Tools: create and use AP_PERIPH_MAG_ENABLED

ArduPilot · Jan 29, 2025 · 1060d67 · 1060d67
1 parent f18c458
commit 1060d67
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Showing 7 changed files with 13 additions and 13 deletions.
diff --git a/Tools/AP_Periph/AP_Periph.cpp b/Tools/AP_Periph/AP_Periph.cpp
@@ -160,7 +160,7 @@ void AP_Periph_FW::init()
     }
 #endif  // AP_PERIPH_GPS_ENABLED
 
-#ifdef HAL_PERIPH_ENABLE_MAG
+#if AP_PERIPH_MAG_ENABLED
     compass.init();
 #endif
 
@@ -425,7 +425,7 @@ void AP_Periph_FW::update()
 #if AP_PERIPH_GPS_ENABLED
         hal.serial(0)->printf("GPS status: %u\n", (unsigned)gps.status());
 #endif
-#ifdef HAL_PERIPH_ENABLE_MAG
+#if AP_PERIPH_MAG_ENABLED
         const Vector3f &field = compass.get_field();
         hal.serial(0)->printf("MAG (%d,%d,%d)\n", int(field.x), int(field.y), int(field.z));
 #endif

diff --git a/Tools/AP_Periph/AP_Periph.h b/Tools/AP_Periph/AP_Periph.h
@@ -227,7 +227,7 @@ class AP_Periph_FW {
     AP_NMEA_Output nmea;
 #endif
 
-#ifdef HAL_PERIPH_ENABLE_MAG
+#if AP_PERIPH_MAG_ENABLED
     Compass compass;
 #endif
 
@@ -449,7 +449,7 @@ class AP_Periph_FW {
 #ifdef HAL_PERIPH_ENABLE_EFI
     uint32_t last_efi_update_ms;
 #endif
-#ifdef HAL_PERIPH_ENABLE_MAG
+#if AP_PERIPH_MAG_ENABLED
     uint32_t last_mag_update_ms;
 #endif
 #if AP_PERIPH_GPS_ENABLED

diff --git a/Tools/AP_Periph/Parameters.cpp b/Tools/AP_Periph/Parameters.cpp
@@ -263,7 +263,7 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
     GSCALAR(battery_hide_mask, "BATT_HIDE_MASK", HAL_PERIPH_BATT_HIDE_MASK_DEFAULT),
 #endif
 
-#ifdef HAL_PERIPH_ENABLE_MAG
+#if AP_PERIPH_MAG_ENABLED
     // @Group: COMPASS_
     // @Path: ../libraries/AP_Compass/AP_Compass.cpp
     GOBJECT(compass,         "COMPASS_",     Compass),

diff --git a/Tools/AP_Periph/can.cpp b/Tools/AP_Periph/can.cpp
@@ -352,7 +352,7 @@ void AP_Periph_FW::handle_param_executeopcode(CanardInstance* canard_instance, C
 #if AP_PERIPH_BATTERY_ENABLED
         AP_Param::setup_object_defaults(&battery, battery_lib.var_info);
 #endif
-#ifdef HAL_PERIPH_ENABLE_MAG
+#if AP_PERIPH_MAG_ENABLED
         AP_Param::setup_object_defaults(&compass, compass.var_info);
 #endif
 #ifdef HAL_PERIPH_ENABLE_BARO
@@ -1882,7 +1882,7 @@ void AP_Periph_FW::can_update()
     if (!hal.run_in_maintenance_mode())
 #endif
     {
-#ifdef HAL_PERIPH_ENABLE_MAG
+#if AP_PERIPH_MAG_ENABLED
         can_mag_update();
 #endif
 #if AP_PERIPH_GPS_ENABLED

diff --git a/Tools/AP_Periph/compass.cpp b/Tools/AP_Periph/compass.cpp
@@ -1,6 +1,6 @@
 #include "AP_Periph.h"
 
-#ifdef HAL_PERIPH_ENABLE_MAG
+#if AP_PERIPH_MAG_ENABLED
 
 /*
   magnetometer support
@@ -97,4 +97,4 @@ void AP_Periph_FW::can_mag_update(void)
 #endif // AP_PERIPH_MAG_HIRES
 }
 
-#endif // HAL_PERIPH_ENABLE_MAG
+#endif // AP_PERIPH_MAG_ENABLED
diff --git a/Tools/AP_Periph/msp.cpp b/Tools/AP_Periph/msp.cpp
@@ -51,7 +51,7 @@ void AP_Periph_FW::msp_sensor_update(void)
 #ifdef HAL_PERIPH_ENABLE_BARO
     send_msp_baro();
 #endif
-#ifdef HAL_PERIPH_ENABLE_MAG
+#if AP_PERIPH_MAG_ENABLED
     send_msp_compass();
 #endif
 #ifdef HAL_PERIPH_ENABLE_AIRSPEED
@@ -151,7 +151,7 @@ void AP_Periph_FW::send_msp_baro(void)
 }
 #endif // HAL_PERIPH_ENABLE_BARO
 
-#ifdef HAL_PERIPH_ENABLE_MAG
+#if AP_PERIPH_MAG_ENABLED
 /*
   send MSP compass packet
  */
@@ -176,7 +176,7 @@ void AP_Periph_FW::send_msp_compass(void)
 
     send_msp_packet(MSP2_SENSOR_COMPASS, &p, sizeof(p));
 }
-#endif // HAL_PERIPH_ENABLE_MAG
+#endif // AP_PERIPH_MAG_ENABLED
 
 #ifdef HAL_PERIPH_ENABLE_AIRSPEED
 /*

diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
@@ -954,7 +954,7 @@ def configure_env(self, cfg, env):
 
             AP_PERIPH_GPS_ENABLED = 1,
             HAL_PERIPH_ENABLE_AIRSPEED = 1,
-            HAL_PERIPH_ENABLE_MAG = 1,
+            AP_PERIPH_MAG_ENABLED = 1,
             HAL_PERIPH_ENABLE_BARO = 1,
             HAL_PERIPH_ENABLE_IMU = 1,
             HAL_PERIPH_ENABLE_RANGEFINDER = 1,