refactor pmw3910: use driver base class

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -106,10 +106,10 @@ then
 	teraranger start -a
 fi
 
-# Possible pmw3901 optical flow sensor
+# Possible external pmw3901 optical flow sensor
 if param greater -s SENS_EN_PMW3901 0
 then
-	pmw3901 start
+	pmw3901 -S start
 fi
 
 ###############################################################################

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

@@ -53,6 +53,6 @@ ms5611 -s start
 rm3100 start
 
 # Possible pmw3901 optical flow sensor
-pmw3901 start
+pmw3901 -S start
 
 px4flow start &

src/drivers/optical_flow/pmw3901/PMW3901.cpp

@@ -35,9 +35,10 @@
 
 static constexpr uint32_t TIME_us_TSWW = 11; //  - actually 10.5us
 
-PMW3901::PMW3901(int bus, enum Rotation yaw_rotation) :
+PMW3901::PMW3901(I2CSPIBusOption bus_option, int bus, int devid, enum Rotation yaw_rotation, int bus_frequency,
-	SPI("PMW3901", PMW3901_DEVICE_PATH, bus, PMW3901_SPIDEV, SPIDEV_MODE0, PMW3901_SPI_BUS_SPEED),
+		 spi_mode_e spi_mode) :
-	ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())),
+	SPI("PMW3901", PMW3901_DEVICE_PATH, bus, devid, spi_mode, bus_frequency),
+	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
 	_sample_perf(perf_alloc(PC_ELAPSED, "pmw3901: read")),
 	_comms_errors(perf_alloc(PC_COUNT, "pmw3901: com err")),
 	_yaw_rotation(yaw_rotation)
@@ -46,9 +47,6 @@ PMW3901::PMW3901(int bus, enum Rotation yaw_rotation) :
 
 PMW3901::~PMW3901()
 {
-	// make sure we are truly inactive
-	stop();
-
 	// free perf counters
 	perf_free(_sample_perf);
 	perf_free(_comms_errors);
@@ -296,7 +294,7 @@ PMW3901::writeRegister(unsigned reg, uint8_t data)
 }
 
 void
-PMW3901::Run()
+PMW3901::RunImpl()
 {
 	perf_begin(_sample_perf);
 
@@ -414,8 +412,9 @@ PMW3901::stop()
 }
 
 void
-PMW3901::print_info()
+PMW3901::print_status()
 {
+	I2CSPIDriverBase::print_status();
 	perf_print_counter(_sample_perf);
 	perf_print_counter(_comms_errors);
 }

src/drivers/optical_flow/pmw3901/PMW3901.hpp

@@ -49,29 +49,10 @@
 #include <drivers/drv_hrt.h>
 #include <uORB/PublicationMulti.hpp>
 #include <uORB/topics/optical_flow.h>
+#include <px4_platform_common/i2c_spi_buses.h>
 
 /* Configuration Constants */
 
-#if defined PX4_SPI_BUS_EXPANSION   // crazyflie
-# define PMW3901_BUS PX4_SPI_BUS_EXPANSION
-#elif defined PX4_SPI_BUS_EXTERNAL1   // fmu-v5
-# define PMW3901_BUS PX4_SPI_BUS_EXTERNAL1
-#elif defined PX4_SPI_BUS_EXTERNAL    // fmu-v4 extspi
-# define PMW3901_BUS PX4_SPI_BUS_EXTERNAL
-#else
-# error "add the required spi bus from board_config.h here"
-#endif
-
-#if defined PX4_SPIDEV_EXPANSION_2    // crazyflie flow deck
-# define PMW3901_SPIDEV PX4_SPIDEV_EXPANSION_2
-#elif defined PX4_SPIDEV_EXTERNAL1_1    // fmu-v5 ext CS1
-# define PMW3901_SPIDEV PX4_SPIDEV_EXTERNAL1_1
-#elif defined PX4_SPIDEV_EXTERNAL   // fmu-v4 extspi
-# define PMW3901_SPIDEV PX4_SPIDEV_EXTERNAL
-#else
-# error "add the required spi dev from board_config.h here"
-#endif
-
 #define PMW3901_SPI_BUS_SPEED (2000000L) // 2MHz
 
 #define DIR_WRITE(a) ((a) | (1 << 7))
@@ -84,19 +65,23 @@
 #define PMW3901_SAMPLE_INTERVAL 10000 /*  10 ms */
 
 
-class PMW3901 : public device::SPI, public px4::ScheduledWorkItem
+class PMW3901 : public device::SPI, public I2CSPIDriver<PMW3901>
 {
 public:
-	PMW3901(int bus = PMW3901_BUS, enum Rotation yaw_rotation = (enum Rotation)0);
+	PMW3901(I2CSPIBusOption bus_option, int bus, int devid, enum Rotation yaw_rotation, int bus_frequency,
+		spi_mode_e spi_mode);
 
 	virtual ~PMW3901();
 
+	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+					     int runtime_instance);
+	static void print_usage();
+
 	virtual int init();
 
-	/**
+	void print_status();
-	* Diagnostics - print some basic information about the driver.
+
-	*/
+	void RunImpl();
-	void print_info();
 
 protected:
 	virtual int probe();
@@ -133,11 +118,6 @@ private:
 	*/
 	void stop();
 
-	/**
-	* Perform a poll cycle; collect from the previous measurement
-	* and start a new one.
-	*/
-	void Run() override;
 
 	int readRegister(unsigned reg, uint8_t *data, unsigned count);
 	int writeRegister(unsigned reg, uint8_t data);

src/drivers/optical_flow/pmw3901/pmw3901_main.cpp

@@ -32,159 +32,77 @@
  ****************************************************************************/
 
 #include "PMW3901.hpp"
+#include <px4_platform_common/module.h>
 
-/*
- * Driver 'main' command.
- */
 extern "C" __EXPORT int pmw3901_main(int argc, char *argv[]);
 
-/**
- * Local functions in support of the shell command.
- */
-namespace pmw3901
-{
-
-PMW3901	*g_dev;
-
-void	start(int spi_bus);
-void	stop();
-void	test();
-void	reset();
-void	info();
-void	usage();
-
-/**
- * Start the driver.
- */
 void
-start(int spi_bus)
+PMW3901::print_usage()
 {
-	if (g_dev != nullptr) {
+	PRINT_MODULE_USAGE_NAME("pmw3901", "driver");
-		errx(1, "already started");
+	PRINT_MODULE_USAGE_COMMAND("start");
-	}
+	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
-
+	PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
-	/* create the driver */
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
-	g_dev = new PMW3901(spi_bus, (enum Rotation)0);
-
-	if (g_dev == nullptr) {
-		goto fail;
-	}
-
-	if (OK != g_dev->init()) {
-		goto fail;
-	}
-
-	exit(0);
-
-fail:
-
-	if (g_dev != nullptr) {
-		delete g_dev;
-		g_dev = nullptr;
-	}
-
-	errx(1, "driver start failed");
 }
 
-/**
+I2CSPIDriverBase *PMW3901::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
- * Stop the driver
+				       int runtime_instance)
- */
-void stop()
 {
-	if (g_dev != nullptr) {
+	PMW3901 *instance = new PMW3901(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
-		delete g_dev;
+					cli.bus_frequency, cli.spi_mode);
-		g_dev = nullptr;
 
-	} else {
+	if (!instance) {
-		errx(1, "driver not running");
+		PX4_ERR("alloc failed");
+		return nullptr;
 	}
 
-	exit(0);
+	if (OK != instance->init()) {
-}
+		delete instance;
-
+		return nullptr;
-/**
- * Print a little info about the driver.
- */
-void
-info()
-{
-	if (g_dev == nullptr) {
-		errx(1, "driver not running");
 	}
 
-	printf("state @ %p\n", g_dev);
+	return instance;
-	g_dev->print_info();
-
-	exit(0);
 }
 
-/**
- * Print a little info about how to start/stop/use the driver
- */
-void usage()
-{
-	PX4_INFO("usage: pmw3901 {start|test|reset|info'}");
-	PX4_INFO("    [-b SPI_BUS]");
-}
-
-} // namespace pmw3901
-
-
 int
 pmw3901_main(int argc, char *argv[])
 {
-	if (argc < 2) {
-		pmw3901::usage();
-		return PX4_ERROR;
-	}
-
-	// don't exit from getopt loop to leave getopt global variables in consistent state,
-	// set error flag instead
-	bool err_flag = false;
 	int ch;
-	int myoptind = 1;
+	using ThisDriver = PMW3901;
-	const char *myoptarg = nullptr;
+	BusCLIArguments cli{false, true};
-	int spi_bus = PMW3901_BUS;
+	cli.spi_mode = SPIDEV_MODE0;
+	cli.default_spi_frequency = PMW3901_SPI_BUS_SPEED;
 
-	while ((ch = px4_getopt(argc, argv, "b:", &myoptind, &myoptarg)) != EOF) {
+	while ((ch = cli.getopt(argc, argv, "R:")) != EOF) {
 		switch (ch) {
-		case 'b':
+		case 'R':
-			spi_bus = (uint8_t)atoi(myoptarg);
+			cli.rotation = (enum Rotation)atoi(cli.optarg());
-
-			break;
-
-		default:
-			err_flag = true;
 			break;
 		}
 	}
 
-	if (err_flag) {
+	const char *verb = cli.optarg();
-		pmw3901::usage();
+
-		return PX4_ERROR;
+	if (!verb) {
+		ThisDriver::print_usage();
+		return -1;
 	}
 
-	/*
+	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_FLOW_DEVTYPE_PMW3901);
-	 * Start/load the driver.
+
-	 */
+	if (!strcmp(verb, "start")) {
-	if (!strcmp(argv[myoptind], "start")) {
+		return ThisDriver::module_start(cli, iterator);
-		pmw3901::start(spi_bus);
 	}
 
-	/*
+	if (!strcmp(verb, "stop")) {
-	 * Stop the driver
+		return ThisDriver::module_stop(iterator);
-	 */
-	if (!strcmp(argv[myoptind], "stop")) {
-		pmw3901::stop();
 	}
 
-	/*
+	if (!strcmp(verb, "status")) {
-	 * Print driver information.
+		return ThisDriver::module_status(iterator);
-	 */
-	if (!strcmp(argv[myoptind], "info") || !strcmp(argv[myoptind], "status")) {
-		pmw3901::info();
 	}
 
-	pmw3901::usage();
+	ThisDriver::print_usage();
-	return PX4_ERROR;
+	return -1;
 }