icm20948_i2c_passthrough: allow to configure i2c address

src/drivers/imu/invensense/icm20948/ICM20948_I2C_Passthrough.cpp

@@ -40,9 +40,10 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
 	return (msb << 8u) | lsb;
 }
 
-ICM20948_I2C_Passthrough::ICM20948_I2C_Passthrough(I2CSPIBusOption bus_option, int bus, int bus_frequency) :
-	I2C(DRV_IMU_DEVTYPE_ICM20948, MODULE_NAME, bus, I2C_ADDRESS_DEFAULT, bus_frequency),
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus)
+ICM20948_I2C_Passthrough::ICM20948_I2C_Passthrough(I2CSPIBusOption bus_option, int bus, int bus_frequency,
+		const int address) :
+	I2C(DRV_IMU_DEVTYPE_ICM20948, MODULE_NAME, bus, address, bus_frequency),
+	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus, address)
 {
 }
 

src/drivers/imu/invensense/icm20948/ICM20948_I2C_Passthrough.hpp

@@ -53,7 +53,7 @@ using namespace InvenSense_ICM20948;
 class ICM20948_I2C_Passthrough : public device::I2C, public I2CSPIDriver<ICM20948_I2C_Passthrough>
 {
 public:
-	ICM20948_I2C_Passthrough(I2CSPIBusOption bus_option, int bus, int bus_frequency);
+	ICM20948_I2C_Passthrough(I2CSPIBusOption bus_option, int bus, int bus_frequency, const int address);
 	~ICM20948_I2C_Passthrough() override;
 
 	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,

src/drivers/imu/invensense/icm20948/InvenSense_ICM20948_registers.hpp

@@ -54,8 +54,8 @@ static constexpr uint8_t Bit5 = (1 << 5);
 static constexpr uint8_t Bit6 = (1 << 6);
 static constexpr uint8_t Bit7 = (1 << 7);
 
-static constexpr uint32_t I2C_SPEED = 400 * 1000; // 400 kHz I2C serial interface
-static constexpr uint8_t I2C_ADDRESS_DEFAULT = 0b1101001;
+static constexpr uint32_t I2C_SPEED = 100 * 1000; // 100 kHz I2C serial interface
+static constexpr uint8_t I2C_ADDRESS_DEFAULT = 0x69; // 0b1101001
 
 static constexpr uint32_t SPI_SPEED = 7 * 1000 * 1000; // 7 MHz SPI
 static constexpr uint8_t DIR_READ = 0x80;

src/drivers/imu/invensense/icm20948/icm20948_i2c_passthrough_main.cpp

@@ -42,8 +42,7 @@ void ICM20948_I2C_Passthrough::print_usage()
 	PRINT_MODULE_USAGE_SUBCATEGORY("imu");
 	PRINT_MODULE_USAGE_COMMAND("start");
 	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
-	PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x39);
-	PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
+	PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x69);
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
 
@@ -51,7 +50,7 @@ I2CSPIDriverBase *ICM20948_I2C_Passthrough::instantiate(const BusCLIArguments &c
 		int runtime_instance)
 {
 	ICM20948_I2C_Passthrough *instance = new ICM20948_I2C_Passthrough(iterator.configuredBusOption(), iterator.bus(),
-			cli.bus_frequency);
+			cli.bus_frequency, cli.i2c_address);
 
 	if (!instance) {
 		PX4_ERR("alloc failed");
@@ -71,6 +70,7 @@ extern "C" int icm20948_i2c_passthrough_main(int argc, char *argv[])
 	using ThisDriver = ICM20948_I2C_Passthrough;
 	BusCLIArguments cli{true, false};
 	cli.default_i2c_frequency = I2C_SPEED;
+	cli.i2c_address = I2C_ADDRESS_DEFAULT;
 
 	const char *verb = cli.parseDefaultArguments(argc, argv);