drivers: use updated I2C SPI driver interface

src/drivers/barometer/bmp280/BMP280.cpp

@@ -33,9 +33,8 @@
 
 #include "BMP280.hpp"
 
-BMP280::BMP280(I2CSPIBusOption bus_option, int bus, bmp280::IBMP280 *interface) :
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id()), bus_option, bus,
-		     interface->get_device_address()),
+BMP280::BMP280(const I2CSPIDriverConfig &config, bmp280::IBMP280 *interface) :
+	I2CSPIDriver(config),
 	_px4_baro(interface->get_device_id()),
 	_interface(interface),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": sample")),

src/drivers/barometer/bmp280/BMP280.hpp

@@ -45,11 +45,10 @@
 class BMP280 : public I2CSPIDriver<BMP280>
 {
 public:
-	BMP280(I2CSPIBusOption bus_option, int bus, bmp280::IBMP280 *interface);
+	BMP280(const I2CSPIDriverConfig &config, bmp280::IBMP280 *interface);
 	virtual ~BMP280();
 
-	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					     int runtime_instance);
+	static I2CSPIDriverBase *instantiate(const I2CSPIDriverConfig &config, int runtime_instance);
 	static void print_usage();
 
 	int			init();

src/drivers/barometer/bmp280/bmp280_main.cpp

@@ -50,30 +50,29 @@ BMP280::print_usage()
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
 
-I2CSPIDriverBase *BMP280::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-				      int runtime_instance)
+I2CSPIDriverBase *BMP280::instantiate(const I2CSPIDriverConfig &config, int runtime_instance)
 {
 	bmp280::IBMP280 *interface = nullptr;
 
-	if (iterator.busType() == BOARD_I2C_BUS) {
-		interface = bmp280_i2c_interface(iterator.bus(), cli.i2c_address, cli.bus_frequency);
+	if (config.bus_type == BOARD_I2C_BUS) {
+		interface = bmp280_i2c_interface(config.bus, config.i2c_address, config.bus_frequency);
 
-	} else if (iterator.busType() == BOARD_SPI_BUS) {
-		interface = bmp280_spi_interface(iterator.bus(), iterator.devid(), cli.bus_frequency, cli.spi_mode);
+	} else if (config.bus_type == BOARD_SPI_BUS) {
+		interface = bmp280_spi_interface(config.bus, config.spi_devid, config.bus_frequency, config.spi_mode);
 	}
 
 	if (interface == nullptr) {
-		PX4_ERR("failed creating interface for bus %i (devid 0x%" PRIx32 ")", iterator.bus(), iterator.devid());
+		PX4_ERR("failed creating interface for bus %i (devid 0x%" PRIx32 ")", config.bus, config.spi_devid);
 		return nullptr;
 	}
 
 	if (interface->init() != OK) {
 		delete interface;
-		PX4_DEBUG("no device on bus %i (devid 0x%" PRIx32 ")", iterator.bus(), iterator.devid());
+		PX4_DEBUG("no device on bus %i (devid 0x%" PRIx32 ")", config.bus, config.spi_devid);
 		return nullptr;
 	}
 
-	BMP280 *dev = new BMP280(iterator.configuredBusOption(), iterator.bus(), interface);
+	BMP280 *dev = new BMP280(config, interface);
 
 	if (dev == nullptr) {
 		delete interface;

src/drivers/barometer/bmp388/bmp388.cpp

@@ -41,9 +41,8 @@
 
 #include "bmp388.h"
 
-BMP388::BMP388(I2CSPIBusOption bus_option, int bus, IBMP388 *interface) :
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id()), bus_option, bus,
-		     interface->get_device_address()),
+BMP388::BMP388(const I2CSPIDriverConfig &config, IBMP388 *interface) :
+	I2CSPIDriver(config),
 	_px4_baro(interface->get_device_id()),
 	_interface(interface),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),

src/drivers/barometer/bmp388/bmp388.h

@@ -308,11 +308,10 @@ public:
 class BMP388 : public I2CSPIDriver<BMP388>
 {
 public:
-	BMP388(I2CSPIBusOption bus_option, int bus, IBMP388 *interface);
+	BMP388(const I2CSPIDriverConfig &config, IBMP388 *interface);
 	virtual ~BMP388();
 
-	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					     int runtime_instance);
+	static I2CSPIDriverBase *instantiate(const I2CSPIDriverConfig &config, int runtime_instance);
 	static void print_usage();
 
 	virtual int		init();

src/drivers/barometer/bmp388/bmp388_main.cpp

@@ -48,30 +48,29 @@ BMP388::print_usage()
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
 
-I2CSPIDriverBase *BMP388::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-				      int runtime_instance)
+I2CSPIDriverBase *BMP388::instantiate(const I2CSPIDriverConfig &config, int runtime_instance)
 {
 	IBMP388 *interface = nullptr;
 
-	if (iterator.busType() == BOARD_I2C_BUS) {
-		interface = bmp388_i2c_interface(iterator.bus(), cli.i2c_address, cli.bus_frequency);
+	if (config.bus_type == BOARD_I2C_BUS) {
+		interface = bmp388_i2c_interface(config.bus, config.i2c_address, config.bus_frequency);
 
-	} else if (iterator.busType() == BOARD_SPI_BUS) {
-		interface = bmp388_spi_interface(iterator.bus(), iterator.devid(), cli.bus_frequency, cli.spi_mode);
+	} else if (config.bus_type == BOARD_SPI_BUS) {
+		interface = bmp388_spi_interface(config.bus, config.spi_devid, config.bus_frequency, config.spi_mode);
 	}
 
 	if (interface == nullptr) {
-		PX4_ERR("failed creating interface for bus %i (devid 0x%" PRIx32 ")", iterator.bus(), iterator.devid());
+		PX4_ERR("failed creating interface for bus %i (devid 0x%" PRIx32 ")", config.bus, config.spi_devid);
 		return nullptr;
 	}
 
 	if (interface->init() != OK) {
 		delete interface;
-		PX4_DEBUG("no device on bus %i (devid 0x%" PRIx32 ")", iterator.bus(), iterator.devid());
+		PX4_DEBUG("no device on bus %i (devid 0x%" PRIx32 ")", config.bus, config.spi_devid);
 		return nullptr;
 	}
 
-	BMP388 *dev = new BMP388(iterator.configuredBusOption(), iterator.bus(), interface);
+	BMP388 *dev = new BMP388(config, interface);
 
 	if (dev == nullptr) {
 		delete interface;

src/drivers/barometer/dps310/DPS310.cpp

@@ -46,9 +46,8 @@ static void getTwosComplement(T &raw, uint8_t length)
 	}
 }
 
-DPS310::DPS310(I2CSPIBusOption bus_option, int bus, device::Device *interface) :
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id()), bus_option, bus,
-		     interface->get_device_address()),
+DPS310::DPS310(const I2CSPIDriverConfig &config, device::Device *interface) :
+	I2CSPIDriver(config),
 	_px4_barometer(interface->get_device_id()),
 	_interface(interface),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),

src/drivers/barometer/dps310/DPS310.hpp

@@ -56,11 +56,10 @@ using Infineon_DPS310::Register;
 class DPS310 : public I2CSPIDriver<DPS310>
 {
 public:
-	DPS310(I2CSPIBusOption bus_option, int bus, device::Device *interface);
+	DPS310(const I2CSPIDriverConfig &config, device::Device *interface);
 	virtual ~DPS310();
 
-	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					     int runtime_instance);
+	static I2CSPIDriverBase *instantiate(const I2CSPIDriverConfig &config, int runtime_instance);
 	static void print_usage();
 
 	int			init();

src/drivers/barometer/dps310/dps310_main.cpp

@@ -55,30 +55,29 @@ DPS310::print_usage()
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
 
-I2CSPIDriverBase *DPS310::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-				      int runtime_instance)
+I2CSPIDriverBase *DPS310::instantiate(const I2CSPIDriverConfig &config, int runtime_instance)
 {
 	device::Device *interface = nullptr;
 
-	if (iterator.busType() == BOARD_I2C_BUS) {
-		interface = DPS310_I2C_interface(iterator.bus(), cli.i2c_address, cli.bus_frequency);
+	if (config.bus_type == BOARD_I2C_BUS) {
+		interface = DPS310_I2C_interface(config.bus, config.i2c_address, config.bus_frequency);
 
-	} else if (iterator.busType() == BOARD_SPI_BUS) {
-		interface = DPS310_SPI_interface(iterator.bus(), iterator.devid(), cli.bus_frequency, cli.spi_mode);
+	} else if (config.bus_type == BOARD_SPI_BUS) {
+		interface = DPS310_SPI_interface(config.bus, config.spi_devid, config.bus_frequency, config.spi_mode);
 	}
 
 	if (interface == nullptr) {
-		PX4_ERR("failed creating interface for bus %i (devid 0x%" PRIx32 ")", iterator.bus(), iterator.devid());
+		PX4_ERR("failed creating interface for bus %i (devid 0x%" PRIx32 ")", config.bus, config.spi_devid);
 		return nullptr;
 	}
 
 	if (interface->init() != OK) {
 		delete interface;
-		PX4_DEBUG("no device on bus %i (devid 0x%" PRIx32 ")", iterator.bus(), iterator.devid());
+		PX4_DEBUG("no device on bus %i (devid 0x%" PRIx32 ")", config.bus, config.spi_devid);
 		return nullptr;
 	}
 
-	DPS310 *dev = new DPS310(iterator.configuredBusOption(), iterator.bus(), interface);
+	DPS310 *dev = new DPS310(config, interface);
 
 	if (dev == nullptr) {
 		delete interface;

src/drivers/barometer/lps22hb/LPS22HB.cpp

@@ -42,8 +42,8 @@
 /* Max measurement rate is 25Hz */
 #define LPS22HB_CONVERSION_INTERVAL	(1000000 / 25)	/* microseconds */
 
-LPS22HB::LPS22HB(I2CSPIBusOption bus_option, int bus, device::Device *interface) :
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id()), bus_option, bus),
+LPS22HB::LPS22HB(const I2CSPIDriverConfig &config, device::Device *interface) :
+	I2CSPIDriver(config),
 	_px4_baro(interface->get_device_id()),
 	_interface(interface),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),

src/drivers/barometer/lps22hb/LPS22HB.hpp

@@ -70,6 +70,8 @@ static constexpr uint8_t PRESS_OUT_H = 0x2A;
 static constexpr uint8_t TEMP_OUT_L = 0x2B;
 static constexpr uint8_t TEMP_OUT_H = 0x2C;
 
+#define LPS22HB_ADDRESS		0x5D
+
 /* interface factories */
 extern device::Device *LPS22HB_SPI_interface(int bus, uint32_t devid, int bus_frequency, spi_mode_e spi_mode);
 extern device::Device *LPS22HB_I2C_interface(int bus, int bus_frequency);
@@ -77,11 +79,10 @@ extern device::Device *LPS22HB_I2C_interface(int bus, int bus_frequency);
 class LPS22HB : public I2CSPIDriver<LPS22HB>
 {
 public:
-	LPS22HB(I2CSPIBusOption bus_option, int bus, device::Device *interface);
+	LPS22HB(const I2CSPIDriverConfig &config, device::Device *interface);
 	virtual ~LPS22HB();
 
-	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					     int runtime_instance);
+	static I2CSPIDriverBase *instantiate(const I2CSPIDriverConfig &config, int runtime_instance);
 	static void print_usage();
 
 	int			init();

src/drivers/barometer/lps22hb/LPS22HB_I2C.cpp

@@ -41,8 +41,6 @@
 
 #include <drivers/device/i2c.h>
 
-#define LPS22HB_ADDRESS		0x5D
-
 device::Device *LPS22HB_I2C_interface(int bus, int bus_frequency);
 
 class LPS22HB_I2C : public device::I2C

src/drivers/barometer/lps22hb/lps22hb_main.cpp

@@ -43,30 +43,29 @@ void LPS22HB::print_usage()
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
 
-I2CSPIDriverBase *LPS22HB::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-				       int runtime_instance)
+I2CSPIDriverBase *LPS22HB::instantiate(const I2CSPIDriverConfig &config, int runtime_instance)
 {
 	device::Device *interface = nullptr;
 
-	if (iterator.busType() == BOARD_I2C_BUS) {
-		interface = LPS22HB_I2C_interface(iterator.bus(), cli.bus_frequency);
+	if (config.bus_type == BOARD_I2C_BUS) {
+		interface = LPS22HB_I2C_interface(config.bus, config.bus_frequency);
 
-	} else if (iterator.busType() == BOARD_SPI_BUS) {
-		interface = LPS22HB_SPI_interface(iterator.bus(), iterator.devid(), cli.bus_frequency, cli.spi_mode);
+	} else if (config.bus_type == BOARD_SPI_BUS) {
+		interface = LPS22HB_SPI_interface(config.bus, config.spi_devid, config.bus_frequency, config.spi_mode);
 	}
 
 	if (interface == nullptr) {
-		PX4_ERR("failed creating interface for bus %i (devid 0x%" PRIx32 ")", iterator.bus(), iterator.devid());
+		PX4_ERR("failed creating interface for bus %i (devid 0x%" PRIx32 ")", config.bus, config.spi_devid);
 		return nullptr;
 	}
 
 	if (interface->init() != OK) {
 		delete interface;
-		PX4_DEBUG("no device on bus %i (devid 0x%" PRIx32 ")", iterator.bus(), iterator.devid());
+		PX4_DEBUG("no device on bus %i (devid 0x%" PRIx32 ")", config.bus, config.spi_devid);
 		return nullptr;
 	}
 
-	LPS22HB *dev = new LPS22HB(iterator.configuredBusOption(), iterator.bus(), interface);
+	LPS22HB *dev = new LPS22HB(config, interface);
 
 	if (dev == nullptr) {
 		delete interface;
@@ -95,6 +94,8 @@ extern "C" __EXPORT int lps22hb_main(int argc, char *argv[])
 		return -1;
 	}
 
+	cli.i2c_address = LPS22HB_ADDRESS;
+
 	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_BARO_DEVTYPE_LPS22HB);
 
 	if (!strcmp(verb, "start")) {

src/drivers/barometer/lps25h/LPS25H.cpp

@@ -33,8 +33,8 @@
 
 #include "LPS25H.hpp"
 
-LPS25H::LPS25H(I2CSPIBusOption bus_option, int bus, device::Device *interface) :
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id()), bus_option, bus),
+LPS25H::LPS25H(const I2CSPIDriverConfig &config, device::Device *interface) :
+	I2CSPIDriver(config),
 	_px4_barometer(interface->get_device_id()),
 	_interface(interface),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),

src/drivers/barometer/lps25h/LPS25H.hpp

@@ -155,11 +155,10 @@
 class LPS25H : public I2CSPIDriver<LPS25H>
 {
 public:
-	LPS25H(I2CSPIBusOption bus_option, int bus, device::Device *interface);
+	LPS25H(const I2CSPIDriverConfig &config, device::Device *interface);
 	~LPS25H() override;
 
-	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					     int runtime_instance);
+	static I2CSPIDriverBase *instantiate(const I2CSPIDriverConfig &config, int runtime_instance);
 	static void print_usage();
 
 	int		init();

src/drivers/barometer/lps25h/lps25h.h

@@ -50,6 +50,8 @@
 
 #define ID_WHO_AM_I		0xBD
 
+#define LPS25H_ADDRESS		0x5D
+
 /* interface factories */
 extern device::Device *LPS25H_SPI_interface(int bus, uint32_t devid, int bus_frequency, spi_mode_e spi_mode);
 extern device::Device *LPS25H_I2C_interface(int bus, int bus_frequency);

src/drivers/barometer/lps25h/lps25h_i2c.cpp

@@ -41,8 +41,6 @@
 
 #include <drivers/device/i2c.h>
 
-#define LPS25H_ADDRESS		0x5D
-
 device::Device *LPS25H_I2C_interface(int bus, int bus_frequency);
 
 class LPS25H_I2C : public device::I2C

src/drivers/barometer/lps25h/lps25h_main.cpp

@@ -47,30 +47,29 @@ LPS25H::print_usage()
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
 
-I2CSPIDriverBase *LPS25H::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-				      int runtime_instance)
+I2CSPIDriverBase *LPS25H::instantiate(const I2CSPIDriverConfig &config, int runtime_instance)
 {
 	device::Device *interface = nullptr;
 
-	if (iterator.busType() == BOARD_I2C_BUS) {
-		interface = LPS25H_I2C_interface(iterator.bus(), cli.bus_frequency);
+	if (config.bus_type == BOARD_I2C_BUS) {
+		interface = LPS25H_I2C_interface(config.bus, config.bus_frequency);
 
-	} else if (iterator.busType() == BOARD_SPI_BUS) {
-		interface = LPS25H_SPI_interface(iterator.bus(), iterator.devid(), cli.bus_frequency, cli.spi_mode);
+	} else if (config.bus_type == BOARD_SPI_BUS) {
+		interface = LPS25H_SPI_interface(config.bus, config.spi_devid, config.bus_frequency, config.spi_mode);
 	}
 
 	if (interface == nullptr) {
-		PX4_ERR("failed creating interface for bus %i (devid 0x%" PRIx32 ")", iterator.bus(), iterator.devid());
+		PX4_ERR("failed creating interface for bus %i (devid 0x%" PRIx32 ")", config.bus, config.spi_devid);
 		return nullptr;
 	}
 
 	if (interface->init() != OK) {
 		delete interface;
-		PX4_DEBUG("no device on bus %i (devid 0x%" PRIx32 ")", iterator.bus(), iterator.devid());
+		PX4_DEBUG("no device on bus %i (devid 0x%" PRIx32 ")", config.bus, config.spi_devid);
 		return nullptr;
 	}
 
-	LPS25H *dev = new LPS25H(iterator.configuredBusOption(), iterator.bus(), interface);
+	LPS25H *dev = new LPS25H(config, interface);
 
 	if (dev == nullptr) {
 		delete interface;
@@ -99,6 +98,8 @@ extern "C" int lps25h_main(int argc, char *argv[])
 		return -1;
 	}
 
+	cli.i2c_address = LPS25H_ADDRESS;
+
 	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_BARO_DEVTYPE_LPS25H);
 
 	if (!strcmp(verb, "start")) {

src/drivers/barometer/lps33hw/lps33hw.cpp

@@ -47,14 +47,13 @@ static void getTwosComplement(T &raw, uint8_t length)
 	}
 }
 
-LPS33HW::LPS33HW(I2CSPIBusOption bus_option, int bus, device::Device *interface, bool keep_retrying) :
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id()), bus_option, bus,
-		     interface->get_device_address()),
+LPS33HW::LPS33HW(const I2CSPIDriverConfig &config, device::Device *interface) :
+	I2CSPIDriver(config),
 	_px4_barometer(interface->get_device_id()),
 	_interface(interface),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
 	_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comm errors")),
-	_keep_retrying(keep_retrying)
+	_keep_retrying(config.keep_running)
 {
 }
 

src/drivers/barometer/lps33hw/lps33hw.hpp

@@ -55,11 +55,10 @@ using ST_LPS33HW::Register;
 class LPS33HW : public I2CSPIDriver<LPS33HW>
 {
 public:
-	LPS33HW(I2CSPIBusOption bus_option, int bus, device::Device *interface, bool keep_retrying);
+	LPS33HW(const I2CSPIDriverConfig &config, device::Device *interface);
 	virtual ~LPS33HW();
 
-	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					     int runtime_instance);
+	static I2CSPIDriverBase *instantiate(const I2CSPIDriverConfig &config, int runtime_instance);
 	static void print_usage();
 
 	int			init();

src/drivers/barometer/lps33hw/lps33hw_main.cpp

@@ -56,30 +56,29 @@ LPS33HW::print_usage()
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
 
-I2CSPIDriverBase *LPS33HW::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-				       int runtime_instance)
+I2CSPIDriverBase *LPS33HW::instantiate(const I2CSPIDriverConfig &config, int runtime_instance)
 {
 	device::Device *interface = nullptr;
 
-	if (iterator.busType() == BOARD_I2C_BUS) {
-		interface = LPS33HW_I2C_interface(iterator.bus(), cli.i2c_address, cli.bus_frequency);
+	if (config.bus_type == BOARD_I2C_BUS) {
+		interface = LPS33HW_I2C_interface(config.bus, config.i2c_address, config.bus_frequency);
 
-	} else if (iterator.busType() == BOARD_SPI_BUS) {
-		interface = LPS33HW_SPI_interface(iterator.bus(), iterator.devid(), cli.bus_frequency, cli.spi_mode);
+	} else if (config.bus_type == BOARD_SPI_BUS) {
+		interface = LPS33HW_SPI_interface(config.bus, config.spi_devid, config.bus_frequency, config.spi_mode);
 	}
 
 	if (interface == nullptr) {
-		PX4_ERR("failed creating interface for bus %i (devid 0x%" PRIx32 ")", iterator.bus(), iterator.devid());
+		PX4_ERR("failed creating interface for bus %i (devid 0x%" PRIx32 ")", config.bus, config.spi_devid);
 		return nullptr;
 	}
 
 	if (interface->init() != OK) {
 		delete interface;
-		PX4_DEBUG("no device on bus %i (devid 0x%" PRIx32 ")", iterator.bus(), iterator.devid());
+		PX4_DEBUG("no device on bus %i (devid 0x%" PRIx32 ")", config.bus, config.spi_devid);
 		return nullptr;
 	}
 
-	LPS33HW *dev = new LPS33HW(iterator.configuredBusOption(), iterator.bus(), interface, cli.keep_running);
+	LPS33HW *dev = new LPS33HW(config, interface);
 
 	if (dev == nullptr) {
 		delete interface;

src/drivers/barometer/mpl3115a2/MPL3115A2.cpp

@@ -33,8 +33,6 @@
 
 #include "MPL3115A2.hpp"
 
-#define MPL3115A2_ADDRESS        0x60
-
 #define MPL3115A2_REG_WHO_AM_I   0x0c
 #define MPL3115A2_WHO_AM_I       0xC4
 
@@ -54,9 +52,9 @@
 #define MPL3115A2_OSR                   2       /* Over Sample rate of 4 18MS Minimum time between data samples */
 #define MPL3115A2_CTRL_TRIGGER          (CTRL_REG1_OST | CTRL_REG1_OS(MPL3115A2_OSR))
 
-MPL3115A2::MPL3115A2(I2CSPIBusOption bus_option, const int bus, int bus_frequency) :
-	I2C(DRV_BARO_DEVTYPE_MPL3115A2, MODULE_NAME, bus, MPL3115A2_ADDRESS, bus_frequency),
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
+MPL3115A2::MPL3115A2(const I2CSPIDriverConfig &config) :
+	I2C(config),
+	I2CSPIDriver(config),
 	_px4_barometer(get_device_id()),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
 	_measure_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": measure")),

src/drivers/barometer/mpl3115a2/MPL3115A2.hpp

@@ -48,14 +48,14 @@
 #include <px4_platform_common/log.h>
 #include <px4_platform_common/i2c_spi_buses.h>
 
+#define MPL3115A2_ADDRESS        0x60
+
 class MPL3115A2 : public device::I2C, public I2CSPIDriver<MPL3115A2>
 {
 public:
-	MPL3115A2(I2CSPIBusOption bus_option, const int bus, int bus_frequency);
+	MPL3115A2(const I2CSPIDriverConfig &config);
 	~MPL3115A2() override;
 
-	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					     int runtime_instance);
 	static void print_usage();
 
 

src/drivers/barometer/mpl3115a2/mpl3115a2_main.cpp

@@ -43,31 +43,16 @@ MPL3115A2::print_usage()
 	PRINT_MODULE_USAGE_SUBCATEGORY("baro");
 	PRINT_MODULE_USAGE_COMMAND("start");
 	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
+	PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x60);
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
 
-I2CSPIDriverBase *MPL3115A2::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-		int runtime_instance)
-{
-	MPL3115A2 *dev = new MPL3115A2(iterator.configuredBusOption(), iterator.bus(), cli.bus_frequency);
-
-	if (dev == nullptr) {
-		return nullptr;
-	}
-
-	if (OK != dev->init()) {
-		delete dev;
-		return nullptr;
-	}
-
-	return dev;
-}
-
 extern "C" int mpl3115a2_main(int argc, char *argv[])
 {
 	using ThisDriver = MPL3115A2;
 	BusCLIArguments cli{true, false};
 	cli.default_i2c_frequency = 400000;
+	cli.i2c_address = MPL3115A2_ADDRESS;
 
 	const char *verb = cli.parseDefaultArguments(argc, argv);
 

src/drivers/barometer/ms5611/MS5611.hpp

@@ -87,12 +87,10 @@ enum MS56XX_DEVICE_TYPES {
 class MS5611 : public I2CSPIDriver<MS5611>
 {
 public:
-	MS5611(device::Device *interface, ms5611::prom_u &prom_buf, enum MS56XX_DEVICE_TYPES device_type,
-	       I2CSPIBusOption bus_option, int bus);
+	MS5611(device::Device *interface, ms5611::prom_u &prom_buf, const I2CSPIDriverConfig &config);
 	~MS5611() override;
 
-	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					     int runtime_instance);
+	static I2CSPIDriverBase *instantiate(const I2CSPIDriverConfig &config, int runtime_instance);
 	static void print_usage();
 
 	int		init();

src/drivers/barometer/ms5611/ms5611.cpp

@@ -41,17 +41,25 @@
 
 #include <cdev/CDev.hpp>
 
-MS5611::MS5611(device::Device *interface, ms5611::prom_u &prom_buf, enum MS56XX_DEVICE_TYPES device_type,
-	       I2CSPIBusOption bus_option, int bus) :
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id()), bus_option, bus, 0, device_type),
+MS5611::MS5611(device::Device *interface, ms5611::prom_u &prom_buf, const I2CSPIDriverConfig &config) :
+	I2CSPIDriver(config),
 	_px4_barometer(interface->get_device_id()),
 	_interface(interface),
 	_prom(prom_buf.s),
-	_device_type(device_type),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
 	_measure_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": measure")),
 	_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": com_err"))
 {
+	switch (config.devid_driver_index) {
+	case DRV_BARO_DEVTYPE_MS5611:
+		_device_type = MS5611_DEVICE;
+		break;
+
+	case DRV_BARO_DEVTYPE_MS5607:
+	default:
+		_device_type = MS5607_DEVICE;
+		break;
+	}
 }
 
 MS5611::~MS5611()

src/drivers/barometer/ms5611/ms5611.h

@@ -58,6 +58,10 @@
 #define IOCTL_RESET			2
 #define IOCTL_MEASURE			3
 
+#define MS5611_ADDRESS_1		0x76	/* address select pins pulled high (PX4FMU series v1.6+) */
+#define MS5611_ADDRESS_2		0x77    /* address select pins pulled low (PX4FMU prototypes) */
+
+
 namespace ms5611
 {
 

src/drivers/barometer/ms5611/ms5611_i2c.cpp

@@ -41,9 +41,6 @@
 
 #include "ms5611.h"
 
-#define MS5611_ADDRESS_1		0x76	/* address select pins pulled high (PX4FMU series v1.6+) */
-#define MS5611_ADDRESS_2		0x77    /* address select pins pulled low (PX4FMU prototypes) */
-
 class MS5611_I2C : public device::I2C
 {
 public:

src/drivers/barometer/ms5611/ms5611_main.cpp

@@ -40,17 +40,16 @@
 #include "MS5611.hpp"
 #include "ms5611.h"
 
-I2CSPIDriverBase *MS5611::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-				      int runtime_instance)
+I2CSPIDriverBase *MS5611::instantiate(const I2CSPIDriverConfig &config, int runtime_instance)
 {
 	ms5611::prom_u prom_buf;
 	device::Device *interface = nullptr;
 
-	if (iterator.busType() == BOARD_I2C_BUS) {
-		interface = MS5611_i2c_interface(prom_buf, iterator.devid(), iterator.bus(), cli.bus_frequency);
+	if (config.bus_type == BOARD_I2C_BUS) {
+		interface = MS5611_i2c_interface(prom_buf, config.spi_devid, config.bus, config.bus_frequency);
 
-	} else if (iterator.busType() == BOARD_SPI_BUS) {
-		interface = MS5611_spi_interface(prom_buf, iterator.devid(), iterator.bus(), cli.bus_frequency, cli.spi_mode);
+	} else if (config.bus_type == BOARD_SPI_BUS) {
+		interface = MS5611_spi_interface(prom_buf, config.spi_devid, config.bus, config.bus_frequency, config.spi_mode);
 	}
 
 	if (interface == nullptr) {
@@ -60,12 +59,11 @@ I2CSPIDriverBase *MS5611::instantiate(const BusCLIArguments &cli, const BusInsta
 
 	if (interface->init() != OK) {
 		delete interface;
-		PX4_DEBUG("no device on bus %i (devid 0x%x)", iterator.bus(), iterator.devid());
+		PX4_DEBUG("no device on bus %i (devid 0x%x)", config.bus, config.spi_devid);
 		return nullptr;
 	}
 
-	MS5611 *dev = new MS5611(interface, prom_buf, (MS56XX_DEVICE_TYPES)cli.type, iterator.configuredBusOption(),
-				 iterator.bus());
+	MS5611 *dev = new MS5611(interface, prom_buf, config);
 
 	if (dev == nullptr) {
 		delete interface;
@@ -95,7 +93,6 @@ extern "C" int ms5611_main(int argc, char *argv[])
 	using ThisDriver = MS5611;
 	int ch;
 	BusCLIArguments cli{true, true};
-	cli.type = MS5611_DEVICE;
 	cli.default_i2c_frequency = 400000;
 	cli.default_spi_frequency = 20 * 1000 * 1000;
 	uint16_t dev_type_driver = DRV_BARO_DEVTYPE_MS5611;
@@ -106,11 +103,9 @@ extern "C" int ms5611_main(int argc, char *argv[])
 				int val = atoi(cli.optArg());
 
 				if (val == 5611) {
-					cli.type = MS5611_DEVICE;
 					dev_type_driver = DRV_BARO_DEVTYPE_MS5611;
 
 				} else if (val == 5607) {
-					cli.type = MS5607_DEVICE;
 					dev_type_driver = DRV_BARO_DEVTYPE_MS5607;
 				}
 			}
@@ -125,6 +120,8 @@ extern "C" int ms5611_main(int argc, char *argv[])
 		return -1;
 	}
 
+	cli.i2c_address = MS5611_ADDRESS_1;
+
 	BusInstanceIterator iterator(MODULE_NAME, cli, dev_type_driver);
 
 	if (!strcmp(verb, "start")) {