drivers: use updated I2C SPI driver interface

src/drivers/distance_sensor/gy_us42/GY_US42.cpp

@@ -33,10 +33,10 @@
 
 #include "GY_US42.hpp"
 
-GY_US42::GY_US42(I2CSPIBusOption bus_option, const int bus, const uint8_t rotation, int bus_frequency, int address) :
-	I2C(DRV_DIST_DEVTYPE_GY_US42, MODULE_NAME, bus, address, bus_frequency),
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_px4_rangefinder(get_device_id(), rotation)
+GY_US42::GY_US42(const I2CSPIDriverConfig &config) :
+	I2C(config),
+	I2CSPIDriver(config),
+	_px4_rangefinder(get_device_id(), config.rotation)
 {
 	_px4_rangefinder.set_max_distance(GY_US42_MAX_DISTANCE);
 	_px4_rangefinder.set_min_distance(GY_US42_MIN_DISTANCE);

src/drivers/distance_sensor/gy_us42/GY_US42.hpp

@@ -63,12 +63,9 @@
 class GY_US42 : public device::I2C, public I2CSPIDriver<GY_US42>
 {
 public:
-	GY_US42(I2CSPIBusOption bus_option, const int bus, const uint8_t rotation, int bus_frequency,
-		int address = GY_US42_BASEADDR);
+	GY_US42(const I2CSPIDriverConfig &config);
 	~GY_US42() override;
 
-	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					     int runtime_instance);
 	static void print_usage();
 
 	int init() override;

src/drivers/distance_sensor/gy_us42/GY_US42_main.cpp

@@ -47,36 +47,18 @@ GY_US42::print_usage()
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
 
-I2CSPIDriverBase *GY_US42::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-				       int runtime_instance)
-{
-	GY_US42 *instance = new GY_US42(iterator.configuredBusOption(), iterator.bus(), cli.orientation, cli.bus_frequency);
-
-	if (instance == nullptr) {
-		PX4_ERR("alloc failed");
-		return nullptr;
-	}
-
-	if (instance->init() != PX4_OK) {
-		delete instance;
-		return nullptr;
-	}
-
-	return instance;
-}
-
 extern "C" __EXPORT int gy_us42_main(int argc, char *argv[])
 {
 	int ch;
 	using ThisDriver = GY_US42;
 	BusCLIArguments cli{true, false};
-	cli.orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
+	cli.rotation = (Rotation)distance_sensor_s::ROTATION_DOWNWARD_FACING;
 	cli.default_i2c_frequency = 100000;
 
 	while ((ch = cli.getOpt(argc, argv, "R:")) != EOF) {
 		switch (ch) {
 		case 'R':
-			cli.orientation = atoi(cli.optArg());
+			cli.rotation = (Rotation)atoi(cli.optArg());
 			break;
 		}
 	}

src/drivers/distance_sensor/lightware_laser_i2c/lightware_laser_i2c.cpp

@@ -60,13 +60,10 @@ using namespace time_literals;
 class LightwareLaser : public device::I2C, public I2CSPIDriver<LightwareLaser>
 {
 public:
-	LightwareLaser(I2CSPIBusOption bus_option, const int bus, const uint8_t rotation, int bus_frequency,
-		       int address = LIGHTWARE_LASER_BASEADDR);
+	LightwareLaser(const I2CSPIDriverConfig &config);
 
 	~LightwareLaser() override;
 
-	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					     int runtime_instance);
 	static void print_usage();
 
 	int init() override;
@@ -132,11 +129,10 @@ private:
 	int _consecutive_errors{0};
 };
 
-LightwareLaser::LightwareLaser(I2CSPIBusOption bus_option, const int bus, const uint8_t rotation, int bus_frequency,
-			       int address) :
-	I2C(DRV_DIST_DEVTYPE_LIGHTWARE_LASER, MODULE_NAME, bus, address, bus_frequency),
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_px4_rangefinder(get_device_id(), rotation)
+LightwareLaser::LightwareLaser(const I2CSPIDriverConfig &config) :
+	I2C(config),
+	I2CSPIDriver(config),
+	_px4_rangefinder(get_device_id(), config.rotation)
 {
 	_px4_rangefinder.set_device_type(DRV_DIST_DEVTYPE_LIGHTWARE_LASER);
 }
@@ -205,7 +201,13 @@ int LightwareLaser::init()
 	}
 
 	/* do I2C init (and probe) first */
-	return I2C::init();
+	ret = I2C::init();
+
+	if (ret == PX4_OK) {
+		start();
+	}
+
+	return ret;
 }
 
 int LightwareLaser::readRegister(Register reg, uint8_t *data, int len)
@@ -422,41 +424,24 @@ Setup/usage information: https://docs.px4.io/master/en/sensor/sfxx_lidar.html
 	PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor");
 	PRINT_MODULE_USAGE_COMMAND("start");
 	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
+	PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x66);
 	PRINT_MODULE_USAGE_PARAM_INT('R', 25, 0, 25, "Sensor rotation - downward facing by default", true);
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
 
-I2CSPIDriverBase *LightwareLaser::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-				      int runtime_instance)
-{
-	LightwareLaser* instance = new LightwareLaser(iterator.configuredBusOption(), iterator.bus(), cli.orientation, cli.bus_frequency);
-
-	if (instance == nullptr) {
-		PX4_ERR("alloc failed");
-		return nullptr;
-	}
-
-	if (instance->init() != PX4_OK) {
-		delete instance;
-		return nullptr;
-	}
-
-	instance->start();
-	return instance;
-}
-
 extern "C" __EXPORT int lightware_laser_i2c_main(int argc, char *argv[])
 {
 	int ch;
 	using ThisDriver = LightwareLaser;
 	BusCLIArguments cli{true, false};
-	cli.orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
+	cli.rotation = (Rotation)distance_sensor_s::ROTATION_DOWNWARD_FACING;
 	cli.default_i2c_frequency = 400000;
+	cli.i2c_address = LIGHTWARE_LASER_BASEADDR;
 
 	while ((ch = cli.getOpt(argc, argv, "R:")) != EOF) {
 		switch (ch) {
 		case 'R':
-			cli.orientation = atoi(cli.optArg());
+			cli.rotation = (Rotation)atoi(cli.optArg());
 			break;
 		}
 	}

src/drivers/distance_sensor/ll40ls/LidarLiteI2C.cpp

@@ -41,11 +41,10 @@
 
 #include "LidarLiteI2C.h"
 
-LidarLiteI2C::LidarLiteI2C(I2CSPIBusOption bus_option, const int bus, const uint8_t orientation, int bus_frequency,
-			   const int address) :
-	I2C(DRV_RNG_DEVTYPE_LL40LS, MODULE_NAME, bus, address, bus_frequency),
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_px4_rangefinder(get_device_id(), orientation)
+LidarLiteI2C::LidarLiteI2C(const I2CSPIDriverConfig &config) :
+	I2C(config),
+	I2CSPIDriver(config),
+	_px4_rangefinder(get_device_id(), config.rotation)
 {
 	_px4_rangefinder.set_min_distance(LL40LS_MIN_DISTANCE);
 	_px4_rangefinder.set_max_distance(LL40LS_MAX_DISTANCE);
@@ -72,6 +71,7 @@ LidarLiteI2C::init()
 		return PX4_ERROR;
 	}
 
+	start();
 	return PX4_OK;
 }
 

src/drivers/distance_sensor/ll40ls/LidarLiteI2C.h

@@ -94,12 +94,9 @@ static constexpr uint32_t LL40LS_CONVERSION_TIMEOUT{100_ms};
 class LidarLiteI2C : public device::I2C, public I2CSPIDriver<LidarLiteI2C>
 {
 public:
-	LidarLiteI2C(I2CSPIBusOption bus_option, const int bus, const uint8_t orientation, int bus_frequency,
-		     const int address = LL40LS_BASEADDR);
+	LidarLiteI2C(const I2CSPIDriverConfig &config);
 	virtual ~LidarLiteI2C();
 
-	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					     int runtime_instance);
 	static void print_usage();
 
 

src/drivers/distance_sensor/ll40ls/ll40ls.cpp

@@ -64,30 +64,12 @@ Setup/usage information: https://docs.px4.io/master/en/sensor/lidar_lite.html
 	PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor");
 	PRINT_MODULE_USAGE_COMMAND("start");
 	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
+	PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x62);
 	PRINT_MODULE_USAGE_PARAM_INT('R', 25, 0, 25, "Sensor rotation - downward facing by default", true);
 	PRINT_MODULE_USAGE_COMMAND("regdump");
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
 
-I2CSPIDriverBase *LidarLiteI2C::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-				      int runtime_instance)
-{
-	LidarLiteI2C* instance = new LidarLiteI2C(iterator.configuredBusOption(), iterator.bus(), cli.orientation, cli.bus_frequency);
-
-	if (instance == nullptr) {
-		PX4_ERR("alloc failed");
-		return nullptr;
-	}
-
-	if (instance->init() != PX4_OK) {
-		delete instance;
-		return nullptr;
-	}
-
-	instance->start();
-	return instance;
-}
-
 void
 LidarLiteI2C::custom_method(const BusCLIArguments &cli)
 {
@@ -99,13 +81,14 @@ extern "C" __EXPORT int ll40ls_main(int argc, char *argv[])
 	int ch;
 	using ThisDriver = LidarLiteI2C;
 	BusCLIArguments cli{true, false};
-	cli.orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
+	cli.rotation = (Rotation)distance_sensor_s::ROTATION_DOWNWARD_FACING;
 	cli.default_i2c_frequency = 100000;
+	cli.i2c_address = LL40LS_BASEADDR;
 
 	while ((ch = cli.getOpt(argc, argv, "R:")) != EOF) {
 		switch (ch) {
 		case 'R':
-			cli.orientation = (enum Rotation)atoi(cli.optArg());
+			cli.rotation = (enum Rotation)atoi(cli.optArg());
 			break;
 		}
 	}

src/drivers/distance_sensor/mappydot/MappyDot.cpp

@@ -144,11 +144,9 @@ using namespace time_literals;
 class MappyDot : public device::I2C, public ModuleParams, public I2CSPIDriver<MappyDot>
 {
 public:
-	MappyDot(I2CSPIBusOption bus_option, const int bus, int bus_frequency);
+	MappyDot(const I2CSPIDriverConfig &config);
 	virtual ~MappyDot();
 
-	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					     int runtime_instance);
 	static void print_usage();
 
 	/**
@@ -221,10 +219,10 @@ private:
 };
 
 
-MappyDot::MappyDot(I2CSPIBusOption bus_option, const int bus, int bus_frequency) :
-	I2C(DRV_DIST_DEVTYPE_MAPPYDOT, MODULE_NAME, bus, MAPPYDOT_BASE_ADDR, bus_frequency),
+MappyDot::MappyDot(const I2CSPIDriverConfig &config) :
+	I2C(config),
 	ModuleParams(nullptr),
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus)
+	I2CSPIDriver(config)
 {
 	set_device_type(DRV_DIST_DEVTYPE_MAPPYDOT);
 }
@@ -382,6 +380,7 @@ MappyDot::init()
 
 	PX4_INFO("%i sensors connected", _sensor_count);
 
+	start();
 	return PX4_OK;
 }
 
@@ -417,9 +416,6 @@ MappyDot::RunImpl()
 void
 MappyDot::start()
 {
-	// Fetch parameter values.
-	ModuleParams::updateParams();
-
 	// Schedule the driver to run on a set interval
 	ScheduleOnInterval(MAPPYDOT_MEASUREMENT_INTERVAL_USEC, 10000);
 }
@@ -434,25 +430,6 @@ MappyDot::print_usage()
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
 
-I2CSPIDriverBase *MappyDot::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					int runtime_instance)
-{
-	MappyDot *instance = new MappyDot(iterator.configuredBusOption(), iterator.bus(), cli.bus_frequency);
-
-	if (instance == nullptr) {
-		PX4_ERR("alloc failed");
-		return nullptr;
-	}
-
-	if (instance->init() != PX4_OK) {
-		delete instance;
-		return nullptr;
-	}
-
-	instance->start();
-	return instance;
-}
-
 extern "C" __EXPORT int mappydot_main(int argc, char *argv[])
 {
 	using ThisDriver = MappyDot;
@@ -466,6 +443,8 @@ extern "C" __EXPORT int mappydot_main(int argc, char *argv[])
 		return -1;
 	}
 
+	cli.i2c_address = MAPPYDOT_BASE_ADDR;
+
 	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_DIST_DEVTYPE_MAPPYDOT);
 
 	if (!strcmp(verb, "start")) {

src/drivers/distance_sensor/mb12xx/mb12xx.cpp

@@ -88,14 +88,12 @@ using namespace time_literals;
 class MB12XX : public device::I2C, public ModuleParams, public I2CSPIDriver<MB12XX>
 {
 public:
-	MB12XX(I2CSPIBusOption bus_option, const int bus, int bus_frequency, int address);
+	MB12XX(const I2CSPIDriverConfig &config);
 	virtual ~MB12XX();
 
-	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					     int runtime_instance);
 	static void print_usage();
 
-	virtual int init() override;
+	int init() override;
 
 	/**
 	 * Diagnostics - print some basic information about the driver.
@@ -175,10 +173,10 @@ private:
 	);
 };
 
-MB12XX::MB12XX(I2CSPIBusOption bus_option, const int bus, int bus_frequency, int address) :
-	I2C(DRV_DIST_DEVTYPE_MB12XX, MODULE_NAME, bus, address, bus_frequency),
+MB12XX::MB12XX(const I2CSPIDriverConfig &config) :
+	I2C(config),
 	ModuleParams(nullptr),
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus, address)
+	I2CSPIDriver(config)
 {
 	set_device_type(DRV_DIST_DEVTYPE_MB12XX);
 }
@@ -319,12 +317,13 @@ MB12XX::init()
 		return PX4_ERROR;
 	}
 
-	// If more than one sonar is detected, adjust the meaure interval to avoid sensor interference.
+	// If more than one sonar is detected, adjust the measure interval to avoid sensor interference.
 	if (_sensor_count > 1) {
 		_measure_interval = MB12XX_INTERVAL_BETWEEN_SUCCESIVE_FIRES;
 	}
 
 	PX4_INFO("Total sensors connected: %i", _sensor_count);
+	start();
 	return PX4_OK;
 }
 
@@ -407,26 +406,6 @@ MB12XX::custom_method(const BusCLIArguments &cli)
 	set_address(cli.i2c_address);
 }
 
-I2CSPIDriverBase *MB12XX::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-				      int runtime_instance)
-{
-	MB12XX *instance = new MB12XX(iterator.configuredBusOption(), iterator.bus(), cli.bus_frequency, cli.i2c_address);
-
-	if (instance == nullptr) {
-		PX4_ERR("alloc failed");
-		return nullptr;
-	}
-
-	if (instance->init() != PX4_OK) {
-		delete instance;
-		return nullptr;
-	}
-
-	instance->start();
-	return instance;
-}
-
-
 void
 MB12XX::print_usage()
 {
@@ -434,7 +413,6 @@ MB12XX::print_usage()
 	PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor");
 	PRINT_MODULE_USAGE_COMMAND("start");
 	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
-	PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x70);
 	PRINT_MODULE_USAGE_COMMAND("set_address");
 	PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x70);
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
@@ -444,7 +422,6 @@ extern "C" __EXPORT int mb12xx_main(int argc, char *argv[])
 {
 	using ThisDriver = MB12XX;
 	BusCLIArguments cli{true, false};
-	cli.i2c_address = MB12XX_BASE_ADDR;
 	cli.default_i2c_frequency = MB12XX_BUS_SPEED;
 
 	const char *verb = cli.parseDefaultArguments(argc, argv);
@@ -454,6 +431,8 @@ extern "C" __EXPORT int mb12xx_main(int argc, char *argv[])
 		return -1;
 	}
 
+	cli.i2c_address = MB12XX_BASE_ADDR;
+
 	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_DIST_DEVTYPE_MB12XX);
 
 	if (!strcmp(verb, "start")) {

src/drivers/distance_sensor/srf02/SRF02.cpp

@@ -33,10 +33,10 @@
 
 #include "SRF02.hpp"
 
-SRF02::SRF02(I2CSPIBusOption bus_option, const int bus, const uint8_t rotation, int bus_frequency, int address) :
-	I2C(DRV_DIST_DEVTYPE_SRF02, MODULE_NAME, bus, address, bus_frequency),
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_px4_rangefinder(get_device_id(), rotation)
+SRF02::SRF02(const I2CSPIDriverConfig &config) :
+	I2C(config),
+	I2CSPIDriver(config),
+	_px4_rangefinder(get_device_id(), config.rotation)
 {
 	_px4_rangefinder.set_device_type(DRV_DIST_DEVTYPE_SRF02);
 	_px4_rangefinder.set_rangefinder_type(distance_sensor_s::MAV_DISTANCE_SENSOR_ULTRASOUND);
@@ -69,7 +69,13 @@ int SRF02::init()
 	// XXX we should find out why we need to wait 200 ms here
 	px4_usleep(200000);
 
-	return measure();
+	int ret = measure();
+
+	if (ret == PX4_OK) {
+		start();
+	}
+
+	return ret;
 }
 
 int SRF02::collect()

src/drivers/distance_sensor/srf02/SRF02.hpp

@@ -65,12 +65,9 @@
 class SRF02 : public device::I2C, public I2CSPIDriver<SRF02>
 {
 public:
-	SRF02(I2CSPIBusOption bus_option, const int bus, const uint8_t rotation, int bus_frequency,
-	      int address = SRF02_BASEADDR);
+	SRF02(const I2CSPIDriverConfig &config);
 	~SRF02() override;
 
-	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					     int runtime_instance);
 	static void print_usage();
 
 	int init() override;

src/drivers/distance_sensor/srf02/srf02_main.cpp

@@ -43,41 +43,24 @@ SRF02::print_usage()
 	PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor");
 	PRINT_MODULE_USAGE_COMMAND("start");
 	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
+	PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x70);
 	PRINT_MODULE_USAGE_PARAM_INT('R', 25, 0, 25, "Sensor rotation - downward facing by default", true);
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
 
-I2CSPIDriverBase *SRF02::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-				     int runtime_instance)
-{
-	SRF02 *instance = new SRF02(iterator.configuredBusOption(), iterator.bus(), cli.orientation, cli.bus_frequency);
-
-	if (instance == nullptr) {
-		PX4_ERR("alloc failed");
-		return nullptr;
-	}
-
-	if (instance->init() != PX4_OK) {
-		delete instance;
-		return nullptr;
-	}
-
-	instance->start();
-	return instance;
-}
-
 extern "C" __EXPORT int srf02_main(int argc, char *argv[])
 {
 	int ch;
 	using ThisDriver = SRF02;
 	BusCLIArguments cli{true, false};
-	cli.orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
+	cli.rotation = (Rotation)distance_sensor_s::ROTATION_DOWNWARD_FACING;
 	cli.default_i2c_frequency = 100000;
+	cli.i2c_address = SRF02_BASEADDR;
 
 	while ((ch = cli.getOpt(argc, argv, "R:")) != EOF) {
 		switch (ch) {
 		case 'R':
-			cli.orientation = atoi(cli.optArg());
+			cli.rotation = (Rotation)atoi(cli.optArg());
 			break;
 		}
 	}

src/drivers/distance_sensor/teraranger/TERARANGER.cpp

@@ -73,10 +73,10 @@ static uint8_t crc8(uint8_t *p, uint8_t len)
 	return crc & 0xFF;
 }
 
-TERARANGER::TERARANGER(I2CSPIBusOption bus_option, const int bus, const uint8_t rotation, int bus_frequency) :
-	I2C(DRV_DIST_DEVTYPE_TERARANGER, MODULE_NAME, bus, TERARANGER_ONE_BASEADDR, bus_frequency),
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_px4_rangefinder(get_device_id(), rotation)
+TERARANGER::TERARANGER(const I2CSPIDriverConfig &config) :
+	I2C(config),
+	I2CSPIDriver(config),
+	_px4_rangefinder(get_device_id(), config.rotation)
 {
 	// up the retries since the device misses the first measure attempts
 	I2C::_retries = 3;
@@ -212,6 +212,8 @@ int TERARANGER::init()
 		return PX4_ERROR;
 	}
 
+	start();
+
 	return PX4_OK;
 }
 

src/drivers/distance_sensor/teraranger/TERARANGER.hpp

@@ -75,11 +75,9 @@ using namespace time_literals;
 class TERARANGER : public device::I2C, public I2CSPIDriver<TERARANGER>
 {
 public:
-	TERARANGER(I2CSPIBusOption bus_option, const int bus, const uint8_t rotation, int bus_frequency);
+	TERARANGER(const I2CSPIDriverConfig &config);
 	~TERARANGER() override;
 
-	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					     int runtime_instance);
 	static void print_usage();
 
 	virtual int init() override;

src/drivers/distance_sensor/teraranger/teraranger_main.cpp

@@ -53,41 +53,24 @@ Setup/usage information: https://docs.px4.io/master/en/sensor/rangefinders.html#
 	PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor");
 	PRINT_MODULE_USAGE_COMMAND("start");
 	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
+	PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x30);
 	PRINT_MODULE_USAGE_PARAM_INT('R', 25, 0, 25, "Sensor rotation - downward facing by default", true);
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
 
-I2CSPIDriverBase *TERARANGER::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-				     int runtime_instance)
-{
-	TERARANGER *instance = new TERARANGER(iterator.configuredBusOption(), iterator.bus(), cli.orientation, cli.bus_frequency);
-
-	if (instance == nullptr) {
-		PX4_ERR("alloc failed");
-		return nullptr;
-	}
-
-	if (instance->init() != PX4_OK) {
-		delete instance;
-		return nullptr;
-	}
-
-	instance->start();
-	return instance;
-}
-
 extern "C" __EXPORT int teraranger_main(int argc, char *argv[])
 {
 	int ch;
 	using ThisDriver = TERARANGER;
 	BusCLIArguments cli{true, false};
-	cli.orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
+	cli.rotation = (Rotation)distance_sensor_s::ROTATION_DOWNWARD_FACING;
 	cli.default_i2c_frequency = 100000;
+	cli.i2c_address = TERARANGER_ONE_BASEADDR;
 
 	while ((ch = cli.getOpt(argc, argv, "R:")) != EOF) {
 		switch (ch) {
 		case 'R':
-			cli.orientation = atoi(cli.optArg());
+			cli.rotation = (Rotation)atoi(cli.optArg());
 			break;
 		}
 	}

src/drivers/distance_sensor/vl53l0x/VL53L0X.cpp

@@ -59,10 +59,10 @@
 
 #define VL53L0X_BUS_CLOCK                               400000 // 400kHz bus clock speed
 
-VL53L0X::VL53L0X(I2CSPIBusOption bus_option, const int bus, const uint8_t rotation, int bus_frequency, int address) :
-	I2C(DRV_DIST_DEVTYPE_VL53L0X, MODULE_NAME, bus, address, bus_frequency),
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_px4_rangefinder(get_device_id(), rotation)
+VL53L0X::VL53L0X(const I2CSPIDriverConfig &config) :
+	I2C(config),
+	I2CSPIDriver(config),
+	_px4_rangefinder(get_device_id(), config.rotation)
 {
 	// VL53L0X typical range 0-2 meters with 25 degree field of view
 	_px4_rangefinder.set_min_distance(0.f);
@@ -82,6 +82,18 @@ VL53L0X::~VL53L0X()
 	perf_free(_comms_errors);
 }
 
+int VL53L0X::init()
+{
+	int ret = I2C::init();
+
+	if (ret != PX4_OK) {
+		return ret;
+	}
+
+	ScheduleNow();
+	return PX4_OK;
+}
+
 int VL53L0X::collect()
 {
 	// Read from the sensor.
@@ -489,12 +501,6 @@ int VL53L0X::singleRefCalibration(const uint8_t byte)
 	return PX4_OK;
 }
 
-void VL53L0X::start()
-{
-	// Schedule the first cycle.
-	ScheduleNow();
-}
-
 int VL53L0X::writeRegister(const uint8_t reg_address, const uint8_t value)
 {
 	uint8_t cmd[2] {reg_address, value};
@@ -537,41 +543,24 @@ void VL53L0X::print_usage()
 	PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor");
 	PRINT_MODULE_USAGE_COMMAND("start");
 	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
+	PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x29);
 	PRINT_MODULE_USAGE_PARAM_INT('R', 25, 0, 25, "Sensor rotation - downward facing by default", true);
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
 
-I2CSPIDriverBase *VL53L0X::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-				       int runtime_instance)
-{
-	VL53L0X *instance = new VL53L0X(iterator.configuredBusOption(), iterator.bus(), cli.orientation, cli.bus_frequency);
-
-	if (instance == nullptr) {
-		PX4_ERR("alloc failed");
-		return nullptr;
-	}
-
-	if (instance->init() != PX4_OK) {
-		delete instance;
-		return nullptr;
-	}
-
-	instance->start();
-	return instance;
-}
-
 extern "C" __EXPORT int vl53l0x_main(int argc, char *argv[])
 {
 	int ch;
 	using ThisDriver = VL53L0X;
 	BusCLIArguments cli{true, false};
 	cli.default_i2c_frequency = 400000;
-	cli.orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
+	cli.rotation = (Rotation)distance_sensor_s::ROTATION_DOWNWARD_FACING;
+	cli.i2c_address = VL53L0X_BASEADDR;
 
 	while ((ch = cli.getOpt(argc, argv, "R:")) != EOF) {
 		switch (ch) {
 		case 'R':
-			cli.orientation = atoi(cli.optArg());
+			cli.rotation = (Rotation)atoi(cli.optArg());
 			break;
 		}
 	}

src/drivers/distance_sensor/vl53l0x/VL53L0X.hpp

@@ -54,13 +54,10 @@
 class VL53L0X : public device::I2C, public I2CSPIDriver<VL53L0X>
 {
 public:
-	VL53L0X(I2CSPIBusOption bus_option, const int bus, const uint8_t rotation, int bus_frequency,
-		int address = VL53L0X_BASEADDR);
+	VL53L0X(const I2CSPIDriverConfig &config);
 
 	~VL53L0X() override;
 
-	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					     int runtime_instance);
 	static void print_usage();
 
 	/**
@@ -68,17 +65,14 @@ public:
 	 */
 	void print_status() override;
 
-	/**
-	 * Initialise the automatic measurement state machine and start it.
-	 */
-	void start();
-
 	/**
 	 * Perform a poll cycle; collect from the previous measurement
 	 * and start a new one.
 	 */
 	void RunImpl();
 
+	int init() override;
+
 private:
 	int probe() override;
 

src/drivers/distance_sensor/vl53l1x/vl53l1x.cpp

@@ -140,10 +140,10 @@ static const uint8_t status_rtn[24] = { 255, 255, 255, 5, 2, 4, 1, 7, 3, 0,
 
 /* end ST */
 
-VL53L1X::VL53L1X(I2CSPIBusOption bus_option, const int bus, const uint8_t rotation, int bus_frequency, int address) :
-	I2C(DRV_DIST_DEVTYPE_VL53L1X, MODULE_NAME, bus, address, bus_frequency),
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_px4_rangefinder(get_device_id(), rotation)
+VL53L1X::VL53L1X(const I2CSPIDriverConfig &config) :
+	I2C(config),
+	I2CSPIDriver(config),
+	_px4_rangefinder(get_device_id(), config.rotation)
 {
 	// VL53L1X typical range 0-2 meters with 25 degree field of view
 	_px4_rangefinder.set_min_distance(0.f);
@@ -231,12 +231,6 @@ void VL53L1X::RunImpl()
 	ScheduleDelayed(VL53L1X_SAMPLE_RATE);
 }
 
-void VL53L1X::start()
-{
-	// Schedule the first cycle.
-	ScheduleNow();
-}
-
 int VL53L1X::init()
 {
 	int ret = PX4_OK;
@@ -258,21 +252,18 @@ int VL53L1X::init()
 		return PX4_ERROR;
 	}
 
-	PX4_INFO("vl53l1x init success");
+	PX4_DEBUG("vl53l1x init success");
+	ScheduleNow();
 	return PX4_OK;
 }
 
-void VL53L1X::stop()
-{
-	VL53L1X_StopRanging();
-}
-
 void VL53L1X::print_usage()
 {
 	PRINT_MODULE_USAGE_NAME("vl53l1x", "driver");
 	PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor");
 	PRINT_MODULE_USAGE_COMMAND("start");
 	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
+	PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x29);
 	PRINT_MODULE_USAGE_PARAM_INT('R', 25, 1, 25, "Sensor rotation - downward facing by default", true);
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
@@ -658,37 +649,19 @@ int8_t VL53L1X::VL53L1X_ConfigBig(uint16_t DM, uint16_t TimingBudgetInMs)
 
 /* end ST */
 
-I2CSPIDriverBase *VL53L1X::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-				       int runtime_instance)
-{
-	VL53L1X *instance = new VL53L1X(iterator.configuredBusOption(), iterator.bus(), cli.orientation, cli.bus_frequency);
-
-	if (instance == nullptr) {
-		PX4_ERR("alloc failed");
-		return nullptr;
-	}
-
-	if (instance->init() != PX4_OK) {
-		delete instance;
-		return nullptr;
-	}
-
-	instance->start();
-	return instance;
-}
-
 extern "C" __EXPORT int vl53l1x_main(int argc, char *argv[])
 {
 	int ch;
 	using ThisDriver = VL53L1X;
 	BusCLIArguments cli{true, false};
 	cli.default_i2c_frequency = 400000;
-	cli.orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
+	cli.rotation = (Rotation)distance_sensor_s::ROTATION_DOWNWARD_FACING;
+	cli.i2c_address = VL53L1X_BASEADDR;
 
 	while ((ch = cli.getOpt(argc, argv, "R:")) != EOF) {
 		switch (ch) {
 		case 'R':
-			cli.orientation = atoi(cli.optArg());
+			cli.rotation = (Rotation)atoi(cli.optArg());
 			break;
 		}
 	}

src/drivers/distance_sensor/vl53l1x/vl53l1x.hpp

@@ -98,13 +98,10 @@
 class VL53L1X : public device::I2C, public I2CSPIDriver<VL53L1X>
 {
 public:
-	VL53L1X(I2CSPIBusOption bus_option, const int bus, const uint8_t rotation, int bus_frequency,
-		int address = VL53L1X_BASEADDR);
+	VL53L1X(const I2CSPIDriverConfig &config);
 
 	~VL53L1X() override;
 
-	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					     int runtime_instance);
 	static void print_usage();
 
 	/**
@@ -112,16 +109,6 @@ public:
 	 */
 	void print_status() override;
 
-	/**
-	 * Initialise the automatic measurement state machine and start it.
-	 */
-	void start();
-
-	/**
-	 * Stop the automatic measurement state machine.
-	 */
-	void stop();
-
 	virtual int init() override;
 
 	/**