[DO NOT MERGE] boards: mro_pixracerpro remap GPS1 to 4xPWM/DSHOT

src/drivers/barometer/dps310/DPS310_I2C.cpp

@@ -37,6 +37,8 @@
  * I2C interface for DPS310
  */
 
+#if defined(CONFIG_I2C)
+
 #include <lib/drivers/device/i2c.h>
 
 namespace dps310
@@ -89,3 +91,5 @@ DPS310_I2C::write(unsigned address, void *data, unsigned count)
 }
 
 } // namespace dps310
+
+#endif // CONFIG_I2C

src/drivers/barometer/dps310/dps310_main.cpp

@@ -36,7 +36,9 @@
 namespace dps310
 {
 extern device::Device *DPS310_SPI_interface(uint8_t bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode);
+#if defined(CONFIG_I2C)
 extern device::Device *DPS310_I2C_interface(uint8_t bus, uint32_t device, int bus_frequency);
+#endif // CONFIG_I2C
 }
 
 #include <px4_platform_common/getopt.h>
@@ -59,12 +61,16 @@ I2CSPIDriverBase *DPS310::instantiate(const I2CSPIDriverConfig &config, int runt
 {
 	device::Device *interface = nullptr;
 
+#if defined(CONFIG_I2C)
+
 	if (config.bus_type == BOARD_I2C_BUS) {
 		interface = DPS310_I2C_interface(config.bus, config.i2c_address, config.bus_frequency);
 
-	} else if (config.bus_type == BOARD_SPI_BUS) {
-		interface = DPS310_SPI_interface(config.bus, config.spi_devid, config.bus_frequency, config.spi_mode);
-	}
+	} else
+#endif // CONFIG_I2C
+		if (config.bus_type == BOARD_SPI_BUS) {
+			interface = DPS310_SPI_interface(config.bus, config.spi_devid, config.bus_frequency, config.spi_mode);
+		}
 
 	if (interface == nullptr) {
 		PX4_ERR("failed creating interface for bus %i (devid 0x%" PRIx32 ")", config.bus, config.spi_devid);
@@ -95,9 +101,15 @@ I2CSPIDriverBase *DPS310::instantiate(const I2CSPIDriverConfig &config, int runt
 extern "C" int dps310_main(int argc, char *argv[])
 {
 	using ThisDriver = DPS310;
-	BusCLIArguments cli{true, true};
+
+#if defined(CONFIG_I2C)
+	BusCLIArguments cli {true, true};
 	cli.i2c_address = 0x77;
 	cli.default_i2c_frequency = 400000;
+#else
+	BusCLIArguments cli {false, true};
+#endif // CONFIG_I2C
+
 	cli.default_spi_frequency = 10 * 1000 * 1000;
 
 	const char *verb = cli.parseDefaultArguments(argc, argv);

src/drivers/imu/invensense/icm20948/CMakeLists.txt

@@ -49,15 +49,17 @@ px4_add_module(
 		drivers_magnetometer
 	)
 
-px4_add_module(
-	MODULE drivers__imu__invensense__icm20948_i2c_passthrough
-	MAIN icm20948_i2c_passthrough
-	COMPILE_FLAGS
-	SRCS
-		ICM20948_I2C_Passthrough.cpp
-		ICM20948_I2C_Passthrough.hpp
-		icm20948_i2c_passthrough_main.cpp
-		InvenSense_ICM20948_registers.hpp
-	DEPENDS
-		px4_work_queue
-	)
+if(CONFIG_I2C)
+	px4_add_module(
+		MODULE drivers__imu__invensense__icm20948_i2c_passthrough
+		MAIN icm20948_i2c_passthrough
+		COMPILE_FLAGS
+		SRCS
+			ICM20948_I2C_Passthrough.cpp
+			ICM20948_I2C_Passthrough.hpp
+			icm20948_i2c_passthrough_main.cpp
+			InvenSense_ICM20948_registers.hpp
+		DEPENDS
+			px4_work_queue
+		)
+endif()

src/drivers/imu/invensense/icm20948/ICM20948_AK09916.hpp

@@ -43,7 +43,6 @@
 #include "AKM_AK09916_registers.hpp"
 
 #include <drivers/drv_hrt.h>
-#include <lib/drivers/device/i2c.h>
 #include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
 #include <lib/perf/perf_counter.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>