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AP_Compass: fix periph-heavy compile errors with different things enabled

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This commit is contained in:
Tom Pittenger 2021-08-30 00:29:49 -07:00 committed by Tom Pittenger
parent 6ac1b7daf2
commit d45526ff42
3 changed files with 17 additions and 0 deletions
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6
libraries/AP_Compass/AP_Compass_AK09916.cpp
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@ -170,6 +170,7 @@ fail:
AP_Compass_Backend *AP_Compass_AK09916::probe_ICM20948(uint8_t inv2_instance,
enum Rotation rotation)
{
#if HAL_INS_ENABLED
AP_InertialSensor &ins = AP::ins();
AP_AK09916_BusDriver *bus =
@ -185,6 +186,9 @@ AP_Compass_Backend *AP_Compass_AK09916::probe_ICM20948(uint8_t inv2_instance,
}
return sensor;
#else
return nullptr;
#endif
}
bool AP_Compass_AK09916::init()
@ -368,12 +372,14 @@ AP_AK09916_BusDriver_Auxiliary::AP_AK09916_BusDriver_Auxiliary(AP_InertialSensor
* Only initialize members. Fails are handled by configure or while
* getting the semaphore
*/
#if HAL_INS_ENABLED
_bus = ins.get_auxiliary_bus(backend_id, backend_instance);
if (!_bus) {
return;
}
_slave = _bus->request_next_slave(addr);
#endif
}
AP_AK09916_BusDriver_Auxiliary::~AP_AK09916_BusDriver_Auxiliary()

9
libraries/AP_Compass/AP_Compass_AK8963.cpp
View File

@ -90,10 +90,12 @@ AP_Compass_Backend *AP_Compass_AK8963::probe_mpu9250(AP_HAL::OwnPtr<AP_HAL::I2CD
if (!dev) {
return nullptr;
}
#if HAL_INS_ENABLED
AP_InertialSensor &ins = *AP_InertialSensor::get_singleton();
/* Allow MPU9250 to shortcut auxiliary bus and host bus */
ins.detect_backends();
#endif
return probe(std::move(dev), rotation);
}
@ -101,6 +103,7 @@ AP_Compass_Backend *AP_Compass_AK8963::probe_mpu9250(AP_HAL::OwnPtr<AP_HAL::I2CD
AP_Compass_Backend *AP_Compass_AK8963::probe_mpu9250(uint8_t mpu9250_instance,
enum Rotation rotation)
{
#if HAL_INS_ENABLED
AP_InertialSensor &ins = *AP_InertialSensor::get_singleton();
AP_AK8963_BusDriver *bus =
@ -116,6 +119,10 @@ AP_Compass_Backend *AP_Compass_AK8963::probe_mpu9250(uint8_t mpu9250_instance,
}
return sensor;
#else
return nullptr;
#endif
}
bool AP_Compass_AK8963::init()
@ -305,12 +312,14 @@ AP_AK8963_BusDriver_Auxiliary::AP_AK8963_BusDriver_Auxiliary(AP_InertialSensor &
* Only initialize members. Fails are handled by configure or while
* getting the semaphore
*/
#if HAL_INS_ENABLED
_bus = ins.get_auxiliary_bus(backend_id, backend_instance);
if (!_bus) {
return;
}
_slave = _bus->request_next_slave(addr);
#endif
}
AP_AK8963_BusDriver_Auxiliary::~AP_AK8963_BusDriver_Auxiliary()

2
libraries/AP_Compass/AP_Compass_HMC5843.cpp
View File

@ -498,12 +498,14 @@ AP_HMC5843_BusDriver_Auxiliary::AP_HMC5843_BusDriver_Auxiliary(AP_InertialSensor
* Only initialize members. Fails are handled by configure or while
* getting the semaphore
*/
#if HAL_INS_ENABLED
_bus = ins.get_auxiliary_bus(backend_id);
if (!_bus) {
return;
}
_slave = _bus->request_next_slave(addr);
#endif
}
AP_HMC5843_BusDriver_Auxiliary::~AP_HMC5843_BusDriver_Auxiliary()