From cbd1264f909bb60e52f903152418af4b8513bacb Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 27 Jan 2023 15:09:50 +1100
Subject: [PATCH] AP_Compass: add and use AP_COMPASS_LSM303D_ENABLED

---
 libraries/AP_Compass/AP_Compass.cpp         | 6 ++++++
 libraries/AP_Compass/AP_Compass.h           | 2 ++
 libraries/AP_Compass/AP_Compass_LSM303D.cpp | 9 +++++++--
 libraries/AP_Compass/AP_Compass_LSM303D.h   | 6 ++++++
 libraries/AP_Compass/AP_Compass_config.h    | 4 ++++
 5 files changed, 25 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_Compass/AP_Compass.cpp b/libraries/AP_Compass/AP_Compass.cpp
index 62b821efed..b986c4c4e5 100644
--- a/libraries/AP_Compass/AP_Compass.cpp
+++ b/libraries/AP_Compass/AP_Compass.cpp
@@ -1353,11 +1353,15 @@ void Compass::_detect_backends(void)
     case AP_BoardConfig::PX4_BOARD_PIXHAWK:
         ADD_BACKEND(DRIVER_HMC5843, AP_Compass_HMC5843::probe(hal.spi->get_device(HAL_COMPASS_HMC5843_NAME),
                     false, ROTATION_PITCH_180));
+#if AP_COMPASS_LSM303D_ENABLED
         ADD_BACKEND(DRIVER_LSM303D, AP_Compass_LSM303D::probe(hal.spi->get_device(HAL_INS_LSM9DS0_A_NAME), ROTATION_NONE));
+#endif
         break;
 
     case AP_BoardConfig::PX4_BOARD_PIXHAWK2:
+#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
         // 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));
@@ -1401,7 +1405,9 @@ void Compass::_detect_backends(void)
     case AP_BoardConfig::PX4_BOARD_MINDPXV2:
         ADD_BACKEND(DRIVER_HMC5843, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(0, HAL_COMPASS_HMC5843_I2C_ADDR),
                     false, ROTATION_YAW_90));
+#if AP_COMPASS_LSM303D_ENABLED
         ADD_BACKEND(DRIVER_LSM303D, AP_Compass_LSM303D::probe(hal.spi->get_device(HAL_INS_LSM9DS0_A_NAME), ROTATION_PITCH_180_YAW_270));
+#endif
         break;
 
     default:
diff --git a/libraries/AP_Compass/AP_Compass.h b/libraries/AP_Compass/AP_Compass.h
index 074b94ead4..92a4919c2b 100644
--- a/libraries/AP_Compass/AP_Compass.h
+++ b/libraries/AP_Compass/AP_Compass.h
@@ -415,7 +415,9 @@ private:
     // enum of drivers for COMPASS_TYPEMASK
     enum DriverType {
         DRIVER_HMC5843  =0,
+#if AP_COMPASS_LSM303D_ENABLED
         DRIVER_LSM303D  =1,
+#endif
         DRIVER_AK8963   =2,
         DRIVER_BMM150   =3,
         DRIVER_LSM9DS1  =4,
diff --git a/libraries/AP_Compass/AP_Compass_LSM303D.cpp b/libraries/AP_Compass/AP_Compass_LSM303D.cpp
index ec5910e8b7..c3a2e68217 100644
--- a/libraries/AP_Compass/AP_Compass_LSM303D.cpp
+++ b/libraries/AP_Compass/AP_Compass_LSM303D.cpp
@@ -12,13 +12,16 @@
    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_LSM303D.h"
+
+#if AP_COMPASS_LSM303D_ENABLED
+
 #include <utility>
 
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Math/AP_Math.h>
 
-#include "AP_Compass_LSM303D.h"
-
 extern const AP_HAL::HAL &hal;
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
@@ -428,3 +431,5 @@ bool AP_Compass_LSM303D::_mag_set_samplerate(uint16_t frequency)
 
     return true;
 }
+
+#endif  // AP_COMPASS_LSM303D_ENABLED
diff --git a/libraries/AP_Compass/AP_Compass_LSM303D.h b/libraries/AP_Compass/AP_Compass_LSM303D.h
index 7c72d41ede..328e0477e0 100644
--- a/libraries/AP_Compass/AP_Compass_LSM303D.h
+++ b/libraries/AP_Compass/AP_Compass_LSM303D.h
@@ -1,5 +1,9 @@
 #pragma once
 
+#include "AP_Compass_config.h"
+
+#if AP_COMPASS_LSM303D_ENABLED
+
 #include <AP_Common/AP_Common.h>
 #include <AP_HAL/AP_HAL.h>
 #include <AP_HAL/Device.h>
@@ -53,3 +57,5 @@ private:
     uint8_t _mag_samplerate;
     uint8_t _reg7_expected;
 };
+
+#endif  // AP_COMPASS_LSM303D_ENABLED
diff --git a/libraries/AP_Compass/AP_Compass_config.h b/libraries/AP_Compass/AP_Compass_config.h
index d10af7e9d8..37a6f97893 100644
--- a/libraries/AP_Compass/AP_Compass_config.h
+++ b/libraries/AP_Compass/AP_Compass_config.h
@@ -37,3 +37,7 @@
 #ifndef AP_COMPASS_IST8308_ENABLED
 #define AP_COMPASS_IST8308_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
 #endif
+
+#ifndef AP_COMPASS_LSM303D_ENABLED
+#define AP_COMPASS_LSM303D_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
+#endif