Extend use of AP_BATTERY_ENABLED

libraries/AP_BattMonitor/AP_BattMonitor.cpp

@@ -1,4 +1,9 @@
+#include "AP_BattMonitor_config.h"
+
+#if AP_BATTERY_ENABLED
+
 #include "AP_BattMonitor.h"
+
 #include "AP_BattMonitor_Analog.h"
 #include "AP_BattMonitor_SMBus.h"
 #include "AP_BattMonitor_SMBus_Solo.h"
@@ -1117,3 +1122,5 @@ AP_BattMonitor &battery()
 }
 
 };
+
+#endif  // AP_BATTERY_ENABLED

libraries/AP_BattMonitor/AP_BattMonitor.h

@@ -1,12 +1,15 @@
 #pragma once
 
+#include "AP_BattMonitor_config.h"
+
+#if AP_BATTERY_ENABLED
+
 #include <AP_Common/AP_Common.h>
 #include <AP_Param/AP_Param.h>
 #include <AP_Math/AP_Math.h>
 #include <AP_TemperatureSensor/AP_TemperatureSensor_config.h>
 #include <GCS_MAVLink/GCS_MAVLink.h>
 #include "AP_BattMonitor_Params.h"
-#include "AP_BattMonitor_config.h"
 
 // maximum number of battery monitors
 #ifndef AP_BATT_MONITOR_MAX_INSTANCES
@@ -315,3 +318,5 @@ class AP_BattMonitor
 namespace AP {
     AP_BattMonitor &battery();
 };
+
+#endif  // AP_BATTERY_ENABLED

libraries/AP_BattMonitor/AP_BattMonitor_Backend.cpp

@@ -13,6 +13,10 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include "AP_BattMonitor_config.h"
+
+#if AP_BATTERY_ENABLED
+
 #include <AP_Common/AP_Common.h>
 #include <AP_HAL/AP_HAL.h>
 #include "AP_BattMonitor.h"
@@ -334,3 +338,5 @@ void AP_BattMonitor_Backend::update_consumed(AP_BattMonitor::BattMonitor_State &
         state.consumed_wh  += 0.001 * mah * state.voltage;
     }
 }
+
+#endif  // AP_BATTERY_ENABLED

libraries/AP_BattMonitor/AP_BattMonitor_Backend.h

@@ -14,9 +14,14 @@
  */
 #pragma once
 
-#include <AP_Common/AP_Common.h>
+#include "AP_BattMonitor_config.h"
+
+#if AP_BATTERY_ENABLED
+
 #include "AP_BattMonitor.h"
 
+#include <AP_Common/AP_Common.h>
+
 class AP_BattMonitor_Backend
 {
 public:
@@ -141,3 +146,5 @@ struct BattMonitorScript_State {
     float temperature=nanf(""); // Battery temperature in degrees Celsius
 };
 #endif // AP_BATTERY_SCRIPTING_ENABLED
+
+#endif  // AP_BATTERY_ENABLED

libraries/AP_BattMonitor/AP_BattMonitor_Logging.cpp

@@ -1,6 +1,7 @@
+#include "AP_BattMonitor_config.h"
 #include <AP_Logger/AP_Logger_config.h>
 
-#if HAL_LOGGING_ENABLED
+#if AP_BATTERY_ENABLED && HAL_LOGGING_ENABLED
 
 #include "AP_BattMonitor_Backend.h"
 #include <AP_Logger/AP_Logger.h>
@@ -88,4 +89,4 @@ void AP_BattMonitor_Backend::Log_Write_BCL(const uint8_t instance, const uint64_
 #endif
 }
 
-#endif  // HAL_LOGGING_ENABLED
+#endif  // AP_BATTERY_ENABLED && HAL_LOGGING_ENABLED

libraries/AP_BattMonitor/AP_BattMonitor_Params.cpp

@@ -1,3 +1,7 @@
+#include "AP_BattMonitor_config.h"
+
+#if AP_BATTERY_ENABLED
+
 #include <AP_Common/AP_Common.h>
 #include <AP_Vehicle/AP_Vehicle_Type.h>
 #include "AP_BattMonitor_Params.h"
@@ -172,3 +176,5 @@ const AP_Param::GroupInfo AP_BattMonitor_Params::var_info[] = {
 AP_BattMonitor_Params::AP_BattMonitor_Params(void) {
     AP_Param::setup_object_defaults(this, var_info);
 }
+
+#endif  // AP_BATTERY_ENABLED

libraries/AP_HAL_ChibiOS/hwdef/HEEWING-F405/hwdef.dat

@@ -160,9 +160,6 @@ define HAL_BATT_CURR_SCALE 26.7
 define HAL_WITH_DSP FALSE
 define HAL_GYROFFT_ENABLED 0
 
-# --------------------- save flash ----------------------
-define AP_BATTMON_SMBUS_ENABLE 0
-
 include ../include/minimize_fpv_osd.inc
 include ../include/save_some_flash.inc
 

libraries/AP_HAL_ChibiOS/hwdef/SpeedyBeeF405WING/hwdef.dat

@@ -171,14 +171,6 @@ define STM32_PWM_USE_ADVANCED TRUE
 
 define HAL_WITH_DSP FALSE
 
-# save some flash
-
-# disable SMBUS and fuel battery monitors to save flash
-define AP_BATTMON_SMBUS_ENABLE 0
-define AP_BATTMON_FUEL_ENABLE 0
-define AP_BATTMON_SYNTHETIC_CURRENT_ENABLED 0
-define HAL_BATTMON_INA2XX_ENABLED 0
-
 # disable parachute and sprayer to save flash
 define HAL_PARACHUTE_ENABLED 0
 define HAL_SPRAYER_ENABLED 0

libraries/AP_Hott_Telem/AP_Hott_Telem.cpp

@@ -109,6 +109,7 @@ void AP_Hott_Telem::send_EAM(void)
         uint8_t stop_byte = 0x7D;     //#44 stop
     } msg {};
 
+#if AP_BATTERY_ENABLED
     const AP_BattMonitor &battery = AP::battery();
     if (battery.num_instances() > 0) {
         msg.batt1_voltage = uint16_t(battery.voltage(0) * 10);
@@ -125,6 +126,7 @@ void AP_Hott_Telem::send_EAM(void)
     if (battery.consumed_mah(used_mah)) {
         msg.batt_used = used_mah * 0.1;
     }
+#endif  // AP_BATTERY_ENABLED
 
     const AP_Baro &baro = AP::baro();
     msg.temp1 = uint8_t(baro.get_temperature(0) + 20.5);

libraries/AP_LTM_Telem/AP_LTM_Telem.cpp

@@ -116,6 +116,7 @@ void AP_LTM_Telem::send_Gframe(void)
 // Sensors frame
 void AP_LTM_Telem::send_Sframe(void)
 {
+#if AP_BATTERY_ENABLED
     const AP_BattMonitor &battery = AP::battery();
     const uint16_t volt = (uint16_t) roundf(battery.voltage() * 1000.0f);              // battery voltage (expects value in mV)
     float current;
@@ -124,6 +125,10 @@ void AP_LTM_Telem::send_Sframe(void)
     }
     // note: max. current value we can send is 65.536 A
     const uint16_t amp = (uint16_t) roundf(current * 100.0f);                          // current sensor (expects value in hundredth of A)
+#else
+    const uint16_t volt = 0;
+    const uint16_t amp = 0;
+#endif
 
     // airspeed in m/s if available and enabled - even if not used - otherwise send 0
     uint8_t airspeed = 0; // airspeed sensor (m/s)

libraries/AP_MSP/AP_MSP_Telem_Backend.cpp

@@ -66,7 +66,9 @@ void AP_MSP_Telem_Backend::setup_wfq_scheduler(void)
     set_scheduler_entry(ATTITUDE, 200, 200);          // 5Hz  attitude
     set_scheduler_entry(ALTITUDE, 250, 250);          // 4Hz  altitude(cm) and velocity(cm/s)
     set_scheduler_entry(ANALOG, 250, 250);            // 4Hz  rssi + batt
+#if AP_BATTERY_ENABLED
     set_scheduler_entry(BATTERY_STATE, 500, 500);     // 2Hz  battery
+#endif
 #if HAL_WITH_ESC_TELEM
     set_scheduler_entry(ESC_SENSOR_DATA, 500, 500);   // 2Hz  ESC telemetry
 #endif
@@ -114,7 +116,9 @@ bool AP_MSP_Telem_Backend::is_packet_ready(uint8_t idx, bool queue_empty)
     case ATTITUDE:          // Attitude
     case ALTITUDE:          // Altitude and Vario
     case ANALOG:            // Rssi, Battery, mAh, Current
+#if AP_BATTERY_ENABLED
     case BATTERY_STATE:     // voltage, capacity, current, mAh
+#endif
 #if HAL_WITH_ESC_TELEM
     case ESC_SENSOR_DATA:   // esc temp + rpm
 #endif
@@ -155,10 +159,12 @@ void AP_MSP_Telem_Backend::process_packet(uint8_t idx)
     _msp_port.c_state = MSP_IDLE;
 }
 
+#if AP_BATTERY_ENABLED
 uint8_t AP_MSP_Telem_Backend::calc_cell_count(const float battery_voltage)
 {
     return floorf((battery_voltage / CELLFULL) + 1);
 }
+#endif
 
 float AP_MSP_Telem_Backend::get_vspeed_ms(void) const
 {
@@ -215,6 +221,7 @@ void AP_MSP_Telem_Backend::update_gps_state(gps_state_t &gps_state)
     }
 }
 
+#if AP_BATTERY_ENABLED
 void AP_MSP_Telem_Backend::update_battery_state(battery_state_t &battery_state)
 {
     memset(&battery_state, 0, sizeof(battery_state));
@@ -241,6 +248,7 @@ void AP_MSP_Telem_Backend::update_battery_state(battery_state_t &battery_state)
         battery_state.batt_cellcount = cc;
     }
 }
+#endif  // AP_BATTERY_ENABLED
 
 void AP_MSP_Telem_Backend::update_airspeed(airspeed_state_t &airspeed_state)
 {
@@ -334,7 +342,9 @@ void AP_MSP_Telem_Backend::enable_warnings()
         return;
     }
     BIT_SET(msp->_osd_config.enabled_warnings, OSD_WARNING_FAIL_SAFE);
+#if AP_BATTERY_ENABLED
     BIT_SET(msp->_osd_config.enabled_warnings, OSD_WARNING_BATTERY_CRITICAL);
+#endif
 }
 
 void AP_MSP_Telem_Backend::process_incoming_data()
@@ -466,8 +476,10 @@ MSPCommandResult AP_MSP_Telem_Backend::msp_process_out_command(uint16_t cmd_msp,
         return msp_process_out_altitude(dst);
     case MSP_ANALOG:
         return msp_process_out_analog(dst);
+#if AP_BATTERY_ENABLED
     case MSP_BATTERY_STATE:
         return msp_process_out_battery_state(dst);
+#endif
     case MSP_UID:
         return msp_process_out_uid(dst);
 #if HAL_WITH_ESC_TELEM
@@ -905,6 +917,7 @@ MSPCommandResult AP_MSP_Telem_Backend::msp_process_out_altitude(sbuf_t *dst)
 
 MSPCommandResult AP_MSP_Telem_Backend::msp_process_out_analog(sbuf_t *dst)
 {
+#if AP_BATTERY_ENABLED
     battery_state_t battery_state;
     update_battery_state(battery_state);
 
@@ -922,10 +935,27 @@ MSPCommandResult AP_MSP_Telem_Backend::msp_process_out_analog(sbuf_t *dst)
         current_ca : (int16_t)constrain_int32(battery_state.batt_current_a * 100, -0x8000, 0x7FFF),         // current A to cA (0.01 steps, range is -320A to 320A)
         voltage_cv : (uint16_t)constrain_int32(battery_state.batt_voltage_v * 100,0,0xFFFF)                 // battery voltage in 0.01V steps
     };
+#else
+    float rssi;
+    const struct PACKED {
+        uint8_t voltage_dv;
+        uint16_t mah;
+        uint16_t rssi;
+        int16_t current_ca;
+        uint16_t voltage_cv;
+    } analog {
+        voltage_dv : 0,
+        mah : 0,
+        rssi : uint16_t(get_rssi(rssi) ? constrain_float(rssi,0,1) * 1023 : 0),                             // rssi 0-1 to 0-1023)
+        current_ca : 0,
+        voltage_cv : 0
+    };
+#endif
     sbuf_write_data(dst, &analog, sizeof(analog));
     return MSP_RESULT_ACK;
 }
 
+#if AP_BATTERY_ENABLED
 MSPCommandResult AP_MSP_Telem_Backend::msp_process_out_battery_state(sbuf_t *dst)
 {
     const AP_MSP *msp = AP::msp();
@@ -956,6 +986,7 @@ MSPCommandResult AP_MSP_Telem_Backend::msp_process_out_battery_state(sbuf_t *dst
     sbuf_write_data(dst, &battery, sizeof(battery));
     return MSP_RESULT_ACK;
 }
+#endif
 
 MSPCommandResult AP_MSP_Telem_Backend::msp_process_out_esc_sensor_data(sbuf_t *dst)
 {
@@ -1104,7 +1135,9 @@ void AP_MSP_Telem_Backend::hide_osd_items(void)
     if (msp == nullptr) {
         return;
     }
+#if AP_BATTERY_ENABLED
     const AP_Notify &notify = AP::notify();
+#endif
     // clear all and only set the flashing ones
     BIT_CLEAR(osd_hidden_items_bitmask, OSD_GPS_SATS);
     BIT_CLEAR(osd_hidden_items_bitmask, OSD_HOME_DIR);
@@ -1146,11 +1179,13 @@ void AP_MSP_Telem_Backend::hide_osd_items(void)
         if (msp->_msp_status.flight_mode_focus) {
             BIT_SET(osd_hidden_items_bitmask, OSD_CRAFT_NAME);
         }
+#if AP_BATTERY_ENABLED
         // flash battery on failsafe
         if (notify.flags.failsafe_battery) {
             BIT_SET(osd_hidden_items_bitmask, OSD_AVG_CELL_VOLTAGE);
             BIT_SET(osd_hidden_items_bitmask, OSD_MAIN_BATT_VOLTAGE);
         }
+#endif
         // flash rtc if no time available
 #if AP_RTC_ENABLED
         uint64_t time_usec;

libraries/AP_Motors/AP_Motors6DOF.cpp

@@ -359,6 +359,7 @@ void AP_Motors6DOF::output_armed_stabilizing()
         }
     }
 
+#if AP_BATTERY_ENABLED
     const AP_BattMonitor &battery = AP::battery();
 
 	// Current limiting
@@ -384,6 +385,7 @@ void AP_Motors6DOF::output_armed_stabilizing()
         batt_current_ratio = predicted_current_ratio;
     }
     _output_limited += (_dt / (_dt + _batt_current_time_constant)) * (1 - batt_current_ratio);
+#endif
 
     _output_limited = constrain_float(_output_limited, 0.0f, 1.0f);
 

libraries/AP_Motors/AP_MotorsMulticopter.cpp

@@ -345,6 +345,7 @@ void AP_MotorsMulticopter::update_throttle_filter()
 // return current_limit as a number from 0 ~ 1 in the range throttle_min to throttle_max
 float AP_MotorsMulticopter::get_current_limit_max_throttle()
 {
+#if AP_BATTERY_ENABLED
     AP_BattMonitor &battery = AP::battery();
 
     const uint8_t batt_idx = thr_lin.get_battery_index();
@@ -376,6 +377,9 @@ float AP_MotorsMulticopter::get_current_limit_max_throttle()
 
     // limit max throttle
     return get_throttle_hover() + ((1.0 - get_throttle_hover()) * _throttle_limit);
+#else
+    return 1.0;
+#endif
 }
 
 #if HAL_LOGGING_ENABLED

libraries/AP_Motors/AP_Motors_Thrust_Linearization.cpp

@@ -151,6 +151,7 @@ float Thrust_Linearization::remove_thrust_curve_and_volt_scaling(float throttle)
 // update_lift_max from battery voltage - used for voltage compensation
 void Thrust_Linearization::update_lift_max_from_batt_voltage()
 {
+#if AP_BATTERY_ENABLED
     // sanity check battery_voltage_min is not too small
     // if disabled or misconfigured exit immediately
     float _batt_voltage = motors.has_option(AP_Motors::MotorOptions::BATT_RAW_VOLTAGE) ? AP::battery().voltage(batt_idx) : AP::battery().voltage_resting_estimate(batt_idx);
@@ -177,6 +178,7 @@ void Thrust_Linearization::update_lift_max_from_batt_voltage()
     // calculate lift max
     float thrust_curve_expo = constrain_float(curve_expo, -1.0, 1.0);
     lift_max = batt_voltage_filt.get() * (1 - thrust_curve_expo) + thrust_curve_expo * batt_voltage_filt.get() * batt_voltage_filt.get();
+#endif
 }
 
 // return gain scheduling gain based on voltage and air density

libraries/AP_Notify/Display.cpp

@@ -406,7 +406,9 @@ void Display::update_all()
 {
     update_text(0);
     update_mode(1);
+#if AP_BATTERY_ENABLED
     update_battery(2);
+#endif
 #if AP_GPS_ENABLED
     update_gps(3);
 #endif
@@ -530,6 +532,7 @@ void Display::update_ekf(uint8_t r)
     }
 }
 
+#if AP_BATTERY_ENABLED
 void Display::update_battery(uint8_t r)
 {
     char msg [DISPLAY_MESSAGE_SIZE];
@@ -541,7 +544,8 @@ void Display::update_battery(uint8_t r)
         snprintf(msg, DISPLAY_MESSAGE_SIZE, "BAT:%4.2fV --%% ", (double)battery.voltage()) ;
     }
     draw_text(COLUMN(0), ROW(r), msg);
- }
+}
+#endif  // AP_BATTERY_ENABLED
 
 void Display::update_mode(uint8_t r)
 {

libraries/AP_OSD/AP_OSD.cpp

@@ -446,6 +446,7 @@ void AP_OSD::update_stats()
     // maximum altitude
     alt = -alt;
     _stats.max_alt_m = fmaxf(_stats.max_alt_m, alt);
+#if AP_BATTERY_ENABLED
     // maximum current
     AP_BattMonitor &battery = AP::battery();
     float amps;
@@ -457,6 +458,7 @@ void AP_OSD::update_stats()
     if (voltage > 0) {
         _stats.min_voltage_v = fminf(_stats.min_voltage_v, voltage);
     }
+#endif
 #if AP_RSSI_ENABLED
     // minimum rssi
     AP_RSSI *ap_rssi = AP_RSSI::get_singleton();