refactor bmi055: use driver base class

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

@@ -24,10 +24,10 @@ mpu6000 -R 8 -s -T 20602 start
 mpu6000 -R 8 -s -T 20689 start
 
 # Internal SPI bus BMI055 accel
-bmi055 -A -R 10 start
+bmi055 -A -R 10 -s start
 
 # Internal SPI bus BMI055 gyro
-bmi055 -G -R 10 start
+bmi055 -G -R 10 -s start
 
 # Possible external compasses
 ist8310 -X start

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

@@ -18,10 +18,10 @@ mpu6000 -R 8 -s -T 20689 start
 #icm20689 start
 
 # Internal SPI bus BMI055 accel
-bmi055 -A -R 10 start
+bmi055 -A -R 10 -s start
 
 # Internal SPI bus BMI055 gyro
-bmi055 -G -R 10 start
+bmi055 -G -R 10 -s start
 
 # Possible external compasses
 ist8310 -X start

src/drivers/imu/bmi055/BMI055.hpp

@@ -37,6 +37,7 @@
 #include <ecl/geo/geo.h>
 #include <lib/perf/perf_counter.h>
 #include <px4_platform_common/getopt.h>
+#include <px4_platform_common/i2c_spi_buses.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 
 #define DIR_READ                0x80
@@ -49,12 +50,28 @@
 
 #define BMI055_TIMER_REDUCTION				200
 
-class BMI055 : public device::SPI
+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,
+	       enum spi_mode_e mode, uint32_t frequency, enum Rotation rotation);
+	virtual ~BMI055() = default;
 
+	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+					     int runtime_instance);
+	static void print_usage();
+
+	virtual void start() = 0;
+
+	virtual void RunImpl() = 0;
 protected:
 
-	uint8_t         _whoami;    /** whoami result */
+	virtual void print_registers() = 0;
+	virtual void test_error() = 0;
+
+	void custom_method(const BusCLIArguments &cli) override;
+
+	uint8_t         _whoami;    ///< whoami result
 
 	uint8_t         _register_wait;
 	uint64_t        _reset_wait;
@@ -80,16 +97,4 @@ protected:
 	*/
 	void            write_reg(unsigned reg, uint8_t value);
 
-	/* do not allow to copy this class due to pointer data members */
-	BMI055(const BMI055 &);
-	BMI055 operator=(const BMI055 &);
-
-public:
-
-	BMI055(const char *name, const char *devname, 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

@@ -44,9 +44,10 @@ const uint8_t BMI055_accel::_checked_registers[BMI055_ACCEL_NUM_CHECKED_REGISTER
 											  BMI055_ACC_INT_MAP_1,
 										     };
 
-BMI055_accel::BMI055_accel(int bus, const char *path_accel, uint32_t device, enum Rotation rotation) :
+BMI055_accel::BMI055_accel(I2CSPIBusOption bus_option, int bus, const char *path_accel, uint32_t device,
-	BMI055("BMI055_ACCEL", path_accel, bus, device, SPIDEV_MODE3, BMI055_BUS_SPEED, rotation),
+			   enum Rotation rotation, int bus_frequency, spi_mode_e spi_mode) :
-	ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())),
+	BMI055("bmi055_accel", path_accel, bus_option, bus, DRV_ACC_DEVTYPE_BMI055, 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")),
@@ -59,10 +60,6 @@ BMI055_accel::BMI055_accel(int bus, const char *path_accel, uint32_t device, enu
 
 BMI055_accel::~BMI055_accel()
 {
-	/* make sure we are truly inactive */
-	stop();
-
-	/* delete the perf counter */
 	perf_free(_sample_perf);
 	perf_free(_bad_transfers);
 	perf_free(_bad_registers);
@@ -218,26 +215,10 @@ BMI055_accel::set_accel_range(unsigned max_g)
 void
 BMI055_accel::start()
 {
-	/* make sure we are stopped first */
-	stop();
-
 	/* start polling at the specified rate */
 	ScheduleOnInterval(BMI055_ACCEL_DEFAULT_RATE - BMI055_TIMER_REDUCTION, 1000);
 }
 
-void
-BMI055_accel::stop()
-{
-	ScheduleClear();
-}
-
-void
-BMI055_accel::Run()
-{
-	/* make another measurement */
-	measure();
-}
-
 void
 BMI055_accel::check_registers(void)
 {
@@ -282,7 +263,7 @@ BMI055_accel::check_registers(void)
 }
 
 void
-BMI055_accel::measure()
+BMI055_accel::RunImpl()
 {
 	if (hrt_absolute_time() < _reset_wait) {
 		// we're waiting for a reset to complete
@@ -402,8 +383,10 @@ BMI055_accel::measure()
 }
 
 void
-BMI055_accel::print_info()
+BMI055_accel::print_status()
 {
+	I2CSPIDriverBase::print_status();
+	PX4_INFO("Type: Accel");
 	perf_print_counter(_sample_perf);
 	perf_print_counter(_bad_transfers);
 	perf_print_counter(_bad_registers);

src/drivers/imu/bmi055/BMI055_accel.hpp

@@ -139,31 +139,29 @@
 /* Mask definitions for ACCD_X_LSB, ACCD_Y_LSB and ACCD_Z_LSB Register */
 #define BMI055_NEW_DATA_MASK                 0x01
 
-class BMI055_accel : public BMI055, public px4::ScheduledWorkItem
+class BMI055_accel : public BMI055
 {
 public:
-	BMI055_accel(int bus, const char *path_accel, uint32_t device, enum Rotation rotation);
+	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);
 	virtual ~BMI055_accel();
 
-	virtual int     init();
+	int init() override;
 
-	// Start automatic measurement.
+	/// Start automatic measurement.
-	void            start();
+	void start() override;
 
-	/**
+	void print_status() override;
-	* Diagnostics - print some basic information about the driver.
-	*/
-	void            print_info();
 
-	void            print_registers();
+	void print_registers() override;
 
-	// deliberately cause a sensor error
+	/// deliberately cause a sensor error
-	void            test_error();
+	void test_error() override;
 
+	void RunImpl() override;
 protected:
 
-	virtual int     probe();
+	int probe() override;
-
 private:
 
 	PX4Accelerometer	_px4_accel;
@@ -183,11 +181,6 @@ private:
 
 	bool            _got_duplicate;
 
-	/**
-	 * Stop automatic measurement.
-	 */
-	void            stop();
-
 	/**
 	 * Reset chip.
 	 *
@@ -195,13 +188,6 @@ private:
 	 */
 	int         reset();
 
-	void     Run() override;
-
-	/**
-	 * Fetch measurements from the sensor and update the report buffers.
-	 */
-	void            measure();
-
 	/**
 	 * Modify a register in the BMI055_accel
 	 *

src/drivers/imu/bmi055/BMI055_gyro.cpp

@@ -47,9 +47,10 @@ const uint8_t BMI055_gyro::_checked_registers[BMI055_GYRO_NUM_CHECKED_REGISTERS]
 											BMI055_GYR_INT_MAP_1
 										   };
 
-BMI055_gyro::BMI055_gyro(int bus, const char *path_gyro, uint32_t device, enum Rotation rotation) :
+BMI055_gyro::BMI055_gyro(I2CSPIBusOption bus_option, int bus, const char *path_gyro, uint32_t device,
-	BMI055("BMI055_GYRO", path_gyro, bus, device, SPIDEV_MODE3, BMI055_BUS_SPEED, rotation),
+			 enum Rotation rotation, int bus_frequency, spi_mode_e spi_mode) :
-	ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())),
+	BMI055("bmi055_gyro", path_gyro, bus_option, bus, DRV_GYR_DEVTYPE_BMI055, 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")),
@@ -60,10 +61,6 @@ BMI055_gyro::BMI055_gyro(int bus, const char *path_gyro, uint32_t device, enum R
 
 BMI055_gyro::~BMI055_gyro()
 {
-	/* make sure we are truly inactive */
-	stop();
-
-	/* delete the perf counter */
 	perf_free(_sample_perf);
 	perf_free(_bad_transfers);
 	perf_free(_bad_registers);
@@ -254,26 +251,10 @@ BMI055_gyro::set_gyro_range(unsigned max_dps)
 void
 BMI055_gyro::start()
 {
-	/* make sure we are stopped first */
-	stop();
-
 	/* start polling at the specified rate */
 	ScheduleOnInterval(BMI055_GYRO_DEFAULT_RATE - BMI055_TIMER_REDUCTION, 1000);
 }
 
-void
-BMI055_gyro::stop()
-{
-	ScheduleClear();
-}
-
-void
-BMI055_gyro::Run()
-{
-	/* make another measurement */
-	measure();
-}
-
 void
 BMI055_gyro::check_registers(void)
 {
@@ -318,7 +299,7 @@ BMI055_gyro::check_registers(void)
 }
 
 void
-BMI055_gyro::measure()
+BMI055_gyro::RunImpl()
 {
 	if (hrt_absolute_time() < _reset_wait) {
 		// we're waiting for a reset to complete
@@ -412,9 +393,10 @@ BMI055_gyro::measure()
 }
 
 void
-BMI055_gyro::print_info()
+BMI055_gyro::print_status()
 {
-	PX4_INFO("Gyro");
+	I2CSPIDriverBase::print_status();
+	PX4_INFO("Type: Gyro");
 
 	perf_print_counter(_sample_perf);
 	perf_print_counter(_bad_transfers);

src/drivers/imu/bmi055/BMI055_gyro.hpp

@@ -131,30 +131,29 @@
 
 #define BMI055_ACC_TEMP             0x08
 
-class BMI055_gyro : public BMI055, public px4::ScheduledWorkItem
+class BMI055_gyro : public BMI055
 {
 public:
-	BMI055_gyro(int bus, const char *path_gyro, uint32_t device, enum Rotation rotation);
+	BMI055_gyro(I2CSPIBusOption bus_option, int bus, const char *path_accel, uint32_t device, enum Rotation rotation,
+		    int bus_frequency, spi_mode_e spi_mode);
 	virtual ~BMI055_gyro();
 
-	virtual int     init();
+	int init() override;
 
-	// Start automatic measurement.
+	/// Start automatic measurement.
-	void            start();
+	void start() override;
 
-	/**
+	void print_status() override;
-	* Diagnostics - print some basic information about the driver.
-	*/
-	void            print_info();
 
-	void            print_registers();
+	void print_registers() override;
 
-	// deliberately cause a sensor error
+	/// deliberately cause a sensor error
-	void            test_error();
+	void test_error() override;
 
+	void RunImpl() override;
 protected:
 
-	virtual int     probe();
+	int probe() override;
 
 private:
 
@@ -172,11 +171,6 @@ private:
 	uint8_t         _checked_values[BMI055_GYRO_NUM_CHECKED_REGISTERS];
 	uint8_t         _checked_bad[BMI055_GYRO_NUM_CHECKED_REGISTERS];
 
-	/**
-	 * Stop automatic measurement.
-	 */
-	void            stop();
-
 	/**
 	 * Reset chip.
 	 *
@@ -184,13 +178,6 @@ private:
 	 */
 	int         reset();
 
-	void     Run() override;
-
-	/**
-	 * Fetch measurements from the sensor and update the report buffers.
-	 */
-	void            measure();
-
 	/**
 	 * Modify a register in the BMI055_gyro
 	 *

src/drivers/imu/bmi055/bmi055_main.cpp

@@ -33,267 +33,75 @@
 
 #include "BMI055_accel.hpp"
 #include "BMI055_gyro.hpp"
+#include <px4_platform_common/i2c_spi_buses.h>
+#include <px4_platform_common/module.h>
 
 /** driver 'main' command */
 extern "C" { __EXPORT int bmi055_main(int argc, char *argv[]); }
 
-enum sensor_type {
-	BMI055_NONE = 0,
-	BMI055_ACCEL = 1,
-	BMI055_GYRO
-};
-
-namespace bmi055
-{
-
-BMI055_accel    *g_acc_dev_int; // on internal bus (accel)
-BMI055_accel    *g_acc_dev_ext; // on external bus (accel)
-BMI055_gyro     *g_gyr_dev_int; // on internal bus (gyro)
-BMI055_gyro     *g_gyr_dev_ext; // on external bus (gyro)
-
-void    start(bool, enum Rotation, enum sensor_type);
-void    stop(bool, enum sensor_type);
-void    info(bool, enum sensor_type);
-void    regdump(bool, enum sensor_type);
-void    testerror(bool, enum sensor_type);
-void    usage();
-
-/**
- * Start the driver.
- *
- * This function only returns if the driver is up and running
- * or failed to detect the sensor.
- */
 void
-start(bool external_bus, enum Rotation rotation, enum sensor_type sensor)
+BMI055::print_usage()
 {
-	BMI055_accel **g_dev_acc_ptr = external_bus ? &g_acc_dev_ext : &g_acc_dev_int;
+	PRINT_MODULE_USAGE_NAME("bmi055", "driver");
-	const char *path_accel = external_bus ? BMI055_DEVICE_PATH_ACCEL_EXT : BMI055_DEVICE_PATH_ACCEL;
+	PRINT_MODULE_USAGE_SUBCATEGORY("imu");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_PARAM_FLAG('A', "Accel", true);
+	PRINT_MODULE_USAGE_PARAM_FLAG('G', "Gyro", true);
+	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
+	PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
 
-	BMI055_gyro **g_dev_gyr_ptr = external_bus ? &g_gyr_dev_ext : &g_gyr_dev_int;
+	PRINT_MODULE_USAGE_COMMAND("regdump");
-	const char *path_gyro  = external_bus ? BMI055_DEVICE_PATH_GYRO_EXT : BMI055_DEVICE_PATH_GYRO;
+	PRINT_MODULE_USAGE_COMMAND("testerror");
 
-	if (sensor == BMI055_ACCEL) {
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
-		if (*g_dev_acc_ptr != nullptr)
+}
-			/* if already started, the still command succeeded */
-		{
-			errx(0, "bmi055 accel sensor already started");
-		}
 
-		/* create the driver */
+I2CSPIDriverBase *BMI055::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-		if (external_bus) {
+				      int runtime_instance)
-#if defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_BMI)
+{
-			*g_dev_acc_ptr = new BMI055_accel(PX4_SPI_BUS_EXT, path_accel, PX4_SPIDEV_EXT_BMI, rotation);
+	BMI055 *instance = nullptr;
-#else
-			errx(0, "External SPI not available");
-#endif
 
-		} else {
+	if (cli.type == DRV_ACC_DEVTYPE_BMI055) {
-			*g_dev_acc_ptr = new BMI055_accel(PX4_SPI_BUS_SENSORS, path_accel, PX4_SPIDEV_BMI055_ACC, rotation);
+		instance = new BMI055_accel(iterator.configuredBusOption(), iterator.bus(), BMI055_DEVICE_PATH_ACCEL, iterator.devid(),
-		}
+					    cli.rotation, cli.bus_frequency, cli.spi_mode);
 
-		if (*g_dev_acc_ptr == nullptr) {
+	} else if (cli.type == DRV_GYR_DEVTYPE_BMI055) {
-			goto fail_accel;
+		instance = new BMI055_gyro(iterator.configuredBusOption(), iterator.bus(), BMI055_DEVICE_PATH_GYRO, iterator.devid(),
-		}
+					   cli.rotation, cli.bus_frequency, cli.spi_mode);
-
-		if (OK != (*g_dev_acc_ptr)->init()) {
-			goto fail_accel;
-		}
-
-		// start automatic data collection
-		(*g_dev_acc_ptr)->start();
 	}
 
-	if (sensor == BMI055_GYRO) {
+	if (instance == nullptr) {
-
+		return nullptr;
-		if (*g_dev_gyr_ptr != nullptr) {
-			errx(0, "bmi055 gyro sensor already started");
-		}
-
-		/* create the driver */
-		if (external_bus) {
-#if defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_BMI)
-			*g_dev_ptr = new BMI055_gyro(PX4_SPI_BUS_EXT, path_gyro, PX4_SPIDEV_EXT_BMI, rotation);
-#else
-			errx(0, "External SPI not available");
-#endif
-
-		} else {
-			*g_dev_gyr_ptr = new BMI055_gyro(PX4_SPI_BUS_SENSORS, path_gyro, PX4_SPIDEV_BMI055_GYR, rotation);
-		}
-
-		if (*g_dev_gyr_ptr == nullptr) {
-			goto fail_gyro;
-		}
-
-		if (OK != (*g_dev_gyr_ptr)->init()) {
-			goto fail_gyro;
-		}
-
-		// start automatic data collection
-		(*g_dev_gyr_ptr)->start();
 	}
 
-	exit(PX4_OK);
+	if (OK != instance->init()) {
-
+		PX4_DEBUG("no device on bus %i (devid 0x%x)", iterator.bus(), iterator.devid());
-fail_accel:
+		delete instance;
-
+		return nullptr;
-	if (*g_dev_acc_ptr != nullptr) {
-		delete (*g_dev_acc_ptr);
-		*g_dev_acc_ptr = nullptr;
 	}
 
-	PX4_WARN("No BMI055 accel found");
+	instance->start();
-	exit(PX4_ERROR);
 
-fail_gyro:
+	return instance;
-
-	if (*g_dev_gyr_ptr != nullptr) {
-		delete (*g_dev_gyr_ptr);
-		*g_dev_gyr_ptr = nullptr;
-	}
-
-	PX4_WARN("No BMI055 gyro found");
-	exit(PX4_ERROR);
 }
 
 void
-stop(bool external_bus, enum sensor_type sensor)
+BMI055::custom_method(const BusCLIArguments &cli)
 {
-	BMI055_accel **g_dev_acc_ptr = external_bus ? &g_acc_dev_ext : &g_acc_dev_int;
+	switch (cli.custom1) {
-	BMI055_gyro **g_dev_gyr_ptr = external_bus ? &g_gyr_dev_ext : &g_gyr_dev_int;
+	case 0: print_registers();
+		break;
 
-	if (sensor == BMI055_ACCEL) {
+	case 1: test_error();
-		if (*g_dev_acc_ptr != nullptr) {
+		break;
-			delete *g_dev_acc_ptr;
-			*g_dev_acc_ptr = nullptr;
-
-		} else {
-			/* warn, but not an error */
-			warnx("bmi055 accel sensor already stopped.");
-		}
 	}
-
-	if (sensor == BMI055_GYRO) {
-		if (*g_dev_gyr_ptr != nullptr) {
-			delete *g_dev_gyr_ptr;
-			*g_dev_gyr_ptr = nullptr;
-
-		} else {
-			/* warn, but not an error */
-			warnx("bmi055 gyro sensor already stopped.");
-		}
-	}
-
-	exit(0);
-
 }
 
-/**
+BMI055::BMI055(const char *name, const char *devname, I2CSPIBusOption bus_option, int bus, int type, uint32_t device,
- * Print a little info about the driver.
+	       enum spi_mode_e mode,
- */
-void
-info(bool external_bus, enum sensor_type sensor)
-{
-	BMI055_accel **g_dev_acc_ptr = external_bus ? &g_acc_dev_ext : &g_acc_dev_int;
-	BMI055_gyro **g_dev_gyr_ptr = external_bus ? &g_gyr_dev_ext : &g_gyr_dev_int;
-
-	if (sensor == BMI055_ACCEL) {
-		if (*g_dev_acc_ptr == nullptr) {
-			errx(1, "bmi055 accel driver not running");
-		}
-
-		printf("state @ %p\n", *g_dev_acc_ptr);
-		(*g_dev_acc_ptr)->print_info();
-	}
-
-	if (sensor == BMI055_GYRO) {
-		if (*g_dev_gyr_ptr == nullptr) {
-			errx(1, "bmi055 gyro driver not running");
-		}
-
-		printf("state @ %p\n", *g_dev_gyr_ptr);
-		(*g_dev_gyr_ptr)->print_info();
-	}
-
-	exit(0);
-}
-
-/**
- * Dump the register information
- */
-void
-regdump(bool external_bus, enum sensor_type sensor)
-{
-	BMI055_accel **g_dev_acc_ptr = external_bus ? &g_acc_dev_ext : &g_acc_dev_int;
-	BMI055_gyro **g_dev_gyr_ptr = external_bus ? &g_gyr_dev_ext : &g_gyr_dev_int;
-
-	if (sensor == BMI055_ACCEL) {
-		if (*g_dev_acc_ptr == nullptr) {
-			errx(1, "bmi055 accel driver not running");
-		}
-
-		printf("regdump @ %p\n", *g_dev_acc_ptr);
-		(*g_dev_acc_ptr)->print_registers();
-	}
-
-	if (sensor == BMI055_GYRO) {
-		if (*g_dev_gyr_ptr == nullptr) {
-			errx(1, "bmi055 gyro driver not running");
-		}
-
-		printf("regdump @ %p\n", *g_dev_gyr_ptr);
-		(*g_dev_gyr_ptr)->print_registers();
-	}
-
-	exit(0);
-}
-
-/**
- * deliberately produce an error to test recovery
- */
-void
-testerror(bool external_bus, enum sensor_type sensor)
-{
-	BMI055_accel **g_dev_acc_ptr = external_bus ? &g_acc_dev_ext : &g_acc_dev_int;
-	BMI055_gyro **g_dev_gyr_ptr = external_bus ? &g_gyr_dev_ext : &g_gyr_dev_int;
-
-	if (sensor == BMI055_ACCEL) {
-		if (*g_dev_acc_ptr == nullptr) {
-			errx(1, "bmi055 accel driver not running");
-		}
-
-		(*g_dev_acc_ptr)->test_error();
-	}
-
-	if (sensor == BMI055_GYRO) {
-		if (*g_dev_gyr_ptr == nullptr) {
-			errx(1, "bmi055 gyro driver not running");
-		}
-
-		(*g_dev_gyr_ptr)->test_error();
-	}
-
-	exit(0);
-}
-
-void
-usage()
-{
-	warnx("missing command: try 'start', 'info', 'stop', 'regdump', 'testerror'");
-	warnx("options:");
-	warnx("    -X    (external bus)");
-	warnx("    -R    rotation");
-	warnx("    -A    (Enable Accelerometer)");
-	warnx("    -G    (Enable Gyroscope)");
-}
-
-}//namespace ends
-
-
-BMI055::BMI055(const char *name, const char *devname, int bus, 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),
 	_whoami(0),
 	_register_wait(0),
 	_reset_wait(0),
@@ -336,77 +144,59 @@ BMI055::write_reg(unsigned reg, uint8_t value)
 int
 bmi055_main(int argc, char *argv[])
 {
-	bool external_bus = false;
+	using ThisDriver = BMI055;
 	int ch;
-	enum Rotation rotation = ROTATION_NONE;
+	BusCLIArguments cli{false, true};
-	enum sensor_type sensor = BMI055_NONE;
+	cli.type = 0;
-	int myoptind = 1;
+	cli.default_spi_frequency = BMI055_BUS_SPEED;
-	const char *myoptarg = NULL;
 
-	/* jump over start/off/etc and look at options first */
+	while ((ch = cli.getopt(argc, argv, "AGR:")) != EOF) {
-	while ((ch = px4_getopt(argc, argv, "XR:AG", &myoptind, &myoptarg)) != EOF) {
 		switch (ch) {
-		case 'X':
-			external_bus = true;
-			break;
-
-		case 'R':
-			rotation = (enum Rotation)atoi(myoptarg);
-			break;
-
 		case 'A':
-			sensor = BMI055_ACCEL;
+			cli.type = DRV_ACC_DEVTYPE_BMI055;
 			break;
 
 		case 'G':
-			sensor = BMI055_GYRO;
+			cli.type = DRV_GYR_DEVTYPE_BMI055;
 			break;
 
-		default:
+		case 'R':
-			bmi055::usage();
+			cli.rotation = (enum Rotation)atoi(cli.optarg());
-			exit(0);
+			break;
 		}
 	}
 
-	const char *verb = argv[myoptind];
+	const char *verb = cli.optarg();
 
-	if (sensor == BMI055_NONE) {
+	if (!verb) {
-		bmi055::usage();
+		ThisDriver::print_usage();
-		exit(0);
+		return -1;
 	}
 
-	/*
+	BusInstanceIterator iterator(MODULE_NAME, cli, cli.type);
-	 * Start/load the driver.
+
-	 */
 	if (!strcmp(verb, "start")) {
-		bmi055::start(external_bus, rotation, sensor);
+		return ThisDriver::module_start(cli, iterator);
 	}
 
-	/*
-	 * Stop the driver.
-	 */
 	if (!strcmp(verb, "stop")) {
-		bmi055::stop(external_bus, sensor);
+		return ThisDriver::module_stop(iterator);
 	}
 
-	/*
+	if (!strcmp(verb, "status")) {
-	 * Print driver information.
+		return ThisDriver::module_status(iterator);
-	 */
-	if (!strcmp(verb, "info")) {
-		bmi055::info(external_bus, sensor);
 	}
 
-	/*
-	 * Print register information.
-	 */
 	if (!strcmp(verb, "regdump")) {
-		bmi055::regdump(external_bus, sensor);
+		cli.custom1 = 0;
+		return ThisDriver::module_custom_method(cli, iterator);
 	}
 
 	if (!strcmp(verb, "testerror")) {
-		bmi055::testerror(external_bus, sensor);
+		cli.custom1 = 1;
+		return ThisDriver::module_custom_method(cli, iterator);
 	}
 
-	bmi055::usage();
+	ThisDriver::print_usage();
-	exit(1);
+	return -1;
 }