AP_HAL_ChibiOS: use AP_PERIPH_IMU_ENABLED in place of HAL_PERIPH_ENAB…

…LE_IMU
ArduPilot · Feb 7, 2025 · f62e65f · f62e65f
1 parent 61fb095
commit f62e65f
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Showing 6 changed files with 16 additions and 8 deletions.
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeNode-ETH/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeNode-ETH/hwdef.dat
@@ -4,9 +4,12 @@ include ../CubeNode/hwdef.dat
 undef PE0
 undef PE1
 undef PC12
-undef HAL_PERIPH_ENABLE_IMU
+undef AP_PERIPH_IMU_ENABLED
 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

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeNode/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeNode/hwdef.dat
@@ -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

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph-heavy/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph-heavy/hwdef.dat
@@ -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
 
 

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph/hwdef.dat
@@ -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
 

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/HolybroG4_GPS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/HolybroG4_GPS/hwdef.dat
@@ -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
 

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h b/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h
@@ -181,6 +181,9 @@
 #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:
@@ -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
@@ -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.
@@ -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