From 2ba5e9645ad416a479a453bf6c36480463c8e7b4 Mon Sep 17 00:00:00 2001
From: Zebulon <zebulon-86@outlook.com>
Date: Wed, 20 Jul 2022 08:05:14 +0800
Subject: [PATCH] tfmini_i2c: add Kconfig

---
 src/drivers/distance_sensor/Kconfig           |  1 +
 .../distance_sensor/tfmini_i2c/Kconfig        |  5 ++++
 .../distance_sensor/tfmini_i2c/tfmini_i2c.cpp | 30 ++++---------------
 .../distance_sensor/tfmini_i2c/tfmini_i2c.hpp |  6 ++--
 4 files changed, 13 insertions(+), 29 deletions(-)
 create mode 100644 src/drivers/distance_sensor/tfmini_i2c/Kconfig

diff --git a/src/drivers/distance_sensor/Kconfig b/src/drivers/distance_sensor/Kconfig
index 3bbc73ee57..d967c67386 100644
--- a/src/drivers/distance_sensor/Kconfig
+++ b/src/drivers/distance_sensor/Kconfig
@@ -18,6 +18,7 @@ menu "Distance sensors"
         select DRIVERS_DISTANCE_SENSOR_VL53L0X
         select DRIVERS_DISTANCE_SENSOR_VL53L1X
         select DRIVERS_DISTANCE_SENSOR_GY_US42
+        select DRIVERS_DISTANCE_SENSOR_TFMINI_I2C
         ---help---
             Enable default set of distance sensor drivers
 
diff --git a/src/drivers/distance_sensor/tfmini_i2c/Kconfig b/src/drivers/distance_sensor/tfmini_i2c/Kconfig
new file mode 100644
index 0000000000..87241748a2
--- /dev/null
+++ b/src/drivers/distance_sensor/tfmini_i2c/Kconfig
@@ -0,0 +1,5 @@
+menuconfig DRIVERS_DISTANCE_SENSOR_TFMINI_I2C
+	bool "tfmini_i2c"
+	default n
+	---help---
+		Enable support for tfmini_i2c
diff --git a/src/drivers/distance_sensor/tfmini_i2c/tfmini_i2c.cpp b/src/drivers/distance_sensor/tfmini_i2c/tfmini_i2c.cpp
index 9a04b9f8ad..5e220d06c2 100644
--- a/src/drivers/distance_sensor/tfmini_i2c/tfmini_i2c.cpp
+++ b/src/drivers/distance_sensor/tfmini_i2c/tfmini_i2c.cpp
@@ -52,10 +52,10 @@ using namespace time_literals;
 
 
 
-TFMINI_I2C::TFMINI_I2C(I2CSPIBusOption bus_option, const int bus, int bus_frequency, int address) :
-	I2C(DRV_DIST_DEVTYPE_TFMINI_I2C, MODULE_NAME, bus, address, bus_frequency),
+TFMINI_I2C::TFMINI_I2C(const I2CSPIDriverConfig &config) :
+	I2C(config),
 	ModuleParams(nullptr),
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus, address)
+	I2CSPIDriver(config)
 {
 	set_device_type(DRV_DIST_DEVTYPE_TFMINI_I2C);
 	_measure_interval = TFMINI_I2C_MEASURE_INTERVAL;
@@ -117,7 +117,7 @@ TFMINI_I2C::init()
 			sensor_param_value[_sensor_count].max_range = getTFi2cParam(index,TF_PARAM_MAXD);
 			sensor_param_value[_sensor_count].min_range = getTFi2cParam(index,TF_PARAM_MIND);
             		int set_ret = set_param();
-			printf("tf[%i]: address 0x%02x ,rototion %d, max:%d, min:%d, set param:%d\n", _sensor_count, \
+			printf("tf[%i]: address 0x%02x ,rototion %d, max:%ld, min:%ld, set param:%d\n", _sensor_count, \
 												get_device_address(), \
 												sensor_param_value[_sensor_count].rotations, \
 												sensor_param_value[_sensor_count].max_range, \
@@ -359,26 +359,6 @@ TFMINI_I2C::custom_method(const BusCLIArguments &cli)
 	set_address(cli.i2c_address);
 }
 
-I2CSPIDriverBase *TFMINI_I2C::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-				      int runtime_instance)
-{
-	TFMINI_I2C *instance = new TFMINI_I2C(iterator.configuredBusOption(), iterator.bus(), cli.bus_frequency, cli.i2c_address);
-
-	if (instance == nullptr) {
-		PX4_ERR("alloc failed");
-		return nullptr;
-	}
-
-	if (instance->init() != PX4_OK) {
-		delete instance;
-		return nullptr;
-	}
-
-	instance->start();
-	return instance;
-}
-
-
 void
 TFMINI_I2C::print_usage()
 {
@@ -386,7 +366,7 @@ TFMINI_I2C::print_usage()
 	PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor");
 	PRINT_MODULE_USAGE_COMMAND("start");
 	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
-	PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x16);
+	// PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x16);
 	PRINT_MODULE_USAGE_COMMAND("set_address");
 	PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x16);
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
diff --git a/src/drivers/distance_sensor/tfmini_i2c/tfmini_i2c.hpp b/src/drivers/distance_sensor/tfmini_i2c/tfmini_i2c.hpp
index d6ab67926b..c21554acc1 100644
--- a/src/drivers/distance_sensor/tfmini_i2c/tfmini_i2c.hpp
+++ b/src/drivers/distance_sensor/tfmini_i2c/tfmini_i2c.hpp
@@ -73,14 +73,12 @@
 class TFMINI_I2C : public device::I2C, public ModuleParams, public I2CSPIDriver<TFMINI_I2C>
 {
 public:
-	TFMINI_I2C(I2CSPIBusOption bus_option, const int bus, int bus_frequency, int address);
+	TFMINI_I2C(const I2CSPIDriverConfig &config);
 	virtual ~TFMINI_I2C();
 
-	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					     int runtime_instance);
 	static void print_usage();
 
-	virtual int init() override;
+	int init() override;
 
 	/**
 	 * Diagnostics - print some basic information about the driver.