refactor lsm303d: use driver base class

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

@@ -15,7 +15,7 @@ qmc5883 -I -R 12 start
 
 mpu6000 -s -R 8 start
 mpu9250 -s -R 8 start
-lsm303d -R 10 start
+lsm303d -s -R 10 start
 l3gd20 -R 14 start
 
 # Internal SPI

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

@@ -73,8 +73,8 @@ then
 	# external L3GD20H is rotated 180 degrees yaw
 	l3gd20 -X -R 4 start
 
-	# external LSM303D is rotated 270 degrees yaw
+	# (external) LSM303D is rotated 270 degrees yaw
-	lsm303d -X -R 6 start
+	lsm303d -s -R 6 start
 
 	if [ $BOARD_FMUV3 = 20 ]
 	then
@@ -106,7 +106,7 @@ else
 	fi
 
 	l3gd20 start
-	lsm303d start
+	lsm303d -s start
 fi
 
 unset BOARD_FMUV3

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

@@ -81,8 +81,8 @@ then
 	# external L3GD20H is rotated 180 degrees yaw
 	l3gd20 -X -R 4 start
 
-	# external LSM303D is rotated 270 degrees yaw
+	# (external) LSM303D is rotated 270 degrees yaw
-	lsm303d -X -R 6 start
+	lsm303d -s -R 6 start
 
 	if [ $BOARD_FMUV3 = 20 ]
 	then
@@ -114,7 +114,7 @@ else
 	fi
 
 	l3gd20 start
-	lsm303d start
+	lsm303d -s start
 fi
 
 # External RM3100

src/drivers/imu/lsm303d/LSM303D.cpp

@@ -53,9 +53,10 @@ static constexpr uint8_t _checked_registers[] = {
 	ADDR_CTRL_REG7
 };
 
-LSM303D::LSM303D(int bus, uint32_t device, enum Rotation rotation) :
+LSM303D::LSM303D(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
-	SPI("LSM303D", nullptr, bus, device, SPIDEV_MODE3, 11 * 1000 * 1000),
+		 spi_mode_e spi_mode) :
-	ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())),
+	SPI("LSM303D", nullptr, bus, device, spi_mode, bus_frequency),
+	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
 	_px4_accel(get_device_id(), ORB_PRIO_DEFAULT, rotation),
 	_px4_mag(get_device_id(), ORB_PRIO_LOW, rotation),
 	_accel_sample_perf(perf_alloc(PC_ELAPSED, "lsm303d: acc_read")),
@@ -71,9 +72,6 @@ LSM303D::LSM303D(int bus, uint32_t device, enum Rotation rotation) :
 
 LSM303D::~LSM303D()
 {
-	// make sure we are truly inactive
-	stop();
-
 	// delete the perf counter
 	perf_free(_accel_sample_perf);
 	perf_free(_mag_sample_perf);
@@ -89,8 +87,8 @@ LSM303D::init()
 	int ret = SPI::init();
 
 	if (ret != OK) {
-		PX4_ERR("SPI init failed (%i)", ret);
+		DEVICE_DEBUG("SPI init failed (%i)", ret);
-		return PX4_ERROR;
+		return ret;
 	}
 
 	reset();
@@ -407,21 +405,12 @@ LSM303D::mag_set_samplerate(unsigned frequency)
 void
 LSM303D::start()
 {
-	// make sure we are stopped first
-	stop();
-
 	// start polling at the specified rate
 	ScheduleOnInterval(_call_accel_interval - LSM303D_TIMER_REDUCTION);
 }
 
 void
-LSM303D::stop()
+LSM303D::RunImpl()
-{
-	ScheduleClear();
-}
-
-void
-LSM303D::Run()
 {
 	// make another accel measurement
 	measureAccelerometer();
@@ -581,8 +570,9 @@ LSM303D::measureMagnetometer()
 }
 
 void
-LSM303D::print_info()
+LSM303D::print_status()
 {
+	I2CSPIDriverBase::print_status();
 	perf_print_counter(_accel_sample_perf);
 	perf_print_counter(_mag_sample_perf);
 	perf_print_counter(_bad_registers);

src/drivers/imu/lsm303d/LSM303D.hpp

@@ -41,7 +41,7 @@
 #include <drivers/device/spi.h>
 #include <ecl/geo/geo.h>
 #include <perf/perf_counter.h>
-#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/i2c_spi_buses.h>
 #include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
 #include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
 
@@ -138,30 +138,28 @@
  */
 #define LSM303D_TIMER_REDUCTION				200
 
-extern "C" { __EXPORT int lsm303d_main(int argc, char *argv[]); }
+class LSM303D : public device::SPI, public I2CSPIDriver<LSM303D>
-
-class LSM303D : public device::SPI, public px4::ScheduledWorkItem
 {
 public:
-	LSM303D(int bus, uint32_t device, enum Rotation rotation);
+	LSM303D(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
-	virtual ~LSM303D();
+		spi_mode_e spi_mode);
+	~LSM303D() override;
+
+	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+					     int runtime_instance);
+	static void print_usage();
+
+	void RunImpl();
 
 	int		init() override;
 
-	/**
+	void print_status() override;
-	 * Diagnostics - print some basic information about the driver.
-	 */
-	void			print_info();
 
 protected:
-	virtual int		probe();
+	int		probe() override;
-
 private:
 
-	void			Run() override;
-
 	void			start();
-	void			stop();
 	void			reset();
 
 	/**

src/drivers/imu/lsm303d/lsm303d_main.cpp

@@ -39,144 +39,74 @@
 #include "LSM303D.hpp"
 
 #include <px4_platform_common/getopt.h>
-
+#include <px4_platform_common/module.h>
-/**
- * Local functions in support of the shell command.
- */
-namespace lsm303d
-{
-
-LSM303D	*g_dev;
-
-void	start(bool external_bus, enum Rotation rotation, unsigned range);
-void	info();
-void	usage();
-
-/**
- * Start the driver.
- *
- * This function call only returns once the driver is
- * up and running or failed to detect the sensor.
- */
-void
-start(bool external_bus, enum Rotation rotation, unsigned range)
-{
-	if (g_dev != nullptr) {
-		errx(0, "already started");
-	}
-
-	/* create the driver */
-	if (external_bus) {
-#if defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_ACCEL_MAG)
-		g_dev = new LSM303D(PX4_SPI_BUS_EXT, PX4_SPIDEV_EXT_ACCEL_MAG, rotation);
-#else
-		errx(0, "External SPI not available");
-#endif
-
-	} else {
-		g_dev = new LSM303D(PX4_SPI_BUS_SENSORS, PX4_SPIDEV_ACCEL_MAG, rotation);
-	}
-
-	if (g_dev == nullptr) {
-		PX4_ERR("failed instantiating LSM303D obj");
-		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");
-}
-
-/**
- * Print a little info about the driver.
- */
-void
-info()
-{
-	if (g_dev == nullptr) {
-		errx(1, "driver not running\n");
-	}
-
-	printf("state @ %p\n", g_dev);
-	g_dev->print_info();
-
-	exit(0);
-}
 
 void
-usage()
+LSM303D::print_usage()
 {
-	PX4_INFO("missing command: try 'start', 'info'");
+	PRINT_MODULE_USAGE_NAME("lsm303d", "driver");
-	PX4_INFO("options:");
+	PRINT_MODULE_USAGE_SUBCATEGORY("imu");
-	PX4_INFO("    -X    (external bus)");
+	PRINT_MODULE_USAGE_COMMAND("start");
-	PX4_INFO("    -R rotation");
+	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
+	PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
 
-} // namespace
+I2CSPIDriverBase *LSM303D::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-
+				       int runtime_instance)
-int
-lsm303d_main(int argc, char *argv[])
 {
-	bool external_bus = false;
+	LSM303D *instance = new LSM303D(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
-	enum Rotation rotation = ROTATION_NONE;
+					cli.bus_frequency, cli.spi_mode);
-	int accel_range = 8;
 
-	int myoptind = 1;
+	if (!instance) {
+		PX4_ERR("alloc failed");
+		return nullptr;
+	}
+
+	if (OK != instance->init()) {
+		delete instance;
+		return nullptr;
+	}
+
+	return instance;
+}
+
+extern "C" int lsm303d_main(int argc, char *argv[])
+{
 	int ch;
-	const char *myoptarg = nullptr;
+	using ThisDriver = LSM303D;
+	BusCLIArguments cli{false, true};
+	cli.default_spi_frequency = 11 * 1000 * 1000;
 
-	/* jump over start/off/etc and look at options first */
+	while ((ch = cli.getopt(argc, argv, "R:")) != EOF) {
-	while ((ch = px4_getopt(argc, argv, "XR:a:", &myoptind, &myoptarg)) != EOF) {
 		switch (ch) {
-		case 'X':
-			external_bus = true;
-			break;
-
 		case 'R':
-			rotation = (enum Rotation)atoi(myoptarg);
+			cli.rotation = (enum Rotation)atoi(cli.optarg());
 			break;
-
-		case 'a':
-			accel_range = atoi(myoptarg);
-			break;
-
-		default:
-			lsm303d::usage();
-			exit(0);
 		}
 	}
 
-	if (myoptind >= argc) {
+	const char *verb = cli.optarg();
-		lsm303d::usage();
+
-		exit(0);
+	if (!verb) {
+		ThisDriver::print_usage();
+		return -1;
 	}
 
-	const char *verb = argv[myoptind];
+	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_ACC_DEVTYPE_LSM303D);
 
-	/*
-	 * Start/load the driver.
-
-	 */
 	if (!strcmp(verb, "start")) {
-		lsm303d::start(external_bus, rotation, accel_range);
+		return ThisDriver::module_start(cli, iterator);
 	}
 
-	/*
+	if (!strcmp(verb, "stop")) {
-	 * Print driver information.
+		return ThisDriver::module_stop(iterator);
-	 */
-	if (!strcmp(verb, "info")) {
-		lsm303d::info();
 	}
 
-	errx(1, "unrecognized command, try 'start', info'");
+	if (!strcmp(verb, "status")) {
+		return ThisDriver::module_status(iterator);
+	}
+
+	ThisDriver::print_usage();
+	return -1;
 }