "HAL_PERIPH_ENABLE_RPM_STREAM requires HAL_PERIPH_ENABLE_RPM"
+#if AP_PERIPH_RPM_STREAM_ENABLED && !AP_PERIPH_RPM_ENABLED
+    #error "AP_PERIPH_RPM_STREAM_ENABLED requires AP_PERIPH_RPM_ENABLED"
 #endif
 
 #ifndef AP_PERIPH_SAFETY_SWITCH_ENABLED
@@ -239,15 +239,15 @@ class AP_Periph_FW {
     AP_InertialSensor imu;
 #endif
 
-#ifdef HAL_PERIPH_ENABLE_RPM
+#if AP_PERIPH_RPM_ENABLED
     AP_RPM rpm_sensor;
     uint32_t rpm_last_update_ms;
-#ifdef HAL_PERIPH_ENABLE_RPM_STREAM
+#if AP_PERIPH_RPM_STREAM_ENABLED
     void rpm_sensor_send();
     uint32_t rpm_last_send_ms;
     uint8_t rpm_last_sent_index;
 #endif
-#endif // HAL_PERIPH_ENABLE_RPM
+#endif // AP_PERIPH_RPM_ENABLED
 
 #if AP_PERIPH_BATTERY_ENABLED
     void handle_battery_failsafe(const char* type_str, const int8_t action) { }

diff --git a/Tools/AP_Periph/Parameters.cpp b/Tools/AP_Periph/Parameters.cpp
@@ -625,7 +625,7 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
     GOBJECT(networking_periph, "NET_", Networking_Periph),
 #endif
 
-#ifdef HAL_PERIPH_ENABLE_RPM
+#if AP_PERIPH_RPM_ENABLED
     // @Group: RPM
     // @Path: ../libraries/AP_RPM/AP_RPM.cpp
     GOBJECT(rpm_sensor, "RPM", AP_RPM),
@@ -701,7 +701,7 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
     // @User: Standard
     GSCALAR(options, "OPTIONS", AP_PERIPH_PROBE_CONTINUOUS),
 
-#ifdef HAL_PERIPH_ENABLE_RPM_STREAM
+#if AP_PERIPH_RPM_STREAM_ENABLED
     // @Param: RPM_MSG_RATE
     // @DisplayName: RPM sensor message rate
     // @Description: This is the rate RPM sensor data is sent in Hz. Zero means no send. Each sensor with a set ID is sent in turn.

diff --git a/Tools/AP_Periph/Parameters.h b/Tools/AP_Periph/Parameters.h
@@ -225,7 +225,7 @@ class Parameters {
     AP_Int8 temperature_msg_rate;
 #endif
 
-#ifdef HAL_PERIPH_ENABLE_RPM_STREAM
+#if AP_PERIPH_RPM_STREAM_ENABLED
     AP_Int16 rpm_msg_rate;
 #endif
 

diff --git a/Tools/AP_Periph/can.cpp b/Tools/AP_Periph/can.cpp
@@ -1966,7 +1966,7 @@ void AP_Periph_FW::can_update()
 #ifdef HAL_PERIPH_ENABLE_DEVICE_TEMPERATURE
         temperature_sensor_update();
 #endif
-#ifdef HAL_PERIPH_ENABLE_RPM_STREAM
+#if AP_PERIPH_RPM_STREAM_ENABLED
         rpm_sensor_send();
 #endif
     }

diff --git a/Tools/AP_Periph/rpm.cpp b/Tools/AP_Periph/rpm.cpp
@@ -1,6 +1,6 @@
 #include "AP_Periph.h"
 
-#ifdef HAL_PERIPH_ENABLE_RPM_STREAM
+#if AP_PERIPH_RPM_STREAM_ENABLED
 
 #include <dronecan_msgs.h>
 
@@ -52,4 +52,4 @@ void AP_Periph_FW::rpm_sensor_send(void)
     }
 }
 
-#endif // HAL_PERIPH_ENABLE_RPM_STREAM
+#endif // AP_PERIPH_RPM_STREAM_ENABLED
diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
@@ -959,8 +959,9 @@ def configure_env(self, cfg, env):
             AP_PERIPH_BATTERY_ENABLED = 1,
             AP_PERIPH_BATTERY_BALANCE_ENABLED = 0,
             HAL_PERIPH_ENABLE_EFI = 1,
-            HAL_PERIPH_ENABLE_RPM = 1,
-            HAL_PERIPH_ENABLE_RPM_STREAM = 1,
+            AP_PERIPH_RPM_ENABLED = 1,
+            AP_PERIPH_RPM_STREAM_ENABLED = 1,
+            AP_RPM_STREAM_ENABLED = 1,
             HAL_PERIPH_ENABLE_RC_OUT = 1,
             HAL_PERIPH_ENABLE_ADSB = 1,
             HAL_PERIPH_ENABLE_SERIAL_OPTIONS = 1,

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h b/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h
@@ -181,6 +181,12 @@
 #ifdef HAL_PERIPH_ENABLE_RANGEFINDER
 #error "Change 'define HAL_PERIPH_ENABLE_RANGEFINDER' to 'define AP_PERIPH_RANGEFINDER_ENABLED 1'"
 #endif
+#ifdef HAL_PERIPH_ENABLE_RPM
+#error "Change 'define HAL_PERIPH_ENABLE_RPM' to 'define AP_PERIPH_RPM_ENABLED 1'"
+#endif
+#ifdef HAL_PERIPH_ENABLE_RPM_STREAM
+#error "Change 'define HAL_PERIPH_ENABLE_RPM_STREAM' to 'define AP_PERIPH_RPM_STREAM_ENABLED 1'"
+#endif
 
 /*
  * defaults for various AP_Periph features:
@@ -206,6 +212,12 @@
 #ifndef AP_PERIPH_RANGEFINDER_ENABLED
 #define AP_PERIPH_RANGEFINDER_ENABLED 0
 #endif
+#ifndef AP_PERIPH_RPM_ENABLED
+#define AP_PERIPH_RPM_ENABLED 0
+#endif
+#ifndef AP_PERIPH_RPM_STREAM_ENABLED
+#define AP_PERIPH_RPM_STREAM_ENABLED AP_PERIPH_RPM_ENABLED
+#endif
 
 /*
  * turning on of ArduPilot features based on which AP_Periph features
@@ -217,6 +229,7 @@
 #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_RPM_ENABLED AP_PERIPH_RPM_ENABLED
 
 /*
  * GPS Backends - we selectively turn backends on.
@@ -402,14 +415,17 @@
 #define AP_BATTERY_ESC_TELEM_OUTBOUND_ENABLED 0
 #endif
 
-#define AP_RPM_ENABLED defined(HAL_PERIPH_ENABLE_RPM)
 #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_RPM_STREAM_ENABLED
+#define AP_RPM_STREAM_ENABLED AP_PERIPH_RPM_STREAM_ENABLED
+#endif
+
 #ifndef AP_BOOTLOADER_ALWAYS_ERASE
 #define AP_BOOTLOADER_ALWAYS_ERASE 1
 #endif

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_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