From feb809fbb719aa217bfd6eb84a5ed933b46926e8 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 8 Feb 2023 09:55:11 +1100
Subject: [PATCH] AP_Compass: add and use AP_COMPASS_BMM150_ENABLED

---
 libraries/AP_Compass/AP_Compass.cpp        | 8 +++++---
 libraries/AP_Compass/AP_Compass.h          | 2 ++
 libraries/AP_Compass/AP_Compass_BMM150.cpp | 4 ++++
 libraries/AP_Compass/AP_Compass_BMM150.h   | 6 ++++++
 libraries/AP_Compass/AP_Compass_config.h   | 4 ++++
 5 files changed, 21 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_Compass/AP_Compass.cpp b/libraries/AP_Compass/AP_Compass.cpp
index 2d9647ebb2..9d5f2e8101 100644
--- a/libraries/AP_Compass/AP_Compass.cpp
+++ b/libraries/AP_Compass/AP_Compass.cpp
@@ -1251,15 +1251,15 @@ void Compass::_probe_external_i2c_compasses(void)
 #endif
 #endif
 
-#if AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED && !defined(STM32F1)
-    // BMM150 on I2C, not on F1 to save flash
+#if AP_COMPASS_BMM150_ENABLED
+    // BMM150 on I2C
     FOREACH_I2C_EXTERNAL(i) {
         for (uint8_t addr=BMM150_I2C_ADDR_MIN; addr <= BMM150_I2C_ADDR_MAX; addr++) {
             ADD_BACKEND(DRIVER_BMM150,
                         AP_Compass_BMM150::probe(GET_I2C_DEVICE(i, addr), true, ROTATION_NONE));
         }
     }
-#endif // HAL_BUILD_AP_PERIPH
+#endif // AP_COMPASS_BMM150_ENABLED
 }
 
 /*
@@ -1320,8 +1320,10 @@ void Compass::_detect_backends(void)
         break;
 
     case AP_BoardConfig::PX4_BOARD_PCNC1:
+#if AP_COMPASS_BMM150_ENABLED
         ADD_BACKEND(DRIVER_BMM150,
                     AP_Compass_BMM150::probe(GET_I2C_DEVICE(0, 0x10), false, ROTATION_NONE));
+#endif
         break;
     case AP_BoardConfig::VRX_BOARD_BRAIN54:
     case AP_BoardConfig::VRX_BOARD_BRAIN51: {
diff --git a/libraries/AP_Compass/AP_Compass.h b/libraries/AP_Compass/AP_Compass.h
index 65d74dd44c..6799eb06c5 100644
--- a/libraries/AP_Compass/AP_Compass.h
+++ b/libraries/AP_Compass/AP_Compass.h
@@ -423,7 +423,9 @@ private:
 #if AP_COMPASS_AK8963_ENABLED
         DRIVER_AK8963   =2,
 #endif
+#if AP_COMPASS_BMM150_ENABLED
         DRIVER_BMM150   =3,
+#endif
         DRIVER_LSM9DS1  =4,
         DRIVER_LIS3MDL  =5,
         DRIVER_AK09916  =6,
diff --git a/libraries/AP_Compass/AP_Compass_BMM150.cpp b/libraries/AP_Compass/AP_Compass_BMM150.cpp
index 7d26f6ed29..7be066c66f 100644
--- a/libraries/AP_Compass/AP_Compass_BMM150.cpp
+++ b/libraries/AP_Compass/AP_Compass_BMM150.cpp
@@ -16,6 +16,8 @@
  */
 #include "AP_Compass_BMM150.h"
 
+#if AP_COMPASS_BMM150_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 
 #include <utility>
@@ -325,3 +327,5 @@ void AP_Compass_BMM150::read()
     drain_accumulated_samples(_compass_instance);
 }
 
+
+#endif  // AP_COMPASS_BMM150_ENABLED
diff --git a/libraries/AP_Compass/AP_Compass_BMM150.h b/libraries/AP_Compass/AP_Compass_BMM150.h
index 36cd26ac73..2043f1b890 100644
--- a/libraries/AP_Compass/AP_Compass_BMM150.h
+++ b/libraries/AP_Compass/AP_Compass_BMM150.h
@@ -16,6 +16,10 @@
  */
 #pragma once
 
+#include "AP_Compass_config.h"
+
+#if AP_COMPASS_BMM150_ENABLED
+
 #include <AP_Common/AP_Common.h>
 #include <AP_HAL/AP_HAL.h>
 #include <AP_HAL/I2CDevice.h>
@@ -70,3 +74,5 @@ private:
     enum Rotation _rotation;
     bool _force_external;
 };
+
+#endif  // AP_COMPASS_BMM150_ENABLED
diff --git a/libraries/AP_Compass/AP_Compass_config.h b/libraries/AP_Compass/AP_Compass_config.h
index 9aea7c9b32..eabbe9de1b 100644
--- a/libraries/AP_Compass/AP_Compass_config.h
+++ b/libraries/AP_Compass/AP_Compass_config.h
@@ -38,6 +38,10 @@
 #define AP_COMPASS_AK8963_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
 #endif
 
+#ifndef AP_COMPASS_BMM150_ENABLED
+#define AP_COMPASS_BMM150_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED && !defined(STM32F1)
+#endif
+
 #ifndef AP_COMPASS_HMC5843_ENABLED
 #define AP_COMPASS_HMC5843_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
 #endif