From cfa37c7d2a219af39de2ff195c38b9f9a679417e Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 17 Nov 2023 13:29:59 +1100
Subject: [PATCH] AP_EFI: fixed build on boards without EFI support

---
 libraries/AP_EFI/AP_EFI_Backend.h                 | 5 +++++
 libraries/AP_EFI/AP_EFI_DroneCAN.cpp              | 4 +++-
 libraries/AP_EFI/AP_EFI_Serial_Hirth.cpp          | 4 ++--
 libraries/AP_EFI/AP_EFI_Serial_Lutan.h            | 6 ++++++
 libraries/AP_EFI/AP_EFI_Serial_MS.h               | 6 ++++++
 libraries/AP_EFI/AP_EFI_ThrottleLinearisation.cpp | 4 ++--
 6 files changed, 24 insertions(+), 5 deletions(-)

diff --git a/libraries/AP_EFI/AP_EFI_Backend.h b/libraries/AP_EFI/AP_EFI_Backend.h
index e3db976dbf5785..fa5e180259aa31 100644
--- a/libraries/AP_EFI/AP_EFI_Backend.h
+++ b/libraries/AP_EFI/AP_EFI_Backend.h
@@ -14,6 +14,10 @@
  */
 #pragma once
 
+#include "AP_EFI_config.h"
+
+#if HAL_EFI_ENABLED
+
 #include "AP_EFI.h"
 #include "AP_EFI_State.h"
 #include <AP_HAL/Semaphores.h>
@@ -60,3 +64,4 @@ class AP_EFI_Backend {
 private:
     AP_EFI &frontend;
 };
+#endif // HAL_EFI_ENABLED
diff --git a/libraries/AP_EFI/AP_EFI_DroneCAN.cpp b/libraries/AP_EFI/AP_EFI_DroneCAN.cpp
index 50388c15080846..21d374250f5d9c 100644
--- a/libraries/AP_EFI/AP_EFI_DroneCAN.cpp
+++ b/libraries/AP_EFI/AP_EFI_DroneCAN.cpp
@@ -1,5 +1,7 @@
 #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
@@ -166,4 +168,4 @@ void AP_EFI_DroneCAN::handle_status(const uavcan::equipment::ice::reciprocating:
 }
 
 #endif // HAL_EFI_DRONECAN_ENABLED
-
+#endif // HAL_EFI_ENABLED
diff --git a/libraries/AP_EFI/AP_EFI_Serial_Hirth.cpp b/libraries/AP_EFI/AP_EFI_Serial_Hirth.cpp
index 84637996cadff6..723d73b38c0faa 100644
--- a/libraries/AP_EFI/AP_EFI_Serial_Hirth.cpp
+++ b/libraries/AP_EFI/AP_EFI_Serial_Hirth.cpp
@@ -17,7 +17,7 @@
 
 #include "AP_EFI_config.h"
 
-#if AP_EFI_SERIAL_HIRTH_ENABLED
+#if HAL_EFI_ENABLED && AP_EFI_SERIAL_HIRTH_ENABLED
 #include <AP_HAL/AP_HAL.h>
 #include <AP_EFI/AP_EFI_Serial_Hirth.h>
 #include <AP_SerialManager/AP_SerialManager.h>
@@ -387,4 +387,4 @@ void AP_EFI_Serial_Hirth::log_status(void)
 }
 #endif // HAL_LOGGING_ENABLED
 
-#endif // AP_EFI_SERIAL_HIRTH_ENABLED
+#endif // HAL_EFI_ENABLED && AP_EFI_SERIAL_HIRTH_ENABLED
diff --git a/libraries/AP_EFI/AP_EFI_Serial_Lutan.h b/libraries/AP_EFI/AP_EFI_Serial_Lutan.h
index 51832d65b6a99f..e16a7128306be0 100644
--- a/libraries/AP_EFI/AP_EFI_Serial_Lutan.h
+++ b/libraries/AP_EFI/AP_EFI_Serial_Lutan.h
@@ -17,6 +17,10 @@
  */
 #pragma once
 
+#include "AP_EFI_config.h"
+
+#if HAL_EFI_ENABLED
+
 #include "AP_EFI.h"
 #include "AP_EFI_Backend.h"
 
@@ -81,3 +85,5 @@ class AP_EFI_Serial_Lutan: public AP_EFI_Backend {
     uint32_t last_request_ms;
     uint32_t last_recv_ms;
 };
+
+#endif // HAL_EFI_ENABLED
diff --git a/libraries/AP_EFI/AP_EFI_Serial_MS.h b/libraries/AP_EFI/AP_EFI_Serial_MS.h
index f72701d3b664a0..4454a7fcc3e237 100644
--- a/libraries/AP_EFI/AP_EFI_Serial_MS.h
+++ b/libraries/AP_EFI/AP_EFI_Serial_MS.h
@@ -14,6 +14,10 @@
  */
 #pragma once
 
+#include "AP_EFI_config.h"
+
+#if HAL_EFI_ENABLED
+
 #include "AP_EFI.h"
 #include "AP_EFI_Backend.h"
 
@@ -108,3 +112,5 @@ class AP_EFI_Serial_MS: public AP_EFI_Backend {
         RT_LAST_OFFSET = FUEL_PRESSURE_LSB
     };
 };
+
+#endif // HAL_EFI_ENABLED
diff --git a/libraries/AP_EFI/AP_EFI_ThrottleLinearisation.cpp b/libraries/AP_EFI/AP_EFI_ThrottleLinearisation.cpp
index 5b63474672fda8..c4aec96beecdf2 100644
--- a/libraries/AP_EFI/AP_EFI_ThrottleLinearisation.cpp
+++ b/libraries/AP_EFI/AP_EFI_ThrottleLinearisation.cpp
@@ -1,6 +1,6 @@
 #include "AP_EFI_config.h"
 
-#if AP_EFI_THROTTLE_LINEARISATION_ENABLED
+#if HAL_EFI_ENABLED && AP_EFI_THROTTLE_LINEARISATION_ENABLED
 
 #include "AP_EFI.h"
 #include <AP_Param/AP_Param.h>
@@ -70,5 +70,5 @@ float AP_EFI_ThrLin::linearise_throttle(float throttle_percent)
     return ret;
 }
 
-#endif // AP_EFI_THROTTLE_LINEARISATION_ENABLED
+#endif // HAL_EFI_ENABLED && AP_EFI_THROTTLE_LINEARISATION_ENABLED