refactor fxos8701cq: use driver base class

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

@@ -19,7 +19,7 @@ bmp280 -I start
 mpl3115a2 -I start
 
 # Internal SPI (accel + mag)
-fxos8701cq start
+fxos8701cq -s start
 
 # Internal SPI (gyro)
 fxas21002c -s start

src/drivers/imu/fxos8701cq/FXOS8701CQ.cpp

@@ -53,9 +53,10 @@ const uint8_t FXOS8701CQ::_checked_registers[FXOS8701C_NUM_CHECKED_REGISTERS] =
 	FXOS8701CQ_M_CTRL_REG2,
 };
 
-FXOS8701CQ::FXOS8701CQ(int bus, uint32_t device, enum Rotation rotation) :
-	SPI("FXOS8701CQ", nullptr, bus, device, SPIDEV_MODE0, 1 * 1000 * 1000),
-	ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())),
+FXOS8701CQ::FXOS8701CQ(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
+		       spi_mode_e spi_mode) :
+	SPI("FXOS8701CQ", nullptr, bus, device, spi_mode, bus_frequency),
+	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
 	_px4_accel(get_device_id(), ORB_PRIO_LOW, rotation),
 #if !defined(BOARD_HAS_NOISY_FXOS8700_MAG)
 	_px4_mag(get_device_id(), ORB_PRIO_LOW, rotation),
@@ -77,9 +78,6 @@ FXOS8701CQ::FXOS8701CQ(int bus, uint32_t device, enum Rotation rotation) :
 
 FXOS8701CQ::~FXOS8701CQ()
 {
-	// make sure we are truly inactive
-	stop();
-
 #if !defined(BOARD_HAS_NOISY_FXOS8700_MAG)
 	perf_free(_mag_sample_perf);
 #endif
@@ -284,19 +282,10 @@ FXOS8701CQ::accel_set_samplerate(unsigned frequency)
 void
 FXOS8701CQ::start()
 {
-	// make sure we are stopped first
-	stop();
-
 	// start polling at the specified rate
 	ScheduleOnInterval(1000000 / (FXOS8701C_ACCEL_DEFAULT_RATE) - FXOS8701C_TIMER_REDUCTION, 10000);
 }
 
-void
-FXOS8701CQ::stop()
-{
-	ScheduleClear();
-}
-
 void
 FXOS8701CQ::check_registers(void)
 {
@@ -328,7 +317,7 @@ FXOS8701CQ::check_registers(void)
 }
 
 void
-FXOS8701CQ::Run()
+FXOS8701CQ::RunImpl()
 {
 	// start the performance counter
 	perf_begin(_accel_sample_perf);
@@ -407,8 +396,9 @@ FXOS8701CQ::Run()
 }
 
 void
-FXOS8701CQ::print_info()
+FXOS8701CQ::print_status()
 {
+	I2CSPIDriverBase::print_status();
 	perf_print_counter(_accel_sample_perf);
 
 #if !defined(BOARD_HAS_NOISY_FXOS8700_MAG)

src/drivers/imu/fxos8701cq/FXOS8701CQ.hpp

@@ -43,7 +43,7 @@
 #include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
 #include <lib/ecl/geo/geo.h>
 #include <lib/perf/perf_counter.h>
-#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/i2c_spi_buses.h>
 
 #if !defined(BOARD_HAS_NOISY_FXOS8700_MAG)
 #include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
@@ -111,27 +111,32 @@
  */
 #define FXOS8701C_TIMER_REDUCTION				240
 
-class FXOS8701CQ : public device::SPI, public px4::ScheduledWorkItem
+class FXOS8701CQ : public device::SPI, public I2CSPIDriver<FXOS8701CQ>
 {
 public:
-	FXOS8701CQ(int bus, uint32_t device, enum Rotation rotation);
+	FXOS8701CQ(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
+		   spi_mode_e spi_mode);
 	virtual ~FXOS8701CQ();
 
-	virtual int		init();
+	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+					     int runtime_instance);
+	static void print_usage();
+
+	int		init() override;
+
+	void			print_status() override;
+
+	void			RunImpl();
 
-	void			print_info();
 	void			print_registers();
 	void			test_error();
-
 protected:
-	virtual int		probe();
+	int		probe() override;
+	void custom_method(const BusCLIArguments &cli) override;
 
 private:
 
-	void Run() override;
-
 	void			start();
-	void			stop();
 	void			reset();
 
 	/**

src/drivers/imu/fxos8701cq/fxos8701cq_main.cpp

@@ -40,191 +40,97 @@
 #include "FXOS8701CQ.hpp"
 
 #include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module.h>
 
-/**
- * Local functions in support of the shell command.
- */
-namespace fxos8701cq
-{
-
-FXOS8701CQ *g_dev{nullptr};
-
-int	start(bool external_bus, enum Rotation rotation);
-int	info();
-int	stop();
-int	regdump();
-int	usage();
-int	test_error();
-
-/**
- * Start the driver.
- *
- * This function call only returns once the driver is
- * up and running or failed to detect the sensor.
- */
-int
-start(bool external_bus, enum Rotation rotation)
+void
+FXOS8701CQ::print_usage()
 {
-	if (g_dev != nullptr) {
-		PX4_INFO("already started");
-		return 0;
-	}
-
-	/* create the driver */
-	if (external_bus) {
-#if defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_ACCEL_MAG)
-		g_dev = new FXOS8701CQ(PX4_SPI_BUS_EXT, PX4_SPIDEV_EXT_ACCEL_MAG, rotation);
-#else
-		PX4_ERR("External SPI not available");
-		return 0;
-#endif
-
-	} else {
-		g_dev = new FXOS8701CQ(PX4_SPI_BUS_SENSORS,  PX4_SPIDEV_ACCEL_MAG, rotation);
-	}
-
-	if (g_dev == nullptr) {
-		PX4_ERR("failed instantiating FXOS8701C obj");
-		goto fail;
-	}
-
-	if (OK != g_dev->init()) {
-		goto fail;
-	}
-
-	return PX4_OK;
-fail:
-
-	if (g_dev != nullptr) {
-		delete g_dev;
-		g_dev = nullptr;
-	}
-
-	PX4_ERR("driver start failed");
-	return PX4_ERROR;
+	PRINT_MODULE_USAGE_NAME("fxos8701cq", "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.
- */
-int
-info()
+I2CSPIDriverBase *FXOS8701CQ::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+		int runtime_instance)
 {
-	if (g_dev == nullptr) {
-		PX4_ERR("driver not running\n");
-		return 1;
-	}
+	FXOS8701CQ *instance = new FXOS8701CQ(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
+					      cli.bus_frequency, cli.spi_mode);
 
-	g_dev->print_info();
-
-	return 0;
-}
-
-int
-stop()
-{
-	if (g_dev == nullptr) {
-		PX4_ERR("driver not running\n");
-		return 1;
+	if (!instance) {
+		PX4_ERR("alloc failed");
+		return nullptr;
 	}
 
-	delete g_dev;
-	g_dev = nullptr;
-
-	return 0;
-}
-
-/**
- * dump registers from device
- */
-int
-regdump()
-{
-	if (g_dev == nullptr) {
-		PX4_ERR("driver not running\n");
-		return 1;
+	if (OK != instance->init()) {
+		delete instance;
+		return nullptr;
 	}
 
-	printf("regdump @ %p\n", g_dev);
-	g_dev->print_registers();
-
-	return 0;
+	return instance;
 }
 
-/**
- * trigger an error
- */
-int
-test_error()
+void FXOS8701CQ::custom_method(const BusCLIArguments &cli)
 {
-	if (g_dev == nullptr) {
-		PX4_ERR("driver not running\n");
-		return 1;
-	}
+	switch (cli.custom1) {
+	case 0: print_registers(); break;
 
-	g_dev->test_error();
+	case 1: test_error(); break;
+	}
 
-	return 0;
 }
 
-int
-usage()
+extern "C" int fxos8701cq_main(int argc, char *argv[])
 {
-	PX4_INFO("missing command: try 'start', 'info', 'stop', 'testerror' or 'regdump'");
-	PX4_INFO("options:");
-	PX4_INFO("    -X    (external bus)");
-	PX4_INFO("    -R rotation");
-
-	return 0;
-}
-
-} // namespace
-
-extern "C" { __EXPORT int fxos8701cq_main(int argc, char *argv[]); }
-
-int fxos8701cq_main(int argc, char *argv[])
-{
-	bool external_bus = false;
 	int ch;
-	enum Rotation rotation = ROTATION_NONE;
+	using ThisDriver = FXOS8701CQ;
+	BusCLIArguments cli{false, true};
+	cli.default_spi_frequency = 1 * 1000 * 1000;
+	cli.spi_mode = SPIDEV_MODE0;
 
-	int myoptind = 1;
-	const char *myoptarg = NULL;
-
-	while ((ch = px4_getopt(argc, argv, "XR:a:", &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:
-			fxos8701cq::usage();
-			exit(0);
 		}
 	}
 
-	const char *verb = argv[myoptind];
+	const char *verb = cli.optarg();
+
+	if (!verb) {
+		ThisDriver::print_usage();
+		return -1;
+	}
+
+	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_ACC_DEVTYPE_FXOS8701C);
 
 	if (!strcmp(verb, "start")) {
-		return fxos8701cq::start(external_bus, rotation);
+		return ThisDriver::module_start(cli, iterator);
+	}
 
-	} else if (!strcmp(verb, "stop")) {
-		return fxos8701cq::stop();
+	if (!strcmp(verb, "stop")) {
+		return ThisDriver::module_stop(iterator);
+	}
 
-	} else if (!strcmp(verb, "info")) {
-		return fxos8701cq::info();
+	if (!strcmp(verb, "status")) {
+		return ThisDriver::module_status(iterator);
+	}
 
-	} else if (!strcmp(verb, "regdump")) {
-		return fxos8701cq::regdump();
+	if (!strcmp(verb, "regdump")) {
+		cli.custom1 = 0;
+		return ThisDriver::module_custom_method(cli, iterator);
+	}
 
-	} else if (!strcmp(verb, "testerror")) {
-		return fxos8701cq::test_error();
+	if (!strcmp(verb, "testerror")) {
+		cli.custom1 = 1;
+		return ThisDriver::module_custom_method(cli, iterator);
 	}
 
-	PX4_ERR("unrecognized command, try 'start', 'stop', 'info', 'testerror' or 'regdump'");
-	return PX4_ERROR;
+	ThisDriver::print_usage();
+	return -1;
 }