refactor l3gd20: use driver base class

boards/airmind/mindpx-v2/init/rc.board_sensors

@@ -16,7 +16,7 @@ qmc5883 -I -R 12 start
 mpu6000 -s -R 8 start
 mpu9250 -s -R 8 start
 lsm303d -s -R 10 start
-l3gd20 -R 14 start
+l3gd20 -s -R 14 start
 
 # Internal SPI
 ms5611 -s start

boards/px4/fmu-v2/init/rc.board_sensors

@@ -70,8 +70,8 @@ then
 	# sensor heating is available, but we disable it for now
 	param set SENS_EN_THERMAL 0
 
-	# external L3GD20H is rotated 180 degrees yaw
+	# (external) L3GD20H is rotated 180 degrees yaw
-	l3gd20 -X -R 4 start
+	l3gd20 -s -R 4 start
 
 	# (external) LSM303D is rotated 270 degrees yaw
 	lsm303d -s -R 6 start
@@ -105,7 +105,7 @@ else
 	# else: On the PixhawkMini the mpu9250 has been disabled due to HW errata
 	fi
 
-	l3gd20 start
+	l3gd20 -s start
 	lsm303d -s start
 fi
 

boards/px4/fmu-v3/init/rc.board_sensors

@@ -78,8 +78,8 @@ then
 		ak09916 -X -R 6 start
 	fi
 
-	# external L3GD20H is rotated 180 degrees yaw
+	# (external) L3GD20H is rotated 180 degrees yaw
-	l3gd20 -X -R 4 start
+	l3gd20 -s -R 4 start
 
 	# (external) LSM303D is rotated 270 degrees yaw
 	lsm303d -s -R 6 start
@@ -113,7 +113,7 @@ else
 	# else: On the PixhawkMini the mpu9250 has been disabled due to HW errata
 	fi
 
-	l3gd20 start
+	l3gd20 -s start
 	lsm303d -s start
 fi
 

src/drivers/imu/l3gd20/L3GD20.cpp

@@ -35,9 +35,10 @@
 
 constexpr uint8_t L3GD20::_checked_registers[];
 
-L3GD20::L3GD20(int bus, uint32_t device, enum Rotation rotation) :
+L3GD20::L3GD20(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
-	SPI("L3GD20", nullptr, bus, device, SPIDEV_MODE3, 11 * 1000 * 1000),
+	       spi_mode_e spi_mode) :
-	ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(this->get_device_id())),
+	SPI("L3GD20", nullptr, bus, device, spi_mode, bus_frequency),
+	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
 	_px4_gyro(get_device_id(), ORB_PRIO_DEFAULT, rotation),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
 	_errors(perf_alloc(PC_COUNT, MODULE_NAME": err")),
@@ -49,10 +50,6 @@ L3GD20::L3GD20(int bus, uint32_t device, enum Rotation rotation) :
 
 L3GD20::~L3GD20()
 {
-	/* make sure we are truly inactive */
-	stop();
-
-	/* delete the perf counter */
 	perf_free(_sample_perf);
 	perf_free(_errors);
 	perf_free(_bad_registers);
@@ -226,20 +223,11 @@ L3GD20::set_samplerate(unsigned frequency)
 void
 L3GD20::start()
 {
-	/* make sure we are stopped first */
-	stop();
-
 	/* start polling at the specified rate */
 	uint64_t interval = 1000000 / L3GD20_DEFAULT_RATE;
 	ScheduleOnInterval(interval - L3GD20_TIMER_REDUCTION, 10000);
 }
 
-void
-L3GD20::stop()
-{
-	ScheduleClear();
-}
-
 void
 L3GD20::disable_i2c()
 {
@@ -288,13 +276,6 @@ L3GD20::reset()
 	_read = 0;
 }
 
-void
-L3GD20::Run()
-{
-	/* make another measurement */
-	measure();
-}
-
 void
 L3GD20::check_registers()
 {
@@ -326,7 +307,7 @@ L3GD20::check_registers()
 }
 
 void
-L3GD20::measure()
+L3GD20::RunImpl()
 {
 	/* status register and data as read back from the device */
 #pragma pack(push, 1)
@@ -412,8 +393,9 @@ L3GD20::measure()
 }
 
 void
-L3GD20::print_info()
+L3GD20::print_status()
 {
+	I2CSPIDriverBase::print_status();
 	printf("gyro reads:          %u\n", _read);
 	perf_print_counter(_sample_perf);
 	perf_print_counter(_errors);

src/drivers/imu/l3gd20/L3GD20.hpp

@@ -44,7 +44,7 @@
 #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>
 
 /* Orientation on board */
 #define SENSOR_BOARD_ROTATION_000_DEG	0
@@ -158,18 +158,22 @@
  */
 #define L3GD20_TIMER_REDUCTION				600
 
-class L3GD20 : public device::SPI, public px4::ScheduledWorkItem
+class L3GD20 : public device::SPI, public I2CSPIDriver<L3GD20>
 {
 public:
-	L3GD20(int bus, uint32_t device, enum Rotation rotation);
+	L3GD20(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
-	virtual ~L3GD20();
+	       spi_mode_e spi_mode);
+	~L3GD20() override;
 
-	virtual int		init();
+	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+					     int runtime_instance);
+	static void print_usage();
 
-	/**
+	void RunImpl();
-	 * Diagnostics - print some basic information about the driver.
+
-	 */
+	int		init() override;
-	void			print_info();
+
+	void print_status() override;
 
 	// print register dump
 	void			print_registers();
@@ -178,7 +182,8 @@ public:
 	void			test_error();
 
 protected:
-	virtual int		probe();
+	void custom_method(const BusCLIArguments &cli) override;
+	int		probe() override;
 
 private:
 
@@ -217,21 +222,14 @@ private:
 	uint8_t			_checked_next{0};
 
 	void			start();
-	void			stop();
 	void			reset();
 	void			disable_i2c();
-	void		Run() override;
 
 	/**
 	 * check key registers for correct values
 	 */
 	void			check_registers();
 
-	/**
-	 * Fetch measurements from the sensor and update the report ring.
-	 */
-	void			measure();
-
 	/**
 	 * Read a register from the L3GD20
 	 *

src/drivers/imu/l3gd20/l3gd20_main.cpp

@@ -33,161 +33,96 @@
 
 #include "L3GD20.hpp"
 
-/**
+#include <px4_platform_common/getopt.h>
- * Local functions in support of the shell command.
+#include <px4_platform_common/module.h>
- */
+
-namespace l3gd20
+void
+L3GD20::print_usage()
 {
-
+	PRINT_MODULE_USAGE_NAME("l3gd20", "driver");
-L3GD20 *g_dev{nullptr};
+	PRINT_MODULE_USAGE_SUBCATEGORY("imu");
-
+	PRINT_MODULE_USAGE_COMMAND("start");
-/**
+	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
- * Start the driver.
+	PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
- *
+	PRINT_MODULE_USAGE_COMMAND("regdump");
- * This function call only returns once the driver
+	PRINT_MODULE_USAGE_COMMAND("testerror");
- * started or failed to detect the sensor.
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
- */
-static void start(bool external_bus, enum Rotation rotation)
-{
-	if (g_dev != nullptr) {
-		errx(0, "already started");
-	}
-
-	/* create the driver */
-	if (external_bus) {
-#if defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_GYRO)
-		g_dev = new L3GD20(PX4_SPI_BUS_EXT, PX4_SPIDEV_EXT_GYRO, rotation);
-#else
-		errx(0, "External SPI not available");
-#endif
-
-	} else {
-		g_dev = new L3GD20(PX4_SPI_BUS_SENSORS, PX4_SPIDEV_GYRO, rotation);
-	}
-
-	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 *L3GD20::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
- * Print a little info about the driver.
+				      int runtime_instance)
- */
-static void info()
 {
-	if (g_dev == nullptr) {
+	L3GD20 *instance = new L3GD20(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
-		errx(1, "driver not running\n");
+				      cli.bus_frequency, cli.spi_mode);
+
+	if (!instance) {
+		PX4_ERR("alloc failed");
+		return nullptr;
 	}
 
-	printf("state @ %p\n", g_dev);
+	if (OK != instance->init()) {
-	g_dev->print_info();
+		delete instance;
-
+		return nullptr;
-	exit(0);
-}
-
-/**
- * Dump the register information
- */
-static void regdump()
-{
-	if (g_dev == nullptr) {
-		errx(1, "driver not running");
 	}
 
-	printf("regdump @ %p\n", g_dev);
+	return instance;
-	g_dev->print_registers();
-
-	exit(0);
 }
 
-/**
+void L3GD20::custom_method(const BusCLIArguments &cli)
- * trigger an error
- */
-static void test_error()
 {
-	if (g_dev == nullptr) {
+	switch (cli.custom1) {
-		errx(1, "driver not running");
+	case 0: print_registers(); break;
+
+	case 1: test_error(); break;
 	}
-
-	printf("regdump @ %p\n", g_dev);
-	g_dev->test_error();
-
-	exit(0);
 }
 
-static void usage()
+extern "C" int l3gd20_main(int argc, char *argv[])
 {
-	warnx("missing command: try 'start', 'info', 'testerror' or 'regdump'");
-	warnx("options:");
-	warnx("    -X    (external bus)");
-	warnx("    -R rotation");
-}
-
-} // namespace
-
-extern "C" __EXPORT int l3gd20_main(int argc, char *argv[])
-{
-	int myoptind = 1;
 	int ch;
-	const char *myoptarg = nullptr;
+	using ThisDriver = L3GD20;
-	bool external_bus = false;
+	BusCLIArguments cli{false, true};
-	enum Rotation rotation = ROTATION_NONE;
+	cli.default_spi_frequency = 11 * 1000 * 1000;
 
-	while ((ch = px4_getopt(argc, argv, "XR:", &myoptind, &myoptarg)) != EOF) {
+	while ((ch = cli.getopt(argc, argv, "R:")) != EOF) {
 		switch (ch) {
-		case 'X':
-			external_bus = true;
-			break;
-
 		case 'R':
-			rotation = (enum Rotation)atoi(myoptarg);
+			cli.rotation = (enum Rotation)atoi(cli.optarg());
 			break;
-
-		default:
-			l3gd20::usage();
-			return 0;
 		}
 	}
 
-	if (myoptind >= argc) {
+	const char *verb = cli.optarg();
-		l3gd20::usage();
+
+	if (!verb) {
+		ThisDriver::print_usage();
 		return -1;
 	}
 
-	const char *verb = argv[myoptind];
+	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_GYR_DEVTYPE_L3GD20);
 
-	/*
-	 * Start/load the driver.
-
-	 */
 	if (!strcmp(verb, "start")) {
-		l3gd20::start(external_bus, rotation);
+		return ThisDriver::module_start(cli, iterator);
-
-	} else if (!strcmp(verb, "info")) {
-		l3gd20::info();
-
-	} else if (!strcmp(verb, "regdump")) {
-		l3gd20::regdump();
-
-	} else if (!strcmp(verb, "testerror")) {
-		l3gd20::test_error();
 	}
 
-	l3gd20::usage();
+	if (!strcmp(verb, "stop")) {
+		return ThisDriver::module_stop(iterator);
+	}
 
+	if (!strcmp(verb, "status")) {
+		return ThisDriver::module_status(iterator);
+	}
+
+	if (!strcmp(verb, "regdump")) {
+		cli.custom1 = 0;
+		return ThisDriver::module_custom_method(cli, iterator);
+	}
+
+	if (!strcmp(verb, "testerror")) {
+		cli.custom1 = 1;
+		return ThisDriver::module_custom_method(cli, iterator);
+	}
+
+	ThisDriver::print_usage();
 	return -1;
 }