refactor voxlpm: use driver base class

boards/modalai/fc-v1/init/rc.board_sensors

@@ -6,7 +6,8 @@
 adc start
 
 # Start Digital power monitors
-voxlpm -R start
+voxlpm -X -b 3 -T VBATT start
+voxlpm -X -b 3 -T P5VDC start
 
 # Internal SPI bus ICM-20602
 mpu6000 -R 6 -s -T 20602 start

src/drivers/drv_sensor.h

@@ -137,6 +137,7 @@
 #define DRV_DIST_DEVTYPE_TERARANGER   0x75
 #define DRV_DIST_DEVTYPE_VL53LXX      0x76
 #define DRV_POWER_DEVTYPE_INA226      0x77
+#define DRV_POWER_DEVTYPE_VOXLPM      0x78
 
 #define DRV_DEVTYPE_UNUSED		0xff
 

src/drivers/power_monitor/voxlpm/voxlpm.cpp

@@ -43,15 +43,15 @@
  * Address 0x6A - measures battery voltage and current with a 0.0005 ohm sense resistor
  * Address 0x6B - measures 5VDC ouptut voltage and current
  */
-VOXLPM::VOXLPM(const char *path, int bus, int address, VOXLPM_CH_TYPE ch_type) :
+VOXLPM::VOXLPM(I2CSPIBusOption bus_option, const int bus, int bus_frequency, VOXLPM_CH_TYPE ch_type) :
-	I2C("voxlpm", path, bus, address, 400000),
+	I2C("voxlpm", nullptr, bus, (ch_type == VOXLPM_CH_TYPE_VBATT) ? VOXLPM_LTC2946_ADDR_VBATT : VOXLPM_LTC2946_ADDR_P5VD,
-	ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(I2C::get_device_id())),
+	    bus_frequency),
 	ModuleParams(nullptr),
+	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": sample")),
+	_ch_type(ch_type),
 	_battery(1, this)
 {
-	_ch_type = ch_type;
-
 	if (_ch_type == VOXLPM_CH_TYPE_VBATT) {
 		_rsense = VOXLPM_RSENSE_VBATT;
 
@@ -62,8 +62,6 @@ VOXLPM::VOXLPM(const char *path, int bus, int address, VOXLPM_CH_TYPE ch_type) :
 
 VOXLPM::~VOXLPM()
 {
-	// make sure we are truly inactive
-	stop();
 	perf_free(_sample_perf);
 }
 
@@ -88,7 +86,7 @@ VOXLPM::init()
 }
 
 void
-VOXLPM::print_info()
+VOXLPM::print_status()
 {
 	perf_print_counter(_sample_perf);
 
@@ -108,22 +106,11 @@ VOXLPM::print_info()
 void
 VOXLPM::start()
 {
-	/* make sure we are stopped first */
-	uint32_t last_meas_interval = _meas_interval;
-	stop();
-	_meas_interval = last_meas_interval;
-
 	ScheduleOnInterval(_meas_interval, 1000);
 }
 
 void
-VOXLPM::stop()
+VOXLPM::RunImpl()
-{
-	ScheduleClear();
-}
-
-void
-VOXLPM::Run()
 {
 	measure();
 }

src/drivers/power_monitor/voxlpm/voxlpm.hpp

@@ -63,7 +63,7 @@
 #include <drivers/device/i2c.h>
 #include <perf/perf_counter.h>
 
-#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/i2c_spi_buses.h>
 
 #include <battery/battery.h>
 
@@ -144,22 +144,25 @@ enum VOXLPM_CH_TYPE {
 	VOXLPM_CH_TYPE_P5VDC
 };
 
-class VOXLPM : public device::I2C, public px4::ScheduledWorkItem, public ModuleParams
+class VOXLPM : public device::I2C, public ModuleParams, public I2CSPIDriver<VOXLPM>
 {
 public:
-	VOXLPM(const char *path, int bus, int address, VOXLPM_CH_TYPE ch_type);
+	VOXLPM(I2CSPIBusOption bus_option, const int bus, int bus_frequency, VOXLPM_CH_TYPE ch_type);
 	virtual ~VOXLPM();
 
+	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+					     int runtime_instance);
+	static void print_usage();
+
 	virtual int		init();
-	void			print_info();
+	void			print_status() override;
 
+	void 			RunImpl();
 private:
-	unsigned 		_meas_interval{100000}; // 100ms
-	void 			Run() override;
 	void 			start();
-	void 			stop();
 	int 			measure();
 
+	static constexpr unsigned 		_meas_interval{100000}; // 100ms
 	perf_counter_t		_sample_perf;
 
 	uORB::PublicationMulti<power_monitor_s>		_pm_pub_topic{ORB_ID(power_monitor)};
@@ -167,7 +170,7 @@ private:
 
 	power_monitor_s 	_pm_status{};
 
-	VOXLPM_CH_TYPE		_ch_type;
+	const VOXLPM_CH_TYPE	_ch_type;
 	float			_voltage{0.0f};
 	float			_amperage{0.0f};
 	float			_rsense{0.0f};

src/drivers/power_monitor/voxlpm/voxlpm_main.cpp

@@ -36,188 +36,84 @@
 
 #include "voxlpm.hpp"
 
-enum VOXLPM_BUS {
+I2CSPIDriverBase *VOXLPM::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-	VOXLPM_BUS_I2C_EXTERNAL,
+				      int runtime_instance)
-	VOXLPM_BUS_I2C_EXTERNAL1,
-	VOXLPM_BUS_I2C_EXTERNAL2
-};
-
-/**
- * Local functions in support of the shell command.
- */
-namespace voxlpm
 {
-struct voxlpm_chan {
+	VOXLPM *instance = new VOXLPM(iterator.configuredBusOption(), iterator.bus(), cli.bus_frequency,
-	const char *devpath;
+				      (VOXLPM_CH_TYPE)cli.type);
-	uint32_t device;
-	VOXLPM *dev;
-};
-
-struct voxlpm_bus_option {
-	enum VOXLPM_BUS busid;
-	uint8_t busnum;
-	bool external;
-	struct voxlpm_chan vbat;
-	struct voxlpm_chan vpwr;
-} bus_options[] = {
-#if defined(PX4_I2C_BUS_EXPANSION)
-	{
-		VOXLPM_BUS_I2C_EXTERNAL, PX4_I2C_BUS_EXPANSION, true,
-		{"/dev/voxlpm_vbat", VOXLPM_LTC2946_ADDR_VBATT, NULL },
-		{"/dev/voxlpm_p5vd", VOXLPM_LTC2946_ADDR_P5VD, NULL}
-	},
-#endif
-#if defined(PX4_I2C_BUS_EXPANSION1)
-	{
-		VOXLPM_BUS_I2C_EXTERNAL1, PX4_I2C_BUS_EXPANSION1, true,
-		{"/dev/voxlpm_vbat", VOXLPM_LTC2946_ADDR_VBATT, NULL },
-		{"/dev/voxlpm_p5vd", VOXLPM_LTC2946_ADDR_P5VD, NULL}
-	},
-#endif
-#if defined(PX4_I2C_BUS_EXPANSION2)
-	{
-		VOXLPM_BUS_I2C_EXTERNAL2, PX4_I2C_BUS_EXPANSION2, true,
-		{"/dev/voxlpm_vbat", VOXLPM_LTC2946_ADDR_VBATT, NULL },
-		{"/dev/voxlpm_p5vd", VOXLPM_LTC2946_ADDR_P5VD, NULL}
-	},
-#endif
-};
-#define NUM_BUS_OPTIONS (sizeof(bus_options)/sizeof(bus_options[0]))
-
-
-/**
- * Start the driver.
- */
-bool
-start_bus(struct voxlpm_bus_option &bus)
-{
-	/* assume if we've got the battery channel we have the output channel as well */
-	if (bus.vbat.dev != nullptr) {
-		PX4_ERR("bus option already started");
-		exit(1);
-	}
-
-	/* create the battery voltage / current channel */
-	bus.vbat.dev = new VOXLPM(bus.vbat.devpath, bus.busnum, bus.vbat.device, VOXLPM_CH_TYPE_VBATT);
-
-	if (bus.vbat.dev == nullptr) {
-		return false;
-	}
-
-	/* create the 5VDC output / compute current channel */
-	bus.vpwr.dev = new VOXLPM(bus.vpwr.devpath, bus.busnum, bus.vpwr.device, VOXLPM_CH_TYPE_P5VDC);
-
-	if (bus.vbat.dev == nullptr) {
-		return false;
-	}
-
-	if (bus.vbat.dev->init() != OK || bus.vpwr.dev->init() != OK) {
-		delete bus.vbat.dev;
-		bus.vbat.dev = nullptr;
-		delete bus.vpwr.dev;
-		bus.vpwr.dev = nullptr;
-		return false;
-	}
-
-	return true;
-}
-
-void
-start(enum VOXLPM_BUS busid)
-{
-	bool started = false;
-	uint8_t i;
-
-	for (i = 0; i < NUM_BUS_OPTIONS; i++) {
-		if (bus_options[i].busid == busid) {
-			started = start_bus(bus_options[i]);
-			break; // one bus only...
-		}
-	}
 
-	if (!started) {
+	if (instance == nullptr) {
-		PX4_WARN("bus option number is %d", i);
+		PX4_ERR("alloc failed");
-		PX4_ERR("driver start failed");
+		return nullptr;
-		exit(1);
 	}
 
-	exit(0);
+	if (OK != instance->init()) {
-}
+		delete instance;
-
+		return nullptr;
-void
-info()
-{
-	uint8_t i;
-
-	for (i = 0; i < NUM_BUS_OPTIONS; i++) {
-		if (bus_options[i].vbat.dev) {
-			bus_options[i].vbat.dev->print_info();
-		}
-
-		if (bus_options[i].vpwr.dev) {
-			bus_options[i].vpwr.dev->print_info();
-		}
 	}
 
-	exit(0);
+	return instance;
 }
 
 void
-usage()
+VOXLPM::print_usage()
 {
-	PRINT_MODULE_USAGE_NAME_SIMPLE("voxlpm", "command");
+	PRINT_MODULE_USAGE_NAME_SIMPLE("voxlpm", "driver");
 
-	PRINT_MODULE_USAGE_COMMAND_DESCR("start", "start monitoring");
+	PRINT_MODULE_USAGE_COMMAND("start");
-	PRINT_MODULE_USAGE_COMMAND_DESCR("info", "display info");;
+	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
-	PRINT_MODULE_USAGE_COMMAND_DESCR("-X", "PX4_I2C_BUS_EXPANSION");
+	PRINT_MODULE_USAGE_PARAM_STRING('T', "VBATT", "VBATT|P5VDC", "Type", true);
-	PRINT_MODULE_USAGE_COMMAND_DESCR("-T", "PX4_I2C_BUS_EXPANSION1");
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
-	PRINT_MODULE_USAGE_COMMAND_DESCR("-R", "PX4_I2C_BUS_EXPANSION2 (default)");
 }
 
-} // namespace
+extern "C" int
-
+voxlpm_main(int argc, char *argv[])
-extern "C" __EXPORT int voxlpm_main(int argc, char *argv[])
 {
-	int myoptind = 1;
 	int ch;
-	const char *myoptarg = nullptr;
+	using ThisDriver = VOXLPM;
-	enum VOXLPM_BUS busid = VOXLPM_BUS_I2C_EXTERNAL2;
+	BusCLIArguments cli{true, false};
+	cli.default_i2c_frequency = 400000;
+	cli.type = VOXLPM_CH_TYPE_VBATT;
 
-	while ((ch = px4_getopt(argc, argv, "XTR", &myoptind, &myoptarg)) != EOF) {
+	while ((ch = cli.getopt(argc, argv, "T:")) != EOF) {
 		switch (ch) {
-		case 'X':
-			busid = VOXLPM_BUS_I2C_EXTERNAL;
-			break;
-
 		case 'T':
-			busid = VOXLPM_BUS_I2C_EXTERNAL1;
+			if (strcmp(cli.optarg(), "VBATT") == 0) {
-			break;
+				cli.type = VOXLPM_CH_TYPE_VBATT;
 
-		case 'R':
+			} else if (strcmp(cli.optarg(), "P5VDC") == 0) {
-			busid = VOXLPM_BUS_I2C_EXTERNAL2;
+				cli.type = VOXLPM_CH_TYPE_P5VDC;
-			break;
+
+			} else {
+				PX4_ERR("unknown type");
+				return -1;
+			}
 
-		default:
+			break;
-			voxlpm::usage();
-			return 0;
 		}
 	}
 
-	if (myoptind >= argc) {
+	const char *verb = cli.optarg();
-		voxlpm::usage();
+
+	if (!verb) {
+		ThisDriver::print_usage();
 		return -1;
 	}
 
-	const char *verb = argv[myoptind];
+	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_POWER_DEVTYPE_VOXLPM);
 
 	if (!strcmp(verb, "start")) {
-		voxlpm::start(busid);
+		return ThisDriver::module_start(cli, iterator);
+	}
+
+	if (!strcmp(verb, "stop")) {
+		return ThisDriver::module_stop(iterator);
 	}
 
-	if (!strcmp(verb, "info")) {
+	if (!strcmp(verb, "status")) {
-		voxlpm::info();
+		return ThisDriver::module_status(iterator);
 	}
 
-	voxlpm::usage();
+	ThisDriver::print_usage();
 	return -1;
 }