From 50cc18b52a4541b3dfda34883757fc828ff27f08 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 1 Feb 2024 16:45:16 +1100
Subject: [PATCH] AP_Radio: tidy AP_Radio includes

---
 libraries/AP_Radio/AP_Radio.cpp         | 25 +++++++++++--------------
 libraries/AP_Radio/AP_Radio.h           |  6 ++++++
 libraries/AP_Radio/AP_Radio_backend.cpp |  6 ++++++
 libraries/AP_Radio/AP_Radio_backend.h   |  6 ++++++
 libraries/AP_Radio/AP_Radio_bk2425.cpp  | 11 +++++------
 libraries/AP_Radio/AP_Radio_bk2425.h    |  7 +++++--
 libraries/AP_Radio/AP_Radio_cc2500.h    |  9 ++++++---
 libraries/AP_Radio/AP_Radio_config.h    | 23 +++++++++++++++++++++++
 libraries/AP_Radio/AP_Radio_cypress.cpp |  9 +++++----
 libraries/AP_Radio/AP_Radio_cypress.h   |  6 ++++--
 libraries/AP_Radio/driver_bk2425.cpp    |  8 +++++---
 libraries/AP_Radio/driver_bk2425.h      |  8 +++++---
 12 files changed, 87 insertions(+), 37 deletions(-)
 create mode 100644 libraries/AP_Radio/AP_Radio_config.h

diff --git a/libraries/AP_Radio/AP_Radio.cpp b/libraries/AP_Radio/AP_Radio.cpp
index ae7f805922a8a..5afaa5764b603 100644
--- a/libraries/AP_Radio/AP_Radio.cpp
+++ b/libraries/AP_Radio/AP_Radio.cpp
@@ -1,6 +1,8 @@
-#include <AP_HAL/AP_HAL.h>
+#include "AP_Radio_config.h"
+
+#if AP_RADIO_ENABLED
 
-#if HAL_RCINPUT_WITH_AP_RADIO
+#include <AP_HAL/AP_HAL.h>
 
 #include "AP_Radio.h"
 #include "AP_Radio_backend.h"
@@ -151,40 +153,36 @@ AP_Radio::AP_Radio(void)
 bool AP_Radio::init(void)
 {
     switch (radio_type) {
-#if (not defined AP_RADIO_CYRF6936 || AP_RADIO_CYRF6936)
+#if AP_RADIO_CYRF6936_ENABLED
     case RADIO_TYPE_CYRF6936:
         driver = new AP_Radio_cypress(*this);
         break;
 #endif
-#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
-#if (not defined AP_RADIO_CC2500 || AP_RADIO_CC2500)
+#if AP_RADIO_CC2500_ENABLED
     case RADIO_TYPE_CC2500:
         driver = new AP_Radio_cc2500(*this);
         break;
 #endif
-#endif
-#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412
-#if (not defined AP_RADIO_BK2425 || AP_RADIO_BK2425)
+#if AP_RADIO_BK2425_ENABLED
     case RADIO_TYPE_BK2425:
         driver = new AP_Radio_beken(*this);
         break;
 #endif
-#endif
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412
     case RADIO_TYPE_AUTO:
         // auto-detect between cc2500 and beken radios
-#if (not defined AP_RADIO_CC2500 || AP_RADIO_CC2500)
+#if AP_RADIO_CC2500_ENABLED
         if (AP_Radio_cc2500::probe()) {
             driver = new AP_Radio_cc2500(*this);
         }
 #endif
-#if (not defined AP_RADIO_BK2425 || AP_RADIO_BK2425)
+#if AP_RADIO_BK2425_ENABLED
         if (driver == nullptr) {
             driver = new AP_Radio_beken(*this);
         }
 #endif
         break;
-#endif
+#endif  // CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412
     default:
         break;
     }
@@ -301,5 +299,4 @@ void AP_Radio::change_txmode(void)
     }
 }
 
-#endif // HAL_RCINPUT_WITH_AP_RADIO
-
+#endif  // AP_RADIO_ENABLED
diff --git a/libraries/AP_Radio/AP_Radio.h b/libraries/AP_Radio/AP_Radio.h
index 0095457de26d3..450bcecd4a781 100644
--- a/libraries/AP_Radio/AP_Radio.h
+++ b/libraries/AP_Radio/AP_Radio.h
@@ -14,6 +14,10 @@
  */
 #pragma once
 
+#include "AP_Radio_config.h"
+
+#if AP_RADIO_ENABLED
+
 /*
  * base class for direct attached radios
  */
@@ -128,3 +132,5 @@ class AP_Radio
 
     static AP_Radio *_singleton;
 };
+
+#endif  // AP_RADIO_ENABLED
diff --git a/libraries/AP_Radio/AP_Radio_backend.cpp b/libraries/AP_Radio/AP_Radio_backend.cpp
index b30a509d972ef..f3dcdaf2de2ef 100644
--- a/libraries/AP_Radio/AP_Radio_backend.cpp
+++ b/libraries/AP_Radio/AP_Radio_backend.cpp
@@ -16,6 +16,10 @@
  * backend class for direct attached radios
  */
 
+#include "AP_Radio_config.h"
+
+#if AP_RADIO_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include "AP_Radio_backend.h"
 
@@ -27,3 +31,5 @@ AP_Radio_backend::AP_Radio_backend(AP_Radio &_radio) :
 AP_Radio_backend::~AP_Radio_backend(void)
 {
 }
+
+#endif  // AP_RADIO_ENABLED
diff --git a/libraries/AP_Radio/AP_Radio_backend.h b/libraries/AP_Radio/AP_Radio_backend.h
index a1fd9e168e8de..f360224603aa3 100644
--- a/libraries/AP_Radio/AP_Radio_backend.h
+++ b/libraries/AP_Radio/AP_Radio_backend.h
@@ -14,6 +14,10 @@
  */
 #pragma once
 
+#include "AP_Radio_config.h"
+
+#if AP_RADIO_ENABLED
+
 /*
  * backend class for direct attached radios
  */
@@ -156,3 +160,5 @@ class AP_Radio_backend
 
     AP_Radio &radio;
 };
+
+#endif  // AP_RADIO_ENABLED
diff --git a/libraries/AP_Radio/AP_Radio_bk2425.cpp b/libraries/AP_Radio/AP_Radio_bk2425.cpp
index 46c4ca079cabc..2ed5b64f1b710 100644
--- a/libraries/AP_Radio/AP_Radio_bk2425.cpp
+++ b/libraries/AP_Radio/AP_Radio_bk2425.cpp
@@ -1,3 +1,7 @@
+#include "AP_Radio_config.h"
+
+#if AP_RADIO_BK2425_ENABLED
+
 /*
   driver for Beken_2425 radio
  */
@@ -5,8 +9,6 @@
 
 //#pragma GCC optimize("O0")
 
-#if defined(HAL_RCINPUT_WITH_AP_RADIO) && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412
-
 #include <AP_Math/AP_Math.h>
 #include "AP_Radio_bk2425.h"
 #include <utility>
@@ -1421,7 +1423,4 @@ void SyncAdaptive::Miss(uint8_t channel)
     }
 }
 
-
-
-#endif // HAL_RCINPUT_WITH_AP_RADIO
-
+#endif // AP_RADIO_BK2425_ENABLED
diff --git a/libraries/AP_Radio/AP_Radio_bk2425.h b/libraries/AP_Radio/AP_Radio_bk2425.h
index 5d35e250d7c3e..4481b70779134 100644
--- a/libraries/AP_Radio/AP_Radio_bk2425.h
+++ b/libraries/AP_Radio/AP_Radio_bk2425.h
@@ -20,9 +20,12 @@
   With thanks to cleanflight and betaflight projects
  */
 
+#include "AP_Radio_config.h"
+
+#if AP_RADIO_BK2425_ENABLED
+
 #include "AP_Radio_backend.h"
 
-#if defined(HAL_RCINPUT_WITH_AP_RADIO) && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412
 #include "hal.h"
 #include "telem_structure.h"
 #include "driver_bk2425.h"
@@ -258,4 +261,4 @@ class AP_Radio_beken : public AP_Radio_backend
     uint8_t myDroneId[4]; // CRC of the flight boards UUID, to inform the tx
 };
 
-#endif // HAL_RCINPUT_WITH_AP_RADIO
+#endif // AP_RADIO_BK2425_ENABLED
diff --git a/libraries/AP_Radio/AP_Radio_cc2500.h b/libraries/AP_Radio/AP_Radio_cc2500.h
index 1ddc608173ad3..b5eedad3fd36a 100644
--- a/libraries/AP_Radio/AP_Radio_cc2500.h
+++ b/libraries/AP_Radio/AP_Radio_cc2500.h
@@ -20,8 +20,12 @@
   With thanks to cleanflight and betaflight projects
  */
 
+#include "AP_Radio_config.h"
+
+#if AP_RADIO_CC2500_ENABLED
+
 #include "AP_Radio_backend.h"
-#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
+
 #include "hal.h"
 #include "telem_structure.h"
 #include "driver_cc2500.h"
@@ -226,5 +230,4 @@ class AP_Radio_cc2500 : public AP_Radio_backend
 };
 
 
-#endif // CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
-
+#endif // AP_RADIO_CC2500_ENABLED
diff --git a/libraries/AP_Radio/AP_Radio_config.h b/libraries/AP_Radio/AP_Radio_config.h
new file mode 100644
index 0000000000000..92ab9fbd789a2
--- /dev/null
+++ b/libraries/AP_Radio/AP_Radio_config.h
@@ -0,0 +1,23 @@
+#pragma once
+
+#include <AP_HAL/AP_HAL_Boards.h>
+
+#ifndef AP_RADIO_ENABLED
+#define AP_RADIO_ENABLED HAL_RCINPUT_WITH_AP_RADIO
+#endif
+
+#ifndef AP_RADIO_BACKEND_DEFAULT_ENABLED
+#define AP_RADIO_BACKEND_DEFAULT_ENABLED AP_RADIO_ENABLED
+#endif
+
+#ifndef AP_RADIO_CC2500_ENABLED
+#define AP_RADIO_CC2500_ENABLED AP_RADIO_BACKEND_DEFAULT_ENABLED
+#endif
+
+#ifndef AP_RADIO_CYRF6936_ENABLED
+#define AP_RADIO_CYRF6936_ENABLED AP_RADIO_BACKEND_DEFAULT_ENABLED
+#endif
+
+#ifndef AP_RADIO_BK2425_ENABLED
+#define AP_RADIO_BK2425_ENABLED AP_RADIO_BACKEND_DEFAULT_ENABLED
+#endif
diff --git a/libraries/AP_Radio/AP_Radio_cypress.cpp b/libraries/AP_Radio/AP_Radio_cypress.cpp
index ff6f99b4b65ef..7d3d2101be0fa 100644
--- a/libraries/AP_Radio/AP_Radio_cypress.cpp
+++ b/libraries/AP_Radio/AP_Radio_cypress.cpp
@@ -1,6 +1,8 @@
-#include <AP_HAL/AP_HAL.h>
+#include "AP_Radio_config.h"
+
+#if AP_RADIO_CYRF6936_ENABLED
 
-#if HAL_RCINPUT_WITH_AP_RADIO
+#include <AP_HAL/AP_HAL.h>
 
 #include <AP_Math/AP_Math.h>
 #include "AP_Radio_cypress.h"
@@ -1681,5 +1683,4 @@ void AP_Radio_cypress::handle_data_packet(mavlink_channel_t chan, const mavlink_
     }
 }
 
-#endif // HAL_RCINPUT_WITH_AP_RADIO
-
+#endif  // AP_RADIO_CYRF6936_ENABLED
diff --git a/libraries/AP_Radio/AP_Radio_cypress.h b/libraries/AP_Radio/AP_Radio_cypress.h
index 15c63d528d707..504f9737e9b3c 100644
--- a/libraries/AP_Radio/AP_Radio_cypress.h
+++ b/libraries/AP_Radio/AP_Radio_cypress.h
@@ -14,7 +14,9 @@
  */
 #pragma once
 
-#if HAL_RCINPUT_WITH_AP_RADIO
+#include "AP_Radio_config.h"
+
+#if AP_RADIO_CYRF6936_ENABLED
 
 /*
   AP_Radio implementation for Cypress 2.4GHz radio.
@@ -279,4 +281,4 @@ class AP_Radio_cypress : public AP_Radio_backend
     void setup_timeout(uint32_t timeout_ms);
 };
 
-#endif
+#endif  // AP_RADIO_CYRPRESS_ENABLED
diff --git a/libraries/AP_Radio/driver_bk2425.cpp b/libraries/AP_Radio/driver_bk2425.cpp
index 04452cde2beda..4fb08653c887d 100644
--- a/libraries/AP_Radio/driver_bk2425.cpp
+++ b/libraries/AP_Radio/driver_bk2425.cpp
@@ -1,11 +1,13 @@
+#include "AP_Radio_config.h"
+
+#if AP_RADIO_BK2425_ENABLED
+
 // --------------------------------------------------------------------
 //  low level driver for the beken radio on SPI
 // --------------------------------------------------------------------
 
 #include "driver_bk2425.h"
 
-#if defined(HAL_RCINPUT_WITH_AP_RADIO) && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412
-
 #include <utility>
 #include <AP_HAL_ChibiOS/AP_HAL_ChibiOS.h>
 using namespace ChibiOS;
@@ -722,4 +724,4 @@ void Radio_Beken::DumpRegisters(void)
     SetRBank(0);
 }
 
-#endif // HAL_RCINPUT_WITH_AP_RADIO
+#endif // AP_RADIO_BK2425_ENABLED
diff --git a/libraries/AP_Radio/driver_bk2425.h b/libraries/AP_Radio/driver_bk2425.h
index 14fbf5a264a14..9352a21ff7530 100644
--- a/libraries/AP_Radio/driver_bk2425.h
+++ b/libraries/AP_Radio/driver_bk2425.h
@@ -6,9 +6,11 @@
 
 #pragma once
 
-#include <AP_HAL/AP_HAL.h>
+#include "AP_Radio_config.h"
+
+#if AP_RADIO_BK2425_ENABLED
 
-#if defined(HAL_RCINPUT_WITH_AP_RADIO) && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412
+#include <AP_HAL/AP_HAL.h>
 
 #define SUPPORT_BK_DEBUG_PINS 0 // 0=UART6 is for GPS, 1=UART6 is debug gpio
 #define TX_SPEED 250u // Default transmit speed in kilobits per second.
@@ -414,4 +416,4 @@ class Radio_Beken
     BkRadioMode bkMode;
 };
 
-#endif
+#endif  // AP_RADIO_BK2425_ENABLED