i2c_spi_buses: add support for multiple instances of the same device on a bus

This also simplifies the API a bit, since we anyway have to change the
drivers to pass additional information (the bus device index).

The orientation flag is merged with the rotation.

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

@@ -42,6 +42,7 @@
 
 #include "I2C.hpp"
 
+#include <px4_platform_common/i2c_spi_buses.h>
 #include <nuttx/i2c/i2c_master.h>
 
 namespace device
@@ -64,6 +65,11 @@ I2C::I2C(uint8_t device_type, const char *name, const int bus, const uint16_t ad
 	_device_id.devid_s.address = address;
 }
 
+I2C::I2C(const I2CSPIDriverConfig &config)
+	: I2C(config.devid_driver_index, config.module_name, config.bus, config.i2c_address, config.bus_frequency)
+{
+}
+
 I2C::~I2C()
 {
 	if (_dev) {

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

@@ -45,6 +45,8 @@
 
 #include <nuttx/i2c/i2c_master.h>
 
+struct I2CSPIDriverConfig;
+
 #if !defined(CONFIG_I2C)
 #  error I2C support requires CONFIG_I2C
 #endif
@@ -87,6 +89,7 @@ protected:
 	 * @param frequency	I2C bus frequency for the device (currently not used)
 	 */
 	I2C(uint8_t device_type, const char *name, const int bus, const uint16_t address, const uint32_t frequency);
+	I2C(const I2CSPIDriverConfig &config);
 	virtual ~I2C();
 
 	/**

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

@@ -47,6 +47,7 @@
 
 #include "SPI.hpp"
 
+#include <px4_platform_common/i2c_spi_buses.h>
 #include <px4_platform_common/px4_config.h>
 #include <nuttx/arch.h>
 
@@ -67,8 +68,7 @@ SPI::SPI(uint8_t device_type, const char *name, int bus, uint32_t device, enum s
 	// fill in _device_id fields for a SPI device
 	_device_id.devid_s.bus_type = DeviceBusType_SPI;
 	_device_id.devid_s.bus = bus;
-	// Use the 2. LSB byte as SPI address. This is currently 0, but will allow to extend
-	// for multiple instances of the same device on a bus, should that ever be required.
+	// Use the 2. LSB byte as SPI address, which is non-zero for multiple instances of the same device on a bus
 	_device_id.devid_s.address = (uint8_t)(device >> 8);
 
 	if (!px4_spi_bus_requires_locking(bus)) {
@@ -76,6 +76,12 @@ SPI::SPI(uint8_t device_type, const char *name, int bus, uint32_t device, enum s
 	}
 }
 
+SPI::SPI(const I2CSPIDriverConfig &config)
+	: SPI(config.devid_driver_index, config.module_name, config.bus, config.spi_devid, config.spi_mode,
+	      config.bus_frequency)
+{
+}
+
 SPI::~SPI()
 {
 	// XXX no way to let go of the bus...

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

@@ -45,6 +45,8 @@
 #include <nuttx/spi/spi.h>
 #include <px4_platform_common/spi.h>
 
+struct I2CSPIDriverConfig;
+
 namespace device __EXPORT
 {
 
@@ -72,6 +74,9 @@ protected:
 	 * @param frequency	SPI clock frequency
 	 */
 	SPI(uint8_t device_type, const char *name, int bus, uint32_t device, enum spi_mode_e mode, uint32_t frequency);
+
+	SPI(const I2CSPIDriverConfig &config);
+
 	virtual ~SPI();
 
 	/**

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

@@ -47,6 +47,8 @@
 #include <linux/i2c.h>
 #include <linux/i2c-dev.h>
 
+#include <px4_platform_common/i2c_spi_buses.h>
+
 namespace device
 {
 
@@ -60,6 +62,11 @@ I2C::I2C(uint8_t device_type, const char *name, const int bus, const uint16_t ad
 	_device_id.devid_s.address = address;
 }
 
+I2C::I2C(const I2CSPIDriverConfig &config)
+	: I2C(config.devid_driver_index, config.module_name, config.bus, config.i2c_address, config.bus_frequency)
+{
+}
+
 I2C::~I2C()
 {
 	if (_fd >= 0) {

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

@@ -43,6 +43,8 @@
 #include "../CDev.hpp"
 #include <px4_platform_common/i2c.h>
 
+struct I2CSPIDriverConfig;
+
 namespace device __EXPORT
 {
 
@@ -79,6 +81,7 @@ protected:
 	 * @param frequency	I2C bus frequency for the device (currently not used)
 	 */
 	I2C(uint8_t device_type, const char *name, const int bus, const uint16_t address, const uint32_t frequency);
+	I2C(const I2CSPIDriverConfig &config);
 	virtual ~I2C();
 
 	/**

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

@@ -48,6 +48,7 @@
 #include <linux/types.h>
 #include <linux/spi/spidev.h>
 
+#include <px4_platform_common/i2c_spi_buses.h>
 #include <px4_platform_common/px4_config.h>
 
 namespace device
@@ -66,6 +67,13 @@ SPI::SPI(uint8_t device_type, const char *name, int bus, uint32_t device, enum s
 	_device_id.devid_s.address = (uint8_t)device;
 }
 
+SPI::SPI(const I2CSPIDriverConfig &config)
+	: SPI(config.devid_driver_index, config.module_name, config.bus, config.spi_devid, config.spi_mode,
+	      config.bus_frequency)
+{
+}
+
+
 SPI::~SPI()
 {
 	if (_fd >= 0) {

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

@@ -58,6 +58,8 @@ enum spi_mode_e {
 	SPIDEV_MODE3 = SPI_MODE_3  /* CPOL=1 CHPHA=1 */
 };
 
+struct I2CSPIDriverConfig;
+
 namespace device __EXPORT
 {
 
@@ -85,6 +87,9 @@ protected:
 	 * @param frequency	SPI clock frequency
 	 */
 	SPI(uint8_t device_type, const char *name, int bus, uint32_t device, enum spi_mode_e mode, uint32_t frequency);
+
+	SPI(const I2CSPIDriverConfig &config);
+
 	virtual ~SPI();
 
 	/**

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

@@ -44,6 +44,8 @@
 
 #include <dev_fs_lib_i2c.h>
 
+#include <px4_platform_common/i2c_spi_buses.h>
+
 namespace device
 {
 
@@ -58,6 +60,11 @@ I2C::I2C(uint8_t device_type, const char *name, const int bus, const uint16_t ad
 	_device_id.devid_s.address = address;
 }
 
+I2C::I2C(const I2CSPIDriverConfig &config)
+	: I2C(config.devid_driver_index, config.module_name, config.bus, config.i2c_address, config.bus_frequency)
+{
+}
+
 I2C::~I2C()
 {
 	if (_fd >= 0) {

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

@@ -42,6 +42,8 @@
 
 #include "../CDev.hpp"
 
+struct I2CSPIDriverConfig;
+
 namespace device __EXPORT
 {
 
@@ -78,6 +80,7 @@ protected:
 	 * @param frequency	I2C bus frequency for the device (currently not used)
 	 */
 	I2C(uint8_t device_type, const char *name, const int bus, const uint16_t address, const uint32_t frequency);
+	I2C(const I2CSPIDriverConfig &config);
 	virtual ~I2C();
 
 	/**

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

@@ -46,6 +46,7 @@
 
 #include "dev_fs_lib_spi.h"
 
+#include <px4_platform_common/i2c_spi_buses.h>
 #include <px4_platform_common/px4_config.h>
 
 namespace device
@@ -64,6 +65,12 @@ SPI::SPI(uint8_t device_type, const char *name, int bus, uint32_t device, enum s
 	_device_id.devid_s.address = (uint8_t)device;
 }
 
+SPI::SPI(const I2CSPIDriverConfig &config)
+	: SPI(config.devid_driver_index, config.module_name, config.bus, config.spi_devid, config.spi_mode,
+	      config.bus_frequency)
+{
+}
+
 SPI::~SPI()
 {
 	if (_fd >= 0) {

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

@@ -50,6 +50,8 @@ enum spi_mode_e {
 	SPIDEV_MODE3 = 3  /* CPOL=1 CHPHA=1 */
 };
 
+struct I2CSPIDriverConfig;
+
 namespace device __EXPORT
 {
 
@@ -70,6 +72,7 @@ protected:
 	 * @param frequency	SPI clock frequency
 	 */
 	SPI(uint8_t device_type, const char *name, int bus, uint32_t device, enum spi_mode_e mode, uint32_t frequency);
+	SPI(const I2CSPIDriverConfig &config);
 	virtual ~SPI();
 
 	/**