From 22feb3c08a2a23895d28d7e0f30354c825e9434e Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 1 Feb 2023 23:53:43 +1100
Subject: [PATCH] AP_Compass: add and use AP_COMPASS_AK8963_ENABLED

---
 libraries/AP_Compass/AP_Compass.cpp        | 12 ++++++++++++
 libraries/AP_Compass/AP_Compass.h          |  2 ++
 libraries/AP_Compass/AP_Compass_AK8963.cpp |  8 +++++++-
 libraries/AP_Compass/AP_Compass_AK8963.h   |  6 ++++++
 libraries/AP_Compass/AP_Compass_config.h   |  4 ++++
 5 files changed, 31 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_Compass/AP_Compass.cpp b/libraries/AP_Compass/AP_Compass.cpp
index 08db770f74..2d9647ebb2 100644
--- a/libraries/AP_Compass/AP_Compass.cpp
+++ b/libraries/AP_Compass/AP_Compass.cpp
@@ -1368,9 +1368,11 @@ void Compass::_detect_backends(void)
 #if AP_COMPASS_LSM303D_ENABLED
         ADD_BACKEND(DRIVER_LSM303D, AP_Compass_LSM303D::probe(hal.spi->get_device(HAL_INS_LSM9DS0_EXT_A_NAME), ROTATION_YAW_270));
 #endif
+#if AP_COMPASS_AK8963_ENABLED
         // we run the AK8963 only on the 2nd MPU9250, which leaves the
         // first MPU9250 to run without disturbance at high rate
         ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(1, ROTATION_YAW_270));
+#endif
         ADD_BACKEND(DRIVER_AK09916, AP_Compass_AK09916::probe_ICM20948(0, ROTATION_ROLL_180_YAW_90));
         break;
 
@@ -1387,25 +1389,35 @@ void Compass::_detect_backends(void)
         break;
 
     case AP_BoardConfig::PX4_BOARD_SP01:
+#if AP_COMPASS_AK8963_ENABLED
         ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(1, ROTATION_NONE));
+#endif
         break;
 
     case AP_BoardConfig::PX4_BOARD_PIXHAWK_PRO:
+#if AP_COMPASS_AK8963_ENABLED
         ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0, ROTATION_ROLL_180_YAW_90));
+#endif
         ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(hal.spi->get_device(HAL_COMPASS_LIS3MDL_NAME),
                     false, ROTATION_NONE));
         break;
 
     case AP_BoardConfig::PX4_BOARD_PHMINI:
+#if AP_COMPASS_AK8963_ENABLED
         ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0, ROTATION_ROLL_180));
+#endif
         break;
 
     case AP_BoardConfig::PX4_BOARD_AUAV21:
+#if AP_COMPASS_AK8963_ENABLED
         ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0, ROTATION_ROLL_180_YAW_90));
+#endif
         break;
 
     case AP_BoardConfig::PX4_BOARD_PH2SLIM:
+#if AP_COMPASS_AK8963_ENABLED
         ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0, ROTATION_YAW_270));
+#endif
         break;
 
     case AP_BoardConfig::PX4_BOARD_MINDPXV2:
diff --git a/libraries/AP_Compass/AP_Compass.h b/libraries/AP_Compass/AP_Compass.h
index deb7b6fd05..65d74dd44c 100644
--- a/libraries/AP_Compass/AP_Compass.h
+++ b/libraries/AP_Compass/AP_Compass.h
@@ -420,7 +420,9 @@ private:
 #if AP_COMPASS_LSM303D_ENABLED
         DRIVER_LSM303D  =1,
 #endif
+#if AP_COMPASS_AK8963_ENABLED
         DRIVER_AK8963   =2,
+#endif
         DRIVER_BMM150   =3,
         DRIVER_LSM9DS1  =4,
         DRIVER_LIS3MDL  =5,
diff --git a/libraries/AP_Compass/AP_Compass_AK8963.cpp b/libraries/AP_Compass/AP_Compass_AK8963.cpp
index bdb79f81ac..4c4ced9e3f 100644
--- a/libraries/AP_Compass/AP_Compass_AK8963.cpp
+++ b/libraries/AP_Compass/AP_Compass_AK8963.cpp
@@ -12,13 +12,17 @@
    You should have received a copy of the GNU General Public License
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
+
+#include "AP_Compass_AK8963.h"
+
+#if AP_COMPASS_AK8963_ENABLED
+
 #include <assert.h>
 #include <utility>
 
 #include <AP_Math/AP_Math.h>
 #include <AP_HAL/AP_HAL.h>
 
-#include "AP_Compass_AK8963.h"
 #include <AP_InertialSensor/AP_InertialSensor_Invensense.h>
 
 #define AK8963_I2C_ADDR                                 0x0c
@@ -400,3 +404,5 @@ uint32_t AP_AK8963_BusDriver_Auxiliary::get_bus_id(void) const
 {
     return _bus->get_bus_id();
 }
+
+#endif  // AP_COMPASS_AK8963_ENABLED
diff --git a/libraries/AP_Compass/AP_Compass_AK8963.h b/libraries/AP_Compass/AP_Compass_AK8963.h
index f754da8d81..7b61768d84 100644
--- a/libraries/AP_Compass/AP_Compass_AK8963.h
+++ b/libraries/AP_Compass/AP_Compass_AK8963.h
@@ -1,5 +1,9 @@
 #pragma once
 
+#include "AP_Compass_config.h"
+
+#if AP_COMPASS_AK8963_ENABLED
+
 #include <AP_Common/AP_Common.h>
 #include <AP_HAL/AP_HAL.h>
 #include <AP_HAL/I2CDevice.h>
@@ -136,3 +140,5 @@ private:
     AuxiliaryBusSlave *_slave;
     bool _started;
 };
+
+#endif  // AP_COMPASS_AK8963_ENABLED
diff --git a/libraries/AP_Compass/AP_Compass_config.h b/libraries/AP_Compass/AP_Compass_config.h
index b522ef95b2..9aea7c9b32 100644
--- a/libraries/AP_Compass/AP_Compass_config.h
+++ b/libraries/AP_Compass/AP_Compass_config.h
@@ -34,6 +34,10 @@
 #define AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED AP_COMPASS_BACKEND_DEFAULT_ENABLED
 #endif
 
+#ifndef AP_COMPASS_AK8963_ENABLED
+#define AP_COMPASS_AK8963_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
+#endif
+
 #ifndef AP_COMPASS_HMC5843_ENABLED
 #define AP_COMPASS_HMC5843_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
 #endif