From ee6b44113d03dbdd535e54981cea9954d7e796c2 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 20 Feb 2023 12:05:07 +1100
Subject: [PATCH] AP_Compass: add and use AP_COMPASS_ICM20948_ENABLED

---
 libraries/AP_Compass/AP_Compass.cpp         | 6 +++---
 libraries/AP_Compass/AP_Compass.h           | 2 ++
 libraries/AP_Compass/AP_Compass_AK09916.cpp | 2 ++
 libraries/AP_Compass/AP_Compass_AK09916.h   | 2 ++
 libraries/AP_Compass/AP_Compass_config.h    | 4 ++++
 5 files changed, 13 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_Compass/AP_Compass.cpp b/libraries/AP_Compass/AP_Compass.cpp
index 87c0fde243..2143550e2f 100644
--- a/libraries/AP_Compass/AP_Compass.cpp
+++ b/libraries/AP_Compass/AP_Compass.cpp
@@ -1107,7 +1107,7 @@ void Compass::_probe_external_i2c_compasses(void)
 
 #ifndef HAL_BUILD_AP_PERIPH
     // AK09916 on ICM20948
-#if AP_COMPASS_AK09916_ENABLED
+#if AP_COMPASS_AK09916_ENABLED && AP_COMPASS_ICM20948_ENABLED
     FOREACH_I2C_EXTERNAL(i) {
         ADD_BACKEND(DRIVER_ICM20948, AP_Compass_AK09916::probe_ICM20948(GET_I2C_DEVICE(i, HAL_COMPASS_AK09916_I2C_ADDR),
                     GET_I2C_DEVICE(i, HAL_COMPASS_ICM20948_I2C_ADDR),
@@ -1127,7 +1127,7 @@ void Compass::_probe_external_i2c_compasses(void)
                     all_external, ROTATION_PITCH_180_YAW_90));
     }
 #endif
-#endif  // AP_COMPASS_AK09916_ENABLED
+#endif  // AP_COMPASS_AK09916_ENABLED && AP_COMPASS_ICM20948_ENABLED
 #endif // HAL_BUILD_AP_PERIPH
 
 #if AP_COMPASS_LIS3MDL_ENABLED
@@ -1380,7 +1380,7 @@ void Compass::_detect_backends(void)
         // first MPU9250 to run without disturbance at high rate
         ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(1, ROTATION_YAW_270));
 #endif
-#if AP_COMPASS_AK09916_ENABLED
+#if AP_COMPASS_AK09916_ENABLED && AP_COMPASS_ICM20948_ENABLED
         ADD_BACKEND(DRIVER_AK09916, AP_Compass_AK09916::probe_ICM20948(0, ROTATION_ROLL_180_YAW_90));
 #endif
         break;
diff --git a/libraries/AP_Compass/AP_Compass.h b/libraries/AP_Compass/AP_Compass.h
index 6f798eff75..25857d4407 100644
--- a/libraries/AP_Compass/AP_Compass.h
+++ b/libraries/AP_Compass/AP_Compass.h
@@ -438,7 +438,9 @@ private:
 #if AP_COMPASS_IST8310_ENABLED
         DRIVER_IST8310  =7,
 #endif
+#if AP_COMPASS_ICM20948_ENABLED
         DRIVER_ICM20948 =8,
+#endif
         DRIVER_MMC3416  =9,
 #if AP_COMPASS_UAVCAN_ENABLED
         DRIVER_UAVCAN   =11,
diff --git a/libraries/AP_Compass/AP_Compass_AK09916.cpp b/libraries/AP_Compass/AP_Compass_AK09916.cpp
index ba1a808057..a7d959d4f0 100644
--- a/libraries/AP_Compass/AP_Compass_AK09916.cpp
+++ b/libraries/AP_Compass/AP_Compass_AK09916.cpp
@@ -100,6 +100,7 @@ AP_Compass_Backend *AP_Compass_AK09916::probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice>
     return sensor;
 }
 
+#if AP_COMPASS_ICM20948_ENABLED
 AP_Compass_Backend *AP_Compass_AK09916::probe_ICM20948(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
                                                      AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev_icm,
                                                      bool force_external,
@@ -221,6 +222,7 @@ AP_Compass_Backend *AP_Compass_AK09916::probe_ICM20948_I2C(uint8_t inv2_instance
 
     return sensor;
 }
+#endif  // AP_COMPASS_ICM20948_ENABLED
 
 bool AP_Compass_AK09916::init()
 {
diff --git a/libraries/AP_Compass/AP_Compass_AK09916.h b/libraries/AP_Compass/AP_Compass_AK09916.h
index cab98d50de..f83550e64a 100644
--- a/libraries/AP_Compass/AP_Compass_AK09916.h
+++ b/libraries/AP_Compass/AP_Compass_AK09916.h
@@ -52,6 +52,7 @@ public:
                                      bool force_external,
                                      enum Rotation rotation);
 
+#if AP_COMPASS_ICM20948_ENABLED
     /* Probe for AK09916 on auxiliary bus of ICM20948, connected through I2C */
     static AP_Compass_Backend *probe_ICM20948(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
                                              AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev_icm,
@@ -66,6 +67,7 @@ public:
 	/* Probe for AK09916 on auxiliary bus of ICM20948, connected through I2C */
     static AP_Compass_Backend *probe_ICM20948_I2C(uint8_t mpu9250_instance,
                                              enum Rotation rotation);
+#endif
 
     static constexpr const char *name = "AK09916";
 
diff --git a/libraries/AP_Compass/AP_Compass_config.h b/libraries/AP_Compass/AP_Compass_config.h
index f08dae86e3..d79bf1ea2e 100644
--- a/libraries/AP_Compass/AP_Compass_config.h
+++ b/libraries/AP_Compass/AP_Compass_config.h
@@ -59,6 +59,10 @@
 #define AP_COMPASS_HMC5843_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
 #endif
 
+#ifndef AP_COMPASS_ICM20948_ENABLED
+#define AP_COMPASS_ICM20948_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
+#endif
+
 #ifndef AP_COMPASS_IST8308_ENABLED
 #define AP_COMPASS_IST8308_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
 #endif