AP_Compass: add and use AP_COMPASS_HMC5843_ENABLED

libraries/AP_Compass/AP_Compass.cpp

@@ -1065,7 +1065,7 @@ void Compass::_probe_external_i2c_compasses(void)
 #if !defined(HAL_SKIP_AUTO_INTERNAL_I2C_PROBE)
     bool all_external = (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXHAWK2);
 #endif
-#if AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED || defined(HAL_USE_I2C_MAG_HMC5843)
+#if AP_COMPASS_HMC5843_ENABLED
     // external i2c bus
     FOREACH_I2C_EXTERNAL(i) {
         ADD_BACKEND(DRIVER_HMC5843, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(i, HAL_COMPASS_HMC5843_I2C_ADDR),
@@ -1081,8 +1081,8 @@ void Compass::_probe_external_i2c_compasses(void)
                         all_external, all_external?ROTATION_ROLL_180:ROTATION_YAW_270));
         }
     }
-#endif
-#endif
+#endif  // !defined(HAL_SKIP_AUTO_INTERNAL_I2C_PROBE)
+#endif  // AP_COMPASS_HMC5843_ENABLED
 
 #if AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED || defined(HAL_USE_I2C_MAG_QMC5883L)
     //external i2c bus
@@ -1325,6 +1325,7 @@ void Compass::_detect_backends(void)
         break;
     case AP_BoardConfig::VRX_BOARD_BRAIN54:
     case AP_BoardConfig::VRX_BOARD_BRAIN51: {
+#if AP_COMPASS_HMC5843_ENABLED
         // external i2c bus
         ADD_BACKEND(DRIVER_HMC5843, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(1, HAL_COMPASS_HMC5843_I2C_ADDR),
                     true, ROTATION_ROLL_180));
@@ -1332,6 +1333,7 @@ void Compass::_detect_backends(void)
         // internal i2c bus
         ADD_BACKEND(DRIVER_HMC5843, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(0, HAL_COMPASS_HMC5843_I2C_ADDR),
                     false, ROTATION_YAW_270));
+#endif  // AP_COMPASS_HMC5843_ENABLED
     }
     break;
 
@@ -1340,9 +1342,11 @@ void Compass::_detect_backends(void)
     case AP_BoardConfig::VRX_BOARD_CORE10:
     case AP_BoardConfig::VRX_BOARD_UBRAIN51:
     case AP_BoardConfig::VRX_BOARD_UBRAIN52: {
+#if AP_COMPASS_HMC5843_ENABLED
         // external i2c bus
         ADD_BACKEND(DRIVER_HMC5843, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(1, HAL_COMPASS_HMC5843_I2C_ADDR),
                     true, ROTATION_ROLL_180));
+#endif  // AP_COMPASS_HMC5843_ENABLED
     }
     break;
 
@@ -1351,8 +1355,10 @@ void Compass::_detect_backends(void)
     }
     switch (AP_BoardConfig::get_board_type()) {
     case AP_BoardConfig::PX4_BOARD_PIXHAWK:
+#if AP_COMPASS_HMC5843_ENABLED
         ADD_BACKEND(DRIVER_HMC5843, AP_Compass_HMC5843::probe(hal.spi->get_device(HAL_COMPASS_HMC5843_NAME),
                     false, ROTATION_PITCH_180));
+#endif
 #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
@@ -1403,8 +1409,10 @@ void Compass::_detect_backends(void)
         break;
 
     case AP_BoardConfig::PX4_BOARD_MINDPXV2:
+#if AP_COMPASS_HMC5843_ENABLED
         ADD_BACKEND(DRIVER_HMC5843, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(0, HAL_COMPASS_HMC5843_I2C_ADDR),
                     false, ROTATION_YAW_90));
+#endif
 #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

libraries/AP_Compass/AP_Compass.h

@@ -414,7 +414,9 @@ private:
 
     // enum of drivers for COMPASS_TYPEMASK
     enum DriverType {
+#if AP_COMPASS_HMC5843_ENABLED
         DRIVER_HMC5843  =0,
+#endif
 #if AP_COMPASS_LSM303D_ENABLED
         DRIVER_LSM303D  =1,
 #endif

libraries/AP_Compass/AP_Compass_HMC5843.cpp

@@ -21,9 +21,9 @@
  *       Sensor is initialized in Continuos mode (10Hz)
  *
  */
-#include <AP_HAL/AP_HAL.h>
+#include "AP_Compass_HMC5843.h"
 
-#ifdef HAL_COMPASS_HMC5843_I2C_ADDR
+#if AP_COMPASS_HMC5843_ENABLED
 
 #include <assert.h>
 #include <utility>
@@ -31,8 +31,7 @@
 
 #include <AP_Math/AP_Math.h>
 #include <AP_HAL/utility/sparse-endian.h>
-
-#include "AP_Compass_HMC5843.h"
+#include <AP_HAL/AP_HAL.h>
 #include <AP_InertialSensor/AP_InertialSensor.h>
 #include <AP_InertialSensor/AuxiliaryBus.h>
 
@@ -587,4 +586,4 @@ uint32_t AP_HMC5843_BusDriver_Auxiliary::get_bus_id(void) const
     return _bus->get_bus_id();
 }
 
-#endif
+#endif  // AP_COMPASS_HMC5843_ENABLED

libraries/AP_Compass/AP_Compass_HMC5843.h

@@ -1,11 +1,17 @@
 #pragma once
 
+#include "AP_Compass_config.h"
+
+#if AP_COMPASS_HMC5843_ENABLED
+
+#ifndef HAL_COMPASS_HMC5843_I2C_ADDR
+#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
+#endif
+
 #include <AP_Common/AP_Common.h>
 #include <AP_HAL/AP_HAL.h>
 #include <AP_HAL/Device.h>
-#include <AP_Math/AP_Math.h>
 
-#include "AP_Compass.h"
 #include "AP_Compass_Backend.h"
 
 class AuxiliaryBus;
@@ -147,3 +153,5 @@ private:
     AuxiliaryBusSlave *_slave;
     bool _started;
 };
+
+#endif // AP_COMPASS_HMC5843_ENABLED

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_HMC5843_ENABLED
+#define AP_COMPASS_HMC5843_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