i2c_spi_buses: respect CONFIG_I2C and CONFIG_SPI

- bmp280, dps310, and ms5611 barometers support boards without I2C

boards/ark/can-flow/nuttx-config/include/board.h

@@ -124,10 +124,6 @@
 #define GPIO_CAN1_RX	GPIO_CAN1_RX_2
 #define GPIO_CAN1_TX	GPIO_CAN1_TX_2
 
-/* I2C */
-#define GPIO_I2C1_SCL	GPIO_I2C1_SCL_1
-#define GPIO_I2C1_SDA	GPIO_I2C1_SDA_1
-
 /* SPI */
 #define GPIO_SPI1_MISO  GPIO_SPI1_MISO_1
 #define GPIO_SPI1_MOSI  GPIO_SPI1_MOSI_1

boards/ark/can-flow/nuttx-config/nsh/defconfig

@@ -57,8 +57,6 @@ CONFIG_GRAN=y
 CONFIG_GRAN_INTR=y
 CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_I2C=y
-CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
@@ -127,7 +125,6 @@ CONFIG_STM32_DMA1=y
 CONFIG_STM32_DMA2=y
 CONFIG_STM32_FLASH_PREFETCH=y
 CONFIG_STM32_FLOWCONTROL_BROKEN=y
-CONFIG_STM32_I2C1=y
 CONFIG_STM32_JTAG_SW_ENABLE=y
 CONFIG_STM32_PWR=y
 CONFIG_STM32_RTC=y

boards/ark/can-flow/src/CMakeLists.txt

@@ -49,7 +49,6 @@ if("${PX4_BOARD_LABEL}" STREQUAL  "canbootloader")
 else()
 	add_library(drivers_board
 		can.c
-		i2c.cpp
 		init.c
 		led.c
 		spi.cpp

boards/ark/can-flow/src/i2c.cpp

@@ -1,38 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <px4_arch/i2c_hw_description.h>
-
-constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
-	initI2CBusExternal(1),
-};

boards/beaglebone/blue/src/board_config.h

@@ -48,11 +48,16 @@
 
 
 // I2C
+#define CONFIG_I2C 1
 #define PX4_NUMBER_I2C_BUSES    2
 
 #define PX4_I2C_OBDEV_MPU9250 0x68
 
 
+// SPI
+#define CONFIG_SPI 1
+
+
 // ADC channels:
 #define ADC_CHANNELS (1 << 5)
 #define BOARD_ADC_POS_REF_V (1.8f)

boards/beaglebone/blue/src/spi.cpp

@@ -35,4 +35,8 @@
 #include <drivers/drv_sensor.h>
 
 constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
+	initSPIBus(1, {
+		initSPIDevice(DRV_DEVTYPE_UNUSED, 1), // spidev1.1
+		initSPIDevice(DRV_DEVTYPE_UNUSED, 2), // spidev1.2
+	}),
 };

boards/cubepilot/io-v2/src/board_config.h

@@ -164,7 +164,4 @@
 
 #define BOARD_NUM_IO_TIMERS 3
 
-#define BOARD_DISABLE_I2C_SPI
-
-
 #include <px4_platform_common/board_common.h>

boards/emlid/navio2/src/board_config.h

@@ -49,9 +49,13 @@
 
 
 // I2C
+#define CONFIG_I2C 1
 #define PX4_NUMBER_I2C_BUSES    1
 
 
+// SPI
+#define CONFIG_SPI 1
+
 // ADC channels:
 // A0 - board voltage (shows 5V)
 // A1 - servo rail voltage

boards/px4/io-v2/src/board_config.h

@@ -164,6 +164,4 @@
 
 #define BOARD_NUM_IO_TIMERS 3
 
-#define BOARD_DISABLE_I2C_SPI
-
 #include <px4_platform_common/board_common.h>

boards/px4/raspberrypi/src/board_config.h

@@ -42,11 +42,16 @@
 #define BOARD_OVERRIDE_UUID "RPIID00000000000" // must be of length 16
 #define PX4_SOC_ARCH_ID     PX4_SOC_ARCH_ID_RPI
 
-/*
+
- * I2C busses
+// I2C
- */
+#define CONFIG_I2C 1
 #define PX4_NUMBER_I2C_BUSES    2
 
+
+// SPI
+#define CONFIG_SPI 1
+
+
 #define ADC_BATTERY_VOLTAGE_CHANNEL	0
 #define ADC_BATTERY_CURRENT_CHANNEL	-1
 #define ADC_AIRSPEED_VOLTAGE_CHANNEL 2

boards/px4/sitl/src/CMakeLists.txt

@@ -33,7 +33,5 @@
 
 add_library(drivers_board
 	board_shutdown.cpp
-	i2c.cpp
 	sitl_led.c
-	spi.cpp
 )

boards/px4/sitl/src/i2c.cpp

@@ -1,38 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <px4_arch/i2c_hw_description.h>
-
-constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
-};
-

boards/px4/sitl/src/spi.cpp

@@ -1,38 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <px4_arch/spi_hw_description.h>
-#include <drivers/drv_sensor.h>
-
-constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
-};

boards/scumaker/pilotpi/src/board_config.h

@@ -42,11 +42,16 @@
 #define BOARD_OVERRIDE_UUID "RPIID00000000000" // must be of length 16
 #define PX4_SOC_ARCH_ID     PX4_SOC_ARCH_ID_RPI
 
-/*
+
- * I2C busses
+// I2C
- */
+#define CONFIG_I2C 1
 #define PX4_NUMBER_I2C_BUSES    2
 
+
+// SPI
+#define CONFIG_SPI 1
+
+
 #define ADC_BATTERY_VOLTAGE_CHANNEL	0
 #define ADC_BATTERY_CURRENT_CHANNEL	-1
 #define ADC_AIRSPEED_VOLTAGE_CHANNEL 2

platforms/common/i2c.cpp

@@ -32,10 +32,11 @@
  ****************************************************************************/
 
 #include <board_config.h>
-#ifndef BOARD_DISABLE_I2C_SPI
 
 #include <px4_platform_common/i2c.h>
 
+#if defined(CONFIG_I2C)
+
 #ifndef BOARD_OVERRIDE_I2C_BUS_EXTERNAL
 bool px4_i2c_bus_external(const px4_i2c_bus_t &bus)
 {
@@ -85,4 +86,4 @@ bool I2CBusIterator::next()
 	return false;
 }
 
-#endif /* BOARD_DISABLE_I2C_SPI */
+#endif // CONFIG_I2C

platforms/common/i2c_spi_buses.cpp

@@ -32,7 +32,6 @@
  ****************************************************************************/
 
 #include <board_config.h>
-#ifndef BOARD_DISABLE_I2C_SPI
 
 #ifndef MODULE_NAME
 #define MODULE_NAME "SPI_I2C"
@@ -57,11 +56,15 @@ I2CSPIDriverConfig::I2CSPIDriverConfig(const BusCLIArguments &cli, const BusInst
 	  bus_option(iterator.configuredBusOption()),
 	  bus_type(iterator.busType()),
 	  bus(iterator.bus()),
+#if defined(CONFIG_I2C)
 	  i2c_address(cli.i2c_address),
+#endif // CONFIG_I2C
 	  bus_frequency(cli.bus_frequency),
+#if defined(CONFIG_SPI)
 	  drdy_gpio(iterator.DRDYGPIO()),
 	  spi_mode(cli.spi_mode),
 	  spi_devid(iterator.devid()),
+#endif // CONFIG_SPI
 	  bus_device_index(iterator.busDeviceIndex()),
 	  rotation(cli.rotation),
 	  quiet_start(cli.quiet_start),
@@ -93,6 +96,8 @@ int BusCLIArguments::getOpt(int argc, char *argv[], const char *options)
 
 		char *p = (char *)&_options;
 
+#if defined(CONFIG_I2C)
+
 		if (_i2c_support) {
 			*(p++) = 'X'; // external
 			*(p++) = 'I'; // internal
@@ -102,6 +107,9 @@ int BusCLIArguments::getOpt(int argc, char *argv[], const char *options)
 			}
 		}
 
+#endif // CONFIG_I2C
+#if defined(CONFIG_SPI)
+
 		if (_spi_support) {
 			*(p++) = 'S'; // external
 			*(p++) = 's'; // internal
@@ -109,6 +117,8 @@ int BusCLIArguments::getOpt(int argc, char *argv[], const char *options)
 			*(p++) = 'm'; *(p++) = ':'; // spi mode
 		}
 
+#endif // CONFIG_SPI
+
 		if (support_keep_running) {
 			*(p++) = 'k';
 		}
@@ -148,6 +158,8 @@ int BusCLIArguments::getOpt(int argc, char *argv[], const char *options)
 
 	while ((ch = px4_getopt(argc, argv, _options, &_optind, &_optarg)) != EOF) {
 		switch (ch) {
+#if defined(CONFIG_I2C)
+
 		case 'X':
 			bus_option = I2CSPIBusOption::I2CExternal;
 			break;
@@ -163,6 +175,8 @@ int BusCLIArguments::getOpt(int argc, char *argv[], const char *options)
 
 			i2c_address = (int)strtol(_optarg, nullptr, 0);
 			break;
+#endif // CONFIG_I2C
+#if defined(CONFIG_SPI)
 
 		case 'S':
 			bus_option = I2CSPIBusOption::SPIExternal;
@@ -175,6 +189,7 @@ int BusCLIArguments::getOpt(int argc, char *argv[], const char *options)
 		case 'c':
 			chipselect_index = atoi(_optarg);
 			break;
+#endif // CONFIG_SPI
 
 		case 'b':
 			requested_bus = atoi(_optarg);
@@ -183,10 +198,12 @@ int BusCLIArguments::getOpt(int argc, char *argv[], const char *options)
 		case 'f':
 			bus_frequency = 1000 * atoi(_optarg);
 			break;
+#if defined(CONFIG_SPI)
 
 		case 'm':
 			spi_mode = (spi_mode_e)atoi(_optarg);
 			break;
+#endif // CONFIG_SPI
 
 		case 'q':
 			quiet_start = true;
@@ -216,12 +233,21 @@ int BusCLIArguments::getOpt(int argc, char *argv[], const char *options)
 
 		// apply defaults if not provided
 		if (bus_frequency == 0) {
+#if defined(CONFIG_I2C)
+
 			if (bus_option == I2CSPIBusOption::I2CExternal || bus_option == I2CSPIBusOption::I2CInternal) {
 				bus_frequency = default_i2c_frequency;
 
-			} else if (bus_option == I2CSPIBusOption::SPIExternal || bus_option == I2CSPIBusOption::SPIInternal) {
+			}
+
+#endif // CONFIG_I2C
+#if defined(CONFIG_SPI)
+
+			if (bus_option == I2CSPIBusOption::SPIExternal || bus_option == I2CSPIBusOption::SPIInternal) {
 				bus_frequency = default_spi_frequency;
 			}
+
+#endif // CONFIG_SPI
 		}
 	}
 
@@ -232,16 +258,22 @@ bool BusCLIArguments::validateConfiguration()
 {
 	bool success = true;
 
+#if defined(CONFIG_I2C)
+
 	if (_i2c_support && default_i2c_frequency == -1) {
 		PX4_ERR("Bug: driver %s does not set default_i2c_frequency", px4_get_taskname());
 		success = false;
 	}
 
+#endif // CONFIG_I2C
+#if defined(CONFIG_SPI)
+
 	if (_spi_support && default_spi_frequency == -1) {
 		PX4_ERR("Bug: driver %s does not set default_spi_frequency", px4_get_taskname());
 		success = false;
 	}
 
+#endif // CONFIG_SPI
 	return success;
 }
 
@@ -249,11 +281,17 @@ bool BusCLIArguments::validateConfiguration()
 BusInstanceIterator::BusInstanceIterator(const char *module_name,
 		const BusCLIArguments &cli_arguments, uint16_t devid_driver_index)
 	: _module_name(module_name), _bus_option(cli_arguments.bus_option), _devid_driver_index(devid_driver_index),
+#if defined(CONFIG_I2C)
 	  _i2c_address(cli_arguments.i2c_address),
+#endif // CONFIG_I2C
+#if defined(CONFIG_SPI)
 	  _spi_bus_iterator(spiFilter(cli_arguments.bus_option),
 			    cli_arguments.bus_option == I2CSPIBusOption::SPIExternal ? cli_arguments.chipselect_index : devid_driver_index,
 			    cli_arguments.requested_bus),
+#endif // CONFIG_SPI
+#if defined(CONFIG_I2C)
 	  _i2c_bus_iterator(i2cFilter(cli_arguments.bus_option), cli_arguments.requested_bus),
+#endif // CONFIG_I2C
 	  _current_instance(i2c_spi_module_instances.end())
 {
 	// We lock the module instance list as long as this object is alive, since we iterate over the list.
@@ -290,20 +328,31 @@ bool BusInstanceIterator::next()
 
 		return false;
 
+#if defined(CONFIG_SPI)
+
 	} else if (busType() == BOARD_SPI_BUS) {
 		if (_spi_bus_iterator.next()) {
 			bus = _spi_bus_iterator.bus().bus;
 		}
 
-	} else {
+#endif // CONFIG_SPI
+#if defined(CONFIG_I2C)
+
+	} else if (busType() == BOARD_I2C_BUS) {
 		if (_i2c_bus_iterator.next()) {
 			bus = _i2c_bus_iterator.bus().bus;
 		}
+
+#endif // CONFIG_I2C
 	}
 
 	if (bus != -1) {
 		// find matching runtime instance
+#if defined(CONFIG_I2C)
 		bool is_i2c = busType() == BOARD_I2C_BUS;
+#else
+		bool is_i2c = false;
+#endif
 
 		for (_current_instance = i2c_spi_module_instances.begin(); _current_instance != i2c_spi_module_instances.end();
 		     ++_current_instance) {
@@ -314,7 +363,12 @@ bool BusInstanceIterator::next()
 			if (_bus_option == (*_current_instance)->_bus_option && bus == (*_current_instance)->_bus &&
 			    _devid_driver_index == (*_current_instance)->_devid_driver_index &&
 			    busDeviceIndex() == (*_current_instance)->_bus_device_index &&
-			    (!is_i2c || _i2c_address == (*_current_instance)->_i2c_address)) {
+			    (!is_i2c
+#if defined(CONFIG_I2C)
+			     || _i2c_address == (*_current_instance)->_i2c_address
+#endif // CONFIG_I2C
+			    )
+			   ) {
 				break;
 			}
 		}
@@ -371,13 +425,19 @@ board_bus_types BusInstanceIterator::busType() const
 	case I2CSPIBusOption::All:
 		return BOARD_INVALID_BUS;
 
+#if defined(CONFIG_I2C)
+
 	case I2CSPIBusOption::I2CInternal:
 	case I2CSPIBusOption::I2CExternal:
 		return BOARD_I2C_BUS;
+#endif // CONFIG_I2C
+
+#if defined(CONFIG_SPI)
 
 	case I2CSPIBusOption::SPIInternal:
 	case I2CSPIBusOption::SPIExternal:
 		return BOARD_SPI_BUS;
+#endif // CONFIG_SPI
 	}
 
 	return BOARD_INVALID_BUS;
@@ -385,78 +445,104 @@ board_bus_types BusInstanceIterator::busType() const
 
 int BusInstanceIterator::bus() const
 {
-	if (busType() == BOARD_INVALID_BUS) {
+#if defined(CONFIG_SPI)
-		return -1;
 
-	} else if (busType() == BOARD_SPI_BUS) {
+	if (busType() == BOARD_SPI_BUS) {
 		return _spi_bus_iterator.bus().bus;
+	}
 
-	} else {
+#endif // CONFIG_SPI
+#if defined(CONFIG_I2C)
+
+	if (busType() == BOARD_I2C_BUS) {
 		return _i2c_bus_iterator.bus().bus;
 	}
-}
 
-uint32_t BusInstanceIterator::devid() const
+#endif // CONFIG_I2C
-{
-	if (busType() == BOARD_INVALID_BUS) {
-		return 0;
-
-	} else if (busType() == BOARD_SPI_BUS) {
-		return _spi_bus_iterator.devid();
-
-	} else {
-		return 0;
-	}
-}
-
-spi_drdy_gpio_t BusInstanceIterator::DRDYGPIO() const
-{
-	if (busType() == BOARD_INVALID_BUS) {
-		return 0;
-
-	} else if (busType() == BOARD_SPI_BUS) {
-		return _spi_bus_iterator.DRDYGPIO();
-
-	} else {
-		return 0;
-	}
-}
-
-bool BusInstanceIterator::external() const
-{
-	if (busType() == BOARD_INVALID_BUS) {
-		return false;
-
-	} else if (busType() == BOARD_SPI_BUS) {
-		return _spi_bus_iterator.external();
-
-	} else {
-		return _i2c_bus_iterator.external();
-	}
-}
-
-int BusInstanceIterator::externalBusIndex() const
-{
-	if (busType() == BOARD_INVALID_BUS) {
-		return 0;
-
-	} else if (busType() == BOARD_SPI_BUS) {
-		return _spi_bus_iterator.externalBusIndex();
-
-	} else {
-		return _i2c_bus_iterator.externalBusIndex();
-	}
-}
-
-int BusInstanceIterator::busDeviceIndex() const
-{
-	if (busType() == BOARD_SPI_BUS) {
-		return _spi_bus_iterator.busDeviceIndex();
-	}
 
 	return -1;
 }
 
+uint32_t BusInstanceIterator::devid() const
+{
+#if defined(CONFIG_SPI)
+
+	if (busType() == BOARD_SPI_BUS) {
+		return _spi_bus_iterator.devid();
+	}
+
+#endif // CONFIG_SPI
+
+	return 0;
+}
+
+#if defined(CONFIG_SPI)
+spi_drdy_gpio_t BusInstanceIterator::DRDYGPIO() const
+{
+	if (busType() == BOARD_SPI_BUS) {
+		return _spi_bus_iterator.DRDYGPIO();
+	}
+
+	return 0;
+}
+#endif // CONFIG_SPI
+
+bool BusInstanceIterator::external() const
+{
+#if defined(CONFIG_SPI)
+
+	if (busType() == BOARD_SPI_BUS) {
+		return _spi_bus_iterator.external();
+	}
+
+#endif // CONFIG_SPI
+
+#if defined(CONFIG_I2C)
+
+	if (busType() == BOARD_I2C_BUS) {
+		return _i2c_bus_iterator.external();
+	}
+
+#endif // CONFIG_I2C
+
+	return false;
+}
+
+int BusInstanceIterator::externalBusIndex() const
+{
+#if defined(CONFIG_SPI)
+
+	if (busType() == BOARD_SPI_BUS) {
+		return _spi_bus_iterator.externalBusIndex();
+	}
+
+#endif // CONFIG_SPI
+
+#if defined(CONFIG_I2C)
+
+	if (busType() == BOARD_I2C_BUS) {
+		return _i2c_bus_iterator.externalBusIndex();
+	}
+
+#endif // CONFIG_I2C
+
+	return 0;
+}
+
+int BusInstanceIterator::busDeviceIndex() const
+{
+#if defined(CONFIG_SPI)
+
+	if (busType() == BOARD_SPI_BUS) {
+		return _spi_bus_iterator.busDeviceIndex();
+	}
+
+#endif // CONFIG_SPI
+
+	return -1;
+}
+
+#if defined(CONFIG_I2C)
 I2CBusIterator::FilterType BusInstanceIterator::i2cFilter(I2CSPIBusOption bus_option)
 {
 	switch (bus_option) {
@@ -471,7 +557,9 @@ I2CBusIterator::FilterType BusInstanceIterator::i2cFilter(I2CSPIBusOption bus_op
 
 	return I2CBusIterator::FilterType::All;
 }
+#endif // CONFIG_I2C
 
+#if defined(CONFIG_SPI)
 SPIBusIterator::FilterType BusInstanceIterator::spiFilter(I2CSPIBusOption bus_option)
 {
 	switch (bus_option) {
@@ -484,6 +572,7 @@ SPIBusIterator::FilterType BusInstanceIterator::spiFilter(I2CSPIBusOption bus_op
 
 	return SPIBusIterator::FilterType::InternalBus;
 }
+#endif // CONFIG_SPI
 
 struct I2CSPIDriverInitializing {
 	const I2CSPIDriverConfig &config;
@@ -520,9 +609,15 @@ int I2CSPIDriverBase::module_start(const BusCLIArguments &cli, BusInstanceIterat
 		device_id.devid_s.bus = iterator.bus();
 
 		switch (iterator.busType()) {
+#if defined(CONFIG_I2C)
+
 		case BOARD_I2C_BUS: device_id.devid_s.bus_type = device::Device::DeviceBusType_I2C; break;
+#endif // CONFIG_I2C
+
+#if defined(CONFIG_SPI)
 
 		case BOARD_SPI_BUS: device_id.devid_s.bus_type = device::Device::DeviceBusType_SPI; break;
+#endif // CONFIG_SPI
 
 		case BOARD_INVALID_BUS: device_id.devid_s.bus_type = device::Device::DeviceBusType_UNKNOWN; break;
 		}
@@ -543,15 +638,21 @@ int I2CSPIDriverBase::module_start(const BusCLIArguments &cli, BusInstanceIterat
 			continue;
 		}
 
+#if defined(CONFIG_I2C)
+
 		if (cli.i2c_address != 0 && instance->_i2c_address == 0) {
 			PX4_ERR("Bug: driver %s does not pass the I2C address to I2CSPIDriverBase", instance->ItemName());
 		}
 
+#endif // CONFIG_I2C
+
 		iterator.addInstance(instance);
 		started = true;
 
 		// print some info that we are running
 		switch (iterator.busType()) {
+#if defined(CONFIG_I2C)
+
 		case BOARD_I2C_BUS:
 			PX4_INFO_RAW("%s #%i on I2C bus %d", instance->ItemName(), runtime_instance, iterator.bus());
 
@@ -570,6 +671,8 @@ int I2CSPIDriverBase::module_start(const BusCLIArguments &cli, BusInstanceIterat
 			PX4_INFO_RAW("\n");
 
 			break;
+#endif // CONFIG_I2C
+#if defined(CONFIG_SPI)
 
 		case BOARD_SPI_BUS:
 			PX4_INFO_RAW("%s #%i on SPI bus %d", instance->ItemName(), runtime_instance, iterator.bus());
@@ -585,6 +688,7 @@ int I2CSPIDriverBase::module_start(const BusCLIArguments &cli, BusInstanceIterat
 			PX4_INFO_RAW("\n");
 
 			break;
+#endif // CONFIG_SPI
 
 		case BOARD_INVALID_BUS:
 			break;
@@ -594,15 +698,18 @@ int I2CSPIDriverBase::module_start(const BusCLIArguments &cli, BusInstanceIterat
 	if (!started && !cli.quiet_start) {
 		PX4_WARN("%s: no instance started (no device on bus?)", px4_get_taskname());
 
+#if defined(CONFIG_I2C)
+
 		if (iterator.busType() == BOARD_I2C_BUS && cli.i2c_address == 0) {
 			PX4_ERR("%s: driver does not set i2c address", px4_get_taskname());
 		}
+
+#endif // CONFIG_I2C
 	}
 
 	return started ? 0 : -1;
 }
 
-
 int I2CSPIDriverBase::module_stop(BusInstanceIterator &iterator)
 {
 	bool is_running = false;
@@ -680,14 +787,23 @@ int I2CSPIDriverBase::module_custom_method(const BusCLIArguments &cli, BusInstan
 
 void I2CSPIDriverBase::print_status()
 {
-	bool is_i2c_bus = _bus_option == I2CSPIBusOption::I2CExternal || _bus_option == I2CSPIBusOption::I2CInternal;
+#if defined(CONFIG_I2C)
 
-	if (is_i2c_bus) {
+	if (_bus_option == I2CSPIBusOption::I2CExternal || _bus_option == I2CSPIBusOption::I2CInternal) {
 		PX4_INFO("Running on I2C Bus %i, Address 0x%02X", _bus, get_i2c_address());
-
+		return;
-	} else {
-		PX4_INFO("Running on SPI Bus %i", _bus);
 	}
+
+#endif // CONFIG_I2C
+
+#if defined(CONFIG_SPI)
+
+	if (_bus_option == I2CSPIBusOption::SPIExternal || _bus_option == I2CSPIBusOption::SPIInternal) {
+		PX4_INFO("Running on SPI Bus %i", _bus);
+		return;
+	}
+
+#endif // CONFIG_SPI
 }
 
 void I2CSPIDriverBase::request_stop_and_wait()
@@ -705,5 +821,3 @@ void I2CSPIDriverBase::request_stop_and_wait()
 		PX4_ERR("Module did not respond to stop request");
 	}
 }
-
-#endif /* BOARD_DISABLE_I2C_SPI */

platforms/common/include/px4_platform_common/board_common.h

@@ -1015,8 +1015,12 @@ int board_register_power_state_notification_cb(power_button_state_notification_t
 
 enum board_bus_types {
 	BOARD_INVALID_BUS = 0,
+#if defined(CONFIG_SPI)
 	BOARD_SPI_BUS = 1,
+#endif // CONFIG_SPI
+#if defined(CONFIG_I2C)
 	BOARD_I2C_BUS = 2
+#endif // CONFIG_I2C
 };
 
 #if defined(BOARD_HAS_BUS_MANIFEST)

platforms/common/include/px4_platform_common/i2c.h

@@ -35,6 +35,8 @@
 
 #include <board_config.h>
 
+#if defined(CONFIG_I2C)
+
 #define I2C_BUS_MAX_BUS_ITEMS PX4_NUMBER_I2C_BUSES
 
 struct px4_i2c_bus_t {
@@ -99,3 +101,5 @@ private:
 	int _index{-1};
 	int _external_bus_counter{0};
 };
+
+#endif // CONFIG_I2C

platforms/common/include/px4_platform_common/i2c_spi_buses.h

@@ -33,8 +33,7 @@
 
 #pragma once
 
-#include "i2c.h"
+#include <board_config.h>
-#include "spi.h"
 
 #include <stdint.h>
 
@@ -43,15 +42,29 @@
 #include <px4_platform_common/atomic.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <px4_platform_common/sem.h>
-#include <board_config.h>
+
-#include <drivers/device/spi.h>
+#if defined(CONFIG_I2C)
+# include "i2c.h"
+#endif // CONFIG_I2C
+
+#if defined(CONFIG_SPI)
+# include "spi.h"
+#endif // CONFIG_SPI
+
+#if defined(CONFIG_SPI)
+# include <drivers/device/spi.h>
+#endif // CONFIG_SPI
 
 enum class I2CSPIBusOption : uint8_t {
 	All = 0, ///< select all runnning instances
+#if defined(CONFIG_I2C)
 	I2CInternal,
 	I2CExternal,
+#endif // CONFIG_I2C
+#if defined(CONFIG_SPI)
 	SPIInternal,
 	SPIExternal,
+#endif // CONFIG_SPI
 };
 
 class BusCLIArguments;
@@ -66,11 +79,15 @@ struct I2CSPIDriverConfig {
 	I2CSPIBusOption bus_option;
 	board_bus_types bus_type;
 	int bus;
+#if defined(CONFIG_I2C)
 	uint8_t i2c_address;
+#endif // CONFIG_I2C
 	int bus_frequency;
+#if defined(CONFIG_SPI)
 	spi_drdy_gpio_t drdy_gpio;
 	spi_mode_e spi_mode;
 	uint32_t spi_devid;
+#endif // CONFIG_SPI
 	int bus_device_index;
 
 	Rotation rotation;
@@ -93,13 +110,17 @@ class I2CSPIInstance : public ListNode<I2CSPIInstance *>
 {
 public:
 	virtual ~I2CSPIInstance() = default;
+#if defined(CONFIG_I2C)
 	virtual int8_t  get_i2c_address() {return _i2c_address;}
-
+#endif // CONFIG_I2C
 private:
 	I2CSPIInstance(const I2CSPIDriverConfig &config)
 		: _module_name(config.module_name), _bus_option(config.bus_option), _bus(config.bus),
-		  _devid_driver_index(config.devid_driver_index), _bus_device_index(config.bus_device_index),
+		  _devid_driver_index(config.devid_driver_index), _bus_device_index(config.bus_device_index)
-		  _i2c_address(config.i2c_address) {}
+#if defined(CONFIG_I2C)
+		, _i2c_address(config.i2c_address)
+#endif // CONFIG_I2C
+	{}
 
 
 	friend class BusInstanceIterator;
@@ -110,14 +131,28 @@ private:
 	const int _bus;
 	const uint16_t _devid_driver_index;
 	const int8_t _bus_device_index;
+#if defined(CONFIG_I2C)
 	const int8_t _i2c_address; ///< I2C address (optional)
+#endif // CONFIG_I2C
 };
 
 class BusCLIArguments
 {
 public:
 	BusCLIArguments(bool i2c_support, bool spi_support)
-		: _i2c_support(i2c_support), _spi_support(spi_support) {}
+#if defined(CONFIG_I2C) || defined(CONFIG_SPI)
+		:
+#endif // CONFIG_I2C || CONFIG_SPI
+#if defined(CONFIG_I2C)
+		_i2c_support(i2c_support)
+#endif // CONFIG_I2C
+#if defined(CONFIG_I2C) && defined(CONFIG_SPI)
+		,
+#endif // CONFIG_I2C && CONFIG_SPI
+#if defined(CONFIG_SPI)
+		_spi_support(spi_support)
+#endif // CONFIG_SPI
+	{}
 
 	/**
 	 * Parse CLI arguments (for drivers that don't need any custom arguments, otherwise getopt() should be used)
@@ -139,11 +174,15 @@ public:
 
 	I2CSPIBusOption bus_option{I2CSPIBusOption::All};
 	int requested_bus{-1};
-	int chipselect_index{1};
 	int bus_frequency{0};
+#if defined(CONFIG_SPI)
+	int chipselect_index {1};
 	spi_mode_e spi_mode{SPIDEV_MODE3};
-	uint8_t i2c_address{0}; ///< I2C address (a driver must set the default address)
+#endif // CONFIG_SPI
-	bool quiet_start{false}; ///< do not print a message when startup fails
+#if defined(CONFIG_I2C)
+	uint8_t i2c_address {0}; ///< I2C address (a driver must set the default address)
+#endif // CONFIG_I2C
+	bool quiet_start {false}; ///< do not print a message when startup fails
 	bool keep_running{false}; ///< keep driver running even if no device is detected on startup
 
 	Rotation rotation{ROTATION_NONE}; ///< sensor rotation (MAV_SENSOR_ROTATION_* or distance_sensor_s::ROTATION_*)
@@ -153,8 +192,12 @@ public:
 	void *custom_data{nullptr}; ///< driver-specific custom argument
 
 	// driver defaults, if not specified via CLI
-	int default_spi_frequency{-1}; ///< default spi bus frequency (driver needs to set this) [Hz]
+#if defined(CONFIG_SPI)
-	int default_i2c_frequency{-1}; ///< default i2c bus frequency (driver needs to set this) [Hz]
+	int default_spi_frequency {-1}; ///< default spi bus frequency (driver needs to set this) [Hz]
+#endif // CONFIG_SPI
+#if defined(CONFIG_I2C)
+	int default_i2c_frequency {-1}; ///< default i2c bus frequency (driver needs to set this) [Hz]
+#endif // CONFIG_I2C
 
 	bool support_keep_running{false}; ///< true if keep_running (see above) is supported
 
@@ -164,8 +207,12 @@ private:
 	char _options[32] {};
 	int _optind{1};
 	const char *_optarg{nullptr};
+#if defined(CONFIG_I2C)
 	const bool _i2c_support;
+#endif // CONFIG_I2C
+#if defined(CONFIG_SPI)
 	const bool _spi_support;
+#endif // CONFIG_SPI
 };
 
 /**
@@ -189,15 +236,23 @@ public:
 	board_bus_types busType() const;
 	int bus() const;
 	uint32_t devid() const;
+
+#if defined(CONFIG_SPI)
 	spi_drdy_gpio_t DRDYGPIO() const;
+#endif // CONFIG_SPI
+
 	bool external() const;
 	int externalBusIndex() const;
 	int busDeviceIndex() const;
 
 	void addInstance(I2CSPIInstance *instance);
 
+#if defined(CONFIG_I2C)
 	static I2CBusIterator::FilterType i2cFilter(I2CSPIBusOption bus_option);
+#endif // CONFIG_I2C
+#if defined(CONFIG_SPI)
 	static SPIBusIterator::FilterType spiFilter(I2CSPIBusOption bus_option);
+#endif // CONFIG_SPI
 
 	const char *moduleName() const { return _module_name; }
 	uint16_t devidDriverIndex() const { return _devid_driver_index; }
@@ -206,9 +261,15 @@ private:
 	const char *_module_name;
 	const I2CSPIBusOption _bus_option;
 	const uint16_t _devid_driver_index;
+#if defined(CONFIG_I2C)
 	const uint8_t _i2c_address;
+#endif // CONFIG_I2C
+#if defined(CONFIG_SPI)
 	SPIBusIterator _spi_bus_iterator;
+#endif // CONFIG_SPI
+#if defined(CONFIG_I2C)
 	I2CBusIterator _i2c_bus_iterator;
+#endif // CONFIG_I2C
 	List<I2CSPIInstance *>::Iterator _current_instance;
 };
 

platforms/common/include/px4_platform_common/spi.h

@@ -36,6 +36,8 @@
 #include <stdint.h>
 #include <board_config.h>
 
+#if defined(CONFIG_SPI)
+
 /*
  * Helper macros to handle device ID's. They are used to match drivers against SPI buses and chip-select signals.
  * They match with corresponding definitions in NuttX.
@@ -168,3 +170,5 @@ private:
 	int _external_bus_counter{1};
 	int _bus_device_index{-1};
 };
+
+#endif // CONFIG_SPI

platforms/common/spi.cpp

@@ -32,7 +32,8 @@
  ****************************************************************************/
 
 #include <board_config.h>
-#ifndef BOARD_DISABLE_I2C_SPI
+
+#if defined(CONFIG_SPI)
 
 #include <px4_platform_common/spi.h>
 
@@ -163,4 +164,4 @@ bool SPIBusIterator::next()
 	return false;
 }
 
-#endif /* BOARD_DISABLE_I2C_SPI */
+#endif // CONFIG_SPI

platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/i2c_hw_description.h

@@ -36,6 +36,7 @@
 #include <px4_arch/hw_description.h>
 #include <px4_platform_common/i2c.h>
 
+#if defined(CONFIG_I2C)
 
 static inline constexpr px4_i2c_bus_t initI2CBusInternal(int bus)
 {
@@ -52,3 +53,4 @@ static inline constexpr px4_i2c_bus_t initI2CBusExternal(int bus)
 	ret.is_external = true;
 	return ret;
 }
+#endif // CONFIG_I2C

platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/spi_hw_description.h

@@ -36,6 +36,8 @@
 #include <px4_arch/hw_description.h>
 #include <px4_platform_common/spi.h>
 
+#if defined(CONFIG_SPI)
+
 #include <imxrt_gpio.h>
 
 #define CS_IOMUX  (IOMUX_CMOS_OUTPUT | IOMUX_PULL_UP_100K | IOMUX_DRIVE_33OHM | IOMUX_SPEED_LOW | IOMUX_SLEW_FAST)
@@ -135,3 +137,4 @@ static inline constexpr SPI::bus_device_external_cfg_t initSPIConfigExternal(SPI
 	ret.drdy_gpio = drdy_gpio;
 	return ret;
 }
+#endif // CONFIG_SPI

platforms/nuttx/src/px4/nxp/k66/include/px4_arch/spi_hw_description.h

@@ -32,9 +32,12 @@
  ****************************************************************************/
 #pragma once
 
+#if defined(CONFIG_SPI)
+
 #include "../../../kinetis/include/px4_arch/spi_hw_description.h"
 
 constexpr bool validateSPIConfig(const px4_spi_bus_t spi_busses_conf[SPI_BUS_MAX_BUS_ITEMS])
 {
 	return true;
 }
+#endif // CONFIG_SPI

platforms/nuttx/src/px4/nxp/kinetis/include/px4_arch/i2c_hw_description.h

@@ -36,6 +36,7 @@
 #include <px4_arch/hw_description.h>
 #include <px4_platform_common/i2c.h>
 
+#if defined(CONFIG_I2C)
 
 static inline constexpr px4_i2c_bus_t initI2CBusInternal(int bus)
 {
@@ -52,3 +53,4 @@ static inline constexpr px4_i2c_bus_t initI2CBusExternal(int bus)
 	ret.is_external = true;
 	return ret;
 }
+#endif // CONFIG_I2C

platforms/nuttx/src/px4/nxp/kinetis/include/px4_arch/spi_hw_description.h

@@ -36,6 +36,8 @@
 #include <px4_arch/hw_description.h>
 #include <px4_platform_common/spi.h>
 
+#if defined(CONFIG_SPI)
+
 #include <kinetis.h>
 
 static inline constexpr px4_spi_bus_device_t initSPIDevice(uint32_t devid, SPI::CS cs_gpio, SPI::DRDY drdy_gpio = {})
@@ -129,3 +131,5 @@ static inline constexpr SPI::bus_device_external_cfg_t initSPIConfigExternal(SPI
 	ret.drdy_gpio = drdy_gpio;
 	return ret;
 }
+
+#endif // CONFIG_SPI

platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/spi_hw_description.h

@@ -32,9 +32,12 @@
  ****************************************************************************/
 #pragma once
 
+#if defined(CONFIG_SPI)
+
 #include "../../../imxrt/include/px4_arch/spi_hw_description.h"
 
 constexpr bool validateSPIConfig(const px4_spi_bus_t spi_busses_conf[SPI_BUS_MAX_BUS_ITEMS])
 {
 	return true;
 }
+#endif // CONFIG_SPI

platforms/nuttx/src/px4/nxp/s32k14x/include/px4_arch/i2c_hw_description.h

@@ -35,6 +35,8 @@
 #include <px4_arch/hw_description.h>
 #include <px4_platform_common/i2c.h>
 
+#if defined(CONFIG_I2C)
+
 static inline constexpr px4_i2c_bus_t initI2CBusInternal(int bus)
 {
 	px4_i2c_bus_t ret{};
@@ -50,3 +52,4 @@ static inline constexpr px4_i2c_bus_t initI2CBusExternal(int bus)
 	ret.is_external = true;
 	return ret;
 }
+#endif // CONFIG_I2C

platforms/nuttx/src/px4/nxp/s32k1xx/include/px4_arch/i2c_hw_description.h

@@ -35,6 +35,8 @@
 #include <px4_arch/hw_description.h>
 #include <px4_platform_common/i2c.h>
 
+#if defined(CONFIG_I2C)
+
 static inline constexpr px4_i2c_bus_t initI2CBusInternal(int bus)
 {
 	px4_i2c_bus_t ret{};
@@ -50,3 +52,4 @@ static inline constexpr px4_i2c_bus_t initI2CBusExternal(int bus)
 	ret.is_external = true;
 	return ret;
 }
+#endif // CONFIG_I2C

platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/i2c_hw_description.h

@@ -36,6 +36,7 @@
 #include <px4_arch/hw_description.h>
 #include <px4_platform_common/i2c.h>
 
+#if defined(CONFIG_I2C)
 
 static inline constexpr px4_i2c_bus_t initI2CBusInternal(int bus)
 {
@@ -52,3 +53,4 @@ static inline constexpr px4_i2c_bus_t initI2CBusExternal(int bus)
 	ret.is_external = true;
 	return ret;
 }
+#endif // CONFIG_I2C

platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/spi_hw_description.h

@@ -36,6 +36,7 @@
 #include <px4_arch/hw_description.h>
 #include <px4_platform_common/spi.h>
 
+#if defined(CONFIG_SPI)
 
 #include <stm32_gpio.h>
 
@@ -168,3 +169,5 @@ constexpr bool validateSPIConfig(const px4_spi_bus_all_hw_t spi_buses_conf[BOARD
 
 	return false;
 }
+
+#endif // CONFIG_SPI

platforms/nuttx/src/px4/stm/stm32f4/include/px4_arch/spi_hw_description.h

@@ -34,6 +34,8 @@
 
 #include "../../../stm32_common/include/px4_arch/spi_hw_description.h"
 
+#if defined(CONFIG_SPI)
+
 constexpr bool validateSPIConfig(const px4_spi_bus_t spi_busses_conf[SPI_BUS_MAX_BUS_ITEMS])
 {
 	const bool nuttx_enabled_spi_buses[] = {
@@ -84,3 +86,5 @@ constexpr bool validateSPIConfig(const px4_spi_bus_t spi_busses_conf[SPI_BUS_MAX
 
 	return false;
 }
+
+#endif // CONFIG_SPI

platforms/nuttx/src/px4/stm/stm32f7/include/px4_arch/spi_hw_description.h

@@ -32,6 +32,8 @@
  ****************************************************************************/
 #pragma once
 
+#if defined(CONFIG_SPI)
+
 #include "../../../stm32_common/include/px4_arch/spi_hw_description.h"
 
 constexpr bool validateSPIConfig(const px4_spi_bus_t spi_busses_conf[SPI_BUS_MAX_BUS_ITEMS])
@@ -84,3 +86,5 @@ constexpr bool validateSPIConfig(const px4_spi_bus_t spi_busses_conf[SPI_BUS_MAX
 
 	return false;
 }
+
+#endif // CONFIG_SPI

platforms/nuttx/src/px4/stm/stm32h7/include/px4_arch/spi_hw_description.h

@@ -34,6 +34,8 @@
 
 #include "../../../stm32_common/include/px4_arch/spi_hw_description.h"
 
+#if defined(CONFIG_SPI)
+
 constexpr bool validateSPIConfig(const px4_spi_bus_t spi_busses_conf[SPI_BUS_MAX_BUS_ITEMS])
 {
 	const bool nuttx_enabled_spi_buses[] = {
@@ -84,3 +86,5 @@ constexpr bool validateSPIConfig(const px4_spi_bus_t spi_busses_conf[SPI_BUS_MAX
 
 	return false;
 }
+
+#endif // CONFIG_SPI

platforms/posix/src/px4/generic/generic/include/px4_arch/i2c_hw_description.h

@@ -35,6 +35,7 @@
 
 #include <px4_platform_common/i2c.h>
 
+#if defined(CONFIG_I2C)
 
 static inline constexpr px4_i2c_bus_t initI2CBusInternal(int bus)
 {
@@ -51,3 +52,4 @@ static inline constexpr px4_i2c_bus_t initI2CBusExternal(int bus)
 	ret.is_external = true;
 	return ret;
 }
+#endif // CONFIG_I2C

platforms/posix/src/px4/generic/generic/include/px4_arch/spi_hw_description.h

@@ -35,6 +35,8 @@
 
 #include <px4_platform_common/spi.h>
 
+#if defined(CONFIG_SPI)
+
 static inline constexpr px4_spi_bus_device_t initSPIDevice(uint8_t devid_driver, uint8_t cs_index)
 {
 	px4_spi_bus_device_t ret{};
@@ -57,3 +59,4 @@ static inline constexpr px4_spi_bus_t initSPIBus(int bus, const px4_spi_bus_devi
 	ret.requires_locking = false;
 	return ret;
 }
+#endif // CONFIG_SPI

src/drivers/barometer/bmp280/BMP280_I2C.cpp

@@ -42,6 +42,7 @@
 #include <px4_platform_common/px4_config.h>
 #include <drivers/device/i2c.h>
 
+#if defined(CONFIG_I2C)
 
 class BMP280_I2C: public device::I2C, public bmp280::IBMP280
 {
@@ -116,3 +117,5 @@ BMP280_I2C::get_calibration(uint8_t addr)
 		return nullptr;
 	}
 }
+
+#endif // CONFIG_I2C

src/drivers/barometer/bmp280/BMP280_SPI.cpp

@@ -42,6 +42,8 @@
 #include <px4_platform_common/px4_config.h>
 #include <drivers/device/spi.h>
 
+#if defined(CONFIG_SPI)
+
 /* SPI protocol address bits */
 #define DIR_READ			(1<<7)  //for set
 #define DIR_WRITE			~(1<<7) //for clear
@@ -132,3 +134,4 @@ BMP280_SPI::get_calibration(uint8_t addr)
 		return nullptr;
 	}
 }
+#endif // CONFIG_SPI

src/drivers/barometer/bmp280/bmp280.h

@@ -38,7 +38,7 @@
  */
 #pragma once
 
-#include <drivers/device/spi.h>
+#include <px4_platform_common/i2c_spi_buses.h>
 
 #define BMP280_ADDR_CAL		0x88	/* address of 12x 2 bytes calibration data */
 #define BMP280_ADDR_DATA	0xF7	/* address of 2x 3 bytes p-t data */
@@ -158,5 +158,9 @@ public:
 
 
 /* interface factories */
+#if defined(CONFIG_SPI)
 extern bmp280::IBMP280 *bmp280_spi_interface(uint8_t busnum, uint32_t device, int bus_frequency, spi_mode_e spi_mode);
+#endif // CONFIG_SPI
+#if defined(CONFIG_I2C)
 extern bmp280::IBMP280 *bmp280_i2c_interface(uint8_t busnum, uint32_t device, int bus_frequency);
+#endif // CONFIG_I2C

src/drivers/barometer/bmp280/bmp280_main.cpp

@@ -37,6 +37,8 @@
 
 #include "BMP280.hpp"
 
+#include <drivers/drv_sensor.h>
+
 extern "C" { __EXPORT int bmp280_main(int argc, char *argv[]); }
 
 void
@@ -45,8 +47,12 @@ BMP280::print_usage()
 	PRINT_MODULE_USAGE_NAME("bmp280", "driver");
 	PRINT_MODULE_USAGE_SUBCATEGORY("baro");
 	PRINT_MODULE_USAGE_COMMAND("start");
+#if defined(CONFIG_I2C)
 	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, true);
 	PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x76);
+#else
+	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
+#endif
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
 
@@ -54,21 +60,30 @@ I2CSPIDriverBase *BMP280::instantiate(const I2CSPIDriverConfig &config, int runt
 {
 	bmp280::IBMP280 *interface = nullptr;
 
+#if defined(CONFIG_I2C)
+
 	if (config.bus_type == BOARD_I2C_BUS) {
 		interface = bmp280_i2c_interface(config.bus, config.i2c_address, config.bus_frequency);
 
-	} else if (config.bus_type == BOARD_SPI_BUS) {
+	}
+
+#endif // CONFIG_I2C
+#if defined(CONFIG_SPI)
+
+	if (config.bus_type == BOARD_SPI_BUS) {
 		interface = bmp280_spi_interface(config.bus, config.spi_devid, config.bus_frequency, config.spi_mode);
 	}
 
+#endif // CONFIG_SPI
+
 	if (interface == nullptr) {
-		PX4_ERR("failed creating interface for bus %i (devid 0x%" PRIx32 ")", config.bus, config.spi_devid);
+		PX4_ERR("failed creating interface for bus %i", config.bus);
 		return nullptr;
 	}
 
 	if (interface->init() != OK) {
 		delete interface;
-		PX4_DEBUG("no device on bus %i (devid 0x%" PRIx32 ")", config.bus, config.spi_devid);
+		PX4_DEBUG("no device on bus %i", config.bus);
 		return nullptr;
 	}
 
@@ -92,9 +107,13 @@ bmp280_main(int argc, char *argv[])
 {
 	using ThisDriver = BMP280;
 	BusCLIArguments cli{true, true};
+#if defined(CONFIG_I2C)
 	cli.i2c_address = 0x76;
 	cli.default_i2c_frequency = 100 * 1000;
+#endif // CONFIG_I2C
+#if defined(CONFIG_SPI)
 	cli.default_spi_frequency = 10 * 1000 * 1000;
+#endif // CONFIG_SPI
 
 	const char *verb = cli.parseDefaultArguments(argc, argv);
 

src/drivers/barometer/dps310/DPS310_I2C.cpp

@@ -39,6 +39,8 @@
 
 #include <lib/drivers/device/i2c.h>
 
+#if defined(CONFIG_I2C)
+
 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>
@@ -50,8 +52,12 @@ DPS310::print_usage()
 	PRINT_MODULE_USAGE_NAME("dps310", "driver");
 	PRINT_MODULE_USAGE_SUBCATEGORY("baro");
 	PRINT_MODULE_USAGE_COMMAND("start");
+#if defined(CONFIG_I2C)
 	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, true);
 	PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x77);
+#else
+	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
+#endif
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
 
@@ -59,12 +65,16 @@ 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) {
+	} else
-		interface = DPS310_SPI_interface(config.bus, config.spi_devid, config.bus_frequency, config.spi_mode);
+#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 +105,15 @@ 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/barometer/ms5611/ms5611.h

@@ -39,17 +39,19 @@
 
 #pragma once
 
+#include "board_config.h"
+
 #include <string.h>
 
-#include <drivers/device/i2c.h>
+#if defined(CONFIG_I2C)
+# include <drivers/device/i2c.h>
+#endif // CONFIG_I2C
+
 #include <drivers/device/device.h>
 #include <drivers/device/spi.h>
 #include <lib/cdev/CDev.hpp>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <systemlib/err.h>
-#include <uORB/uORB.h>
-
-#include "board_config.h"
 
 #define ADDR_RESET_CMD			0x1E	/* write to this address to reset chip */
 #define ADDR_PROM_SETUP			0xA0	/* address of 8x 2 bytes factory and calibration data */
@@ -96,7 +98,10 @@ extern bool crc4(uint16_t *n_prom);
 /* interface factories */
 extern device::Device *MS5611_spi_interface(ms5611::prom_u &prom_buf, uint32_t devid, uint8_t busnum, int bus_frequency,
 		spi_mode_e spi_mode);
+
+#if defined(CONFIG_I2C)
 extern device::Device *MS5611_i2c_interface(ms5611::prom_u &prom_buf, uint32_t devid, uint8_t busnum,
 		int bus_frequency);
+#endif // CONFIG_I2C
 
 typedef device::Device *(*MS5611_constructor)(ms5611::prom_u &prom_buf, uint32_t devid, uint8_t busnum);

src/drivers/barometer/ms5611/ms5611_i2c.cpp

@@ -39,6 +39,8 @@
 
 #include <drivers/device/i2c.h>
 
+#if defined(CONFIG_I2C)
+
 #include "ms5611.h"
 
 class MS5611_I2C : public device::I2C
@@ -238,3 +240,5 @@ MS5611_I2C::_read_prom()
 	/* calculate CRC and return success/failure accordingly */
 	return (ms5611::crc4(&_prom.c[0]) && !bits_stuck) ? PX4_OK : -EIO;
 }
+
+#endif // CONFIG_I2C

src/drivers/barometer/ms5611/ms5611_main.cpp

@@ -45,12 +45,16 @@ I2CSPIDriverBase *MS5611::instantiate(const I2CSPIDriverConfig &config, int runt
 	ms5611::prom_u prom_buf;
 	device::Device *interface = nullptr;
 
+#if defined(CONFIG_I2C)
+
 	if (config.bus_type == BOARD_I2C_BUS) {
 		interface = MS5611_i2c_interface(prom_buf, config.spi_devid, config.bus, config.bus_frequency);
 
-	} else if (config.bus_type == BOARD_SPI_BUS) {
+	} else
-		interface = MS5611_spi_interface(prom_buf, config.spi_devid, config.bus, config.bus_frequency, config.spi_mode);
+#endif // CONFIG_I2C
-	}
+		if (config.bus_type == BOARD_SPI_BUS) {
+			interface = MS5611_spi_interface(prom_buf, config.spi_devid, config.bus, config.bus_frequency, config.spi_mode);
+		}
 
 	if (interface == nullptr) {
 		PX4_ERR("alloc failed");
@@ -83,7 +87,11 @@ void MS5611::print_usage()
 	PRINT_MODULE_USAGE_NAME("ms5611", "driver");
 	PRINT_MODULE_USAGE_SUBCATEGORY("baro");
 	PRINT_MODULE_USAGE_COMMAND("start");
+#if defined(CONFIG_I2C)
 	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, true);
+#else
+	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
+#endif
 	PRINT_MODULE_USAGE_PARAM_STRING('T', "5611", "5607|5611", "Device type", true);
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
@@ -92,8 +100,13 @@ extern "C" int ms5611_main(int argc, char *argv[])
 {
 	using ThisDriver = MS5611;
 	int ch;
-	BusCLIArguments cli{true, true};
+#if defined(CONFIG_I2C)
+	BusCLIArguments cli {true, true};
 	cli.default_i2c_frequency = 400000;
+	cli.i2c_address = MS5611_ADDRESS_1;
+#else
+	BusCLIArguments cli {false, true};
+#endif
 	cli.default_spi_frequency = 20 * 1000 * 1000;
 	uint16_t dev_type_driver = DRV_BARO_DEVTYPE_MS5611;
 
@@ -120,8 +133,6 @@ extern "C" int ms5611_main(int argc, char *argv[])
 		return -1;
 	}
 
-	cli.i2c_address = MS5611_ADDRESS_1;
-
 	BusInstanceIterator iterator(MODULE_NAME, cli, dev_type_driver);
 
 	if (!strcmp(verb, "start")) {

src/lib/drivers/device/nuttx/I2C.cpp

@@ -42,6 +42,8 @@
 
 #include "I2C.hpp"
 
+#if defined(CONFIG_I2C)
+
 #include <px4_platform_common/i2c_spi_buses.h>
 #include <nuttx/i2c/i2c_master.h>
 
@@ -236,3 +238,5 @@ I2C::transfer(const uint8_t *send, const unsigned send_len, uint8_t *recv, const
 }
 
 } // namespace device
+
+#endif // CONFIG_I2C

src/lib/drivers/device/nuttx/I2C.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2012-2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -31,26 +31,23 @@
  *
  ****************************************************************************/
 
+#pragma once
+
 /**
- * @file i2c.h
+ * @file I2C.hpp
  *
  * Base class for devices connected via I2C.
  */
 
-#ifndef _DEVICE_I2C_H
-#define _DEVICE_I2C_H
-
 #include "../CDev.hpp"
 #include <px4_platform_common/i2c.h>
 
+#if defined(CONFIG_I2C)
+
 #include <nuttx/i2c/i2c_master.h>
 
 struct I2CSPIDriverConfig;
 
-#if !defined(CONFIG_I2C)
-#  error I2C support requires CONFIG_I2C
-#endif
-
 namespace device __EXPORT
 {
 
@@ -123,4 +120,4 @@ private:
 
 } // namespace device
 
-#endif /* _DEVICE_I2C_H */
+#endif // CONFIG_I2C

src/lib/drivers/device/nuttx/SPI.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012-2019, 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2012-2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -32,21 +32,16 @@
  ****************************************************************************/
 
 /**
- * @file spi.cpp
+ * @file SPI.cpp
  *
  * Base class for devices connected via SPI.
  *
- * @todo Work out if caching the mode/frequency would save any time.
- *
- * @todo A separate bus/device abstraction would allow for mixed interrupt-mode
- * and non-interrupt-mode clients to arbitrate for the bus.  As things stand,
- * a bus shared between clients of both kinds is vulnerable to races between
- * the two, where an interrupt-mode client will ignore the lock held by the
- * non-interrupt-mode client.
  */
 
 #include "SPI.hpp"
 
+#if defined(CONFIG_SPI)
+
 #include <px4_platform_common/i2c_spi_buses.h>
 #include <px4_platform_common/px4_config.h>
 #include <nuttx/arch.h>
@@ -237,3 +232,4 @@ SPI::_transferhword(uint16_t *send, uint16_t *recv, unsigned len)
 }
 
 } // namespace device
+#endif // CONFIG_SPI

src/lib/drivers/device/nuttx/SPI.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2012-2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -31,16 +31,18 @@
  *
  ****************************************************************************/
 
+#pragma once
+
 /**
  * @file SPI.hpp
  *
  * Base class for devices connected via SPI.
  */
 
-#ifndef _DEVICE_SPI_H
-#define _DEVICE_SPI_H
-
 #include "../CDev.hpp"
+#include <px4_platform_common/spi.h>
+
+#if defined(CONFIG_SPI)
 
 #include <nuttx/spi/spi.h>
 #include <px4_platform_common/spi.h>
@@ -178,4 +180,4 @@ protected:
 
 } // namespace device
 
-#endif /* _DEVICE_SPI_H */
+#endif // CONFIG_SPI

src/lib/drivers/device/posix/I2C.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2016-2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2016-2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -42,6 +42,8 @@
 
 #include "I2C.hpp"
 
+#if defined(CONFIG_I2C)
+
 #ifdef __PX4_LINUX
 
 #include <linux/i2c.h>
@@ -181,3 +183,5 @@ I2C::transfer(const uint8_t *send, const unsigned send_len, uint8_t *recv, const
 } // namespace device
 
 #endif // __PX4_LINUX
+
+#endif // CONFIG_I2C