AP_Compass: Console output can be disabled

libraries/AP_Compass/AP_Compass.cpp

@@ -1461,7 +1461,7 @@ void Compass::_detect_backends(void)
 
     if (_backend_count == 0 ||
         _compass_count == 0) {
-        hal.console->printf("No Compass backends available\n");
+        DEV_PRINTF("No Compass backends available\n");
     }
 }
 

libraries/AP_Compass/AP_Compass_AK09916.cpp

@@ -155,7 +155,7 @@ AP_Compass_Backend *AP_Compass_AK09916::probe_ICM20948(AP_HAL::OwnPtr<AP_HAL::I2
     if (dev->read_registers(REG_COMPANY_ID, (uint8_t *)&whoami, 2)) {
         // a device is replying on the AK09916 I2C address, don't
         // load the ICM20948
-        hal.console->printf("ICM20948: AK09916 bus conflict\n");
+        DEV_PRINTF("ICM20948: AK09916 bus conflict\n");
         goto fail;
     }
 
@@ -230,7 +230,7 @@ bool AP_Compass_AK09916::init()
     _bus->get_semaphore()->take_blocking();
 
     if (!_bus->configure()) {
-        hal.console->printf("AK09916: Could not configure the bus\n");
+        DEV_PRINTF("AK09916: Could not configure the bus\n");
         goto fail;
     }
 
@@ -239,7 +239,7 @@ bool AP_Compass_AK09916::init()
     }
 
     if (!_check_id()) {
-        hal.console->printf("AK09916: Wrong id\n");
+        DEV_PRINTF("AK09916: Wrong id\n");
         goto fail;
     }
 
@@ -247,12 +247,12 @@ bool AP_Compass_AK09916::init()
     _bus->setup_checked_registers(1);
 
     if (!_setup_mode()) {
-        hal.console->printf("AK09916: Could not setup mode\n");
+        DEV_PRINTF("AK09916: Could not setup mode\n");
         goto fail;
     }
 
     if (!_bus->start_measurements()) {
-        hal.console->printf("AK09916: Could not start measurements\n");
+        DEV_PRINTF("AK09916: Could not start measurements\n");
         goto fail;
     }
 

libraries/AP_Compass/AP_Compass_AK8963.cpp

@@ -135,27 +135,27 @@ bool AP_Compass_AK8963::init()
     _bus->get_semaphore()->take_blocking();
 
     if (!_bus->configure()) {
-        hal.console->printf("AK8963: Could not configure the bus\n");
+        DEV_PRINTF("AK8963: Could not configure the bus\n");
         goto fail;
     }
 
     if (!_check_id()) {
-        hal.console->printf("AK8963: Wrong id\n");
+        DEV_PRINTF("AK8963: Wrong id\n");
         goto fail;
     }
 
     if (!_calibrate()) {
-        hal.console->printf("AK8963: Could not read calibration data\n");
+        DEV_PRINTF("AK8963: Could not read calibration data\n");
         goto fail;
     }
 
     if (!_setup_mode()) {
-        hal.console->printf("AK8963: Could not setup mode\n");
+        DEV_PRINTF("AK8963: Could not setup mode\n");
         goto fail;
     }
 
     if (!_bus->start_measurements()) {
-        hal.console->printf("AK8963: Could not start measurements\n");
+        DEV_PRINTF("AK8963: Could not start measurements\n");
         goto fail;
     }
 

libraries/AP_Compass/AP_Compass_BMM150.cpp

@@ -118,7 +118,7 @@ bool AP_Compass_BMM150::_load_trim_values()
         }
     }
     if (-1 == tries) {
-        hal.console->printf("BMM150: Failed to load trim registers\n");
+        DEV_PRINTF("BMM150: Failed to load trim registers\n");
         return false;
     }
 
@@ -175,7 +175,7 @@ bool AP_Compass_BMM150::init()
             break;
         }
         if (boot_tries == 0) {
-            hal.console->printf("BMM150: Wrong chip ID 0x%02x should be 0x%02x\n", val, CHIP_ID_VAL);
+            DEV_PRINTF("BMM150: Wrong chip ID 0x%02x should be 0x%02x\n", val, CHIP_ID_VAL);
         }
     }
     if (-1 == boot_tries) {

libraries/AP_Compass/AP_Compass_HMC5843.cpp

@@ -152,7 +152,7 @@ bool AP_Compass_HMC5843::init()
     AP_HAL::Semaphore *bus_sem = _bus->get_semaphore();
 
     if (!bus_sem) {
-        hal.console->printf("HMC5843: Unable to get bus semaphore\n");
+        DEV_PRINTF("HMC5843: Unable to get bus semaphore\n");
         return false;
     }
     bus_sem->take_blocking();
@@ -161,7 +161,7 @@ bool AP_Compass_HMC5843::init()
     _bus->set_retries(10);
     
     if (!_bus->configure()) {
-        hal.console->printf("HMC5843: Could not configure the bus\n");
+        DEV_PRINTF("HMC5843: Could not configure the bus\n");
         goto errout;
     }
 
@@ -170,7 +170,7 @@ bool AP_Compass_HMC5843::init()
     }
 
     if (!_calibrate()) {
-        hal.console->printf("HMC5843: Could not calibrate sensor\n");
+        DEV_PRINTF("HMC5843: Could not calibrate sensor\n");
         goto errout;
     }
 
@@ -179,7 +179,7 @@ bool AP_Compass_HMC5843::init()
     }
 
     if (!_bus->start_measurements()) {
-        hal.console->printf("HMC5843: Could not start measurements on bus\n");
+        DEV_PRINTF("HMC5843: Could not start measurements on bus\n");
         goto errout;
     }
 
@@ -210,7 +210,7 @@ bool AP_Compass_HMC5843::init()
     _bus->register_periodic_callback(13333,
                                      FUNCTOR_BIND_MEMBER(&AP_Compass_HMC5843::_timer, void));
 
-    hal.console->printf("HMC5843 found on bus 0x%x\n", (unsigned)_bus->get_bus_id());
+    DEV_PRINTF("HMC5843 found on bus 0x%x\n", (unsigned)_bus->get_bus_id());
     
     return true;
 

libraries/AP_Compass/AP_Compass_LSM303D.cpp

@@ -222,7 +222,7 @@ bool AP_Compass_LSM303D::_read_sample()
     } rx;
 
     if (_register_read(ADDR_CTRL_REG7) != _reg7_expected) {
-        hal.console->printf("LSM303D _read_data_transaction_accel: _reg7_expected unexpected\n");
+        DEV_PRINTF("LSM303D _read_data_transaction_accel: _reg7_expected unexpected\n");
         return false;
     }
 
@@ -316,7 +316,7 @@ bool AP_Compass_LSM303D::_hardware_init()
         }
     }
     if (tries == 5) {
-        hal.console->printf("Failed to boot LSM303D 5 times\n");
+        DEV_PRINTF("Failed to boot LSM303D 5 times\n");
         goto fail_tries;
     }
 

libraries/AP_Compass/AP_Compass_LSM9DS1.cpp

@@ -84,23 +84,23 @@ bool AP_Compass_LSM9DS1::init()
     AP_HAL::Semaphore *bus_sem = _dev->get_semaphore();
 
     if (!bus_sem) {
-        hal.console->printf("LSM9DS1: Unable to get bus semaphore\n");
+        DEV_PRINTF("LSM9DS1: Unable to get bus semaphore\n");
         return false;
     }
     bus_sem->take_blocking();
 
     if (!_check_id()) {
-        hal.console->printf("LSM9DS1: Could not check id\n");
+        DEV_PRINTF("LSM9DS1: Could not check id\n");
         goto errout;
     }
 
     if (!_configure()) {
-        hal.console->printf("LSM9DS1: Could not check id\n");
+        DEV_PRINTF("LSM9DS1: Could not check id\n");
         goto errout;
     }
 
     if (!_set_scale()) {
-        hal.console->printf("LSM9DS1: Could not set scale\n");
+        DEV_PRINTF("LSM9DS1: Could not set scale\n");
         goto errout;
     }
 
@@ -127,15 +127,14 @@ errout:
 
 void AP_Compass_LSM9DS1::_dump_registers()
 {
-    hal.console->printf("LSMDS1 registers\n");
+    DEV_PRINTF("LSMDS1 registers\n");
     for (uint8_t reg = LSM9DS1M_OFFSET_X_REG_L_M; reg <= LSM9DS1M_INT_THS_H_M; reg++) {
-        uint8_t v = _register_read(reg);
-        hal.console->printf("%02x:%02x ", (unsigned)reg, (unsigned)v);
+        DEV_PRINTF("%02x:%02x ", (unsigned)reg, (unsigned)_register_read(reg));
         if ((reg - (LSM9DS1M_OFFSET_X_REG_L_M-1)) % 16 == 0) {
-            hal.console->printf("\n");
+            DEV_PRINTF("\n");
         }
     }
-    hal.console->printf("\n");
+    DEV_PRINTF("\n");
 }
 
 void AP_Compass_LSM9DS1::_update(void)
@@ -174,7 +173,7 @@ bool AP_Compass_LSM9DS1::_check_id(void)
 
     uint8_t value = _register_read(LSM9DS1M_WHO_AM_I);
     if (value != WHO_AM_I_MAG) {
-        hal.console->printf("LSM9DS1: unexpected WHOAMI 0x%x\n", (unsigned)value);
+        DEV_PRINTF("LSM9DS1: unexpected WHOAMI 0x%x\n", (unsigned)value);
         return false;
     }
 

libraries/AP_Compass/AP_Compass_RM3100.cpp

@@ -149,7 +149,7 @@ bool AP_Compass_RM3100::init()
     }
     set_dev_id(compass_instance, dev->get_bus_id());
 
-    hal.console->printf("RM3100: Found at address 0x%x as compass %u\n", dev->get_bus_address(), compass_instance);
+    DEV_PRINTF("RM3100: Found at address 0x%x as compass %u\n", dev->get_bus_address(), compass_instance);
     
     set_rotation(compass_instance, rotation);