refactor teraranger: use driver base class

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -103,7 +103,7 @@ fi
 # Teraranger one tof sensor
 if param greater -s SENS_EN_TRANGER 0
 then
-	teraranger start -a
+	teraranger start -X
 fi
 
 # Possible external pmw3901 optical flow sensor

src/drivers/distance_sensor/teraranger/TERARANGER.cpp

@@ -73,9 +73,9 @@ static uint8_t crc8(uint8_t *p, uint8_t len)
 	return crc & 0xFF;
 }
 
-TERARANGER::TERARANGER(const int bus, const int address, const uint8_t rotation) :
+TERARANGER::TERARANGER(I2CSPIBusOption bus_option, const int bus, const uint8_t rotation, int bus_frequency) :
-	I2C("TERARANGER", nullptr, bus, address, 100000),
+	I2C("TERARANGER", nullptr, bus, TERARANGER_ONE_BASEADDR, bus_frequency),
-	ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())),
+	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
 	_px4_rangefinder(0 /* device id not yet used */, ORB_PRIO_DEFAULT, rotation)
 {
 	// up the retries since the device misses the first measure attempts
@@ -84,8 +84,6 @@ TERARANGER::TERARANGER(const int bus, const int address, const uint8_t rotation)
 
 TERARANGER::~TERARANGER()
 {
-	stop();
-
 	perf_free(_sample_perf);
 	perf_free(_comms_errors);
 }
@@ -211,8 +209,6 @@ int TERARANGER::init()
 		return PX4_ERROR;
 	}
 
-	start();
-
 	return PX4_OK;
 }
 
@@ -253,7 +249,7 @@ int TERARANGER::probe()
 	return -EIO;
 }
 
-void TERARANGER::Run()
+void TERARANGER::RunImpl()
 {
 	// Perform data collection.
 	collect();
@@ -267,13 +263,9 @@ void TERARANGER::start()
 	ScheduleOnInterval(TERARANGER_MEASUREMENT_INTERVAL);
 }
 
-void TERARANGER::stop()
+void TERARANGER::print_status()
-{
-	ScheduleClear();
-}
-
-void TERARANGER::print_info()
 {
+	I2CSPIDriverBase::print_status();
 	perf_print_counter(_sample_perf);
 	perf_print_counter(_comms_errors);
 

src/drivers/distance_sensor/teraranger/TERARANGER.hpp

@@ -42,7 +42,7 @@
 
 #include <drivers/device/i2c.h>
 #include <px4_platform_common/px4_config.h>
-#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/i2c_spi_buses.h>
 #include <lib/drivers/rangefinder/PX4Rangefinder.hpp>
 #include <lib/perf/perf_counter.h>
 
@@ -72,24 +72,26 @@ using namespace time_literals;
 
 #define TERARANGER_MEASUREMENT_INTERVAL         10_ms
 
-class TERARANGER : public device::I2C, public px4::ScheduledWorkItem
+class TERARANGER : public device::I2C, public I2CSPIDriver<TERARANGER>
 {
 public:
-	TERARANGER(const int bus, const int address = TERARANGER_ONE_BASEADDR,
+	TERARANGER(I2CSPIBusOption bus_option, const int bus, const uint8_t rotation, int bus_frequency);
-		   const uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
 	~TERARANGER() override;
 
-	virtual int init() override;
+	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-	void print_info();
+					     int runtime_instance);
+	static void print_usage();
 
+	virtual int init() override;
+	void print_status() override;
+
+	void RunImpl();
 protected:
 
 	virtual int probe() override;
 
 private:
-
 	void start();
-	void stop();
 	int collect();
 	int measure();
 
@@ -102,7 +104,6 @@ private:
 	*/
 	int probe_address(const uint8_t address);
 
-	void Run() override;
 
 	PX4Rangefinder _px4_rangefinder;
 

src/drivers/distance_sensor/teraranger/teraranger_main.cpp

@@ -36,77 +36,8 @@
 #include <px4_platform_common/getopt.h>
 #include <px4_platform_common/module.h>
 
-namespace teraranger
+void
-{
+TERARANGER::print_usage()
-
-TERARANGER *g_dev{nullptr};
-
-static int start_bus(const int i2c_bus, const uint8_t orientation)
-{
-	if (g_dev != nullptr) {
-		PX4_ERR("already started");
-		return PX4_OK;
-	}
-
-	// Instantiate the driver.
-	g_dev = new TERARANGER(i2c_bus, TERARANGER_ONE_BASEADDR, orientation);
-
-	if (g_dev == nullptr) {
-		delete g_dev;
-		return PX4_ERROR;
-	}
-
-	// Initialize the sensor.
-	if (g_dev->init() != PX4_OK) {
-		delete g_dev;
-		g_dev = nullptr;
-		return PX4_ERROR;
-	}
-
-	return PX4_OK;
-}
-
-static int start(const uint8_t orientation)
-{
-	if (g_dev != nullptr) {
-		PX4_ERR("already started");
-		return PX4_ERROR;
-	}
-
-	for (size_t i = 0; i < NUM_I2C_BUS_OPTIONS; i++) {
-		if (start_bus(i2c_bus_options[i], orientation) == PX4_OK) {
-			return PX4_OK;
-		}
-	}
-
-	return PX4_ERROR;
-}
-
-static int stop()
-{
-	if (g_dev != nullptr) {
-		delete g_dev;
-		g_dev = nullptr;
-
-	}
-
-	PX4_INFO("driver stopped");
-	return PX4_OK;
-}
-
-static int status()
-{
-	if (g_dev == nullptr) {
-		PX4_ERR("driver not running");
-		return PX4_ERROR;
-	}
-
-	g_dev->print_info();
-
-	return PX4_OK;
-}
-
-static int usage()
 {
 	PRINT_MODULE_DESCRIPTION(
 		R"DESCR_STR(
@@ -117,79 +48,71 @@ I2C bus driver for TeraRanger rangefinders.
 The sensor/driver must be enabled using the parameter SENS_EN_TRANGER.
 
 Setup/usage information: https://docs.px4.io/en/sensor/rangefinders.html#teraranger-rangefinders
-
-### Examples
-Start driver on any bus (start on bus where first sensor found).
-$ teraranger start -a
-Start driver on specified bus
-$ teraranger start -b 1
-Stop driver
-$ teraranger stop
 )DESCR_STR");
-
 	PRINT_MODULE_USAGE_NAME("teraranger", "driver");
 	PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor");
-	PRINT_MODULE_USAGE_COMMAND_DESCR("start","Start driver");
+	PRINT_MODULE_USAGE_COMMAND("start");
-	PRINT_MODULE_USAGE_PARAM_FLAG('a', "Attempt to start driver on all I2C buses (first one found)", true);
+	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
-	PRINT_MODULE_USAGE_PARAM_INT('b', 1, 1, 2000, "Start driver on specific I2C bus", true);
 	PRINT_MODULE_USAGE_PARAM_INT('R', 25, 1, 25, "Sensor rotation - downward facing by default", true);
-	PRINT_MODULE_USAGE_COMMAND_DESCR("stop","Stop driver");
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
-	PRINT_MODULE_USAGE_COMMAND_DESCR("status","Print driver information");
-
-	return PX4_OK;
 }
 
-} // namespace
+I2CSPIDriverBase *TERARANGER::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+				     int runtime_instance)
+{
+	TERARANGER *instance = new TERARANGER(iterator.configuredBusOption(), iterator.bus(), cli.orientation, cli.bus_frequency);
+
+	if (instance == nullptr) {
+		PX4_ERR("alloc failed");
+		return nullptr;
+	}
+
+	if (instance->init() != PX4_OK) {
+		delete instance;
+		return nullptr;
+	}
+
+	instance->start();
+	return instance;
+}
 
 extern "C" __EXPORT int teraranger_main(int argc, char *argv[])
 {
-	const char *myoptarg = nullptr;
-
 	int ch;
-	int i2c_bus = PX4_I2C_BUS_EXPANSION;
+	using ThisDriver = TERARANGER;
-	int myoptind = 1;
+	BusCLIArguments cli{true, false};
+	cli.orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
+	cli.default_i2c_frequency = 100000;
 
-	uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
+	while ((ch = cli.getopt(argc, argv, "R:")) != EOF) {
-
-	bool start_all = false;
-
-	while ((ch = px4_getopt(argc, argv, "ab:R:", &myoptind, &myoptarg)) != EOF) {
 		switch (ch) {
-		case 'a':
-			start_all = true;
-			break;
-
-		case 'b':
-			i2c_bus = atoi(myoptarg);
-			break;
-
 		case 'R':
-			rotation = (uint8_t)atoi(myoptarg);
+			cli.orientation = atoi(cli.optarg());
 			break;
-
-		default:
-			PX4_WARN("Unknown option!");
-			return teraranger::usage();
 		}
 	}
 
-	if (myoptind >= argc) {
+	const char *verb = cli.optarg();
-		return teraranger::usage();
+
+	if (!verb) {
+		ThisDriver::print_usage();
+		return -1;
 	}
 
-	if (!strcmp(argv[myoptind], "start")) {
+	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_DIST_DEVTYPE_TERARANGER);
 
-		if (start_all) {
+	if (!strcmp(verb, "start")) {
-			return teraranger::start(rotation);
+		return ThisDriver::module_start(cli, iterator);
-
-		} else {
-			return teraranger::start_bus(i2c_bus, rotation);
-		}
-	} else if (!strcmp(argv[myoptind], "status")) {
-		return teraranger::status();
-	} else if (!strcmp(argv[myoptind], "stop")) {
-		return teraranger::stop();
 	}
 
-	return teraranger::usage();
+	if (!strcmp(verb, "stop")) {
+		return ThisDriver::module_stop(iterator);
+	}
+
+	if (!strcmp(verb, "status")) {
+		return ThisDriver::module_status(iterator);
+	}
+
+	ThisDriver::print_usage();
+	return -1;
 }

src/drivers/drv_sensor.h

@@ -134,6 +134,7 @@
 #define DRV_DIST_DEVTYPE_MB12XX       0x72
 #define DRV_DIST_DEVTYPE_SF1XX        0x73
 #define DRV_DIST_DEVTYPE_SRF02        0x74
+#define DRV_DIST_DEVTYPE_TERARANGER   0x75
 
 #define DRV_DEVTYPE_UNUSED		0xff