refactor ms5611: use driver base class

Also: remove device type auto-detection as it will not work with
together with the new SPI board config (which specifies a specific
device type)

boards/intel/aerofc-v1/init/rc.board_sensors

@@ -5,7 +5,10 @@
 
 aerofc_adc start
 
-ms5611 -T 0 start
+if ! ms5611 -T 5607 start
+then
+	ms5611 start
+fi
 mpu9250 -s -R 14 start
 
 # Possible external compasses
@@ -16,4 +19,7 @@ ist8310 -I -R 4 start
 ll40ls start i2c -a
 
 # Internal SPI (auto detect ms5611 or ms5607)
-ms5611 -T 0 -s start
+if ! ms5611 -T 5607 -s start
+then
+	ms5611 -s start
+fi

boards/px4/fmu-v2/init/rc.board_sensors

@@ -16,11 +16,12 @@ hmc5883 -C -T -I -R 4 start
 # Internal SPI bus ICM-20608-G
 mpu6000 -s -T 20608 start
 
-# External SPI
-ms5611 -S start
 
 # Internal SPI (auto detect ms5611 or ms5607)
-ms5611 -T 0 -s start
+if ! ms5611 -T 5607 -s start
+then
+	ms5611 -s start
+fi
 
 set BOARD_FMUV3 0
 
@@ -67,9 +68,6 @@ then
 	# sensor heating is available, but we disable it for now
 	param set SENS_EN_THERMAL 0
 
-	# External SPI
-	ms5611 -S start
-
 	# external L3GD20H is rotated 180 degrees yaw
 	l3gd20 -X -R 4 start
 

boards/px4/fmu-v2/src/spi.cpp

@@ -43,6 +43,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 			initSPIDevice(DRV_GYR_DEVTYPE_L3GD20, SPI::CS{GPIO::PortC, GPIO::Pin13}, SPI::DRDY{GPIO::PortB, GPIO::Pin0}),
 			initSPIDevice(DRV_ACC_DEVTYPE_LSM303D, SPI::CS{GPIO::PortC, GPIO::Pin15}),
 			initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortD, GPIO::Pin7}),
+			initSPIDevice(DRV_BARO_DEVTYPE_MS5607, SPI::CS{GPIO::PortD, GPIO::Pin7}),
 		}, {GPIO::PortE, GPIO::Pin3}),
 		initSPIBus(SPI::Bus::SPI2, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin10})
@@ -59,6 +60,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 			initSPIDevice(DRV_IMU_DEVTYPE_MPU9250, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
 			initSPIDevice(DRV_MAG_DEVTYPE_HMC5883, SPI::CS{GPIO::PortC, GPIO::Pin1}), // HMC5983
 			initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortD, GPIO::Pin7}),
+			initSPIDevice(DRV_BARO_DEVTYPE_MS5607, SPI::CS{GPIO::PortD, GPIO::Pin7}),
 		}, {GPIO::PortE, GPIO::Pin3}),
 		initSPIBus(SPI::Bus::SPI2, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin10})

boards/px4/fmu-v3/init/rc.board_sensors

@@ -17,11 +17,12 @@ hmc5883 -C -T -I -R 4 start
 # Internal SPI bus ICM-20608-G
 mpu6000 -s -T 20608 start
 
-# External SPI
-ms5611 -S start
 
 # Internal SPI (auto detect ms5611 or ms5607)
-ms5611 -T 0 -s start
+if ! ms5611 -T 5607 -s start
+then
+	ms5611 -s start
+fi
 
 set BOARD_FMUV3 0
 
@@ -75,9 +76,6 @@ then
 		ak09916 -X -R 6 start
 	fi
 
-	# External SPI
-	ms5611 -S start
-
 	# external L3GD20H is rotated 180 degrees yaw
 	l3gd20 -X -R 4 start
 

boards/px4/fmu-v3/src/spi.cpp

@@ -43,6 +43,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 			initSPIDevice(DRV_GYR_DEVTYPE_L3GD20, SPI::CS{GPIO::PortC, GPIO::Pin13}, SPI::DRDY{GPIO::PortB, GPIO::Pin0}),
 			initSPIDevice(DRV_ACC_DEVTYPE_LSM303D, SPI::CS{GPIO::PortC, GPIO::Pin15}),
 			initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortD, GPIO::Pin7}),
+			initSPIDevice(DRV_BARO_DEVTYPE_MS5607, SPI::CS{GPIO::PortD, GPIO::Pin7}),
 		}, {GPIO::PortE, GPIO::Pin3}),
 		initSPIBus(SPI::Bus::SPI2, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin10})
@@ -59,6 +60,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 			initSPIDevice(DRV_IMU_DEVTYPE_MPU9250, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
 			initSPIDevice(DRV_MAG_DEVTYPE_HMC5883, SPI::CS{GPIO::PortC, GPIO::Pin1}), // HMC5983
 			initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortD, GPIO::Pin7}),
+			initSPIDevice(DRV_BARO_DEVTYPE_MS5607, SPI::CS{GPIO::PortD, GPIO::Pin7}),
 		}, {GPIO::PortE, GPIO::Pin3}),
 		initSPIBus(SPI::Bus::SPI2, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin10})

boards/uvify/core/init/rc.board_extras

@@ -14,5 +14,8 @@ then
 	# It does not start EKF2 in the beginning which is strange behaviour. but 3 seconds hack.
 	# We intentionally put this initialization to here for delayed initialization.
 	sleep 4
-	ms5611 -T 0 -X start
+	if ! ms5611 -T 5607 -X start
+	then
+		ms5611 -X start
+	fi
 fi

boards/uvify/core/init/rc.board_sensors

@@ -6,7 +6,10 @@
 adc start
 
 # Internal SPI
-ms5611 -T 0 -s start
+if ! ms5611 -T 5607 -s start
+then
+	ms5611 -s start
+fi
 
 # Draco-R
 if param compare SYS_AUTOSTART 6002

boards/uvify/core/src/spi.cpp

@@ -45,6 +45,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI2, {
 		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin10}),
 		initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortD, GPIO::Pin7}),
+		initSPIDevice(DRV_BARO_DEVTYPE_MS5607, SPI::CS{GPIO::PortD, GPIO::Pin7}),
 	}),
 	initSPIBusExternal(SPI::Bus::SPI4, {
 		SPI::CS{GPIO::PortA, GPIO::Pin8},

platforms/common/include/px4_platform_common/spi.h

@@ -48,7 +48,7 @@
 
 typedef uint32_t spi_drdy_gpio_t;
 
-#define SPI_BUS_MAX_DEVICES 5
+#define SPI_BUS_MAX_DEVICES 6
 struct px4_spi_bus_device_t {
 	uint32_t cs_gpio; ///< chip-select GPIO (0 if this device is not used)
 	spi_drdy_gpio_t drdy_gpio; ///< data ready GPIO (0 if not set)

posix-configs/ocpoc/px4.config

@@ -17,7 +17,7 @@ param set MAV_SYS_ID 1
 
 mpu9250 -R 10 start
 hmc5883 start
-ms5611 start
+ms5611 -s start
 
 rgbled start -b 1
 

posix-configs/rpi/px4.config

@@ -22,7 +22,7 @@ dataman start
 mpu9250 -R 8 start
 lsm9ds1 -s -R 4 start
 lsm9ds1_mag -s -R 4 start
-ms5611 start
+ms5611 -X start
 
 navio_rgbled start
 

posix-configs/rpi/px4_fw.config

@@ -22,7 +22,7 @@ dataman start
 mpu9250 -R 8 start
 lsm9ds1 -s -R 4 start
 lsm9ds1_mag -s -R 4 start
-ms5611 start
+ms5611 -X start
 
 navio_rgbled start
 

posix-configs/rpi/px4_test.config

@@ -22,7 +22,7 @@ dataman start
 mpu9250 -R 8 start
 lsm9ds1 -s -R 4 start
 lsm9ds1_mag -s -R 4 start
-ms5611 start
+ms5611 -X start
 
 navio_rgbled start
 

src/drivers/barometer/ms5611/MS5611.hpp

@@ -36,13 +36,13 @@
 #include <drivers/device/device.h>
 #include <lib/drivers/barometer/PX4Barometer.hpp>
 #include <lib/perf/perf_counter.h>
+#include <px4_platform_common/i2c_spi_buses.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <systemlib/err.h>
 
 #include "ms5611.h"
 
 enum MS56XX_DEVICE_TYPES {
-	MS56XX_DEVICE   = 0,
 	MS5611_DEVICE	= 5611,
 	MS5607_DEVICE	= 5607,
 };
@@ -84,20 +84,36 @@ enum MS56XX_DEVICE_TYPES {
 #define MS5611_CONVERSION_INTERVAL	10000	/* microseconds */
 #define MS5611_MEASUREMENT_RATIO	3	/* pressure measurements per temperature measurement */
 
-class MS5611 : public px4::ScheduledWorkItem
+class MS5611 : public I2CSPIDriver<MS5611>
 {
 public:
-	MS5611(device::Device *interface, ms5611::prom_u &prom_buf, enum MS56XX_DEVICE_TYPES device_type);
+	MS5611(device::Device *interface, ms5611::prom_u &prom_buf, enum MS56XX_DEVICE_TYPES device_type,
+	       I2CSPIBusOption bus_option, int bus);
 	~MS5611() override;
 
+	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+					     int runtime_instance);
+	static void print_usage();
+
 	int		init();
 
 	/**
-	 * Diagnostics - print some basic information about the driver.
+	 * Perform a poll cycle; collect from the previous measurement
+	 * and start a new one.
+	 *
+	 * This is the heart of the measurement state machine.  This function
+	 * alternately starts a measurement, or collects the data from the
+	 * previous measurement.
+	 *
+	 * When the interval between measurements is greater than the minimum
+	 * measurement interval, a gap is inserted between collection
+	 * and measurement to provide the most recent measurement possible
+	 * at the next interval.
 	 */
-	void			print_info();
+	void			RunImpl();
 
 protected:
+	void print_status() override;
 
 	PX4Barometer		_px4_barometer;
 
@@ -105,8 +121,6 @@ protected:
 
 	ms5611::prom_s		_prom;
 
-	unsigned		_measure_interval{0};
-
 	enum MS56XX_DEVICE_TYPES _device_type;
 	bool			_collect_phase{false};
 	unsigned		_measure_phase{false};
@@ -127,26 +141,6 @@ protected:
 	 */
 	void			start();
 
-	/**
-	 * Stop the automatic measurement state machine.
-	 */
-	void			stop();
-
-	/**
-	 * Perform a poll cycle; collect from the previous measurement
-	 * and start a new one.
-	 *
-	 * This is the heart of the measurement state machine.  This function
-	 * alternately starts a measurement, or collects the data from the
-	 * previous measurement.
-	 *
-	 * When the interval between measurements is greater than the minimum
-	 * measurement interval, a gap is inserted between collection
-	 * and measurement to provide the most recent measurement possible
-	 * at the next interval.
-	 */
-	void			Run() override;
-
 	/**
 	 * Issue a measurement command for the current state.
 	 *

src/drivers/barometer/ms5611/ms5611.cpp

@@ -41,8 +41,9 @@
 
 #include <cdev/CDev.hpp>
 
-MS5611::MS5611(device::Device *interface, ms5611::prom_u &prom_buf, enum MS56XX_DEVICE_TYPES device_type) :
+MS5611::MS5611(device::Device *interface, ms5611::prom_u &prom_buf, enum MS56XX_DEVICE_TYPES device_type,
-	ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id())),
+	       I2CSPIBusOption bus_option, int bus) :
+	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id()), bus_option, bus, 0, device_type),
 	_px4_barometer(interface->get_device_id()),
 	_interface(interface),
 	_prom(prom_buf.s),
@@ -55,9 +56,6 @@ MS5611::MS5611(device::Device *interface, ms5611::prom_u &prom_buf, enum MS56XX_
 
 MS5611::~MS5611()
 {
-	/* make sure we are truly inactive */
-	stop();
-
 	// free perf counters
 	perf_free(_sample_perf);
 	perf_free(_measure_perf);
@@ -70,17 +68,10 @@ int
 MS5611::init()
 {
 	int ret;
-	bool autodetect = false;
 
 	/* do a first measurement cycle to populate reports with valid data */
 	_measure_phase = 0;
 
-	if (_device_type == MS56XX_DEVICE) {
-		autodetect = true;
-		/* try first with MS5611 and fallback to MS5607 */
-		_device_type = MS5611_DEVICE;
-	}
-
 	while (true) {
 		/* do temperature first */
 		if (OK != measure()) {
@@ -111,22 +102,11 @@ MS5611::init()
 		/* state machine will have generated a report, copy it out */
 		const sensor_baro_s &brp = _px4_barometer.get();
 
-		if (autodetect) {
+		if (_device_type == MS5607_DEVICE) {
-			if (_device_type == MS5611_DEVICE) {
+			if (brp.pressure < 520.0f) {
-				if (brp.pressure < 520.0f) {
+				/* This is likely not this device, abort */
-					/* This is likely not this device, try again */
+				ret = -EINVAL;
-					_device_type = MS5607_DEVICE;
+				break;
-					_measure_phase = 0;
-
-					continue;
-				}
-
-			} else if (_device_type == MS5607_DEVICE) {
-				if (brp.pressure < 520.0f) {
-					/* Both devices returned a very low pressure;
-					 * have fun on Everest using MS5611 */
-					_device_type = MS5611_DEVICE;
-				}
 			}
 		}
 
@@ -150,7 +130,9 @@ MS5611::init()
 		break;
 	}
 
-	start();
+	if (ret == 0) {
+		start();
+	}
 
 	return ret;
 }
@@ -163,17 +145,11 @@ MS5611::start()
 	_measure_phase = 0;
 
 	/* schedule a cycle to start things */
-	ScheduleNow();
+	ScheduleDelayed(MS5611_CONVERSION_INTERVAL);
 }
 
 void
-MS5611::stop()
+MS5611::RunImpl()
-{
-	ScheduleClear();
-}
-
-void
-MS5611::Run()
 {
 	int ret;
 	unsigned dummy;
@@ -207,20 +183,6 @@ MS5611::Run()
 
 		/* next phase is measurement */
 		_collect_phase = false;
-
-		/*
-		 * Is there a collect->measure gap?
-		 * Don't inject one after temperature measurements, so we can keep
-		 * doing pressure measurements at something close to the desired rate.
-		 */
-		if ((_measure_phase != 0) &&
-		    (_measure_interval > MS5611_CONVERSION_INTERVAL)) {
-
-			/* schedule a fresh cycle call when we are ready to measure again */
-			ScheduleDelayed(_measure_interval - MS5611_CONVERSION_INTERVAL);
-
-			return;
-		}
 	}
 
 	/* measurement phase */
@@ -366,8 +328,9 @@ MS5611::collect()
 	return OK;
 }
 
-void MS5611::print_info()
+void MS5611::print_status()
 {
+	I2CSPIDriverBase::print_status();
 	perf_print_counter(_sample_perf);
 	perf_print_counter(_comms_errors);
 
@@ -376,9 +339,6 @@ void MS5611::print_info()
 	_px4_barometer.print_status();
 }
 
-/**
- * Local functions in support of the shell command.
- */
 namespace ms5611
 {
 

src/drivers/barometer/ms5611/ms5611.h

@@ -90,7 +90,9 @@ extern bool crc4(uint16_t *n_prom);
 } /* namespace */
 
 /* interface factories */
-extern device::Device *MS5611_spi_interface(ms5611::prom_u &prom_buf, uint8_t busnum);
+extern device::Device *MS5611_spi_interface(ms5611::prom_u &prom_buf, uint32_t devid, uint8_t busnum, int bus_frequency,
-extern device::Device *MS5611_i2c_interface(ms5611::prom_u &prom_buf, uint8_t busnum);
+		spi_mode_e spi_mode);
+extern device::Device *MS5611_i2c_interface(ms5611::prom_u &prom_buf, uint32_t devid, uint8_t busnum,
+		int bus_frequency);
 
-typedef device::Device *(*MS5611_constructor)(ms5611::prom_u &prom_buf, uint8_t busnum);
+typedef device::Device *(*MS5611_constructor)(ms5611::prom_u &prom_buf, uint32_t devid, uint8_t busnum);

src/drivers/barometer/ms5611/ms5611_i2c.cpp

@@ -47,7 +47,7 @@
 class MS5611_I2C : public device::I2C
 {
 public:
-	MS5611_I2C(uint8_t bus, ms5611::prom_u &prom_buf);
+	MS5611_I2C(uint8_t bus, ms5611::prom_u &prom_buf, int bus_frequency);
 	~MS5611_I2C() override = default;
 
 	int	read(unsigned offset, void *data, unsigned count) override;
@@ -85,13 +85,13 @@ private:
 };
 
 device::Device *
-MS5611_i2c_interface(ms5611::prom_u &prom_buf, uint8_t busnum)
+MS5611_i2c_interface(ms5611::prom_u &prom_buf, uint32_t devid, uint8_t busnum, int bus_frequency)
 {
-	return new MS5611_I2C(busnum, prom_buf);
+	return new MS5611_I2C(busnum, prom_buf, bus_frequency);
 }
 
-MS5611_I2C::MS5611_I2C(uint8_t bus, ms5611::prom_u &prom) :
+MS5611_I2C::MS5611_I2C(uint8_t bus, ms5611::prom_u &prom, int bus_frequency) :
-	I2C("MS5611_I2C", nullptr, bus, 0, 400000),
+	I2C("MS5611_I2C", nullptr, bus, 0, bus_frequency),
 	_prom(prom)
 {
 }

src/drivers/barometer/ms5611/ms5611_main.cpp

@@ -33,220 +33,110 @@
 
 #include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/getopt.h>
+#include <px4_platform_common/i2c_spi_buses.h>
+#include <px4_platform_common/module.h>
+
 
 #include "MS5611.hpp"
 #include "ms5611.h"
 
-enum class MS5611_BUS {
+I2CSPIDriverBase *MS5611::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-	ALL = 0,
+				      int runtime_instance)
-	I2C_INTERNAL,
-	I2C_EXTERNAL,
-	SPI_INTERNAL,
-	SPI_EXTERNAL
-};
-
-namespace ms5611
 {
+	ms5611::prom_u prom_buf;
+	device::Device *interface = nullptr;
 
-// list of supported bus configurations
+	if (iterator.busType() == BOARD_I2C_BUS) {
-struct ms5611_bus_option {
+		interface = MS5611_i2c_interface(prom_buf, iterator.devid(), iterator.bus(), cli.bus_frequency);
-	MS5611_BUS busid;
-	MS5611_constructor interface_constructor;
-	uint8_t busnum;
-	MS5611 *dev;
-} bus_options[] = {
-#if defined(PX4_I2C_BUS_ONBOARD)
-	{ MS5611_BUS::I2C_INTERNAL, &MS5611_i2c_interface, PX4_I2C_BUS_ONBOARD, nullptr },
-#endif
-#if defined(PX4_I2C_BUS_EXPANSION)
-	{ MS5611_BUS::I2C_EXTERNAL, &MS5611_i2c_interface, PX4_I2C_BUS_EXPANSION, nullptr },
-#endif
-#if defined(PX4_I2C_BUS_EXPANSION1)
-	{ MS5611_BUS::I2C_EXTERNAL, &MS5611_i2c_interface, PX4_I2C_BUS_EXPANSION1, nullptr },
-#endif
-#if defined(PX4_I2C_BUS_EXPANSION2)
-	{ MS5611_BUS::I2C_EXTERNAL, &MS5611_i2c_interface, PX4_I2C_BUS_EXPANSION2, nullptr },
-#endif
-#if defined(PX4_SPI_BUS_BARO) && defined(PX4_SPIDEV_BARO)
-	{ MS5611_BUS::SPI_INTERNAL, &MS5611_spi_interface, PX4_SPI_BUS_BARO, nullptr },
-#endif
-#if defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_BARO)
-	{ MS5611_BUS::SPI_EXTERNAL, &MS5611_spi_interface, PX4_SPI_BUS_EXT, nullptr },
-#endif
-};
 
-// find a bus structure for a busid
+	} else if (iterator.busType() == BOARD_SPI_BUS) {
-static struct ms5611_bus_option *find_bus(MS5611_BUS busid)
+		interface = MS5611_spi_interface(prom_buf, iterator.devid(), iterator.bus(), cli.bus_frequency, cli.spi_mode);
-{
-	for (ms5611_bus_option &bus_option : bus_options) {
-		if ((busid == MS5611_BUS::ALL ||
-		     busid == bus_option.busid) && bus_option.dev != nullptr) {
-
-			return &bus_option;
-		}
 	}
 
-	return nullptr;
+	if (interface == nullptr) {
-}
+		PX4_ERR("alloc failed");
+		return nullptr;
+	}
 
-static bool start_bus(ms5611_bus_option &bus, enum MS56XX_DEVICE_TYPES device_type)
+	if (interface->init() != OK) {
-{
-	prom_u prom_buf;
-	device::Device *interface = bus.interface_constructor(prom_buf, bus.busnum);
-
-	if ((interface == nullptr) || (interface->init() != PX4_OK)) {
-		PX4_WARN("no device on bus %u", (unsigned)bus.busid);
 		delete interface;
-		return false;
+		PX4_DEBUG("no device on bus %i (devid 0x%x)", iterator.bus(), iterator.devid());
+		return nullptr;
 	}
 
-	MS5611 *dev = new MS5611(interface, prom_buf, device_type);
+	MS5611 *dev = new MS5611(interface, prom_buf, (MS56XX_DEVICE_TYPES)cli.type, iterator.configuredBusOption(),
+				 iterator.bus());
 
 	if (dev == nullptr) {
-		PX4_ERR("alloc failed");
+		delete interface;
-		return false;
+		return nullptr;
 	}
 
-	if (dev->init() != PX4_OK) {
+	if (OK != dev->init()) {
-		PX4_ERR("driver start failed");
 		delete dev;
-		return false;
+		return nullptr;
 	}
 
-	bus.dev = dev;
+	return dev;
-
-	return true;
 }
 
-static int start(MS5611_BUS busid, enum MS56XX_DEVICE_TYPES device_type)
+void MS5611::print_usage()
 {
-	for (ms5611_bus_option &bus_option : bus_options) {
+	PRINT_MODULE_USAGE_NAME("ms5611", "driver");
-		if (bus_option.dev != nullptr) {
+	PRINT_MODULE_USAGE_SUBCATEGORY("baro");
-			// this device is already started
+	PRINT_MODULE_USAGE_COMMAND("start");
-			PX4_WARN("already started");
+	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, true);
-			continue;
+	PRINT_MODULE_USAGE_PARAM_STRING('T', "5611", "5607|5611", "Device type", true);
-		}
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
-
-		if (busid != MS5611_BUS::ALL && bus_option.busid != busid) {
-			// not the one that is asked for
-			continue;
-		}
-
-		if (start_bus(bus_option, device_type)) {
-			return PX4_OK;
-		}
-	}
-
-	return PX4_ERROR;
 }
 
-static int stop(MS5611_BUS busid)
-{
-	ms5611_bus_option *bus = find_bus(busid);
-
-	if (bus != nullptr && bus->dev != nullptr) {
-		delete bus->dev;
-		bus->dev = nullptr;
-
-	} else {
-		PX4_WARN("driver not running");
-		return PX4_ERROR;
-	}
-
-	return PX4_OK;
-}
-
-static int status(MS5611_BUS busid)
-{
-	ms5611_bus_option *bus = find_bus(busid);
-
-	if (bus != nullptr && bus->dev != nullptr) {
-		bus->dev->print_info();
-		return PX4_OK;
-	}
-
-	PX4_WARN("driver not running");
-	return PX4_ERROR;
-}
-
-static int usage()
-{
-	PX4_INFO("missing command: try 'start', 'stop', 'status'");
-	PX4_INFO("options:");
-	PX4_INFO("    -X    (i2c external bus)");
-	PX4_INFO("    -I    (i2c internal bus)");
-	PX4_INFO("    -s    (spi internal bus)");
-	PX4_INFO("    -S    (spi external bus)");
-	PX4_INFO("    -T    5611|5607 (default 5611)");
-	PX4_INFO("    -T    0 (autodetect version)");
-
-	return 0;
-}
-
-} // namespace
-
 extern "C" int ms5611_main(int argc, char *argv[])
 {
-	int myoptind = 1;
+	using ThisDriver = MS5611;
 	int ch;
-	const char *myoptarg = nullptr;
+	BusCLIArguments cli{true, true};
+	cli.type = MS5611_DEVICE;
+	uint16_t dev_type_driver = DRV_BARO_DEVTYPE_MS5611;
 
-	MS5611_BUS busid = MS5611_BUS::ALL;
+	while ((ch = cli.getopt(argc, argv, "T:")) != EOF) {
-	enum MS56XX_DEVICE_TYPES device_type = MS5611_DEVICE;
-
-	while ((ch = px4_getopt(argc, argv, "XISsT:", &myoptind, &myoptarg)) != EOF) {
 		switch (ch) {
-		case 'X':
-			busid = MS5611_BUS::I2C_EXTERNAL;
-			break;
-
-		case 'I':
-			busid = MS5611_BUS::I2C_INTERNAL;
-			break;
-
-		case 'S':
-			busid = MS5611_BUS::SPI_EXTERNAL;
-			break;
-
-		case 's':
-			busid = MS5611_BUS::SPI_INTERNAL;
-			break;
-
 		case 'T': {
-				int val = atoi(myoptarg);
+				int val = atoi(cli.optarg());
 
 				if (val == 5611) {
-					device_type = MS5611_DEVICE;
+					cli.type = MS5611_DEVICE;
+					dev_type_driver = DRV_BARO_DEVTYPE_MS5611;
 
 				} else if (val == 5607) {
-					device_type = MS5607_DEVICE;
+					cli.type = MS5607_DEVICE;
-
+					dev_type_driver = DRV_BARO_DEVTYPE_MS5607;
-				} else if (val == 0) {
-					device_type = MS56XX_DEVICE;
 				}
 			}
 			break;
-
-		default:
-			return ms5611::usage();
 		}
 	}
 
-	if (myoptind >= argc) {
+	const char *verb = cli.optarg();
-		return ms5611::usage();
+
+	if (!verb) {
+		ThisDriver::print_usage();
+		return -1;
 	}
 
-	const char *verb = argv[myoptind];
+	BusInstanceIterator iterator(MODULE_NAME, cli, dev_type_driver);
 
 	if (!strcmp(verb, "start")) {
-		return ms5611::start(busid, device_type);
+		return ThisDriver::module_start(cli, iterator);
-
-	} else if (!strcmp(verb, "stop")) {
-		return ms5611::stop(busid);
-
-	} else if (!strcmp(verb, "status")) {
-		return ms5611::status(busid);
 	}
 
-	return ms5611::usage();
+	if (!strcmp(verb, "stop")) {
+		return ThisDriver::module_stop(iterator);
+	}
+
+	if (!strcmp(verb, "status")) {
+		return ThisDriver::module_status(iterator);
+	}
+
+	ThisDriver::print_usage();
+	return -1;
 }

src/drivers/barometer/ms5611/ms5611_spi.cpp

@@ -45,12 +45,11 @@
 #define DIR_WRITE			(0<<7)
 #define ADDR_INCREMENT			(1<<6)
 
-#if defined(PX4_SPIDEV_BARO) || defined(PX4_SPIDEV_EXT_BARO)
 
 class MS5611_SPI : public device::SPI
 {
 public:
-	MS5611_SPI(uint8_t bus, uint32_t device, ms5611::prom_u &prom_buf);
+	MS5611_SPI(uint8_t bus, uint32_t device, ms5611::prom_u &prom_buf, int bus_frequency, spi_mode_e spi_mode);
 	virtual ~MS5611_SPI() = default;
 
 	virtual int	init();
@@ -98,24 +97,13 @@ private:
 };
 
 device::Device *
-MS5611_spi_interface(ms5611::prom_u &prom_buf, uint8_t busnum)
+MS5611_spi_interface(ms5611::prom_u &prom_buf, uint32_t devid, uint8_t busnum, int bus_frequency, spi_mode_e spi_mode)
 {
-#ifdef PX4_SPI_BUS_EXT
+	return new MS5611_SPI(busnum, devid, prom_buf, bus_frequency, spi_mode);
-
-	if (busnum == PX4_SPI_BUS_EXT) {
-#ifdef PX4_SPIDEV_EXT_BARO
-		return new MS5611_SPI(busnum, PX4_SPIDEV_EXT_BARO, prom_buf);
-#else
-		return nullptr;
-#endif
-	}
-
-#endif
-	return new MS5611_SPI(busnum, PX4_SPIDEV_BARO, prom_buf);
 }
 
-MS5611_SPI::MS5611_SPI(uint8_t bus, uint32_t device, ms5611::prom_u &prom_buf) :
+MS5611_SPI::MS5611_SPI(uint8_t bus, uint32_t device, ms5611::prom_u &prom_buf, int bus_frequency, spi_mode_e spi_mode) :
-	SPI("MS5611_SPI", nullptr, bus, device, SPIDEV_MODE3, 20 * 1000 * 1000 /* will be rounded to 10.4 MHz */),
+	SPI("MS5611_SPI", nullptr, bus, device, spi_mode, bus_frequency),
 	_prom(prom_buf)
 {
 }
@@ -272,4 +260,3 @@ MS5611_SPI::_transfer(uint8_t *send, uint8_t *recv, unsigned len)
 	return transfer(send, recv, len);
 }
 
-#endif /* PX4_SPIDEV_BARO || PX4_SPIDEV_EXT_BARO */