refactor rm3100: use driver base class

boards/modalai/fc-v1/init/rc.board_sensors

@@ -29,5 +29,5 @@ qmc5883 -X start
 # Internal I2C Baro
 bmp388 -I start
 
-# External RM3100 (I2C or SPI)
+# External RM3100
-rm3100 start
+rm3100 -X start

boards/nxp/fmurt1062-v1/init/rc.board_sensors

@@ -48,8 +48,8 @@ ist8310 -I start
 # Baro on internal SPI
 ms5611 -s start
 
-# External RM3100 (I2C or SPI)
+# External RM3100
-rm3100 start
+rm3100 -X start
 
 # Possible pmw3901 optical flow sensor
 pmw3901 -S start

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

@@ -117,7 +117,7 @@ else
 	lsm303d start
 fi
 
-# External RM3100 (I2C or SPI)
+# External RM3100
-rm3100 start
+rm3100 -X start
 
 unset BOARD_FMUV3

boards/px4/fmu-v4/init/rc.board_sensors

@@ -19,7 +19,7 @@ hmc5883 -T -X start
 lis3mdl -X start
 ist8310 -X start
 qmc5883 -X start
-rm3100 start
+rm3100 -X start
 
 # Internal SPI
 ms5611 -s start

boards/px4/fmu-v4pro/init/rc.board_sensors

@@ -24,7 +24,7 @@ hmc5883 -T -X start
 qmc5883 -X start
 
 # RM3100
-rm3100 start
+rm3100 -X start
 
 # Internal SPI
 ms5611 -s start

boards/px4/fmu-v5/init/rc.board_sensors

@@ -42,5 +42,5 @@ ist8310 -I start
 # Baro on internal SPI
 ms5611 -s start
 
-# External RM3100 (I2C or SPI)
+# External RM3100
-rm3100 start
+rm3100 -X start

src/drivers/magnetometer/rm3100/rm3100.cpp

@@ -41,9 +41,9 @@
 
 #include "rm3100.h"
 
-RM3100::RM3100(device::Device *interface, const char *path, enum Rotation rotation) :
+RM3100::RM3100(device::Device *interface, enum Rotation rotation, I2CSPIBusOption bus_option, int bus) :
-	CDev("RM3100", path),
+	CDev("RM3100", nullptr),
-	ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id())),
+	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id()), bus_option, bus),
 	_interface(interface),
 	_reports(nullptr),
 	_scale{},
@@ -80,9 +80,6 @@ RM3100::RM3100(device::Device *interface, const char *path, enum Rotation rotati
 
 RM3100::~RM3100()
 {
-	/* make sure we are truly inactive */
-	stop();
-
 	if (_reports != nullptr) {
 		delete _reports;
 	}
@@ -101,9 +98,6 @@ RM3100::~RM3100()
 int
 RM3100::self_test()
 {
-	/* Stop current measurements */
-	stop();
-
 	/* Chances are that a poll event was triggered, so wait for conversion and read registers in order to clear DRDY bit */
 	usleep(RM3100_CONVERSION_INTERVAL);
 	collect();
@@ -144,9 +138,6 @@ RM3100::self_test()
 
 	ret = !((cmd & BIST_XYZ_OK) == BIST_XYZ_OK);
 
-	/* Restart measurement state machine */
-	start();
-
 	return ret;
 }
 
@@ -287,7 +278,7 @@ RM3100::convert_signed(int32_t *n)
 }
 
 void
-RM3100::Run()
+RM3100::RunImpl()
 {
 	/* _measure_interval == 0  is used as _task_should_exit */
 	if (_measure_interval == 0) {
@@ -343,6 +334,9 @@ RM3100::init()
 		PX4_ERR("self test failed");
 	}
 
+	_measure_interval = RM3100_CONVERSION_INTERVAL;
+	start();
+
 	return ret;
 }
 
@@ -474,8 +468,9 @@ RM3100::measure()
 }
 
 void
-RM3100::print_info()
+RM3100::print_status()
 {
+	I2CSPIDriverBase::print_status();
 	perf_print_counter(_sample_perf);
 	perf_print_counter(_comms_errors);
 	PX4_INFO("poll interval:  %u", _measure_interval);
@@ -591,18 +586,8 @@ RM3100::start()
 	_reports->flush();
 
 	set_default_register_values();
-	_measure_interval = (RM3100_CONVERSION_INTERVAL);
 
 	/* schedule a cycle to start things */
 	ScheduleNow();
 }
 
-void
-RM3100::stop()
-{
-	if (_measure_interval > 0) {
-		/* ensure no new items are queued while we cancel this one */
-		_measure_interval = 0;
-		ScheduleClear();
-	}
-}

src/drivers/magnetometer/rm3100/rm3100.h

@@ -52,7 +52,7 @@
 #include <px4_platform_common/defines.h>
 #include <systemlib/err.h>
 
-#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/i2c_spi_buses.h>
 
 /**
  * RM3100 internal constants and data structures.
@@ -97,17 +97,8 @@
 #define NUM_BUS_OPTIONS		(sizeof(bus_options)/sizeof(bus_options[0]))
 
 /* interface factories */
-extern device::Device *RM3100_SPI_interface(int bus);
+extern device::Device *RM3100_SPI_interface(int bus, uint32_t devid, int bus_frequency, spi_mode_e spi_mode);
-extern device::Device *RM3100_I2C_interface(int bus);
+extern device::Device *RM3100_I2C_interface(int bus, int bus_frequency);
-typedef device::Device *(*RM3100_constructor)(int);
-
-enum RM3100_BUS {
-	RM3100_BUS_ALL = 0,
-	RM3100_BUS_I2C_INTERNAL,
-	RM3100_BUS_I2C_EXTERNAL,
-	RM3100_BUS_SPI_INTERNAL,
-	RM3100_BUS_SPI_EXTERNAL
-};
 
 enum OPERATING_MODE {
 	CONTINUOUS = 0,
@@ -115,34 +106,32 @@ enum OPERATING_MODE {
 };
 
 
-class RM3100 : public device::CDev, public px4::ScheduledWorkItem
+class RM3100 : public device::CDev, public I2CSPIDriver<RM3100>
 {
 public:
-	RM3100(device::Device *interface, const char *path, enum Rotation rotation);
+	RM3100(device::Device *interface, enum Rotation rotation, I2CSPIBusOption bus_option, int bus);
-
 	virtual ~RM3100();
 
-	virtual int init();
+	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+					     int runtime_instance);
+	static void print_usage();
 
-	virtual int ioctl(struct file *file_pointer, int cmd, unsigned long arg);
+	void custom_method(const BusCLIArguments &cli) override;
 
-	virtual int read(struct file *file_pointer, char *buffer, size_t buffer_len);
+	int init() override;
 
-	/**
+	int ioctl(struct file *file_pointer, int cmd, unsigned long arg) override;
-	 * Diagnostics - print some basic information about the driver.
+
-	 */
+	int read(struct file *file_pointer, char *buffer, size_t buffer_len) override;
-	void print_info();
+
+	void print_status() override;
 
 	/**
 	 * Configures the device with default register values.
 	 */
 	int set_default_register_values();
 
-	/**
+	void RunImpl();
-	 * Stop the automatic measurement state machine.
-	 */
-	void stop();
-
 protected:
 	Device *_interface;
 
@@ -201,21 +190,6 @@ private:
 	*/
 	void convert_signed(int32_t *n);
 
-	/**
-	 * @brief Performs 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.
 	 *

src/drivers/magnetometer/rm3100/rm3100_i2c.cpp

@@ -57,14 +57,12 @@
 #include "board_config.h"
 #include "rm3100.h"
 
-#if defined(PX4_I2C_BUS_ONBOARD) || defined(PX4_I2C_BUS_EXPANSION)
-
 #define RM3100_ADDRESS		0x20
 
 class RM3100_I2C : public device::I2C
 {
 public:
-	RM3100_I2C(int bus);
+	RM3100_I2C(int bus, int bus_frequency);
 	virtual ~RM3100_I2C() = default;
 
 	virtual int     init();
@@ -78,16 +76,16 @@ protected:
 };
 
 device::Device *
-RM3100_I2C_interface(int bus);
+RM3100_I2C_interface(int bus, int bus_frequency);
 
 device::Device *
-RM3100_I2C_interface(int bus)
+RM3100_I2C_interface(int bus, int bus_frequency)
 {
-	return new RM3100_I2C(bus);
+	return new RM3100_I2C(bus, bus_frequency);
 }
 
-RM3100_I2C::RM3100_I2C(int bus) :
+RM3100_I2C::RM3100_I2C(int bus, int bus_frequency) :
-	I2C("RM300_I2C", nullptr, bus, RM3100_ADDRESS, 400000)
+	I2C("RM300_I2C", nullptr, bus, RM3100_ADDRESS, bus_frequency)
 {
 	_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_RM3100;
 }
@@ -170,5 +168,3 @@ RM3100_I2C::write(unsigned address, void *data, unsigned count)
 
 	return transfer(&buf[0], count + 1, nullptr, 0);
 }
-
-#endif /* PX4_I2C_OBDEV_RM3100 */

src/drivers/magnetometer/rm3100/rm3100_main.cpp

@@ -37,312 +37,106 @@
  * Driver for the RM3100 magnetometer connected via I2C or SPI.
  */
 
-#include "rm3100_main.h"
+#include "rm3100.h"
 #include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module.h>
 
-/**
+I2CSPIDriverBase *RM3100::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
- * Driver 'main' command.
+				      int runtime_instance)
- */
-extern "C" __EXPORT int rm3100_main(int argc, char *argv[]);
-
-int
-rm3100::info(RM3100_BUS bus_id)
 {
-	struct rm3100_bus_option &bus = find_bus(bus_id);
+	device::Device *interface = nullptr;
 
-	PX4_WARN("running on bus: %u (%s)\n", (unsigned)bus.bus_id, bus.devpath);
+	if (iterator.busType() == BOARD_I2C_BUS) {
-	bus.dev->print_info();
+		interface = RM3100_I2C_interface(iterator.bus(), cli.bus_frequency);
-	return 1;
-}
 
-bool
+	} else if (iterator.busType() == BOARD_SPI_BUS) {
-rm3100::init(RM3100_BUS bus_id)
+		interface = RM3100_SPI_interface(iterator.bus(), iterator.devid(), cli.bus_frequency, cli.spi_mode);
-{
-	struct rm3100_bus_option &bus = find_bus(bus_id);
-	const char *path = bus.devpath;
-
-	int fd = open(path, O_RDONLY);
-
-	if (fd < 0) {
-		return false;
 	}
 
-	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
+	if (interface == nullptr) {
-		close(fd);
+		PX4_ERR("alloc failed");
-		errx(1, "Failed to setup poll rate");
+		return nullptr;
-		return false;
-
-	} else {
-		PX4_INFO("Poll rate set to 100 Hz");
 	}
 
-	close(fd);
-
-	return true;
-}
-
-bool
-rm3100::start_bus(struct rm3100_bus_option &bus, Rotation rotation)
-{
-	if (bus.dev != nullptr) {
-		errx(1, "bus option already started");
-		return false;
-	}
-
-	device::Device *interface = bus.interface_constructor(bus.busnum);
-
 	if (interface->init() != OK) {
 		delete interface;
-		warnx("no device on bus %u", (unsigned)bus.bus_id);
+		PX4_DEBUG("no device on bus %i (devid 0x%x)", iterator.bus(), iterator.devid());
-
+		return nullptr;
-		return false;
 	}
 
-	bus.dev = new RM3100(interface, bus.devpath, rotation);
+	RM3100 *dev = new RM3100(interface, cli.rotation, iterator.configuredBusOption(), iterator.bus());
 
-	if (bus.dev != nullptr &&
+	if (dev == nullptr) {
-	    bus.dev->init() != OK) {
+		delete interface;
-		delete bus.dev;
+		return nullptr;
-		bus.dev = NULL;
-		return false;
 	}
 
-	return true;
+	if (OK != dev->init()) {
-}
+		delete dev;
-
+		return nullptr;
-int
-rm3100::start(RM3100_BUS bus_id, Rotation rotation)
-{
-	bool started = false;
-
-	for (unsigned i = 0; i < NUM_BUS_OPTIONS; i++) {
-		if (bus_id == RM3100_BUS_ALL && bus_options[i].dev != NULL) {
-			// this device is already started
-			continue;
-		}
-
-		if (bus_id != RM3100_BUS_ALL && bus_options[i].bus_id != bus_id) {
-			// not the one that is asked for
-			continue;
-		}
-
-		started |= start_bus(bus_options[i], rotation);
-		//init(bus_id);
 	}
 
-	return started;
+	return dev;
-}
-
-int
-rm3100::stop()
-{
-	bool stopped = false;
-
-	for (unsigned i = 0; i < NUM_BUS_OPTIONS; i++) {
-		if (bus_options[i].dev != nullptr) {
-			bus_options[i].dev->stop();
-			delete bus_options[i].dev;
-			bus_options[i].dev = nullptr;
-			stopped = true;
-		}
-	}
-
-	return !stopped;
-}
-
-bool
-rm3100::test(RM3100_BUS bus_id)
-{
-	struct rm3100_bus_option &bus = find_bus(bus_id);
-	sensor_mag_s report;
-	ssize_t sz;
-	int ret;
-	const char *path = bus.devpath;
-
-	int fd = open(path, O_RDONLY);
-
-	if (fd < 0) {
-		PX4_WARN("%s open failed (try 'rm3100 start')", path);
-		return 1;
-	}
-
-	/* do a simple demand read */
-	sz = read(fd, &report, sizeof(report));
-
-	if (sz != sizeof(report)) {
-		PX4_WARN("immediate read failed");
-		return 1;
-	}
-
-	print_message(report);
-
-	/* check if mag is onboard or external */
-	if (ioctl(fd, MAGIOCGEXTERNAL, 0) < 0) {
-		PX4_WARN("failed to get if mag is onboard or external");
-		return 1;
-	}
-
-	struct pollfd fds;
-
-	/* read the sensor 5x and report each value */
-	for (unsigned i = 0; i < 5; i++) {
-
-		/* wait for data to be ready */
-		fds.fd = fd;
-		fds.events = POLLIN;
-		ret = poll(&fds, 1, 2000);
-
-		if (ret != 1) {
-			PX4_WARN("timed out waiting for sensor data");
-			return 1;
-		}
-
-		/* now go get it */
-		sz = read(fd, &report, sizeof(report));
-
-		if (sz != sizeof(report)) {
-			PX4_WARN("periodic read failed");
-			return 1;
-		}
-
-		print_message(report);
-	}
-
-	PX4_INFO("PASS");
-	return 1;
-}
-
-bool
-rm3100::reset(RM3100_BUS bus_id)
-{
-	struct rm3100_bus_option &bus = find_bus(bus_id);
-	const char *path = bus.devpath;
-
-	int fd = open(path, O_RDONLY);
-
-	if (fd < 0) {
-		PX4_WARN("open failed ");
-		return 1;
-	}
-
-	if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
-		PX4_WARN("driver reset failed");
-		return 1;
-	}
-
-	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
-		PX4_WARN("driver poll restart failed");
-		return 1;
-	}
-
-	return 0;
 }
 
 void
-rm3100::usage()
+RM3100::custom_method(const BusCLIArguments &cli)
 {
-	PX4_WARN("missing command: try 'start', 'info', 'test', 'reset', 'info'");
+	reset();
-	PX4_WARN("options:");
-	PX4_WARN("    -R rotation");
-	PX4_WARN("    -X external I2C bus");
-	PX4_WARN("    -I internal I2C bus");
-	PX4_WARN("    -S external SPI bus");
-	PX4_WARN("    -s internal SPI bus");
 }
 
-int
+void RM3100::print_usage()
-rm3100_main(int argc, char *argv[])
 {
-	int myoptind = 1;
+	PRINT_MODULE_USAGE_NAME("rm3100", "driver");
+	PRINT_MODULE_USAGE_SUBCATEGORY("magnetometer");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, true);
+	PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
+	PRINT_MODULE_USAGE_COMMAND("reset");
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+}
+
+extern "C" int rm3100_main(int argc, char *argv[])
+{
+	using ThisDriver = RM3100;
 	int ch;
-	const char *myoptarg = nullptr;
+	BusCLIArguments cli{true, true};
+	cli.default_i2c_frequency = 400000;
+	cli.default_spi_frequency = 1 * 1000 * 1000;
 
-	enum RM3100_BUS bus_id = RM3100_BUS_ALL;
+	while ((ch = cli.getopt(argc, argv, "R:")) != EOF) {
-	enum Rotation rotation = ROTATION_NONE;
-
-	while ((ch = px4_getopt(argc, argv, "XISR:T", &myoptind, &myoptarg)) != EOF) {
 		switch (ch) {
 		case 'R':
-			rotation = (enum Rotation)atoi(myoptarg);
+			cli.rotation = (enum Rotation)atoi(cli.optarg());
 			break;
-
-		case 'I':
-			bus_id = RM3100_BUS_I2C_INTERNAL;
-			break;
-
-		case 'X':
-			bus_id = RM3100_BUS_I2C_EXTERNAL;
-			break;
-
-		case 'S':
-			bus_id = RM3100_BUS_SPI_EXTERNAL;
-			break;
-
-		case 's':
-			bus_id = RM3100_BUS_SPI_INTERNAL;
-			break;
-
-		default:
-			rm3100::usage();
-			return 0;
 		}
 	}
 
-	if (myoptind >= argc) {
+	const char *verb = cli.optarg();
-		rm3100::usage();
+
+	if (!verb) {
+		ThisDriver::print_usage();
 		return -1;
 	}
 
-	const char *verb = argv[myoptind];
+	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_MAG_DEVTYPE_RM3100);
 
-	// Start/load the driver
 	if (!strcmp(verb, "start")) {
-
+		return ThisDriver::module_start(cli, iterator);
-		if (rm3100::start(bus_id, rotation)) {
-
-			rm3100::init(bus_id);
-
-			return 0;
-
-		} else {
-			return 1;
-		}
 	}
 
-	// Stop the driver
 	if (!strcmp(verb, "stop")) {
-		return rm3100::stop();
+		return ThisDriver::module_stop(iterator);
 	}
 
-	// Test the driver/device
+	if (!strcmp(verb, "status")) {
-	if (!strcmp(verb, "test")) {
+		return ThisDriver::module_status(iterator);
-		return rm3100::test(bus_id);
 	}
 
-	// Reset the driver
 	if (!strcmp(verb, "reset")) {
-		return rm3100::reset(bus_id);
+		return ThisDriver::module_custom_method(cli, iterator);
 	}
 
-	// Print driver information
+	ThisDriver::print_usage();
-	if (!strcmp(verb, "info") ||
+	return -1;
-	    !strcmp(verb, "status")) {
-		return rm3100::info(bus_id);
-	}
-
-	PX4_INFO("unrecognized command, try 'start', 'test', 'reset' or 'info'");
-	return 1;
-}
-
-struct
-rm3100::rm3100_bus_option &rm3100::find_bus(RM3100_BUS bus_id)
-{
-	for (unsigned i = 0; i < NUM_BUS_OPTIONS; i++) {
-		if ((bus_id == RM3100_BUS_ALL ||
-		     bus_id == bus_options[i].bus_id) && bus_options[i].dev != NULL) {
-			return bus_options[i];
-		}
-	}
-
-	errx(1, "bus %u not started", (unsigned)bus_id);
 }

src/drivers/magnetometer/rm3100/rm3100_main.h

@@ -1,122 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2015 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file rm3100_main.h
- */
-
-#pragma once
-
-#include "rm3100.h"
-
-namespace rm3100
-{
-/**
- * @struct List of supported bus configurations
- */
-struct rm3100_bus_option {
-	RM3100_BUS bus_id;
-	const char *devpath;
-	RM3100_constructor interface_constructor;
-	uint8_t busnum;
-	RM3100 *dev;
-} bus_options[] = {
-#ifdef PX4_I2C_BUS_EXPANSION
-	{ RM3100_BUS_I2C_EXTERNAL, "/dev/rm3100_ext", &RM3100_I2C_interface, PX4_I2C_BUS_EXPANSION, NULL },
-#endif /* PX4_I2C_BUS_EXPANSION */
-#ifdef PX4_I2C_BUS_EXPANSION1
-	{ RM3100_BUS_I2C_EXTERNAL, "/dev/rm3100_ext1", &RM3100_I2C_interface, PX4_I2C_BUS_EXPANSION1, NULL },
-#endif /* PX4_I2C_BUS_EXPANSION1 */
-#ifdef PX4_I2C_BUS_EXPANSION2
-	{ RM3100_BUS_I2C_EXTERNAL, "/dev/rm3100_ext2", &RM3100_I2C_interface, PX4_I2C_BUS_EXPANSION2, NULL },
-#endif /* PX4_I2C_BUS_EXPANSION2 */
-#ifdef PX4_I2C_BUS_ONBOARD
-	{ RM3100_BUS_I2C_INTERNAL, "/dev/rm3100_int", &RM3100_I2C_interface, PX4_I2C_BUS_ONBOARD, NULL },
-#endif /* PX4_I2C_BUS_ONBOARD */
-#ifdef PX4_SPIDEV_RM
-	{ RM3100_BUS_SPI_INTERNAL, "/dev/rm3100_spi_int", &RM3100_SPI_interface, PX4_SPI_BUS_SENSORS, NULL },
-#endif /* PX4_SPIDEV_RM */
-#ifdef PX4_SPIDEV_RM_EXT
-	{ RM3100_BUS_SPI_EXTERNAL, "/dev/rm3100_spi_ext", &RM3100_SPI_interface, PX4_SPI_BUS_EXT, NULL },
-#endif /* PX4_SPIDEV_RM_EXT */
-};
-
-/**
- * @brief Finds a bus structure for a bus_id
- */
-rm3100_bus_option &find_bus(RM3100_BUS bus_id);
-
-/**
- * @brief Prints info about the driver.
- */
-int info(RM3100_BUS bus_id);
-
-/**
- * @brief Initializes the driver -- sets defaults and starts a cycle
- */
-bool init(RM3100_BUS bus_id);
-
-/**
- * @brief Resets the driver.
- */
-bool reset(RM3100_BUS bus_id);
-
-/**
- * @brief Starts the driver for a specific bus option
- */
-bool start_bus(struct rm3100_bus_option &bus, Rotation rotation);
-
-/**
- * @brief Starts the driver. This function call only returns once the driver
- *        is either successfully up and running or failed to start.
- */
-int start(RM3100_BUS bus_id, Rotation rotation);
-
-/**
- * @brief Stop the driver.
- */
-int stop();
-
-/**
- * @brief Perform some basic functional tests on the driver;
- * 	  make sure we can collect data from the sensor in polled
- * 	  and automatic modes.
- */
-bool test(RM3100_BUS bus_id);
-
-/**
- * @brief Prints info about the driver argument usage.
- */
-void usage();
-
-} // namespace RM3100

src/drivers/magnetometer/rm3100/rm3100_spi.cpp

@@ -55,8 +55,6 @@
 #include "board_config.h"
 #include "rm3100.h"
 
-#if defined(PX4_SPIDEV_RM) || defined (PX4_SPIDEV_RM_EXT)
-
 /* SPI protocol address bits */
 #define DIR_READ        (1<<7)
 #define DIR_WRITE       (0<<7)
@@ -64,7 +62,7 @@
 class RM3100_SPI : public device::SPI
 {
 public:
-	RM3100_SPI(int bus, uint32_t device);
+	RM3100_SPI(int bus, uint32_t devid, int bus_frequency, spi_mode_e spi_mode);
 	virtual ~RM3100_SPI() = default;
 
 	virtual int     init();
@@ -74,20 +72,16 @@ public:
 };
 
 device::Device *
-RM3100_SPI_interface(int bus);
+RM3100_SPI_interface(int bus, uint32_t devid, int bus_frequency, spi_mode_e spi_mode);
 
 device::Device *
-RM3100_SPI_interface(int bus)
+RM3100_SPI_interface(int bus, uint32_t devid, int bus_frequency, spi_mode_e spi_mode)
 {
-#ifdef PX4_SPIDEV_RM_EXT
+	return new RM3100_SPI(bus, devid, bus_frequency, spi_mode);
-	return new RM3100_SPI(bus, PX4_SPIDEV_RM_EXT);
-#else
-	return new RM3100_SPI(bus, PX4_SPIDEV_RM);
-#endif
 }
 
-RM3100_SPI::RM3100_SPI(int bus, uint32_t device) :
+RM3100_SPI::RM3100_SPI(int bus, uint32_t devid, int bus_frequency, spi_mode_e spi_mode) :
-	SPI("RM3100_SPI", nullptr, bus, device, SPIDEV_MODE3, 1 * 1000 * 1000 /* */)
+	SPI("RM3100_SPI", nullptr, bus, devid, spi_mode, bus_frequency)
 {
 	_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_RM3100;
 }
@@ -170,5 +164,3 @@ RM3100_SPI::write(unsigned address, void *data, unsigned count)
 
 	return transfer(&buf[0], &buf[0], count + 1);
 }
-
-#endif /* PX4_SPIDEV_RM || PX4_SPIDEV_RM_EXT */