refactor bmp388: use driver base class

boards/modalai/fc-v1/src/board_config.h

@@ -208,7 +208,6 @@
  *
  * Note that these are unshifted addresses.
  */
-#define PX4_I2C_OBDEV_BMP388        0x76
 #define PX4_I2C_OBDEV_A71CH         0x49
 
 #define BOARD_NUMBER_I2C_BUSES      4

boards/px4/fmu-v5x/init/rc.board_sensors

@@ -31,7 +31,7 @@ bmm150 start
 
 # Possible internal Baro
 bmp388 -I start
-bmp388 -J start
+bmp388 -I -a 0x77 start
 
 # Baro on I2C3
 ms5611 -X start

boards/px4/fmu-v5x/src/board_config.h

@@ -258,8 +258,6 @@
  *
  * Note that these are unshifted addresses.
  */
-#define PX4_I2C_OBDEV_BMP388        0x76  // On IMU
-#define PX4_I2C_OBDEV1_BMP388       0x77  // On FMUM
 #define PX4_I2C_OBDEV_A71CH         0x49
 
 #define BOARD_NUMBER_I2C_BUSES      4

src/drivers/barometer/bmp388/bmp388.cpp

@@ -34,16 +34,16 @@
 /**
  * @file bmp388.cpp
  *
- * Driver for the BMP388 barometric pressure sensor connected via I2C
+ * Driver for the BMP388 barometric pressure sensor connected via SPI or I2C
- * (SPI still TODO/test).
  *
  * Refer to: https://github.com/BoschSensortec/BMP3-Sensor-API
  */
 
 #include "bmp388.h"
 
-BMP388::BMP388(IBMP388 *interface) :
+BMP388::BMP388(I2CSPIBusOption bus_option, int bus, IBMP388 *interface) :
-	ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id())),
+	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id()), bus_option, bus,
+		     interface->get_device_address()),
 	_px4_baro(interface->get_device_id()),
 	_interface(interface),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
@@ -55,9 +55,6 @@ BMP388::BMP388(IBMP388 *interface) :
 
 BMP388::~BMP388()
 {
-	/* make sure we are truly inactive */
-	stop();
-
 	/* free perf counters */
 	perf_free(_sample_perf);
 	perf_free(_measure_perf);
@@ -116,8 +113,9 @@ BMP388::init()
 }
 
 void
-BMP388::print_info()
+BMP388::print_status()
 {
+	I2CSPIDriverBase::print_status();
 	perf_print_counter(_sample_perf);
 	perf_print_counter(_measure_perf);
 	perf_print_counter(_comms_errors);
@@ -131,23 +129,11 @@ BMP388::start()
 {
 	_collect_phase = false;
 
-	/* make sure we are stopped first */
-	stop();
-
 	ScheduleOnInterval(_measure_interval, 1000);
 }
 
 void
-BMP388::stop()
+BMP388::RunImpl()
-{
-	ScheduleClear();
-}
-
-/*
- * ScheduledWorkItem override
- */
-void
-BMP388::Run()
 {
 	if (_collect_phase) {
 		collect();

src/drivers/barometer/bmp388/bmp388.h

@@ -43,6 +43,7 @@
 #include <drivers/drv_hrt.h>
 #include <lib/cdev/CDev.hpp>
 #include <perf/perf_counter.h>
+#include <px4_platform_common/i2c_spi_buses.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <lib/drivers/barometer/PX4Barometer.hpp>
 
@@ -301,18 +302,25 @@ public:
 	virtual calibration_s *get_calibration(uint8_t addr) = 0;
 
 	virtual uint32_t get_device_id() const = 0;
+
+	virtual uint8_t get_device_address() const = 0;
 };
 
-class BMP388 : public px4::ScheduledWorkItem
+class BMP388 : public I2CSPIDriver<BMP388>
 {
 public:
-	BMP388(IBMP388 *interface);
+	BMP388(I2CSPIBusOption bus_option, int bus, IBMP388 *interface);
 	virtual ~BMP388();
 
+	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+					     int runtime_instance);
+	static void print_usage();
+
 	virtual int		init();
 
-	void			print_info();
+	void			print_status();
 
+	void 			RunImpl();
 private:
 	PX4Barometer		_px4_baro;
 	IBMP388			*_interface{nullptr};
@@ -331,9 +339,7 @@ private:
 
 	bool			_collect_phase{false};
 
-	void 			Run() override;
 	void 			start();
-	void 			stop();
 	int 			measure();
 	int			collect(); //get results and publish
 	uint32_t		get_measurement_time(uint8_t osr_t, uint8_t osr_p);
@@ -350,6 +356,5 @@ private:
 
 
 /* interface factories */
-extern IBMP388 *bmp388_spi_interface(uint8_t busnum, uint32_t device);
+extern IBMP388 *bmp388_spi_interface(uint8_t busnum, uint32_t device, int bus_frequency, spi_mode_e spi_mode);
-extern IBMP388 *bmp388_i2c_interface(uint8_t busnum, uint32_t device);
+extern IBMP388 *bmp388_i2c_interface(uint8_t busnum, uint32_t device, int bus_frequency);
-typedef IBMP388 *(*BMP388_constructor)(uint8_t, uint32_t);

src/drivers/barometer/bmp388/bmp388_i2c.cpp

@@ -41,12 +41,10 @@
 
 #include "bmp388.h"
 
-#if defined(PX4_I2C_OBDEV_BMP388) || defined(PX4_I2C_EXT_OBDEV_BMP388)
-
 class BMP388_I2C: public device::I2C, public IBMP388
 {
 public:
-	BMP388_I2C(uint8_t bus, uint32_t device);
+	BMP388_I2C(uint8_t bus, uint32_t device, int bus_frequency);
 	virtual ~BMP388_I2C() = default;
 
 	int init();
@@ -58,17 +56,19 @@ public:
 
 	uint32_t get_device_id() const override { return device::I2C::get_device_id(); }
 
+	uint8_t get_device_address() const override { return device::I2C::get_device_address(); }
+
 private:
 	struct calibration_s _cal;
 };
 
-IBMP388 *bmp388_i2c_interface(uint8_t busnum, uint32_t device)
+IBMP388 *bmp388_i2c_interface(uint8_t busnum, uint32_t device, int bus_frequency)
 {
-	return new BMP388_I2C(busnum, device);
+	return new BMP388_I2C(busnum, device, bus_frequency);
 }
 
-BMP388_I2C::BMP388_I2C(uint8_t bus, uint32_t device) :
+BMP388_I2C::BMP388_I2C(uint8_t bus, uint32_t device, int bus_frequency) :
-	I2C("BMP388_I2C", nullptr, bus, device, 100 * 1000)
+	I2C("BMP388_I2C", nullptr, bus, device, bus_frequency)
 {
 }
 
@@ -108,5 +108,3 @@ calibration_s *BMP388_I2C::get_calibration(uint8_t addr)
 		return nullptr;
 	}
 }
-
-#endif /* PX4_I2C_OBDEV_BMP388 || PX4_I2C_EXT_OBDEV_BMP388 */

src/drivers/barometer/bmp388/bmp388_main.cpp

@@ -33,208 +33,88 @@
 
 #include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module.h>
 
 #include "bmp388.h"
 
-enum class BMP388_BUS {
+void
-	ALL = 0,
+BMP388::print_usage()
-	I2C_INTERNAL,
-	I2C_INTERNAL1,
-	I2C_EXTERNAL,
-	SPI_INTERNAL,
-	SPI_EXTERNAL
-};
-
-namespace bmp388
 {
-
+	PRINT_MODULE_USAGE_NAME("bmp388", "driver");
-// list of supported bus configurations
+	PRINT_MODULE_USAGE_SUBCATEGORY("baro");
-struct bmp388_bus_option {
+	PRINT_MODULE_USAGE_COMMAND("start");
-	BMP388_BUS busid;
+	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, true);
-	BMP388_constructor interface_constructor;
+	PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x76);
-	uint8_t busnum;
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
-	uint32_t address;
-	BMP388 *dev;
-} bus_options[] = {
-#if defined(PX4_SPIDEV_EXT_BARO) && defined(PX4_SPI_BUS_EXT)
-	{ BMP388_BUS::SPI_EXTERNAL, &bmp388_spi_interface, PX4_SPI_BUS_EXT, PX4_SPIDEV_EXT_BARO, nullptr },
-#endif
-#if defined(PX4_SPIDEV_BARO)
-#  if defined(PX4_SPIDEV_BARO_BUS)
-	{ BMP388_BUS::SPI_INTERNAL, &bmp388_spi_interface, PX4_SPIDEV_BARO_BUS, PX4_SPIDEV_BARO, nullptr },
-#  else
-	{ BMP388_BUS::SPI_INTERNAL, &bmp388_spi_interface, PX4_SPI_BUS_SENSORS, PX4_SPIDEV_BARO, nullptr },
-#  endif
-#endif
-#if defined(PX4_I2C_BUS_ONBOARD) && defined(PX4_I2C_OBDEV_BMP388)
-	{ BMP388_BUS::I2C_INTERNAL, &bmp388_i2c_interface, PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_BMP388, nullptr },
-#endif
-#if defined(PX4_I2C_BUS_ONBOARD) && defined(PX4_I2C_OBDEV1_BMP388)
-	{ BMP388_BUS::I2C_INTERNAL1, &bmp388_i2c_interface, PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV1_BMP388, nullptr },
-#endif
-#if defined(PX4_I2C_BUS_EXPANSION) && defined(PX4_I2C_OBDEV_BMP388)
-	{ BMP388_BUS::I2C_EXTERNAL, &bmp388_i2c_interface, PX4_I2C_BUS_EXPANSION, PX4_I2C_OBDEV_BMP388, nullptr },
-#endif
-};
-
-// find a bus structure for a busid
-static struct bmp388_bus_option *find_bus(BMP388_BUS busid)
-{
-	for (bmp388_bus_option &bus_option : bus_options) {
-		if ((busid == BMP388_BUS::ALL ||
-		     busid == bus_option.busid) && bus_option.dev != nullptr) {
-
-			return &bus_option;
-		}
-	}
-
-	return nullptr;
 }
 
-static bool start_bus(bmp388_bus_option &bus)
+I2CSPIDriverBase *BMP388::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+				      int runtime_instance)
 {
-	IBMP388 *interface = bus.interface_constructor(bus.busnum, bus.address);
+	IBMP388 *interface = nullptr;
 
-	if ((interface == nullptr) || (interface->init() != PX4_OK)) {
+	if (iterator.busType() == BOARD_I2C_BUS) {
-		PX4_WARN("no device on bus %u", (unsigned)bus.busid);
+		interface = bmp388_i2c_interface(iterator.bus(), cli.i2c_address, cli.bus_frequency);
-		delete interface;
+
-		return false;
+	} else if (iterator.busType() == BOARD_SPI_BUS) {
+		interface = bmp388_spi_interface(iterator.bus(), iterator.devid(), cli.bus_frequency, cli.spi_mode);
 	}
 
-	BMP388 *dev = new BMP388(interface);
+	if (interface == nullptr) {
+		PX4_ERR("failed creating interface for bus %i (devid 0x%x)", iterator.bus(), iterator.devid());
+		return nullptr;
+	}
+
+	if (interface->init() != OK) {
+		delete interface;
+		PX4_DEBUG("no device on bus %i (devid 0x%x)", iterator.bus(), iterator.devid());
+		return nullptr;
+	}
+
+	BMP388 *dev = new BMP388(iterator.configuredBusOption(), iterator.bus(), interface);
 
 	if (dev == nullptr) {
-		PX4_ERR("alloc failed");
 		delete interface;
-		return false;
+		return nullptr;
 	}
 
-	if (dev->init() != PX4_OK) {
+	if (OK != dev->init()) {
-		PX4_ERR("driver start failed");
 		delete dev;
-		return false;
+		return nullptr;
 	}
 
-	bus.dev = dev;
+	return dev;
-
-	return true;
 }
 
-static int start(BMP388_BUS busid)
-{
-	for (bmp388_bus_option &bus_option : bus_options) {
-		if (bus_option.dev != nullptr) {
-			// this device is already started
-			PX4_WARN("already started");
-			continue;
-		}
-
-		if (busid != BMP388_BUS::ALL && bus_option.busid != busid) {
-			// not the one that is asked for
-			continue;
-		}
-
-		if (start_bus(bus_option)) {
-			return PX4_OK;
-		}
-	}
-
-	return PX4_ERROR;
-}
-
-static int stop(BMP388_BUS busid)
-{
-	bmp388_bus_option *bus = find_bus(busid);
-
-	if (bus != nullptr && bus->dev != nullptr) {
-		delete bus->dev;
-		bus->dev = nullptr;
-
-	} else {
-		PX4_WARN("driver not running");
-		return PX4_ERROR;
-	}
-
-	return PX4_OK;
-}
-
-static int status(BMP388_BUS busid)
-{
-	bmp388_bus_option *bus = find_bus(busid);
-
-	if (bus != nullptr && bus->dev != nullptr) {
-		bus->dev->print_info();
-		return PX4_OK;
-	}
-
-	PX4_WARN("driver not running");
-	return PX4_ERROR;
-}
-
-static int usage()
-{
-	PX4_INFO("missing command: try 'start', 'stop', 'status'");
-	PX4_INFO("options:");
-	PX4_INFO("    -X    (i2c external bus)");
-	PX4_INFO("    -I    (i2c internal bus)");
-	PX4_INFO("    -J    (i2c internal bus 2)");
-	PX4_INFO("    -s    (spi internal bus)");
-	PX4_INFO("    -S    (spi external bus)");
-
-	return 0;
-}
-
-} // namespace
-
 extern "C" int bmp388_main(int argc, char *argv[])
 {
-	int myoptind = 1;
+	using ThisDriver = BMP388;
-	int ch;
+	BusCLIArguments cli{true, true};
-	const char *myoptarg = nullptr;
+	cli.i2c_address = 0x76;
-	BMP388_BUS busid = BMP388_BUS::ALL;
+	cli.default_i2c_frequency = 100 * 1000;
+	cli.default_spi_frequency = 10 * 1000 * 1000;
 
-	while ((ch = px4_getopt(argc, argv, "XIJSs", &myoptind, &myoptarg)) != EOF) {
+	const char *verb = cli.parseDefaultArguments(argc, argv);
-		switch (ch) {
-		case 'X':
-			busid = BMP388_BUS::I2C_EXTERNAL;
-			break;
 
-		case 'I':
+	if (!verb) {
-			busid = BMP388_BUS::I2C_INTERNAL;
+		ThisDriver::print_usage();
-			break;
+		return -1;
-
-		case 'J':
-			busid = BMP388_BUS::I2C_INTERNAL1;
-			break;
-
-		case 'S':
-			busid = BMP388_BUS::SPI_EXTERNAL;
-			break;
-
-		case 's':
-			busid = BMP388_BUS::SPI_INTERNAL;
-			break;
-
-		default:
-			return bmp388::usage();
-		}
 	}
 
-	if (myoptind >= argc) {
+	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_BARO_DEVTYPE_BMP388);
-		return bmp388::usage();
-	}
-
-	const char *verb = argv[myoptind];
 
 	if (!strcmp(verb, "start")) {
-		return bmp388::start(busid);
+		return ThisDriver::module_start(cli, iterator);
-
-	} else if (!strcmp(verb, "stop")) {
-		return bmp388::stop(busid);
-
-	} else if (!strcmp(verb, "status")) {
-		return bmp388::status(busid);
 	}
 
-	return bmp388::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/barometer/bmp388/bmp388_spi.cpp

@@ -46,8 +46,6 @@
 #define DIR_READ			(1<<7)  //for set
 #define DIR_WRITE			~(1<<7) //for clear
 
-#if defined(PX4_SPIDEV_BARO) || defined(PX4_SPIDEV_EXT_BARO)
-
 #pragma pack(push,1)
 struct spi_data_s {
 	uint8_t addr;
@@ -63,7 +61,7 @@ struct spi_calibration_s {
 class BMP388_SPI: public device::SPI, public IBMP388
 {
 public:
-	BMP388_SPI(uint8_t bus, uint32_t device);
+	BMP388_SPI(uint8_t bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode);
 	virtual ~BMP388_SPI() = default;
 
 	int init();
@@ -75,17 +73,18 @@ public:
 
 	uint32_t get_device_id() const override { return device::SPI::get_device_id(); }
 
+	uint8_t get_device_address() const override { return device::SPI::get_device_address(); }
 private:
 	spi_calibration_s _cal;
 };
 
-IBMP388 *bmp388_spi_interface(uint8_t busnum, uint32_t device)
+IBMP388 *bmp388_spi_interface(uint8_t busnum, uint32_t device, int bus_frequency, spi_mode_e spi_mode)
 {
-	return new BMP388_SPI(busnum, device);
+	return new BMP388_SPI(busnum, device, bus_frequency, spi_mode);
 }
 
-BMP388_SPI::BMP388_SPI(uint8_t bus, uint32_t device) :
+BMP388_SPI::BMP388_SPI(uint8_t bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode) :
-	SPI("BMP388_SPI", nullptr, bus, device, SPIDEV_MODE3, 10 * 1000 * 1000)
+	SPI("BMP388_SPI", nullptr, bus, device, spi_mode, bus_frequency)
 {
 }
 
@@ -125,5 +124,3 @@ calibration_s *BMP388_SPI::get_calibration(uint8_t addr)
 		return nullptr;
 	}
 }
-
-#endif /* PX4_SPIDEV_BARO || PX4_SPIDEV_EXT_BARO */