From 22a38453abb0af0979ef6fd2dfbb270ed4fa5562 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Wed, 26 Feb 2020 14:56:06 +0100 Subject: [PATCH] refactor bmi055: use driver base class --- boards/nxp/fmurt1062-v1/init/rc.board_sensors | 4 +- boards/px4/fmu-v5/init/rc.board_sensors | 4 +- src/drivers/imu/bmi055/BMI055.hpp | 33 +- src/drivers/imu/bmi055/BMI055_accel.cpp | 33 +- src/drivers/imu/bmi055/BMI055_accel.hpp | 38 +- src/drivers/imu/bmi055/BMI055_gyro.cpp | 34 +- src/drivers/imu/bmi055/BMI055_gyro.hpp | 37 +- src/drivers/imu/bmi055/bmi055_main.cpp | 344 ++++-------------- 8 files changed, 130 insertions(+), 397 deletions(-) diff --git a/boards/nxp/fmurt1062-v1/init/rc.board_sensors b/boards/nxp/fmurt1062-v1/init/rc.board_sensors index e32e6aff99..2ba984056d 100644 --- a/boards/nxp/fmurt1062-v1/init/rc.board_sensors +++ b/boards/nxp/fmurt1062-v1/init/rc.board_sensors @@ -24,10 +24,10 @@ mpu6000 -R 8 -s -T 20602 start mpu6000 -R 8 -s -T 20689 start # Internal SPI bus BMI055 accel -bmi055 -A -R 10 start +bmi055 -A -R 10 -s start # Internal SPI bus BMI055 gyro -bmi055 -G -R 10 start +bmi055 -G -R 10 -s start # Possible external compasses ist8310 -X start diff --git a/boards/px4/fmu-v5/init/rc.board_sensors b/boards/px4/fmu-v5/init/rc.board_sensors index b4977854ff..a02d31b17c 100644 --- a/boards/px4/fmu-v5/init/rc.board_sensors +++ b/boards/px4/fmu-v5/init/rc.board_sensors @@ -18,10 +18,10 @@ mpu6000 -R 8 -s -T 20689 start #icm20689 start # Internal SPI bus BMI055 accel -bmi055 -A -R 10 start +bmi055 -A -R 10 -s start # Internal SPI bus BMI055 gyro -bmi055 -G -R 10 start +bmi055 -G -R 10 -s start # Possible external compasses ist8310 -X start diff --git a/src/drivers/imu/bmi055/BMI055.hpp b/src/drivers/imu/bmi055/BMI055.hpp index 43992b7905..7772806eb5 100644 --- a/src/drivers/imu/bmi055/BMI055.hpp +++ b/src/drivers/imu/bmi055/BMI055.hpp @@ -37,6 +37,7 @@ #include #include #include +#include #include #define DIR_READ 0x80 @@ -49,12 +50,28 @@ #define BMI055_TIMER_REDUCTION 200 -class BMI055 : public device::SPI +class BMI055 : public device::SPI, public I2CSPIDriver { +public: + BMI055(const char *name, const char *devname, I2CSPIBusOption bus_option, int bus, int type, uint32_t device, + enum spi_mode_e mode, uint32_t frequency, enum Rotation rotation); + virtual ~BMI055() = default; + static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator, + int runtime_instance); + static void print_usage(); + + virtual void start() = 0; + + virtual void RunImpl() = 0; protected: - uint8_t _whoami; /** whoami result */ + virtual void print_registers() = 0; + virtual void test_error() = 0; + + void custom_method(const BusCLIArguments &cli) override; + + uint8_t _whoami; ///< whoami result uint8_t _register_wait; uint64_t _reset_wait; @@ -80,16 +97,4 @@ protected: */ void write_reg(unsigned reg, uint8_t value); - /* do not allow to copy this class due to pointer data members */ - BMI055(const BMI055 &); - BMI055 operator=(const BMI055 &); - -public: - - BMI055(const char *name, const char *devname, int bus, uint32_t device, enum spi_mode_e mode, uint32_t frequency, - enum Rotation rotation); - - virtual ~BMI055() = default; - - }; diff --git a/src/drivers/imu/bmi055/BMI055_accel.cpp b/src/drivers/imu/bmi055/BMI055_accel.cpp index c367264808..050448c781 100644 --- a/src/drivers/imu/bmi055/BMI055_accel.cpp +++ b/src/drivers/imu/bmi055/BMI055_accel.cpp @@ -44,9 +44,10 @@ const uint8_t BMI055_accel::_checked_registers[BMI055_ACCEL_NUM_CHECKED_REGISTER BMI055_ACC_INT_MAP_1, }; -BMI055_accel::BMI055_accel(int bus, const char *path_accel, uint32_t device, enum Rotation rotation) : - BMI055("BMI055_ACCEL", path_accel, bus, device, SPIDEV_MODE3, BMI055_BUS_SPEED, rotation), - ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())), +BMI055_accel::BMI055_accel(I2CSPIBusOption bus_option, int bus, const char *path_accel, uint32_t device, + enum Rotation rotation, int bus_frequency, spi_mode_e spi_mode) : + BMI055("bmi055_accel", path_accel, bus_option, bus, DRV_ACC_DEVTYPE_BMI055, device, spi_mode, bus_frequency, + rotation), _px4_accel(get_device_id(), (external() ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1), rotation), _sample_perf(perf_alloc(PC_ELAPSED, "bmi055_accel_read")), _bad_transfers(perf_alloc(PC_COUNT, "bmi055_accel_bad_transfers")), @@ -59,10 +60,6 @@ BMI055_accel::BMI055_accel(int bus, const char *path_accel, uint32_t device, enu BMI055_accel::~BMI055_accel() { - /* make sure we are truly inactive */ - stop(); - - /* delete the perf counter */ perf_free(_sample_perf); perf_free(_bad_transfers); perf_free(_bad_registers); @@ -218,26 +215,10 @@ BMI055_accel::set_accel_range(unsigned max_g) void BMI055_accel::start() { - /* make sure we are stopped first */ - stop(); - /* start polling at the specified rate */ ScheduleOnInterval(BMI055_ACCEL_DEFAULT_RATE - BMI055_TIMER_REDUCTION, 1000); } -void -BMI055_accel::stop() -{ - ScheduleClear(); -} - -void -BMI055_accel::Run() -{ - /* make another measurement */ - measure(); -} - void BMI055_accel::check_registers(void) { @@ -282,7 +263,7 @@ BMI055_accel::check_registers(void) } void -BMI055_accel::measure() +BMI055_accel::RunImpl() { if (hrt_absolute_time() < _reset_wait) { // we're waiting for a reset to complete @@ -402,8 +383,10 @@ BMI055_accel::measure() } void -BMI055_accel::print_info() +BMI055_accel::print_status() { + I2CSPIDriverBase::print_status(); + PX4_INFO("Type: Accel"); perf_print_counter(_sample_perf); perf_print_counter(_bad_transfers); perf_print_counter(_bad_registers); diff --git a/src/drivers/imu/bmi055/BMI055_accel.hpp b/src/drivers/imu/bmi055/BMI055_accel.hpp index f449d1069b..4a383d323f 100644 --- a/src/drivers/imu/bmi055/BMI055_accel.hpp +++ b/src/drivers/imu/bmi055/BMI055_accel.hpp @@ -139,31 +139,29 @@ /* Mask definitions for ACCD_X_LSB, ACCD_Y_LSB and ACCD_Z_LSB Register */ #define BMI055_NEW_DATA_MASK 0x01 -class BMI055_accel : public BMI055, public px4::ScheduledWorkItem +class BMI055_accel : public BMI055 { public: - BMI055_accel(int bus, const char *path_accel, uint32_t device, enum Rotation rotation); + BMI055_accel(I2CSPIBusOption bus_option, int bus, const char *path_accel, uint32_t device, enum Rotation rotation, + int bus_frequency, spi_mode_e spi_mode); virtual ~BMI055_accel(); - virtual int init(); + int init() override; - // Start automatic measurement. - void start(); + /// Start automatic measurement. + void start() override; - /** - * Diagnostics - print some basic information about the driver. - */ - void print_info(); + void print_status() override; - void print_registers(); + void print_registers() override; - // deliberately cause a sensor error - void test_error(); + /// deliberately cause a sensor error + void test_error() override; + void RunImpl() override; protected: - virtual int probe(); - + int probe() override; private: PX4Accelerometer _px4_accel; @@ -183,11 +181,6 @@ private: bool _got_duplicate; - /** - * Stop automatic measurement. - */ - void stop(); - /** * Reset chip. * @@ -195,13 +188,6 @@ private: */ int reset(); - void Run() override; - - /** - * Fetch measurements from the sensor and update the report buffers. - */ - void measure(); - /** * Modify a register in the BMI055_accel * diff --git a/src/drivers/imu/bmi055/BMI055_gyro.cpp b/src/drivers/imu/bmi055/BMI055_gyro.cpp index b1f81926df..e7e4f288e7 100644 --- a/src/drivers/imu/bmi055/BMI055_gyro.cpp +++ b/src/drivers/imu/bmi055/BMI055_gyro.cpp @@ -47,9 +47,10 @@ const uint8_t BMI055_gyro::_checked_registers[BMI055_GYRO_NUM_CHECKED_REGISTERS] BMI055_GYR_INT_MAP_1 }; -BMI055_gyro::BMI055_gyro(int bus, const char *path_gyro, uint32_t device, enum Rotation rotation) : - BMI055("BMI055_GYRO", path_gyro, bus, device, SPIDEV_MODE3, BMI055_BUS_SPEED, rotation), - ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())), +BMI055_gyro::BMI055_gyro(I2CSPIBusOption bus_option, int bus, const char *path_gyro, uint32_t device, + enum Rotation rotation, int bus_frequency, spi_mode_e spi_mode) : + BMI055("bmi055_gyro", path_gyro, bus_option, bus, DRV_GYR_DEVTYPE_BMI055, device, spi_mode, bus_frequency, + rotation), _px4_gyro(get_device_id(), (external() ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1), rotation), _sample_perf(perf_alloc(PC_ELAPSED, "bmi055_gyro_read")), _bad_transfers(perf_alloc(PC_COUNT, "bmi055_gyro_bad_transfers")), @@ -60,10 +61,6 @@ BMI055_gyro::BMI055_gyro(int bus, const char *path_gyro, uint32_t device, enum R BMI055_gyro::~BMI055_gyro() { - /* make sure we are truly inactive */ - stop(); - - /* delete the perf counter */ perf_free(_sample_perf); perf_free(_bad_transfers); perf_free(_bad_registers); @@ -254,26 +251,10 @@ BMI055_gyro::set_gyro_range(unsigned max_dps) void BMI055_gyro::start() { - /* make sure we are stopped first */ - stop(); - /* start polling at the specified rate */ ScheduleOnInterval(BMI055_GYRO_DEFAULT_RATE - BMI055_TIMER_REDUCTION, 1000); } -void -BMI055_gyro::stop() -{ - ScheduleClear(); -} - -void -BMI055_gyro::Run() -{ - /* make another measurement */ - measure(); -} - void BMI055_gyro::check_registers(void) { @@ -318,7 +299,7 @@ BMI055_gyro::check_registers(void) } void -BMI055_gyro::measure() +BMI055_gyro::RunImpl() { if (hrt_absolute_time() < _reset_wait) { // we're waiting for a reset to complete @@ -412,9 +393,10 @@ BMI055_gyro::measure() } void -BMI055_gyro::print_info() +BMI055_gyro::print_status() { - PX4_INFO("Gyro"); + I2CSPIDriverBase::print_status(); + PX4_INFO("Type: Gyro"); perf_print_counter(_sample_perf); perf_print_counter(_bad_transfers); diff --git a/src/drivers/imu/bmi055/BMI055_gyro.hpp b/src/drivers/imu/bmi055/BMI055_gyro.hpp index a2d77178b4..48ad4d91bc 100644 --- a/src/drivers/imu/bmi055/BMI055_gyro.hpp +++ b/src/drivers/imu/bmi055/BMI055_gyro.hpp @@ -131,30 +131,29 @@ #define BMI055_ACC_TEMP 0x08 -class BMI055_gyro : public BMI055, public px4::ScheduledWorkItem +class BMI055_gyro : public BMI055 { public: - BMI055_gyro(int bus, const char *path_gyro, uint32_t device, enum Rotation rotation); + BMI055_gyro(I2CSPIBusOption bus_option, int bus, const char *path_accel, uint32_t device, enum Rotation rotation, + int bus_frequency, spi_mode_e spi_mode); virtual ~BMI055_gyro(); - virtual int init(); + int init() override; - // Start automatic measurement. - void start(); + /// Start automatic measurement. + void start() override; - /** - * Diagnostics - print some basic information about the driver. - */ - void print_info(); + void print_status() override; - void print_registers(); + void print_registers() override; - // deliberately cause a sensor error - void test_error(); + /// deliberately cause a sensor error + void test_error() override; + void RunImpl() override; protected: - virtual int probe(); + int probe() override; private: @@ -172,11 +171,6 @@ private: uint8_t _checked_values[BMI055_GYRO_NUM_CHECKED_REGISTERS]; uint8_t _checked_bad[BMI055_GYRO_NUM_CHECKED_REGISTERS]; - /** - * Stop automatic measurement. - */ - void stop(); - /** * Reset chip. * @@ -184,13 +178,6 @@ private: */ int reset(); - void Run() override; - - /** - * Fetch measurements from the sensor and update the report buffers. - */ - void measure(); - /** * Modify a register in the BMI055_gyro * diff --git a/src/drivers/imu/bmi055/bmi055_main.cpp b/src/drivers/imu/bmi055/bmi055_main.cpp index 1f3eec6e50..52075d932c 100644 --- a/src/drivers/imu/bmi055/bmi055_main.cpp +++ b/src/drivers/imu/bmi055/bmi055_main.cpp @@ -33,267 +33,75 @@ #include "BMI055_accel.hpp" #include "BMI055_gyro.hpp" +#include +#include /** driver 'main' command */ extern "C" { __EXPORT int bmi055_main(int argc, char *argv[]); } -enum sensor_type { - BMI055_NONE = 0, - BMI055_ACCEL = 1, - BMI055_GYRO -}; - -namespace bmi055 -{ - -BMI055_accel *g_acc_dev_int; // on internal bus (accel) -BMI055_accel *g_acc_dev_ext; // on external bus (accel) -BMI055_gyro *g_gyr_dev_int; // on internal bus (gyro) -BMI055_gyro *g_gyr_dev_ext; // on external bus (gyro) - -void start(bool, enum Rotation, enum sensor_type); -void stop(bool, enum sensor_type); -void info(bool, enum sensor_type); -void regdump(bool, enum sensor_type); -void testerror(bool, enum sensor_type); -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, enum sensor_type sensor) +BMI055::print_usage() { - BMI055_accel **g_dev_acc_ptr = external_bus ? &g_acc_dev_ext : &g_acc_dev_int; - const char *path_accel = external_bus ? BMI055_DEVICE_PATH_ACCEL_EXT : BMI055_DEVICE_PATH_ACCEL; + PRINT_MODULE_USAGE_NAME("bmi055", "driver"); + PRINT_MODULE_USAGE_SUBCATEGORY("imu"); + PRINT_MODULE_USAGE_COMMAND("start"); + PRINT_MODULE_USAGE_PARAM_FLAG('A', "Accel", true); + PRINT_MODULE_USAGE_PARAM_FLAG('G', "Gyro", true); + PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true); + PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true); - BMI055_gyro **g_dev_gyr_ptr = external_bus ? &g_gyr_dev_ext : &g_gyr_dev_int; - const char *path_gyro = external_bus ? BMI055_DEVICE_PATH_GYRO_EXT : BMI055_DEVICE_PATH_GYRO; + PRINT_MODULE_USAGE_COMMAND("regdump"); + PRINT_MODULE_USAGE_COMMAND("testerror"); - if (sensor == BMI055_ACCEL) { - if (*g_dev_acc_ptr != nullptr) - /* if already started, the still command succeeded */ - { - errx(0, "bmi055 accel sensor already started"); - } + PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); +} - /* create the driver */ - if (external_bus) { -#if defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_BMI) - *g_dev_acc_ptr = new BMI055_accel(PX4_SPI_BUS_EXT, path_accel, PX4_SPIDEV_EXT_BMI, rotation); -#else - errx(0, "External SPI not available"); -#endif +I2CSPIDriverBase *BMI055::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator, + int runtime_instance) +{ + BMI055 *instance = nullptr; - } else { - *g_dev_acc_ptr = new BMI055_accel(PX4_SPI_BUS_SENSORS, path_accel, PX4_SPIDEV_BMI055_ACC, rotation); - } + if (cli.type == DRV_ACC_DEVTYPE_BMI055) { + instance = new BMI055_accel(iterator.configuredBusOption(), iterator.bus(), BMI055_DEVICE_PATH_ACCEL, iterator.devid(), + cli.rotation, cli.bus_frequency, cli.spi_mode); - if (*g_dev_acc_ptr == nullptr) { - goto fail_accel; - } - - if (OK != (*g_dev_acc_ptr)->init()) { - goto fail_accel; - } - - // start automatic data collection - (*g_dev_acc_ptr)->start(); + } else if (cli.type == DRV_GYR_DEVTYPE_BMI055) { + instance = new BMI055_gyro(iterator.configuredBusOption(), iterator.bus(), BMI055_DEVICE_PATH_GYRO, iterator.devid(), + cli.rotation, cli.bus_frequency, cli.spi_mode); } - if (sensor == BMI055_GYRO) { - - if (*g_dev_gyr_ptr != nullptr) { - errx(0, "bmi055 gyro sensor already started"); - } - - /* create the driver */ - if (external_bus) { -#if defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_BMI) - *g_dev_ptr = new BMI055_gyro(PX4_SPI_BUS_EXT, path_gyro, PX4_SPIDEV_EXT_BMI, rotation); -#else - errx(0, "External SPI not available"); -#endif - - } else { - *g_dev_gyr_ptr = new BMI055_gyro(PX4_SPI_BUS_SENSORS, path_gyro, PX4_SPIDEV_BMI055_GYR, rotation); - } - - if (*g_dev_gyr_ptr == nullptr) { - goto fail_gyro; - } - - if (OK != (*g_dev_gyr_ptr)->init()) { - goto fail_gyro; - } - - // start automatic data collection - (*g_dev_gyr_ptr)->start(); + if (instance == nullptr) { + return nullptr; } - exit(PX4_OK); - -fail_accel: - - if (*g_dev_acc_ptr != nullptr) { - delete (*g_dev_acc_ptr); - *g_dev_acc_ptr = nullptr; + if (OK != instance->init()) { + PX4_DEBUG("no device on bus %i (devid 0x%x)", iterator.bus(), iterator.devid()); + delete instance; + return nullptr; } - PX4_WARN("No BMI055 accel found"); - exit(PX4_ERROR); + instance->start(); -fail_gyro: - - if (*g_dev_gyr_ptr != nullptr) { - delete (*g_dev_gyr_ptr); - *g_dev_gyr_ptr = nullptr; - } - - PX4_WARN("No BMI055 gyro found"); - exit(PX4_ERROR); + return instance; } void -stop(bool external_bus, enum sensor_type sensor) +BMI055::custom_method(const BusCLIArguments &cli) { - BMI055_accel **g_dev_acc_ptr = external_bus ? &g_acc_dev_ext : &g_acc_dev_int; - BMI055_gyro **g_dev_gyr_ptr = external_bus ? &g_gyr_dev_ext : &g_gyr_dev_int; + switch (cli.custom1) { + case 0: print_registers(); + break; - if (sensor == BMI055_ACCEL) { - if (*g_dev_acc_ptr != nullptr) { - delete *g_dev_acc_ptr; - *g_dev_acc_ptr = nullptr; - - } else { - /* warn, but not an error */ - warnx("bmi055 accel sensor already stopped."); - } + case 1: test_error(); + break; } - - if (sensor == BMI055_GYRO) { - if (*g_dev_gyr_ptr != nullptr) { - delete *g_dev_gyr_ptr; - *g_dev_gyr_ptr = nullptr; - - } else { - /* warn, but not an error */ - warnx("bmi055 gyro sensor already stopped."); - } - } - - exit(0); - } -/** - * Print a little info about the driver. - */ -void -info(bool external_bus, enum sensor_type sensor) -{ - BMI055_accel **g_dev_acc_ptr = external_bus ? &g_acc_dev_ext : &g_acc_dev_int; - BMI055_gyro **g_dev_gyr_ptr = external_bus ? &g_gyr_dev_ext : &g_gyr_dev_int; - - if (sensor == BMI055_ACCEL) { - if (*g_dev_acc_ptr == nullptr) { - errx(1, "bmi055 accel driver not running"); - } - - printf("state @ %p\n", *g_dev_acc_ptr); - (*g_dev_acc_ptr)->print_info(); - } - - if (sensor == BMI055_GYRO) { - if (*g_dev_gyr_ptr == nullptr) { - errx(1, "bmi055 gyro driver not running"); - } - - printf("state @ %p\n", *g_dev_gyr_ptr); - (*g_dev_gyr_ptr)->print_info(); - } - - exit(0); -} - -/** - * Dump the register information - */ -void -regdump(bool external_bus, enum sensor_type sensor) -{ - BMI055_accel **g_dev_acc_ptr = external_bus ? &g_acc_dev_ext : &g_acc_dev_int; - BMI055_gyro **g_dev_gyr_ptr = external_bus ? &g_gyr_dev_ext : &g_gyr_dev_int; - - if (sensor == BMI055_ACCEL) { - if (*g_dev_acc_ptr == nullptr) { - errx(1, "bmi055 accel driver not running"); - } - - printf("regdump @ %p\n", *g_dev_acc_ptr); - (*g_dev_acc_ptr)->print_registers(); - } - - if (sensor == BMI055_GYRO) { - if (*g_dev_gyr_ptr == nullptr) { - errx(1, "bmi055 gyro driver not running"); - } - - printf("regdump @ %p\n", *g_dev_gyr_ptr); - (*g_dev_gyr_ptr)->print_registers(); - } - - exit(0); -} - -/** - * deliberately produce an error to test recovery - */ -void -testerror(bool external_bus, enum sensor_type sensor) -{ - BMI055_accel **g_dev_acc_ptr = external_bus ? &g_acc_dev_ext : &g_acc_dev_int; - BMI055_gyro **g_dev_gyr_ptr = external_bus ? &g_gyr_dev_ext : &g_gyr_dev_int; - - if (sensor == BMI055_ACCEL) { - if (*g_dev_acc_ptr == nullptr) { - errx(1, "bmi055 accel driver not running"); - } - - (*g_dev_acc_ptr)->test_error(); - } - - if (sensor == BMI055_GYRO) { - if (*g_dev_gyr_ptr == nullptr) { - errx(1, "bmi055 gyro driver not running"); - } - - (*g_dev_gyr_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"); - warnx(" -A (Enable Accelerometer)"); - warnx(" -G (Enable Gyroscope)"); -} - -}//namespace ends - - -BMI055::BMI055(const char *name, const char *devname, int bus, uint32_t device, enum spi_mode_e mode, +BMI055::BMI055(const char *name, const char *devname, I2CSPIBusOption bus_option, int bus, int type, uint32_t device, + enum spi_mode_e mode, uint32_t frequency, enum Rotation rotation): SPI(name, devname, bus, device, mode, frequency), + I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus, type), _whoami(0), _register_wait(0), _reset_wait(0), @@ -336,77 +144,59 @@ BMI055::write_reg(unsigned reg, uint8_t value) int bmi055_main(int argc, char *argv[]) { - bool external_bus = false; + using ThisDriver = BMI055; int ch; - enum Rotation rotation = ROTATION_NONE; - enum sensor_type sensor = BMI055_NONE; - int myoptind = 1; - const char *myoptarg = NULL; + BusCLIArguments cli{false, true}; + cli.type = 0; + cli.default_spi_frequency = BMI055_BUS_SPEED; - /* jump over start/off/etc and look at options first */ - while ((ch = px4_getopt(argc, argv, "XR:AG", &myoptind, &myoptarg)) != EOF) { + while ((ch = cli.getopt(argc, argv, "AGR:")) != EOF) { switch (ch) { - case 'X': - external_bus = true; - break; - - case 'R': - rotation = (enum Rotation)atoi(myoptarg); - break; - case 'A': - sensor = BMI055_ACCEL; + cli.type = DRV_ACC_DEVTYPE_BMI055; break; case 'G': - sensor = BMI055_GYRO; + cli.type = DRV_GYR_DEVTYPE_BMI055; break; - default: - bmi055::usage(); - exit(0); + case 'R': + cli.rotation = (enum Rotation)atoi(cli.optarg()); + break; } } - const char *verb = argv[myoptind]; + const char *verb = cli.optarg(); - if (sensor == BMI055_NONE) { - bmi055::usage(); - exit(0); + if (!verb) { + ThisDriver::print_usage(); + return -1; } - /* - * Start/load the driver. - */ + BusInstanceIterator iterator(MODULE_NAME, cli, cli.type); + if (!strcmp(verb, "start")) { - bmi055::start(external_bus, rotation, sensor); + return ThisDriver::module_start(cli, iterator); } - /* - * Stop the driver. - */ if (!strcmp(verb, "stop")) { - bmi055::stop(external_bus, sensor); + return ThisDriver::module_stop(iterator); } - /* - * Print driver information. - */ - if (!strcmp(verb, "info")) { - bmi055::info(external_bus, sensor); + if (!strcmp(verb, "status")) { + return ThisDriver::module_status(iterator); } - /* - * Print register information. - */ if (!strcmp(verb, "regdump")) { - bmi055::regdump(external_bus, sensor); + cli.custom1 = 0; + return ThisDriver::module_custom_method(cli, iterator); } if (!strcmp(verb, "testerror")) { - bmi055::testerror(external_bus, sensor); + cli.custom1 = 1; + return ThisDriver::module_custom_method(cli, iterator); } - bmi055::usage(); - exit(1); + ThisDriver::print_usage(); + return -1; }