refactor adis16448: use driver base class

src/drivers/drv_sensor.h

@@ -112,9 +112,7 @@
 #define DRV_ACC_DEVTYPE_FXOS8701C	0x52
 
 #define DRV_GYR_DEVTYPE_FXAS2100C	0x54
-#define DRV_ACC_DEVTYPE_ADIS16448	0x55
-#define DRV_MAG_DEVTYPE_ADIS16448	0x56
-#define DRV_GYR_DEVTYPE_ADIS16448	0x57
+#define DRV_IMU_DEVTYPE_ADIS16448	0x57
 #define DRV_BARO_DEVTYPE_LPS22HB	0x58
 #define DRV_ACC_DEVTYPE_ADIS16477	0x59
 

src/drivers/imu/adis16448/ADIS16448.cpp

@@ -37,18 +37,19 @@
 
 #include "ADIS16448.h"
 
-ADIS16448::ADIS16448(int bus, uint32_t device, enum Rotation rotation) :
-	SPI("ADIS16448", nullptr, bus, device, SPIDEV_MODE3, 1000000),
-	ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())),
+ADIS16448::ADIS16448(I2CSPIBusOption bus_option, int bus, int32_t device, enum Rotation rotation, int bus_frequency,
+		     spi_mode_e spi_mode) :
+	SPI("ADIS16448", 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_MAX, rotation),
 	_px4_baro(get_device_id(), ORB_PRIO_MAX),
 	_px4_gyro(get_device_id(), ORB_PRIO_MAX, rotation),
 	_px4_mag(get_device_id(), ORB_PRIO_MAX, rotation)
 {
-	_px4_accel.set_device_type(DRV_ACC_DEVTYPE_ADIS16448);
-	_px4_baro.set_device_type(DRV_ACC_DEVTYPE_ADIS16448); // not a typo, baro uses accel device id
-	_px4_gyro.set_device_type(DRV_GYR_DEVTYPE_ADIS16448);
-	_px4_mag.set_device_type(DRV_MAG_DEVTYPE_ADIS16448);
+	_px4_accel.set_device_type(DRV_IMU_DEVTYPE_ADIS16448);
+	_px4_baro.set_device_type(DRV_IMU_DEVTYPE_ADIS16448);
+	_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_ADIS16448);
+	_px4_mag.set_device_type(DRV_IMU_DEVTYPE_ADIS16448);
 
 	_px4_accel.set_scale(ADIS16448_ACCEL_SENSITIVITY);
 	_px4_gyro.set_scale(ADIS16448_GYRO_INITIAL_SENSITIVITY);
@@ -59,9 +60,6 @@ ADIS16448::ADIS16448(int bus, uint32_t device, enum Rotation rotation) :
 
 ADIS16448::~ADIS16448()
 {
-	// Ensure the driver is inactive.
-	stop();
-
 	// Delete the perf counter.
 	perf_free(_perf_read);
 	perf_free(_perf_transfer);
@@ -209,7 +207,7 @@ ADIS16448::probe()
 	}
 
 	if (!reset_success) {
-		PX4_ERR("unable to successfully reset");
+		DEVICE_DEBUG("unable to successfully reset");
 		return PX4_ERROR;
 	}
 
@@ -307,8 +305,9 @@ ADIS16448::set_gyro_dyn_range(uint16_t desired_gyro_dyn_range)
 }
 
 void
-ADIS16448::print_info()
+ADIS16448::print_status()
 {
+	I2CSPIDriverBase::print_status();
 	perf_print_counter(_perf_read);
 	perf_print_counter(_perf_transfer);
 	perf_print_counter(_perf_bad_transfer);
@@ -361,19 +360,10 @@ ADIS16448::write_reg16(unsigned reg, uint16_t value)
 void
 ADIS16448::start()
 {
-	// Make sure we are stopped first.
-	stop();
-
 	// Start polling at the specified interval
 	ScheduleOnInterval((1_s / _sample_rate), 10000);
 }
 
-void
-ADIS16448::stop()
-{
-	ScheduleClear();
-}
-
 // computes the CCITT CRC16 on the data received from a burst read
 static uint16_t ComputeCRC16(uint16_t burstData[13])
 {
@@ -527,7 +517,7 @@ ADIS16448::measure()
 }
 
 void
-ADIS16448::Run()
+ADIS16448::RunImpl()
 {
 	// Make another measurement.
 	measure();

src/drivers/imu/adis16448/ADIS16448.h

@@ -50,7 +50,7 @@
 #include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
 #include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
 #include <perf/perf_counter.h>
-#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/i2c_spi_buses.h>
 
 using namespace time_literals;
 
@@ -98,21 +98,24 @@ static constexpr float ADIS16448_MAG_SENSITIVITY{1.0 / 7.0 / 1000.0};						// 7
 static constexpr float ADIS16448_ACCEL_GYRO_UPDATE_RATE{819.2}; // accel and gryo max update 819.2 samples per second
 static constexpr float ADIS16448_MAG_BARO_UPDATE_RATE{51.2}; // xMAGN_OUT and BARO_OUT registers update at 51.2 samples per second
 
-class ADIS16448 : public device::SPI, public px4::ScheduledWorkItem
+class ADIS16448 : public device::SPI, public I2CSPIDriver<ADIS16448>
 {
 public:
-	ADIS16448(int bus, uint32_t device, enum Rotation rotation);
+	ADIS16448(I2CSPIBusOption bus_option, int bus, int32_t device, enum Rotation rotation, int bus_frequency,
+		  spi_mode_e spi_mode);
 	virtual ~ADIS16448();
 
-	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 and sensor.
-	 */
-	void print_info();
+	int init() override;
+
+	void print_status() override;
 
+	void RunImpl();
 protected:
-	virtual int probe();
+	int probe() override;
 
 private:
 
@@ -135,16 +138,6 @@ private:
 	 */
 	int measure();
 
-	/**
-	 * Static trampoline from the hrt_call context; because we don't have a
-	 * generic hrt wrapper yet.
-	 * Called by the HRT in interrupt context at the specified rate if
-	 * automatic polling is enabled.
-	 *
-	 * @param arg       Instance pointer for the driver that is polling.
-	 */
-	void Run();
-
 	/**
 	 * Modify a register in the ADIS16448
 	 * Bits are cleared before bits are set.
@@ -196,11 +189,6 @@ private:
 	 */
 	void start();
 
-	/**
-	 * Stop automatic measurement.
-	 */
-	void stop();
-
 	PX4Accelerometer	_px4_accel;
 	PX4Barometer		_px4_baro;
 	PX4Gyroscope		_px4_gyro;

src/drivers/imu/adis16448/adis16448_main.cpp

@@ -34,109 +34,74 @@
 #include "ADIS16448.h"
 
 #include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module.h>
 
-namespace adis16448
+void
+ADIS16448::print_usage()
 {
-ADIS16448 *g_dev{nullptr};
-
-static int start(enum Rotation rotation)
-{
-	if (g_dev != nullptr) {
-		PX4_WARN("already started");
-		return 0;
-	}
-
-	// create the driver
-#if defined(PX4_SPI_BUS_EXT)
-	g_dev = new ADIS16448(PX4_SPI_BUS_EXT, PX4_SPIDEV_EXT_MPU, rotation);
-#elif defined(PX4_SPIDEV_EXTERNAL1_1)
-	g_dev = new ADIS16448(PX4_SPI_BUS_EXTERNAL1, PX4_SPIDEV_EXTERNAL1_1, rotation);
-#else
-	PX4_ERR("External SPI not available");
-	return -1;
-#endif
-
-	if (g_dev == nullptr) {
-		PX4_ERR("driver start failed");
-		return -1;
-	}
-
-	if (g_dev->init() != PX4_OK) {
-		PX4_ERR("driver init failed");
-		delete g_dev;
-		g_dev = nullptr;
-		return -1;
-	}
-
-	return 0;
+	PRINT_MODULE_USAGE_NAME("adis16448", "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_DEFAULT_COMMANDS();
 }
 
-static int stop()
+I2CSPIDriverBase *ADIS16448::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+		int runtime_instance)
 {
-	if (g_dev == nullptr) {
-		PX4_WARN("driver not running");
-		return -1;
-	}
-
-	delete g_dev;
-	g_dev = nullptr;
-
-	return 0;
-}
+	ADIS16448 *instance = new ADIS16448(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
+					    cli.bus_frequency, cli.spi_mode);
 
-static int status()
-{
-	if (g_dev == nullptr) {
-		PX4_INFO("driver not running");
-		return 0;
+	if (!instance) {
+		PX4_ERR("alloc failed");
+		return nullptr;
 	}
 
-	g_dev->print_info();
-
-	return 0;
-}
-
-static int usage()
-{
-	PX4_INFO("missing command: try 'start', 'stop', 'status'");
-	PX4_INFO("options:");
-	PX4_INFO("    -R rotation");
+	if (OK != instance->init()) {
+		delete instance;
+		return nullptr;
+	}
 
-	return 0;
+	return instance;
 }
 
-} // namespace adis16448
-
 extern "C" int adis16448_main(int argc, char *argv[])
 {
-	enum Rotation rotation = ROTATION_NONE;
-	int myoptind = 1;
-	int ch = 0;
-	const char *myoptarg = nullptr;
+	int ch;
+	using ThisDriver = ADIS16448;
+	BusCLIArguments cli{false, true};
+	cli.default_spi_frequency = 1000000;
 
-	// start options
-	while ((ch = px4_getopt(argc, argv, "R:", &myoptind, &myoptarg)) != EOF) {
+	while ((ch = cli.getopt(argc, argv, "R:")) != EOF) {
 		switch (ch) {
 		case 'R':
-			rotation = (enum Rotation)atoi(myoptarg);
+			cli.rotation = (enum Rotation)atoi(cli.optarg());
 			break;
-
-		default:
-			return adis16448::usage();
 		}
 	}
 
-	const char *verb = argv[myoptind];
+	const char *verb = cli.optarg();
+
+	if (!verb) {
+		ThisDriver::print_usage();
+		return -1;
+	}
+
+	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_IMU_DEVTYPE_ADIS16448);
 
 	if (!strcmp(verb, "start")) {
-		return adis16448::start(rotation);
+		return ThisDriver::module_start(cli, iterator);
+	}
 
-	} else if (!strcmp(verb, "stop")) {
-		return adis16448::stop();
+	if (!strcmp(verb, "stop")) {
+		return ThisDriver::module_stop(iterator);
+	}
 
-	} else if (!strcmp(verb, "status")) {
-		return adis16448::status();
+	if (!strcmp(verb, "status")) {
+		return ThisDriver::module_status(iterator);
 	}
 
-	return adis16448::usage();
+	ThisDriver::print_usage();
+	return -1;
 }