drivers: use updated I2C SPI driver interface

src/drivers/magnetometer/akm/ak09916/AK09916.cpp

@@ -40,10 +40,10 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
 	return (msb << 8u) | lsb;
 }
 
-AK09916::AK09916(I2CSPIBusOption bus_option, int bus, int bus_frequency, enum Rotation rotation) :
-	I2C(DRV_MAG_DEVTYPE_AK09916, MODULE_NAME, bus, I2C_ADDRESS_DEFAULT, bus_frequency),
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_px4_mag(get_device_id(), rotation)
+AK09916::AK09916(const I2CSPIDriverConfig &config) :
+	I2C(config),
+	I2CSPIDriver(config),
+	_px4_mag(get_device_id(), config.rotation)
 {
 	_px4_mag.set_external(external());
 }

src/drivers/magnetometer/akm/ak09916/AK09916.hpp

@@ -53,11 +53,9 @@ using namespace AKM_AK09916;
 class AK09916 : public device::I2C, public I2CSPIDriver<AK09916>
 {
 public:
-	AK09916(I2CSPIBusOption bus_option, int bus, int bus_frequency, enum Rotation rotation = ROTATION_NONE);
+	AK09916(const I2CSPIDriverConfig &config);
 	~AK09916() override;
 
-	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					     int runtime_instance);
 	static void print_usage();
 
 	void RunImpl();

src/drivers/magnetometer/akm/ak09916/ak09916_main.cpp

@@ -36,31 +36,13 @@
 #include <px4_platform_common/getopt.h>
 #include <px4_platform_common/module.h>
 
-I2CSPIDriverBase *AK09916::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-				       int runtime_instance)
-{
-	AK09916 *instance = new AK09916(iterator.configuredBusOption(), iterator.bus(), cli.bus_frequency, cli.rotation);
-
-	if (!instance) {
-		PX4_ERR("alloc failed");
-		return nullptr;
-	}
-
-	if (instance->init() != PX4_OK) {
-		delete instance;
-		PX4_DEBUG("no device on bus %i (devid 0x%x)", iterator.bus(), iterator.devid());
-		return nullptr;
-	}
-
-	return instance;
-}
-
 void AK09916::print_usage()
 {
 	PRINT_MODULE_USAGE_NAME("ak09916", "driver");
 	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(0x0c);
 	PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
@@ -71,6 +53,7 @@ extern "C" __EXPORT int ak09916_main(int argc, char *argv[])
 	using ThisDriver = AK09916;
 	BusCLIArguments cli{true, false};
 	cli.default_i2c_frequency = I2C_SPEED;
+	cli.i2c_address = I2C_ADDRESS_DEFAULT;
 
 	while ((ch = cli.getOpt(argc, argv, "R:")) != EOF) {
 		switch (ch) {

src/drivers/magnetometer/akm/ak8963/AK8963.cpp

@@ -40,10 +40,10 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
 	return (msb << 8u) | lsb;
 }
 
-AK8963::AK8963(I2CSPIBusOption bus_option, int bus, int bus_frequency, enum Rotation rotation) :
-	I2C(DRV_MAG_DEVTYPE_AK8963, MODULE_NAME, bus, I2C_ADDRESS_DEFAULT, bus_frequency),
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_px4_mag(get_device_id(), rotation)
+AK8963::AK8963(const I2CSPIDriverConfig &config) :
+	I2C(config),
+	I2CSPIDriver(config),
+	_px4_mag(get_device_id(), config.rotation)
 {
 	_px4_mag.set_external(external());
 }

src/drivers/magnetometer/akm/ak8963/AK8963.hpp

@@ -53,11 +53,9 @@ using namespace AKM_AK8963;
 class AK8963 : public device::I2C, public I2CSPIDriver<AK8963>
 {
 public:
-	AK8963(I2CSPIBusOption bus_option, int bus, int bus_frequency, enum Rotation rotation = ROTATION_NONE);
+	AK8963(const I2CSPIDriverConfig &config);
 	~AK8963() override;
 
-	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					     int runtime_instance);
 	static void print_usage();
 
 	void RunImpl();

src/drivers/magnetometer/akm/ak8963/ak8963_main.cpp

@@ -36,31 +36,13 @@
 #include <px4_platform_common/getopt.h>
 #include <px4_platform_common/module.h>
 
-I2CSPIDriverBase *AK8963::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-				      int runtime_instance)
-{
-	AK8963 *instance = new AK8963(iterator.configuredBusOption(), iterator.bus(), cli.bus_frequency, cli.rotation);
-
-	if (!instance) {
-		PX4_ERR("alloc failed");
-		return nullptr;
-	}
-
-	if (instance->init() != PX4_OK) {
-		delete instance;
-		PX4_DEBUG("no device on bus %i (devid 0x%x)", iterator.bus(), iterator.devid());
-		return nullptr;
-	}
-
-	return instance;
-}
-
 void AK8963::print_usage()
 {
 	PRINT_MODULE_USAGE_NAME("ak8963", "driver");
 	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(0x0c);
 	PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
@@ -71,6 +53,7 @@ extern "C" __EXPORT int ak8963_main(int argc, char *argv[])
 	using ThisDriver = AK8963;
 	BusCLIArguments cli{true, false};
 	cli.default_i2c_frequency = I2C_SPEED;
+	cli.i2c_address = I2C_ADDRESS_DEFAULT;
 
 	while ((ch = cli.getOpt(argc, argv, "R:")) != EOF) {
 		switch (ch) {

src/drivers/magnetometer/bosch/bmm150/BMM150.cpp

@@ -35,10 +35,10 @@
 
 using namespace time_literals;
 
-BMM150::BMM150(I2CSPIBusOption bus_option, int bus, int bus_frequency, enum Rotation rotation) :
-	I2C(DRV_MAG_DEVTYPE_BMM150, MODULE_NAME, bus, I2C_ADDRESS_DEFAULT, bus_frequency),
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_px4_mag(get_device_id(), rotation)
+BMM150::BMM150(const I2CSPIDriverConfig &config) :
+	I2C(config),
+	I2CSPIDriver(config),
+	_px4_mag(get_device_id(), config.rotation)
 {
 	_px4_mag.set_external(external());
 }

src/drivers/magnetometer/bosch/bmm150/BMM150.hpp

@@ -53,11 +53,9 @@ using namespace Bosch_BMM150;
 class BMM150 : public device::I2C, public I2CSPIDriver<BMM150>
 {
 public:
-	BMM150(I2CSPIBusOption bus_option, int bus, int bus_frequency, enum Rotation rotation = ROTATION_NONE);
+	BMM150(const I2CSPIDriverConfig &config);
 	~BMM150() override;
 
-	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					     int runtime_instance);
 	static void print_usage();
 
 	void RunImpl();

src/drivers/magnetometer/bosch/bmm150/bmm150_main.cpp

@@ -36,31 +36,13 @@
 #include <px4_platform_common/getopt.h>
 #include <px4_platform_common/module.h>
 
-I2CSPIDriverBase *BMM150::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-				      int runtime_instance)
-{
-	BMM150 *instance = new BMM150(iterator.configuredBusOption(), iterator.bus(), cli.bus_frequency, cli.rotation);
-
-	if (!instance) {
-		PX4_ERR("alloc failed");
-		return nullptr;
-	}
-
-	if (instance->init() != PX4_OK) {
-		delete instance;
-		PX4_DEBUG("no device on bus %i (devid 0x%x)", iterator.bus(), iterator.devid());
-		return nullptr;
-	}
-
-	return instance;
-}
-
 void BMM150::print_usage()
 {
 	PRINT_MODULE_USAGE_NAME("bmm150", "driver");
 	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(0x10);
 	PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
@@ -71,6 +53,7 @@ extern "C" int bmm150_main(int argc, char *argv[])
 	using ThisDriver = BMM150;
 	BusCLIArguments cli{true, false};
 	cli.default_i2c_frequency = I2C_SPEED;
+	cli.i2c_address = I2C_ADDRESS_DEFAULT;
 
 	while ((ch = cli.getOpt(argc, argv, "R:")) != EOF) {
 		switch (ch) {

src/drivers/magnetometer/hmc5883/HMC5883.cpp

@@ -33,9 +33,9 @@
 
 #include "HMC5883.hpp"
 
-HMC5883::HMC5883(device::Device *interface, enum Rotation rotation, I2CSPIBusOption bus_option, int bus) :
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id()), bus_option, bus),
-	_px4_mag(interface->get_device_id(), rotation),
+HMC5883::HMC5883(device::Device *interface, const I2CSPIDriverConfig &config) :
+	I2CSPIDriver(config),
+	_px4_mag(interface->get_device_id(), config.rotation),
 	_interface(interface),
 	_range_ga(1.9f),
 	_collect_phase(false),

src/drivers/magnetometer/hmc5883/HMC5883.hpp

@@ -86,11 +86,10 @@
 class HMC5883 : public I2CSPIDriver<HMC5883>
 {
 public:
-	HMC5883(device::Device *interface, enum Rotation rotation, I2CSPIBusOption bus_option, int bus);
+	HMC5883(device::Device *interface, const I2CSPIDriverConfig &config);
 	virtual ~HMC5883();
 
-	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					     int runtime_instance);
+	static I2CSPIDriverBase *instantiate(const I2CSPIDriverConfig &config, int runtime_instance);
 	static void print_usage();
 
 	void			RunImpl();

src/drivers/magnetometer/hmc5883/hmc5883.h

@@ -42,6 +42,8 @@
 #include <drivers/device/Device.hpp>
 #include <drivers/device/spi.h>
 
+#define HMC5883L_ADDRESS		0x1E
+
 #define ADDR_ID_A			0x0a
 #define ADDR_ID_B			0x0b
 #define ADDR_ID_C			0x0c

src/drivers/magnetometer/hmc5883/hmc5883_i2c.cpp

@@ -42,8 +42,6 @@
 
 #include "hmc5883.h"
 
-#define HMC5883L_ADDRESS		0x1E
-
 device::Device *HMC5883_I2C_interface(int bus, int bus_frequency);
 
 class HMC5883_I2C : public device::I2C

src/drivers/magnetometer/hmc5883/hmc5883_main.cpp

@@ -45,16 +45,15 @@
 
 extern "C" __EXPORT int hmc5883_main(int argc, char *argv[]);
 
-I2CSPIDriverBase *HMC5883::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-				       int runtime_instance)
+I2CSPIDriverBase *HMC5883::instantiate(const I2CSPIDriverConfig &config, int runtime_instance)
 {
 	device::Device *interface = nullptr;
 
-	if (iterator.busType() == BOARD_I2C_BUS) {
-		interface = HMC5883_I2C_interface(iterator.bus(), cli.bus_frequency);
+	if (config.bus_type == BOARD_I2C_BUS) {
+		interface = HMC5883_I2C_interface(config.bus, config.bus_frequency);
 
-	} else if (iterator.busType() == BOARD_SPI_BUS) {
-		interface = HMC5883_SPI_interface(iterator.bus(), iterator.devid(), cli.bus_frequency, cli.spi_mode);
+	} else if (config.bus_type == BOARD_SPI_BUS) {
+		interface = HMC5883_SPI_interface(config.bus, config.spi_devid, config.bus_frequency, config.spi_mode);
 	}
 
 	if (interface == nullptr) {
@@ -64,11 +63,11 @@ I2CSPIDriverBase *HMC5883::instantiate(const BusCLIArguments &cli, const BusInst
 
 	if (interface->init() != OK) {
 		delete interface;
-		PX4_DEBUG("no device on bus %i (devid 0x%x)", iterator.bus(), iterator.devid());
+		PX4_DEBUG("no device on bus %i (devid 0x%x)", config.bus, config.spi_devid);
 		return nullptr;
 	}
 
-	HMC5883 *dev = new HMC5883(interface, cli.rotation, iterator.configuredBusOption(), iterator.bus());
+	HMC5883 *dev = new HMC5883(interface, config);
 
 	if (dev == nullptr) {
 		delete interface;
@@ -80,7 +79,7 @@ I2CSPIDriverBase *HMC5883::instantiate(const BusCLIArguments &cli, const BusInst
 		return nullptr;
 	}
 
-	bool enable_temp_compensation = cli.custom1 == 1;
+	bool enable_temp_compensation = config.custom1 == 1;
 
 	if (enable_temp_compensation) {
 		dev->set_temperature_compensation(1);
@@ -127,6 +126,8 @@ extern "C" int hmc5883_main(int argc, char *argv[])
 		return -1;
 	}
 
+	cli.i2c_address = HMC5883L_ADDRESS;
+
 	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_MAG_DEVTYPE_HMC5883);
 
 	if (!strcmp(verb, "start")) {

src/drivers/magnetometer/isentek/ist8308/IST8308.cpp

@@ -40,10 +40,10 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
 	return (msb << 8u) | lsb;
 }
 
-IST8308::IST8308(I2CSPIBusOption bus_option, int bus, int bus_frequency, enum Rotation rotation) :
-	I2C(DRV_MAG_DEVTYPE_IST8308, MODULE_NAME, bus, I2C_ADDRESS_DEFAULT, bus_frequency),
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_px4_mag(get_device_id(), rotation)
+IST8308::IST8308(const I2CSPIDriverConfig &config) :
+	I2C(config),
+	I2CSPIDriver(config),
+	_px4_mag(get_device_id(), config.rotation)
 {
 	_px4_mag.set_external(external());
 }

src/drivers/magnetometer/isentek/ist8308/IST8308.hpp

@@ -53,11 +53,9 @@ using namespace iSentek_IST8308;
 class IST8308 : public device::I2C, public I2CSPIDriver<IST8308>
 {
 public:
-	IST8308(I2CSPIBusOption bus_option, int bus, int bus_frequency, enum Rotation rotation = ROTATION_NONE);
+	IST8308(const I2CSPIDriverConfig &config);
 	~IST8308() override;
 
-	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					     int runtime_instance);
 	static void print_usage();
 
 	void RunImpl();

src/drivers/magnetometer/isentek/ist8308/ist8308_main.cpp

@@ -36,31 +36,13 @@
 #include <px4_platform_common/getopt.h>
 #include <px4_platform_common/module.h>
 
-I2CSPIDriverBase *IST8308::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-				       int runtime_instance)
-{
-	IST8308 *instance = new IST8308(iterator.configuredBusOption(), iterator.bus(), cli.bus_frequency, cli.rotation);
-
-	if (!instance) {
-		PX4_ERR("alloc failed");
-		return nullptr;
-	}
-
-	if (instance->init() != PX4_OK) {
-		delete instance;
-		PX4_DEBUG("no device on bus %i (devid 0x%x)", iterator.bus(), iterator.devid());
-		return nullptr;
-	}
-
-	return instance;
-}
-
 void IST8308::print_usage()
 {
 	PRINT_MODULE_USAGE_NAME("ist8308", "driver");
 	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(0x0c);
 	PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
@@ -71,6 +53,7 @@ extern "C" int ist8308_main(int argc, char *argv[])
 	using ThisDriver = IST8308;
 	BusCLIArguments cli{true, false};
 	cli.default_i2c_frequency = I2C_SPEED;
+	cli.i2c_address = I2C_ADDRESS_DEFAULT;
 
 	while ((ch = cli.getOpt(argc, argv, "R:")) != EOF) {
 		switch (ch) {

src/drivers/magnetometer/isentek/ist8310/IST8310.cpp

@@ -40,10 +40,10 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
 	return (msb << 8u) | lsb;
 }
 
-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)
+IST8310::IST8310(const I2CSPIDriverConfig &config) :
+	I2C(config),
+	I2CSPIDriver(config),
+	_px4_mag(get_device_id(), config.rotation)
 {
 	_px4_mag.set_external(external());
 }

src/drivers/magnetometer/isentek/ist8310/IST8310.hpp

@@ -53,11 +53,9 @@ using namespace iSentek_IST8310;
 class IST8310 : public device::I2C, public I2CSPIDriver<IST8310>
 {
 public:
-	IST8310(I2CSPIBusOption bus_option, int bus, uint8_t addr, int bus_frequency, enum Rotation rotation = ROTATION_NONE);
+	IST8310(const I2CSPIDriverConfig &config);
 	~IST8310() override;
 
-	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					     int runtime_instance);
 	static void print_usage();
 
 	void RunImpl();

src/drivers/magnetometer/isentek/ist8310/ist8310_main.cpp

@@ -36,26 +36,6 @@
 #include <px4_platform_common/getopt.h>
 #include <px4_platform_common/module.h>
 
-I2CSPIDriverBase *IST8310::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-				       int runtime_instance)
-{
-	IST8310 *instance = new IST8310(iterator.configuredBusOption(), iterator.bus(), cli.i2c_address, cli.bus_frequency,
-					cli.rotation);
-
-	if (!instance) {
-		PX4_ERR("alloc failed");
-		return nullptr;
-	}
-
-	if (instance->init() != PX4_OK) {
-		delete instance;
-		PX4_DEBUG("no device on bus %i (devid 0x%x)", iterator.bus(), iterator.devid());
-		return nullptr;
-	}
-
-	return instance;
-}
-
 void IST8310::print_usage()
 {
 	PRINT_MODULE_USAGE_NAME("ist8310", "driver");

src/drivers/magnetometer/lis2mdl/lis2mdl.cpp

@@ -42,9 +42,9 @@
 #include <px4_platform_common/time.h>
 #include "lis2mdl.h"
 
-LIS2MDL::LIS2MDL(device::Device *interface, enum Rotation rotation, I2CSPIBusOption bus_option, int bus) :
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id()), bus_option, bus),
-	_px4_mag(interface->get_device_id(), rotation),
+LIS2MDL::LIS2MDL(device::Device *interface, const I2CSPIDriverConfig &config) :
+	I2CSPIDriver(config),
+	_px4_mag(interface->get_device_id(), config.rotation),
 	_interface(interface),
 	_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comms_errors")),
 	_conf_errors(perf_alloc(PC_COUNT, MODULE_NAME": conf_errors")),

src/drivers/magnetometer/lis2mdl/lis2mdl.h

@@ -83,15 +83,15 @@
 extern device::Device *LIS2MDL_SPI_interface(int bus, uint32_t devid, int bus_frequency, spi_mode_e spi_mode);
 extern device::Device *LIS2MDL_I2C_interface(int bus, int bus_frequency);
 
+#define LIS2MDLL_ADDRESS        0x1e
 
 class LIS2MDL : public I2CSPIDriver<LIS2MDL>
 {
 public:
-	LIS2MDL(device::Device *interface, enum Rotation rotation, I2CSPIBusOption bus_option, int bus);
+	LIS2MDL(device::Device *interface, const I2CSPIDriverConfig &config);
 	virtual ~LIS2MDL();
 
-	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					     int runtime_instance);
+	static I2CSPIDriverBase *instantiate(const I2CSPIDriverConfig &config, int runtime_instance);
 	static void print_usage();
 
 	virtual int init();

src/drivers/magnetometer/lis2mdl/lis2mdl_i2c.cpp

@@ -53,8 +53,6 @@
 #include "board_config.h"
 #include "lis2mdl.h"
 
-#define LIS2MDLL_ADDRESS        0x1e
-
 class LIS2MDL_I2C : public device::I2C
 {
 public:

src/drivers/magnetometer/lis2mdl/lis2mdl_main.cpp

@@ -41,16 +41,15 @@
 #include <px4_platform_common/getopt.h>
 #include <px4_platform_common/module.h>
 
-I2CSPIDriverBase *LIS2MDL::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-				       int runtime_instance)
+I2CSPIDriverBase *LIS2MDL::instantiate(const I2CSPIDriverConfig &config, int runtime_instance)
 {
 	device::Device *interface = nullptr;
 
-	if (iterator.busType() == BOARD_I2C_BUS) {
-		interface = LIS2MDL_I2C_interface(iterator.bus(), cli.bus_frequency);
+	if (config.bus_type == BOARD_I2C_BUS) {
+		interface = LIS2MDL_I2C_interface(config.bus, config.bus_frequency);
 
-	} else if (iterator.busType() == BOARD_SPI_BUS) {
-		interface = LIS2MDL_SPI_interface(iterator.bus(), iterator.devid(), cli.bus_frequency, cli.spi_mode);
+	} else if (config.bus_type == BOARD_SPI_BUS) {
+		interface = LIS2MDL_SPI_interface(config.bus, config.spi_devid, config.bus_frequency, config.spi_mode);
 	}
 
 	if (interface == nullptr) {
@@ -60,11 +59,11 @@ I2CSPIDriverBase *LIS2MDL::instantiate(const BusCLIArguments &cli, const BusInst
 
 	if (interface->init() != OK) {
 		delete interface;
-		PX4_DEBUG("no device on bus %i (devid 0x%x)", iterator.bus(), iterator.devid());
+		PX4_DEBUG("no device on bus %i (devid 0x%x)", config.bus, config.spi_devid);
 		return nullptr;
 	}
 
-	LIS2MDL *dev = new LIS2MDL(interface, cli.rotation, iterator.configuredBusOption(), iterator.bus());
+	LIS2MDL *dev = new LIS2MDL(interface, config);
 
 	if (dev == nullptr) {
 		delete interface;
@@ -85,6 +84,7 @@ void LIS2MDL::print_usage()
 	PRINT_MODULE_USAGE_SUBCATEGORY("magnetometer");
 	PRINT_MODULE_USAGE_COMMAND("start");
 	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, true);
+	PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x1e);
 	PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
@@ -112,6 +112,8 @@ extern "C" int lis2mdl_main(int argc, char *argv[])
 		return -1;
 	}
 
+	cli.i2c_address = LIS2MDLL_ADDRESS;
+
 	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_MAG_DEVTYPE_LIS2MDL);
 
 	if (!strcmp(verb, "start")) {

src/drivers/magnetometer/lis3mdl/lis3mdl.cpp

@@ -42,9 +42,9 @@
 #include <px4_platform_common/time.h>
 #include "lis3mdl.h"
 
-LIS3MDL::LIS3MDL(device::Device *interface, enum Rotation rotation, I2CSPIBusOption bus_option, int bus) :
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id()), bus_option, bus),
-	_px4_mag(interface->get_device_id(), rotation),
+LIS3MDL::LIS3MDL(device::Device *interface, const I2CSPIDriverConfig &config) :
+	I2CSPIDriver(config),
+	_px4_mag(interface->get_device_id(), config.rotation),
 	_interface(interface),
 	_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comms_errors")),
 	_conf_errors(perf_alloc(PC_COUNT, MODULE_NAME": conf_errors")),

src/drivers/magnetometer/lis3mdl/lis3mdl.h

@@ -92,14 +92,16 @@ enum OPERATING_MODE {
 	SINGLE
 };
 
+#define LIS3MDLL_ADDRESS        0x1e
+
+
 class LIS3MDL : public I2CSPIDriver<LIS3MDL>
 {
 public:
-	LIS3MDL(device::Device *interface, enum Rotation rotation, I2CSPIBusOption bus_option, int bus);
+	LIS3MDL(device::Device *interface, const I2CSPIDriverConfig &config);
 	virtual ~LIS3MDL();
 
-	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					     int runtime_instance);
+	static I2CSPIDriverBase *instantiate(const I2CSPIDriverConfig &config, int runtime_instance);
 	static void print_usage();
 
 	void custom_method(const BusCLIArguments &cli) override;

src/drivers/magnetometer/lis3mdl/lis3mdl_i2c.cpp

@@ -53,8 +53,6 @@
 #include "board_config.h"
 #include "lis3mdl.h"
 
-#define LIS3MDLL_ADDRESS        0x1e
-
 class LIS3MDL_I2C : public device::I2C
 {
 public:

src/drivers/magnetometer/lis3mdl/lis3mdl_main.cpp

@@ -41,16 +41,15 @@
 #include <px4_platform_common/getopt.h>
 #include <px4_platform_common/module.h>
 
-I2CSPIDriverBase *LIS3MDL::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-				       int runtime_instance)
+I2CSPIDriverBase *LIS3MDL::instantiate(const I2CSPIDriverConfig &config, int runtime_instance)
 {
 	device::Device *interface = nullptr;
 
-	if (iterator.busType() == BOARD_I2C_BUS) {
-		interface = LIS3MDL_I2C_interface(iterator.bus(), cli.bus_frequency);
+	if (config.bus_type == BOARD_I2C_BUS) {
+		interface = LIS3MDL_I2C_interface(config.bus, config.bus_frequency);
 
-	} else if (iterator.busType() == BOARD_SPI_BUS) {
-		interface = LIS3MDL_SPI_interface(iterator.bus(), iterator.devid(), cli.bus_frequency, cli.spi_mode);
+	} else if (config.bus_type == BOARD_SPI_BUS) {
+		interface = LIS3MDL_SPI_interface(config.bus, config.spi_devid, config.bus_frequency, config.spi_mode);
 	}
 
 	if (interface == nullptr) {
@@ -60,11 +59,11 @@ I2CSPIDriverBase *LIS3MDL::instantiate(const BusCLIArguments &cli, const BusInst
 
 	if (interface->init() != OK) {
 		delete interface;
-		PX4_DEBUG("no device on bus %i (devid 0x%x)", iterator.bus(), iterator.devid());
+		PX4_DEBUG("no device on bus %i (devid 0x%x)", config.bus, config.spi_devid);
 		return nullptr;
 	}
 
-	LIS3MDL *dev = new LIS3MDL(interface, cli.rotation, iterator.configuredBusOption(), iterator.bus());
+	LIS3MDL *dev = new LIS3MDL(interface, config);
 
 	if (dev == nullptr) {
 		delete interface;
@@ -119,6 +118,8 @@ extern "C" int lis3mdl_main(int argc, char *argv[])
 		return -1;
 	}
 
+	cli.i2c_address = LIS3MDLL_ADDRESS;
+
 	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_MAG_DEVTYPE_LIS3MDL);
 
 	if (!strcmp(verb, "start")) {

src/drivers/magnetometer/lsm303agr/LSM303AGR.cpp

@@ -61,11 +61,10 @@ static constexpr uint8_t LSM303AGR_WHO_AM_I_M = 0x40;
  */
 #define LSM303AGR_TIMER_REDUCTION				200
 
-LSM303AGR::LSM303AGR(I2CSPIBusOption bus_option, int bus, int device, enum Rotation rotation, int bus_frequency,
-		     spi_mode_e spi_mode) :
-	SPI(DRV_MAG_DEVTYPE_LSM303AGR, MODULE_NAME, bus, device, spi_mode, bus_frequency),
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_px4_mag(get_device_id(), rotation),
+LSM303AGR::LSM303AGR(const I2CSPIDriverConfig &config) :
+	SPI(config),
+	I2CSPIDriver(config),
+	_px4_mag(get_device_id(), config.rotation),
 	_mag_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": mag_read")),
 	_bad_registers(perf_alloc(PC_COUNT, MODULE_NAME": bad_reg")),
 	_bad_values(perf_alloc(PC_COUNT, MODULE_NAME": bad_val"))

src/drivers/magnetometer/lsm303agr/LSM303AGR.hpp

@@ -85,12 +85,9 @@ static constexpr uint8_t OUTZ_H_REG_M = 0x6D;
 class LSM303AGR : public device::SPI, public I2CSPIDriver<LSM303AGR>
 {
 public:
-	LSM303AGR(I2CSPIBusOption bus_option, int bus, int device, enum Rotation rotation, int bus_frequency,
-		  spi_mode_e spi_mode);
+	LSM303AGR(const I2CSPIDriverConfig &config);
 	virtual ~LSM303AGR();
 
-	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					     int runtime_instance);
 	static void print_usage();
 
 	int		init() override;

src/drivers/magnetometer/lsm303agr/lsm303agr_main.cpp

@@ -46,25 +46,6 @@ LSM303AGR::print_usage()
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
 
-I2CSPIDriverBase *LSM303AGR::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-		int runtime_instance)
-{
-	LSM303AGR *instance = new LSM303AGR(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
-					    cli.bus_frequency, cli.spi_mode);
-
-	if (!instance) {
-		PX4_ERR("alloc failed");
-		return nullptr;
-	}
-
-	if (OK != instance->init()) {
-		delete instance;
-		return nullptr;
-	}
-
-	return instance;
-}
-
 extern "C" int lsm303agr_main(int argc, char *argv[])
 {
 	int ch;

src/drivers/magnetometer/lsm9ds1_mag/LSM9DS1_MAG.cpp

@@ -40,11 +40,10 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
 	return (msb << 8u) | lsb;
 }
 
-LSM9DS1_MAG::LSM9DS1_MAG(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation,
-			 int bus_frequency, spi_mode_e spi_mode) :
-	SPI(DRV_MAG_DEVTYPE_ST_LSM9DS1_M, MODULE_NAME, bus, device, spi_mode, bus_frequency),
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_px4_mag(get_device_id(), rotation)
+LSM9DS1_MAG::LSM9DS1_MAG(const I2CSPIDriverConfig &config) :
+	SPI(config),
+	I2CSPIDriver(config),
+	_px4_mag(get_device_id(), config.rotation)
 {
 	_px4_mag.set_external(external());
 }

src/drivers/magnetometer/lsm9ds1_mag/LSM9DS1_MAG.hpp

@@ -53,12 +53,9 @@ using namespace ST_LSM9DS1_MAG;
 class LSM9DS1_MAG : public device::SPI, public I2CSPIDriver<LSM9DS1_MAG>
 {
 public:
-	LSM9DS1_MAG(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
-		    spi_mode_e spi_mode);
+	LSM9DS1_MAG(const I2CSPIDriverConfig &config);
 	~LSM9DS1_MAG() override;
 
-	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					     int runtime_instance);
 	static void print_usage();
 
 	void RunImpl();

src/drivers/magnetometer/lsm9ds1_mag/lsm9ds1_mag_main.cpp

@@ -36,26 +36,6 @@
 #include <px4_platform_common/getopt.h>
 #include <px4_platform_common/module.h>
 
-I2CSPIDriverBase *LSM9DS1_MAG::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-		int runtime_instance)
-{
-	LSM9DS1_MAG *instance = new LSM9DS1_MAG(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
-						cli.bus_frequency, cli.spi_mode);
-
-	if (instance == nullptr) {
-		PX4_ERR("alloc failed");
-		return nullptr;
-	}
-
-	if (OK != instance->init()) {
-		delete instance;
-		PX4_DEBUG("no device on bus %i (devid 0x%x)", iterator.bus(), iterator.devid());
-		return nullptr;
-	}
-
-	return instance;
-}
-
 void LSM9DS1_MAG::print_usage()
 {
 	PRINT_MODULE_USAGE_NAME("lsm9ds1_mag", "driver");

src/drivers/magnetometer/qmc5883l/QMC5883L.cpp

@@ -40,10 +40,10 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
 	return (msb << 8u) | lsb;
 }
 
-QMC5883L::QMC5883L(I2CSPIBusOption bus_option, int bus, int bus_frequency, enum Rotation rotation) :
-	I2C(DRV_MAG_DEVTYPE_QMC5883L, MODULE_NAME, bus, I2C_ADDRESS_DEFAULT, bus_frequency),
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_px4_mag(get_device_id(), rotation)
+QMC5883L::QMC5883L(const I2CSPIDriverConfig &config) :
+	I2C(config),
+	I2CSPIDriver(config),
+	_px4_mag(get_device_id(), config.rotation)
 {
 	_px4_mag.set_external(external());
 }

src/drivers/magnetometer/qmc5883l/QMC5883L.hpp

@@ -53,11 +53,9 @@ using namespace QST_QMC5883L;
 class QMC5883L : public device::I2C, public I2CSPIDriver<QMC5883L>
 {
 public:
-	QMC5883L(I2CSPIBusOption bus_option, int bus, int bus_frequency, enum Rotation rotation = ROTATION_NONE);
+	QMC5883L(const I2CSPIDriverConfig &config);
 	~QMC5883L() override;
 
-	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					     int runtime_instance);
 	static void print_usage();
 
 	void RunImpl();

src/drivers/magnetometer/qmc5883l/qmc5883l_main.cpp

@@ -36,31 +36,13 @@
 #include <px4_platform_common/getopt.h>
 #include <px4_platform_common/module.h>
 
-I2CSPIDriverBase *
-QMC5883L::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator, int runtime_instance)
-{
-	QMC5883L *instance = new QMC5883L(iterator.configuredBusOption(), iterator.bus(), cli.bus_frequency, cli.rotation);
-
-	if (!instance) {
-		PX4_ERR("alloc failed");
-		return nullptr;
-	}
-
-	if (instance->init() != PX4_OK) {
-		delete instance;
-		PX4_DEBUG("no device on bus %i (devid 0x%x)", iterator.bus(), iterator.devid());
-		return nullptr;
-	}
-
-	return instance;
-}
-
 void QMC5883L::print_usage()
 {
 	PRINT_MODULE_USAGE_NAME("qmc5883l", "driver");
 	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(0x0d);
 	PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
@@ -71,6 +53,7 @@ extern "C" int qmc5883l_main(int argc, char *argv[])
 	using ThisDriver = QMC5883L;
 	BusCLIArguments cli{true, false};
 	cli.default_i2c_frequency = I2C_SPEED;
+	cli.i2c_address = I2C_ADDRESS_DEFAULT;
 
 	while ((ch = cli.getOpt(argc, argv, "R:")) != EOF) {
 		switch (ch) {

src/drivers/magnetometer/rm3100/rm3100.cpp

@@ -41,9 +41,9 @@
 
 #include "rm3100.h"
 
-RM3100::RM3100(device::Device *interface, enum Rotation rotation, I2CSPIBusOption bus_option, int bus) :
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id()), bus_option, bus),
-	_px4_mag(interface->get_device_id(), rotation),
+RM3100::RM3100(device::Device *interface, const I2CSPIDriverConfig &config) :
+	I2CSPIDriver(config),
+	_px4_mag(interface->get_device_id(), config.rotation),
 	_interface(interface),
 	_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comms_errors")),
 	_conf_errors(perf_alloc(PC_COUNT, MODULE_NAME": conf_errors")),

src/drivers/magnetometer/rm3100/rm3100.h

@@ -97,14 +97,15 @@ enum OPERATING_MODE {
 	SINGLE
 };
 
+#define RM3100_ADDRESS		0x20
+
 class RM3100 : public I2CSPIDriver<RM3100>
 {
 public:
-	RM3100(device::Device *interface, enum Rotation rotation, I2CSPIBusOption bus_option, int bus);
+	RM3100(device::Device *interface, const I2CSPIDriverConfig &config);
 	virtual ~RM3100();
 
-	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					     int runtime_instance);
+	static I2CSPIDriverBase *instantiate(const I2CSPIDriverConfig &config, int runtime_instance);
 	static void print_usage();
 
 	void custom_method(const BusCLIArguments &cli) override;

src/drivers/magnetometer/rm3100/rm3100_i2c.cpp

@@ -53,8 +53,6 @@
 #include "board_config.h"
 #include "rm3100.h"
 
-#define RM3100_ADDRESS		0x20
-
 class RM3100_I2C : public device::I2C
 {
 public:

src/drivers/magnetometer/rm3100/rm3100_main.cpp

@@ -41,16 +41,15 @@
 #include <px4_platform_common/getopt.h>
 #include <px4_platform_common/module.h>
 
-I2CSPIDriverBase *RM3100::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-				      int runtime_instance)
+I2CSPIDriverBase *RM3100::instantiate(const I2CSPIDriverConfig &config, int runtime_instance)
 {
 	device::Device *interface = nullptr;
 
-	if (iterator.busType() == BOARD_I2C_BUS) {
-		interface = RM3100_I2C_interface(iterator.bus(), cli.bus_frequency);
+	if (config.bus_type == BOARD_I2C_BUS) {
+		interface = RM3100_I2C_interface(config.bus, config.bus_frequency);
 
-	} else if (iterator.busType() == BOARD_SPI_BUS) {
-		interface = RM3100_SPI_interface(iterator.bus(), iterator.devid(), cli.bus_frequency, cli.spi_mode);
+	} else if (config.bus_type == BOARD_SPI_BUS) {
+		interface = RM3100_SPI_interface(config.bus, config.spi_devid, config.bus_frequency, config.spi_mode);
 	}
 
 	if (interface == nullptr) {
@@ -60,11 +59,11 @@ I2CSPIDriverBase *RM3100::instantiate(const BusCLIArguments &cli, const BusInsta
 
 	if (interface->init() != OK) {
 		delete interface;
-		PX4_DEBUG("no device on bus %i (devid 0x%x)", iterator.bus(), iterator.devid());
+		PX4_DEBUG("no device on bus %i (devid 0x%x)", config.bus, config.spi_devid);
 		return nullptr;
 	}
 
-	RM3100 *dev = new RM3100(interface, cli.rotation, iterator.configuredBusOption(), iterator.bus());
+	RM3100 *dev = new RM3100(interface, config);
 
 	if (dev == nullptr) {
 		delete interface;
@@ -119,6 +118,8 @@ extern "C" int rm3100_main(int argc, char *argv[])
 		return -1;
 	}
 
+	cli.i2c_address = RM3100_ADDRESS;
+
 	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_MAG_DEVTYPE_RM3100);
 
 	if (!strcmp(verb, "start")) {

src/drivers/magnetometer/vtrantech/vcm1193l/VCM1193L.cpp

@@ -40,10 +40,10 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
 	return (msb << 8u) | lsb;
 }
 
-VCM1193L::VCM1193L(I2CSPIBusOption bus_option, int bus, int bus_frequency, enum Rotation rotation) :
-	I2C(DRV_MAG_DEVTYPE_VCM1193L, MODULE_NAME, bus, I2C_ADDRESS_DEFAULT, bus_frequency),
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_px4_mag(get_device_id(), rotation)
+VCM1193L::VCM1193L(const I2CSPIDriverConfig &config) :
+	I2C(config),
+	I2CSPIDriver(config),
+	_px4_mag(get_device_id(), config.rotation)
 {
 	_px4_mag.set_external(external());
 }

src/drivers/magnetometer/vtrantech/vcm1193l/VCM1193L.hpp

@@ -53,11 +53,9 @@ using namespace VTT_VCM1193L;
 class VCM1193L : public device::I2C, public I2CSPIDriver<VCM1193L>
 {
 public:
-	VCM1193L(I2CSPIBusOption bus_option, int bus, int bus_frequency, enum Rotation rotation = ROTATION_NONE);
+	VCM1193L(const I2CSPIDriverConfig &config);
 	~VCM1193L() override;
 
-	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					     int runtime_instance);
 	static void print_usage();
 
 	void RunImpl();

src/drivers/magnetometer/vtrantech/vcm1193l/vcm1193l_main.cpp

@@ -35,25 +35,6 @@
 #include <px4_platform_common/module.h>
 #include "VCM1193L.hpp"
 
-I2CSPIDriverBase *
-VCM1193L::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator, int runtime_instance)
-{
-	VCM1193L *instance = new VCM1193L(iterator.configuredBusOption(), iterator.bus(), cli.bus_frequency, cli.rotation);
-
-	if (!instance) {
-		PX4_ERR("alloc failed");
-		return nullptr;
-	}
-
-	if (instance->init() != PX4_OK) {
-		delete instance;
-		PX4_DEBUG("no device on bus %i (devid 0x%x)", iterator.bus(), iterator.devid());
-		return nullptr;
-	}
-
-	return instance;
-}
-
 void VCM1193L::print_usage()
 {
 	PRINT_MODULE_USAGE_NAME("vcm1193l", "driver");