AP_HAL_ChibiOS: disable EventSource only when CH_CFG_USE_EVENTS is false

(cherry picked from commit 6e7542a70ca2343ab8d18470deaf5fc2d27390af) from bugobliterator

libraries/AP_HAL_ChibiOS/CANFDIface.cpp

@@ -94,7 +94,7 @@ static_assert(STM32_FDCANCLK <= 80U*1000U*1000U, "FDCAN clock must be max 80MHz"
 
 using namespace ChibiOS;
 
-#if HAL_MAX_CAN_PROTOCOL_DRIVERS
+#if HAL_MAX_CAN_PROTOCOL_DRIVERS && !defined(HAL_BUILD_AP_PERIPH)
 #define Debug(fmt, args...) do { AP::can().log_text(AP_CANManager::LOG_DEBUG, "CANFDIface", fmt, ##args); } while (0)
 #else
 #define Debug(fmt, args...)
@@ -763,7 +763,7 @@ void CANIface::handleTxCompleteInterrupt(const uint64_t timestamp_us)
             }
             if (event_handle_ != nullptr) {
                 stats.num_events++;
-#if !defined(HAL_BUILD_AP_PERIPH) && !defined(HAL_BOOTLOADER_BUILD)
+#if CH_CFG_USE_EVENTS == TRUE
                 evt_src_.signalI(1 << self_index_);
 #endif
             }
@@ -868,7 +868,7 @@ void CANIface::handleRxInterrupt(uint8_t fifo_index)
     }
     if (event_handle_ != nullptr) {
         stats.num_events++;
-#if !defined(HAL_BUILD_AP_PERIPH) && !defined(HAL_BOOTLOADER_BUILD)
+#if CH_CFG_USE_EVENTS == TRUE
         evt_src_.signalI(1 << self_index_);
 #endif
     }
@@ -936,7 +936,7 @@ uint32_t CANIface::getErrorCount() const
            stats.tx_timedout;
 }
 
-#if !defined(HAL_BUILD_AP_PERIPH) && !defined(HAL_BOOTLOADER_BUILD)
+#if CH_CFG_USE_EVENTS == TRUE
 ChibiOS::EventSource CANIface::evt_src_;
 bool CANIface::set_event_handle(AP_HAL::EventHandle* handle)
 {

libraries/AP_HAL_ChibiOS/CANFDIface.h

@@ -116,7 +116,7 @@ class ChibiOS::CANIface : public AP_HAL::CANIface
     bool initialised_;
     bool had_activity_;
     AP_HAL::EventHandle* event_handle_;
-#if !defined(HAL_BUILD_AP_PERIPH) && !defined(HAL_BOOTLOADER_BUILD)
+#if CH_CFG_USE_EVENTS == TRUE
     static ChibiOS::EventSource evt_src_;
 #endif
     const uint8_t self_index_;
@@ -216,10 +216,12 @@ public:
                 const AP_HAL::CANFrame* const pending_tx,
                 uint64_t blocking_deadline) override;
 
-#if !defined(HAL_BUILD_AP_PERIPH) && !defined(HAL_BOOTLOADER_BUILD)
+#if CH_CFG_USE_EVENTS == TRUE
     // setup event handle for waiting on events
     bool set_event_handle(AP_HAL::EventHandle* handle) override;
+#endif
 
+#if !defined(HAL_BUILD_AP_PERIPH) && !defined(HAL_BOOTLOADER_BUILD)
     // fetch stats text and return the size of the same,
     // results available via @SYS/can0_stats.txt or @SYS/can1_stats.txt 
     void get_stats(ExpandingString &str) override;

libraries/AP_HAL_ChibiOS/CANIface.h

@@ -109,7 +109,7 @@ class ChibiOS::CANIface : public AP_HAL::CANIface
     bool irq_init_:1;
     bool initialised_:1;
     bool had_activity_:1;
-#ifndef HAL_BUILD_AP_PERIPH
+#if CH_CFG_USE_EVENTS == TRUE
     AP_HAL::EventHandle* event_handle_;
     static ChibiOS::EventSource evt_src_;
 #endif
@@ -217,10 +217,11 @@ public:
                 const AP_HAL::CANFrame* const pending_tx,
                 uint64_t blocking_deadline) override;
     
-#if !defined(HAL_BUILD_AP_PERIPH) && !defined(HAL_BOOTLOADER_BUILD)
+#if CH_CFG_USE_EVENTS == TRUE
     // setup event handle for waiting on events
     bool set_event_handle(AP_HAL::EventHandle* handle) override;
-
+#endif
+#if !defined(HAL_BUILD_AP_PERIPH) && !defined(HAL_BOOTLOADER_BUILD)
     // fetch stats text and return the size of the same,
     // results available via @SYS/can0_stats.txt or @SYS/can1_stats.txt 
     void get_stats(ExpandingString &str) override;

libraries/AP_HAL_ChibiOS/CanIface.cpp

@@ -509,7 +509,7 @@ void CANIface::handleTxInterrupt(const uint64_t utc_usec)
         handleTxMailboxInterrupt(2, txok, utc_usec);
     }
 
-#if !defined(HAL_BUILD_AP_PERIPH) && !defined(HAL_BOOTLOADER_BUILD)
+#if CH_CFG_USE_EVENTS == TRUE
     if (event_handle_ != nullptr) {
         PERF_STATS(stats.num_events);
         evt_src_.signalI(1 << self_index_);
@@ -577,7 +577,7 @@ void CANIface::handleRxInterrupt(uint8_t fifo_index, uint64_t timestamp_us)
 
     had_activity_ = true;
 
-#if !defined(HAL_BUILD_AP_PERIPH) && !defined(HAL_BOOTLOADER_BUILD)
+#if CH_CFG_USE_EVENTS == TRUE
     if (event_handle_ != nullptr) {
         PERF_STATS(stats.num_events);
         evt_src_.signalI(1 << self_index_);
@@ -687,6 +687,9 @@ uint32_t CANIface::getErrorCount() const
            stats.tx_timedout;
 }
 
+#endif // #if !defined(HAL_BUILD_AP_PERIPH) && !defined(HAL_BOOTLOADER_BUILD)
+
+#if CH_CFG_USE_EVENTS == TRUE
 ChibiOS::EventSource CANIface::evt_src_;
 bool CANIface::set_event_handle(AP_HAL::EventHandle* handle)
 {
@@ -696,7 +699,7 @@ bool CANIface::set_event_handle(AP_HAL::EventHandle* handle)
     return event_handle_->register_event(1 << self_index_);
 }
 
-#endif // #if !defined(HAL_BUILD_AP_PERIPH) && !defined(HAL_BOOTLOADER_BUILD)
+#endif // #if CH_CFG_USE_EVENTS == TRUE
 
 void CANIface::checkAvailable(bool& read, bool& write, const AP_HAL::CANFrame* pending_tx) const
 {
@@ -729,7 +732,7 @@ bool CANIface::select(bool &read, bool &write,
         return true;
     }
 
-#if !defined(HAL_BUILD_AP_PERIPH) && !defined(HAL_BOOTLOADER_BUILD)
+#if CH_CFG_USE_EVENTS == TRUE
     // we don't support blocking select in AP_Periph and bootloader
     while (time < blocking_deadline) {
         if (event_handle_ == nullptr) {

libraries/AP_HAL_ChibiOS/EventSource.cpp

@@ -1,7 +1,5 @@
 #include "EventSource.h"
 
-#if !defined(HAL_BUILD_AP_PERIPH) && !defined(HAL_BOOTLOADER_BUILD)
-
 using namespace ChibiOS;
 
 #if CH_CFG_USE_EVENTS == TRUE
@@ -33,4 +31,3 @@ void EventSource::signalI(uint32_t evt_mask)
     chSysUnlockFromISR();
 }
 #endif //#if CH_CFG_USE_EVENTS == TRUE
-#endif //#if !defined(HAL_BUILD_AP_PERIPH) && !defined(HAL_BOOTLOADER_BUILD)

libraries/AP_HAL_ChibiOS/EventSource.h

@@ -1,7 +1,6 @@
 #pragma once
 #include <AP_HAL/AP_HAL.h>
 
-#if !defined(HAL_BUILD_AP_PERIPH) && !defined(HAL_BOOTLOADER_BUILD)
 #include <stdint.h>
 #include <AP_HAL/AP_HAL_Boards.h>
 #include <AP_HAL/AP_HAL_Macros.h>
@@ -25,4 +24,3 @@ public:
     bool wait(uint64_t duration, AP_HAL::EventHandle* evt_handle) override;
 };
 #endif //#if CH_CFG_USE_EVENTS == TRUE
-#endif //#if !defined(HAL_BUILD_AP_PERIPH) && !defined(HAL_BOOTLOADER_BUILD)