drivers: use updated I2C SPI driver interface

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;
 		}
 	}