i2c drivers: add '-k' flag for keep_running directly to BusCLIArguments

platforms/common/i2c_spi_buses.cpp

@@ -84,6 +84,10 @@ int BusCLIArguments::getopt(int argc, char *argv[], const char *options)
 			*(p++) = 'm'; *(p++) = ':'; // spi mode
 		}
 
+		if (support_keep_running) {
+			*(p++) = 'k';
+		}
+
 		*(p++) = 'b'; *(p++) = ':'; // bus
 		*(p++) = 'f'; *(p++) = ':'; // frequency
 		*(p++) = 'q'; // quiet flag
@@ -163,6 +167,14 @@ int BusCLIArguments::getopt(int argc, char *argv[], const char *options)
 			quiet_start = true;
 			break;
 
+		case 'k':
+			if (!support_keep_running) {
+				return ch;
+			}
+
+			keep_running = true;
+			break;
+
 		default:
 			if (ch == '?') {
 				// abort further parsing on unknown arguments

platforms/common/include/px4_platform_common/i2c_spi_buses.h

@@ -110,6 +110,7 @@ public:
 	spi_mode_e spi_mode{SPIDEV_MODE3};
 	uint8_t i2c_address{0}; ///< optional I2C address: a driver can set this to allow configuring the I2C address
 	bool quiet_start{false}; ///< do not print a message when startup fails
+	bool keep_running{false}; ///< keep driver running even if no device is detected on startup
 
 	uint8_t orientation{0}; ///< distance_sensor_s::ROTATION_*
 
@@ -121,6 +122,8 @@ public:
 	int default_spi_frequency{-1}; ///< default spi bus frequency (driver needs to set this) [Hz]
 	int default_i2c_frequency{-1}; ///< default i2c bus frequency (driver needs to set this) [Hz]
 
+	bool support_keep_running{false}; ///< true if keep_running (see above) is supported
+
 private:
 	bool validateConfiguration();
 

platforms/common/include/px4_platform_common/module.h

@@ -513,6 +513,11 @@ __EXPORT void PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(bool i2c_support, bool sp
  */
 __EXPORT void PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(uint8_t default_address);
 
+/**
+ * -k flag
+ */
+__EXPORT void PRINT_MODULE_USAGE_PARAMS_I2C_KEEP_RUNNING_FLAG(void);
+
 /** @note Each of the PRINT_MODULE_USAGE_PARAM_* methods apply to the previous PRINT_MODULE_USAGE_COMMAND_DESCR(). */
 
 /**

platforms/common/module.cpp

@@ -119,6 +119,11 @@ void PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(uint8_t default_address)
 	PRINT_MODULE_USAGE_PARAM_INT('a', default_address, 0, 0xff, "I2C address", true);
 }
 
+void PRINT_MODULE_USAGE_PARAMS_I2C_KEEP_RUNNING_FLAG()
+{
+	PRINT_MODULE_USAGE_PARAM_FLAG('k', "if initialization (probing) fails, keep retrying periodically", true);
+}
+
 void PRINT_MODULE_USAGE_PARAM_INT(char option_char, int default_val, int min_val, int max_val,
 				  const char *description, bool is_optional)
 {