refactor fxas21002c: use driver base class

boards/nxp/fmuk66-v3/init/rc.board_sensors

@@ -22,4 +22,4 @@ mpl3115a2 -I start
 fxos8701cq start
 
 # Internal SPI (gyro)
-fxas21002c start
+fxas21002c -s start

src/drivers/imu/fxas21002c/FXAS21002C.cpp

@@ -186,9 +186,10 @@ static constexpr uint8_t _checked_registers[] {
 
 using namespace time_literals;
 
-FXAS21002C::FXAS21002C(int bus, uint32_t device, enum Rotation rotation) :
-	SPI("FXAS21002C", nullptr, bus, device, SPIDEV_MODE0, 2 * 1000 * 1000),
-	ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(this->get_device_id())),
+FXAS21002C::FXAS21002C(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
+		       spi_mode_e spi_mode) :
+	SPI("FXAS21002C", nullptr, bus, device, spi_mode, bus_frequency),
+	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
 	_px4_gyro(get_device_id(), (external() ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT), rotation),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
 	_errors(perf_alloc(PC_COUNT, MODULE_NAME": err")),
@@ -200,10 +201,6 @@ FXAS21002C::FXAS21002C(int bus, uint32_t device, enum Rotation rotation) :
 
 FXAS21002C::~FXAS21002C()
 {
-	/* make sure we are truly inactive */
-	stop();
-
-	/* delete the perf counter */
 	perf_free(_sample_perf);
 	perf_free(_errors);
 	perf_free(_bad_registers);
@@ -471,26 +468,10 @@ FXAS21002C::set_onchip_lowpass_filter(int frequency_hz)
 void
 FXAS21002C::start()
 {
-	/* make sure we are stopped first */
-	stop();
-
 	/* start polling at the specified rate */
 	ScheduleOnInterval((1_s / FXAS21002C_DEFAULT_RATE) - FXAS21002C_TIMER_REDUCTION, 10000);
 }
 
-void
-FXAS21002C::stop()
-{
-	ScheduleClear();
-}
-
-void
-FXAS21002C::Run()
-{
-	/* make another measurement */
-	measure();
-}
-
 void
 FXAS21002C::check_registers(void)
 {
@@ -522,7 +503,7 @@ FXAS21002C::check_registers(void)
 }
 
 void
-FXAS21002C::measure()
+FXAS21002C::RunImpl()
 {
 	// start the performance counter
 	perf_begin(_sample_perf);
@@ -589,8 +570,9 @@ FXAS21002C::measure()
 }
 
 void
-FXAS21002C::print_info()
+FXAS21002C::print_status()
 {
+	I2CSPIDriverBase::print_status();
 	printf("gyro reads:          %u\n", _read);
 	perf_print_counter(_sample_perf);
 	perf_print_counter(_errors);

src/drivers/imu/fxas21002c/FXAS21002C.hpp

@@ -43,34 +43,31 @@
 #include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
 #include <perf/perf_counter.h>
 #include <px4_platform_common/getopt.h>
-#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/i2c_spi_buses.h>
 
 
-class FXAS21002C : public device::SPI, public px4::ScheduledWorkItem
+class FXAS21002C : public device::SPI, public I2CSPIDriver<FXAS21002C>
 {
 public:
-	FXAS21002C(int bus, uint32_t device, enum Rotation rotation);
+	FXAS21002C(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
+		   spi_mode_e spi_mode);
 	virtual ~FXAS21002C();
 
-	virtual int init();
+	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+					     int runtime_instance);
+	static void print_usage();
 
-	/**
-	 * Diagnostics - print some basic information about the driver.
-	 */
-	void print_info();
+	int		init() override;
 
-	/**
-	 * dump register values
-	 */
-	void print_registers();
+	void			print_status() override;
 
-	/**
-	 * deliberately trigger an error
-	 */
-	void test_error();
+	void			RunImpl();
 
+	void			print_registers();
+	void			test_error();
 protected:
-	virtual int probe();
+	void custom_method(const BusCLIArguments &cli);
+	int probe() override;
 
 private:
 
@@ -101,11 +98,6 @@ private:
 	 */
 	void start();
 
-	/**
-	 * Stop automatic measurement.
-	 */
-	void stop();
-
 	/**
 	 * Reset chip.
 	 *
@@ -118,18 +110,11 @@ private:
 	 */
 	void set_standby(int rate, bool standby_true);
 
-	void Run() override;
-
 	/**
 	 * check key registers for correct values
 	 */
 	void check_registers(void);
 
-	/**
-	 * Fetch accel measurements from the sensor and update the report ring.
-	 */
-	void measure();
-
 	/**
 	 * Read a register from the FXAS21002C
 	 *

src/drivers/imu/fxas21002c/fxas21002c_main.cpp

@@ -33,187 +33,98 @@
 
 #include "FXAS21002C.hpp"
 
-extern "C" { __EXPORT int fxas21002c_main(int argc, char *argv[]); }
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module.h>
 
-/**
- * Local functions in support of the shell command.
- */
-namespace fxas21002c
-{
-
-FXAS21002C	*g_dev;
-
-void	start(bool external_bus, enum Rotation rotation);
-void	info();
-void	regdump();
-void	usage();
-void	test_error();
-
-/**
- * Start the driver.
- *
- * This function call only returns once the driver is
- * up and running or failed to detect the sensor.
- */
 void
-start(bool external_bus, enum Rotation rotation)
+FXAS21002C::print_usage()
 {
-	if (g_dev != nullptr) {
-		PX4_INFO("already started");
-		exit(0);
-	}
-
-	/* create the driver */
-	if (external_bus) {
-#if defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_GYRO)
-		g_dev = new FXAS21002C(PX4_SPI_BUS_EXT, PX4_SPIDEV_EXT_GYRO, rotation);
-#else
-		PX4_ERR("External SPI not available");
-		exit(0);
-#endif
-
-	} else {
-		g_dev = new FXAS21002C(PX4_SPI_BUS_SENSORS, PX4_SPIDEV_GYRO, rotation);
-	}
-
-	if (g_dev == nullptr) {
-		PX4_ERR("failed instantiating FXAS21002C obj");
-		goto fail;
-	}
-
-	if (OK != g_dev->init()) {
-		goto fail;
-	}
-
-	exit(0);
-fail:
-
-	if (g_dev != nullptr) {
-		delete g_dev;
-		g_dev = nullptr;
-	}
-
-	errx(1, "driver start failed");
+	PRINT_MODULE_USAGE_NAME("fxas21002c", "driver");
+	PRINT_MODULE_USAGE_SUBCATEGORY("imu");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
+	PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
+	PRINT_MODULE_USAGE_COMMAND("regdump");
+	PRINT_MODULE_USAGE_COMMAND("testerror");
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
 
-/**
- * Print a little info about the driver.
- */
-void
-info()
+I2CSPIDriverBase *FXAS21002C::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+		int runtime_instance)
 {
-	if (g_dev == nullptr) {
-		PX4_ERR("driver not running\n");
-		exit(1);
-	}
-
-	printf("state @ %p\n", g_dev);
-	g_dev->print_info();
-
-	exit(0);
-}
+	FXAS21002C *instance = new FXAS21002C(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
+					      cli.bus_frequency, cli.spi_mode);
 
-/**
- * dump registers from device
- */
-void
-regdump()
-{
-	if (g_dev == nullptr) {
-		PX4_ERR("driver not running\n");
-		exit(1);
+	if (!instance) {
+		PX4_ERR("alloc failed");
+		return nullptr;
 	}
 
-	printf("regdump @ %p\n", g_dev);
-	g_dev->print_registers();
+	if (OK != instance->init()) {
+		delete instance;
+		return nullptr;
+	}
 
-	exit(0);
+	return instance;
 }
 
-/**
- * trigger an error
- */
-void
-test_error()
+void FXAS21002C::custom_method(const BusCLIArguments &cli)
 {
-	if (g_dev == nullptr) {
-		PX4_ERR("driver not running\n");
-		exit(1);
-	}
-
-	g_dev->test_error();
+	switch (cli.custom1) {
+	case 0: print_registers(); break;
 
-	exit(0);
-}
+	case 1: test_error(); break;
+	}
 
-void
-usage()
-{
-	PX4_INFO("missing command: try 'start', 'info', 'testerror' or 'regdump'");
-	PX4_INFO("options:");
-	PX4_INFO("    -X    (external bus)");
-	PX4_INFO("    -R rotation");
 }
 
-} // namespace
-
-int
-fxas21002c_main(int argc, char *argv[])
+extern "C" int fxas21002c_main(int argc, char *argv[])
 {
-	bool external_bus = false;
-	enum Rotation rotation = ROTATION_NONE;
-
-	int ch = 0;
-	int myoptind = 1;
-	const char *myoptarg = NULL;
+	int ch;
+	using ThisDriver = FXAS21002C;
+	BusCLIArguments cli{false, true};
+	cli.default_spi_frequency = 2 * 1000 * 1000;
+	cli.spi_mode = SPIDEV_MODE0;
 
-	while ((ch = px4_getopt(argc, argv, "XR:", &myoptind, &myoptarg)) != EOF) {
+	while ((ch = cli.getopt(argc, argv, "R:")) != EOF) {
 		switch (ch) {
-		case 'X':
-			external_bus = true;
-			break;
-
 		case 'R':
-			rotation = (enum Rotation)atoi(myoptarg);
+			cli.rotation = (enum Rotation)atoi(cli.optarg());
 			break;
-
-		default:
-			fxas21002c::usage();
-			return 0;
 		}
 	}
 
-	const char *verb = argv[myoptind];
+	const char *verb = cli.optarg();
+
+	if (!verb) {
+		ThisDriver::print_usage();
+		return -1;
+	}
 
-	/*
-	 * Start/load the driver.
+	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_GYR_DEVTYPE_FXAS2100C);
 
-	 */
 	if (!strcmp(verb, "start")) {
-		fxas21002c::start(external_bus, rotation);
+		return ThisDriver::module_start(cli, iterator);
+	}
+
+	if (!strcmp(verb, "stop")) {
+		return ThisDriver::module_stop(iterator);
 	}
 
-	/*
-	 * Print driver information.
-	 */
-	if (!strcmp(verb, "info")) {
-		fxas21002c::info();
+	if (!strcmp(verb, "status")) {
+		return ThisDriver::module_status(iterator);
 	}
 
-	/*
-	 * dump device registers
-	 */
 	if (!strcmp(verb, "regdump")) {
-		fxas21002c::regdump();
+		cli.custom1 = 0;
+		return ThisDriver::module_custom_method(cli, iterator);
 	}
 
-	/*
-	 * trigger an error
-	 */
 	if (!strcmp(verb, "testerror")) {
-		fxas21002c::test_error();
+		cli.custom1 = 1;
+		return ThisDriver::module_custom_method(cli, iterator);
 	}
 
-	PX4_WARN("unrecognized command, try 'start', 'info', 'testerror' or 'regdump'");
+	ThisDriver::print_usage();
 	return -1;
 }