refactor paw3902: use driver base class

src/drivers/drv_sensor.h

@@ -128,6 +128,7 @@
 #define DRV_ACC_DEVTYPE_BMI088		0x6a
 #define DRV_OSD_DEVTYPE_ATXXXX		0x6b
 #define DRV_FLOW_DEVTYPE_PMW3901	0x6c
+#define DRV_FLOW_DEVTYPE_PAW3902	0x6d
 
 #define DRV_DIST_DEVTYPE_LL40LS       0x70
 #define DRV_DIST_DEVTYPE_MAPPYDOT     0x71

src/drivers/optical_flow/paw3902/PAW3902.cpp

@@ -33,9 +33,10 @@
 
 #include "PAW3902.hpp"
 
-PAW3902::PAW3902(int bus, enum Rotation yaw_rotation) :
+PAW3902::PAW3902(I2CSPIBusOption bus_option, int bus, int devid, enum Rotation yaw_rotation, int bus_frequency,
-	SPI("PAW3902", nullptr, bus, PAW3902_SPIDEV, SPIDEV_MODE0, PAW3902_SPI_BUS_SPEED),
+		 spi_mode_e spi_mode) :
-	ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())),
+	SPI("PAW3902", nullptr, bus, devid, spi_mode, bus_frequency),
+	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
 	_sample_perf(perf_alloc(PC_ELAPSED, "paw3902: read")),
 	_comms_errors(perf_alloc(PC_COUNT, "paw3902: com_err")),
 	_dupe_count_perf(perf_alloc(PC_COUNT, "paw3902: duplicate reading")),
@@ -45,9 +46,6 @@ PAW3902::PAW3902(int bus, enum Rotation yaw_rotation) :
 
 PAW3902::~PAW3902()
 {
-	// make sure we are truly inactive
-	stop();
-
 	// free perf counters
 	perf_free(_sample_perf);
 	perf_free(_comms_errors);
@@ -534,7 +532,7 @@ PAW3902::registerWrite(uint8_t reg, uint8_t data)
 }
 
 void
-PAW3902::Run()
+PAW3902::RunImpl()
 {
 	perf_begin(_sample_perf);
 
@@ -686,14 +684,9 @@ PAW3902::start()
 }
 
 void
-PAW3902::stop()
+PAW3902::print_status()
-{
-	ScheduleClear();
-}
-
-void
-PAW3902::print_info()
 {
+	I2CSPIDriverBase::print_status();
 	perf_print_counter(_sample_perf);
 	perf_print_counter(_comms_errors);
 	perf_print_counter(_dupe_count_perf);

src/drivers/optical_flow/paw3902/PAW3902.hpp

@@ -44,7 +44,7 @@
 #include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/defines.h>
 #include <px4_platform_common/getopt.h>
-#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/i2c_spi_buses.h>
 #include <drivers/device/spi.h>
 #include <conversion/rotation.h>
 #include <lib/perf/perf_counter.h>
@@ -56,26 +56,6 @@
 
 /* Configuration Constants */
 
-#if defined PX4_SPI_BUS_EXPANSION   // crazyflie
-# define PAW3902_BUS PX4_SPI_BUS_EXPANSION
-#elif defined PX4_SPI_BUS_EXTERNAL1   // fmu-v5
-# define PAW3902_BUS PX4_SPI_BUS_EXTERNAL1
-#elif defined PX4_SPI_BUS_EXTERNAL    // fmu-v4 extspi
-# define PAW3902_BUS PX4_SPI_BUS_EXTERNAL
-#else
-# error "add the required spi bus from board_config.h here"
-#endif
-
-#if defined PX4_SPIDEV_EXPANSION_2    // crazyflie flow deck
-# define PAW3902_SPIDEV PX4_SPIDEV_EXPANSION_2
-#elif defined PX4_SPIDEV_EXTERNAL1_1    // fmu-v5 ext CS1
-# define PAW3902_SPIDEV PX4_SPIDEV_EXTERNAL1_1
-#elif defined PX4_SPIDEV_EXTERNAL   // fmu-v4 extspi
-# define PAW3902_SPIDEV PX4_SPIDEV_EXTERNAL
-#else
-# error "add the required spi dev from board_config.h here"
-#endif
-
 #define PAW3902_SPI_BUS_SPEED (2000000L) // 2MHz
 
 #define DIR_WRITE(a) ((a) | (1 << 7))
@@ -86,26 +66,30 @@ using namespace PixArt_PAW3902JF;
 
 // PAW3902JF-TXQT is PixArt Imaging
 
-class PAW3902 : public device::SPI, public px4::ScheduledWorkItem
+class PAW3902 : public device::SPI, public I2CSPIDriver<PAW3902>
 {
 public:
-	PAW3902(int bus = PAW3902_BUS, enum Rotation yaw_rotation = ROTATION_NONE);
+	PAW3902(I2CSPIBusOption bus_option, int bus, int devid, enum Rotation yaw_rotation, int bus_frequency,
+		spi_mode_e spi_mode);
 	virtual ~PAW3902();
 
-	virtual int init();
+	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+					     int runtime_instance);
+	static void print_usage();
 
-	void print_info();
+	int init() override;
+
+	void print_status() override;
+
+	void RunImpl();
 
 	void start();
-	void stop();
 
 protected:
-	virtual int probe();
+	int probe() override;
 
 private:
 
-	void Run() override;
-
 	uint8_t	registerRead(uint8_t reg);
 	void	registerWrite(uint8_t reg, uint8_t data);
 

src/drivers/optical_flow/paw3902/paw3902_main.cpp

@@ -32,159 +32,77 @@
  ****************************************************************************/
 
 #include "PAW3902.hpp"
+#include <px4_platform_common/module.h>
 
-/**
- * Local functions in support of the shell command.
- */
-namespace pmw3902
-{
-
-PAW3902	*g_dev;
-
-void	start(int spi_bus);
-void	stop();
-void	test();
-void	reset();
-void	info();
-void	usage();
-
-
-/**
- * Start the driver.
- */
-void
-start(int spi_bus)
-{
-	if (g_dev != nullptr) {
-		errx(1, "already started");
-	}
-
-	/* create the driver */
-	g_dev = new PAW3902(spi_bus, (enum Rotation)0);
-
-	if (g_dev == nullptr) {
-		goto fail;
-	}
-
-	if (OK != g_dev->init()) {
-		goto fail;
-	}
-
-	exit(0);
-
-fail:
-
-	if (g_dev != nullptr) {
-		delete g_dev;
-		g_dev = nullptr;
-	}
-
-	errx(1, "driver start failed");
-}
-
-/**
- * Stop the driver
- */
-void stop()
-{
-	if (g_dev != nullptr) {
-		delete g_dev;
-		g_dev = nullptr;
-
-	} else {
-		errx(1, "driver not running");
-	}
-
-	exit(0);
-}
-
-/**
- * Print a little info about the driver.
- */
-void
-info()
-{
-	if (g_dev == nullptr) {
-		errx(1, "driver not running");
-	}
-
-	printf("state @ %p\n", g_dev);
-	g_dev->print_info();
-
-	exit(0);
-}
-
-/**
- * Print a little info about how to start/stop/use the driver
- */
-void usage()
-{
-	PX4_INFO("usage: pmw3902 {start|test|reset|info'}");
-	PX4_INFO("    [-b SPI_BUS]");
-}
-
-} // namespace pmw3902
-
-/*
- * Driver 'main' command.
- */
 extern "C" __EXPORT int paw3902_main(int argc, char *argv[]);
 
+void
+PAW3902::print_usage()
+{
+	PRINT_MODULE_USAGE_NAME("paw3902", "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();
+}
+
+I2CSPIDriverBase *PAW3902::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+				       int runtime_instance)
+{
+	PAW3902 *instance = new PAW3902(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
+					cli.bus_frequency, cli.spi_mode);
+
+	if (!instance) {
+		PX4_ERR("alloc failed");
+		return nullptr;
+	}
+
+	if (OK != instance->init()) {
+		delete instance;
+		return nullptr;
+	}
+
+	return instance;
+}
+
 int
 paw3902_main(int argc, char *argv[])
 {
-	if (argc < 2) {
-		pmw3902::usage();
-		return PX4_ERROR;
-	}
-
-	// don't exit from getopt loop to leave getopt global variables in consistent state,
-	// set error flag instead
-	bool err_flag = false;
 	int ch;
-	int myoptind = 1;
+	using ThisDriver = PAW3902;
-	const char *myoptarg = nullptr;
+	BusCLIArguments cli{false, true};
-	int spi_bus = PAW3902_BUS;
+	cli.spi_mode = SPIDEV_MODE0;
+	cli.default_spi_frequency = PAW3902_SPI_BUS_SPEED;
 
-	while ((ch = px4_getopt(argc, argv, "b:", &myoptind, &myoptarg)) != EOF) {
+	while ((ch = cli.getopt(argc, argv, "R:")) != EOF) {
 		switch (ch) {
-		case 'b':
+		case 'R':
-			spi_bus = (uint8_t)atoi(myoptarg);
+			cli.rotation = (enum Rotation)atoi(cli.optarg());
-
-			break;
-
-		default:
-			err_flag = true;
 			break;
 		}
 	}
 
-	if (err_flag) {
+	const char *verb = cli.optarg();
-		pmw3902::usage();
+
-		return PX4_ERROR;
+	if (!verb) {
+		ThisDriver::print_usage();
+		return -1;
 	}
 
-	/*
+	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_FLOW_DEVTYPE_PAW3902);
-	 * Start/load the driver.
+
-	 */
+	if (!strcmp(verb, "start")) {
-	if (!strcmp(argv[myoptind], "start")) {
+		return ThisDriver::module_start(cli, iterator);
-		pmw3902::start(spi_bus);
 	}
 
-	/*
+	if (!strcmp(verb, "stop")) {
-	 * Stop the driver
+		return ThisDriver::module_stop(iterator);
-	 */
-	if (!strcmp(argv[myoptind], "stop")) {
-		pmw3902::stop();
 	}
 
-	/*
+	if (!strcmp(verb, "status")) {
-	 * Print driver information.
+		return ThisDriver::module_status(iterator);
-	 */
-	if (!strcmp(argv[myoptind], "status")) {
-		pmw3902::info();
 	}
 
-	pmw3902::usage();
+	ThisDriver::print_usage();
-	return PX4_ERROR;
+	return -1;
 }