Tidy configuration defines for PowerStack

Tools/AP_Periph/AP_Periph.cpp

@@ -315,10 +315,10 @@ void AP_Periph_FW::init()
     relay.init();
 #endif
 
-#ifdef HAL_PERIPH_ENABLE_FSO_POWER_STACK
+#if AP_PERIPH_FSO_POWERSTACK_ENABLED
     FSO_power_stack.init();
-#endif
-    
+#endif  // AP_PERIPH_FSO_POWERSTACK_ENABLED
+
 #if AP_SCRIPTING_ENABLED
     scripting.init();
 #endif
@@ -525,10 +525,10 @@ void AP_Periph_FW::update()
     batt_balance_update();
 #endif
 
-#ifdef HAL_PERIPH_ENABLE_FSO_POWER_STACK
+#if AP_PERIPH_FSO_POWERSTACK_ENABLED
     FSO_power_stack.update(battery.last_read_ms == now);
-#endif
-    
+#endif  // AP_PERIPH_FSO_POWERSTACK_ENABLED
+
     static uint32_t fiftyhz_last_update_ms;
     if (now - fiftyhz_last_update_ms >= 20) {
         // update at 50Hz

Tools/AP_Periph/AP_Periph.h

@@ -50,11 +50,6 @@
 #endif
 #include <AP_AHRS/AP_AHRS.h>
 
-#ifdef HAL_PERIPH_ENABLE_FSO_POWER_STACK
-#include "FSOPowerStack.h"
-#endif
-#include <AP_DAC/AP_DAC.h>
-
 #if AP_PERIPH_RELAY_ENABLED
 #if AP_PERIPH_PWM_HARDPOINT_ENABLED
     #error "Relay and PWM_HARDPOINT both use hardpoint message"
@@ -111,6 +106,15 @@
 #define AP_SIM_PARAM_ENABLED AP_SIM_ENABLED
 #endif
 
+#ifndef AP_PERIPH_FSO_POWERSTACK_ENABLED
+#define AP_PERIPH_FSO_POWERSTACK_ENABLED 0
+#endif  // AP_PERIPH_FSO_POWERSTACK_ENABLED
+
+#if AP_PERIPH_FSO_POWERSTACK_ENABLED
+#include "FSOPowerStack.h"
+#endif  // AP_PERIPH_FSO_POWERSTACK_ENABLED
+#include <AP_DAC/AP_DAC.h>
+
 #if defined(HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT) && !defined(HAL_DEBUG_BUILD) && !defined(HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_NON_DEBUG)
 /* this checking for reboot can lose bytes on GPS modules and other
  * serial devices. It is really only relevant on a debug build if you
@@ -398,10 +402,10 @@ class AP_Periph_FW {
     BattBalance battery_balance;
 #endif
 
-#ifdef HAL_PERIPH_ENABLE_FSO_POWER_STACK
+#if AP_PERIPH_FSO_POWERSTACK_ENABLED
     FSOPowerStack FSO_power_stack;
-#endif
-    
+#endif  // AP_PERIPH_FSO_POWERSTACK_ENABLED
+
 #if AP_PERIPH_BATTERY_TAG_ENABLED
     BatteryTag battery_tag;
 #endif

Tools/AP_Periph/FSOPowerStack.cpp

@@ -15,7 +15,7 @@
 
 #include "AP_Periph.h"
 
-#ifdef HAL_PERIPH_ENABLE_FSO_POWER_STACK
+#if AP_PERIPH_FSO_POWERSTACK_ENABLED
 
 #include <dronecan_msgs.h>
 
@@ -1649,5 +1649,5 @@ void FSOPowerStack::update(bool battery_read)
     report_errors();
 }
 
-#endif  // HAL_PERIPH_ENABLE_FSO_POWER_STACK
+#endif  // AP_PERIPH_FSO_POWERSTACK_ENABLED
 

Tools/AP_Periph/FSOPowerStack.h

@@ -1,6 +1,6 @@
 #pragma once
 
-#ifdef HAL_PERIPH_ENABLE_FSO_POWER_STACK
+#if AP_PERIPH_FSO_POWERSTACK_ENABLED
 
 #include <AP_DAC/AP_DAC.h>
 
@@ -244,6 +244,6 @@ class FSOPowerStack {
     bool done_late_init;
 };
 
-#endif // HAL_PERIPH_ENABLE_FSO_POWER_STACK
+#endif // AP_PERIPH_FSO_POWERSTACK_ENABLED
 
 

Tools/AP_Periph/Parameters.cpp

@@ -751,11 +751,11 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
     GSCALAR(servo_command_timeout_ms, "SRV_CMD_TIME_OUT", 200),
 #endif
 
-#ifdef HAL_PERIPH_ENABLE_FSO_POWER_STACK
+#if AP_PERIPH_FSO_POWERSTACK_ENABLED
     // @Group: FSO
     // @Path: FSOPowerStack.cpp
     GOBJECT(FSO_power_stack, "AAA",  FSOPowerStack),
-#endif
+#endif  // AP_PERIPH_FSO_POWERSTACK_ENABLED
 
     AP_VAREND
 };

libraries/AP_HAL_ChibiOS/hwdef/FSOPowerStack/hwdef-bl.dat

@@ -43,14 +43,8 @@ define STM32_SERIAL_USE_USART3 FALSE
 
 define HAL_USE_EMPTY_IO TRUE
 
-# avoid timer and RCIN threads to save memory
-define HAL_NO_TIMER_THREAD
-define HAL_RCIN_THREAD_ENABLED 0
-
 define DMA_RESERVE_SIZE 0
 
-define HAL_SCHEDULER_LOOP_DELAY_ENABLED 0
-
 # default to all pins low to avoid ESD issues
 DEFAULTGPIO OUTPUT LOW PULLDOWN
 

libraries/AP_HAL_ChibiOS/hwdef/FSOPowerStack/hwdef.dat

@@ -23,27 +23,24 @@ FLASH_SIZE_KB 512
 # Enable Options
 define AP_TEMPERATURE_SENSOR_ENABLED 1
 define AP_TEMPERATURE_SENSOR_TSYS03_ENABLED 1
+
+# Power monitoring
 define AP_PERIPH_BATTERY_ENABLED 1
-define AP_BATTERY_SUM_ENABLED 1
+define AP_BATT_MONITOR_MAX_INSTANCES 10
+define AP_BATTERY_BACKEND_DEFAULT_ENABLED 0
+define AP_BATTERY_ANALOG_ENABLED 1
 define AP_BATTERY_INA2XX_ENABLED 1
+define AP_BATTERY_SUM_ENABLED 1
+
 define AP_PERIPH_RC_OUT_ENABLED 1
+
 define AP_PERIPH_NOTIFY_ENABLED 1
-define HAL_PERIPH_ENABLE_FSO_POWER_STACK 1
 
-define AP_BATT_MONITOR_MAX_INSTANCES 10
-define AP_BATTERY_BACKEND_DEFAULT_ENABLED 0
-define AP_BATTERY_INA2XX_ENABLED 1
-define AP_BATTERY_ANALOG_ENABLED 1
+define AP_PERIPH_FSO_POWERSTACK_ENABLED 1
 
 # enable DAC
 define AP_DAC_ENABLED 1
 
-# Disable Options
-define HAL_RCIN_THREAD_ENABLED 0
-define HAL_USE_RTC FALSE
-define HAL_SERIAL_ESC_COMM_ENABLED 0
-define HAL_SCHEDULER_LOOP_DELAY_ENABLED 0
-
 # enable serial LED
 define AP_NOTIFY_NEOPIXEL_ENABLED 1
 define AP_SERIALLED_ENABLED 1
@@ -54,8 +51,6 @@ define STM32_PPRE2 STM32_PPRE2_DIV8
 # Set Options
 define DMA_RESERVE_SIZE 0
 
-env DISABLE_SCRIPTING 1
-
 # ---------------------- UARTs ---------------------------
 
 define AP_PERIPH_SERIAL_OPTIONS_ENABLED 1
@@ -186,9 +181,6 @@ define HAL_GPIO_LED_ON 1
 define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1
 define DEFAULT_NTF_LED_TYPES 257
 
-define HAL_LOGGING_ENABLED 0
-define HAL_MONITOR_THREAD_ENABLED 0
-
 define HAL_DEVICE_THREAD_STACK 768
 
 # we setup a small defaults.parm