refactor lis3mdl: use driver base class

boards/px4/fmu-v4/init/rc.board_sensors

@@ -28,7 +28,7 @@ ms5611 -s start
 if ! hmc5883 -T -S -R 2 start
 then
 	# lis3mdl internal SPI bus is rotated 90 deg yaw
-	lis3mdl start
+	lis3mdl -s start
 fi
 
 # Start either ICM2060X. They are both connected to the same SPI bus and use the same

boards/px4/fmu-v4pro/init/rc.board_sensors

@@ -17,7 +17,7 @@ icm20602 -s -R 8 start
 mpu9250 -s -R 2 start
 
 # Internal SPI bus
-lis3mdl -R 0 start
+lis3mdl -s -R 0 start
 
 # Possible external compasses
 hmc5883 -T -X start

src/drivers/magnetometer/lis3mdl/lis3mdl.cpp

@@ -42,9 +42,9 @@
 #include <px4_platform_common/time.h>
 #include "lis3mdl.h"
 
-LIS3MDL::LIS3MDL(device::Device *interface, const char *path, enum Rotation rotation) :
+LIS3MDL::LIS3MDL(device::Device *interface, enum Rotation rotation, I2CSPIBusOption bus_option, int bus) :
-	CDev("LIS3MDL", path),
+	CDev("LIS3MDL", nullptr),
-	ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id())),
+	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id()), bus_option, bus),
 	_interface(interface),
 	_reports(nullptr),
 	_scale{},
@@ -91,9 +91,6 @@ LIS3MDL::LIS3MDL(device::Device *interface, const char *path, enum Rotation rota
 
 LIS3MDL::~LIS3MDL()
 {
-	/* make sure we are truly inactive */
-	stop();
-
 	if (_mag_topic != nullptr) {
 		orb_unadvertise(_mag_topic);
 	}
@@ -438,7 +435,7 @@ LIS3MDL::collect()
 }
 
 void
-LIS3MDL::Run()
+LIS3MDL::RunImpl()
 {
 	/* _measure_interval == 0  is used as _task_should_exit */
 	if (_measure_interval == 0) {
@@ -488,6 +485,9 @@ LIS3MDL::init()
 
 	_class_instance = register_class_devname(MAG_BASE_DEVICE_PATH);
 
+	_measure_interval = LIS3MDL_CONVERSION_INTERVAL;
+	start();
+
 	return PX4_OK;
 }
 
@@ -599,8 +599,9 @@ LIS3MDL::measure()
 }
 
 void
-LIS3MDL::print_info()
+LIS3MDL::print_status()
 {
+	I2CSPIDriverBase::print_status();
 	perf_print_counter(_sample_perf);
 	perf_print_counter(_comms_errors);
 	PX4_INFO("poll interval:  %u", _measure_interval);
@@ -793,16 +794,6 @@ LIS3MDL::start()
 	ScheduleNow();
 }
 
-void
-LIS3MDL::stop()
-{
-	if (_measure_interval > 0) {
-		/* ensure no new items are queued while we cancel this one */
-		_measure_interval = 0;
-		ScheduleClear();
-	}
-}
-
 int
 LIS3MDL::read_reg(uint8_t reg, uint8_t &val)
 {

src/drivers/magnetometer/lis3mdl/lis3mdl.h

@@ -48,7 +48,7 @@
 
 #include <lib/conversion/rotation.h>
 #include <systemlib/err.h>
-#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/i2c_spi_buses.h>
 
 #include <perf/perf_counter.h>
 #include <px4_platform_common/defines.h>
@@ -91,16 +91,8 @@
 #define CNTL_REG5_DEFAULT 0x00
 
 /* interface factories */
-extern device::Device *LIS3MDL_SPI_interface(int bus);
+extern device::Device *LIS3MDL_SPI_interface(int bus, uint32_t devid, int bus_frequency, spi_mode_e spi_mode);
-extern device::Device *LIS3MDL_I2C_interface(int bus);
+extern device::Device *LIS3MDL_I2C_interface(int bus, int bus_frequency);
-typedef device::Device *(*LIS3MDL_constructor)(int);
-
-enum LIS3MDL_BUS {
-	LIS3MDL_BUS_ALL = 0,
-	LIS3MDL_BUS_I2C_INTERNAL,
-	LIS3MDL_BUS_I2C_EXTERNAL,
-	LIS3MDL_BUS_SPI
-};
 
 enum OPERATING_MODE {
 	CONTINUOUS = 0,
@@ -108,33 +100,32 @@ enum OPERATING_MODE {
 };
 
 
-class LIS3MDL : public device::CDev, public px4::ScheduledWorkItem
+class LIS3MDL : public device::CDev, public I2CSPIDriver<LIS3MDL>
 {
 public:
-	LIS3MDL(device::Device *interface, const char *path, enum Rotation rotation);
+	LIS3MDL(device::Device *interface, enum Rotation rotation, I2CSPIBusOption bus_option, int bus);
-
 	virtual ~LIS3MDL();
 
+	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+					     int runtime_instance);
+	static void print_usage();
+
+	void custom_method(const BusCLIArguments &cli) override;
+
 	virtual int init();
 
 	virtual int ioctl(struct file *file_pointer, int cmd, unsigned long arg);
 
 	virtual int read(struct file *file_pointer, char *buffer, size_t buffer_len);
 
-	/**
+	void print_status() override;
-	 * Diagnostics - print some basic information about the driver.
-	 */
-	void print_info();
 
 	/**
 	 * Configures the device with default register values.
 	 */
 	int set_default_register_values();
 
-	/**
+	void RunImpl();
-	 * Stop the automatic measurement state machine.
-	 */
-	void stop();
 
 protected:
 	Device *_interface;
@@ -210,21 +201,6 @@ private:
 	*/
 	int check_offset();
 
-	/**
-	 * @brief Performs a poll cycle; collect from the previous measurement
-	 *        and start a new one.
-	 *
-	 * This is the heart of the measurement state machine.  This function
-	 * alternately starts a measurement, or collects the data from the
-	 * previous measurement.
-	 *
-	 * When the interval between measurements is greater than the minimum
-	 * measurement interval, a gap is inserted between collection
-	 * and measurement to provide the most recent measurement possible
-	 * at the next interval.
-	 */
-	void Run() override;
-
 	/**
 	 * Issue a measurement command.
 	 *

src/drivers/magnetometer/lis3mdl/lis3mdl_i2c.cpp

@@ -55,14 +55,12 @@
 #include "board_config.h"
 #include "lis3mdl.h"
 
-#if defined(PX4_I2C_BUS_ONBOARD) || defined(PX4_I2C_BUS_EXPANSION)
-
 #define LIS3MDLL_ADDRESS        0x1e
 
 class LIS3MDL_I2C : public device::I2C
 {
 public:
-	LIS3MDL_I2C(int bus);
+	LIS3MDL_I2C(int bus, int bus_frequency);
 	virtual ~LIS3MDL_I2C() = default;
 
 	virtual int     ioctl(unsigned operation, unsigned &arg);
@@ -75,16 +73,16 @@ protected:
 };
 
 device::Device *
-LIS3MDL_I2C_interface(int bus);
+LIS3MDL_I2C_interface(int bus, int bus_frequency);
 
 device::Device *
-LIS3MDL_I2C_interface(int bus)
+LIS3MDL_I2C_interface(int bus, int bus_frequency)
 {
-	return new LIS3MDL_I2C(bus);
+	return new LIS3MDL_I2C(bus, bus_frequency);
 }
 
-LIS3MDL_I2C::LIS3MDL_I2C(int bus) :
+LIS3MDL_I2C::LIS3MDL_I2C(int bus, int bus_frequency) :
-	I2C("LIS3MDL_I2C", nullptr, bus, LIS3MDLL_ADDRESS, 400000)
+	I2C("LIS3MDL_I2C", nullptr, bus, LIS3MDLL_ADDRESS, bus_frequency)
 {
 	_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_LIS3MDL;
 }
@@ -148,5 +146,3 @@ LIS3MDL_I2C::write(unsigned address, void *data, unsigned count)
 
 	return transfer(&buf[0], count + 1, nullptr, 0);
 }
-
-#endif /* PX4_I2C_OBDEV_LIS3MDL */

src/drivers/magnetometer/lis3mdl/lis3mdl_main.cpp

@@ -37,393 +37,106 @@
  * Driver for the LIS3MDL magnetometer connected via I2C or SPI.
  */
 
-#include "lis3mdl_main.h"
+#include "lis3mdl.h"
 #include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module.h>
 
-/**
+I2CSPIDriverBase *LIS3MDL::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
- * Driver 'main' command.
+				       int runtime_instance)
- */
-extern "C" __EXPORT int lis3mdl_main(int argc, char *argv[]);
-
-int
-lis3mdl::calibrate(struct lis3mdl_bus_option &bus)
 {
-	int ret;
+	device::Device *interface = nullptr;
-	const char *path = bus.devpath;
 
-	PX4_INFO("running on bus: %u (%s)", (unsigned)bus.bus_id, bus.devpath);
+	if (iterator.busType() == BOARD_I2C_BUS) {
+		interface = LIS3MDL_I2C_interface(iterator.bus(), cli.bus_frequency);
 
-	int fd = open(path, O_RDONLY);
+	} else if (iterator.busType() == BOARD_SPI_BUS) {
-
+		interface = LIS3MDL_SPI_interface(iterator.bus(), iterator.devid(), cli.bus_frequency, cli.spi_mode);
-	if (fd < 0) {
-		PX4_WARN("%s open failed (try 'lis3mdl start' if the driver is not running", path);
-		return PX4_ERROR;
 	}
 
-	if ((ret = ioctl(fd, MAGIOCCALIBRATE, fd)) != OK) {
+	if (interface == nullptr) {
-		PX4_WARN("failed to enable sensor calibration mode");
+		PX4_ERR("alloc failed");
+		return nullptr;
 	}
 
-	close(fd);
-
-	return ret;
-}
-
-int
-lis3mdl::info(struct lis3mdl_bus_option &bus)
-{
-	PX4_INFO("running on bus: %u (%s)", (unsigned)bus.bus_id, bus.devpath);
-	bus.dev->print_info();
-	return PX4_OK;
-}
-
-int
-lis3mdl::init(struct lis3mdl_bus_option &bus)
-{
-	const char *path = bus.devpath;
-
-	int fd = open(path, O_RDONLY);
-
-	if (fd < 0) {
-		return PX4_ERROR;
-	}
-
-	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
-		close(fd);
-		errx(1, "Failed to setup poll rate");
-		return PX4_ERROR;
-
-	} else {
-		PX4_INFO("Poll rate set to max (80hz)");
-	}
-
-	close(fd);
-
-	return PX4_OK;
-}
-
-int
-lis3mdl::start_bus(struct lis3mdl_bus_option &bus, Rotation rotation)
-{
-	if (bus.dev != nullptr) {
-		errx(1, "bus option already started");
-		return PX4_ERROR;
-	}
-
-	device::Device *interface = bus.interface_constructor(bus.busnum);
-
 	if (interface->init() != OK) {
 		delete interface;
-		warnx("no device on bus %u", (unsigned)bus.bus_id);
+		PX4_DEBUG("no device on bus %i (devid 0x%x)", iterator.bus(), iterator.devid());
-		return PX4_ERROR;
+		return nullptr;
 	}
 
-	bus.dev = new LIS3MDL(interface, bus.devpath, rotation);
+	LIS3MDL *dev = new LIS3MDL(interface, cli.rotation, iterator.configuredBusOption(), iterator.bus());
 
-	if (bus.dev != nullptr &&
+	if (dev == nullptr) {
-	    bus.dev->init() != OK) {
+		delete interface;
-		delete bus.dev;
+		return nullptr;
-		bus.dev = NULL;
-		return PX4_ERROR;
 	}
 
-	return PX4_OK;
+	if (OK != dev->init()) {
-}
+		delete dev;
-
+		return nullptr;
-int
-lis3mdl::start(struct lis3mdl_bus_option &bus, Rotation rotation)
-{
-	if (bus.dev == NULL) {
-		return start_bus(bus, rotation);
-
-	} else {
-		// this device is already started
-		return PX4_ERROR;
-	}
-}
-
-int
-lis3mdl::stop(struct lis3mdl_bus_option &bus)
-{
-	if (bus.dev != NULL) {
-		bus.dev->stop();
-		delete bus.dev;
-		bus.dev = nullptr;
-		return PX4_OK;
-
-	} else {
-		// this device is already stopped
-		return PX4_ERROR;
-	}
-}
-
-int
-lis3mdl::test(struct lis3mdl_bus_option &bus)
-{
-	sensor_mag_s report;
-	ssize_t sz;
-	int ret;
-	const char *path = bus.devpath;
-
-	PX4_INFO("running on bus: %u (%s)", (unsigned)bus.bus_id, bus.devpath);
-
-	int fd = open(path, O_RDONLY);
-
-	if (fd < 0) {
-		PX4_WARN("%s open failed (try 'lis3mdl start')", path);
-		return PX4_ERROR;
 	}
 
-	/* do a simple demand read */
+	return dev;
-	sz = read(fd, &report, sizeof(report));
-
-	if (sz != sizeof(report)) {
-		PX4_WARN("immediate read failed");
-		return PX4_ERROR;
-	}
-
-	print_message(report);
-
-	/* check if mag is onboard or external */
-	if (ioctl(fd, MAGIOCGEXTERNAL, 0) < 0) {
-		PX4_WARN("failed to get if mag is onboard or external");
-		return PX4_ERROR;
-	}
-
-	/* start the sensor polling at 2Hz */
-	if (ioctl(fd, SENSORIOCSPOLLRATE, 2) != OK) {
-		PX4_WARN("failed to set 2Hz poll rate");
-		return PX4_ERROR;
-	}
-
-	struct pollfd fds;
-
-	/* read the sensor 5x and report each value */
-	for (unsigned i = 0; i < 5; i++) {
-
-		/* wait for data to be ready */
-		fds.fd = fd;
-		fds.events = POLLIN;
-		ret = poll(&fds, 1, 2000);
-
-		if (ret != 1) {
-			PX4_WARN("timed out waiting for sensor data");
-			return PX4_ERROR;
-		}
-
-		/* now go get it */
-		sz = read(fd, &report, sizeof(report));
-
-		if (sz != sizeof(report)) {
-			PX4_WARN("periodic read failed");
-			return PX4_ERROR;
-		}
-
-		print_message(report);
-	}
-
-	PX4_INFO("PASS");
-	return PX4_OK;
-}
-
-int
-lis3mdl::reset(struct lis3mdl_bus_option &bus)
-{
-	const char *path = bus.devpath;
-
-	PX4_INFO("running on bus: %u (%s)", (unsigned)bus.bus_id, bus.devpath);
-
-	int fd = open(path, O_RDONLY);
-
-	if (fd < 0) {
-		PX4_WARN("open failed ");
-		return PX4_ERROR;
-	}
-
-	if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
-		PX4_WARN("driver reset failed");
-		return PX4_ERROR;
-	}
-
-	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
-		PX4_WARN("driver poll restart failed");
-		return PX4_ERROR;
-	}
-
-	return PX4_OK;
 }
 
 void
-lis3mdl::usage()
+LIS3MDL::custom_method(const BusCLIArguments &cli)
 {
-	PX4_WARN("missing command: try 'start', 'info', 'test', 'reset', 'info', 'calibrate'");
+	reset();
-	PX4_WARN("options:");
-	PX4_WARN("    -R rotation");
-	PX4_WARN("    -C calibrate on start");
-	PX4_WARN("    -X only external bus");
-	PX4_WARN("    -S only spi bus");
-#if (PX4_I2C_BUS_ONBOARD || PX4_SPIDEV_LIS)
-	PX4_WARN("    -I only internal bus");
-#endif
 }
 
-int
+void LIS3MDL::print_usage()
-lis3mdl_main(int argc, char *argv[])
 {
-	int myoptind = 1;
+	PRINT_MODULE_USAGE_NAME("lis3mdl", "driver");
+	PRINT_MODULE_USAGE_SUBCATEGORY("magnetometer");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, true);
+	PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
+	PRINT_MODULE_USAGE_COMMAND("reset");
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+}
+
+extern "C" int lis3mdl_main(int argc, char *argv[])
+{
+	using ThisDriver = LIS3MDL;
 	int ch;
-	const char *myoptarg = nullptr;
+	BusCLIArguments cli{true, true};
+	cli.default_i2c_frequency = 400000;
+	cli.default_spi_frequency = 11 * 1000 * 1000;
 
-	bool calibrate = false;
+	while ((ch = cli.getopt(argc, argv, "R:")) != EOF) {
-	enum LIS3MDL_BUS bus_id = LIS3MDL_BUS_ALL;
-	enum Rotation rotation = ROTATION_NONE;
-
-	while ((ch = px4_getopt(argc, argv, "XISR:CT", &myoptind, &myoptarg)) != EOF) {
 		switch (ch) {
 		case 'R':
-			rotation = (enum Rotation)atoi(myoptarg);
+			cli.rotation = (enum Rotation)atoi(cli.optarg());
 			break;
-#if (PX4_I2C_BUS_ONBOARD || PX4_SPIDEV_LIS)
-
-		case 'I':
-			bus_id = LIS3MDL_BUS_I2C_INTERNAL;
-			break;
-#endif
-
-		case 'X':
-			bus_id = LIS3MDL_BUS_I2C_EXTERNAL;
-			break;
-
-		case 'S':
-			bus_id = LIS3MDL_BUS_SPI;
-			break;
-
-		case 'C':
-			calibrate = true;
-			break;
-
-		default:
-			lis3mdl::usage();
-			return PX4_ERROR;
 		}
 	}
 
-	if (myoptind >= argc) {
+	const char *verb = cli.optarg();
-		lis3mdl::usage();
+
-		return PX4_ERROR;
+	if (!verb) {
+		ThisDriver::print_usage();
+		return -1;
 	}
 
-	const char *verb = argv[myoptind];
+	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_MAG_DEVTYPE_LIS3MDL);
-	int ret;
-	bool dev_found = false;
-	bool cmd_found = false;
 
 	if (!strcmp(verb, "start")) {
-		// Start/load the driver
+		return ThisDriver::module_start(cli, iterator);
-
-		cmd_found = true;
-		ret = 1; // default: failed, will be set to success if one start succeeds
-
-		for (unsigned i = 0; i < NUM_BUS_OPTIONS; i++) {
-			if (bus_id != LIS3MDL_BUS_ALL && bus_id != lis3mdl::bus_options[i].bus_id) {
-				// not the one that is asked for
-				continue;
-			}
-
-			dev_found = true;
-
-			// Start/load the driver
-			if (lis3mdl::start(lis3mdl::bus_options[i], rotation) == OK) {
-				if (calibrate) {
-					if (lis3mdl::calibrate(lis3mdl::bus_options[i]) != OK) {
-						PX4_WARN("calibration failed");
-						lis3mdl::stop(lis3mdl::bus_options[i]); //Stop, failed
-
-					} else {
-						PX4_INFO("calibration successful");
-						lis3mdl::init(lis3mdl::bus_options[i]);
-						ret = 0; // one succeed
-					}
-
-				} else {
-					lis3mdl::init(lis3mdl::bus_options[i]);
-					ret = 0; // one succeed
-				}
-			}
-		}
-
-	} else {
-		// Other commands
-
-		ret = 0; // default: success, will be set to failed if one action fails
-
-		for (unsigned i = 0; i < NUM_BUS_OPTIONS; i++) {
-			if (bus_id != LIS3MDL_BUS_ALL && bus_id != lis3mdl::bus_options[i].bus_id) {
-				// not the one that is asked for
-				continue;
-			}
-
-			if (lis3mdl::bus_options[i].dev == NULL) {
-				if (bus_id != LIS3MDL_BUS_ALL) {
-					PX4_ERR("bus %u not started", (unsigned)bus_id);
-					return PX4_ERROR;
-
-				} else {
-					continue;
-				}
-			}
-
-			dev_found = true;
-
-			// Stop the driver
-			if (!strcmp(verb, "stop")) {
-				cmd_found = true;
-				ret |= lis3mdl::stop(lis3mdl::bus_options[i]);
-			}
-
-			// Test the driver/device
-			if (!strcmp(verb, "test")) {
-				cmd_found = true;
-				ret |= lis3mdl::test(lis3mdl::bus_options[i]);
-			}
-
-			// Reset the driver
-			if (!strcmp(verb, "reset")) {
-				cmd_found = true;
-				ret |= lis3mdl::reset(lis3mdl::bus_options[i]);
-			}
-
-			// Print driver information
-			if (!strcmp(verb, "info") ||
-			    !strcmp(verb, "status")) {
-				cmd_found = true;
-				ret |= lis3mdl::info(lis3mdl::bus_options[i]);
-			}
-
-			// Autocalibrate the scaling
-			if (!strcmp(verb, "calibrate")) {
-				cmd_found = true;
-
-				if (lis3mdl::calibrate(lis3mdl::bus_options[i]) == OK) {
-					PX4_INFO("calibration successful");
-
-				} else {
-					PX4_WARN("calibration failed");
-					ret = 1;
-				}
-			}
-		}
 	}
 
-	if (!dev_found) {
+	if (!strcmp(verb, "stop")) {
-		PX4_WARN("no device found, please start driver first");
+		return ThisDriver::module_stop(iterator);
-		return PX4_ERROR;
-
-	} else if (!cmd_found) {
-		PX4_WARN("unrecognized command, try 'start', 'test', 'reset', 'calibrate' 'or 'info'");
-		return PX4_ERROR;
-
-	} else {
-		return ret;
 	}
+
+	if (!strcmp(verb, "status")) {
+		return ThisDriver::module_status(iterator);
+	}
+
+	if (!strcmp(verb, "reset")) {
+		return ThisDriver::module_custom_method(cli, iterator);
+	}
+
+	ThisDriver::print_usage();
+	return -1;
 }

src/drivers/magnetometer/lis3mdl/lis3mdl_main.h

@@ -1,128 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2015 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.
- *
- ****************************************************************************/
-
-/**
- * @file lis3mdl_main.h
- */
-
-#pragma once
-
-#include "lis3mdl.h"
-
-namespace lis3mdl
-{
-/**
- * @struct List of supported bus configurations
- */
-struct lis3mdl_bus_option {
-	LIS3MDL_BUS bus_id;
-	const char *devpath;
-	LIS3MDL_constructor interface_constructor;
-	uint8_t busnum;
-	LIS3MDL *dev;
-} bus_options[] = {
-#ifdef PX4_I2C_BUS_EXPANSION
-	{ LIS3MDL_BUS_I2C_EXTERNAL, "/dev/lis3mdl_ext", &LIS3MDL_I2C_interface, PX4_I2C_BUS_EXPANSION, NULL },
-#endif /* PX4_I2C_BUS_EXPANSION */
-#ifdef PX4_I2C_BUS_EXPANSION1
-	{ LIS3MDL_BUS_I2C_EXTERNAL, "/dev/lis3mdl_ext1", &LIS3MDL_I2C_interface, PX4_I2C_BUS_EXPANSION1, NULL },
-#endif /* PX4_I2C_BUS_EXPANSION1 */
-#ifdef PX4_I2C_BUS_EXPANSION2
-	{ LIS3MDL_BUS_I2C_EXTERNAL, "/dev/lis3mdl_ext2", &LIS3MDL_I2C_interface, PX4_I2C_BUS_EXPANSION2, NULL },
-#endif /* PX4_I2C_BUS_EXPANSION2 */
-#ifdef PX4_I2C_BUS_ONBOARD
-	{ LIS3MDL_BUS_I2C_INTERNAL, "/dev/lis3mdl_int", &LIS3MDL_I2C_interface, PX4_I2C_BUS_ONBOARD, NULL },
-#endif /* PX4_I2C_BUS_ONBOARD */
-#ifdef PX4_SPIDEV_LIS
-	{ LIS3MDL_BUS_SPI, "/dev/lis3mdl_spi", &LIS3MDL_SPI_interface, PX4_SPI_BUS_SENSORS, NULL },
-#endif /* PX4_SPIDEV_LIS */
-};
-
-/**
- * @brief Calibrate and self test. Self test feature cannot be used to calculate scale.
- *
- * SELF TEST OPERATION
- * Note: To check the LIS3MDL for proper operation, a self test feature is incorporated :
- *       sensor offset straps are excited to create a nominal field strength
- *       (bias field) to be measured. To implement self test, the least significant bits
- *       (MS1 and MS0) of configuration register A are changed from 00 to 01 (positive bias).
- *       A few measurements are taken and stored with and without the additional magnetic
- *       field. According to ST datasheet, those values must stay between thresholds in order
- *       to pass the self test.
- */
-int calibrate(struct lis3mdl_bus_option &bus);
-
-/**
- * @brief Prints info about the driver.
- */
-int info(struct lis3mdl_bus_option &bus);
-
-/**
- * @brief Initializes the driver -- sets defaults and starts a cycle
- */
-int init(struct lis3mdl_bus_option &bus);
-
-/**
- * @brief Resets the driver.
- */
-int reset(struct lis3mdl_bus_option &bus);
-
-/**
- * @brief Starts the driver for a specific bus option
- */
-int start_bus(struct lis3mdl_bus_option &bus, Rotation rotation);
-
-/**
- * @brief Starts the driver. This function call only returns once the driver
- *        is either successfully up and running or failed to start.
- */
-int start(struct lis3mdl_bus_option &bus, Rotation rotation);
-
-/**
- * @brief Stop the driver.
- */
-int stop(struct lis3mdl_bus_option &bus);
-
-/**
- * @brief Perform some basic functional tests on the driver;
- * 	  make sure we can collect data from the sensor in polled
- * 	  and automatic modes.
- */
-int test(struct lis3mdl_bus_option &bus);
-
-/**
- * @brief Prints info about the driver argument usage.
- */
-void usage();
-
-} // namespace lis3mdl

src/drivers/magnetometer/lis3mdl/lis3mdl_spi.cpp

@@ -55,8 +55,6 @@
 #include "board_config.h"
 #include "lis3mdl.h"
 
-#ifdef PX4_SPIDEV_LIS
-
 /* SPI protocol address bits */
 #define DIR_READ        (1<<7)
 #define DIR_WRITE       (0<<7)
@@ -65,7 +63,7 @@
 class LIS3MDL_SPI : public device::SPI
 {
 public:
-	LIS3MDL_SPI(int bus, uint32_t device);
+	LIS3MDL_SPI(int bus, uint32_t devid, int bus_frequency, spi_mode_e spi_mode);
 	virtual ~LIS3MDL_SPI() = default;
 
 	virtual int     init();
@@ -75,16 +73,16 @@ public:
 };
 
 device::Device *
-LIS3MDL_SPI_interface(int bus);
+LIS3MDL_SPI_interface(int bus, uint32_t devid, int bus_frequency, spi_mode_e spi_mode);
 
 device::Device *
-LIS3MDL_SPI_interface(int bus)
+LIS3MDL_SPI_interface(int bus, uint32_t devid, int bus_frequency, spi_mode_e spi_mode)
 {
-	return new LIS3MDL_SPI(bus, PX4_SPIDEV_LIS);
+	return new LIS3MDL_SPI(bus, devid, bus_frequency, spi_mode);
 }
 
-LIS3MDL_SPI::LIS3MDL_SPI(int bus, uint32_t device) :
+LIS3MDL_SPI::LIS3MDL_SPI(int bus, uint32_t devid, int bus_frequency, spi_mode_e spi_mode) :
-	SPI("LIS3MDL_SPI", nullptr, bus, device, SPIDEV_MODE3, 11 * 1000 * 1000 /* will be rounded to 10.4 MHz */)
+	SPI("LIS3MDL_SPI", nullptr, bus, devid, spi_mode, bus_frequency)
 {
 	_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_LIS3MDL;
 }
@@ -172,5 +170,3 @@ LIS3MDL_SPI::write(unsigned address, void *data, unsigned count)
 
 	return transfer(&buf[0], &buf[0], count + 1);
 }
-
-#endif /* PX4_SPIDEV_LIS */