refactor aerofc_adc: use driver base class

boards/intel/aerofc-v1/aerofc_adc/AEROFC_ADC.cpp

@@ -35,17 +35,15 @@
 
 using namespace time_literals;
 
-AEROFC_ADC::AEROFC_ADC(uint8_t bus) :
+AEROFC_ADC::AEROFC_ADC(I2CSPIBusOption bus_option, int bus_number, int bus_frequency) :
-	I2C("AEROFC_ADC", AEROFC_ADC_DEVICE_PATH, bus, SLAVE_ADDR, 400000),
+	I2C("AEROFC_ADC", AEROFC_ADC_DEVICE_PATH, bus_number, SLAVE_ADDR, 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_number),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": sample"))
 {
-
 }
 
 AEROFC_ADC::~AEROFC_ADC()
 {
-	ScheduleClear();
 	perf_free(_sample_perf);
 }
 
@@ -94,7 +92,7 @@ error:
 	return -EIO;
 }
 
-void AEROFC_ADC::Run()
+void AEROFC_ADC::RunImpl()
 {
 	/*
 	 * https://github.com/intel-aero/intel-aero-fpga/blob/master/aero_sample/adc/adc.html
@@ -112,8 +110,8 @@ void AEROFC_ADC::Run()
 		return;
 	}
 
-	adc_report_s adc_report;
+	adc_report_s adc_report{};
-	adc_report.device_id = this->get_device_id();
+	adc_report.device_id = get_device_id();
 	adc_report.timestamp = hrt_absolute_time();
 	adc_report.v_ref = 3.0f;
 	adc_report.resolution = 1 << 12;
@@ -132,4 +130,4 @@ void AEROFC_ADC::Run()
 	_to_adc_report.publish(adc_report);
 
 	perf_end(_sample_perf);
-}
+}

boards/intel/aerofc-v1/aerofc_adc/AEROFC_ADC.hpp

@@ -42,7 +42,7 @@
 #include <px4_platform_common/log.h>
 #include <drivers/device/i2c.h>
 #include <drivers/drv_adc.h>
-#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/i2c_spi_buses.h>
 #include <uORB/Publication.hpp>
 #include <uORB/topics/adc_report.h>
 
@@ -52,17 +52,21 @@
 #define MAX_CHANNEL 5
 #define AEROFC_ADC_DEVICE_PATH "/dev/aerofc_adc"
 
-class AEROFC_ADC : public device::I2C, public px4::ScheduledWorkItem
+class AEROFC_ADC : public device::I2C, public I2CSPIDriver<AEROFC_ADC>
 {
 public:
-	AEROFC_ADC(uint8_t bus);
+	AEROFC_ADC(I2CSPIBusOption bus_option, int bus_number, int bus_frequency);
 	~AEROFC_ADC() override;
 
+	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+					     int runtime_instance);
+	static void print_usage();
+
 	int init() override;
 
+	void RunImpl();
 private:
 	int probe() override;;
-	void Run() override;
 
 	uORB::Publication<adc_report_s>		_to_adc_report{ORB_ID(adc_report)};
 

boards/intel/aerofc-v1/aerofc_adc/aerofc_adc_main.cpp

@@ -33,117 +33,66 @@
 
 #include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module.h>
 
 #include "AEROFC_ADC.hpp"
 
-enum AEROFC_ADC_BUS {
+I2CSPIDriverBase *
-	AEROFC_ADC_BUS_ALL = 0,
+AEROFC_ADC::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator, int runtime_instance)
-	AEROFC_ADC_BUS_I2C_INTERNAL,
-	AEROFC_ADC_BUS_I2C_EXTERNAL
-};
-
-static constexpr struct aerofc_adc_bus_option {
-	enum AEROFC_ADC_BUS busid;
-	uint8_t busnum;
-} bus_options[] = {
-#ifdef PX4_I2C_BUS_EXPANSION
-	{ AEROFC_ADC_BUS_I2C_EXTERNAL, PX4_I2C_BUS_EXPANSION },
-#endif
-#ifdef PX4_I2C_BUS_EXPANSION1
-	{ AEROFC_ADC_BUS_I2C_EXTERNAL, PX4_I2C_BUS_EXPANSION1 },
-#endif
-#ifdef PX4_I2C_BUS_ONBOARD
-	{ AEROFC_ADC_BUS_I2C_INTERNAL, PX4_I2C_BUS_ONBOARD },
-#endif
-};
-
-extern "C" { __EXPORT int aerofc_adc_main(int argc, char *argv[]); }
-
-static AEROFC_ADC *instance = nullptr;
-
-static int test()
 {
-	PX4_INFO("test is currently unavailable");
+	AEROFC_ADC *interface = new AEROFC_ADC(iterator.configuredBusOption(), iterator.bus(), cli.bus_frequency);
 
-	return 0;
+	if (interface == nullptr) {
-}
+		PX4_ERR("alloc failed");
-
+		return nullptr;
-static void help()
-{
-	printf("missing command: try 'start' or 'test'\n");
-	printf("options:\n");
-	printf("    -I only internal I2C bus\n");
-	printf("    -X only external I2C bus\n");
-}
-
-int aerofc_adc_main(int argc, char *argv[])
-{
-	int ch;
-	enum AEROFC_ADC_BUS busid = AEROFC_ADC_BUS_ALL;
-
-	while ((ch = getopt(argc, argv, "XI")) != EOF) {
-		switch (ch) {
-		case 'X':
-			busid = AEROFC_ADC_BUS_I2C_EXTERNAL;
-			break;
-
-		case 'I':
-			busid = AEROFC_ADC_BUS_I2C_INTERNAL;
-			break;
-
-		default:
-			help();
-			return -1;
-		}
 	}
 
-	if (optind >= argc) {
+	if (interface->init() != OK) {
-		help();
+		delete interface;
-		return PX4_ERROR;
+		PX4_DEBUG("no device on bus %i (devid 0x%x)", iterator.bus(), iterator.devid());
+		return nullptr;
 	}
 
-	const char *verb = argv[optind];
+	return interface;
+}
+
+void
+AEROFC_ADC::print_usage()
+{
+	PRINT_MODULE_USAGE_NAME("aerofc_adc", "driver");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+}
+
+extern "C" int
+aerofc_adc_main(int argc, char *argv[])
+{
+	using ThisDriver = AEROFC_ADC;
+	BusCLIArguments cli{true, false};
+	cli.default_i2c_frequency = 400000;
+
+	const char *verb = cli.parseDefaultArguments(argc, argv);
+
+	if (!verb) {
+		ThisDriver::print_usage();
+		return -1;
+	}
+
+	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_ADC_DEVTYPE_AEROFC);
 
 	if (!strcmp(verb, "start")) {
-		if (instance) {
+		return ThisDriver::module_start(cli, iterator);
-			PX4_WARN("AEROFC_ADC was already started");
-			return PX4_OK;
-		}
-
-		for (uint8_t i = 0; i < (sizeof(bus_options) / sizeof(bus_options[0])); i++) {
-			if (busid != AEROFC_ADC_BUS_ALL && busid != bus_options[i].busid) {
-				continue;
-			}
-
-			instance = new AEROFC_ADC(bus_options[i].busnum);
-
-			if (!instance) {
-				PX4_WARN("No memory to instance AEROFC_ADC");
-				return PX4_ERROR;
-			}
-
-			if (instance->init() == PX4_OK) {
-				break;
-			}
-
-			PX4_WARN("AEROFC_ADC not found on busnum=%u", bus_options[i].busnum);
-			delete instance;
-			instance = nullptr;
-		}
-
-		if (!instance) {
-			PX4_WARN("AEROFC_ADC not found");
-			return PX4_ERROR;
-		}
-
-	} else if (!strcmp(verb, "test")) {
-		return test();
-
-	} else {
-		PX4_WARN("Action not supported");
-		help();
-		return PX4_ERROR;
 	}
 
-	return PX4_OK;
+	if (!strcmp(verb, "stop")) {
+		return ThisDriver::module_stop(iterator);
+	}
+
+	if (!strcmp(verb, "status")) {
+		return ThisDriver::module_status(iterator);
+	}
+
+	ThisDriver::print_usage();
+	return 1;
 }

boards/intel/aerofc-v1/init/rc.board_sensors

@@ -3,7 +3,7 @@
 # intel aero specific board sensors init
 #------------------------------------------------------------------------------
 
-aerofc_adc start
+aerofc_adc -I start
 
 if ! ms5611 -T 5607 start
 then

src/drivers/drv_sensor.h

@@ -114,6 +114,7 @@
 #define DRV_IMU_DEVTYPE_ADIS16448	0x57
 #define DRV_BARO_DEVTYPE_LPS22HB	0x58
 #define DRV_IMU_DEVTYPE_ADIS16477	0x59
+#define DRV_ADC_DEVTYPE_AEROFC          0x5a
 
 #define DRV_ACC_DEVTYPE_LSM303AGR	0x61
 #define DRV_MAG_DEVTYPE_LSM303AGR	0x62