refactor adis16477: use driver base class

boards/av/x-v1/init/rc.board_sensors

@@ -5,7 +5,7 @@
 
 adc start
 
-adis16477 -R 8 start
+adis16477 -s -R 8 start
 
 lps22hb -s start
 

boards/av/x-v1/src/board_config.h

@@ -125,7 +125,7 @@
 
 #include <drivers/drv_sensor.h>
 /* SPI1 */
-#define PX4_SPIDEV_ADIS16477       PX4_MK_SPI_SEL(0,DRV_GYR_DEVTYPE_ADIS16477)
+#define PX4_SPIDEV_ADIS16477       PX4_MK_SPI_SEL(0,DRV_IMU_DEVTYPE_ADIS16477)
 #define PX4_SENSOR1_BUS_CS_GPIO    {GPIO_SPI1_CS1_ADIS16477}
 
 /* SPI2 */

boards/av/x-v1/src/spi.cpp

@@ -37,7 +37,7 @@
 
 constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI1, {
-		initSPIDevice(DRV_GYR_DEVTYPE_ADIS16477, SPI::CS{GPIO::PortG, GPIO::Pin10}, SPI::DRDY{GPIO::PortJ, GPIO::Pin0}),
+		initSPIDevice(DRV_IMU_DEVTYPE_ADIS16477, SPI::CS{GPIO::PortG, GPIO::Pin10}, SPI::DRDY{GPIO::PortJ, GPIO::Pin0}),
 	}),
 	initSPIBusExternal(SPI::Bus::SPI2, {
 		initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin0}),

src/drivers/drv_sensor.h

@@ -114,9 +114,8 @@
 #define DRV_GYR_DEVTYPE_FXAS2100C	0x54
 #define DRV_IMU_DEVTYPE_ADIS16448	0x57
 #define DRV_BARO_DEVTYPE_LPS22HB	0x58
-#define DRV_ACC_DEVTYPE_ADIS16477	0x59
+#define DRV_IMU_DEVTYPE_ADIS16477	0x59
 
-#define DRV_GYR_DEVTYPE_ADIS16477	0x60
 #define DRV_ACC_DEVTYPE_LSM303AGR	0x61
 #define DRV_MAG_DEVTYPE_LSM303AGR	0x62
 #define DRV_ACC_DEVTYPE_ADIS16497	0x63

src/drivers/imu/adis16477/ADIS16477.cpp

@@ -53,31 +53,30 @@ static constexpr uint32_t ADIS16477_DEFAULT_RATE = 1000;
 
 using namespace time_literals;
 
-ADIS16477::ADIS16477(int bus, uint32_t device, enum Rotation rotation) :
+ADIS16477::ADIS16477(I2CSPIBusOption bus_option, int bus, int32_t device, enum Rotation rotation, int bus_frequency,
-	SPI("ADIS16477", nullptr, bus, device, SPIDEV_MODE3, 1000000),
+		     spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio) :
-	ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())),
+	SPI("ADIS16477", 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_MAX, rotation),
 	_px4_gyro(get_device_id(), ORB_PRIO_MAX, rotation),
 	_sample_perf(perf_alloc(PC_ELAPSED, "adis16477: read")),
-	_bad_transfers(perf_alloc(PC_COUNT, "adis16477: bad transfers"))
+	_bad_transfers(perf_alloc(PC_COUNT, "adis16477: bad transfers")),
+	_drdy_gpio(drdy_gpio)
 {
 #ifdef GPIO_SPI1_RESET_ADIS16477
 	// Configure hardware reset line
 	px4_arch_configgpio(GPIO_SPI1_RESET_ADIS16477);
 #endif // GPIO_SPI1_RESET_ADIS16477
 
-	_px4_accel.set_device_type(DRV_ACC_DEVTYPE_ADIS16477);
+	_px4_accel.set_device_type(DRV_IMU_DEVTYPE_ADIS16477);
 	_px4_accel.set_scale(1.25f * CONSTANTS_ONE_G / 1000.0f); // accel 1.25 mg/LSB
 
-	_px4_gyro.set_device_type(DRV_GYR_DEVTYPE_ADIS16477);
+	_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_ADIS16477);
 	_px4_gyro.set_scale(math::radians(0.025f)); // gyro 0.025 °/sec/LSB
 }
 
 ADIS16477::~ADIS16477()
 {
-	// make sure we are truly inactive
-	stop();
-
 	// delete the perf counters
 	perf_free(_sample_perf);
 	perf_free(_bad_transfers);
@@ -86,11 +85,12 @@ ADIS16477::~ADIS16477()
 int
 ADIS16477::init()
 {
-	// do SPI init (and probe) first
+	int ret = SPI::init();
-	if (SPI::init() != OK) {
+
+	if (ret != OK) {
 		// if probe/setup failed, bail now
-		PX4_DEBUG("SPI setup failed");
+		DEVICE_DEBUG("SPI init failed (%i)", ret);
-		return PX4_ERROR;
+		return ret;
 	}
 
 	start();
@@ -170,18 +170,18 @@ ADIS16477::probe()
 		uint16_t product_id = read_reg16(PROD_ID);
 
 		if (product_id == PROD_ID_ADIS16477) {
-			PX4_DEBUG("PRODUCT: %X", product_id);
+			DEVICE_DEBUG("PRODUCT: %X", product_id);
 
 			if (self_test_memory() && self_test_sensor()) {
 				return PX4_OK;
 
 			} else {
-				PX4_ERR("probe attempt %d: self test failed, resetting", i);
+				DEVICE_DEBUG("probe attempt %d: self test failed, resetting", i);
 				reset();
 			}
 
 		} else {
-			PX4_ERR("probe attempt %d: read product id failed, resetting", i);
+			DEVICE_DEBUG("probe attempt %d: read product id failed, resetting", i);
 			reset();
 		}
 	}
@@ -273,27 +273,25 @@ ADIS16477::write_reg16(uint8_t reg, uint16_t value)
 void
 ADIS16477::start()
 {
-#ifdef GPIO_SPI1_DRDY1_ADIS16477
+	if (_drdy_gpio != 0) {
-	// Setup data ready on rising edge
+		// Setup data ready on rising edge
-	px4_arch_gpiosetevent(GPIO_SPI1_DRDY1_ADIS16477, true, false, true, &ADIS16477::data_ready_interrupt, this);
+		px4_arch_gpiosetevent(_drdy_gpio, true, false, true, &ADIS16477::data_ready_interrupt, this);
-#else
-	// Make sure we are stopped first
-	stop();
 
-	// start polling at the specified rate
+	} else {
-	ScheduleOnInterval((1_s / ADIS16477_DEFAULT_RATE), 10000);
+		// start polling at the specified rate
-#endif
+		ScheduleOnInterval((1_s / ADIS16477_DEFAULT_RATE), 10000);
+	}
 }
 
 void
-ADIS16477::stop()
+ADIS16477::exit_and_cleanup()
 {
-#ifdef GPIO_SPI1_DRDY1_ADIS16477
+	if (_drdy_gpio != 0) {
-	// Disable data ready callback
+		// Disable data ready callback
-	px4_arch_gpiosetevent(GPIO_SPI1_DRDY1_ADIS16477, false, false, false, nullptr, nullptr);
+		px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr);
-#else
+	}
-	ScheduleClear();
+
-#endif
+	I2CSPIDriverBase::exit_and_cleanup();
 }
 
 int
@@ -308,7 +306,7 @@ ADIS16477::data_ready_interrupt(int irq, void *context, void *arg)
 }
 
 void
-ADIS16477::Run()
+ADIS16477::RunImpl()
 {
 	// make another measurement
 	measure();
@@ -384,8 +382,9 @@ ADIS16477::measure()
 }
 
 void
-ADIS16477::print_info()
+ADIS16477::print_status()
 {
+	I2CSPIDriverBase::print_status();
 	perf_print_counter(_sample_perf);
 	perf_print_counter(_bad_transfers);
 

src/drivers/imu/adis16477/ADIS16477.hpp

@@ -45,20 +45,27 @@
 #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>
 
-class ADIS16477 : public device::SPI, public px4::ScheduledWorkItem
+class ADIS16477 : public device::SPI, public I2CSPIDriver<ADIS16477>
 {
 public:
-	ADIS16477(int bus, uint32_t device, enum Rotation rotation = ROTATION_NONE);
+	ADIS16477(I2CSPIBusOption bus_option, int bus, int32_t device, enum Rotation rotation, int bus_frequency,
+		  spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio);
 	virtual ~ADIS16477();
 
-	virtual int		init();
+	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+					     int runtime_instance);
+	static void print_usage();
 
-	void			print_info();
+	int		init();
 
+	void			print_status() override;
+
+	void			RunImpl();
 protected:
-	virtual int		probe();
+	int		probe() override;
+	void exit_and_cleanup() override;
 
 private:
 
@@ -68,6 +75,8 @@ private:
 	perf_counter_t		_sample_perf;
 	perf_counter_t		_bad_transfers;
 
+	const spi_drdy_gpio_t _drdy_gpio;
+
 #pragma pack(push, 1)
 	// Report conversation with in the ADIS16477, including command byte and interrupt status.
 	struct ADISReport {
@@ -91,11 +100,6 @@ private:
 	 */
 	void			start();
 
-	/**
-	 * Stop automatic measurement.
-	 */
-	void			stop();
-
 	/**
 	 * Reset chip.
 	 *
@@ -103,8 +107,6 @@ private:
 	 */
 	int			reset();
 
-	void			Run() override;
-
 	static int		data_ready_interrupt(int irq, void *context, void *arg);
 
 	/**

src/drivers/imu/adis16477/adis16477_main.cpp

@@ -34,111 +34,74 @@
 #include "ADIS16477.hpp"
 
 #include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module.h>
 
-namespace adis16477
+void
+ADIS16477::print_usage()
 {
-ADIS16477 *g_dev{nullptr};
+	PRINT_MODULE_USAGE_NAME("adis16477", "driver");
-
+	PRINT_MODULE_USAGE_SUBCATEGORY("imu");
-static int start(enum Rotation rotation)
+	PRINT_MODULE_USAGE_COMMAND("start");
-{
+	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
-	if (g_dev != nullptr) {
+	PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
-		PX4_WARN("already started");
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
-		return 0;
-	}
-
-	// create the driver
-#if defined(PX4_SPIDEV_ADIS16477)
-	g_dev = new ADIS16477(PX4_SPI_BUS_SENSOR1, PX4_SPIDEV_ADIS16477, rotation);
-#elif defined(PX4_SPI_BUS_EXT)
-	g_dev = new ADIS16477(PX4_SPI_BUS_EXT, PX4_SPIDEV_EXT_MPU, rotation);
-#elif defined(PX4_SPIDEV_EXTERNAL1_1)
-	g_dev = new ADIS16477(PX4_SPI_BUS_EXTERNAL1, PX4_SPIDEV_EXTERNAL1_1, rotation);
-#else
-	PX4_ERR("External SPI not available");
-	return -1;
-#endif
-
-	if (g_dev == nullptr) {
-		PX4_ERR("driver start failed");
-		return -1;
-	}
-
-	if (g_dev->init() != PX4_OK) {
-		PX4_ERR("driver init failed");
-		delete g_dev;
-		g_dev = nullptr;
-		return -1;
-	}
-
-	return 0;
 }
 
-static int stop()
+I2CSPIDriverBase *ADIS16477::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+		int runtime_instance)
 {
-	if (g_dev == nullptr) {
+	ADIS16477 *instance = new ADIS16477(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
-		PX4_WARN("driver not running");
+					    cli.bus_frequency, cli.spi_mode, iterator.DRDYGPIO());
-		return -1;
+
+	if (!instance) {
+		PX4_ERR("alloc failed");
+		return nullptr;
 	}
 
-	delete g_dev;
+	if (OK != instance->init()) {
-	g_dev = nullptr;
+		delete instance;
-
+		return nullptr;
-	return 0;
-}
-
-static int status()
-{
-	if (g_dev == nullptr) {
-		PX4_INFO("driver not running");
-		return 0;
 	}
 
-	g_dev->print_info();
+	return instance;
-
-	return 0;
 }
 
-static int usage()
-{
-	PX4_INFO("missing command: try 'start', 'stop', 'status'");
-	PX4_INFO("options:");
-	PX4_INFO("    -R rotation");
-
-	return 0;
-}
-
-} // namespace adis16477
-
 extern "C" int adis16477_main(int argc, char *argv[])
 {
-	enum Rotation rotation = ROTATION_NONE;
+	int ch;
-	int myoptind = 1;
+	using ThisDriver = ADIS16477;
-	int ch = 0;
+	BusCLIArguments cli{false, true};
-	const char *myoptarg = nullptr;
+	cli.default_spi_frequency = 1000000;
 
-	// start options
+	while ((ch = cli.getopt(argc, argv, "R:")) != EOF) {
-	while ((ch = px4_getopt(argc, argv, "R:", &myoptind, &myoptarg)) != EOF) {
 		switch (ch) {
 		case 'R':
-			rotation = (enum Rotation)atoi(myoptarg);
+			cli.rotation = (enum Rotation)atoi(cli.optarg());
 			break;
-
-		default:
-			return adis16477::usage();
 		}
 	}
 
-	const char *verb = argv[myoptind];
+	const char *verb = cli.optarg();
 
-	if (!strcmp(verb, "start")) {
+	if (!verb) {
-		return adis16477::start(rotation);
+		ThisDriver::print_usage();
-
+		return -1;
-	} else if (!strcmp(verb, "stop")) {
-		return adis16477::stop();
-
-	} else if (!strcmp(verb, "status")) {
-		return adis16477::status();
 	}
 
-	return adis16477::usage();
+	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_IMU_DEVTYPE_ADIS16477);
+
+	if (!strcmp(verb, "start")) {
+		return ThisDriver::module_start(cli, iterator);
+	}
+
+	if (!strcmp(verb, "stop")) {
+		return ThisDriver::module_stop(iterator);
+	}
+
+	if (!strcmp(verb, "status")) {
+		return ThisDriver::module_status(iterator);
+	}
+
+	ThisDriver::print_usage();
+	return -1;
 }