From 531f4f92838a5266fd3f8962f2fc3c47ce69a45c Mon Sep 17 00:00:00 2001
From: Lokesh-Ramina <loki077@gmail.com>
Date: Mon, 20 Nov 2023 19:38:43 -0800
Subject: [PATCH] AP_EFI: fixed build on boards without EFI support Currawong
 and DroneCAN

---
 libraries/AP_EFI/AP_EFI_Currawong_ECU.cpp |  8 ++++---
 libraries/AP_EFI/AP_EFI_Currawong_ECU.h   | 12 ++++------
 libraries/AP_EFI/AP_EFI_DroneCAN.cpp      | 11 ++++-----
 libraries/AP_EFI/AP_EFI_DroneCAN.h        | 11 ++++-----
 libraries/AP_EFI/AP_EFI_config.h          | 28 +++++++++++++++++++++++
 5 files changed, 46 insertions(+), 24 deletions(-)

diff --git a/libraries/AP_EFI/AP_EFI_Currawong_ECU.cpp b/libraries/AP_EFI/AP_EFI_Currawong_ECU.cpp
index 091537807c..4a2d23a74f 100644
--- a/libraries/AP_EFI/AP_EFI_Currawong_ECU.cpp
+++ b/libraries/AP_EFI/AP_EFI_Currawong_ECU.cpp
@@ -19,10 +19,12 @@
  *      Author: Reilly Callaway / Currawong Engineering Pty Ltd
  */
 
-#include "AP_EFI_Currawong_ECU.h"
+#include "AP_EFI_config.h"
+
 
-#if HAL_EFI_CURRAWONG_ECU_ENABLED
+#if HAL_EFI_ENABLED && HAL_EFI_CURRAWONG_ECU_ENABLED
 
+#include "AP_EFI_Currawong_ECU.h"
 #include <AP_Param/AP_Param.h>
 #include <AP_PiccoloCAN/piccolo_protocol/ECUPackets.h>
 #include <AP_Math/definitions.h>
@@ -103,4 +105,4 @@ bool AP_EFI_Currawong_ECU::handle_message(AP_HAL::CANFrame &frame)
     return valid;
 }
 
-#endif // HAL_EFI_CURRAWONG_ECU_ENABLED
+#endif // HAL_EFI_CURRAWONG_ECU_ENABLED && HAL_EFI_ENABLED
diff --git a/libraries/AP_EFI/AP_EFI_Currawong_ECU.h b/libraries/AP_EFI/AP_EFI_Currawong_ECU.h
index 89387e9dd4..f87a15d2b7 100644
--- a/libraries/AP_EFI/AP_EFI_Currawong_ECU.h
+++ b/libraries/AP_EFI/AP_EFI_Currawong_ECU.h
@@ -21,14 +21,12 @@
  
 #pragma once
 
-#include "AP_EFI.h"
-#include "AP_EFI_Backend.h"
+#include "AP_EFI_config.h"
 
-#ifndef HAL_EFI_CURRAWONG_ECU_ENABLED
-#define HAL_EFI_CURRAWONG_ECU_ENABLED HAL_MAX_CAN_PROTOCOL_DRIVERS && (BOARD_FLASH_SIZE > 1024)
-#endif
+#if HAL_EFI_ENABLED && HAL_EFI_CURRAWONG_ECU_ENABLED
 
-#if HAL_EFI_CURRAWONG_ECU_ENABLED
+#include "AP_EFI.h"
+#include "AP_EFI_Backend.h"
 
 class AP_EFI_Currawong_ECU : public AP_EFI_Backend {
 public:
@@ -49,5 +47,5 @@ class AP_EFI_Currawong_ECU : public AP_EFI_Backend {
     friend class AP_PiccoloCAN;
 };
 
-#endif // HAL_EFI_CURRAWONG_ECU_ENABLED
+#endif // HAL_EFI_CURRAWONG_ECU_ENABLED && HAL_EFI_ENABLED
 
diff --git a/libraries/AP_EFI/AP_EFI_DroneCAN.cpp b/libraries/AP_EFI/AP_EFI_DroneCAN.cpp
index 21d374250f..bbabee1fed 100644
--- a/libraries/AP_EFI/AP_EFI_DroneCAN.cpp
+++ b/libraries/AP_EFI/AP_EFI_DroneCAN.cpp
@@ -1,11 +1,9 @@
-#include <AP_HAL/AP_HAL.h>
 #include "AP_EFI_config.h"
 
-#if HAL_EFI_ENABLED
-#include "AP_EFI_DroneCAN.h"
-
-#if HAL_EFI_DRONECAN_ENABLED
+#if HAL_EFI_ENABLED && HAL_EFI_DRONECAN_ENABLED
 
+#include <AP_HAL/AP_HAL.h>
+#include "AP_EFI_DroneCAN.h"
 #include <AP_CANManager/AP_CANManager.h>
 #include <AP_UAVCAN/AP_UAVCAN.h>
 
@@ -167,5 +165,4 @@ void AP_EFI_DroneCAN::handle_status(const uavcan::equipment::ice::reciprocating:
     copy_to_frontend();
 }
 
-#endif // HAL_EFI_DRONECAN_ENABLED
-#endif // HAL_EFI_ENABLED
+#endif // HAL_EFI_DRONECAN_ENABLED && HAL_EFI_ENABLED
diff --git a/libraries/AP_EFI/AP_EFI_DroneCAN.h b/libraries/AP_EFI/AP_EFI_DroneCAN.h
index 35c02d5e37..7d2d5e2b40 100644
--- a/libraries/AP_EFI/AP_EFI_DroneCAN.h
+++ b/libraries/AP_EFI/AP_EFI_DroneCAN.h
@@ -1,13 +1,10 @@
 #pragma once
 
+#include "AP_EFI_config.h"
+
+#if HAL_EFI_ENABLED && HAL_EFI_DRONECAN_ENABLED
 #include "AP_EFI.h"
 #include "AP_EFI_Backend.h"
-
-#ifndef HAL_EFI_DRONECAN_ENABLED
-#define HAL_EFI_DRONECAN_ENABLED HAL_MAX_CAN_PROTOCOL_DRIVERS && BOARD_FLASH_SIZE > 1024 && HAL_CANMANAGER_ENABLED
-#endif
-
-#if HAL_EFI_DRONECAN_ENABLED
 #include <AP_UAVCAN/AP_UAVCAN.h>
 #include <uavcan/equipment/ice/reciprocating/Status.hpp>
 
@@ -28,5 +25,5 @@ class AP_EFI_DroneCAN : public AP_EFI_Backend {
     // singleton for trampoline
     static AP_EFI_DroneCAN *driver;
 };
-#endif // HAL_EFI_DRONECAN_ENABLED
+#endif // HAL_EFI_DRONECAN_ENABLED && HAL_EFI_ENABLED
 
diff --git a/libraries/AP_EFI/AP_EFI_config.h b/libraries/AP_EFI/AP_EFI_config.h
index 368e71e3f6..257da4b9bf 100644
--- a/libraries/AP_EFI/AP_EFI_config.h
+++ b/libraries/AP_EFI/AP_EFI_config.h
@@ -23,3 +23,31 @@
 #ifndef AP_EFI_THROTTLE_LINEARISATION_ENABLED
 #define AP_EFI_THROTTLE_LINEARISATION_ENABLED AP_EFI_SERIAL_HIRTH_ENABLED
 #endif
+
+#ifndef HAL_EFI_CURRAWONG_ECU_ENABLED
+#define HAL_EFI_CURRAWONG_ECU_ENABLED HAL_MAX_CAN_PROTOCOL_DRIVERS && (BOARD_FLASH_SIZE > 1024)
+#endif
+
+#ifndef HAL_EFI_DRONECAN_ENABLED
+#define HAL_EFI_DRONECAN_ENABLED HAL_MAX_CAN_PROTOCOL_DRIVERS && BOARD_FLASH_SIZE > 1024 && HAL_CANMANAGER_ENABLED
+#endif
+
+#ifndef AP_EFI_MAV_ENABLED
+#define AP_EFI_MAV_ENABLED AP_EFI_BACKEND_DEFAULT_ENABLED
+#endif
+
+#ifndef AP_EFI_NWPWU_ENABLED
+#define AP_EFI_NWPWU_ENABLED AP_EFI_BACKEND_DEFAULT_ENABLED && HAL_MAX_CAN_PROTOCOL_DRIVERS
+#endif
+
+#ifndef AP_EFI_SCRIPTING_ENABLED
+#define AP_EFI_SCRIPTING_ENABLED (AP_EFI_BACKEND_DEFAULT_ENABLED && AP_SCRIPTING_ENABLED)
+#endif
+
+#ifndef AP_EFI_SERIAL_MS_ENABLED
+#define AP_EFI_SERIAL_MS_ENABLED AP_EFI_BACKEND_DEFAULT_ENABLED
+#endif
+
+#ifndef AP_EFI_SERIAL_LUTAN_ENABLED
+#define AP_EFI_SERIAL_LUTAN_ENABLED AP_EFI_BACKEND_DEFAULT_ENABLED
+#endif
\ No newline at end of file