I2C/SPI require device type in constructor

boards/airmind/mindpx-v2/src/spi.cpp

@@ -44,7 +44,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	}),
 	initSPIBus(SPI::Bus::SPI4, {
 		initSPIDevice(DRV_GYR_DEVTYPE_L3GD20, SPI::CS{GPIO::PortB, GPIO::Pin2}, SPI::DRDY{GPIO::PortE, GPIO::Pin4}),
-		initSPIDevice(DRV_ACC_DEVTYPE_LSM303D, SPI::CS{GPIO::PortD, GPIO::Pin11}),
+		initSPIDevice(DRV_IMU_DEVTYPE_LSM303D, SPI::CS{GPIO::PortD, GPIO::Pin11}),
 		initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortC, GPIO::Pin15}),
 		initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortE, GPIO::Pin3}, SPI::DRDY{GPIO::PortE, GPIO::Pin10}),
 		initSPIDevice(DRV_IMU_DEVTYPE_MPU6500, SPI::CS{GPIO::PortE, GPIO::Pin3}, SPI::DRDY{GPIO::PortE, GPIO::Pin10}),

boards/intel/aerofc-v1/aerofc_adc/AEROFC_ADC.cpp

@@ -36,7 +36,7 @@
 using namespace time_literals;
 
 AEROFC_ADC::AEROFC_ADC(I2CSPIBusOption bus_option, int bus_number, int bus_frequency) :
-	I2C("AEROFC_ADC", AEROFC_ADC_DEVICE_PATH, bus_number, SLAVE_ADDR, bus_frequency),
+	I2C(DRV_ADC_DEVTYPE_AEROFC, MODULE_NAME, bus_number, SLAVE_ADDR, bus_frequency),
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus_number),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": sample"))
 {

boards/intel/aerofc-v1/aerofc_adc/AEROFC_ADC.hpp

@@ -50,7 +50,6 @@
 #define ADC_ENABLE_REG 0x00
 #define ADC_CHANNEL_REG 0x03
 #define MAX_CHANNEL 5
-#define AEROFC_ADC_DEVICE_PATH "/dev/aerofc_adc"
 
 class AEROFC_ADC : public device::I2C, public I2CSPIDriver<AEROFC_ADC>
 {

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

@@ -151,7 +151,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 			initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
 			initSPIDevice(DRV_IMU_DEVTYPE_MPU9250, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
 			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_IMU_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}),
@@ -180,7 +180,7 @@ 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::PortE, GPIO::Pin4}),
 			initSPIDevice(DRV_GYR_DEVTYPE_L3GD20, SPI::CS{GPIO::PortC, GPIO::Pin13}),
 			initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortC, GPIO::Pin14}),
-			initSPIDevice(DRV_ACC_DEVTYPE_LSM303D, SPI::CS{GPIO::PortC, GPIO::Pin15}),
+			initSPIDevice(DRV_IMU_DEVTYPE_LSM303D, SPI::CS{GPIO::PortC, GPIO::Pin15}),
 		}),
 	}),
 

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

@@ -151,7 +151,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 			initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
 			initSPIDevice(DRV_IMU_DEVTYPE_MPU9250, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
 			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_IMU_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}),
@@ -180,7 +180,7 @@ 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::PortE, GPIO::Pin4}),
 			initSPIDevice(DRV_GYR_DEVTYPE_L3GD20, SPI::CS{GPIO::PortC, GPIO::Pin13}),
 			initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortC, GPIO::Pin14}),
-			initSPIDevice(DRV_ACC_DEVTYPE_LSM303D, SPI::CS{GPIO::PortC, GPIO::Pin15}),
+			initSPIDevice(DRV_IMU_DEVTYPE_LSM303D, SPI::CS{GPIO::PortC, GPIO::Pin15}),
 		}),
 	}),
 

src/drivers/barometer/bmp280/BMP280.cpp

@@ -42,7 +42,6 @@ BMP280::BMP280(I2CSPIBusOption bus_option, int bus, bmp280::IBMP280 *interface)
 	_measure_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": measure")),
 	_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comms errors"))
 {
-	_px4_baro.set_device_type(DRV_BARO_DEVTYPE_BMP280);
 }
 
 BMP280::~BMP280()

src/drivers/barometer/bmp280/BMP280_I2C.cpp

@@ -71,7 +71,7 @@ bmp280::IBMP280 *bmp280_i2c_interface(uint8_t busnum, uint32_t device, int bus_f
 }
 
 BMP280_I2C::BMP280_I2C(uint8_t bus, uint32_t device, int bus_frequency) :
-	I2C("BMP280_I2C", nullptr, bus, device, bus_frequency)
+	I2C(DRV_BARO_DEVTYPE_BMP280, MODULE_NAME, bus, device, bus_frequency)
 {
 }
 

src/drivers/barometer/bmp280/BMP280_SPI.cpp

@@ -87,7 +87,7 @@ bmp280_spi_interface(uint8_t busnum, uint32_t device, int bus_frequency, spi_mod
 }
 
 BMP280_SPI::BMP280_SPI(uint8_t bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode) :
-	SPI("BMP280_SPI", nullptr, bus, device, spi_mode, bus_frequency)
+	SPI(DRV_BARO_DEVTYPE_BMP280, MODULE_NAME, bus, device, spi_mode, bus_frequency)
 {
 }
 

src/drivers/barometer/bmp388/bmp388.cpp

@@ -50,7 +50,6 @@ BMP388::BMP388(I2CSPIBusOption bus_option, int bus, IBMP388 *interface) :
 	_measure_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": measure")),
 	_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comms errors"))
 {
-	_px4_baro.set_device_type(DRV_BARO_DEVTYPE_BMP388);
 }
 
 BMP388::~BMP388()

src/drivers/barometer/bmp388/bmp388_i2c.cpp

@@ -68,7 +68,7 @@ IBMP388 *bmp388_i2c_interface(uint8_t busnum, uint32_t device, int bus_frequency
 }
 
 BMP388_I2C::BMP388_I2C(uint8_t bus, uint32_t device, int bus_frequency) :
-	I2C("BMP388_I2C", nullptr, bus, device, bus_frequency)
+	I2C(DRV_BARO_DEVTYPE_BMP388, MODULE_NAME, bus, device, bus_frequency)
 {
 }
 

src/drivers/barometer/bmp388/bmp388_spi.cpp

@@ -84,7 +84,7 @@ IBMP388 *bmp388_spi_interface(uint8_t busnum, uint32_t device, int bus_frequency
 }
 
 BMP388_SPI::BMP388_SPI(uint8_t bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode) :
-	SPI("BMP388_SPI", nullptr, bus, device, spi_mode, bus_frequency)
+	SPI(DRV_BARO_DEVTYPE_BMP388, MODULE_NAME, bus, device, spi_mode, bus_frequency)
 {
 }
 

src/drivers/barometer/dps310/DPS310.cpp

@@ -54,7 +54,6 @@ DPS310::DPS310(I2CSPIBusOption bus_option, int bus, device::Device *interface) :
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
 	_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comm errors"))
 {
-	_px4_barometer.set_device_type(DRV_BARO_DEVTYPE_DPS310);
 }
 
 DPS310::~DPS310()

src/drivers/barometer/dps310/DPS310_I2C.cpp

@@ -62,7 +62,7 @@ DPS310_I2C_interface(uint8_t bus, uint32_t address, int bus_frequency)
 }
 
 DPS310_I2C::DPS310_I2C(uint8_t bus, uint32_t address, int bus_frequency) :
-	I2C("DPS310_I2C", nullptr, bus, address, bus_frequency)
+	I2C(DRV_BARO_DEVTYPE_DPS310, MODULE_NAME, bus, address, bus_frequency)
 {
 }
 

src/drivers/barometer/dps310/DPS310_SPI.cpp

@@ -66,7 +66,7 @@ DPS310_SPI_interface(uint8_t bus, uint32_t device, int bus_frequency, spi_mode_e
 }
 
 DPS310_SPI::DPS310_SPI(uint8_t bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode) :
-	SPI("DPS310_SPI", nullptr, bus, device, spi_mode, bus_frequency)
+	SPI(DRV_BARO_DEVTYPE_DPS310, MODULE_NAME, bus, device, spi_mode, bus_frequency)
 {
 }
 

src/drivers/barometer/lps22hb/LPS22HB.cpp

@@ -46,11 +46,9 @@ LPS22HB::LPS22HB(I2CSPIBusOption bus_option, int bus, device::Device *interface)
 	CDev(nullptr),
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id()), bus_option, bus),
 	_interface(interface),
-	_sample_perf(perf_alloc(PC_ELAPSED, "lps22hb_read")),
-	_comms_errors(perf_alloc(PC_COUNT, "lps22hb_comms_errors"))
+	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
+	_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comms_errors"))
 {
-	// set the interface device type
-	_interface->set_device_type(DRV_BARO_DEVTYPE_LPS22HB);
 }
 
 LPS22HB::~LPS22HB()

src/drivers/barometer/lps22hb/LPS22HB_I2C.cpp

@@ -64,7 +64,7 @@ LPS22HB_I2C_interface(int bus, int bus_frequency)
 }
 
 LPS22HB_I2C::LPS22HB_I2C(int bus, int bus_frequency) :
-	I2C("LPS22HB_I2C", nullptr, bus, LPS22HB_ADDRESS, bus_frequency)
+	I2C(DRV_BARO_DEVTYPE_LPS22HB, MODULE_NAME, bus, LPS22HB_ADDRESS, bus_frequency)
 {
 }
 

src/drivers/barometer/lps22hb/LPS22HB_SPI.cpp

@@ -64,9 +64,8 @@ LPS22HB_SPI_interface(int bus, uint32_t devid, int bus_frequency, spi_mode_e spi
 }
 
 LPS22HB_SPI::LPS22HB_SPI(int bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode)
-	: SPI("LPS22HB_SPI", nullptr, bus, device, spi_mode, bus_frequency)
+	: SPI(DRV_BARO_DEVTYPE_LPS22HB, MODULE_NAME, bus, device, spi_mode, bus_frequency)
 {
-	_device_id.devid_s.devtype = DRV_BARO_DEVTYPE_LPS22HB;
 }
 
 int

src/drivers/barometer/lps25h/LPS25H.cpp

@@ -40,8 +40,6 @@ LPS25H::LPS25H(I2CSPIBusOption bus_option, int bus, device::Device *interface) :
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
 	_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comms_errors"))
 {
-	_interface->set_device_type(DRV_BARO_DEVTYPE_LPS25H);
-	_px4_barometer.set_device_type(DRV_BARO_DEVTYPE_LPS25H);
 }
 
 LPS25H::~LPS25H()

src/drivers/barometer/lps25h/lps25h_i2c.cpp

@@ -65,9 +65,8 @@ device::Device *LPS25H_I2C_interface(int bus, int bus_frequency)
 }
 
 LPS25H_I2C::LPS25H_I2C(int bus, int bus_frequency) :
-	I2C("LPS25H_I2C", nullptr, bus, LPS25H_ADDRESS, bus_frequency)
+	I2C(DRV_BARO_DEVTYPE_LPS25H, MODULE_NAME, bus, LPS25H_ADDRESS, bus_frequency)
 {
-	set_device_type(DRV_BARO_DEVTYPE_LPS25H);
 }
 
 int LPS25H_I2C::probe()

src/drivers/barometer/lps25h/lps25h_spi.cpp

@@ -65,9 +65,8 @@ device::Device *LPS25H_SPI_interface(int bus, uint32_t devid, int bus_frequency,
 }
 
 LPS25H_SPI::LPS25H_SPI(int bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode) :
-	SPI("LPS25H_SPI", nullptr, bus, device, spi_mode, bus_frequency)
+	SPI(DRV_BARO_DEVTYPE_LPS25H, MODULE_NAME, bus, device, spi_mode, bus_frequency)
 {
-	set_device_type(DRV_BARO_DEVTYPE_LPS25H);
 }
 
 int LPS25H_SPI::init()

src/drivers/barometer/mpl3115a2/MPL3115A2.cpp

@@ -55,15 +55,13 @@
 #define MPL3115A2_CTRL_TRIGGER          (CTRL_REG1_OST | CTRL_REG1_OS(MPL3115A2_OSR))
 
 MPL3115A2::MPL3115A2(I2CSPIBusOption bus_option, const int bus, int bus_frequency) :
-	I2C("MPL3115A2", nullptr, bus, MPL3115A2_ADDRESS, bus_frequency),
+	I2C(DRV_BARO_DEVTYPE_MPL3115A2, MODULE_NAME, bus, MPL3115A2_ADDRESS, bus_frequency),
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
 	_px4_barometer(get_device_id()),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
 	_measure_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": measure")),
 	_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": com_err"))
 {
-	set_device_type(DRV_BARO_DEVTYPE_MPL3115A2);
-	_px4_barometer.set_device_type(DRV_BARO_DEVTYPE_MPL3115A2);
 }
 
 MPL3115A2::~MPL3115A2()

src/drivers/barometer/ms5611/ms5611_i2c.cpp

@@ -91,7 +91,7 @@ MS5611_i2c_interface(ms5611::prom_u &prom_buf, uint32_t devid, uint8_t busnum, i
 }
 
 MS5611_I2C::MS5611_I2C(uint8_t bus, ms5611::prom_u &prom, int bus_frequency) :
-	I2C("MS5611_I2C", nullptr, bus, 0, bus_frequency),
+	I2C(DRV_BARO_DEVTYPE_MS5611, MODULE_NAME, bus, 0, bus_frequency),
 	_prom(prom)
 {
 }

src/drivers/barometer/ms5611/ms5611_spi.cpp

@@ -103,7 +103,7 @@ MS5611_spi_interface(ms5611::prom_u &prom_buf, uint32_t devid, uint8_t busnum, i
 }
 
 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, spi_mode, bus_frequency),
+	SPI(DRV_BARO_DEVTYPE_MS5611, MODULE_NAME, bus, device, spi_mode, bus_frequency),
 	_prom(prom_buf)
 {
 }

src/drivers/distance_sensor/leddar_one/LeddarOne.cpp

@@ -42,11 +42,9 @@ LeddarOne::LeddarOne(const char *serial_port, uint8_t device_orientation):
 {
 	_serial_port = strdup(serial_port);
 
-	_px4_rangefinder.set_device_type(distance_sensor_s::MAV_DISTANCE_SENSOR_LASER);
 	_px4_rangefinder.set_max_distance(LEDDAR_ONE_MAX_DISTANCE);
 	_px4_rangefinder.set_min_distance(LEDDAR_ONE_MIN_DISTANCE);
 	_px4_rangefinder.set_fov(LEDDAR_ONE_FIELD_OF_VIEW);
-	_px4_rangefinder.set_orientation(device_orientation);
 }
 
 LeddarOne::~LeddarOne()

src/drivers/distance_sensor/ll40ls/LidarLiteI2C.cpp

@@ -43,9 +43,9 @@
 
 LidarLiteI2C::LidarLiteI2C(I2CSPIBusOption bus_option, const int bus, const uint8_t rotation, int bus_frequency,
 			   const int address) :
-	I2C("LL40LS", nullptr, bus, address, bus_frequency),
+	I2C(DRV_RNG_DEVTYPE_LL40LS, MODULE_NAME, bus, address, bus_frequency),
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_px4_rangefinder(0 /* device id not yet used */, ORB_PRIO_DEFAULT, rotation)
+	_px4_rangefinder(get_device_id(), ORB_PRIO_DEFAULT, rotation)
 {
 	_px4_rangefinder.set_min_distance(LL40LS_MIN_DISTANCE);
 	_px4_rangefinder.set_max_distance(LL40LS_MAX_DISTANCE);

src/drivers/distance_sensor/mappydot/MappyDot.cpp

@@ -135,7 +135,6 @@
 #define MAPPYDOT_MAX_DISTANCE                               (4.f) // meters
 
 #define MAPPYDOT_BUS_CLOCK                                  400000 // 400kHz bus speed
-#define MAPPYDOT_DEVICE_PATH                                "/dev/mappydot"
 
 /* Configuration Constants */
 #define MAPPYDOT_BASE_ADDR                                  0x08
@@ -222,7 +221,7 @@ private:
 
 
 MappyDot::MappyDot(I2CSPIBusOption bus_option, const int bus, int bus_frequency) :
-	I2C("MappyDot", MAPPYDOT_DEVICE_PATH, bus, MAPPYDOT_BASE_ADDR, bus_frequency),
+	I2C(DRV_DIST_DEVTYPE_MAPPYDOT, MODULE_NAME, bus, MAPPYDOT_BASE_ADDR, bus_frequency),
 	ModuleParams(nullptr),
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus)
 {}

src/drivers/distance_sensor/mb12xx/mb12xx.cpp

@@ -74,7 +74,6 @@ using namespace time_literals;
 #define MB12XX_BASE_ADDR                        0x70   // 7-bit address is 0x70 = 112. 8-bit address is 0xE0 = 224.
 #define MB12XX_MIN_ADDR                         0x5A   // 7-bit address is 0x5A = 90.  8-bit address is 0xB4 = 180.
 #define MB12XX_BUS_SPEED                        100000 // 100kHz bus speed.
-#define MB12XX_DEVICE_PATH                      "/dev/mb12xx"
 
 /* MB12xx Registers addresses */
 #define MB12XX_TAKE_RANGE_REG                   0x51 // Measure range Register.
@@ -179,7 +178,7 @@ private:
 };
 
 MB12XX::MB12XX(I2CSPIBusOption bus_option, const int bus, int bus_frequency, int address) :
-	I2C("MB12xx", MB12XX_DEVICE_PATH, bus, address, bus_frequency),
+	I2C(DRV_DIST_DEVTYPE_MB12XX, MODULE_NAME, bus, address, bus_frequency),
 	ModuleParams(nullptr),
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus, address)
 {

src/drivers/distance_sensor/pga460/pga460.cpp

@@ -84,7 +84,7 @@ uint8_t PGA460::calc_checksum(uint8_t *data, const uint8_t size)
 
 int PGA460::close_serial()
 {
-	int ret = px4_close(_fd);
+	int ret = ::close(_fd);
 
 	if (ret != 0) {
 		PX4_WARN("Could not close serial port");
@@ -292,7 +292,7 @@ float PGA460::get_temperature()
 
 int PGA460::open_serial()
 {
-	_fd = px4_open(_port, O_RDWR | O_NOCTTY | O_NONBLOCK);
+	_fd = ::open(_port, O_RDWR | O_NOCTTY | O_NONBLOCK);
 
 	if (_fd < 0) {
 		PX4_WARN("Failed to open serial port");

src/drivers/distance_sensor/pga460/pga460.h

@@ -382,7 +382,7 @@ private:
 	/** @orb_advert_t orb_advert_t uORB advertisement topic. */
 	orb_advert_t _distance_sensor_topic{nullptr};
 
-	/** @param _fd Returns the file descriptor from px4_open(). */
+	/** @param _fd Returns the file descriptor from open(). */
 	int _fd{-1};
 
 	/** @param _port Stores the port name. */

src/drivers/distance_sensor/sf0x/SF0X.cpp

@@ -49,8 +49,6 @@ SF0X::SF0X(const char *port, uint8_t rotation) :
 
 	/* enforce null termination */
 	_port[sizeof(_port) - 1] = '\0';
-
-	_px4_rangefinder.set_device_type(distance_sensor_s::MAV_DISTANCE_SENSOR_LASER);
 }
 
 SF0X::~SF0X()

src/drivers/distance_sensor/sf1xx/sf1xx.cpp

@@ -75,8 +75,6 @@
 
 /* Configuration Constants */
 #define SF1XX_BASEADDR		0x66
-#define SF1XX_DEVICE_PATH	"/dev/sf1xx"
-
 
 class SF1XX : public device::I2C, public I2CSPIDriver<SF1XX>
 {
@@ -166,7 +164,7 @@ private:
 extern "C" __EXPORT int sf1xx_main(int argc, char *argv[]);
 
 SF1XX::SF1XX(I2CSPIBusOption bus_option, const int bus, const uint8_t rotation, int bus_frequency, int address) :
-	I2C("SF1XX", SF1XX_DEVICE_PATH, bus, address, bus_frequency),
+	I2C(DRV_DIST_DEVTYPE_SF1XX, MODULE_NAME, bus, address, bus_frequency),
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
 	_rotation(rotation)
 {

src/drivers/distance_sensor/srf02/SRF02.cpp

@@ -34,9 +34,9 @@
 #include "SRF02.hpp"
 
 SRF02::SRF02(I2CSPIBusOption bus_option, const int bus, const uint8_t rotation, int bus_frequency, int address) :
-	I2C("SRF02", nullptr, bus, address, bus_frequency),
+	I2C(DRV_DIST_DEVTYPE_SRF02, MODULE_NAME, bus, address, bus_frequency),
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_px4_rangefinder(0 /* device id not yet used */, ORB_PRIO_DEFAULT, rotation)
+	_px4_rangefinder(get_device_id(), ORB_PRIO_DEFAULT, rotation)
 {
 	_px4_rangefinder.set_max_distance(SRF02_MAX_DISTANCE);
 	_px4_rangefinder.set_min_distance(SRF02_MIN_DISTANCE);

src/drivers/distance_sensor/teraranger/TERARANGER.cpp

@@ -74,9 +74,9 @@ static uint8_t crc8(uint8_t *p, uint8_t len)
 }
 
 TERARANGER::TERARANGER(I2CSPIBusOption bus_option, const int bus, const uint8_t rotation, int bus_frequency) :
-	I2C("TERARANGER", nullptr, bus, TERARANGER_ONE_BASEADDR, bus_frequency),
+	I2C(DRV_DIST_DEVTYPE_TERARANGER, MODULE_NAME, bus, TERARANGER_ONE_BASEADDR, bus_frequency),
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_px4_rangefinder(0 /* device id not yet used */, ORB_PRIO_DEFAULT, rotation)
+	_px4_rangefinder(get_device_id(), ORB_PRIO_DEFAULT, rotation)
 {
 	// up the retries since the device misses the first measure attempts
 	I2C::_retries = 3;

src/drivers/distance_sensor/vl53l0x/VL53L0X.cpp

@@ -60,7 +60,7 @@
 #define VL53L0X_BUS_CLOCK                               400000 // 400kHz bus clock speed
 
 VL53L0X::VL53L0X(I2CSPIBusOption bus_option, const int bus, const uint8_t rotation, int bus_frequency, int address) :
-	I2C("VL53L0X", nullptr, bus, address, bus_frequency),
+	I2C(DRV_DIST_DEVTYPE_VL53L0X, MODULE_NAME, bus, address, bus_frequency),
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
 	_px4_rangefinder(0 /* device id not yet used */, ORB_PRIO_DEFAULT, rotation)
 {

src/drivers/drv_sensor.h

@@ -53,7 +53,7 @@
  */
 
 #define DRV_MAG_DEVTYPE_HMC5883  0x01
-#define DRV_MAG_DEVTYPE_LSM303D  0x02
+#define DRV_MAG_DEVTYPE_LSM303D_LEGACY  0x02
 #define DRV_MAG_DEVTYPE_MAGSIM   0x03
 #define DRV_MAG_DEVTYPE_AK8963   0x04
 #define DRV_MAG_DEVTYPE_LIS3MDL  0x05
@@ -64,7 +64,7 @@
 #define DRV_IMU_DEVTYPE_ICM20948 0x0A
 #define DRV_MAG_DEVTYPE_IST8308  0x0B
 
-#define DRV_ACC_DEVTYPE_LSM303D  0x11
+#define DRV_IMU_DEVTYPE_LSM303D  0x11
 #define DRV_ACC_DEVTYPE_BMA180   0x12
 #define DRV_ACC_DEVTYPE_MPU6000_LEGACY  0x13
 #define DRV_ACC_DEVTYPE_ACCELSIM 0x14

src/drivers/imu/adis16448/ADIS16448.cpp

@@ -39,18 +39,13 @@
 
 ADIS16448::ADIS16448(I2CSPIBusOption bus_option, int bus, int32_t device, enum Rotation rotation, int bus_frequency,
 		     spi_mode_e spi_mode) :
-	SPI("ADIS16448", nullptr, bus, device, spi_mode, bus_frequency),
+	SPI(DRV_IMU_DEVTYPE_ADIS16448, MODULE_NAME, 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_MAX, rotation),
 	_px4_baro(get_device_id(), ORB_PRIO_MAX),
 	_px4_gyro(get_device_id(), ORB_PRIO_MAX, rotation),
 	_px4_mag(get_device_id(), ORB_PRIO_MAX, rotation)
 {
-	_px4_accel.set_device_type(DRV_IMU_DEVTYPE_ADIS16448);
-	_px4_baro.set_device_type(DRV_IMU_DEVTYPE_ADIS16448);
-	_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_ADIS16448);
-	_px4_mag.set_device_type(DRV_IMU_DEVTYPE_ADIS16448);
-
 	_px4_accel.set_scale(ADIS16448_ACCEL_SENSITIVITY);
 	_px4_gyro.set_scale(ADIS16448_GYRO_INITIAL_SENSITIVITY);
 	_px4_mag.set_scale(ADIS16448_MAG_SENSITIVITY);

src/drivers/imu/adis16477/ADIS16477.cpp

@@ -55,12 +55,12 @@ using namespace time_literals;
 
 ADIS16477::ADIS16477(I2CSPIBusOption bus_option, int bus, int32_t device, enum Rotation rotation, int bus_frequency,
 		     spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio) :
-	SPI("ADIS16477", nullptr, bus, device, spi_mode, bus_frequency),
+	SPI(DRV_IMU_DEVTYPE_ADIS16477, MODULE_NAME, 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_MAX, rotation),
 	_px4_gyro(get_device_id(), ORB_PRIO_MAX, rotation),
-	_sample_perf(perf_alloc(PC_ELAPSED, "adis16477: read")),
-	_bad_transfers(perf_alloc(PC_COUNT, "adis16477: bad transfers")),
+	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
+	_bad_transfers(perf_alloc(PC_COUNT, MODULE_NAME": bad transfers")),
 	_drdy_gpio(drdy_gpio)
 {
 #ifdef GPIO_SPI1_RESET_ADIS16477
@@ -68,10 +68,8 @@ ADIS16477::ADIS16477(I2CSPIBusOption bus_option, int bus, int32_t device, enum R
 	px4_arch_configgpio(GPIO_SPI1_RESET_ADIS16477);
 #endif // GPIO_SPI1_RESET_ADIS16477
 
-	_px4_accel.set_device_type(DRV_IMU_DEVTYPE_ADIS16477);
 	_px4_accel.set_scale(1.25f * CONSTANTS_ONE_G / 1000.0f); // accel 1.25 mg/LSB
 
-	_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_ADIS16477);
 	_px4_gyro.set_scale(math::radians(0.025f)); // gyro 0.025 °/sec/LSB
 }
 

src/drivers/imu/adis16497/ADIS16497.cpp

@@ -72,21 +72,18 @@ using namespace time_literals;
 
 ADIS16497::ADIS16497(I2CSPIBusOption bus_option, int bus, int32_t device, enum Rotation rotation, int bus_frequency,
 		     spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio) :
-	SPI("ADIS16497", nullptr, bus, device, spi_mode, bus_frequency),
+	SPI(DRV_IMU_DEVTYPE_ADIS16497, MODULE_NAME, 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_MAX, rotation),
 	_px4_gyro(get_device_id(), ORB_PRIO_MAX, rotation),
-	_sample_perf(perf_alloc(PC_ELAPSED, "adis16497: read")),
-	_bad_transfers(perf_alloc(PC_COUNT, "adis16497: bad transfers")),
+	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
+	_bad_transfers(perf_alloc(PC_COUNT, MODULE_NAME": bad transfers")),
 	_drdy_gpio(drdy_gpio)
 {
 #ifdef GPIO_SPI1_RESET_ADIS16497
 	// Configure hardware reset line
 	px4_arch_configgpio(GPIO_SPI1_RESET_ADIS16497);
 #endif // GPIO_SPI1_RESET_ADIS16497
-
-	_px4_accel.set_device_type(DRV_IMU_DEVTYPE_ADIS16497);
-	_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_ADIS16497);
 }
 
 ADIS16497::~ADIS16497()

src/drivers/imu/bma180/bma180.cpp

@@ -220,7 +220,7 @@ private:
 
 BMA180::BMA180(I2CSPIBusOption bus_option, int bus, int32_t device, enum Rotation rotation, int bus_frequency,
 	       spi_mode_e spi_mode) :
-	SPI("BMA180", ACCEL_DEVICE_PATH, bus, device, spi_mode, bus_frequency),
+	SPI(DRV_ACC_DEVTYPE_BMA180, MODULE_NAME, bus, device, spi_mode, bus_frequency),
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
 	_call_interval(0),
 	_reports(nullptr),
@@ -232,8 +232,6 @@ BMA180::BMA180(I2CSPIBusOption bus_option, int bus, int32_t device, enum Rotatio
 	_current_range(0),
 	_sample_perf(perf_alloc(PC_ELAPSED, "bma180_read"))
 {
-	_device_id.devid_s.devtype = DRV_ACC_DEVTYPE_BMA180;
-
 	// default scale factors
 	_accel_scale.x_offset = 0;
 	_accel_scale.x_scale  = 1.0f;

src/drivers/imu/bmi055/BMI055.hpp

@@ -53,7 +53,7 @@
 class BMI055 : public device::SPI, public I2CSPIDriver<BMI055>
 {
 public:
-	BMI055(const char *name, const char *devname, I2CSPIBusOption bus_option, int bus, int type, uint32_t device,
+	BMI055(uint8_t devtype, const char *name, const char *devname, I2CSPIBusOption bus_option, int bus, uint32_t device,
 	       enum spi_mode_e mode, uint32_t frequency, enum Rotation rotation);
 	virtual ~BMI055() = default;
 

src/drivers/imu/bmi055/BMI055_accel.cpp

@@ -46,8 +46,7 @@ const uint8_t BMI055_accel::_checked_registers[BMI055_ACCEL_NUM_CHECKED_REGISTER
 
 BMI055_accel::BMI055_accel(I2CSPIBusOption bus_option, int bus, const char *path_accel, uint32_t device,
 			   enum Rotation rotation, int bus_frequency, spi_mode_e spi_mode) :
-	BMI055("bmi055_accel", path_accel, bus_option, bus, DRV_ACC_DEVTYPE_BMI055, device, spi_mode, bus_frequency,
-	       rotation),
+	BMI055(DRV_ACC_DEVTYPE_BMI055, "bmi055_accel", path_accel, bus_option, bus, device, spi_mode, bus_frequency, rotation),
 	_px4_accel(get_device_id(), (external() ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1), rotation),
 	_sample_perf(perf_alloc(PC_ELAPSED, "bmi055_accel_read")),
 	_bad_transfers(perf_alloc(PC_COUNT, "bmi055_accel_bad_transfers")),
@@ -55,7 +54,6 @@ BMI055_accel::BMI055_accel(I2CSPIBusOption bus_option, int bus, const char *path
 	_duplicates(perf_alloc(PC_COUNT, "bmi055_accel_duplicates")),
 	_got_duplicate(false)
 {
-	_px4_accel.set_device_type(DRV_ACC_DEVTYPE_BMI055);
 }
 
 BMI055_accel::~BMI055_accel()

src/drivers/imu/bmi055/BMI055_gyro.cpp

@@ -51,14 +51,12 @@ const uint8_t BMI055_gyro::_checked_registers[BMI055_GYRO_NUM_CHECKED_REGISTERS]
 
 BMI055_gyro::BMI055_gyro(I2CSPIBusOption bus_option, int bus, const char *path_gyro, uint32_t device,
 			 enum Rotation rotation, int bus_frequency, spi_mode_e spi_mode) :
-	BMI055("bmi055_gyro", path_gyro, bus_option, bus, DRV_GYR_DEVTYPE_BMI055, device, spi_mode, bus_frequency,
-	       rotation),
+	BMI055(DRV_GYR_DEVTYPE_BMI055, "bmi055_gyro", path_gyro, bus_option, bus, device, spi_mode, bus_frequency, rotation),
 	_px4_gyro(get_device_id(), (external() ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1), rotation),
 	_sample_perf(perf_alloc(PC_ELAPSED, "bmi055_gyro_read")),
 	_bad_transfers(perf_alloc(PC_COUNT, "bmi055_gyro_bad_transfers")),
 	_bad_registers(perf_alloc(PC_COUNT, "bmi055_gyro_bad_registers"))
 {
-	_px4_gyro.set_device_type(DRV_GYR_DEVTYPE_BMI055);
 }
 
 BMI055_gyro::~BMI055_gyro()

src/drivers/imu/bmi055/bmi055_main.cpp

@@ -97,11 +97,10 @@ BMI055::custom_method(const BusCLIArguments &cli)
 	}
 }
 
-BMI055::BMI055(const char *name, const char *devname, I2CSPIBusOption bus_option, int bus, int type, uint32_t device,
-	       enum spi_mode_e mode,
-	       uint32_t frequency, enum Rotation rotation):
-	SPI(name, devname, bus, device, mode, frequency),
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus, type),
+BMI055::BMI055(uint8_t devtype, const char *name, const char *devname, I2CSPIBusOption bus_option, int bus,
+	       uint32_t device, enum spi_mode_e mode, uint32_t frequency, enum Rotation rotation):
+	SPI(devtype, name, bus, device, mode, frequency),
+	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus, devtype),
 	_whoami(0),
 	_register_wait(0),
 	_reset_wait(0),

src/drivers/imu/bmi088/BMI088.hpp

@@ -53,7 +53,7 @@
 class BMI088 : public device::SPI, public I2CSPIDriver<BMI088>
 {
 public:
-	BMI088(const char *name, const char *devname, I2CSPIBusOption bus_option, int bus, int type, uint32_t device,
+	BMI088(const char *name, const char *devname, I2CSPIBusOption bus_option, int bus, uint8_t type, uint32_t device,
 	       enum spi_mode_e mode, uint32_t frequency, enum Rotation rotation);
 	virtual ~BMI088() = default;
 

src/drivers/imu/bmi088/BMI088_accel.cpp

@@ -63,7 +63,6 @@ BMI088_accel::BMI088_accel(I2CSPIBusOption bus_option, int bus, const char *path
 	_duplicates(perf_alloc(PC_COUNT, "bmi088_accel_duplicates")),
 	_got_duplicate(false)
 {
-	_px4_accel.set_device_type(DRV_ACC_DEVTYPE_BMI088);
 }
 
 BMI088_accel::~BMI088_accel()

src/drivers/imu/bmi088/BMI088_gyro.cpp

@@ -65,7 +65,6 @@ BMI088_gyro::BMI088_gyro(I2CSPIBusOption bus_option, int bus, const char *path_g
 	_bad_transfers(perf_alloc(PC_COUNT, "bmi088_gyro_bad_transfers")),
 	_bad_registers(perf_alloc(PC_COUNT, "bmi088_gyro_bad_registers"))
 {
-	_px4_gyro.set_device_type(DRV_GYR_DEVTYPE_BMI088);
 }
 
 BMI088_gyro::~BMI088_gyro()

src/drivers/imu/bmi088/bmi088_main.cpp

@@ -96,10 +96,11 @@ BMI088::custom_method(const BusCLIArguments &cli)
 	}
 }
 
-BMI088::BMI088(const char *name, const char *devname, I2CSPIBusOption bus_option, int bus, int type, uint32_t device,
+BMI088::BMI088(const char *name, const char *devname, I2CSPIBusOption bus_option, int bus, uint8_t type,
+	       uint32_t device,
 	       enum spi_mode_e mode,
 	       uint32_t frequency, enum Rotation rotation):
-	SPI(name, devname, bus, device, mode, frequency),
+	SPI(type, MODULE_NAME, bus, device, mode, frequency),
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus, type),
 	_whoami(0),
 	_register_wait(0),

src/drivers/imu/bmi160/bmi160.cpp

@@ -51,7 +51,7 @@ const uint8_t BMI160::_checked_registers[BMI160_NUM_CHECKED_REGISTERS] = {    BM
 
 BMI160::BMI160(I2CSPIBusOption bus_option, int bus, int32_t device, enum Rotation rotation, int bus_frequency,
 	       spi_mode_e spi_mode) :
-	SPI("BMI160", nullptr, bus, device, spi_mode, bus_frequency),
+	SPI(DRV_IMU_DEVTYPE_BMI160, MODULE_NAME, 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(), (external() ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1), rotation),
 	_px4_gyro(get_device_id(), (external() ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1), rotation),
@@ -64,8 +64,6 @@ BMI160::BMI160(I2CSPIBusOption bus_option, int bus, int32_t device, enum Rotatio
 	_reset_retries(perf_alloc(PC_COUNT, "bmi160_reset_retries")),
 	_duplicates(perf_alloc(PC_COUNT, "bmi160_duplicates"))
 {
-	_px4_accel.set_device_type(DRV_IMU_DEVTYPE_BMI160);
-	_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_BMI160);
 }
 
 BMI160::~BMI160()

src/drivers/imu/fxas21002c/FXAS21002C.cpp

@@ -188,7 +188,7 @@ using namespace time_literals;
 
 FXAS21002C::FXAS21002C(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
 		       spi_mode_e spi_mode) :
-	SPI("FXAS21002C", nullptr, bus, device, spi_mode, bus_frequency),
+	SPI(DRV_GYR_DEVTYPE_FXAS2100C, MODULE_NAME, bus, device, spi_mode, bus_frequency),
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
 	_px4_gyro(get_device_id(), (external() ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT), rotation),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
@@ -196,7 +196,6 @@ FXAS21002C::FXAS21002C(I2CSPIBusOption bus_option, int bus, uint32_t device, enu
 	_bad_registers(perf_alloc(PC_COUNT, MODULE_NAME": bad register")),
 	_duplicates(perf_alloc(PC_COUNT, MODULE_NAME": duplicate reading"))
 {
-	_px4_gyro.set_device_type(DRV_GYR_DEVTYPE_FXAS2100C);
 }
 
 FXAS21002C::~FXAS21002C()

src/drivers/imu/fxos8701cq/FXOS8701CQ.cpp

@@ -55,7 +55,7 @@ const uint8_t FXOS8701CQ::_checked_registers[FXOS8701C_NUM_CHECKED_REGISTERS] =
 
 FXOS8701CQ::FXOS8701CQ(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
 		       spi_mode_e spi_mode) :
-	SPI("FXOS8701CQ", nullptr, bus, device, spi_mode, bus_frequency),
+	SPI(DRV_ACC_DEVTYPE_FXOS8701C, MODULE_NAME, 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_LOW, rotation),
 #if !defined(BOARD_HAS_NOISY_FXOS8700_MAG)
@@ -66,12 +66,7 @@ FXOS8701CQ::FXOS8701CQ(I2CSPIBusOption bus_option, int bus, uint32_t device, enu
 	_bad_registers(perf_alloc(PC_COUNT, MODULE_NAME": bad reg")),
 	_accel_duplicates(perf_alloc(PC_COUNT, MODULE_NAME": acc dupe"))
 {
-	set_device_type(DRV_ACC_DEVTYPE_FXOS8701C);
-
-	_px4_accel.set_device_type(DRV_ACC_DEVTYPE_FXOS8701C);
-
 #if !defined(BOARD_HAS_NOISY_FXOS8700_MAG)
-	_px4_mag.set_device_type(DRV_ACC_DEVTYPE_FXOS8701C);
 	_px4_mag.set_scale(0.001f);
 #endif
 }