refactor bmm150: use driver base class

boards/nxp/fmuk66-v3/init/rc.board_sensors

@@ -12,7 +12,7 @@ ist8310 -X start
 qmc5883 -X start
 
 # Internal Mag I2C bus roll 180, yaw 90
-bmm150 -R 10 start
+bmm150 -I -R 10 start
 
 # Onboard I2C baros
 bmp280 -I start

boards/px4/fmu-v5x/init/rc.board_sensors

@@ -27,7 +27,7 @@ hmc5883 -C -T -X start
 qmc5883 -X start
 
 # Possible internal compass
-bmm150 start
+bmm150 -I start
 
 # Possible internal Baro
 bmp388 -I start

src/drivers/magnetometer/bmm150/bmm150.hpp

@@ -1,5 +1,36 @@
-#ifndef BMM150_HPP_
+/****************************************************************************
-#define BMM150_HPP_
+ *
+ *   Copyright (c) 2020 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.
+ *
+ ****************************************************************************/
+#pragma once
 
 #include <px4_platform_common/px4_config.h>
 
@@ -19,8 +50,7 @@
 #include <px4_platform_common/log.h>
 
 #include <perf/perf_counter.h>
-#include <systemlib/err.h>
+#include <px4_platform_common/i2c_spi_buses.h>
-#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <systemlib/conversions.h>
 
 #include <nuttx/arch.h>
@@ -37,10 +67,6 @@
 #include <lib/conversion/rotation.h>
 
 
-#define BMM150_DEVICE_PATH_MAG              "/dev/bmm150_i2c_int"
-
-#define BMM150_DEVICE_PATH_MAG_EXT          "/dev/bmm150_i2c_ext"
-
 #define BMM150_SLAVE_ADDRESS                 0x10
 
 #define BMM150_BUS_SPEED                     1000*100
@@ -191,35 +217,33 @@ struct bmm150_data {
 };
 
 
-class BMM150 : public device::I2C, public px4::ScheduledWorkItem
+class BMM150 : public device::I2C, public I2CSPIDriver<BMM150>
 {
 public:
-	BMM150(int bus, const char *path, enum Rotation rotation);
+	BMM150(I2CSPIBusOption bus_option, const int bus, int bus_frequency, enum Rotation rotation);
 	virtual ~BMM150();
 
-	virtual int             init();
+	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-	virtual ssize_t       read(struct file *filp, char *buffer, size_t buflen);
+					     int runtime_instance);
-	virtual int       ioctl(struct file *filp, int cmd, unsigned long arg);
+	static void print_usage();
 
-	/**
+	int             init() override;
-	 * Stop automatic measurement.
+	ssize_t       read(struct file *filp, char *buffer, size_t buflen) override;
-	 */
+	int       ioctl(struct file *filp, int cmd, unsigned long arg) override;
-	void            stop();
 
-	/**
+	void            print_status() override;
-	  * Diagnostics - print some basic information about the driver.
-	  */
-	void            print_info();
 
 	void        print_registers();
 
+	void	RunImpl();
+
+	void custom_method(const BusCLIArguments &cli) override;
+
 protected:
-	virtual int       probe();
+	int       probe() override;
 
 private:
 
-	bool _running;
-
 	/* altitude conversion calibration */
 	unsigned        _call_interval;
 
@@ -277,8 +301,6 @@ private:
 	int     measure(); //start measure
 	int     collect(); //get results and publish
 
-	void	Run() override;
-
 	/**
 	 * Read the specified number of bytes from BMM150.
 	 *
@@ -363,5 +385,3 @@ private:
 };
 
 
-
-#endif /* BMM150_HPP_ */