From b26d771c9f2c4028e3ff16a2b267242f35bdf06c Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 10 Feb 2023 12:48:02 +1100
Subject: [PATCH] AP_Compass: add and use AP_COMPASS_IST8310_ENABLED

---
 libraries/AP_Compass/AP_Compass.cpp         | 6 ++++--
 libraries/AP_Compass/AP_Compass.h           | 2 ++
 libraries/AP_Compass/AP_Compass_IST8310.cpp | 4 ++++
 libraries/AP_Compass/AP_Compass_IST8310.h   | 7 ++++++-
 libraries/AP_Compass/AP_Compass_config.h    | 4 ++++
 5 files changed, 20 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_Compass/AP_Compass.cpp b/libraries/AP_Compass/AP_Compass.cpp
index f31655cdfb..14a7f5986b 100644
--- a/libraries/AP_Compass/AP_Compass.cpp
+++ b/libraries/AP_Compass/AP_Compass.cpp
@@ -1168,7 +1168,7 @@ void Compass::_probe_external_i2c_compasses(void)
 #endif
 #endif
 
-#if AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED || defined(HAL_USE_I2C_MAG_IST8310)
+#if AP_COMPASS_IST8310_ENABLED
     // IST8310 on external and internal bus
     if (AP_BoardConfig::get_board_type() != AP_BoardConfig::PX4_BOARD_FMUV5 &&
         AP_BoardConfig::get_board_type() != AP_BoardConfig::PX4_BOARD_FMUV6) {
@@ -1195,7 +1195,7 @@ void Compass::_probe_external_i2c_compasses(void)
 #endif
         }
     }
-#endif
+#endif  // AP_COMPASS_IST8310_ENABLED
 
 #if AP_COMPASS_IST8308_ENABLED
     // external i2c bus
@@ -1380,6 +1380,7 @@ void Compass::_detect_backends(void)
 
     case AP_BoardConfig::PX4_BOARD_FMUV5:
     case AP_BoardConfig::PX4_BOARD_FMUV6:
+#if AP_COMPASS_IST8310_ENABLED
         FOREACH_I2C_EXTERNAL(i) {
             ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(GET_I2C_DEVICE(i, HAL_COMPASS_IST8310_I2C_ADDR),
                         true, ROTATION_ROLL_180_YAW_90));
@@ -1388,6 +1389,7 @@ void Compass::_detect_backends(void)
             ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(GET_I2C_DEVICE(i, HAL_COMPASS_IST8310_I2C_ADDR),
                         false, ROTATION_ROLL_180_YAW_90));
         }
+#endif  // AP_COMPASS_IST8310_ENABLED
         break;
 
     case AP_BoardConfig::PX4_BOARD_SP01:
diff --git a/libraries/AP_Compass/AP_Compass.h b/libraries/AP_Compass/AP_Compass.h
index 6799eb06c5..b484f62652 100644
--- a/libraries/AP_Compass/AP_Compass.h
+++ b/libraries/AP_Compass/AP_Compass.h
@@ -429,7 +429,9 @@ private:
         DRIVER_LSM9DS1  =4,
         DRIVER_LIS3MDL  =5,
         DRIVER_AK09916  =6,
+#if AP_COMPASS_IST8310_ENABLED
         DRIVER_IST8310  =7,
+#endif
         DRIVER_ICM20948 =8,
         DRIVER_MMC3416  =9,
         DRIVER_UAVCAN   =11,
diff --git a/libraries/AP_Compass/AP_Compass_IST8310.cpp b/libraries/AP_Compass/AP_Compass_IST8310.cpp
index 7a0769761d..be982a93c6 100644
--- a/libraries/AP_Compass/AP_Compass_IST8310.cpp
+++ b/libraries/AP_Compass/AP_Compass_IST8310.cpp
@@ -18,6 +18,8 @@
  */
 #include "AP_Compass_IST8310.h"
 
+#if AP_COMPASS_IST8310_ENABLED
+
 #include <stdio.h>
 #include <utility>
 
@@ -236,3 +238,5 @@ void AP_Compass_IST8310::read()
 {
     drain_accumulated_samples(_instance);
 }
+
+#endif  // AP_COMPASS_IST8310_ENABLED
diff --git a/libraries/AP_Compass/AP_Compass_IST8310.h b/libraries/AP_Compass/AP_Compass_IST8310.h
index e206c94961..abc01e0df8 100644
--- a/libraries/AP_Compass/AP_Compass_IST8310.h
+++ b/libraries/AP_Compass/AP_Compass_IST8310.h
@@ -16,12 +16,15 @@
  */
 #pragma once
 
+#include "AP_Compass_config.h"
+
+#if AP_COMPASS_IST8310_ENABLED
+
 #include <AP_Common/AP_Common.h>
 #include <AP_HAL/AP_HAL.h>
 #include <AP_HAL/I2CDevice.h>
 #include <AP_Math/AP_Math.h>
 
-#include "AP_Compass.h"
 #include "AP_Compass_Backend.h"
 
 #ifndef HAL_COMPASS_IST8310_I2C_ADDR
@@ -56,3 +59,5 @@ private:
     bool _ignore_next_sample;
     bool _force_external;
 };
+
+#endif  // AP_COMPASS_IST8310_ENABLED
diff --git a/libraries/AP_Compass/AP_Compass_config.h b/libraries/AP_Compass/AP_Compass_config.h
index 28043bc619..41f643ace5 100644
--- a/libraries/AP_Compass/AP_Compass_config.h
+++ b/libraries/AP_Compass/AP_Compass_config.h
@@ -59,6 +59,10 @@
 #define AP_COMPASS_IST8308_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
 #endif
 
+#ifndef AP_COMPASS_IST8310_ENABLED
+#define AP_COMPASS_IST8310_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