refactor lsm9ds1+lsm9ds1_mag: use driver base class

posix-configs/rpi/px4.config

@@ -20,8 +20,8 @@ param set BAT_CNT_V_CURR 0.001
 dataman start
 
 mpu9250 -R 8 start
-lsm9ds1 -R 4 start
+lsm9ds1 -s -R 4 start
-lsm9ds1_mag -R 4 start
+lsm9ds1_mag -s -R 4 start
 ms5611 start
 
 navio_rgbled start

posix-configs/rpi/px4_fw.config

@@ -20,8 +20,8 @@ param set BAT_CNT_V_CURR 0.001
 dataman start
 
 mpu9250 -R 8 start
-lsm9ds1 -R 4 start
+lsm9ds1 -s -R 4 start
-lsm9ds1_mag -R 4 start
+lsm9ds1_mag -s -R 4 start
 ms5611 start
 
 navio_rgbled start

posix-configs/rpi/px4_test.config

@@ -20,8 +20,8 @@ param set BAT_CNT_V_CURR 0.001
 dataman start
 
 mpu9250 -R 8 start
-lsm9ds1 -R 4 start
+lsm9ds1 -s -R 4 start
-lsm9ds1_mag -R 4 start
+lsm9ds1_mag -s -R 4 start
 ms5611 start
 
 navio_rgbled start

src/drivers/imu/st/lsm9ds1/LSM9DS1.cpp

@@ -38,9 +38,10 @@ using namespace ST_LSM9DS1;
 
 static constexpr int16_t combine(uint8_t lsb, uint8_t msb) { return (msb << 8u) | lsb; }
 
-LSM9DS1::LSM9DS1(int bus, uint32_t device, enum Rotation rotation) :
+LSM9DS1::LSM9DS1(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
-	SPI(MODULE_NAME, nullptr, bus, device, SPIDEV_MODE3, SPI_SPEED),
+		 spi_mode_e spi_mode) :
-	ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())),
+	SPI(MODULE_NAME, 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_DEFAULT, rotation),
 	_px4_gyro(get_device_id(), ORB_PRIO_DEFAULT, rotation)
 {
@@ -54,8 +55,6 @@ LSM9DS1::LSM9DS1(int bus, uint32_t device, enum Rotation rotation) :
 
 LSM9DS1::~LSM9DS1()
 {
-	Stop();
-
 	perf_free(_interval_perf);
 	perf_free(_transfer_perf);
 	perf_free(_fifo_empty_perf);
@@ -77,7 +76,6 @@ int LSM9DS1::probe()
 bool LSM9DS1::Init()
 {
 	if (SPI::init() != PX4_OK) {
-		PX4_ERR("SPI::init failed");
 		return false;
 	}
 
@@ -186,7 +184,7 @@ void LSM9DS1::Stop()
 	ScheduleClear();
 }
 
-void LSM9DS1::Run()
+void LSM9DS1::RunImpl()
 {
 	perf_count(_interval_perf);
 
@@ -312,8 +310,9 @@ void LSM9DS1::Run()
 	}
 }
 
-void LSM9DS1::PrintInfo()
+void LSM9DS1::print_status()
 {
+	I2CSPIDriverBase::print_status();
 	perf_print_counter(_interval_perf);
 	perf_print_counter(_transfer_perf);
 	perf_print_counter(_fifo_empty_perf);

src/drivers/imu/st/lsm9ds1/LSM9DS1.hpp

@@ -50,24 +50,30 @@
 #include <lib/perf/perf_counter.h>
 #include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/i2c_spi_buses.h>
 
 using ST_LSM9DS1::Register;
 
-class LSM9DS1 : public device::SPI, public px4::ScheduledWorkItem
+class LSM9DS1 : public device::SPI, public I2CSPIDriver<LSM9DS1>
 {
 public:
-	LSM9DS1(int bus, uint32_t device, enum Rotation rotation = ROTATION_NONE);
+	LSM9DS1(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
+		spi_mode_e spi_mode);
 	~LSM9DS1() override;
 
+	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+					     int runtime_instance);
+	static void print_usage();
+	void     print_status();
+
 	bool     Init();
 	void     Start();
 	void     Stop();
 	bool     Reset();
-	void     PrintInfo();
 
+	void     RunImpl();
 private:
 	int      probe() override;
-	void     Run() override;
 
 	uint8_t  RegisterRead(Register reg);
 	void     RegisterWrite(Register reg, uint8_t value);

src/drivers/imu/st/lsm9ds1/lsm9ds1_main.cpp

@@ -34,110 +34,75 @@
 #include "LSM9DS1.hpp"
 
 #include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module.h>
 
-namespace lsm9ds1
+I2CSPIDriverBase *LSM9DS1::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+				       int runtime_instance)
 {
+	LSM9DS1 *instance = new LSM9DS1(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
+					cli.bus_frequency, cli.spi_mode);
 
-LSM9DS1 *g_dev{nullptr};
+	if (instance == nullptr) {
+		PX4_ERR("alloc failed");
+		return nullptr;
+	}
 
-static int start(enum Rotation rotation)
+	if (!instance->Init()) {
+		delete instance;
+		return nullptr;
+	}
+
+	return instance;
+}
+
+void
+LSM9DS1::print_usage()
 {
-	if (g_dev != nullptr) {
+	PRINT_MODULE_USAGE_NAME("lsm9ds1", "driver");
-		PX4_WARN("already started");
+	PRINT_MODULE_USAGE_SUBCATEGORY("imu");
-		return 0;
+	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();
 }
 
-	// create the driver
-#if defined(PX4_SPI_BUS_SENSORS) && defined(PX4_SPIDEV_LSM9DS1_AG)
-	g_dev = new LSM9DS1(PX4_SPI_BUS_SENSORS, PX4_SPIDEV_LSM9DS1_AG, rotation);
-#endif // PX4_SPI_BUS_SENSORS && PX4_SPIDEV_LSM9DS1_AG
-
-	if (g_dev == nullptr) {
-		PX4_ERR("driver start failed");
-		return -1;
-	}
-
-	if (!g_dev->Init()) {
-		PX4_ERR("driver init failed");
-		delete g_dev;
-		g_dev = nullptr;
-		return -1;
-	}
-
-	return 0;
-}
-
-static int stop()
-{
-	if (g_dev == nullptr) {
-		PX4_WARN("driver not running");
-	}
-
-	g_dev->Stop();
-	delete g_dev;
-
-	return 0;
-}
-
-static int status()
-{
-	if (g_dev == nullptr) {
-		PX4_WARN("driver not running");
-		return -1;
-	}
-
-	g_dev->PrintInfo();
-
-	return 0;
-}
-
-static void usage()
-{
-	PX4_INFO("missing command: try 'start', 'stop', 'status'");
-	PX4_INFO("options:");
-	PX4_INFO("    -R rotation");
-}
-
-} // namespace lsm9ds1
-
 extern "C" __EXPORT int lsm9ds1_main(int argc, char *argv[])
 {
-	enum Rotation rotation = ROTATION_NONE;
+	int ch;
-	int myoptind = 1;
+	using ThisDriver = LSM9DS1;
-	int ch = 0;
+	BusCLIArguments cli{false, true};
-	const char *myoptarg = nullptr;
+	cli.default_spi_frequency = ST_LSM9DS1::SPI_SPEED;
 
-	/* start options */
+	while ((ch = cli.getopt(argc, argv, "R:")) != EOF) {
-	while ((ch = px4_getopt(argc, argv, "R:", &myoptind, &myoptarg)) != EOF) {
 		switch (ch) {
 		case 'R':
-			rotation = (enum Rotation)atoi(myoptarg);
+			cli.rotation = (enum Rotation)atoi(cli.optarg());
 			break;
-
-		default:
-			lsm9ds1::usage();
-			return 0;
 		}
 	}
 
-	if (myoptind >= argc) {
+	const char *verb = cli.optarg();
-		lsm9ds1::usage();
+
+	if (!verb) {
+		ThisDriver::print_usage();
 		return -1;
 	}
 
-	const char *verb = argv[myoptind];
+	BusInstanceIterator iterator(MODULE_NAME, cli,
+				     DRV_IMU_DEVTYPE_ST_LSM9DS1_AG);
 
 	if (!strcmp(verb, "start")) {
-		return lsm9ds1::start(rotation);
+		return ThisDriver::module_start(cli, iterator);
-
-	} else if (!strcmp(verb, "stop")) {
-		return lsm9ds1::stop();
-
-	} else if (!strcmp(verb, "status")) {
-		return lsm9ds1::status();
 	}
 
-	lsm9ds1::usage();
+	if (!strcmp(verb, "stop")) {
-
+		return ThisDriver::module_stop(iterator);
-	return 0;
+	}
+
+	if (!strcmp(verb, "status")) {
+		return ThisDriver::module_status(iterator);
+	}
+
+	ThisDriver::print_usage();
+	return -1;
 }

src/drivers/magnetometer/lsm9ds1_mag/LSM9DS1_MAG.cpp

@@ -40,9 +40,10 @@ using namespace time_literals;
 
 static constexpr int16_t combine(uint8_t lsb, uint8_t msb) { return (msb << 8u) | lsb; }
 
-LSM9DS1_MAG::LSM9DS1_MAG(int bus, uint32_t device, enum Rotation rotation) :
+LSM9DS1_MAG::LSM9DS1_MAG(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation,
-	SPI(MODULE_NAME, nullptr, bus, device, SPIDEV_MODE3, SPI_SPEED),
+			 int bus_frequency, spi_mode_e spi_mode) :
-	ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())),
+	SPI(MODULE_NAME, nullptr, bus, device, spi_mode, bus_frequency),
+	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
 	_px4_mag(get_device_id(), ORB_PRIO_DEFAULT, rotation)
 {
 	set_device_type(DRV_MAG_DEVTYPE_ST_LSM9DS1_M);
@@ -53,8 +54,6 @@ LSM9DS1_MAG::LSM9DS1_MAG(int bus, uint32_t device, enum Rotation rotation) :
 
 LSM9DS1_MAG::~LSM9DS1_MAG()
 {
-	Stop();
-
 	perf_free(_interval_perf);
 	perf_free(_transfer_perf);
 	perf_free(_data_overrun_perf);
@@ -72,7 +71,6 @@ int LSM9DS1_MAG::probe()
 bool LSM9DS1_MAG::Init()
 {
 	if (SPI::init() != PX4_OK) {
-		PX4_ERR("SPI::init failed");
 		return false;
 	}
 
@@ -159,7 +157,7 @@ void LSM9DS1_MAG::Stop()
 	ScheduleClear();
 }
 
-void LSM9DS1_MAG::Run()
+void LSM9DS1_MAG::RunImpl()
 {
 	perf_count(_interval_perf);
 
@@ -204,8 +202,9 @@ void LSM9DS1_MAG::Run()
 	}
 }
 
-void LSM9DS1_MAG::PrintInfo()
+void LSM9DS1_MAG::print_status()
 {
+	I2CSPIDriverBase::print_status();
 	perf_print_counter(_interval_perf);
 	perf_print_counter(_transfer_perf);
 	perf_print_counter(_data_overrun_perf);

src/drivers/magnetometer/lsm9ds1_mag/LSM9DS1_MAG.hpp

@@ -48,22 +48,30 @@
 #include <lib/perf/perf_counter.h>
 #include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/i2c_spi_buses.h>
 
-class LSM9DS1_MAG : public device::SPI, public px4::ScheduledWorkItem
+class LSM9DS1_MAG : public device::SPI, public I2CSPIDriver<LSM9DS1_MAG>
 {
 public:
-	LSM9DS1_MAG(int bus, uint32_t device, enum Rotation rotation = ROTATION_NONE);
+	LSM9DS1_MAG(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
+		    spi_mode_e spi_mode);
 	~LSM9DS1_MAG() override;
 
+	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+					     int runtime_instance);
+	static void print_usage();
+
+	void print_status();
+
 	bool Init();
 	void Start();
 	void Stop();
 	bool Reset();
-	void PrintInfo();
+
+	void     RunImpl();
 
 private:
 	int      probe() override;
-	void     Run() override;
 
 	uint8_t  RegisterRead(ST_LSM9DS1_MAG::Register reg);
 	void     RegisterWrite(ST_LSM9DS1_MAG::Register reg, uint8_t value);

src/drivers/magnetometer/lsm9ds1_mag/lsm9ds1_mag_main.cpp

@@ -34,110 +34,75 @@
 #include "LSM9DS1_MAG.hpp"
 
 #include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module.h>
 
-namespace lsm9ds1_mag
+void
+LSM9DS1_MAG::print_usage()
 {
+	PRINT_MODULE_USAGE_NAME("lsm9ds1_mag", "driver");
+	PRINT_MODULE_USAGE_SUBCATEGORY("magnetometer");
+	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();
+}
 
-LSM9DS1_MAG *g_dev{nullptr};
+I2CSPIDriverBase *LSM9DS1_MAG::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-
+		int runtime_instance)
-static int start(enum Rotation rotation)
 {
-	if (g_dev != nullptr) {
+	LSM9DS1_MAG *instance = new LSM9DS1_MAG(iterator.configuredBusOption(), iterator.bus(), iterator.devid(),
-		PX4_WARN("already started");
+						cli.rotation, cli.bus_frequency, cli.spi_mode);
-		return 0;
+
+	if (instance == nullptr) {
+		PX4_ERR("alloc failed");
+		return nullptr;
 	}
 
-	// create the driver
+	if (!instance->Init()) {
-#if defined(PX4_SPI_BUS_SENSORS) && defined(PX4_SPIDEV_LSM9DS1_M)
+		delete instance;
-	g_dev = new LSM9DS1_MAG(PX4_SPI_BUS_SENSORS, PX4_SPIDEV_LSM9DS1_M, rotation);
+		return nullptr;
-#endif // PX4_SPI_BUS_SENSORS && PX4_SPIDEV_LSM9DS1_M
-
-	if (g_dev == nullptr) {
-		PX4_ERR("driver start failed");
-		return -1;
 	}
 
-	if (!g_dev->Init()) {
+	return instance;
-		PX4_ERR("driver init failed");
-		delete g_dev;
-		g_dev = nullptr;
-		return -1;
 }
 
-	return 0;
-}
-
-static int stop()
-{
-	if (g_dev == nullptr) {
-		PX4_WARN("driver not running");
-	}
-
-	g_dev->Stop();
-	delete g_dev;
-
-	return 0;
-}
-
-static int status()
-{
-	if (g_dev == nullptr) {
-		PX4_WARN("driver not running");
-		return -1;
-	}
-
-	g_dev->PrintInfo();
-
-	return 0;
-}
-
-static void usage()
-{
-	PX4_INFO("missing command: try 'start', 'stop', 'status'");
-	PX4_INFO("options:");
-	PX4_INFO("    -R rotation");
-}
-
-} // namespace lsm9ds1_mag
 
 extern "C" __EXPORT int lsm9ds1_mag_main(int argc, char *argv[])
 {
-	enum Rotation rotation = ROTATION_NONE;
+	using ThisDriver = LSM9DS1_MAG;
-	int myoptind = 1;
+	int ch;
-	int ch = 0;
+	BusCLIArguments cli{false, true};
-	const char *myoptarg = nullptr;
+	cli.default_spi_frequency = ST_LSM9DS1_MAG::SPI_SPEED;
 
-	/* start options */
+	while ((ch = cli.getopt(argc, argv, "R:")) != EOF) {
-	while ((ch = px4_getopt(argc, argv, "R:", &myoptind, &myoptarg)) != EOF) {
 		switch (ch) {
 		case 'R':
-			rotation = (enum Rotation)atoi(myoptarg);
+			cli.rotation = (enum Rotation)atoi(cli.optarg());
 			break;
-
-		default:
-			lsm9ds1_mag::usage();
-			return 0;
 		}
 	}
 
-	if (myoptind >= argc) {
+	const char *verb = cli.optarg();
-		lsm9ds1_mag::usage();
+
+	if (!verb) {
+		ThisDriver::print_usage();
 		return -1;
 	}
 
-	const char *verb = argv[myoptind];
+	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_MAG_DEVTYPE_ST_LSM9DS1_M);
 
 	if (!strcmp(verb, "start")) {
-		return lsm9ds1_mag::start(rotation);
+		return ThisDriver::module_start(cli, iterator);
-
-	} else if (!strcmp(verb, "stop")) {
-		return lsm9ds1_mag::stop();
-
-	} else if (!strcmp(verb, "status")) {
-		return lsm9ds1_mag::status();
 	}
 
-	lsm9ds1_mag::usage();
+	if (!strcmp(verb, "stop")) {
-
+		return ThisDriver::module_stop(iterator);
-	return 0;
+	}
+
+	if (!strcmp(verb, "status")) {
+		return ThisDriver::module_status(iterator);
+	}
+
+	ThisDriver::print_usage();
+	return -1;
 }