refactor lsm303agr: use driver base class

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

@@ -9,7 +9,7 @@ adis16477 -s -R 8 start
 
 lps22hb -s start
 
-lsm303agr -R 4 start
+lsm303agr -s -R 4 start
 
 ms4525_airspeed -T 4515 -I -b 3 start
 

src/drivers/magnetometer/lsm303agr/LSM303AGR.cpp

@@ -61,9 +61,10 @@ static constexpr uint8_t LSM303AGR_WHO_AM_I_M = 0x40;
  */
 #define LSM303AGR_TIMER_REDUCTION				200
 
-LSM303AGR::LSM303AGR(int bus, const char *path, uint32_t device, enum Rotation rotation) :
+LSM303AGR::LSM303AGR(I2CSPIBusOption bus_option, int bus, int device, enum Rotation rotation, int bus_frequency,
-	SPI("LSM303AGR", path, bus, device, SPIDEV_MODE3, 8 * 1000 * 1000),
+		     spi_mode_e spi_mode) :
-	ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())),
+	SPI("LSM303AGR", nullptr, bus, device, spi_mode, bus_frequency),
+	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
 	_mag_sample_perf(perf_alloc(PC_ELAPSED, "LSM303AGR_mag_read")),
 	_bad_registers(perf_alloc(PC_COUNT, "LSM303AGR_bad_reg")),
 	_bad_values(perf_alloc(PC_COUNT, "LSM303AGR_bad_val")),
@@ -83,9 +84,6 @@ LSM303AGR::LSM303AGR(int bus, const char *path, uint32_t device, enum Rotation r
 
 LSM303AGR::~LSM303AGR()
 {
-	/* make sure we are truly inactive */
-	stop();
-
 	if (_class_instance != -1) {
 		unregister_class_devname(MAG_BASE_DEVICE_PATH, _class_instance);
 	}
@@ -99,12 +97,12 @@ LSM303AGR::~LSM303AGR()
 int
 LSM303AGR::init()
 {
-	int ret = PX4_OK;
-
 	/* do SPI init (and probe) first */
-	if (SPI::init() != OK) {
+	int ret = SPI::init();
-		PX4_ERR("SPI init failed");
+
-		return PX4_ERROR;
+	if (ret != OK) {
+		DEVICE_DEBUG("SPI init failed (%i)", ret);
+		return ret;
 	}
 
 	_class_instance = register_class_devname(MAG_BASE_DEVICE_PATH);
@@ -118,6 +116,9 @@ LSM303AGR::init()
 	/* fill report structures */
 	measure();
 
+	_measure_interval = CONVERSION_INTERVAL;
+	start();
+
 	return ret;
 }
 
@@ -350,17 +351,7 @@ LSM303AGR::start()
 }
 
 void
-LSM303AGR::stop()
+LSM303AGR::RunImpl()
-{
-	if (_measure_interval > 0) {
-		/* ensure no new items are queued while we cancel this one */
-		_measure_interval = 0;
-		ScheduleClear();
-	}
-}
-
-void
-LSM303AGR::Run()
 {
 	if (_measure_interval == 0) {
 		return;
@@ -476,8 +467,9 @@ LSM303AGR::collect()
 }
 
 void
-LSM303AGR::print_info()
+LSM303AGR::print_status()
 {
+	I2CSPIDriverBase::print_status();
 	perf_print_counter(_mag_sample_perf);
 	perf_print_counter(_bad_registers);
 	perf_print_counter(_bad_values);

src/drivers/magnetometer/lsm303agr/LSM303AGR.hpp

@@ -31,8 +31,7 @@
  *
  ****************************************************************************/
 
-#ifndef DRIVERS_IMU_LSM303AGR_LSM303AGR_HPP_
+#pragma once
-#define DRIVERS_IMU_LSM303AGR_LSM303AGR_HPP_
 
 #include <drivers/drv_hrt.h>
 #include <drivers/device/spi.h>
@@ -42,7 +41,7 @@
 #include <mathlib/math/filter/LowPassFilter2p.hpp>
 #include <lib/conversion/rotation.h>
 #include <perf/perf_counter.h>
-#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/i2c_spi_buses.h>
 #include <systemlib/err.h>
 
 // Register mapping
@@ -88,23 +87,26 @@ static constexpr uint8_t OUTY_H_REG_M = 0x6B;
 static constexpr uint8_t OUTZ_L_REG_M = 0x6C;
 static constexpr uint8_t OUTZ_H_REG_M = 0x6D;
 
-class LSM303AGR : public device::SPI, public px4::ScheduledWorkItem
+class LSM303AGR : public device::SPI, public I2CSPIDriver<LSM303AGR>
 {
 public:
-	LSM303AGR(int bus, const char *path, uint32_t device, enum Rotation rotation);
+	LSM303AGR(I2CSPIBusOption bus_option, int bus, int device, enum Rotation rotation, int bus_frequency,
+		  spi_mode_e spi_mode);
 	virtual ~LSM303AGR();
 
-	virtual int		init();
+	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+					     int runtime_instance);
+	static void print_usage();
 
-	virtual int		ioctl(struct file *filp, int cmd, unsigned long arg);
+	int		init() override;
 
-	/**
+	int		ioctl(struct file *filp, int cmd, unsigned long arg) override;
-	 * Diagnostics - print some basic information about the driver.
-	 */
-	void			print_info();
 
+	void			print_status() override;
+
+	void			RunImpl();
 protected:
-	virtual int		probe();
+	int		probe() override;
 
 private:
 
@@ -137,11 +139,6 @@ private:
 	 */
 	void			start();
 
-	/**
-	 * Stop automatic measurement.
-	 */
-	void			stop();
-
 	/**
 	 * Reset chip.
 	 *
@@ -164,21 +161,6 @@ private:
 	 */
 	int			collect();
 
-	/**
-	 * Perform a poll cycle; collect from the previous measurement
-	 * and start a new one.
-	 *
-	 * This is the heart of the measurement state machine.  This function
-	 * alternately starts a measurement, or collects the data from the
-	 * previous measurement.
-	 *
-	 * When the interval between measurements is greater than the minimum
-	 * measurement interval, a gap is inserted between collection
-	 * and measurement to provide the most recent measurement possible
-	 * at the next interval.
-	 */
-	void			Run() override;
-
 	/**
 	 * Read a register from the LSM303AGR
 	 *
@@ -200,4 +182,3 @@ private:
 	LSM303AGR operator=(const LSM303AGR &);
 };
 
-#endif /* DRIVERS_IMU_LSM303AGR_LSM303AGR_HPP_ */

src/drivers/magnetometer/lsm303agr/lsm303agr_main.cpp

@@ -33,149 +33,74 @@
 
 #include "LSM303AGR.hpp"
 
-#include <px4_platform_common/px4_config.h>
-#include <px4_platform_common/defines.h>
 #include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module.h>
 
-#define LSM303AGR_DEVICE_PATH_MAG	"/dev/lsm303agr_mag"
-
-extern "C" { __EXPORT int lsm303agr_main(int argc, char *argv[]); }
-
-/**
- * Local functions in support of the shell command.
- */
-namespace lsm303agr
-{
-
-LSM303AGR	*g_dev;
-
-void	start(enum Rotation rotation);
-void	info();
-void	usage();
-
-/**
- * Start the driver.
- *
- * This function call only returns once the driver is
- * up and running or failed to detect the sensor.
- */
 void
-start(enum Rotation rotation)
+LSM303AGR::print_usage()
 {
-	int fd_mag = -1;
+	PRINT_MODULE_USAGE_NAME("lsm303agr", "driver");
+	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_DEFAULT_COMMANDS();
+}
 
-	if (g_dev != nullptr) {
+I2CSPIDriverBase *LSM303AGR::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-		errx(0, "already started");
+		int runtime_instance)
-	}
+{
+	LSM303AGR *instance = new LSM303AGR(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
+					    cli.bus_frequency, cli.spi_mode);
 
-	/* create the driver */
+	if (!instance) {
-#if defined(PX4_SPIDEV_LSM303A_M) && defined(PX4_SPIDEV_LSM303A_X)
-	g_dev = new LSM303AGR(PX4_SPI_BUS_SENSOR5, LSM303AGR_DEVICE_PATH_MAG, PX4_SPIDEV_LSM303A_M, rotation);
-#else
-	errx(0, "External SPI not available");
-#endif
-
-	if (g_dev == nullptr) {
 		PX4_ERR("alloc failed");
-		goto fail;
+		return nullptr;
 	}
 
-	if (OK != g_dev->init()) {
+	if (OK != instance->init()) {
-		goto fail;
+		delete instance;
+		return nullptr;
 	}
 
-	fd_mag = px4_open(LSM303AGR_DEVICE_PATH_MAG, O_RDONLY);
+	return instance;
-
-	/* don't fail if open cannot be opened */
-	if (0 <= fd_mag) {
-		if (px4_ioctl(fd_mag, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
-			goto fail;
-		}
-	}
-
-	px4_close(fd_mag);
-
-	exit(0);
-fail:
-
-	if (g_dev != nullptr) {
-		delete g_dev;
-		g_dev = nullptr;
-	}
-
-	errx(1, "driver start failed");
 }
 
-/**
+extern "C" int lsm303agr_main(int argc, char *argv[])
- * Print a little info about the driver.
- */
-void
-info()
 {
-	if (g_dev == nullptr) {
-		errx(1, "driver not running\n");
-	}
-
-	printf("state @ %p\n", g_dev);
-	g_dev->print_info();
-
-	exit(0);
-}
-
-void
-usage()
-{
-	PX4_INFO("missing command: try 'start', 'info', 'reset'");
-	PX4_INFO("options:");
-	PX4_INFO("    -X    (external bus)");
-	PX4_INFO("    -R rotation");
-}
-
-} // namespace
-
-int
-lsm303agr_main(int argc, char *argv[])
-{
-	int myoptind = 1;
 	int ch;
-	const char *myoptarg = nullptr;
+	using ThisDriver = LSM303AGR;
+	BusCLIArguments cli{false, true};
+	cli.default_spi_frequency = 8 * 1000 * 1000;
 
-	enum Rotation rotation = ROTATION_NONE;
+	while ((ch = cli.getopt(argc, argv, "R:")) != EOF) {
-
-	/* jump over start/off/etc and look at options first */
-	while ((ch = px4_getopt(argc, argv, "XR:a:", &myoptind, &myoptarg)) != EOF) {
 		switch (ch) {
 		case 'R':
-			rotation = (enum Rotation)atoi(myoptarg);
+			cli.rotation = (enum Rotation)atoi(cli.optarg());
 			break;
-
-		default:
-			lsm303agr::usage();
-			exit(0);
 		}
 	}
 
-	if (myoptind >= argc) {
+	const char *verb = cli.optarg();
-		lsm303agr::usage();
+
-		exit(0);
+	if (!verb) {
+		ThisDriver::print_usage();
+		return -1;
 	}
 
-	const char *verb = argv[myoptind];
+	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_MAG_DEVTYPE_LSM303AGR);
 
-	/*
-	 * Start/load the driver.
-
-	 */
 	if (!strcmp(verb, "start")) {
-		lsm303agr::start(rotation);
+		return ThisDriver::module_start(cli, iterator);
 	}
 
-	/*
+	if (!strcmp(verb, "stop")) {
-	 * Print driver information.
+		return ThisDriver::module_stop(iterator);
-	 */
-	if (!strcmp(verb, "info")) {
-		lsm303agr::info();
 	}
 
-	errx(1, "unrecognized command, try 'start', 'info'");
+	if (!strcmp(verb, "status")) {
+		return ThisDriver::module_status(iterator);
+	}
+
+	ThisDriver::print_usage();
+	return -1;
 }