board support add px4_i2c_bus_external/px4_spi_bus_external

cmake/common/px4_base.cmake

@@ -382,6 +382,7 @@ function(px4_add_common_flags)
 
 	set(cxx_warnings
 		-Wno-missing-field-initializers
+		-Wno-overloaded-virtual # TODO: fix and remove
 		-Wreorder
 		)
 

src/drivers/batt_smbus/batt_smbus.cpp

@@ -440,11 +440,11 @@ BATT_SMBUS::search()
 {
 	bool found_slave = false;
 	uint16_t tmp;
-	int16_t orig_addr = get_address();
+	int16_t orig_addr = get_device_address();
 
 	// search through all valid SMBus addresses
 	for (uint8_t i = BATT_SMBUS_ADDR_MIN; i <= BATT_SMBUS_ADDR_MAX; i++) {
-		set_address(i);
+		set_device_address(i);
 
 		if (read_reg(BATT_SMBUS_VOLTAGE, tmp) == OK) {
 			warnx("battery found at 0x%x", (int)i);
@@ -456,7 +456,7 @@ BATT_SMBUS::search()
 	}
 
 	// restore original i2c address
-	set_address(orig_addr);
+	set_device_address(orig_addr);
 
 	// display completion message
 	if (found_slave) {
@@ -869,7 +869,7 @@ BATT_SMBUS::get_PEC(uint8_t cmd, bool reading, const uint8_t buff[], uint8_t len
 	}
 
 	uint8_t tmp_buff[tmp_buff_len];
-	tmp_buff[0] = (uint8_t)get_address() << 1;
+	tmp_buff[0] = (uint8_t)get_device_address() << 1;
 	tmp_buff[1] = cmd;
 
 	if (reading) {

src/drivers/bmi055/bmi055.hpp

@@ -251,12 +251,6 @@
 /* Mask definitions for Gyro bandwidth */
 #define BMI055_GYRO_BW_MASK                  0x0F
 
-#ifdef PX4_SPI_BUS_EXT
-#define EXTERNAL_BUS PX4_SPI_BUS_EXT
-#else
-#define EXTERNAL_BUS 0
-#endif
-
 class BMI055 : public device::SPI
 {
 
@@ -441,14 +435,6 @@ private:
 	*/
 	int         set_accel_range(unsigned max_g);
 
-
-	/**
-	* Get the internal / external state
-	*
-	* @return true if the sensor is not on the main MCU board
-	*/
-	bool            is_external() { return (_bus == EXTERNAL_BUS); }
-
 	/**
 	* Measurement self test
 	*
@@ -602,14 +588,6 @@ private:
 	 */
 	int         set_gyro_range(unsigned max_dps);
 
-
-	/**
-	 * Get the internal / external state
-	 *
-	 * @return true if the sensor is not on the main MCU board
-	 */
-	bool            is_external() { return (_bus == EXTERNAL_BUS); }
-
 	/**
 	 * Measurement self test
 	 *

src/drivers/bmi055/bmi055_accel.cpp

@@ -113,7 +113,7 @@ BMI055_accel::init()
 
 	/* measurement will have generated a report, publish */
 	_accel_topic = orb_advertise_multi(ORB_ID(sensor_accel), &arp,
-					   &_accel_orb_class_instance, (is_external()) ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1);
+					   &_accel_orb_class_instance, (external()) ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1);
 
 	if (_accel_topic == nullptr) {
 		warnx("ADVERT FAIL");

src/drivers/bmi055/bmi055_gyro.cpp

@@ -118,7 +118,7 @@ BMI055_gyro::init()
 	_gyro_reports->get(&grp);
 
 	_gyro_topic = orb_advertise_multi(ORB_ID(sensor_gyro), &grp,
-					  &_gyro_orb_class_instance, (is_external()) ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1);
+					  &_gyro_orb_class_instance, (external()) ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1);
 
 	if (_gyro_topic == nullptr) {
 		warnx("ADVERT FAIL");

src/drivers/bmi160/bmi160.cpp

@@ -190,7 +190,7 @@ BMI160::init()
 
 	/* measurement will have generated a report, publish */
 	_accel_topic = orb_advertise_multi(ORB_ID(sensor_accel), &arp,
-					   &_accel_orb_class_instance, (is_external()) ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1);
+					   &_accel_orb_class_instance, (external()) ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1);
 
 	if (_accel_topic == nullptr) {
 		warnx("ADVERT FAIL");
@@ -202,7 +202,7 @@ BMI160::init()
 	_gyro_reports->get(&grp);
 
 	_gyro->_gyro_topic = orb_advertise_multi(ORB_ID(sensor_gyro), &grp,
-			     &_gyro->_gyro_orb_class_instance, (is_external()) ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1);
+			     &_gyro->_gyro_orb_class_instance, (external()) ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1);
 
 	if (_gyro->_gyro_topic == nullptr) {
 		warnx("ADVERT FAIL");

src/drivers/bmi160/bmi160.hpp

@@ -244,13 +244,6 @@
 
 #define BMI160_TIMER_REDUCTION				200
 
-#ifdef PX4_SPI_BUS_EXT
-#define EXTERNAL_BUS PX4_SPI_BUS_EXT
-#else
-#define EXTERNAL_BUS 0
-#endif
-
-
 class BMI160_gyro;
 
 class BMI160 : public device::SPI
@@ -433,13 +426,6 @@ private:
 	 */
 	uint16_t		swap16(uint16_t val) { return (val >> 8) | (val << 8);	}
 
-	/**
-	 * Get the internal / external state
-	 *
-	 * @return true if the sensor is not on the main MCU board
-	 */
-	bool			is_external() { return (_bus == EXTERNAL_BUS); }
-
 	/**
 	 * Measurement self test
 	 *

src/drivers/bmm150/bmm150.cpp

@@ -77,8 +77,8 @@ void start(bool external_bus, enum Rotation rotation)
 
 	/* create the driver */
 	if (external_bus) {
-#if defined(PX4_I2C_BUS_BMM150)
+#if defined(PX4_I2C_BUS_EXPANSION)
-		*g_dev_ptr = new BMM150(PX4_I2C_BUS_BMM150, path, external_bus, rotation);
+		*g_dev_ptr = new BMM150(PX4_I2C_BUS_EXPANSION, path, rotation);
 #else
 		PX4_ERR("External I2C not available");
 		exit(0);
@@ -242,13 +242,11 @@ usage()
 
 }
 
-
+} // namespace bmm150
-}
 
 
-BMM150 :: BMM150(int bus, const char *path, bool external, enum Rotation rotation) :
+BMM150 :: BMM150(int bus, const char *path, enum Rotation rotation) :
 	I2C("BMM150", path, bus, BMM150_SLAVE_ADDRESS, BMM150_BUS_SPEED),
-	_external(false),
 	_running(false),
 	_call_interval(0),
 	_reports(nullptr),
@@ -283,7 +281,6 @@ BMM150 :: BMM150(int bus, const char *path, bool external, enum Rotation rotatio
 {
 	_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_BMM150;
 
-	_external = external;
 	// work_cancel in the dtor will explode if we don't do this...
 	memset(&_work, 0, sizeof(_work));
 
@@ -294,10 +291,8 @@ BMM150 :: BMM150(int bus, const char *path, bool external, enum Rotation rotatio
 	_scale.y_scale = 1.0f;
 	_scale.z_offset = 0;
 	_scale.z_scale = 1.0f;
-
 }
 
-
 BMM150 :: ~BMM150()
 {
 	/* make sure we are truly inactive */
@@ -383,7 +378,7 @@ int BMM150::init()
 
 	/* measurement will have generated a report, publish */
 	_topic = orb_advertise_multi(ORB_ID(sensor_mag), &mrb,
-				     &_orb_class_instance, (is_external()) ? ORB_PRIO_HIGH : ORB_PRIO_MAX);
+				     &_orb_class_instance, (external()) ? ORB_PRIO_HIGH : ORB_PRIO_MAX);
 
 	if (_topic == nullptr) {
 		PX4_WARN("ADVERT FAIL");
@@ -682,7 +677,7 @@ BMM150::collect()
 
 
 	mrb.timestamp = hrt_absolute_time();
-	mrb.is_external = is_external();
+	mrb.is_external = external();
 
 	// report the error count as the number of bad transfers.
 	// This allows the higher level code to decide if it
@@ -877,12 +872,6 @@ BMM150::self_test()
 	return (perf_event_count(_sample_perf) > 0) ? 0 : 1;
 }
 
-bool BMM150::is_external()
-{
-	return _external;
-}
-
-
 uint8_t
 BMM150::read_reg(uint8_t reg)
 {

src/drivers/bmm150/bmm150.hpp

@@ -195,10 +195,9 @@ struct bmm150_data {
 class BMM150 : public device::I2C
 {
 public:
-	BMM150(int bus, const char *path, bool external, enum Rotation rotation);
+	BMM150(int bus, const char *path, enum Rotation rotation);
 	virtual ~BMM150();
 
-	bool is_external();
 	virtual int             init();
 	virtual ssize_t       read(struct file *filp, char *buffer, size_t buflen);
 	virtual int       ioctl(struct file *filp, int cmd, unsigned long arg);
@@ -220,7 +219,6 @@ protected:
 
 private:
 	work_s            _work{};
-	bool _external;
 
 	bool _running;
 

src/drivers/boards/common/board_common.h

@@ -869,4 +869,44 @@ static inline int board_register_power_state_notification_cb(power_button_state_
 static inline int board_shutdown(void) { return -EINVAL; }
 #endif
 
+/************************************************************************************
+ * Name: px4_i2c_bus_external
+ *
+ ************************************************************************************/
+
+#if defined(BOARD_HAS_SIMPLE_HW_VERSIONING)
+
+__EXPORT bool px4_i2c_bus_external(int bus);
+
+#else
+
+#ifdef PX4_I2C_BUS_ONBOARD
+#define px4_i2c_bus_external(bus) (bus != PX4_I2C_BUS_ONBOARD)
+#else
+#define px4_i2c_bus_external(bus) true
+#endif /* PX4_I2C_BUS_ONBOARD */
+
+#endif /* BOARD_HAS_SIMPLE_HW_VERSIONING */
+
+
+/************************************************************************************
+ * Name: px4_spi_bus_external
+ *
+ ************************************************************************************/
+
+#if defined(BOARD_HAS_SIMPLE_HW_VERSIONING)
+
+__EXPORT bool px4_spi_bus_external(int bus);
+
+#else
+
+#ifdef PX4_SPI_BUS_EXT
+#define px4_spi_bus_external(bus) (bus == PX4_SPI_BUS_EXT)
+#else
+#define px4_spi_bus_external(bus) false
+#endif /* PX4_SPI_BUS_EXT */
+
+#endif /* BOARD_HAS_SIMPLE_HW_VERSIONING */
+
+
 #include "board_internal_common.h"

src/drivers/boards/px4fmu-v2/board_config.h

@@ -424,7 +424,6 @@ extern void board_peripheral_reset(int ms);
 
 extern void stm32_usbinitialize(void);
 
-
 #include "../common/board_common.h"
 
 #endif /* __ASSEMBLY__ */

src/drivers/boards/px4fmu-v3/CMakeLists.txt

@@ -34,6 +34,7 @@ px4_add_module(
 	MODULE drivers__boards__px4fmu-v3
 	SRCS
 		px4fmu_can.c
+		px4fmu_i2c.c
 		px4fmu_init.c
 		px4fmu_led.c
 		px4fmu_spi.c

src/drivers/boards/px4fmu-v3/px4fmu_i2c.c

@@ -0,0 +1,55 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2017 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4fmu_i2c.c
+ *
+ * Board-specific I2C functions.
+ */
+
+#include "board_config.h"
+
+__EXPORT bool px4_i2c_bus_external(int bus)
+{
+	if (HW_VER_FMUV3 == board_get_hw_version()) {
+		/* All FMUV3 2.1 i2c buses are external */
+		return true;
+
+	} else {
+		if (bus != PX4_I2C_BUS_ONBOARD) {
+			return true;
+		}
+	}
+
+	return false;
+}

src/drivers/boards/px4fmu-v3/px4fmu_spi.c

@@ -451,3 +451,18 @@ __EXPORT void board_spi_reset(int ms)
 
 	stm32_spi1_initialize();
 }
+
+__EXPORT bool px4_spi_bus_external(int bus)
+{
+	if (HW_VER_FMUV3 == board_get_hw_version()) {
+		/* all FMUv3 2.1 spi buses are internal */
+		return false;
+
+	} else {
+		if (bus == PX4_SPI_BUS_EXT) {
+			return true;
+		}
+	}
+
+	return false;
+}

src/drivers/boards/px4fmu-v4/board_config.h

@@ -157,7 +157,6 @@
 /* I2C busses */
 #define PX4_I2C_BUS_EXPANSION        1
 #define PX4_I2C_BUS_LED              PX4_I2C_BUS_EXPANSION
-#define PX4_I2C_BUS_BMM150           PX4_I2C_BUS_EXPANSION
 
 /* Devices on the external bus.
  *

src/drivers/boards/sitl/board_config.h

@@ -51,6 +51,7 @@
 #define CONFIG_ARCH_BOARD_SITL 1
 
 #define PX4_I2C_BUS_EXPANSION	1
+#define PX4_I2C_BUS_ONBOARD		2
 #define PX4_NUMBER_I2C_BUSES 1
 
 #include <system_config.h>

src/drivers/bst/bst.cpp

@@ -273,7 +273,7 @@ void BST::start()
 	_gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
 	_battery_sub = orb_subscribe(ORB_ID(battery_status));
 
-	set_address(0x00);	// General call address
+	set_device_address(0x00);	// General call address
 
 	work_queue(LPWORK, &_work, BST::cycle_trampoline, this, 0);
 }

src/drivers/device/Device.hpp

@@ -137,30 +137,32 @@ public:
 	 *
 	 * @return The bus ID
 	 */
-	virtual uint8_t get_device_bus() { return _device_id.devid_s.bus; }
+	uint8_t get_device_bus() { return _device_id.devid_s.bus; }
 
 	/**
 	 * Return the bus type the device is connected to.
 	 *
 	 * @return The bus type
 	 */
-	virtual DeviceBusType get_device_bus_type() { return _device_id.devid_s.bus_type; }
+	DeviceBusType get_device_bus_type() { return _device_id.devid_s.bus_type; }
 
 	/**
 	 * Return the bus address of the device.
 	 *
 	 * @return The bus address
 	 */
-	virtual uint8_t get_device_address() { return _device_id.devid_s.address; }
+	uint8_t get_device_address() { return _device_id.devid_s.address; }
+
+	void set_device_address(int address) { _device_id.devid_s.address = address; }
 
 	/**
 	 * Set the device type
 	 *
 	 * @return The device type
 	 */
-	virtual void set_device_type(uint8_t devtype) { _device_id.devid_s.devtype = devtype; }
+	void set_device_type(uint8_t devtype) { _device_id.devid_s.devtype = devtype; }
 
-	//virtual bool external() = 0;
+	virtual bool external() { return false; }
 
 	/*
 	  broken out device elements. The bitfields are used to keep

src/drivers/device/nuttx/cdev_platform.hpp

@@ -3,9 +3,10 @@
 
 #include <cinttypes>
 
-#include <px4_micro_hal.h>
 #include <nuttx/arch.h>
 
+#include <px4_micro_hal.h>
+
 #define ATOMIC_ENTER irqstate_t flags = px4_enter_critical_section()
 #define ATOMIC_LEAVE px4_leave_critical_section(flags)
 

src/drivers/device/nuttx/i2c_nuttx.cpp

@@ -61,9 +61,6 @@ I2C::I2C(const char *name,
 	// public
 	// protected
 	_retries(0),
-	// private
-	_bus(bus),
-	_address(address),
 	_frequency(frequency),
 	_dev(nullptr)
 {
@@ -108,7 +105,7 @@ I2C::init()
 	unsigned bus_index;
 
 	// attach to the i2c bus
-	_dev = px4_i2cbus_initialize(_bus);
+	_dev = px4_i2cbus_initialize(get_device_bus());
 
 	if (_dev == nullptr) {
 		DEVICE_DEBUG("failed to init I2C");
@@ -118,7 +115,7 @@ I2C::init()
 
 	// the above call fails for a non-existing bus index,
 	// so the index math here is safe.
-	bus_index = _bus - 1;
+	bus_index = get_device_bus() - 1;
 
 	// abort if the max frequency we allow (the frequency we ask)
 	// is smaller than the bus frequency
@@ -126,7 +123,7 @@ I2C::init()
 		(void)px4_i2cbus_uninitialize(_dev);
 		_dev = nullptr;
 		DEVICE_LOG("FAIL: too slow for bus #%u: %u KHz, device max: %u KHz)",
-			   _bus, _bus_clocks[bus_index] / 1000, _frequency / 1000);
+			   get_device_bus(), _bus_clocks[bus_index] / 1000, _frequency / 1000);
 		ret = -EINVAL;
 		goto out;
 	}
@@ -165,7 +162,7 @@ I2C::init()
 
 	// tell the world where we are
 	DEVICE_LOG("on I2C bus %d at 0x%02x (bus: %u KHz, max: %u KHz)",
-		   _bus, _address, _bus_clocks[bus_index] / 1000, _frequency / 1000);
+		   get_device_bus(), get_device_address(), _bus_clocks[bus_index] / 1000, _frequency / 1000);
 
 out:
 
@@ -198,8 +195,8 @@ I2C::transfer(const uint8_t *send, unsigned send_len, uint8_t *recv, unsigned re
 		msgs = 0;
 
 		if (send_len > 0) {
-			msgv[msgs].frequency = _bus_clocks[_bus - 1];
+			msgv[msgs].frequency = _bus_clocks[get_device_bus() - 1];
-			msgv[msgs].addr = _address;
+			msgv[msgs].addr = get_device_address();
 			msgv[msgs].flags = 0;
 			msgv[msgs].buffer = const_cast<uint8_t *>(send);
 			msgv[msgs].length = send_len;
@@ -207,8 +204,8 @@ I2C::transfer(const uint8_t *send, unsigned send_len, uint8_t *recv, unsigned re
 		}
 
 		if (recv_len > 0) {
-			msgv[msgs].frequency = _bus_clocks[_bus - 1];
+			msgv[msgs].frequency = _bus_clocks[get_device_bus() - 1];
-			msgv[msgs].addr = _address;
+			msgv[msgs].addr = get_device_address();
 			msgv[msgs].flags = I2C_M_READ;
 			msgv[msgs].buffer = recv;
 			msgv[msgs].length = recv_len;
@@ -245,8 +242,8 @@ I2C::transfer(i2c_msg_s *msgv, unsigned msgs)
 
 	/* force the device address and Frequency into the message vector */
 	for (unsigned i = 0; i < msgs; i++) {
-		msgv[i].frequency = _bus_clocks[_bus - 1];
+		msgv[i].frequency = _bus_clocks[get_device_address() - 1];
-		msgv[i].addr = _address;
+		msgv[i].addr = get_device_address();
 	}
 
 

src/drivers/device/nuttx/i2c_nuttx.h

@@ -55,11 +55,6 @@ class __EXPORT I2C : public CDev
 
 public:
 
-	/**
-	 * Get the address
-	 */
-	int16_t		get_address() const { return _address; }
-
 	static int	set_bus_clock(unsigned bus, unsigned clock_hz);
 
 	static unsigned	int	_bus_clocks[BOARD_NUMBER_I2C_BUSES];
@@ -71,11 +66,6 @@ protected:
 	 */
 	unsigned		_retries;
 
-	/**
-	 * The I2C bus number the device is attached to.
-	 */
-	int			_bus;
-
 	/**
 	 * @ Constructor
 	 *
@@ -111,8 +101,7 @@ protected:
 	 * @return		OK if the transfer was successful, -errno
 	 *			otherwise.
 	 */
-	int		transfer(const uint8_t *send, unsigned send_len,
+	int		transfer(const uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len);
-				 uint8_t *recv, unsigned recv_len);
 
 	/**
 	 * Perform a multi-part I2C transaction to the device.
@@ -124,22 +113,9 @@ protected:
 	 */
 	int		transfer(px4_i2c_msg_t *msgv, unsigned msgs);
 
-	/**
+	bool		external() { return px4_i2c_bus_external(_device_id.devid_s.bus); }
-	 * Change the bus address.
-	 *
-	 * Most often useful during probe() when the driver is testing
-	 * several possible bus addresses.
-	 *
-	 * @param address	The new bus address to set.
-	 */
-	void		set_address(uint16_t address)
-	{
-		_address = address;
-		_device_id.devid_s.address = _address;
-	}
 
 private:
-	uint16_t		_address;
 	uint32_t		_frequency;
 	px4_i2c_dev_t		*_dev;
 

src/drivers/device/nuttx/spi.cpp

@@ -71,8 +71,7 @@ SPI::SPI(const char *name,
 	_device(device),
 	_mode(mode),
 	_frequency(frequency),
-	_dev(nullptr),
+	_dev(nullptr)
-	_bus(bus)
 {
 	// fill in _device_id fields for a SPI device
 	_device_id.devid_s.bus_type = DeviceBusType_SPI;
@@ -94,7 +93,7 @@ SPI::init()
 
 	/* attach to the spi bus */
 	if (_dev == nullptr) {
-		_dev = px4_spibus_initialize(_bus);
+		_dev = px4_spibus_initialize(get_device_bus());
 	}
 
 	if (_dev == nullptr) {
@@ -123,7 +122,7 @@ SPI::init()
 	}
 
 	/* tell the workd where we are */
-	DEVICE_LOG("on SPI bus %d at %d (%u KHz)", _bus, PX4_SPI_DEV_ID(_device), _frequency / 1000);
+	DEVICE_LOG("on SPI bus %d at %d (%u KHz)", get_device_bus(), PX4_SPI_DEV_ID(_device), _frequency / 1000);
 
 out:
 	return ret;

src/drivers/device/posix/cdev_platform.cpp

@@ -106,7 +106,7 @@ extern "C" {
 		return dev;
 	}
 
-	int register_driver(const char *name, const device::px4_file_operations_t *fops, mode_t mode, void *data)
+	int register_driver(const char *name, const device::px4_file_operations_t *fops, device::mode_t mode, void *data)
 	{
 		PX4_DEBUG("CDev::register_driver %s", name);
 		int ret = 0;

src/drivers/device/posix/i2c_posix.cpp

@@ -40,7 +40,8 @@
  *       that is supplied.  Should we just depend on the bus knowing?
  */
 
-#include "i2c.h"
+#include "i2c_posix.h"
+
 #ifdef __PX4_LINUX
 #include <linux/i2c.h>
 #include <linux/i2c-dev.h>
@@ -72,8 +73,6 @@ I2C::I2C(const char *name,
 	// protected
 	_retries(0),
 	// private
-	_bus(bus),
-	_address(address),
 	_fd(-1)
 {
 	DEVICE_DEBUG("I2C::I2C name = %s devname = %s", name, devname);
@@ -119,7 +118,7 @@ I2C::init()
 
 		// Open the actual I2C device
 		char dev_path[16];
-		snprintf(dev_path, sizeof(dev_path), "/dev/i2c-%i", _bus);
+		snprintf(dev_path, sizeof(dev_path), "/dev/i2c-%i", get_device_bus());
 		_fd = ::open(dev_path, O_RDWR);
 
 		if (_fd < 0) {
@@ -156,7 +155,7 @@ I2C::transfer(const uint8_t *send, unsigned send_len, uint8_t *recv, unsigned re
 		msgs = 0;
 
 		if (send_len > 0) {
-			msgv[msgs].addr = _address;
+			msgv[msgs].addr = get_device_address();
 			msgv[msgs].flags = 0;
 			msgv[msgs].buf = const_cast<uint8_t *>(send);
 			msgv[msgs].len = send_len;
@@ -164,7 +163,7 @@ I2C::transfer(const uint8_t *send, unsigned send_len, uint8_t *recv, unsigned re
 		}
 
 		if (recv_len > 0) {
-			msgv[msgs].addr = _address;
+			msgv[msgs].addr = get_device_address();
 			msgv[msgs].flags = I2C_M_READ;
 			msgv[msgs].buf = recv;
 			msgv[msgs].len = recv_len;
@@ -217,7 +216,7 @@ I2C::transfer(struct i2c_msg *msgv, unsigned msgs)
 
 	/* force the device address into the message vector */
 	for (unsigned i = 0; i < msgs; i++) {
-		msgv[i].addr = _address;
+		msgv[i].addr = get_device_address();
 	}
 
 	do {

src/drivers/device/posix/i2c_posix.h

@@ -60,11 +60,6 @@ class __EXPORT I2C : public CDev
 
 public:
 
-	/**
-	 * Get the address
-	 */
-	int16_t		get_address() const { return _address; }
-
 protected:
 	/**
 	 * The number of times a read or write operation will be retried on
@@ -72,11 +67,6 @@ protected:
 	 */
 	unsigned		_retries;
 
-	/**
-	 * The I2C bus number the device is attached to.
-	 */
-	int			_bus;
-
 	/**
 	 * @ Constructor
 	 *
@@ -110,8 +100,7 @@ protected:
 	 * @return		OK if the transfer was successful, -errno
 	 *			otherwise.
 	 */
-	int		transfer(const uint8_t *send, unsigned send_len,
+	int		transfer(const uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len);
-				 uint8_t *recv, unsigned recv_len);
 
 	/**
 	 * Perform a multi-part I2C transaction to the device.
@@ -123,22 +112,9 @@ protected:
 	 */
 	int		transfer(struct i2c_msg *msgv, unsigned msgs);
 
-	/**
+	bool		external() { return px4_i2c_bus_external(_device_id.devid_s.bus); }
-	 * Change the bus address.
-	 *
-	 * Most often useful during probe() when the driver is testing
-	 * several possible bus addresses.
-	 *
-	 * @param address	The new bus address to set.
-	 */
-	void		set_address(uint16_t address)
-	{
-		_address = address;
-		_device_id.devid_s.address = _address;
-	}
 
 private:
-	uint16_t		_address;
 	int 			_fd;
 	std::string		_dname;
 

src/drivers/device/spi.h

@@ -142,10 +142,10 @@ private:
 	SPI operator=(const SPI &);
 
 protected:
-	int			_bus;
-
 	int	_transfer(uint8_t *send, uint8_t *recv, unsigned len);
 
+	bool	external() { return px4_spi_bus_external(get_device_bus()); }
+
 };
 
 } // namespace device

src/drivers/fxas21002c/fxas21002c.cpp

@@ -205,12 +205,6 @@
 
 #define FXAS21002C_MAX_OFFSET			0.45f /**< max offset: 25 degrees/s */
 
-#ifdef PX4_SPI_BUS_EXT
-#define EXTERNAL_BUS PX4_SPI_BUS_EXT
-#else
-#define EXTERNAL_BUS 0
-#endif
-
 /*
   we set the timer interrupt to run a bit faster than the desired
   sample rate and then throw away duplicates using the data ready bit.
@@ -319,13 +313,6 @@ private:
 	 */
 	void			disable_i2c();
 
-	/**
-	 * Get the internal / external state
-	 *
-	 * @return true if the sensor is not on the main MCU board
-	 */
-	bool			is_external() { return (_bus == EXTERNAL_BUS); }
-
 	/**
 	 * Static trampoline from the hrt_call context; because we don't have a
 	 * generic hrt wrapper yet.
@@ -534,7 +521,7 @@ FXAS21002C::init()
 
 	/* measurement will have generated a report, publish */
 	_gyro_topic = orb_advertise_multi(ORB_ID(sensor_gyro), &grp,
-					  &_orb_class_instance, (is_external()) ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT);
+					  &_orb_class_instance, (external()) ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT);
 
 	if (_gyro_topic == nullptr) {
 		PX4_ERR("ADVERT ERR");

src/drivers/fxos8701cq/fxos8701cq.cpp

@@ -138,12 +138,6 @@
 #define FXOS8701C_MAG_DEFAULT_RATE                   100
 #define FXOS8701C_ONE_G                              9.80665f
 
-#ifdef PX4_SPI_BUS_EXT
-#define EXTERNAL_BUS PX4_SPI_BUS_EXT
-#else
-#define EXTERNAL_BUS 0
-#endif
-
 /*
   we set the timer interrupt to run a bit faster than the desired
   sample rate and then throw away duplicates using the data ready bit.
@@ -278,13 +272,6 @@ private:
 	 */
 	void			disable_i2c();
 
-	/**
-	 * Get the internal / external state
-	 *
-	 * @return true if the sensor is not on the main MCU board
-	 */
-	bool			is_external() { return (_bus == EXTERNAL_BUS); }
-
 	/**
 	 * Static trampoline from the hrt_call context; because we don't have a
 	 * generic hrt wrapper yet.
@@ -633,7 +620,7 @@ FXOS8701CQ::init()
 
 	/* measurement will have generated a report, publish */
 	_accel_topic = orb_advertise_multi(ORB_ID(sensor_accel), &arp,
-					   &_accel_orb_class_instance, (is_external()) ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT);
+					   &_accel_orb_class_instance, (external()) ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT);
 
 	if (_accel_topic == nullptr) {
 		PX4_ERR("ADVERT ERR");
@@ -1551,7 +1538,7 @@ FXOS8701CQ::mag_measure()
 	 */
 
 	mag_report.timestamp = hrt_absolute_time();
-	mag_report.is_external = is_external();
+	mag_report.is_external = external();
 
 	mag_report.x_raw = _last_raw_mag_x;
 	mag_report.y_raw = _last_raw_mag_y;

src/drivers/hmc5883/hmc5883_i2c.cpp

@@ -113,18 +113,7 @@ HMC5883_I2C::ioctl(unsigned operation, unsigned &arg)
 	switch (operation) {
 
 	case MAGIOCGEXTERNAL:
-#ifdef PX4_I2C_BUS_ONBOARD
+		return external();
-		if (_bus == PX4_I2C_BUS_ONBOARD) {
-			return 0;
-
-		} else {
-			return 1;
-		}
-
-#else
-		/* assume external for all boards that don't define PX4_I2C_BUS_ONBOARD */
-		return 1;
-#endif
 
 	case DEVIOCGDEVICEID:
 		return CDev::ioctl(nullptr, operation, arg);

src/drivers/l3gd20/l3gd20.cpp

@@ -178,12 +178,6 @@
 
 #define L3GD20_MAX_OFFSET			0.45f /**< max offset: 25 degrees/s */
 
-#ifdef PX4_SPI_BUS_EXT
-#define EXTERNAL_BUS PX4_SPI_BUS_EXT
-#else
-#define EXTERNAL_BUS 0
-#endif
-
 #ifndef SENSOR_BOARD_ROTATION_DEFAULT
 #define SENSOR_BOARD_ROTATION_DEFAULT		SENSOR_BOARD_ROTATION_270_DEG
 #endif
@@ -288,13 +282,6 @@ private:
 	 */
 	void			disable_i2c();
 
-	/**
-	 * Get the internal / external state
-	 *
-	 * @return true if the sensor is not on the main MCU board
-	 */
-	bool			is_external() { return (_bus == EXTERNAL_BUS); }
-
 	/**
 	 * Static trampoline from the hrt_call context; because we don't have a
 	 * generic hrt wrapper yet.
@@ -493,7 +480,7 @@ L3GD20::init()
 	_reports->get(&grp);
 
 	_gyro_topic = orb_advertise_multi(ORB_ID(sensor_gyro), &grp,
-					  &_orb_class_instance, (is_external()) ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT);
+					  &_orb_class_instance, (external()) ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT);
 
 	if (_gyro_topic == nullptr) {
 		DEVICE_DEBUG("failed to create sensor_gyro publication");

src/drivers/lis3mdl/lis3mdl_i2c.cpp

@@ -112,12 +112,7 @@ LIS3MDL_I2C::ioctl(unsigned operation, unsigned &arg)
 	switch (operation) {
 
 	case MAGIOCGEXTERNAL:
-		if (_bus == PX4_I2C_BUS_EXPANSION) {
+		external();
-			return 1;
-
-		} else {
-			return 0;
-		}
 
 	case DEVIOCGDEVICEID:
 		return CDev::ioctl(nullptr, operation, arg);

src/drivers/ll40ls/LidarLiteI2C.cpp

@@ -68,8 +68,7 @@ LidarLiteI2C::LidarLiteI2C(int bus, const char *path, uint8_t rotation, int addr
 	_acquire_time_usec(0),
 	_pause_measurements(false),
 	_hw_version(0),
-	_sw_version(0),
+	_sw_version(0)
-	_bus(bus)
 {
 	// up the retries since the device misses the first measure attempts
 	_retries = 3;

src/drivers/ll40ls/LidarLiteI2C.h

@@ -123,9 +123,6 @@ private:
 	uint8_t		_hw_version;
 	uint8_t		_sw_version;
 
-	/**< the bus the device is connected to */
-	int         _bus;
-
 	/**
 	 * LidarLite specific transfer function. This is needed
 	 * to avoid a stop transition with SCL high

src/drivers/lsm303d/lsm303d.cpp

@@ -208,12 +208,6 @@
 
 #define LSM303D_ONE_G					9.80665f
 
-#ifdef PX4_SPI_BUS_EXT
-#define EXTERNAL_BUS PX4_SPI_BUS_EXT
-#else
-#define EXTERNAL_BUS 0
-#endif
-
 /*
   we set the timer interrupt to run a bit faster than the desired
   sample rate and then throw away duplicates using the data ready bit.
@@ -345,13 +339,6 @@ private:
 	 */
 	void			disable_i2c();
 
-	/**
-	 * Get the internal / external state
-	 *
-	 * @return true if the sensor is not on the main MCU board
-	 */
-	bool			is_external() { return (_bus == EXTERNAL_BUS); }
-
 	/**
 	 * Static trampoline from the hrt_call context; because we don't have a
 	 * generic hrt wrapper yet.
@@ -691,7 +678,7 @@ LSM303D::init()
 
 	/* measurement will have generated a report, publish */
 	_accel_topic = orb_advertise_multi(ORB_ID(sensor_accel), &arp,
-					   &_accel_orb_class_instance, (is_external()) ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT);
+					   &_accel_orb_class_instance, (external()) ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT);
 
 	if (_accel_topic == nullptr) {
 		warnx("ADVERT ERR");
@@ -1673,7 +1660,7 @@ LSM303D::mag_measure()
 	 */
 
 	mag_report.timestamp = hrt_absolute_time();
-	mag_report.is_external = is_external();
+	mag_report.is_external = external();
 
 	mag_report.x_raw = raw_mag_report.x;
 	mag_report.y_raw = raw_mag_report.y;

src/drivers/mb12xx/mb12xx.cpp

@@ -256,7 +256,7 @@ MB12XX::init()
 	_reports = new ringbuffer::RingBuffer(2, sizeof(distance_sensor_s));
 
 	_index_counter = MB12XX_BASEADDR;	/* set temp sonar i2c address to base adress */
-	set_address(_index_counter);		/* set I2c port to temp sonar i2c adress */
+	set_device_address(_index_counter);		/* set I2c port to temp sonar i2c adress */
 
 	if (_reports == nullptr) {
 		return ret;
@@ -282,7 +282,7 @@ MB12XX::init()
 	   So second iteration it uses i2c address 111, third iteration 110 and so on*/
 	for (unsigned counter = 0; counter <= MB12XX_MAX_RANGEFINDERS; counter++) {
 		_index_counter = MB12XX_BASEADDR - counter;	/* set temp sonar i2c address to base adress - counter */
-		set_address(_index_counter);			/* set I2c port to temp sonar i2c adress */
+		set_device_address(_index_counter);			/* set I2c port to temp sonar i2c adress */
 		int ret2 = measure();
 
 		if (ret2 == 0) { /* sonar is present -> store address_index in array */
@@ -293,7 +293,7 @@ MB12XX::init()
 	}
 
 	_index_counter = MB12XX_BASEADDR;
-	set_address(_index_counter); /* set i2c port back to base adress for rest of driver */
+	set_device_address(_index_counter); /* set i2c port back to base adress for rest of driver */
 
 	/* if only one sonar detected, no special timing is required between firing, so use default */
 	if (addr_ind.size() == 1) {
@@ -647,7 +647,7 @@ MB12XX::cycle()
 {
 	if (_collect_phase) {
 		_index_counter = addr_ind[_cycle_counter]; /*sonar from previous iteration collect is now read out */
-		set_address(_index_counter);
+		set_device_address(_index_counter);
 
 		/* perform collection */
 		if (OK != collect()) {
@@ -686,7 +686,7 @@ MB12XX::cycle()
 
 	/* ensure sonar i2c adress is still correct */
 	_index_counter = addr_ind[_cycle_counter];
-	set_address(_index_counter);
+	set_device_address(_index_counter);
 
 	/* Perform measurement */
 	if (OK != measure()) {

src/drivers/md25/md25.cpp

@@ -357,7 +357,7 @@ int MD25::probe()
 
 	//printf("searching for MD25 address\n");
 	while (true) {
-		set_address(testAddress);
+		set_device_address(testAddress);
 		ret = readData();
 
 		if (ret == OK && !found) {
@@ -376,11 +376,11 @@ int MD25::probe()
 	}
 
 	if (found) {
-		set_address(goodAddress);
+		set_device_address(goodAddress);
 		return OK;
 
 	} else {
-		set_address(0);
+		set_device_address(0);
 		return ret;
 	}
 }
@@ -395,7 +395,7 @@ int MD25::search()
 
 	//printf("searching for MD25 address\n");
 	while (true) {
-		set_address(testAddress);
+		set_device_address(testAddress);
 		ret = readData();
 
 		if (ret == OK && !found) {
@@ -415,11 +415,11 @@ int MD25::search()
 	}
 
 	if (found) {
-		set_address(goodAddress);
+		set_device_address(goodAddress);
 		return OK;
 
 	} else {
-		set_address(0);
+		set_device_address(0);
 		return ret;
 	}
 }

src/drivers/md25/md25_main.cpp

@@ -177,7 +177,7 @@ int md25_main(int argc, char *argv[])
 		int ret = md25.probe();
 
 		if (ret == OK) {
-			printf("MD25 found on bus %d at address 0x%X\n", bus, md25.get_address());
+			printf("MD25 found on bus %d at address 0x%X\n", bus, md25.get_device_address());
 
 		} else {
 			printf("MD25 not found on bus %d\n", bus);

src/drivers/mkblctrl/mkblctrl.cpp

@@ -701,7 +701,7 @@ MK::mk_check_for_blctrl(unsigned int count, bool showOutput, bool initI2C)
 		result[1] = 0;
 		result[2] = 0;
 
-		set_address(BLCTRL_BASE_ADDR + i);
+		set_device_address(BLCTRL_BASE_ADDR + i);
 
 		if (OK == transfer(&msg, 1, &result[0], 3)) {
 			Motor[i].Current = result[0];
@@ -765,7 +765,7 @@ MK::mk_servo_set(unsigned int chan, short val)
 	}
 
 	//if(Motor[chan].State & MOTOR_STATE_PRESENT_MASK) {
-	set_address(BLCTRL_BASE_ADDR + (chan + addrTranslator[chan]));
+	set_device_address(BLCTRL_BASE_ADDR + (chan + addrTranslator[chan]));
 
 	if (Motor[chan].Version == BLCTRL_OLD) {
 		/*
@@ -902,7 +902,7 @@ MK::mk_servo_test(unsigned int chan)
 		msg[1] = Motor[chan].SetPointLowerBits;
 	}
 
-	set_address(BLCTRL_BASE_ADDR + (chan + addrTranslator[chan]));
+	set_device_address(BLCTRL_BASE_ADDR + (chan + addrTranslator[chan]));
 
 	if (Motor[chan].Version == BLCTRL_OLD) {
 		ret = transfer(&msg[0], 1, nullptr, 0);
@@ -928,7 +928,7 @@ MK::mk_servo_locate()
 	if (hrt_absolute_time() - last_timestamp > MOTOR_LOCATE_DELAY) {
 		last_timestamp = hrt_absolute_time();
 
-		set_address(BLCTRL_BASE_ADDR + (chan + addrTranslator[chan]));
+		set_device_address(BLCTRL_BASE_ADDR + (chan + addrTranslator[chan]));
 		chan++;
 
 		if (chan <= _num_outputs) {

src/drivers/mpl3115a2/mpl3115a2.cpp

@@ -174,13 +174,6 @@ protected:
 	 */
 	void			cycle();
 
-	/**
-	 * Get the internal / external state
-	 *
-	 * @return true if the sensor is not on the main MCU board
-	 */
-	bool			is_external() { return (_orb_class_instance == 0); /* XXX put this into the interface class */ }
-
 	/**
 	 * Static trampoline from the workq context; because we don't have a
 	 * generic workq wrapper yet.
@@ -324,7 +317,7 @@ MPL3115A2::init()
 		ret = OK;
 
 		_baro_topic = orb_advertise_multi(ORB_ID(sensor_baro), &brp,
-						  &_orb_class_instance, (is_external()) ? ORB_PRIO_HIGH : ORB_PRIO_DEFAULT);
+						  &_orb_class_instance, (external()) ? ORB_PRIO_HIGH : ORB_PRIO_DEFAULT);
 
 		if (_baro_topic == nullptr) {
 			warnx("failed to create sensor_baro publication");

src/drivers/mpl3115a2/mpl3115a2_i2c.cpp

@@ -107,7 +107,7 @@ int
 MPL3115A2_I2C::init()
 {
 	/* this will call probe() */
-	set_address(MPL3115A2_ADDRESS);
+	set_device_address(MPL3115A2_ADDRESS);
 	return I2C::init();
 }
 

src/drivers/mpu6000/mpu6000_i2c.cpp

@@ -116,7 +116,7 @@ MPU6000_I2C::ioctl(unsigned operation, unsigned &arg)
 	switch (operation) {
 
 	case ACCELIOCGEXTERNAL:
-		return _bus == PX4_I2C_BUS_EXPANSION ? 1 : 0;
+		return external();
 
 	case DEVIOCGDEVICEID:
 		return CDev::ioctl(nullptr, operation, arg);

src/drivers/mpu6000/mpu6000_spi.cpp

@@ -240,11 +240,7 @@ MPU6000_SPI::ioctl(unsigned operation, unsigned &arg)
 	switch (operation) {
 
 	case ACCELIOCGEXTERNAL:
-#if defined(PX4_SPI_BUS_EXT)
+		external();
-		return _bus == PX4_SPI_BUS_EXT ? 1 : 0;
-#else
-		return 0;
-#endif
 
 	case DEVIOCGDEVICEID:
 		return CDev::ioctl(nullptr, operation, arg);

src/drivers/mpu9250/mag_i2c.cpp

@@ -114,7 +114,7 @@ AK8963_I2C::ioctl(unsigned operation, unsigned &arg)
 	switch (operation) {
 
 	case ACCELIOCGEXTERNAL:
-		return _bus == PX4_I2C_BUS_EXPANSION ? 1 : 0;
+		return external();
 
 	case DEVIOCGDEVICEID:
 		return CDev::ioctl(nullptr, operation, arg);

src/drivers/mpu9250/mpu9250_i2c.cpp

@@ -112,7 +112,7 @@ MPU9250_I2C::ioctl(unsigned operation, unsigned &arg)
 	switch (operation) {
 
 	case ACCELIOCGEXTERNAL:
-		return _bus == PX4_I2C_BUS_EXPANSION ? 1 : 0;
+		return external();
 
 	case DEVIOCGDEVICEID:
 		return CDev::ioctl(nullptr, operation, arg);

src/drivers/mpu9250/mpu9250_spi.cpp

@@ -168,11 +168,7 @@ MPU9250_SPI::ioctl(unsigned operation, unsigned &arg)
 	switch (operation) {
 
 	case ACCELIOCGEXTERNAL:
-#if defined(PX4_SPI_BUS_EXT)
+		external();
-		return _bus == PX4_SPI_BUS_EXT ? 1 : 0;
-#else
-		return 0;
-#endif
 
 	case DEVIOCGDEVICEID:
 		return CDev::ioctl(nullptr, operation, arg);

src/drivers/ms5611/ms5611.cpp

@@ -204,13 +204,6 @@ protected:
 	 */
 	void			cycle();
 
-	/**
-	 * Get the internal / external state
-	 *
-	 * @return true if the sensor is not on the main MCU board
-	 */
-	bool			is_external() { return (_orb_class_instance == 0); /* XXX put this into the interface class */ }
-
 	/**
 	 * Static trampoline from the workq context; because we don't have a
 	 * generic workq wrapper yet.
@@ -398,7 +391,7 @@ MS5611::init()
 		ret = OK;
 
 		_baro_topic = orb_advertise_multi(ORB_ID(sensor_baro), &brp,
-						  &_orb_class_instance, (is_external()) ? ORB_PRIO_HIGH : ORB_PRIO_DEFAULT);
+						  &_orb_class_instance, _interface->external() ? ORB_PRIO_HIGH : ORB_PRIO_DEFAULT);
 
 		if (_baro_topic == nullptr) {
 			warnx("failed to create sensor_baro publication");

src/drivers/ms5611/ms5611_i2c.cpp

@@ -194,7 +194,7 @@ int
 MS5611_I2C::_probe_address(uint8_t address)
 {
 	/* select the address we are going to try */
-	set_address(address);
+	set_device_address(address);
 
 	/* send reset command */
 	if (PX4_OK != _reset()) {

src/drivers/oreoled/oreoled.cpp

@@ -321,7 +321,7 @@ OREOLED::cycle()
 				perf_begin(_probe_perf);
 
 				/* set I2C address */
-				set_address(OREOLED_BASE_I2C_ADDR + i);
+				set_device_address(OREOLED_BASE_I2C_ADDR + i);
 
 				/* Calculate XOR CRC and append to the i2c write data */
 				msg[sizeof(msg) - 1] = OREOLED_BASE_I2C_ADDR + i;
@@ -500,7 +500,7 @@ OREOLED::cycle()
 			perf_begin(_call_perf);
 
 			/* set I2C address */
-			set_address(OREOLED_BASE_I2C_ADDR + next_cmd.led_num);
+			set_device_address(OREOLED_BASE_I2C_ADDR + next_cmd.led_num);
 
 			/* Calculate XOR CRC and append to the i2c write data */
 			uint8_t next_cmd_xor = OREOLED_BASE_I2C_ADDR + next_cmd.led_num;
@@ -553,7 +553,7 @@ OREOLED::bootloader_app_reset(int led_num)
 	int ret = -1;
 
 	/* Set the current address */
-	set_address(OREOLED_BASE_I2C_ADDR + boot_cmd.led_num);
+	set_device_address(OREOLED_BASE_I2C_ADDR + boot_cmd.led_num);
 
 	/* send a reset */
 	boot_cmd.buff[0] = OREOLED_PATTERN_PARAMUPDATE;
@@ -602,7 +602,7 @@ OREOLED::bootloader_app_ping(int led_num)
 	int ret = -1;
 
 	/* Set the current address */
-	set_address(OREOLED_BASE_I2C_ADDR + boot_cmd.led_num);
+	set_device_address(OREOLED_BASE_I2C_ADDR + boot_cmd.led_num);
 
 	/* send a pattern off command */
 	boot_cmd.buff[0] = 0xAA;
@@ -642,7 +642,7 @@ OREOLED::bootloader_inapp_checksum(int led_num)
 	uint16_t ret = 0x0000;
 
 	/* Set the current address */
-	set_address(OREOLED_BASE_I2C_ADDR + boot_cmd.led_num);
+	set_device_address(OREOLED_BASE_I2C_ADDR + boot_cmd.led_num);
 
 	boot_cmd.buff[0] = OREOLED_PATTERN_PARAMUPDATE;
 	boot_cmd.buff[1] = OREOLED_PARAM_APP_CHECKSUM;
@@ -702,7 +702,7 @@ OREOLED::bootloader_ping(int led_num)
 	int ret = -1;
 
 	/* Set the current address */
-	set_address(OREOLED_BASE_I2C_ADDR + boot_cmd.led_num);
+	set_device_address(OREOLED_BASE_I2C_ADDR + boot_cmd.led_num);
 
 	boot_cmd.buff[0] = OREOLED_BOOT_CMD_PING;
 	boot_cmd.buff[1] = OREOLED_BASE_I2C_ADDR + boot_cmd.led_num;
@@ -759,7 +759,7 @@ OREOLED::bootloader_version(int led_num)
 	uint8_t ret = 0x00;
 
 	/* Set the current address */
-	set_address(OREOLED_BASE_I2C_ADDR + boot_cmd.led_num);
+	set_device_address(OREOLED_BASE_I2C_ADDR + boot_cmd.led_num);
 
 	boot_cmd.buff[0] = OREOLED_BOOT_CMD_BL_VER;
 	boot_cmd.buff[1] = OREOLED_BASE_I2C_ADDR + boot_cmd.led_num;
@@ -815,7 +815,7 @@ OREOLED::bootloader_app_version(int led_num)
 	uint16_t ret = 0x0000;
 
 	/* Set the current address */
-	set_address(OREOLED_BASE_I2C_ADDR + boot_cmd.led_num);
+	set_device_address(OREOLED_BASE_I2C_ADDR + boot_cmd.led_num);
 
 	boot_cmd.buff[0] = OREOLED_BOOT_CMD_APP_VER;
 	boot_cmd.buff[1] = OREOLED_BASE_I2C_ADDR + boot_cmd.led_num;
@@ -874,7 +874,7 @@ OREOLED::bootloader_app_checksum(int led_num)
 	uint16_t ret = 0x0000;
 
 	/* Set the current address */
-	set_address(OREOLED_BASE_I2C_ADDR + boot_cmd.led_num);
+	set_device_address(OREOLED_BASE_I2C_ADDR + boot_cmd.led_num);
 
 	boot_cmd.buff[0] = OREOLED_BOOT_CMD_APP_CRC;
 	boot_cmd.buff[1] = OREOLED_BASE_I2C_ADDR + boot_cmd.led_num;
@@ -933,7 +933,7 @@ OREOLED::bootloader_set_colour(int led_num, uint8_t red, uint8_t green)
 	int ret = -1;
 
 	/* Set the current address */
-	set_address(OREOLED_BASE_I2C_ADDR + boot_cmd.led_num);
+	set_device_address(OREOLED_BASE_I2C_ADDR + boot_cmd.led_num);
 
 	boot_cmd.buff[0] = OREOLED_BOOT_CMD_SET_COLOUR;
 	boot_cmd.buff[1] = red;
@@ -1036,7 +1036,7 @@ OREOLED::bootloader_flash(int led_num)
 	uint8_t flash_pages = ((fw_length + 64 - 1) / 64);
 
 	/* Set the current address */
-	set_address(OREOLED_BASE_I2C_ADDR + boot_cmd.led_num);
+	set_device_address(OREOLED_BASE_I2C_ADDR + boot_cmd.led_num);
 
 	uint8_t reply[OREOLED_CMD_READ_LENGTH_MAX];
 
@@ -1201,7 +1201,7 @@ OREOLED::bootloader_boot(int led_num)
 	int ret = -1;
 
 	/* Set the current address */
-	set_address(OREOLED_BASE_I2C_ADDR + boot_cmd.led_num);
+	set_device_address(OREOLED_BASE_I2C_ADDR + boot_cmd.led_num);
 
 	boot_cmd.buff[0] = OREOLED_BOOT_CMD_BOOT_APP;
 	boot_cmd.buff[1] = OREOLED_BOOT_CMD_BOOT_NONCE;
@@ -1554,7 +1554,7 @@ OREOLED::send_general_call()
 	int ret = -ENODEV;
 
 	/* set I2C address to zero */
-	set_address(0);
+	set_device_address(0);
 
 	/* prepare command : 0x01 = general hardware call, 0x00 = I2C address of master (but we don't act as a slave so set to zero)*/
 	uint8_t msg[] = {0x01, 0x00};
@@ -1579,7 +1579,7 @@ OREOLED::send_cmd(oreoled_cmd_t new_cmd)
 	/* sanity check led number, health and cmd length */
 	if ((new_cmd.led_num < OREOLED_NUM_LEDS) && _healthy[new_cmd.led_num] && (new_cmd.num_bytes < OREOLED_CMD_LENGTH_MAX)) {
 		/* set I2C address */
-		set_address(OREOLED_BASE_I2C_ADDR + new_cmd.led_num);
+		set_device_address(OREOLED_BASE_I2C_ADDR + new_cmd.led_num);
 
 		/* add to queue */
 		_cmd_queue->force(&new_cmd);

src/drivers/sdp3x_airspeed/SDP3X.cpp

@@ -58,11 +58,11 @@ bool
 SDP3X::init_sdp3x()
 {
 	// step 1 - reset on broadcast
-	uint16_t prev_addr = get_address();
+	uint16_t prev_addr = get_device_address();
-	set_address(SDP3X_RESET_ADDR);
+	set_device_address(SDP3X_RESET_ADDR);
 	uint8_t reset_cmd = SDP3X_RESET_CMD;
 	int ret = transfer(&reset_cmd, 1, nullptr, 0);
-	set_address(prev_addr);
+	set_device_address(prev_addr);
 
 	if (ret != PX4_OK) {
 		perf_count(_comms_errors);

src/drivers/sf1xx/sf1xx.cpp

@@ -284,7 +284,7 @@ SF1XX::init()
 	/* allocate basic report buffers */
 	_reports = new ringbuffer::RingBuffer(2, sizeof(distance_sensor_s));
 
-	set_address(SF1XX_BASEADDR);
+	set_device_address(SF1XX_BASEADDR);
 
 	if (_reports == nullptr) {
 		return ret;

src/drivers/srf02/srf02.cpp

@@ -257,7 +257,7 @@ SRF02::init()
 	_reports = new ringbuffer::RingBuffer(2, sizeof(distance_sensor_s));
 
 	_index_counter = SRF02_BASEADDR;	/* set temp sonar i2c address to base adress */
-	set_address(_index_counter);		/* set I2c port to temp sonar i2c adress */
+	set_device_address(_index_counter);		/* set I2c port to temp sonar i2c adress */
 
 	if (_reports == nullptr) {
 		return ret;
@@ -283,7 +283,7 @@ SRF02::init()
 	   So second iteration it uses i2c address 111, third iteration 110 and so on*/
 	for (unsigned counter = 0; counter <= MB12XX_MAX_RANGEFINDERS; counter++) {
 		_index_counter = SRF02_BASEADDR - counter;	/* set temp sonar i2c address to base adress - counter */
-		set_address(_index_counter);			/* set I2c port to temp sonar i2c adress */
+		set_device_address(_index_counter);			/* set I2c port to temp sonar i2c adress */
 		int ret2 = measure();
 
 		if (ret2 == 0) { /* sonar is present -> store address_index in array */
@@ -294,7 +294,7 @@ SRF02::init()
 	}
 
 	_index_counter = SRF02_BASEADDR;
-	set_address(_index_counter); /* set i2c port back to base adress for rest of driver */
+	set_device_address(_index_counter); /* set i2c port back to base adress for rest of driver */
 
 	/* if only one sonar detected, no special timing is required between firing, so use default */
 	if (addr_ind.size() == 1) {
@@ -651,7 +651,7 @@ SRF02::cycle()
 {
 	if (_collect_phase) {
 		_index_counter = addr_ind[_cycle_counter]; /*sonar from previous iteration collect is now read out */
-		set_address(_index_counter);
+		set_device_address(_index_counter);
 
 		/* perform collection */
 		if (OK != collect()) {
@@ -690,7 +690,7 @@ SRF02::cycle()
 
 	/* ensure sonar i2c adress is still correct */
 	_index_counter = addr_ind[_cycle_counter];
-	set_address(_index_counter);
+	set_device_address(_index_counter);
 
 	/* Perform measurement */
 	if (OK != measure()) {

src/drivers/srf02_i2c/srf02_i2c.cpp

@@ -258,7 +258,7 @@ SRF02_I2C::init()
 	_reports = new ringbuffer::RingBuffer(2, sizeof(distance_sensor_s));
 
 	_index_counter = SRF02_I2C_BASEADDR;	/* set temp sonar i2c address to base adress */
-	set_address(_index_counter);		/* set I2c port to temp sonar i2c adress */
+	set_device_address(_index_counter);		/* set I2c port to temp sonar i2c adress */
 
 	if (_reports == nullptr) {
 		return ret;
@@ -284,7 +284,7 @@ SRF02_I2C::init()
 	   So second iteration it uses i2c address 111, third iteration 110 and so on*/
 	for (unsigned counter = 0; counter <= MB12XX_MAX_RANGEFINDERS; counter++) {
 		_index_counter = SRF02_I2C_BASEADDR + counter * 2;	/* set temp sonar i2c address to base adress - counter */
-		set_address(_index_counter);			/* set I2c port to temp sonar i2c adress */
+		set_device_address(_index_counter);			/* set I2c port to temp sonar i2c adress */
 		int ret2 = measure();
 
 		if (ret2 == 0) { /* sonar is present -> store address_index in array */
@@ -295,7 +295,7 @@ SRF02_I2C::init()
 	}
 
 	_index_counter = SRF02_I2C_BASEADDR;
-	set_address(_index_counter); /* set i2c port back to base adress for rest of driver */
+	set_device_address(_index_counter); /* set i2c port back to base adress for rest of driver */
 
 	/* if only one sonar detected, no special timing is required between firing, so use default */
 	if (addr_ind.size() == 1) {
@@ -651,7 +651,7 @@ SRF02_I2C::cycle()
 {
 	if (_collect_phase) {
 		_index_counter = addr_ind[_cycle_counter]; /*sonar from previous iteration collect is now read out */
-		set_address(_index_counter);
+		set_device_address(_index_counter);
 
 		/* perform collection */
 		if (OK != collect()) {
@@ -690,7 +690,7 @@ SRF02_I2C::cycle()
 
 	/* ensure sonar i2c adress is still correct */
 	_index_counter = addr_ind[_cycle_counter];
-	set_address(_index_counter);
+	set_device_address(_index_counter);
 
 	/* Perform measurement */
 	if (OK != measure()) {

src/drivers/teraranger/teraranger.cpp

@@ -289,10 +289,10 @@ TERARANGER::init()
 
 	case 1: /* Autodetect */
 		/* Assume TROne */
-		set_address(TRONE_BASEADDR);
+		set_device_address(TRONE_BASEADDR);
 
 		if (I2C::init() != OK) {
-			set_address(TREVO_BASEADDR);
+			set_device_address(TREVO_BASEADDR);
 
 			if (I2C::init() != OK) {
 				goto out;
@@ -310,7 +310,7 @@ TERARANGER::init()
 		break;
 
 	case 2: /* TROne */
-		set_address(TRONE_BASEADDR);
+		set_device_address(TRONE_BASEADDR);
 
 		if (I2C::init() != OK) {
 			goto out;
@@ -321,7 +321,7 @@ TERARANGER::init()
 		break;
 
 	case 3: /* TREvo */
-		set_address(TREVO_BASEADDR);
+		set_device_address(TREVO_BASEADDR);
 
 		/* do I2C init (and probe) first */
 		if (I2C::init() != OK) {

src/platforms/qurt/include/i2c.h

@@ -34,6 +34,8 @@
  ****************************************************************************/
 #pragma once
 
+#include <stdint.h>
+
 struct i2c_msg_s {
 	uint16_t  addr;                  /* Slave address */
 	uint16_t  flags;                 /* See I2C_M_* definitions */