refactor bmi160: use driver base class

src/drivers/drv_sensor.h

@@ -77,7 +77,6 @@
 #define DRV_IMU_DEVTYPE_MPU9250  0x24
 #define DRV_GYR_DEVTYPE_BMI160   0x25
 #define DRV_IMU_DEVTYPE_ICM42688P 0x26
-
 #define DRV_IMU_DEVTYPE_ICM40609D 0x27
 
 #define DRV_RNG_DEVTYPE_MB12XX   0x31

src/drivers/imu/bmi160/bmi160.cpp

@@ -49,9 +49,10 @@ const uint8_t BMI160::_checked_registers[BMI160_NUM_CHECKED_REGISTERS] = {    BM
 									      BMIREG_NV_CONF
 									 };
 
-BMI160::BMI160(int bus, uint32_t device, enum Rotation rotation) :
+BMI160::BMI160(I2CSPIBusOption bus_option, int bus, int32_t device, enum Rotation rotation, int bus_frequency,
-	SPI("BMI160", nullptr, bus, device, SPIDEV_MODE3, BMI160_BUS_SPEED),
+	       spi_mode_e spi_mode) :
-	ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(this->get_device_id())),
+	SPI("BMI160", 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(), (external() ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1), rotation),
 	_px4_gyro(get_device_id(), (external() ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1), rotation),
 	_accel_reads(perf_alloc(PC_COUNT, "bmi160_accel_read")),
@@ -63,15 +64,12 @@ BMI160::BMI160(int bus, uint32_t device, enum Rotation rotation) :
 	_reset_retries(perf_alloc(PC_COUNT, "bmi160_reset_retries")),
 	_duplicates(perf_alloc(PC_COUNT, "bmi160_duplicates"))
 {
-	_px4_accel.set_device_type(DRV_ACC_DEVTYPE_BMI160);
+	_px4_accel.set_device_type(DRV_IMU_DEVTYPE_BMI160);
-	_px4_gyro.set_device_type(DRV_GYR_DEVTYPE_BMI160);
+	_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_BMI160);
 }
 
 BMI160::~BMI160()
 {
-	/* make sure we are truly inactive */
-	stop();
-
 	/* delete the perf counter */
 	perf_free(_sample_perf);
 	perf_free(_accel_reads);
@@ -494,28 +492,12 @@ BMI160::set_gyro_range(unsigned max_dps)
 void
 BMI160::start()
 {
-	/* make sure we are stopped first */
-	stop();
-
 	/* start polling at the specified rate */
 	ScheduleOnInterval((1_s / BMI160_GYRO_DEFAULT_RATE) - BMI160_TIMER_REDUCTION, 1000);
 
 	reset();
 }
 
-void
-BMI160::stop()
-{
-	ScheduleClear();
-}
-
-void
-BMI160::Run()
-{
-	/* make another measurement */
-	measure();
-}
-
 void
 BMI160::check_registers(void)
 {
@@ -560,7 +542,7 @@ BMI160::check_registers(void)
 }
 
 void
-BMI160::measure()
+BMI160::RunImpl()
 {
 	if (hrt_absolute_time() < _reset_wait) {
 		// we're waiting for a reset to complete
@@ -690,8 +672,9 @@ BMI160::measure()
 }
 
 void
-BMI160::print_info()
+BMI160::print_status()
 {
+	I2CSPIDriverBase::print_status();
 	perf_print_counter(_sample_perf);
 	perf_print_counter(_accel_reads);
 	perf_print_counter(_gyro_reads);

src/drivers/imu/bmi160/bmi160.hpp

@@ -40,7 +40,7 @@
 #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>
 #include <systemlib/conversions.h>
 
 #define DIR_READ                0x80
@@ -243,33 +243,38 @@
 
 using namespace time_literals;
 
-class BMI160 : public device::SPI, public px4::ScheduledWorkItem
+class BMI160 : public device::SPI, public I2CSPIDriver<BMI160>
 {
 public:
-	BMI160(int bus, uint32_t device, enum Rotation rotation);
+	BMI160(I2CSPIBusOption bus_option, int bus, int32_t device, enum Rotation rotation, int bus_frequency,
+	       spi_mode_e spi_mode);
 	virtual ~BMI160();
 
-	virtual int		init();
+	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+					     int runtime_instance);
+	static void print_usage();
 
-	/**
+	int		init() override;
-	 * Diagnostics - print some basic information about the driver.
+
-	 */
+	void			print_status() override;
-	void			print_info();
 
 	void			print_registers();
 
 	// deliberately cause a sensor error
 	void 			test_error();
 
+	void			RunImpl();
+
 protected:
-	virtual int		probe();
+	int		probe() override;
+	void custom_method(const BusCLIArguments &cli) override;
 
 private:
 
 	PX4Accelerometer	_px4_accel;
 	PX4Gyroscope		_px4_gyro;
 
-	uint8_t			_whoami;	/** whoami result */
+	uint8_t			_whoami;	///< whoami result
 
 	unsigned		_dlpf_freq;
 
@@ -306,11 +311,6 @@ private:
 	 */
 	void			start();
 
-	/**
-	 * Stop automatic measurement.
-	 */
-	void			stop();
-
 	/**
 	 * Reset chip.
 	 *
@@ -318,13 +318,6 @@ private:
 	 */
 	int			reset();
 
-	void			Run() override;
-
-	/**
-	 * Fetch measurements from the sensor and update the report buffers.
-	 */
-	void			measure();
-
 	/**
 	 * Read a register from the BMI160
 	 *

src/drivers/imu/bmi160/bmi160_main.cpp

@@ -33,221 +33,108 @@
 
 #include "bmi160.hpp"
 
-/** driver 'main' command */
+#include <px4_platform_common/getopt.h>
-extern "C" { __EXPORT int bmi160_main(int argc, char *argv[]); }
+#include <px4_platform_common/module.h>
 
-/**
- * Local functions in support of the shell command.
- */
-namespace bmi160
-{
-
-BMI160	*g_dev_int; // on internal bus
-BMI160	*g_dev_ext; // on external bus
-
-void	start(bool, enum Rotation);
-void	stop(bool);
-void	info(bool);
-void	regdump(bool);
-void	testerror(bool);
-void	usage();
-
-
-/**
- * Start the driver.
- *
- * This function only returns if the driver is up and running
- * or failed to detect the sensor.
- */
 void
-start(bool external_bus, enum Rotation rotation)
+BMI160::print_usage()
 {
-	BMI160 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
+	PRINT_MODULE_USAGE_NAME("bmi160", "driver");
+	PRINT_MODULE_USAGE_SUBCATEGORY("imu");
+	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);
+	PRINT_MODULE_USAGE_COMMAND("reset");
+	PRINT_MODULE_USAGE_COMMAND("regdump");
+	PRINT_MODULE_USAGE_COMMAND("testerror");
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+}
 
-	if (*g_dev_ptr != nullptr)
+I2CSPIDriverBase *BMI160::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-		/* if already started, the still command succeeded */
+				      int runtime_instance)
-	{
+{
-		errx(0, "already started");
+	BMI160 *instance = new BMI160(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
+				      cli.bus_frequency, cli.spi_mode);
+
+	if (!instance) {
+		PX4_ERR("alloc failed");
+		return nullptr;
 	}
 
-	/* create the driver */
+	if (OK != instance->init()) {
-	if (external_bus) {
+		delete instance;
-#if defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_BMI)
+		return nullptr;
-		*g_dev_ptr = new BMI160(PX4_SPI_BUS_EXT, PX4_SPIDEV_EXT_BMI, rotation);
-#else
-		errx(0, "External SPI not available");
-#endif
-
-	} else {
-#if defined(PX4_SPIDEV_BMI)
-		*g_dev_ptr = new BMI160(PX4_SPI_BUS_SENSORS, PX4_SPIDEV_BMI, rotation);
-#else
-		errx(0, "No Internal SPI CS");
-#endif
 	}
 
-	if (*g_dev_ptr == nullptr) {
+	return instance;
-		goto fail;
-	}
-
-	if (OK != (*g_dev_ptr)->init()) {
-		goto fail;
-	}
-
-	exit(0);
-fail:
-
-	if (*g_dev_ptr != nullptr) {
-		delete (*g_dev_ptr);
-		*g_dev_ptr = nullptr;
-	}
-
-	errx(1, "driver start failed");
 }
 
 void
-stop(bool external_bus)
+BMI160::custom_method(const BusCLIArguments &cli)
 {
-	BMI160 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
+	switch (cli.custom1) {
+	case 0: reset();
+		break;
 
-	if (*g_dev_ptr != nullptr) {
+	case 1: print_registers();
-		delete *g_dev_ptr;
+		break;
-		*g_dev_ptr = nullptr;
 
-	} else {
+	case 2: test_error();
-		/* warn, but not an error */
+		break;
-		warnx("already stopped.");
 	}
-
-	exit(0);
 }
 
-/**
+extern "C" int bmi160_main(int argc, char *argv[])
- * Print a little info about the driver.
- */
-void
-info(bool external_bus)
 {
-	BMI160 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
-
-	if (*g_dev_ptr == nullptr) {
-		errx(1, "driver not running");
-	}
-
-	printf("state @ %p\n", *g_dev_ptr);
-	(*g_dev_ptr)->print_info();
-
-	exit(0);
-}
-
-/**
- * Dump the register information
- */
-void
-regdump(bool external_bus)
-{
-	BMI160 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
-
-	if (*g_dev_ptr == nullptr) {
-		errx(1, "driver not running");
-	}
-
-	printf("regdump @ %p\n", *g_dev_ptr);
-	(*g_dev_ptr)->print_registers();
-
-	exit(0);
-}
-
-
-/**
- * deliberately produce an error to test recovery
- */
-void
-testerror(bool external_bus)
-{
-	BMI160 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
-
-	if (*g_dev_ptr == nullptr) {
-		errx(1, "driver not running");
-	}
-
-	(*g_dev_ptr)->test_error();
-
-	exit(0);
-}
-
-void
-usage()
-{
-	warnx("missing command: try 'start', 'info', 'stop', 'regdump', 'testerror'");
-	warnx("options:");
-	warnx("    -X    (external bus)");
-	warnx("    -R rotation");
-}
-
-} // namespace
-
-int
-bmi160_main(int argc, char *argv[])
-{
-	int myoptind = 1;
 	int ch;
-	const char *myoptarg = nullptr;
+	using ThisDriver = BMI160;
-	bool external_bus = false;
+	BusCLIArguments cli{false, true};
-	enum Rotation rotation = ROTATION_NONE;
+	cli.default_spi_frequency = BMI160_BUS_SPEED;
 
-	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:
-			bmi160::usage();
-			return 0;
 		}
 	}
 
-	if (myoptind >= argc) {
+	const char *verb = cli.optarg();
-		bmi160::usage();
+
+	if (!verb) {
+		ThisDriver::print_usage();
 		return -1;
 	}
 
-	const char *verb = argv[myoptind];
+	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_IMU_DEVTYPE_BMI160);
 
-	/*
-	 * Start/load the driver.
-	 */
 	if (!strcmp(verb, "start")) {
-		bmi160::start(external_bus, rotation);
+		return ThisDriver::module_start(cli, iterator);
 	}
 
 	if (!strcmp(verb, "stop")) {
-		bmi160::stop(external_bus);
+		return ThisDriver::module_stop(iterator);
 	}
 
-	/*
+	if (!strcmp(verb, "status")) {
-	 * Print driver information.
+		return ThisDriver::module_status(iterator);
-	 */
+	}
-	if (!strcmp(verb, "info")) {
+
-		bmi160::info(external_bus);
+	if (!strcmp(verb, "reset")) {
+		cli.custom1 = 0;
+		return ThisDriver::module_custom_method(cli, iterator);
 	}
 
-	/*
-	 * Print register information.
-	 */
 	if (!strcmp(verb, "regdump")) {
-		bmi160::regdump(external_bus);
+		cli.custom1 = 1;
+		return ThisDriver::module_custom_method(cli, iterator);
 	}
 
 	if (!strcmp(verb, "testerror")) {
-		bmi160::testerror(external_bus);
+		cli.custom1 = 2;
+		return ThisDriver::module_custom_method(cli, iterator);
 	}
 
-	bmi160::usage();
+	ThisDriver::print_usage();
 	return -1;
 }