refactor adis16497: use driver base class

boards/av/x-v1/init/rc.board_sensors

@@ -16,8 +16,7 @@ ms4525_airspeed -T 4515 -I -b 3 start
 if ! param greater SENS_EN_PMW3901 0
 then
 	# try to start adis16497 only if pmw3901 isn't enabled, or parameter doesn't exists
-	# TODO: this one is external SPI
+	adis16497 -S start
-	adis16497 start
 fi
 
 # Possible external compasses

src/drivers/drv_sensor.h

@@ -118,8 +118,7 @@
 
 #define DRV_ACC_DEVTYPE_LSM303AGR	0x61
 #define DRV_MAG_DEVTYPE_LSM303AGR	0x62
-#define DRV_ACC_DEVTYPE_ADIS16497	0x63
+#define DRV_IMU_DEVTYPE_ADIS16497	0x63
-#define DRV_GYR_DEVTYPE_ADIS16497	0x64
 #define DRV_BARO_DEVTYPE_BAROSIM	0x65
 #define DRV_GYR_DEVTYPE_BMI088		0x66
 #define DRV_BARO_DEVTYPE_BMP388	0x67

src/drivers/imu/adis16497/ADIS16497.cpp

@@ -70,29 +70,27 @@ static constexpr uint32_t ADIS16497_DEFAULT_RATE = 1000;
 
 using namespace time_literals;
 
-ADIS16497::ADIS16497(int bus, uint32_t device, enum Rotation rotation) :
+ADIS16497::ADIS16497(I2CSPIBusOption bus_option, int bus, int32_t device, enum Rotation rotation, int bus_frequency,
-	SPI("ADIS16497", nullptr, bus, device, SPIDEV_MODE3, 5000000),
+		     spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio) :
-	ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())),
+	SPI("ADIS16497", 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_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"))
+	_bad_transfers(perf_alloc(PC_COUNT, "adis16497: 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_ACC_DEVTYPE_ADIS16497);
+	_px4_accel.set_device_type(DRV_IMU_DEVTYPE_ADIS16497);
-
+	_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_ADIS16497);
-	_px4_gyro.set_device_type(DRV_GYR_DEVTYPE_ADIS16497);
 }
 
 ADIS16497::~ADIS16497()
 {
-	// make sure we are truly inactive
-	stop();
-
 	// delete the perf counters
 	perf_free(_sample_perf);
 	perf_free(_bad_transfers);
@@ -101,11 +99,12 @@ ADIS16497::~ADIS16497()
 int
 ADIS16497::init()
 {
-	// do SPI init (and probe) first
+	int ret = SPI::init();
-	if (SPI::init() != OK) {
+
+	if (ret != OK) {
 		// if probe/setup failed, bail now
-		PX4_DEBUG("SPI setup failed");
+		DEVICE_DEBUG("SPI init failed (%i)", ret);
-		return PX4_ERROR;
+		return ret;
 	}
 
 	start();
@@ -257,17 +256,17 @@ ADIS16497::probe()
 					return PX4_OK;
 
 				} else {
-					PX4_ERR("probe attempt %d: reading model id failed, resetting", i);
+					DEVICE_DEBUG("probe attempt %d: reading model id failed, resetting", i);
 					reset();
 				}
 
 			} else {
-				PX4_ERR("probe attempt %d: self test failed, resetting", i);
+				DEVICE_DEBUG("probe attempt %d: self test failed, resetting", i);
 				reset();
 			}
 
 		} else {
-			PX4_ERR("probe attempt %d: read product id failed, resetting", i);
+			DEVICE_DEBUG("probe attempt %d: read product id failed, resetting", i);
 			reset();
 		}
 	}
@@ -380,27 +379,25 @@ ADIS16497::write_reg16(uint8_t reg, uint16_t value)
 void
 ADIS16497::start()
 {
-#ifdef GPIO_SPI1_DRDY1_ADIS16497
+	if (_drdy_gpio != 0) {
-	// Setup data ready on rising edge
+		// Setup data ready on rising edge
-	px4_arch_gpiosetevent(GPIO_SPI1_DRDY1_ADIS16497, true, false, true, &ADIS16497::data_ready_interrupt, this);
+		px4_arch_gpiosetevent(_drdy_gpio, true, false, true, &ADIS16497::data_ready_interrupt, this);
-#else
-	// Make sure we are stopped first
-	stop();
 
-	// start polling at the specified rate
+	} else {
-	ScheduleOnInterval((1_s / ADIS16497_DEFAULT_RATE), 10000);
+		// start polling at the specified rate
-#endif
+		ScheduleOnInterval((1_s / ADIS16497_DEFAULT_RATE), 10000);
+	}
 }
 
 void
-ADIS16497::stop()
+ADIS16497::exit_and_cleanup()
 {
-#ifdef GPIO_SPI1_DRDY1_ADIS16497
+	if (_drdy_gpio != 0) {
-	// Disable data ready callback
+		// Disable data ready callback
-	px4_arch_gpiosetevent(GPIO_SPI1_DRDY1_ADIS16497, false, false, false, nullptr, nullptr);
+		px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr);
-#else
+	}
-	ScheduleClear();
+
-#endif
+	I2CSPIDriverBase::exit_and_cleanup();
 }
 
 int
@@ -415,7 +412,7 @@ ADIS16497::data_ready_interrupt(int irq, void *context, void *arg)
 }
 
 void
-ADIS16497::Run()
+ADIS16497::RunImpl()
 {
 	// make another measurement
 	measure();
@@ -505,8 +502,9 @@ ADIS16497::measure()
 }
 
 void
-ADIS16497::print_info()
+ADIS16497::print_status()
 {
+	I2CSPIDriverBase::print_status();
 	perf_print_counter(_sample_perf);
 	perf_print_counter(_bad_transfers);
 

src/drivers/imu/adis16497/ADIS16497.hpp

@@ -45,7 +45,7 @@
 #include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
 #include <perf/perf_counter.h>
 #include <px4_platform_common/getopt.h>
-#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/i2c_spi_buses.h>
 
 // TODO : This is a copy of the NuttX CRC32 table
 static constexpr uint32_t crc32_tab[] = {
@@ -83,18 +83,25 @@ static constexpr uint32_t crc32_tab[] = {
 	0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d
 };
 
-class ADIS16497 : public device::SPI, public px4::ScheduledWorkItem
+class ADIS16497 : public device::SPI, public I2CSPIDriver<ADIS16497>
 {
 public:
-	ADIS16497(int bus, uint32_t device, enum Rotation rotation = ROTATION_NONE);
+	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);
 	virtual ~ADIS16497();
 
-	virtual int		init();
+	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+					     int runtime_instance);
+	static void print_usage();
 
-	void			print_info();
+	int		init() override;
 
+	void			print_status() override;
+
+	void			RunImpl();
 protected:
-	virtual int		probe();
+	int		probe() override;
+	void exit_and_cleanup() override;
 
 private:
 
@@ -104,6 +111,8 @@ private:
 	perf_counter_t		_sample_perf;
 	perf_counter_t		_bad_transfers;
 
+	const spi_drdy_gpio_t _drdy_gpio;
+
 #pragma pack(push, 1)
 	// Report conversation with the ADIS16497, including command byte.
 	struct ADISReport {
@@ -135,11 +144,6 @@ private:
 	 */
 	void			start();
 
-	/**
-	 * Stop automatic measurement.
-	 */
-	void			stop();
-
 	/**
 	 * Reset chip.
 	 *
@@ -147,8 +151,6 @@ private:
 	 */
 	int			reset();
 
-	void			Run() override;
-
 	static int		data_ready_interrupt(int irq, void *context, void *arg);
 
 	/**

src/drivers/imu/adis16497/adis16497_main.cpp

@@ -34,107 +34,74 @@
 #include "ADIS16497.hpp"
 
 #include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module.h>
 
-namespace adis16497
+void
+ADIS16497::print_usage()
 {
-ADIS16497 *g_dev{nullptr};
+	PRINT_MODULE_USAGE_NAME("adis16497", "driver");
-
+	PRINT_MODULE_USAGE_SUBCATEGORY("imu");
-static int start(enum Rotation rotation)
+	PRINT_MODULE_USAGE_COMMAND("start");
-{
+	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
-	if (g_dev != nullptr) {
+	PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
-		PX4_WARN("already started");
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
-		return 0;
-	}
-
-	// create the driver
-#if defined(PX4_SPIDEV_EXTERNAL1_1)
-	g_dev = new ADIS16497(PX4_SPI_BUS_EXTERNAL1, PX4_SPIDEV_EXTERNAL1_1, rotation);
-#else
-	PX4_ERR("External SPI not available");
-	return -1;
-#endif
-
-	if (g_dev == nullptr) {
-		PX4_ERR("driver start failed");
-		return -1;
-	}
-
-	if (g_dev->init() != PX4_OK) {
-		PX4_ERR("driver init failed");
-		delete g_dev;
-		g_dev = nullptr;
-		return -1;
-	}
-
-	return 0;
 }
 
-static int stop()
+I2CSPIDriverBase *ADIS16497::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+		int runtime_instance)
 {
-	if (g_dev == nullptr) {
+	ADIS16497 *instance = new ADIS16497(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
-		PX4_WARN("driver not running");
+					    cli.bus_frequency, cli.spi_mode, iterator.DRDYGPIO());
-		return -1;
+
+	if (!instance) {
+		PX4_ERR("alloc failed");
+		return nullptr;
 	}
 
-	delete g_dev;
+	if (OK != instance->init()) {
-	g_dev = nullptr;
+		delete instance;
-
+		return nullptr;
-	return 0;
-}
-
-static int status()
-{
-	if (g_dev == nullptr) {
-		PX4_INFO("driver not running");
-		return 0;
 	}
 
-	g_dev->print_info();
+	return instance;
-
-	return 0;
 }
 
-static int usage()
-{
-	PX4_INFO("missing command: try 'start', 'stop', 'status'");
-	PX4_INFO("options:");
-	PX4_INFO("    -R rotation");
-
-	return 0;
-}
-
-} // namespace adis16497
-
 extern "C" int adis16497_main(int argc, char *argv[])
 {
-	enum Rotation rotation = ROTATION_NONE;
+	int ch;
-	int myoptind = 1;
+	using ThisDriver = ADIS16497;
-	int ch = 0;
+	BusCLIArguments cli{false, true};
-	const char *myoptarg = nullptr;
+	cli.default_spi_frequency = 5000000;
 
-	// 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:
-			return adis16497::usage();
 		}
 	}
 
-	const char *verb = argv[myoptind];
+	const char *verb = cli.optarg();
 
-	if (!strcmp(verb, "start")) {
+	if (!verb) {
-		return adis16497::start(rotation);
+		ThisDriver::print_usage();
-
+		return -1;
-	} else if (!strcmp(verb, "stop")) {
-		return adis16497::stop();
-
-	} else if (!strcmp(verb, "status")) {
-		return adis16497::status();
 	}
 
-	return adis16497::usage();
+	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_IMU_DEVTYPE_ADIS16497);
+
+	if (!strcmp(verb, "start")) {
+		return ThisDriver::module_start(cli, iterator);
+	}
+
+	if (!strcmp(verb, "stop")) {
+		return ThisDriver::module_stop(iterator);
+	}
+
+	if (!strcmp(verb, "status")) {
+		return ThisDriver::module_status(iterator);
+	}
+
+	ThisDriver::print_usage();
+	return -1;
 }