From 16489d2a13fb03738dd996502444e8def7d2509a Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 4 Nov 2016 20:23:20 +1100
Subject: [PATCH] HAL_PX4: implement device IDs for I2C and SPI

---
 libraries/AP_HAL_PX4/I2CDevice.cpp | 2 ++
 libraries/AP_HAL_PX4/I2CWrapper.h  | 3 ++-
 libraries/AP_HAL_PX4/SPIDevice.cpp | 2 ++
 3 files changed, 6 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_HAL_PX4/I2CDevice.cpp b/libraries/AP_HAL_PX4/I2CDevice.cpp
index c627006493..884f9ae3b6 100644
--- a/libraries/AP_HAL_PX4/I2CDevice.cpp
+++ b/libraries/AP_HAL_PX4/I2CDevice.cpp
@@ -85,6 +85,8 @@ I2CDevice::I2CDevice(uint8_t bus, uint8_t address) :
     _px4dev(_busnum),
     _address(address)
 {
+    set_device_bus(_px4dev.map_bus_number(bus));
+    set_device_address(address);
 }
     
 I2CDevice::~I2CDevice()
diff --git a/libraries/AP_HAL_PX4/I2CWrapper.h b/libraries/AP_HAL_PX4/I2CWrapper.h
index 0149315fbd..ab569626cc 100644
--- a/libraries/AP_HAL_PX4/I2CWrapper.h
+++ b/libraries/AP_HAL_PX4/I2CWrapper.h
@@ -19,9 +19,10 @@ public:
     void set_retries(uint8_t retries) {
         _retries = retries;
     }
+
+    uint8_t map_bus_number(uint8_t bus) const;
     
 private:
-    uint8_t map_bus_number(uint8_t bus) const;
     static uint8_t instance;
     bool init_done;
     bool init_ok;
diff --git a/libraries/AP_HAL_PX4/SPIDevice.cpp b/libraries/AP_HAL_PX4/SPIDevice.cpp
index 2901f360b8..3bf6626ee2 100644
--- a/libraries/AP_HAL_PX4/SPIDevice.cpp
+++ b/libraries/AP_HAL_PX4/SPIDevice.cpp
@@ -64,6 +64,8 @@ SPIDevice::SPIDevice(SPIBus &_bus, SPIDesc &_device_desc)
     : bus(_bus)
     , device_desc(_device_desc)
 {
+    set_device_bus(_bus.bus);
+    set_device_address(_device_desc.device);
 }
 
 SPIDevice::~SPIDevice()