Refactor PCA9685 (#26379)

* refactor: use parseDefaultArguments

* style: reverted changes to docs (should be auto-generated)

* refactor: use parseDefaultArguments

* style: reverted changes to docs (should be auto-generated)

boards/ark/fmu-v6x/init/rc.board_sensors

@@ -100,7 +100,7 @@ bmp388 -I start
 # Start an external PWM generator
 if param greater PCA9685_EN_BUS 0
 then
-	pca9685_pwm_out start
+	pca9685_pwm_out start -X
 fi
 
 unset HAVE_PM2

boards/ark/fpv/init/rc.board_sensors

@@ -20,5 +20,5 @@ bmp388 -I -b 2 start
 # Start an external PWM generator
 if param greater PCA9685_EN_BUS 0
 then
-	pca9685_pwm_out start
+	pca9685_pwm_out start -X
 fi

boards/ark/pi6x/init/rc.board_sensors

@@ -38,5 +38,5 @@ afbrs50 start
 # Start an external PWM generator
 if param greater PCA9685_EN_BUS 0
 then
-	pca9685_pwm_out start
+	pca9685_pwm_out start -X
 fi

boards/auterion/fmu-v6s/init/rc.board_sensors

@@ -77,5 +77,5 @@ ist8310 -X -b 1 -R 10 start
 # Start an external PWM generator
 if param greater PCA9685_EN_BUS 0
 then
-	pca9685_pwm_out start
+	pca9685_pwm_out start -X
 fi

boards/bluerobotics/navigator/init/rc.board_sensors

@@ -28,7 +28,7 @@ then
 	echo "ads1115 not found."
 fi
 
-if ! pca9685_pwm_out start
+if ! pca9685_pwm_out start -X
 then
 	echo "pca9685_pwm_out not found."
 fi

posix-configs/rpi/pilotpi_fw.config

@@ -41,7 +41,7 @@ ms5611 start -I
 ads1115 start -I
 
 # PWM
-pca9685_pwm_out start
+pca9685_pwm_out start -X
 control_allocator start
 
 # external GPS & compass

posix-configs/rpi/pilotpi_mc.config

@@ -41,7 +41,7 @@ ms5611 start -I
 ads1115 start -I
 
 # PWM
-pca9685_pwm_out start
+pca9685_pwm_out start -X
 control_allocator start
 
 # external GPS & compass

src/drivers/pca9685_pwm_out/PCA9685.h

@@ -35,6 +35,7 @@
 #include <cstdint>
 #include <drivers/device/i2c.h>
 #include <px4_boardconfig.h>
+#include <px4_platform_common/i2c_spi_buses.h>
 
 #define PCA9685_REG_MODE1 0x00			// Mode  register  1
 #define PCA9685_REG_MODE2 0x01			// Mode  register  2

src/drivers/pca9685_pwm_out/main.cpp

@@ -332,7 +332,7 @@ that can be accepted by most ESCs and servos.
 
 ### Examples
 It is typically started with:
-$ pca9685_pwm_out start -a 0x40 -b 1
+$ pca9685_pwm_out start -X -a 0x40 -b 1
 
 )DESCR_STR");
 
@@ -346,13 +346,18 @@ $ pca9685_pwm_out start -a 0x40 -b 1
 }
 
 int PCA9685Wrapper::print_status() {
-    int ret =  ModuleBase::print_status();
+	int ret =  ModuleBase::print_status();
-    PX4_INFO("PCA9685 @I2C Bus %d, address 0x%.2x, real frequency %.2f",
+	PX4_INFO("PCA9685 @I2C Bus %d, address 0x%.2x, real frequency %.2f",
-            pca9685->get_device_bus(),
+		pca9685->get_device_bus(),
-            pca9685->get_device_address(),
+		pca9685->get_device_address(),
-             (double)(pca9685->getFreq()));
+		(double)(pca9685->getFreq()));
 
-    return ret;
+	perf_print_counter(_cycle_perf);
+	perf_print_counter(_comms_errors);
+	perf_print_counter(_registers_invalid_reset);
+	perf_print_counter(_registers_transfer_reset);
+
+    	return ret;
 }
 
 int PCA9685Wrapper::custom_command(int argc, char **argv) {
@@ -360,92 +365,43 @@ int PCA9685Wrapper::custom_command(int argc, char **argv) {
 }
 
 int PCA9685Wrapper::task_spawn(int argc, char **argv) {
-	int ch;
+	BusCLIArguments cli{true, false};
-	int address = PCA9685_DEFAULT_ADDRESS;
+	cli.default_i2c_frequency = 400000;
-	int iicbus = PCA9685_DEFAULT_IICBUS;
+	cli.i2c_address = PCA9685_DEFAULT_ADDRESS;
+	cli.requested_bus = PCA9685_DEFAULT_IICBUS;
+	cli.parseDefaultArguments(argc, argv);
 
-	int32_t en_bus = 0;
+	auto *instance = new PCA9685Wrapper();
-	param_t param_handle = param_find("PCA9685_EN_BUS");
-
-	if (param_handle != PARAM_INVALID) {
-		param_get(param_handle, &en_bus);
-
-		if (en_bus > 0) {
-			iicbus = en_bus;
-		}
-	}
-
-	int32_t i2c_addr = 0;
-	param_handle = param_find("PCA9685_I2C_ADDR");
-
-	if (param_handle != PARAM_INVALID) {
-		param_get(param_handle, &i2c_addr);
-
-		if (i2c_addr > 0) {
-			address = i2c_addr;
-		}
-	}
-
-	int myoptind = 1;
-	const char *myoptarg = nullptr;
-	while ((ch = px4_getopt(argc, argv, "a:b:", &myoptind, &myoptarg)) != EOF) {
-		switch (ch) {
-			case 'a':
-                errno = 0;
-				address = strtol(myoptarg, nullptr, 16);
-                if (errno != 0) {
-                    PX4_WARN("Invalid address");
-                    return PX4_ERROR;
-                }
-				break;
-
-			case 'b':
-				iicbus = strtol(myoptarg, nullptr, 10);
-                if (errno != 0) {
-                    PX4_WARN("Invalid bus");
-                    return PX4_ERROR;
-                }
-				break;
-
-			case '?':
-				PX4_WARN("Unsupported args");
-				return PX4_ERROR;
-
-			default:
-				break;
-		}
-	}
-
-    auto *instance = new PCA9685Wrapper();
 
     if (instance) {
         desc.object.store(instance);
         desc.task_id = task_id_is_work_queue;
 
-        instance->pca9685 = new PCA9685(iicbus, address);
+		instance->pca9685 = new PCA9685(cli.requested_bus, cli.i2c_address);
-        if(instance->pca9685==nullptr){
-            PX4_ERR("alloc failed");
-            goto driverInstanceAllocFailed;
-        }
 
-        if (instance->init() == PX4_OK) {
+		if(instance->pca9685==nullptr){
-            return PX4_OK;
+			PX4_ERR("alloc failed");
-        } else {
+			goto driverInstanceAllocFailed;
-            PX4_ERR("driver init failed");
+		}
-            delete instance->pca9685;
+
-            instance->pca9685=nullptr;
+		if (instance->init() == PX4_OK) {
-        }
+			return PX4_OK;
-    } else {
+		} else {
-        PX4_ERR("alloc failed");
+			PX4_ERR("driver init failed");
-	    return PX4_ERROR;
+			delete instance->pca9685;
-    }
+			instance->pca9685=nullptr;
+		}
+	} else {
+		PX4_ERR("alloc failed");
+			return PX4_ERROR;
+	}
 
     driverInstanceAllocFailed:
     delete instance;
     desc.object.store(nullptr);
     desc.task_id = -1;
 
-    return PX4_ERROR;
+	return PX4_ERROR;
 }
 
 void PCA9685Wrapper::updateParams() {