isentek/ist8310: support starting with custom i2c address

JizhouChen · Sep 6, 2020 · af84f44 · af84f44
1 parent 023f6d3
commit af84f44
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Showing 3 changed files with 8 additions and 5 deletions.
diff --git a/src/drivers/magnetometer/isentek/ist8310/IST8310.cpp b/src/drivers/magnetometer/isentek/ist8310/IST8310.cpp
@@ -40,9 +40,9 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
 	return (msb << 8u) | lsb;
 }
 
-IST8310::IST8310(I2CSPIBusOption bus_option, int bus, int bus_frequency, enum Rotation rotation) :
-	I2C(DRV_MAG_DEVTYPE_IST8310, MODULE_NAME, bus, I2C_ADDRESS_DEFAULT, bus_frequency),
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
+IST8310::IST8310(I2CSPIBusOption bus_option, int bus, uint8_t addr, int bus_frequency, enum Rotation rotation) :
+	I2C(DRV_MAG_DEVTYPE_IST8310, MODULE_NAME, bus, addr, bus_frequency),
+	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus, addr),
 	_px4_mag(get_device_id(), rotation)
 {
 	_px4_mag.set_external(external());

diff --git a/src/drivers/magnetometer/isentek/ist8310/IST8310.hpp b/src/drivers/magnetometer/isentek/ist8310/IST8310.hpp
@@ -53,7 +53,7 @@ using namespace iSentek_IST8310;
 class IST8310 : public device::I2C, public I2CSPIDriver<IST8310>
 {
 public:
-	IST8310(I2CSPIBusOption bus_option, int bus, int bus_frequency, enum Rotation rotation = ROTATION_NONE);
+	IST8310(I2CSPIBusOption bus_option, int bus, uint8_t addr, int bus_frequency, enum Rotation rotation = ROTATION_NONE);
 	~IST8310() override;
 
 	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,

diff --git a/src/drivers/magnetometer/isentek/ist8310/ist8310_main.cpp b/src/drivers/magnetometer/isentek/ist8310/ist8310_main.cpp
@@ -39,7 +39,8 @@
 I2CSPIDriverBase *IST8310::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
 				       int runtime_instance)
 {
-	IST8310 *instance = new IST8310(iterator.configuredBusOption(), iterator.bus(), cli.bus_frequency, cli.rotation);
+	IST8310 *instance = new IST8310(iterator.configuredBusOption(), iterator.bus(), cli.i2c_address, cli.bus_frequency,
+					cli.rotation);
 
 	if (!instance) {
 		PX4_ERR("alloc failed");
@@ -61,6 +62,7 @@ void IST8310::print_usage()
 	PRINT_MODULE_USAGE_SUBCATEGORY("magnetometer");
 	PRINT_MODULE_USAGE_COMMAND("start");
 	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
+	PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x0E);
 	PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
@@ -70,6 +72,7 @@ extern "C" int ist8310_main(int argc, char *argv[])
 	int ch;
 	using ThisDriver = IST8310;
 	BusCLIArguments cli{true, false};
+	cli.i2c_address = I2C_ADDRESS_DEFAULT;
 	cli.default_i2c_frequency = I2C_SPEED;
 
 	while ((ch = cli.getopt(argc, argv, "R:")) != EOF) {