From 376fc6be6fd344a9c428667422ef9ac532327a91 Mon Sep 17 00:00:00 2001
From: Joe Ross <joe@rossesmail.com>
Date: Thu, 31 Dec 2015 14:56:11 -0800
Subject: [PATCH] Artf4179: Allow alternate I2C addresses for ADXL345_I2C

Change-Id: I43e65251b4a7a5b90afb698b753b86672110e837
---
 wpilibc/Athena/include/ADXL345_I2C.h              |  2 +-
 wpilibc/Athena/src/ADXL345_I2C.cpp                |  5 +++--
 .../java/edu/wpi/first/wpilibj/ADXL345_I2C.java   | 15 +++++++++++++--
 3 files changed, 17 insertions(+), 5 deletions(-)

diff --git a/wpilibc/Athena/include/ADXL345_I2C.h b/wpilibc/Athena/include/ADXL345_I2C.h
index e55e00724e..53a608ae2f 100644
--- a/wpilibc/Athena/include/ADXL345_I2C.h
+++ b/wpilibc/Athena/include/ADXL345_I2C.h
@@ -51,7 +51,7 @@ class ADXL345_I2C : public Accelerometer,
   };
 
  public:
-  explicit ADXL345_I2C(Port port, Range range = kRange_2G);
+  explicit ADXL345_I2C(Port port, Range range = kRange_2G, int deviceAddress = kAddress);
   virtual ~ADXL345_I2C() = default;
 
   ADXL345_I2C(const ADXL345_I2C&) = delete;
diff --git a/wpilibc/Athena/src/ADXL345_I2C.cpp b/wpilibc/Athena/src/ADXL345_I2C.cpp
index 000d4b8570..92cdb65aa2 100644
--- a/wpilibc/Athena/src/ADXL345_I2C.cpp
+++ b/wpilibc/Athena/src/ADXL345_I2C.cpp
@@ -17,12 +17,13 @@ const uint8_t ADXL345_I2C::kDataRegister;
 constexpr double ADXL345_I2C::kGsPerLSB;
 
 /**
- * Constructor.
+ * Constructs the ADXL345 Accelerometer over I2C.
  *
  * @param port The I2C port the accelerometer is attached to
  * @param range The range (+ or -) that the accelerometer will measure.
+ * @param deviceAddress the I2C address of the accelerometer (0x1D or 0x53)
  */
-ADXL345_I2C::ADXL345_I2C(Port port, Range range) : I2C(port, kAddress) {
+ADXL345_I2C::ADXL345_I2C(Port port, Range range, int deviceAddress) : I2C(port, deviceAddress) {
   // Turn on the measurements
   Write(kPowerCtlRegister, kPowerCtl_Measure);
   // Specify the data format to read
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL345_I2C.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL345_I2C.java
index e94b0a8e4f..fd9049e791 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL345_I2C.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL345_I2C.java
@@ -58,13 +58,24 @@ public class ADXL345_I2C extends SensorBase implements Accelerometer, LiveWindow
   private I2C m_i2c;
 
   /**
-   * Constructor.
+   * Constructs the ADXL345 Accelerometer with I2C address 0x1D.
    *$
    * @param port The I2C port the accelerometer is attached to
    * @param range The range (+ or -) that the accelerometer will measure.
    */
   public ADXL345_I2C(I2C.Port port, Range range) {
-    m_i2c = new I2C(port, kAddress);
+    this(port, range, kAddress);
+  }
+
+  /**
+   * Constructs the ADXL345 Accelerometer over I2C.
+   *$
+   * @param port The I2C port the accelerometer is attached to
+   * @param range The range (+ or -) that the accelerometer will measure.
+   * @param the I2C address of the accelerometer (0x1D or 0x53)
+   */
+  public ADXL345_I2C(I2C.Port port, Range range, int deviceAddress) {
+    m_i2c = new I2C(port, deviceAddress);
 
     // Turn on the measurements
     m_i2c.write(kPowerCtlRegister, kPowerCtl_Measure);