differential_pressure sensors: use driver base class

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -24,7 +24,8 @@ if [ ${VEHICLE_TYPE} = fw -o ${VEHICLE_TYPE} = vtol ]
 then
 	if param compare CBRK_AIRSPD_CHK 0
 	then
-		sdp3x_airspeed start -a
+		sdp3x_airspeed start -X
+		sdp3x_airspeed start -X -a 0x22
 
 		# Pixhawk 2.1 has a MS5611 on I2C which gets wrongly
 		# detected as MS5525 because the chip manufacturer was so
@@ -32,14 +33,14 @@ then
 		# register.
 		if [ $BOARD_FMUV3 = 21 ]
 		then
-			ms5525_airspeed start -b 2
+			ms5525_airspeed start -X -b 2
 		else
-			ms5525_airspeed start -a
+			ms5525_airspeed start -X
 		fi
 
-		ms4525_airspeed start -a
+		ms4525_airspeed start -X
 
-		ets_airspeed start -a
+		ets_airspeed start -X
 
 	fi
 fi

ROMFS/px4fmu_test/init.d/rc.sensors

@@ -21,31 +21,19 @@ if adc start
 then
 fi
 
-if sdp3x_airspeed start
+if sdp3x_airspeed start -X
 then
 fi
 
-if ms5525_airspeed start
+if ms5525_airspeed start -X
 then
 fi
 
-if ms5525_airspeed start -b 2
+if ms4525_airspeed start -X
 then
 fi
 
-if ms4525_airspeed start
+if ets_airspeed start -X
-then
-fi
-
-if ms4525_airspeed start -b 2
-then
-fi
-
-if ets_airspeed start
-then
-fi
-
-if ets_airspeed start -b 1
 then
 fi
 

boards/av/x-v1/init/rc.board_sensors

@@ -11,7 +11,7 @@ lps22hb -s start
 
 lsm303agr -R 4 start
 
-ms4525_airspeed -T 4515 -b 3 start
+ms4525_airspeed -T 4515 -I -b 3 start
 
 if ! param greater SENS_EN_PMW3901 0
 then

posix-configs/rpi/px4_fw.config

@@ -30,7 +30,7 @@ adc start
 battery_status start
 
 gps start -d /dev/spidev0.0 -i spi -p ubx
-ms4525_airspeed start
+ms4525_airspeed start -X
 rc_update start
 sensors start
 commander start

src/drivers/differential_pressure/ets/ets_airspeed.cpp

@@ -42,6 +42,8 @@
 
 #include <drivers/airspeed/airspeed.h>
 #include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/i2c_spi_buses.h>
 
 /* I2C bus address */
 #define I2C_ADDRESS	0x75	/* 7-bit address. 8-bit address is 0xEA */
@@ -59,21 +61,22 @@
 /* Measurement rate is 100Hz */
 #define CONVERSION_INTERVAL	(1000000 / 100)	/* microseconds */
 
-class ETSAirspeed : public Airspeed
+class ETSAirspeed : public Airspeed, public I2CSPIDriver<ETSAirspeed>
 {
 public:
-	ETSAirspeed(int bus, int address = I2C_ADDRESS, const char *path = ETS_PATH);
+	ETSAirspeed(I2CSPIBusOption bus_option, const int bus, int bus_frequency, int address = I2C_ADDRESS,
+		    const char *path = ETS_PATH);
 
+	virtual ~ETSAirspeed() = default;
+
+	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+					     int runtime_instance);
+	static void print_usage();
+
+	void	RunImpl();
 protected:
-
-	/**
-	* Perform a poll cycle; collect from the previous measurement
-	* and start a new one.
-	*/
-	void	Run() override;
 	int	measure() override;
 	int	collect() override;
-
 };
 
 /*
@@ -81,8 +84,9 @@ protected:
  */
 extern "C" __EXPORT int ets_airspeed_main(int argc, char *argv[]);
 
-ETSAirspeed::ETSAirspeed(int bus, int address, const char *path) : Airspeed(bus, address,
+ETSAirspeed::ETSAirspeed(I2CSPIBusOption bus_option, const int bus, int bus_frequency, int address, const char *path)
-			CONVERSION_INTERVAL, path)
+	: Airspeed(bus, bus_frequency, address, CONVERSION_INTERVAL, path),
+	  I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus, address)
 {
 	_device_id.devid_s.devtype = DRV_DIFF_PRESS_DEVTYPE_MS4525;
 }
@@ -157,7 +161,7 @@ ETSAirspeed::collect()
 }
 
 void
-ETSAirspeed::Run()
+ETSAirspeed::RunImpl()
 {
 	int ret;
 
@@ -170,8 +174,9 @@ ETSAirspeed::Run()
 		if (OK != ret) {
 			perf_count(_comms_errors);
 			/* restart the measurement state machine */
-			start();
+			_collect_phase = false;
 			_sensor_ok = false;
+			ScheduleNow();
 			return;
 		}
 
@@ -206,206 +211,63 @@ ETSAirspeed::Run()
 	ScheduleDelayed(CONVERSION_INTERVAL);
 }
 
-/**
+I2CSPIDriverBase *ETSAirspeed::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
- * Local functions in support of the shell command.
+		int runtime_instance)
- */
-namespace ets_airspeed
 {
+	ETSAirspeed *instance = new ETSAirspeed(iterator.configuredBusOption(), iterator.bus(), cli.bus_frequency);
 
-ETSAirspeed	*g_dev = nullptr;
+	if (instance == nullptr) {
+		PX4_ERR("alloc failed");
+		return nullptr;
+	}
 
-int start();
+	if (instance->init() != PX4_OK) {
-int start_bus(int i2c_bus);
+		delete instance;
-int stop();
+		return nullptr;
-int reset();
+	}
-int info();
 
-/**
+	instance->ScheduleNow();
- * Attempt to start driver on all available I2C busses.
+	return instance;
- *
+}
- * This function will return as soon as the first sensor
+
- * is detected on one of the available busses or if no
+
- * sensors are detected.
+void
- *
+ETSAirspeed::print_usage()
- */
-int
-start()
 {
-	for (unsigned i = 0; i < NUM_I2C_BUS_OPTIONS; i++) {
+	PRINT_MODULE_USAGE_NAME("ets_airspeed", "driver");
-		if (start_bus(i2c_bus_options[i]) == PX4_OK) {
+	PRINT_MODULE_USAGE_COMMAND("start");
-			return PX4_OK;
+	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
-		}
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
-	}
-
-	return PX4_ERROR;
-
-}
-
-/**
- * Start the driver on a specific bus.
- *
- * This function only returns if the sensor is up and running
- * or could not be detected successfully.
- */
-int
-start_bus(int i2c_bus)
-{
-	int fd;
-
-	if (g_dev != nullptr) {
-		PX4_ERR("already started");
-		return PX4_ERROR;
-	}
-
-	/* create the driver */
-	g_dev = new ETSAirspeed(i2c_bus);
-
-	if (g_dev == nullptr) {
-		goto fail;
-	}
-
-	if (OK != g_dev->init()) {
-		goto fail;
-	}
-
-	/* set the poll rate to default, starts automatic data collection */
-	fd = px4_open(AIRSPEED0_DEVICE_PATH, O_RDONLY);
-
-	if (fd < 0) {
-		goto fail;
-	}
-
-	if (px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
-		goto fail;
-	}
-
-	return PX4_OK;
-
-fail:
-
-	if (g_dev != nullptr) {
-		delete g_dev;
-		g_dev = nullptr;
-	}
-
-	return PX4_ERROR;
-}
-
-/**
- * Stop the driver
- */
-int
-stop()
-{
-	if (g_dev != nullptr) {
-		delete g_dev;
-		g_dev = nullptr;
-
-	} else {
-		PX4_ERR("driver not running");
-		return PX4_ERROR;
-	}
-
-	return PX4_OK;
-}
-
-/**
- * Reset the driver.
- */
-int
-reset()
-{
-	int fd = px4_open(ETS_PATH, O_RDONLY);
-
-	if (fd < 0) {
-		PX4_ERR("failed");
-		return PX4_ERROR;
-	}
-
-	if (px4_ioctl(fd, SENSORIOCRESET, 0) < 0) {
-		PX4_ERR("driver reset failed");
-		return PX4_ERROR;
-	}
-
-	if (px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
-		PX4_ERR("driver poll restart failed");
-		return PX4_ERROR;
-	}
-
-	return PX4_OK;
-}
-
-} // namespace
-
-
-static void
-ets_airspeed_usage()
-{
-	PX4_INFO("usage: ets_airspeed command [options]");
-	PX4_INFO("options:");
-	PX4_INFO("\t-b --bus i2cbus (%d)", PX4_I2C_BUS_DEFAULT);
-	PX4_INFO("\t-a --all");
-	PX4_INFO("command:");
-	PX4_INFO("\tstart|stop|reset|info");
 }
 
 int
 ets_airspeed_main(int argc, char *argv[])
 {
-	int i2c_bus = PX4_I2C_BUS_DEFAULT;
+	using ThisDriver = ETSAirspeed;
+	BusCLIArguments cli{true, false};
+	cli.default_i2c_frequency = 100000;
 
-	int myoptind = 1;
+	const char *verb = cli.parseDefaultArguments(argc, argv);
-	int ch;
-	const char *myoptarg = nullptr;
-	bool start_all = false;
 
-	while ((ch = px4_getopt(argc, argv, "ab:", &myoptind, &myoptarg)) != EOF) {
+	if (!verb) {
-		switch (ch) {
+		ThisDriver::print_usage();
-		case 'b':
-			i2c_bus = atoi(myoptarg);
-			break;
-
-		case 'a':
-			start_all = true;
-			break;
-
-		default:
-			ets_airspeed_usage();
-			return 0;
-		}
-	}
-
-	if (myoptind >= argc) {
-		ets_airspeed_usage();
 		return -1;
 	}
 
-	/*
+	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_DIFF_PRESS_DEVTYPE_ETS3);
-	 * Start/load the driver.
-	 */
-	if (!strcmp(argv[myoptind], "start")) {
-		if (start_all) {
-			return ets_airspeed::start();
 
-		} else {
+	if (!strcmp(verb, "start")) {
-			return ets_airspeed::start_bus(i2c_bus);
+		return ThisDriver::module_start(cli, iterator);
-		}
 	}
 
-	/*
+	if (!strcmp(verb, "stop")) {
-	 * Stop the driver
+		return ThisDriver::module_stop(iterator);
-	 */
-	if (!strcmp(argv[myoptind], "stop")) {
-		return ets_airspeed::stop();
 	}
 
-	/*
+	if (!strcmp(verb, "status")) {
-	 * Reset the driver.
+		return ThisDriver::module_status(iterator);
-	 */
-	if (!strcmp(argv[myoptind], "reset")) {
-		return ets_airspeed::reset();
 	}
 
-	ets_airspeed_usage();
+	ThisDriver::print_usage();
-	return 0;
+	return -1;
 }

src/drivers/differential_pressure/ms4525/ms4525_airspeed.cpp

@@ -51,6 +51,8 @@
 
 #include <mathlib/math/filter/LowPassFilter2p.hpp>
 #include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/i2c_spi_buses.h>
 #include <uORB/topics/system_power.h>
 
 #include <drivers/airspeed/airspeed.h>
@@ -74,18 +76,22 @@ enum MS_DEVICE_TYPE {
 #define CONVERSION_INTERVAL	(1000000 / MEAS_RATE)	/* microseconds */
 
 
-class MEASAirspeed : public Airspeed
+class MEASAirspeed : public Airspeed, public I2CSPIDriver<MEASAirspeed>
 {
 public:
-	MEASAirspeed(int bus, int address = I2C_ADDRESS_MS4525DO, const char *path = PATH_MS4525);
+	MEASAirspeed(I2CSPIBusOption bus_option, const int bus, int bus_frequency, int address = I2C_ADDRESS_MS4525DO,
+		     const char *path = PATH_MS4525);
+
+	virtual ~MEASAirspeed() = default;
+
+	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+					     int runtime_instance);
+	static void print_usage();
+
+	void	RunImpl();
 
 protected:
 
-	/**
-	* Perform a poll cycle; collect from the previous measurement
-	* and start a new one.
-	*/
-	void	Run() override;
 	int	measure() override;
 	int	collect() override;
 
@@ -105,7 +111,9 @@ protected:
  */
 extern "C" __EXPORT int ms4525_airspeed_main(int argc, char *argv[]);
 
-MEASAirspeed::MEASAirspeed(int bus, int address, const char *path) : Airspeed(bus, address, CONVERSION_INTERVAL, path)
+MEASAirspeed::MEASAirspeed(I2CSPIBusOption bus_option, const int bus, int bus_frequency, int address, const char *path)
+	: Airspeed(bus, bus_frequency, address, CONVERSION_INTERVAL, path),
+	  I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus, address)
 {
 	_device_id.devid_s.devtype = DRV_DIFF_PRESS_DEVTYPE_MS4525;
 }
@@ -221,7 +229,7 @@ MEASAirspeed::collect()
 }
 
 void
-MEASAirspeed::Run()
+MEASAirspeed::RunImpl()
 {
 	int ret;
 
@@ -233,8 +241,9 @@ MEASAirspeed::Run()
 
 		if (OK != ret) {
 			/* restart the measurement state machine */
-			start();
+			_collect_phase = false;
 			_sensor_ok = false;
+			ScheduleNow();
 			return;
 		}
 
@@ -336,216 +345,83 @@ MEASAirspeed::voltage_correction(float &diff_press_pa, float &temperature)
 #endif // defined(ADC_SCALED_V5_SENSE)
 }
 
-/**
+I2CSPIDriverBase *MEASAirspeed::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
- * Local functions in support of the shell command.
+		int runtime_instance)
- */
-namespace meas_airspeed
 {
+	MEASAirspeed *instance = new MEASAirspeed(iterator.configuredBusOption(), iterator.bus(), cli.bus_frequency,
+			cli.i2c_address);
 
-MEASAirspeed	*g_dev = nullptr;
+	if (instance == nullptr) {
+		PX4_ERR("alloc failed");
+		return nullptr;
+	}
 
-int start();
+	if (instance->init() != PX4_OK) {
-int start_bus(int i2c_bus, int address);
+		delete instance;
-int stop();
+		return nullptr;
-int reset();
+	}
 
-/**
+	instance->ScheduleNow();
-* Attempt to start driver on all available I2C busses.
+	return instance;
-*
+}
-* This function will return as soon as the first sensor
+
-* is detected on one of the available busses or if no
+
-* sensors are detected.
+void
-*
+MEASAirspeed::print_usage()
-*/
-int
-start()
 {
-	for (unsigned i = 0; i < NUM_I2C_BUS_OPTIONS; i++) {
+	PRINT_MODULE_USAGE_NAME("ms4525_airspeed", "driver");
-		if (start_bus(i2c_bus_options[i], I2C_ADDRESS_MS4525DO) == PX4_OK) {
+	PRINT_MODULE_USAGE_COMMAND("start");
-			return PX4_OK;
+	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
-		}
+	PRINT_MODULE_USAGE_PARAM_STRING('T', "4525", "4525|4515", "Device type", true);
-	}
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
-
-	return PX4_ERROR;
-
-}
-
-/**
- * Start the driver on a specific bus.
- *
- * This function call only returns once the driver is up and running
- * or failed to detect the sensor.
- */
-int
-start_bus(int i2c_bus, int address)
-{
-	int fd;
-
-	if (g_dev != nullptr) {
-		PX4_ERR("already started");
-		return PX4_ERROR;
-	}
-
-	/* create the driver, try the MS4525DO first */
-	g_dev = new MEASAirspeed(i2c_bus, address, PATH_MS4525);
-
-	/* check if the MS4525DO was instantiated */
-	if (g_dev == nullptr) {
-		goto fail;
-	}
-
-	if (OK != g_dev->init()) {
-		goto fail;
-	}
-
-	/* set the poll rate to default, starts automatic data collection */
-	fd = px4_open(PATH_MS4525, O_RDONLY);
-
-	if (fd < 0) {
-		goto fail;
-	}
-
-	if (px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
-		goto fail;
-	}
-
-	return PX4_OK;
-
-fail:
-
-	if (g_dev != nullptr) {
-		delete g_dev;
-		g_dev = nullptr;
-	}
-
-	return PX4_ERROR;
-}
-
-/**
- * Stop the driver
- */
-int
-stop()
-{
-	if (g_dev != nullptr) {
-		delete g_dev;
-		g_dev = nullptr;
-
-	} else {
-		PX4_ERR("driver not running");
-		return PX4_ERROR;
-	}
-
-	return PX4_OK;
-}
-
-/**
- * Reset the driver.
- */
-int
-reset()
-{
-	int fd = px4_open(PATH_MS4525, O_RDONLY);
-
-	if (fd < 0) {
-		PX4_ERR("failed");
-		return PX4_ERROR;
-	}
-
-	if (px4_ioctl(fd, SENSORIOCRESET, 0) < 0) {
-		PX4_ERR("driver reset failed");
-		return PX4_ERROR;
-	}
-
-	if (px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
-		PX4_ERR("driver poll restart failed");
-		return PX4_ERROR;
-	}
-
-	return PX4_OK;
-}
-
-} // namespace
-
-
-static void
-meas_airspeed_usage()
-{
-	PX4_INFO("usage: ms4525 command [options]");
-	PX4_INFO("options:");
-	PX4_INFO("\t-b --bus i2cbus (%d)", PX4_I2C_BUS_DEFAULT);
-	PX4_INFO("\t-a --all");
-	PX4_INFO("command:");
-	PX4_INFO("\tstart|stop|reset");
 }
 
 int
 ms4525_airspeed_main(int argc, char *argv[])
 {
-	int i2c_bus = PX4_I2C_BUS_DEFAULT;
-
-	int myoptind = 1;
 	int ch;
-	const char *myoptarg = nullptr;
+	using ThisDriver = MEASAirspeed;
-
+	BusCLIArguments cli{true, false};
+	cli.default_i2c_frequency = 100000;
 	int device_type = DEVICE_TYPE_MS4525;
 
-	bool start_all = false;
+	while ((ch = cli.getopt(argc, argv, "T:")) != EOF) {
-
-	while ((ch = px4_getopt(argc, argv, "ab:T:", &myoptind, &myoptarg)) != EOF) {
 		switch (ch) {
-		case 'b':
-			i2c_bus = atoi(myoptarg);
-			break;
-
-		case 'a':
-			start_all = true;
-			break;
-
 		case 'T':
-			device_type = atoi(myoptarg);
+			device_type = atoi(cli.optarg());
 			break;
-
-		default:
-			meas_airspeed_usage();
-			return 0;
 		}
 	}
 
-	if (myoptind >= argc) {
+	const char *verb = cli.optarg();
-		meas_airspeed_usage();
+
+	if (!verb) {
+		ThisDriver::print_usage();
 		return -1;
 	}
 
-	/*
+	if (device_type == DEVICE_TYPE_MS4525) {
-	 * Start/load the driver.
+		cli.i2c_address = I2C_ADDRESS_MS4525DO;
-	 */
-	if (!strcmp(argv[myoptind], "start")) {
-		if (start_all) {
-			return meas_airspeed::start();
 
-		} else if (device_type == DEVICE_TYPE_MS4515) {
+	} else {
-			return meas_airspeed::start_bus(i2c_bus, I2C_ADDRESS_MS4515DO);
+		cli.i2c_address = I2C_ADDRESS_MS4515DO;
-
-		} else if (device_type == DEVICE_TYPE_MS4525) {
-			return meas_airspeed::start_bus(i2c_bus, I2C_ADDRESS_MS4525DO);
-		}
 	}
 
-	/*
+	BusInstanceIterator iterator(MODULE_NAME, cli,
-	 * Stop the driver
+				     DRV_DIFF_PRESS_DEVTYPE_MS4525);
-	 */
+
-	if (!strcmp(argv[myoptind], "stop")) {
+	if (!strcmp(verb, "start")) {
-		return meas_airspeed::stop();
+		return ThisDriver::module_start(cli, iterator);
 	}
 
-	/*
+	if (!strcmp(verb, "stop")) {
-	 * Reset the driver.
+		return ThisDriver::module_stop(iterator);
-	 */
-	if (!strcmp(argv[myoptind], "reset")) {
-		return meas_airspeed::reset();
 	}
 
-	meas_airspeed_usage();
+	if (!strcmp(verb, "status")) {
-	return 0;
+		return ThisDriver::module_status(iterator);
+	}
+
+	ThisDriver::print_usage();
+	return -1;
 }

src/drivers/differential_pressure/ms5525/MS5525.cpp

@@ -269,7 +269,7 @@ MS5525::collect()
 }
 
 void
-MS5525::Run()
+MS5525::RunImpl()
 {
 	int ret = PX4_ERROR;
 
@@ -280,8 +280,9 @@ MS5525::Run()
 
 		if (OK != ret) {
 			/* restart the measurement state machine */
-			start();
+			_collect_phase = false;
 			_sensor_ok = false;
+			ScheduleNow();
 			return;
 		}
 

src/drivers/differential_pressure/ms5525/MS5525.hpp

@@ -31,13 +31,14 @@
  *
  ****************************************************************************/
 
-#ifndef DRIVERS_MS5525_AIRSPEED_HPP_
+#pragma once
-#define DRIVERS_MS5525_AIRSPEED_HPP_
 
 #include <drivers/airspeed/airspeed.h>
 #include <math.h>
 #include <mathlib/math/filter/LowPassFilter2p.hpp>
 #include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/i2c_spi_buses.h>
 
 /* The MS5525DSO address is 111011Cx, where C is the complementary value of the pin CSB */
 static constexpr uint8_t I2C_ADDRESS_1_MS5525DSO = 0x76;
@@ -49,24 +50,26 @@ static constexpr unsigned MEAS_RATE = 100;
 static constexpr float MEAS_DRIVER_FILTER_FREQ = 1.2f;
 static constexpr int64_t CONVERSION_INTERVAL = (1000000 / MEAS_RATE); /* microseconds */
 
-class MS5525 : public Airspeed
+class MS5525 : public Airspeed, public I2CSPIDriver<MS5525>
 {
 public:
-	MS5525(uint8_t bus, uint8_t address = I2C_ADDRESS_1_MS5525DSO, const char *path = PATH_MS5525) :
+	MS5525(I2CSPIBusOption bus_option, const int bus, int bus_frequency, int address = I2C_ADDRESS_1_MS5525DSO,
-		Airspeed(bus, address, CONVERSION_INTERVAL, path)
+	       const char *path = PATH_MS5525) :
+		Airspeed(bus, bus_frequency, address, CONVERSION_INTERVAL, path),
+		I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus, address)
 	{
 	}
 
-	~MS5525() override = default;
+	virtual ~MS5525() = default;
+
+	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+					     int runtime_instance);
+	static void print_usage();
+
+	void	RunImpl();
 
 private:
 
-	/**
-	* Perform a poll cycle; collect from the previous measurement
-	* and start a new one.
-	*/
-	void Run() override;
-
 	int measure() override;
 	int collect() override;
 
@@ -127,5 +130,3 @@ private:
 	uint8_t prom_crc4(uint16_t n_prom[]) const;
 
 };
-
-#endif /* DRIVERS_MS5525_AIRSPEED_HPP_ */

src/drivers/differential_pressure/ms5525/MS5525_main.cpp

@@ -33,199 +33,66 @@
 
 #include "MS5525.hpp"
 
-// Driver 'main' command.
 extern "C" __EXPORT int ms5525_airspeed_main(int argc, char *argv[]);
 
-// Local functions in support of the shell command.
+I2CSPIDriverBase *MS5525::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-namespace ms5525_airspeed
+				      int runtime_instance)
 {
-MS5525 *g_dev = nullptr;
+	MS5525 *instance = new MS5525(iterator.configuredBusOption(), iterator.bus(), cli.bus_frequency);
 
-int start();
+	if (instance == nullptr) {
-int start_bus(uint8_t i2c_bus);
+		PX4_ERR("alloc failed");
-int stop();
+		return nullptr;
-int reset();
+	}
 
-/**
+	if (instance->init() != PX4_OK) {
-* Attempt to start driver on all available I2C busses.
+		delete instance;
-*
+		return nullptr;
-* This function will return as soon as the first sensor
+	}
-* is detected on one of the available busses or if no
+
-* sensors are detected.
+	instance->ScheduleNow();
-*
+	return instance;
-*/
+}
-int
+
-start()
+
+void
+MS5525::print_usage()
 {
-	for (unsigned i = 0; i < NUM_I2C_BUS_OPTIONS; i++) {
+	PRINT_MODULE_USAGE_NAME("ms5525_airspeed", "driver");
-		if (start_bus(i2c_bus_options[i]) == PX4_OK) {
+	PRINT_MODULE_USAGE_COMMAND("start");
-			return PX4_OK;
+	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
-		}
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
-	}
-
-	return PX4_ERROR;
-}
-
-/**
- * Start the driver on a specific bus.
- *
- * This function call only returns once the driver is up and running
- * or failed to detect the sensor.
- */
-int
-start_bus(uint8_t i2c_bus)
-{
-	int fd = -1;
-
-	if (g_dev != nullptr) {
-		PX4_ERR("already started");
-		goto fail;
-	}
-
-	g_dev = new MS5525(i2c_bus, I2C_ADDRESS_1_MS5525DSO, PATH_MS5525);
-
-	/* check if the MS4525DO was instantiated */
-	if (g_dev == nullptr) {
-		goto fail;
-	}
-
-	/* try to initialize */
-	if (g_dev->init() != PX4_OK) {
-		goto fail;
-	}
-
-	/* set the poll rate to default, starts automatic data collection */
-	fd = px4_open(PATH_MS5525, O_RDONLY);
-
-	if (fd < 0) {
-		goto fail;
-	}
-
-	if (px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
-		goto fail;
-	}
-
-	return PX4_OK;
-
-fail:
-
-	if (g_dev != nullptr) {
-		delete g_dev;
-		g_dev = nullptr;
-	}
-
-	return PX4_ERROR;
-}
-
-// stop the driver
-int stop()
-{
-	if (g_dev != nullptr) {
-		delete g_dev;
-		g_dev = nullptr;
-
-	} else {
-		PX4_ERR("driver not running");
-		return PX4_ERROR;
-	}
-
-	return PX4_OK;
-}
-
-// reset the driver
-int reset()
-{
-	int fd = px4_open(PATH_MS5525, O_RDONLY);
-
-	if (fd < 0) {
-		PX4_ERR("failed ");
-		return PX4_ERROR;
-	}
-
-	if (px4_ioctl(fd, SENSORIOCRESET, 0) < 0) {
-		PX4_ERR("driver reset failed");
-		return PX4_ERROR;
-	}
-
-	if (px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
-		PX4_ERR("driver poll restart failed");
-		return PX4_ERROR;
-	}
-
-	return PX4_OK;
-}
-
-} // namespace ms5525_airspeed
-
-
-static void
-ms5525_airspeed_usage()
-{
-	PX4_INFO("usage: ms5525_airspeed command [options]");
-	PX4_INFO("options:");
-	PX4_INFO("\t-b --bus i2cbus (%d)", PX4_I2C_BUS_DEFAULT);
-	PX4_INFO("\t-a --all");
-	PX4_INFO("command:");
-	PX4_INFO("\tstart|stop|reset");
 }
 
 int
 ms5525_airspeed_main(int argc, char *argv[])
 {
-	uint8_t i2c_bus = PX4_I2C_BUS_DEFAULT;
+	using ThisDriver = MS5525;
+	BusCLIArguments cli{true, false};
+	cli.default_i2c_frequency = 100000;
 
-	int myoptind = 1;
+	const char *verb = cli.parseDefaultArguments(argc, argv);
-	int ch;
-	const char *myoptarg = nullptr;
-	bool start_all = false;
 
-	while ((ch = px4_getopt(argc, argv, "ab:", &myoptind, &myoptarg)) != EOF) {
+	if (!verb) {
-		switch (ch) {
+		ThisDriver::print_usage();
-		case 'b':
-			i2c_bus = atoi(myoptarg);
-			break;
-
-		case 'a':
-			start_all = true;
-			break;
-
-		default:
-			ms5525_airspeed_usage();
-			return 0;
-		}
-	}
-
-	if (myoptind >= argc) {
-		ms5525_airspeed_usage();
 		return -1;
 	}
 
-	/*
+	BusInstanceIterator iterator(MODULE_NAME, cli,
-	 * Start/load the driver.
+				     DRV_DIFF_PRESS_DEVTYPE_MS5525);
-	 */
-	if (!strcmp(argv[myoptind], "start")) {
-		if (start_all) {
-			return ms5525_airspeed::start();
 
-		} else {
+	if (!strcmp(verb, "start")) {
-			return ms5525_airspeed::start_bus(i2c_bus);
+		return ThisDriver::module_start(cli, iterator);
-		}
 	}
 
-	/*
+	if (!strcmp(verb, "stop")) {
-	 * Stop the driver
+		return ThisDriver::module_stop(iterator);
-	 */
-	if (!strcmp(argv[myoptind], "stop")) {
-		return ms5525_airspeed::stop();
 	}
 
-	/*
+	if (!strcmp(verb, "status")) {
-	 * Reset the driver.
+		return ThisDriver::module_status(iterator);
-	 */
-	if (!strcmp(argv[myoptind], "reset")) {
-		return ms5525_airspeed::reset();
 	}
 
-	ms5525_airspeed_usage();
+	ThisDriver::print_usage();
-	return 0;
+	return -1;
 }

src/drivers/differential_pressure/sdp3x/SDP3X.cpp

@@ -166,7 +166,7 @@ SDP3X::collect()
 }
 
 void
-SDP3X::Run()
+SDP3X::RunImpl()
 {
 	int ret = PX4_ERROR;
 

src/drivers/differential_pressure/sdp3x/SDP3X.hpp

@@ -39,13 +39,14 @@
  * Datasheet: https://www.sensirion.com/fileadmin/user_upload/customers/sensirion/Dokumente/8_Differential_Pressure/Sensirion_Differential_Pressure_Sensors_SDP3x_Digital_Datasheet_V0.8.pdf
  */
 
-#ifndef DRIVERS_SDP3X_AIRSPEED_HPP_
+#pragma once
-#define DRIVERS_SDP3X_AIRSPEED_HPP_
 
 #include <drivers/airspeed/airspeed.h>
 #include <math.h>
 #include <mathlib/math/filter/LowPassFilter2p.hpp>
 #include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/i2c_spi_buses.h>
 
 #define I2C_ADDRESS_1_SDP3X		0x21
 #define I2C_ADDRESS_2_SDP3X		0x22
@@ -67,21 +68,26 @@
 #define SDP3X_MEAS_DRIVER_FILTER_FREQ 3.0f
 #define CONVERSION_INTERVAL	(1000000 / SPD3X_MEAS_RATE)	/* microseconds */
 
-class SDP3X : public Airspeed
+class SDP3X : public Airspeed, public I2CSPIDriver<SDP3X>
 {
 public:
-	SDP3X(int bus, int address = I2C_ADDRESS_1_SDP3X, const char *path = PATH_SDP3X) :
+	SDP3X(I2CSPIBusOption bus_option, const int bus, int bus_frequency, int address = I2C_ADDRESS_1_SDP3X,
-		Airspeed(bus, address, CONVERSION_INTERVAL, path)
+	      const char *path = PATH_SDP3X) :
+		Airspeed(bus, bus_frequency, address, CONVERSION_INTERVAL, path),
+		I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus, address)
 	{
 	}
 
+	virtual ~SDP3X() = default;
+
+	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+					     int runtime_instance);
+	static void print_usage();
+
+	void	RunImpl();
+
 private:
 
-	/**
-	 * Perform a poll cycle; collect from the previous measurement
-	 * and start a new one.
-	 */
-	void	Run() override;
 	int	measure() override { return 0; }
 	int	collect() override;
 	int	probe() override;
@@ -102,5 +108,3 @@ private:
 
 	uint16_t _scale{0};
 };
-
-#endif /* DRIVERS_SDP3X_AIRSPEED_HPP_ */

src/drivers/differential_pressure/sdp3x/SDP3X_main.cpp

@@ -33,213 +33,67 @@
 
 #include "SDP3X.hpp"
 
-// Driver 'main' command.
 extern "C" __EXPORT int sdp3x_airspeed_main(int argc, char *argv[]);
 
-// Local functions in support of the shell command.
+I2CSPIDriverBase *SDP3X::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-namespace sdp3x_airspeed
+				     int runtime_instance)
 {
-SDP3X *g_dev = nullptr;
+	SDP3X *instance = new SDP3X(iterator.configuredBusOption(), iterator.bus(), cli.bus_frequency, cli.i2c_address);
 
-int start();
+	if (instance == nullptr) {
-int start_bus(uint8_t i2c_bus);
+		PX4_ERR("alloc failed");
-int stop();
+		return nullptr;
-int reset();
+	}
 
-/**
+	if (instance->init() != PX4_OK) {
- * Attempt to start driver on all available I2C busses.
+		delete instance;
- *
+		return nullptr;
- * This function will return as soon as the first sensor
+	}
- * is detected on one of the available busses or if no
+
- * sensors are detected.
+	instance->ScheduleNow();
- *
+	return instance;
- */
+}
-int
+
-start()
+
+void
+SDP3X::print_usage()
 {
-	for (unsigned i = 0; i < NUM_I2C_BUS_OPTIONS; i++) {
+	PRINT_MODULE_USAGE_NAME("sdp3x_airspeed", "driver");
-		if (start_bus(i2c_bus_options[i]) == PX4_OK) {
+	PRINT_MODULE_USAGE_COMMAND("start");
-			return PX4_OK;
+	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
-		}
+	PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x21);
-	}
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
-
-	return PX4_ERROR;
-}
-
-/**
- * Start the driver on a specific bus.
- *
- * This function call only returns once the driver is up and running
- * or failed to detect the sensor.
- */
-int
-start_bus(uint8_t i2c_bus)
-{
-	int fd = -1;
-
-	if (g_dev != nullptr) {
-		PX4_WARN("already started");
-		return PX4_ERROR;
-	}
-
-	g_dev = new SDP3X(i2c_bus, I2C_ADDRESS_1_SDP3X, PATH_SDP3X);
-
-	/* check if the SDP3XDSO was instantiated */
-	if (g_dev == nullptr) {
-		goto fail;
-	}
-
-	/* try the next SDP3XDSO if init fails */
-	if (g_dev->init() != PX4_OK) {
-		delete g_dev;
-
-		g_dev = new SDP3X(i2c_bus, I2C_ADDRESS_2_SDP3X, PATH_SDP3X);
-
-		/* check if the SDP3XDSO was instantiated */
-		if (g_dev == nullptr) {
-			PX4_ERR("SDP3X was not instantiated (RAM)");
-			goto fail;
-		}
-
-		/* both versions failed if the init for the SDP3XDSO fails, give up */
-		if (g_dev->init() != PX4_OK) {
-			goto fail;
-		}
-	}
-
-	/* set the poll rate to default, starts automatic data collection */
-	fd = px4_open(PATH_SDP3X, O_RDONLY);
-
-	if (fd < 0) {
-		goto fail;
-	}
-
-	if (px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
-		goto fail;
-	}
-
-	return PX4_OK;
-
-fail:
-
-	if (g_dev != nullptr) {
-		delete g_dev;
-		g_dev = nullptr;
-	}
-
-	return PX4_ERROR;
-}
-
-// stop the driver
-int stop()
-{
-	if (g_dev != nullptr) {
-		delete g_dev;
-		g_dev = nullptr;
-
-	} else {
-		PX4_ERR("driver not running");
-		return PX4_ERROR;
-	}
-
-	return PX4_OK;
-}
-
-// reset the driver
-int reset()
-{
-	int fd = px4_open(PATH_SDP3X, O_RDONLY);
-
-	if (fd < 0) {
-		PX4_ERR("failed ");
-		return PX4_ERROR;
-	}
-
-	if (px4_ioctl(fd, SENSORIOCRESET, 0) < 0) {
-		PX4_ERR("driver reset failed");
-		return PX4_ERROR;
-	}
-
-	if (px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
-		PX4_ERR("driver poll restart failed");
-		return PX4_ERROR;
-	}
-
-	return PX4_OK;
-}
-
-} // namespace sdp3x_airspeed
-
-
-static void
-sdp3x_airspeed_usage()
-{
-	PX4_INFO("usage: sdp3x_airspeed command [options]");
-	PX4_INFO("options:");
-	PX4_INFO("\t-b --bus i2cbus (%d)", PX4_I2C_BUS_DEFAULT);
-	PX4_INFO("\t-a --all");
-	PX4_INFO("command:");
-	PX4_INFO("\tstart|stop|reset");
 }
 
 int
 sdp3x_airspeed_main(int argc, char *argv[])
 {
-	uint8_t i2c_bus = PX4_I2C_BUS_DEFAULT;
+	using ThisDriver = SDP3X;
+	BusCLIArguments cli{true, false};
+	cli.default_i2c_frequency = 100000;
+	cli.i2c_address = I2C_ADDRESS_1_SDP3X;
 
-	int myoptind = 1;
+	const char *verb = cli.parseDefaultArguments(argc, argv);
-	int ch;
-	const char *myoptarg = nullptr;
-	bool start_all = false;
 
-	while ((ch = px4_getopt(argc, argv, "ab:", &myoptind, &myoptarg)) != EOF) {
+	if (!verb) {
-		switch (ch) {
+		ThisDriver::print_usage();
-		case 'b':
-			i2c_bus = atoi(myoptarg);
-			break;
-
-		case 'a':
-			start_all = true;
-			break;
-
-		default:
-			sdp3x_airspeed_usage();
-			return 0;
-		}
-	}
-
-	if (myoptind >= argc) {
-		sdp3x_airspeed_usage();
 		return -1;
 	}
 
+	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_DIFF_PRESS_DEVTYPE_SDP31);
 
-	/*
+	if (!strcmp(verb, "start")) {
-	 * Start/load the driver.
+		return ThisDriver::module_start(cli, iterator);
-	 */
-	if (!strcmp(argv[myoptind], "start")) {
-		if (start_all) {
-			return sdp3x_airspeed::start();
-
-		} else {
-			return sdp3x_airspeed::start_bus(i2c_bus);
-		}
 	}
 
-	/*
+	if (!strcmp(verb, "stop")) {
-	 * Stop the driver
+		return ThisDriver::module_stop(iterator);
-	 */
-	if (!strcmp(argv[myoptind], "stop")) {
-		return sdp3x_airspeed::stop();
 	}
 
-	/*
+	if (!strcmp(verb, "status")) {
-	 * Reset the driver.
+		return ThisDriver::module_status(iterator);
-	 */
-	if (!strcmp(argv[myoptind], "reset")) {
-		return sdp3x_airspeed::reset();
 	}
 
-	sdp3x_airspeed_usage();
+	ThisDriver::print_usage();
-	return 0;
+	return -1;
 }

src/lib/drivers/airspeed/airspeed.cpp

@@ -56,11 +56,10 @@
 
 #include <drivers/airspeed/airspeed.h>
 
-Airspeed::Airspeed(int bus, int address, unsigned conversion_interval, const char *path) :
+Airspeed::Airspeed(int bus, int bus_frequency, int address, unsigned conversion_interval, const char *path) :
-	I2C("Airspeed", path, bus, address, 100000),
+	I2C("Airspeed", path, bus, address, bus_frequency),
-	ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())),
 	_sensor_ok(false),
-	_measure_interval(0),
+	_measure_interval(conversion_interval),
 	_collect_phase(false),
 	_diff_pres_offset(0.0f),
 	_airspeed_orb_class_instance(-1),
@@ -73,9 +72,6 @@ Airspeed::Airspeed(int bus, int address, unsigned conversion_interval, const cha
 
 Airspeed::~Airspeed()
 {
-	/* make sure we are truly inactive */
-	stop();
-
 	if (_class_instance != -1) {
 		unregister_class_devname(AIRSPEED_BASE_DEVICE_PATH, _class_instance);
 	}
@@ -121,57 +117,6 @@ int
 Airspeed::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 {
 	switch (cmd) {
-
-	case SENSORIOCSPOLLRATE: {
-			switch (arg) {
-
-			/* zero would be bad */
-			case 0:
-				return -EINVAL;
-
-			/* set default polling rate */
-			case SENSOR_POLLRATE_DEFAULT: {
-					/* do we need to start internal polling? */
-					bool want_start = (_measure_interval == 0);
-
-					/* set interval for next measurement to minimum legal value */
-					_measure_interval = USEC2TICK(_conversion_interval);
-
-					/* if we need to start the poll state machine, do it */
-					if (want_start) {
-						start();
-					}
-
-					return OK;
-				}
-
-			/* adjust to a legal polling interval in Hz */
-			default: {
-					/* do we need to start internal polling? */
-					bool want_start = (_measure_interval == 0);
-
-					/* convert hz to tick interval via microseconds */
-					unsigned interval = (1000000 / arg);
-
-					/* check against maximum rate */
-					if (interval < _conversion_interval) {
-						return -EINVAL;
-					}
-
-					/* update interval for next measurement */
-					_measure_interval = interval;
-
-					/* if we need to start the poll state machine, do it */
-					if (want_start) {
-						start();
-					}
-
-					return OK;
-				}
-			}
-		}
-		break;
-
 	case AIRSPEEDIOCSSCALE: {
 			struct airspeed_scale *s = (struct airspeed_scale *)arg;
 			_diff_pres_offset = s->offset_pa;
@@ -184,18 +129,3 @@ Airspeed::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 	}
 }
 
-void
-Airspeed::start()
-{
-	/* reset the report ring and state machine */
-	_collect_phase = false;
-
-	/* schedule a cycle to start things */
-	ScheduleNow();
-}
-
-void
-Airspeed::stop()
-{
-	ScheduleClear();
-}

src/lib/drivers/airspeed/airspeed.h

@@ -42,34 +42,28 @@
 #include <perf/perf_counter.h>
 #include <uORB/topics/differential_pressure.h>
 #include <uORB/PublicationMulti.hpp>
-#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 
-/* Default I2C bus */
+class __EXPORT Airspeed : public device::I2C
-static constexpr uint8_t PX4_I2C_BUS_DEFAULT = PX4_I2C_BUS_EXPANSION;
-
-class __EXPORT Airspeed : public device::I2C, public px4::ScheduledWorkItem
 {
 public:
-	Airspeed(int bus, int address, unsigned conversion_interval, const char *path);
+	Airspeed(int bus, int bus_frequency, int address, unsigned conversion_interval, const char *path);
 	virtual ~Airspeed();
 
-	virtual int	init();
+	int	init() override;
 
-	virtual int	ioctl(device::file_t *filp, int cmd, unsigned long arg);
+	int	ioctl(device::file_t *filp, int cmd, unsigned long arg) override;
 
 private:
-	/* this class has pointer data members and should not be copied */
+	Airspeed(const Airspeed &) = delete;
-	Airspeed(const Airspeed &);
+	Airspeed &operator=(const Airspeed &) = delete;
-	Airspeed &operator=(const Airspeed &);
 
 protected:
-	virtual int	probe();
+	int	probe() override;
 
 	/**
 	* Perform a poll cycle; collect from the previous measurement
 	* and start a new one.
 	*/
-	virtual void	Run() = 0;
 	virtual int	measure() = 0;
 	virtual int	collect() = 0;
 
@@ -88,26 +82,6 @@ protected:
 
 	perf_counter_t		_sample_perf;
 	perf_counter_t		_comms_errors;
-
-	/**
-	* Initialise the automatic measurement state machine and start it.
-	*
-	* @note This function is called at open and error time.  It might make sense
-	*       to make it more aggressive about resetting the bus in case of errors.
-	*/
-	void	start();
-
-	/**
-	* Stop the automatic measurement state machine.
-	*/
-	void	stop();
-
-	/**
-	* add a new report to the reports queue
-	*
-	* @param report		differential_pressure_s report
-	*/
-	void	new_report(const differential_pressure_s &report);
 };