drivers: use updated I2C SPI driver interface

src/drivers/imu/adis16477/ADIS16477.cpp

@@ -53,15 +53,14 @@ static constexpr uint32_t ADIS16477_DEFAULT_RATE = 1000;
 
 using namespace time_literals;
 
-ADIS16477::ADIS16477(I2CSPIBusOption bus_option, int bus, int32_t device, enum Rotation rotation, int bus_frequency,
-		     spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio) :
-	SPI(DRV_IMU_DEVTYPE_ADIS16477, MODULE_NAME, bus, device, spi_mode, bus_frequency),
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_px4_accel(get_device_id(), rotation),
-	_px4_gyro(get_device_id(), rotation),
+ADIS16477::ADIS16477(const I2CSPIDriverConfig &config) :
+	SPI(config),
+	I2CSPIDriver(config),
+	_px4_accel(get_device_id(), config.rotation),
+	_px4_gyro(get_device_id(), config.rotation),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
 	_bad_transfers(perf_alloc(PC_COUNT, MODULE_NAME": bad transfers")),
-	_drdy_gpio(drdy_gpio)
+	_drdy_gpio(config.drdy_gpio)
 {
 #ifdef GPIO_SPI1_RESET_ADIS16477
 	// Configure hardware reset line

src/drivers/imu/adis16477/ADIS16477.hpp

@@ -50,12 +50,9 @@
 class ADIS16477 : public device::SPI, public I2CSPIDriver<ADIS16477>
 {
 public:
-	ADIS16477(I2CSPIBusOption bus_option, int bus, int32_t device, enum Rotation rotation, int bus_frequency,
-		  spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio);
+	ADIS16477(const I2CSPIDriverConfig &config);
 	virtual ~ADIS16477();
 
-	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					     int runtime_instance);
 	static void print_usage();
 
 	int		init();

src/drivers/imu/adis16477/adis16477_main.cpp

@@ -47,25 +47,6 @@ ADIS16477::print_usage()
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
 
-I2CSPIDriverBase *ADIS16477::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-		int runtime_instance)
-{
-	ADIS16477 *instance = new ADIS16477(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
-					    cli.bus_frequency, cli.spi_mode, iterator.DRDYGPIO());
-
-	if (!instance) {
-		PX4_ERR("alloc failed");
-		return nullptr;
-	}
-
-	if (OK != instance->init()) {
-		delete instance;
-		return nullptr;
-	}
-
-	return instance;
-}
-
 extern "C" int adis16477_main(int argc, char *argv[])
 {
 	int ch;

src/drivers/imu/adis16497/ADIS16497.cpp

@@ -70,15 +70,14 @@ static constexpr uint32_t ADIS16497_DEFAULT_RATE = 1000;
 
 using namespace time_literals;
 
-ADIS16497::ADIS16497(I2CSPIBusOption bus_option, int bus, int32_t device, enum Rotation rotation, int bus_frequency,
-		     spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio) :
-	SPI(DRV_IMU_DEVTYPE_ADIS16497, MODULE_NAME, bus, device, spi_mode, bus_frequency),
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_px4_accel(get_device_id(), rotation),
-	_px4_gyro(get_device_id(), rotation),
+ADIS16497::ADIS16497(const I2CSPIDriverConfig &config) :
+	SPI(config),
+	I2CSPIDriver(config),
+	_px4_accel(get_device_id(), config.rotation),
+	_px4_gyro(get_device_id(), config.rotation),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
 	_bad_transfers(perf_alloc(PC_COUNT, MODULE_NAME": bad transfers")),
-	_drdy_gpio(drdy_gpio)
+	_drdy_gpio(config.drdy_gpio)
 {
 #ifdef GPIO_SPI1_RESET_ADIS16497
 	// Configure hardware reset line

src/drivers/imu/adis16497/ADIS16497.hpp

@@ -86,12 +86,9 @@ static constexpr uint32_t crc32_tab[] = {
 class ADIS16497 : public device::SPI, public I2CSPIDriver<ADIS16497>
 {
 public:
-	ADIS16497(I2CSPIBusOption bus_option, int bus, int32_t device, enum Rotation rotation, int bus_frequency,
-		  spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio);
+	ADIS16497(const I2CSPIDriverConfig &config);
 	virtual ~ADIS16497();
 
-	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					     int runtime_instance);
 	static void print_usage();
 
 	int		init() override;

src/drivers/imu/adis16497/adis16497_main.cpp

@@ -47,25 +47,6 @@ ADIS16497::print_usage()
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
 
-I2CSPIDriverBase *ADIS16497::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-		int runtime_instance)
-{
-	ADIS16497 *instance = new ADIS16497(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
-					    cli.bus_frequency, cli.spi_mode, iterator.DRDYGPIO());
-
-	if (!instance) {
-		PX4_ERR("alloc failed");
-		return nullptr;
-	}
-
-	if (OK != instance->init()) {
-		delete instance;
-		return nullptr;
-	}
-
-	return instance;
-}
-
 extern "C" int adis16497_main(int argc, char *argv[])
 {
 	int ch;

src/drivers/imu/analog_devices/adis16448/ADIS16448.cpp

@@ -95,15 +95,14 @@ static int16_t convert12BitToINT16(uint16_t word)
 	return output;
 }
 
-ADIS16448::ADIS16448(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
-		     spi_drdy_gpio_t drdy_gpio) :
-	SPI(DRV_IMU_DEVTYPE_ADIS16448, MODULE_NAME, bus, device, SPIDEV_MODE3, bus_frequency),
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_drdy_gpio(drdy_gpio), // TODO: DRDY disabled
-	_px4_accel(get_device_id(), rotation),
+ADIS16448::ADIS16448(const I2CSPIDriverConfig &config) :
+	SPI(config),
+	I2CSPIDriver(config),
+	_drdy_gpio(config.drdy_gpio), // TODO: DRDY disabled
+	_px4_accel(get_device_id(), config.rotation),
 	_px4_baro(get_device_id()),
-	_px4_gyro(get_device_id(), rotation),
-	_px4_mag(get_device_id(), rotation)
+	_px4_gyro(get_device_id(), config.rotation),
+	_px4_mag(get_device_id(), config.rotation)
 {
 }
 

src/drivers/imu/analog_devices/adis16448/ADIS16448.hpp

@@ -58,12 +58,9 @@ using namespace Analog_Devices_ADIS16448;
 class ADIS16448 : public device::SPI, public I2CSPIDriver<ADIS16448>
 {
 public:
-	ADIS16448(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
-		  spi_drdy_gpio_t drdy_gpio);
+	ADIS16448(const I2CSPIDriverConfig &config);
 	~ADIS16448() override;
 
-	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					     int runtime_instance);
 	static void print_usage();
 
 	void RunImpl();

src/drivers/imu/analog_devices/adis16448/adis16448_main.cpp

@@ -46,25 +46,6 @@ void ADIS16448::print_usage()
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
 
-I2CSPIDriverBase *ADIS16448::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-		int runtime_instance)
-{
-	ADIS16448 *instance = new ADIS16448(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
-					    cli.bus_frequency, iterator.DRDYGPIO());
-
-	if (!instance) {
-		PX4_ERR("alloc failed");
-		return nullptr;
-	}
-
-	if (OK != instance->init()) {
-		delete instance;
-		return nullptr;
-	}
-
-	return instance;
-}
-
 extern "C" int adis16448_main(int argc, char *argv[])
 {
 	int ch;

src/drivers/imu/analog_devices/adis16470/ADIS16470.cpp

@@ -40,13 +40,12 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
 	return (msb << 8u) | lsb;
 }
 
-ADIS16470::ADIS16470(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
-		     spi_drdy_gpio_t drdy_gpio) :
-	SPI(DRV_IMU_DEVTYPE_ADIS16470, MODULE_NAME, bus, device, SPIDEV_MODE3, bus_frequency),
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_drdy_gpio(drdy_gpio),
-	_px4_accel(get_device_id(), rotation),
-	_px4_gyro(get_device_id(), rotation)
+ADIS16470::ADIS16470(const I2CSPIDriverConfig &config) :
+	SPI(config),
+	I2CSPIDriver(config),
+	_drdy_gpio(config.drdy_gpio),
+	_px4_accel(get_device_id(), config.rotation),
+	_px4_gyro(get_device_id(), config.rotation)
 {
 }
 

src/drivers/imu/analog_devices/adis16470/ADIS16470.hpp

@@ -56,12 +56,9 @@ using namespace Analog_Devices_ADIS16470;
 class ADIS16470 : public device::SPI, public I2CSPIDriver<ADIS16470>
 {
 public:
-	ADIS16470(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
-		  spi_drdy_gpio_t drdy_gpio);
+	ADIS16470(const I2CSPIDriverConfig &config);
 	~ADIS16470() override;
 
-	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					     int runtime_instance);
 	static void print_usage();
 
 	void RunImpl();

src/drivers/imu/analog_devices/adis16470/adis16470_main.cpp

@@ -46,25 +46,6 @@ void ADIS16470::print_usage()
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
 
-I2CSPIDriverBase *ADIS16470::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-		int runtime_instance)
-{
-	ADIS16470 *instance = new ADIS16470(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
-					    cli.bus_frequency, iterator.DRDYGPIO());
-
-	if (!instance) {
-		PX4_ERR("alloc failed");
-		return nullptr;
-	}
-
-	if (OK != instance->init()) {
-		delete instance;
-		return nullptr;
-	}
-
-	return instance;
-}
-
 extern "C" int adis16470_main(int argc, char *argv[])
 {
 	int ch;

src/drivers/imu/bosch/bmi055/BMI055.cpp

@@ -36,18 +36,15 @@
 #include "BMI055_Accelerometer.hpp"
 #include "BMI055_Gyroscope.hpp"
 
-I2CSPIDriverBase *BMI055::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-				      int runtime_instance)
+I2CSPIDriverBase *BMI055::instantiate(const I2CSPIDriverConfig &config, int runtime_instance)
 {
 	BMI055 *instance = nullptr;
 
-	if (cli.type == DRV_ACC_DEVTYPE_BMI055) {
-		instance = new Bosch::BMI055::Accelerometer::BMI055_Accelerometer(iterator.configuredBusOption(), iterator.bus(),
-				iterator.devid(), cli.rotation, cli.bus_frequency, cli.spi_mode, iterator.DRDYGPIO());
+	if (config.devid_driver_index == DRV_ACC_DEVTYPE_BMI055) {
+		instance = new Bosch::BMI055::Accelerometer::BMI055_Accelerometer(config);
 
-	} else if (cli.type == DRV_GYR_DEVTYPE_BMI055) {
-		instance = new Bosch::BMI055::Gyroscope::BMI055_Gyroscope(iterator.configuredBusOption(), iterator.bus(),
-				iterator.devid(), cli.rotation, cli.bus_frequency, cli.spi_mode, iterator.DRDYGPIO());
+	} else if (config.devid_driver_index == DRV_GYR_DEVTYPE_BMI055) {
+		instance = new Bosch::BMI055::Gyroscope::BMI055_Gyroscope(config);
 	}
 
 	if (!instance) {
@@ -63,11 +60,10 @@ I2CSPIDriverBase *BMI055::instantiate(const BusCLIArguments &cli, const BusInsta
 	return instance;
 }
 
-BMI055::BMI055(uint8_t devtype, const char *name, I2CSPIBusOption bus_option, int bus, uint32_t device,
-	       enum spi_mode_e mode, uint32_t frequency, spi_drdy_gpio_t drdy_gpio) :
-	SPI(devtype, name, bus, device, mode, frequency),
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus, devtype),
-	_drdy_gpio(drdy_gpio)
+BMI055::BMI055(const I2CSPIDriverConfig &config) :
+	SPI(config),
+	I2CSPIDriver(config),
+	_drdy_gpio(config.drdy_gpio)
 {
 }
 

src/drivers/imu/bosch/bmi055/BMI055.hpp

@@ -43,13 +43,11 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb) { return (msb << 8u)
 class BMI055 : public device::SPI, public I2CSPIDriver<BMI055>
 {
 public:
-	BMI055(uint8_t devtype, const char *name, I2CSPIBusOption bus_option, int bus, uint32_t device, enum spi_mode_e mode,
-	       uint32_t frequency, spi_drdy_gpio_t drdy_gpio);
+	BMI055(const I2CSPIDriverConfig &config);
 
 	virtual ~BMI055() = default;
 
-	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 void RunImpl() = 0;

src/drivers/imu/bosch/bmi055/BMI055_Accelerometer.cpp

@@ -40,12 +40,11 @@ using namespace time_literals;
 namespace Bosch::BMI055::Accelerometer
 {
 
-BMI055_Accelerometer::BMI055_Accelerometer(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation,
-		int bus_frequency, spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio) :
-	BMI055(DRV_ACC_DEVTYPE_BMI055, "BMI055_Accelerometer", bus_option, bus, device, spi_mode, bus_frequency, drdy_gpio),
-	_px4_accel(get_device_id(), rotation)
+BMI055_Accelerometer::BMI055_Accelerometer(const I2CSPIDriverConfig &config) :
+	BMI055(config),
+	_px4_accel(get_device_id(), config.rotation)
 {
-	if (drdy_gpio != 0) {
+	if (config.drdy_gpio != 0) {
 		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME"_accel: DRDY missed");
 	}
 

src/drivers/imu/bosch/bmi055/BMI055_Accelerometer.hpp

@@ -45,8 +45,7 @@ namespace Bosch::BMI055::Accelerometer
 class BMI055_Accelerometer : public BMI055
 {
 public:
-	BMI055_Accelerometer(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
-			     spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio);
+	BMI055_Accelerometer(const I2CSPIDriverConfig &config);
 	~BMI055_Accelerometer() override;
 
 	void RunImpl() override;

src/drivers/imu/bosch/bmi055/BMI055_Gyroscope.cpp

@@ -40,12 +40,11 @@ using namespace time_literals;
 namespace Bosch::BMI055::Gyroscope
 {
 
-BMI055_Gyroscope::BMI055_Gyroscope(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation,
-				   int bus_frequency, spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio) :
-	BMI055(DRV_GYR_DEVTYPE_BMI055, "BMI055_Gyroscope", bus_option, bus, device, spi_mode, bus_frequency, drdy_gpio),
-	_px4_gyro(get_device_id(), rotation)
+BMI055_Gyroscope::BMI055_Gyroscope(const I2CSPIDriverConfig &config) :
+	BMI055(config),
+	_px4_gyro(get_device_id(), config.rotation)
 {
-	if (drdy_gpio != 0) {
+	if (config.drdy_gpio != 0) {
 		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME"_gyro: DRDY missed");
 	}
 

src/drivers/imu/bosch/bmi055/BMI055_Gyroscope.hpp

@@ -45,8 +45,7 @@ namespace Bosch::BMI055::Gyroscope
 class BMI055_Gyroscope : public BMI055
 {
 public:
-	BMI055_Gyroscope(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
-			 spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio);
+	BMI055_Gyroscope(const I2CSPIDriverConfig &config);
 	~BMI055_Gyroscope() override;
 
 	void RunImpl() override;

src/drivers/imu/bosch/bmi055/bmi055_main.cpp

@@ -53,17 +53,20 @@ extern "C" int bmi055_main(int argc, char *argv[])
 	int ch;
 	using ThisDriver = BMI055;
 	BusCLIArguments cli{false, true};
-	cli.type = 0;
+	uint16_t type = 0;
 	cli.default_spi_frequency = 10000000;
+	const char *name = MODULE_NAME;
 
 	while ((ch = cli.getOpt(argc, argv, "AGR:")) != EOF) {
 		switch (ch) {
 		case 'A':
-			cli.type = DRV_ACC_DEVTYPE_BMI055;
+			type = DRV_ACC_DEVTYPE_BMI055;
+			name = MODULE_NAME "_accel";
 			break;
 
 		case 'G':
-			cli.type = DRV_GYR_DEVTYPE_BMI055;
+			type = DRV_GYR_DEVTYPE_BMI055;
+			name = MODULE_NAME "_gyro";
 			break;
 
 		case 'R':
@@ -74,12 +77,12 @@ extern "C" int bmi055_main(int argc, char *argv[])
 
 	const char *verb = cli.optArg();
 
-	if (!verb) {
+	if (!verb || type == 0) {
 		ThisDriver::print_usage();
 		return -1;
 	}
 
-	BusInstanceIterator iterator(MODULE_NAME, cli, cli.type);
+	BusInstanceIterator iterator(name, cli, type);
 
 	if (!strcmp(verb, "start")) {
 		return ThisDriver::module_start(cli, iterator);

src/drivers/imu/bosch/bmi088/BMI088.cpp

@@ -36,18 +36,15 @@
 #include "BMI088_Accelerometer.hpp"
 #include "BMI088_Gyroscope.hpp"
 
-I2CSPIDriverBase *BMI088::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-				      int runtime_instance)
+I2CSPIDriverBase *BMI088::instantiate(const I2CSPIDriverConfig &config, int runtime_instance)
 {
 	BMI088 *instance = nullptr;
 
-	if (cli.type == DRV_ACC_DEVTYPE_BMI088) {
-		instance = new Bosch::BMI088::Accelerometer::BMI088_Accelerometer(iterator.configuredBusOption(), iterator.bus(),
-				iterator.devid(), cli.rotation, cli.bus_frequency, cli.spi_mode, iterator.DRDYGPIO());
+	if (config.devid_driver_index == DRV_ACC_DEVTYPE_BMI088) {
+		instance = new Bosch::BMI088::Accelerometer::BMI088_Accelerometer(config);
 
-	} else if (cli.type == DRV_GYR_DEVTYPE_BMI088) {
-		instance = new Bosch::BMI088::Gyroscope::BMI088_Gyroscope(iterator.configuredBusOption(), iterator.bus(),
-				iterator.devid(), cli.rotation, cli.bus_frequency, cli.spi_mode, iterator.DRDYGPIO());
+	} else if (config.devid_driver_index == DRV_GYR_DEVTYPE_BMI088) {
+		instance = new Bosch::BMI088::Gyroscope::BMI088_Gyroscope(config);
 	}
 
 	if (!instance) {
@@ -63,11 +60,10 @@ I2CSPIDriverBase *BMI088::instantiate(const BusCLIArguments &cli, const BusInsta
 	return instance;
 }
 
-BMI088::BMI088(uint8_t devtype, const char *name, I2CSPIBusOption bus_option, int bus, uint32_t device,
-	       enum spi_mode_e mode, uint32_t frequency, spi_drdy_gpio_t drdy_gpio) :
-	SPI(devtype, name, bus, device, mode, frequency),
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus, devtype),
-	_drdy_gpio(drdy_gpio)
+BMI088::BMI088(const I2CSPIDriverConfig &config) :
+	SPI(config),
+	I2CSPIDriver(config),
+	_drdy_gpio(config.drdy_gpio)
 {
 }
 

src/drivers/imu/bosch/bmi088/BMI088.hpp

@@ -43,13 +43,11 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb) { return (msb << 8u)
 class BMI088 : public device::SPI, public I2CSPIDriver<BMI088>
 {
 public:
-	BMI088(uint8_t devtype, const char *name, I2CSPIBusOption bus_option, int bus, uint32_t device, enum spi_mode_e mode,
-	       uint32_t frequency, spi_drdy_gpio_t drdy_gpio);
+	BMI088(const I2CSPIDriverConfig &config);
 
 	virtual ~BMI088() = default;
 
-	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 void RunImpl() = 0;

src/drivers/imu/bosch/bmi088/BMI088_Accelerometer.cpp

@@ -40,12 +40,11 @@ using namespace time_literals;
 namespace Bosch::BMI088::Accelerometer
 {
 
-BMI088_Accelerometer::BMI088_Accelerometer(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation,
-		int bus_frequency, spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio) :
-	BMI088(DRV_ACC_DEVTYPE_BMI088, "BMI088_Accelerometer", bus_option, bus, device, spi_mode, bus_frequency, drdy_gpio),
-	_px4_accel(get_device_id(), rotation)
+BMI088_Accelerometer::BMI088_Accelerometer(const I2CSPIDriverConfig &config) :
+	BMI088(config),
+	_px4_accel(get_device_id(), config.rotation)
 {
-	if (drdy_gpio != 0) {
+	if (config.drdy_gpio != 0) {
 		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME"_accel: DRDY missed");
 	}
 

src/drivers/imu/bosch/bmi088/BMI088_Accelerometer.hpp

@@ -45,8 +45,7 @@ namespace Bosch::BMI088::Accelerometer
 class BMI088_Accelerometer : public BMI088
 {
 public:
-	BMI088_Accelerometer(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
-			     spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio);
+	BMI088_Accelerometer(const I2CSPIDriverConfig &config);
 	~BMI088_Accelerometer() override;
 
 	void RunImpl() override;

src/drivers/imu/bosch/bmi088/BMI088_Gyroscope.cpp

@@ -40,12 +40,11 @@ using namespace time_literals;
 namespace Bosch::BMI088::Gyroscope
 {
 
-BMI088_Gyroscope::BMI088_Gyroscope(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation,
-				   int bus_frequency, spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio) :
-	BMI088(DRV_GYR_DEVTYPE_BMI088, "BMI088_Gyroscope", bus_option, bus, device, spi_mode, bus_frequency, drdy_gpio),
-	_px4_gyro(get_device_id(), rotation)
+BMI088_Gyroscope::BMI088_Gyroscope(const I2CSPIDriverConfig &config) :
+	BMI088(config),
+	_px4_gyro(get_device_id(), config.rotation)
 {
-	if (drdy_gpio != 0) {
+	if (config.drdy_gpio != 0) {
 		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME"_gyro: DRDY missed");
 	}
 

src/drivers/imu/bosch/bmi088/BMI088_Gyroscope.hpp

@@ -45,8 +45,7 @@ namespace Bosch::BMI088::Gyroscope
 class BMI088_Gyroscope : public BMI088
 {
 public:
-	BMI088_Gyroscope(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
-			 spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio);
+	BMI088_Gyroscope(const I2CSPIDriverConfig &config);
 	~BMI088_Gyroscope() override;
 
 	void RunImpl() override;

src/drivers/imu/bosch/bmi088/bmi088_i2c/BMI088.cpp

@@ -36,18 +36,15 @@
 #include "BMI088_Accelerometer.hpp"
 #include "BMI088_Gyroscope.hpp"
 
-I2CSPIDriverBase *BMI088::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-				      int runtime_instance)
+I2CSPIDriverBase *BMI088::instantiate(const I2CSPIDriverConfig &config, int runtime_instance)
 {
 	BMI088 *instance = nullptr;
 
-	if (cli.type == DRV_ACC_DEVTYPE_BMI088) {
-		instance = new Bosch::BMI088::Accelerometer::BMI088_Accelerometer(iterator.configuredBusOption(), iterator.bus(),
-				cli.i2c_address, cli.rotation, cli.bus_frequency, cli.spi_mode, iterator.DRDYGPIO());
+	if (config.devid_driver_index == DRV_ACC_DEVTYPE_BMI088) {
+		instance = new Bosch::BMI088::Accelerometer::BMI088_Accelerometer(config);
 
-	} else if (cli.type == DRV_GYR_DEVTYPE_BMI088) {
-		instance = new Bosch::BMI088::Gyroscope::BMI088_Gyroscope(iterator.configuredBusOption(), iterator.bus(),
-				cli.i2c_address, cli.rotation, cli.bus_frequency, cli.spi_mode, iterator.DRDYGPIO());
+	} else if (config.devid_driver_index == DRV_GYR_DEVTYPE_BMI088) {
+		instance = new Bosch::BMI088::Gyroscope::BMI088_Gyroscope(config);
 	}
 
 	if (!instance) {
@@ -63,11 +60,10 @@ I2CSPIDriverBase *BMI088::instantiate(const BusCLIArguments &cli, const BusInsta
 	return instance;
 }
 
-BMI088::BMI088(uint8_t devtype, const char *name, I2CSPIBusOption bus_option, int bus, uint32_t device,
-	       enum spi_mode_e mode, uint32_t frequency, spi_drdy_gpio_t drdy_gpio) :
-	I2C(devtype, name, bus, device, frequency),
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus, devtype),
-	_drdy_gpio(drdy_gpio)
+BMI088::BMI088(const I2CSPIDriverConfig &config) :
+	I2C(config),
+	I2CSPIDriver(config),
+	_drdy_gpio(config.drdy_gpio)
 {
 }
 

src/drivers/imu/bosch/bmi088/bmi088_i2c/BMI088.hpp

@@ -43,13 +43,11 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb) { return (msb << 8u)
 class BMI088 : public device::I2C, public I2CSPIDriver<BMI088>
 {
 public:
-	BMI088(uint8_t devtype, const char *name, I2CSPIBusOption bus_option, int bus, uint32_t device, enum spi_mode_e mode,
-	       uint32_t frequency, spi_drdy_gpio_t drdy_gpio);
+	BMI088(const I2CSPIDriverConfig &config);
 
 	virtual ~BMI088() = default;
 
-	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 void RunImpl() = 0;

src/drivers/imu/bosch/bmi088/bmi088_i2c/BMI088_Accelerometer.cpp

@@ -39,12 +39,11 @@ using namespace time_literals;
 
 namespace Bosch::BMI088::Accelerometer
 {
-BMI088_Accelerometer::BMI088_Accelerometer(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation,
-		int bus_frequency, spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio) :
-	BMI088(DRV_ACC_DEVTYPE_BMI088, "BMI088_Accelerometer", bus_option, bus, device, spi_mode, bus_frequency, drdy_gpio),
-	_px4_accel(get_device_id(), rotation)
+BMI088_Accelerometer::BMI088_Accelerometer(const I2CSPIDriverConfig &config) :
+	BMI088(config),
+	_px4_accel(get_device_id(), config.rotation)
 {
-	if (drdy_gpio != 0) {
+	if (config.drdy_gpio != 0) {
 		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME"_accel: DRDY missed");
 	}
 

src/drivers/imu/bosch/bmi088/bmi088_i2c/BMI088_Accelerometer.hpp

@@ -45,8 +45,7 @@ namespace Bosch::BMI088::Accelerometer
 class BMI088_Accelerometer : public BMI088
 {
 public:
-	BMI088_Accelerometer(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
-			     spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio);
+	BMI088_Accelerometer(const I2CSPIDriverConfig &config);
 	~BMI088_Accelerometer() override;
 
 	void RunImpl() override;

src/drivers/imu/bosch/bmi088/bmi088_i2c/BMI088_Gyroscope.cpp

@@ -40,12 +40,11 @@ using namespace time_literals;
 namespace Bosch::BMI088::Gyroscope
 {
 
-BMI088_Gyroscope::BMI088_Gyroscope(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation,
-				   int bus_frequency, spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio) :
-	BMI088(DRV_GYR_DEVTYPE_BMI088, "BMI088_Gyroscope", bus_option, bus, device, spi_mode, bus_frequency, drdy_gpio),
-	_px4_gyro(get_device_id(), rotation)
+BMI088_Gyroscope::BMI088_Gyroscope(const I2CSPIDriverConfig &config) :
+	BMI088(config),
+	_px4_gyro(get_device_id(), config.rotation)
 {
-	if (drdy_gpio != 0) {
+	if (config.drdy_gpio != 0) {
 		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME"_gyro: DRDY missed");
 	}
 

src/drivers/imu/bosch/bmi088/bmi088_i2c/BMI088_Gyroscope.hpp

@@ -45,8 +45,7 @@ namespace Bosch::BMI088::Gyroscope
 class BMI088_Gyroscope : public BMI088
 {
 public:
-	BMI088_Gyroscope(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
-			 spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio);
+	BMI088_Gyroscope(const I2CSPIDriverConfig &config);
 	~BMI088_Gyroscope() override;
 
 	void RunImpl() override;

src/drivers/imu/bosch/bmi088/bmi088_i2c/bmi088_i2c_main.cpp

@@ -45,7 +45,7 @@ void BMI088::print_usage()
 	PRINT_MODULE_USAGE_PARAM_FLAG('A', "Accel", true);
 	PRINT_MODULE_USAGE_PARAM_FLAG('G', "Gyro", true);
 	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
-	PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x76);
+	PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x18);
 	PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
@@ -54,21 +54,24 @@ extern "C" int bmi088_i2c_main(int argc, char *argv[])
 {
 	int ch;
 	using ThisDriver = BMI088;
-	BusCLIArguments cli{true, true};
+	BusCLIArguments cli{true, false};
 	cli.i2c_address = 0x18;
 	cli.default_i2c_frequency = 400 * 1000;
-	cli.default_spi_frequency = 400 * 1000;
+	uint16_t type = 0;
+	const char *name = MODULE_NAME;
 
 
 	while ((ch = cli.getOpt(argc, argv, "AGR:")) != EOF) {
 		switch (ch) {
 		case 'A':
-			cli.type = DRV_ACC_DEVTYPE_BMI088;
+			type = DRV_ACC_DEVTYPE_BMI088;
+			name = MODULE_NAME "_accel";
 			cli.i2c_address = 0x18;
 			break;
 
 		case 'G':
-			cli.type = DRV_GYR_DEVTYPE_BMI088;
+			type = DRV_GYR_DEVTYPE_BMI088;
+			name = MODULE_NAME "_gyro";
 			cli.i2c_address = 0x69;
 			break;
 
@@ -80,12 +83,12 @@ extern "C" int bmi088_i2c_main(int argc, char *argv[])
 
 	const char *verb = cli.optArg();
 
-	if (!verb) {
+	if (!verb || type == 0) {
 		ThisDriver::print_usage();
 		return -1;
 	}
 
-	BusInstanceIterator iterator(MODULE_NAME, cli, cli.type);
+	BusInstanceIterator iterator(name, cli, type);
 
 	if (!strcmp(verb, "start")) {
 		return ThisDriver::module_start(cli, iterator);

src/drivers/imu/bosch/bmi088/bmi088_main.cpp

@@ -53,17 +53,20 @@ extern "C" int bmi088_main(int argc, char *argv[])
 	int ch;
 	using ThisDriver = BMI088;
 	BusCLIArguments cli{false, true};
-	cli.type = 0;
+	uint16_t type = 0;
 	cli.default_spi_frequency = 10000000;
+	const char *name = MODULE_NAME;
 
 	while ((ch = cli.getOpt(argc, argv, "AGR:")) != EOF) {
 		switch (ch) {
 		case 'A':
-			cli.type = DRV_ACC_DEVTYPE_BMI088;
+			type = DRV_ACC_DEVTYPE_BMI088;
+			name = MODULE_NAME "_accel";
 			break;
 
 		case 'G':
-			cli.type = DRV_GYR_DEVTYPE_BMI088;
+			type = DRV_GYR_DEVTYPE_BMI088;
+			name = MODULE_NAME "_gyro";
 			break;
 
 		case 'R':
@@ -74,12 +77,12 @@ extern "C" int bmi088_main(int argc, char *argv[])
 
 	const char *verb = cli.optArg();
 
-	if (!verb) {
+	if (!verb || type == 0) {
 		ThisDriver::print_usage();
 		return -1;
 	}
 
-	BusInstanceIterator iterator(MODULE_NAME, cli, cli.type);
+	BusInstanceIterator iterator(name, cli, type);
 
 	if (!strcmp(verb, "start")) {
 		return ThisDriver::module_start(cli, iterator);

src/drivers/imu/fxas21002c/FXAS21002C.cpp

@@ -65,11 +65,10 @@ static constexpr uint8_t _checked_registers[] {
 
 using namespace time_literals;
 
-FXAS21002C::FXAS21002C(device::Device *interface, I2CSPIBusOption bus_option, int bus, enum Rotation rotation,
-		       int i2c_address) :
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id()), bus_option, bus, i2c_address),
+FXAS21002C::FXAS21002C(device::Device *interface, const I2CSPIDriverConfig &config) :
+	I2CSPIDriver(config),
 	_interface(interface),
-	_px4_gyro(_interface->get_device_id(), rotation),
+	_px4_gyro(_interface->get_device_id(), config.rotation),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
 	_errors(perf_alloc(PC_COUNT, MODULE_NAME": err")),
 	_bad_registers(perf_alloc(PC_COUNT, MODULE_NAME": bad register")),

src/drivers/imu/fxas21002c/FXAS21002C.hpp

@@ -191,11 +191,10 @@ struct RawGyroReport {
 class FXAS21002C : public I2CSPIDriver<FXAS21002C>
 {
 public:
-	FXAS21002C(device::Device *interface, I2CSPIBusOption bus_option, int bus, enum Rotation rotation, int i2c_address);
+	FXAS21002C(device::Device *interface, const I2CSPIDriverConfig &config);
 	virtual ~FXAS21002C();
 
-	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/imu/fxas21002c/fxas21002c_main.cpp

@@ -50,16 +50,15 @@ FXAS21002C::print_usage()
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
 
-I2CSPIDriverBase *FXAS21002C::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-		int runtime_instance)
+I2CSPIDriverBase *FXAS21002C::instantiate(const I2CSPIDriverConfig &config, int runtime_instance)
 {
 	device::Device *interface = nullptr;
 
-	if (iterator.busType() == BOARD_I2C_BUS) {
-		interface = FXAS21002C_I2C_interface(iterator.bus(), cli.bus_frequency, cli.i2c_address);
+	if (config.bus_type == BOARD_I2C_BUS) {
+		interface = FXAS21002C_I2C_interface(config.bus, config.bus_frequency, config.i2c_address);
 
-	} else if (iterator.busType() == BOARD_SPI_BUS) {
-		interface = FXAS21002C_SPI_interface(iterator.bus(), iterator.devid(), cli.bus_frequency, cli.spi_mode);
+	} else if (config.bus_type == BOARD_SPI_BUS) {
+		interface = FXAS21002C_SPI_interface(config.bus, config.spi_devid, config.bus_frequency, config.spi_mode);
 	}
 
 	if (interface == nullptr) {
@@ -67,8 +66,7 @@ I2CSPIDriverBase *FXAS21002C::instantiate(const BusCLIArguments &cli, const BusI
 		return nullptr;
 	}
 
-	FXAS21002C *dev = new FXAS21002C(interface, iterator.configuredBusOption(), iterator.bus(), cli.rotation,
-					 cli.i2c_address);
+	FXAS21002C *dev = new FXAS21002C(interface, config);
 
 	if (dev == nullptr) {
 		delete interface;

src/drivers/imu/fxos8701cq/FXOS8701CQ.cpp

@@ -53,13 +53,12 @@ const uint8_t FXOS8701CQ::_checked_registers[FXOS8701C_NUM_CHECKED_REGISTERS] =
 	FXOS8701CQ_M_CTRL_REG2,
 };
 
-FXOS8701CQ::FXOS8701CQ(device::Device *interface, I2CSPIBusOption bus_option, int bus, enum Rotation rotation,
-		       int i2c_address) :
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id()), bus_option, bus, i2c_address),
+FXOS8701CQ::FXOS8701CQ(device::Device *interface, const I2CSPIDriverConfig &config) :
+	I2CSPIDriver(config),
 	_interface(interface),
-	_px4_accel(interface->get_device_id(), rotation),
+	_px4_accel(interface->get_device_id(), config.rotation),
 #if !defined(BOARD_HAS_NOISY_FXOS8700_MAG)
-	_px4_mag(interface->get_device_id(), rotation),
+	_px4_mag(interface->get_device_id(), config.rotation),
 	_mag_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": mag read")),
 #endif
 	_accel_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": acc read")),

src/drivers/imu/fxos8701cq/FXOS8701CQ.hpp

@@ -138,11 +138,10 @@ extern device::Device *FXOS8701CQ_I2C_interface(int bus, int bus_frequency, int
 class FXOS8701CQ : public I2CSPIDriver<FXOS8701CQ>
 {
 public:
-	FXOS8701CQ(device::Device *interface, I2CSPIBusOption bus_option, int bus, enum Rotation rotation, int i2c_address);
+	FXOS8701CQ(device::Device *interface, const I2CSPIDriverConfig &config);
 	virtual ~FXOS8701CQ();
 
-	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/imu/fxos8701cq/fxos8701cq_main.cpp

@@ -56,16 +56,15 @@ FXOS8701CQ::print_usage()
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
 
-I2CSPIDriverBase *FXOS8701CQ::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-		int runtime_instance)
+I2CSPIDriverBase *FXOS8701CQ::instantiate(const I2CSPIDriverConfig &config, int runtime_instance)
 {
 	device::Device *interface = nullptr;
 
-	if (iterator.busType() == BOARD_I2C_BUS) {
-		interface = FXOS8701CQ_I2C_interface(iterator.bus(), cli.bus_frequency, cli.i2c_address);
+	if (config.bus_type == BOARD_I2C_BUS) {
+		interface = FXOS8701CQ_I2C_interface(config.bus, config.bus_frequency, config.i2c_address);
 
-	} else if (iterator.busType() == BOARD_SPI_BUS) {
-		interface = FXOS8701CQ_SPI_interface(iterator.bus(), iterator.devid(), cli.bus_frequency, cli.spi_mode);
+	} else if (config.bus_type == BOARD_SPI_BUS) {
+		interface = FXOS8701CQ_SPI_interface(config.bus, config.spi_devid, config.bus_frequency, config.spi_mode);
 	}
 
 	if (interface == nullptr) {
@@ -73,8 +72,7 @@ I2CSPIDriverBase *FXOS8701CQ::instantiate(const BusCLIArguments &cli, const BusI
 		return nullptr;
 	}
 
-	FXOS8701CQ *dev = new FXOS8701CQ(interface, iterator.configuredBusOption(), iterator.bus(), cli.rotation,
-					 cli.i2c_address);
+	FXOS8701CQ *dev = new FXOS8701CQ(interface, config);
 
 	if (dev == nullptr) {
 		delete interface;

src/drivers/imu/invensense/icm20602/ICM20602.cpp

@@ -40,15 +40,14 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
 	return (msb << 8u) | lsb;
 }
 
-ICM20602::ICM20602(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
-		   spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio) :
-	SPI(DRV_IMU_DEVTYPE_ICM20602, MODULE_NAME, bus, device, spi_mode, bus_frequency),
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_drdy_gpio(drdy_gpio),
-	_px4_accel(get_device_id(), rotation),
-	_px4_gyro(get_device_id(), rotation)
+ICM20602::ICM20602(const I2CSPIDriverConfig &config) :
+	SPI(config),
+	I2CSPIDriver(config),
+	_drdy_gpio(config.drdy_gpio),
+	_px4_accel(get_device_id(), config.rotation),
+	_px4_gyro(get_device_id(), config.rotation)
 {
-	if (drdy_gpio != 0) {
+	if (_drdy_gpio != 0) {
 		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
 	}
 

src/drivers/imu/invensense/icm20602/ICM20602.hpp

@@ -56,12 +56,9 @@ using namespace InvenSense_ICM20602;
 class ICM20602 : public device::SPI, public I2CSPIDriver<ICM20602>
 {
 public:
-	ICM20602(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
-		 spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio);
+	ICM20602(const I2CSPIDriverConfig &config);
 	~ICM20602() override;
 
-	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					     int runtime_instance);
 	static void print_usage();
 
 	void RunImpl();

src/drivers/imu/invensense/icm20602/icm20602_main.cpp

@@ -46,25 +46,6 @@ void ICM20602::print_usage()
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
 
-I2CSPIDriverBase *ICM20602::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					int runtime_instance)
-{
-	ICM20602 *instance = new ICM20602(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
-					  cli.bus_frequency, cli.spi_mode, iterator.DRDYGPIO());
-
-	if (!instance) {
-		PX4_ERR("alloc failed");
-		return nullptr;
-	}
-
-	if (OK != instance->init()) {
-		delete instance;
-		return nullptr;
-	}
-
-	return instance;
-}
-
 extern "C" int icm20602_main(int argc, char *argv[])
 {
 	int ch;

src/drivers/imu/invensense/icm20608g/ICM20608G.cpp

@@ -40,15 +40,14 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
 	return (msb << 8u) | lsb;
 }
 
-ICM20608G::ICM20608G(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
-		     spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio) :
-	SPI(DRV_IMU_DEVTYPE_ICM20608G, MODULE_NAME, bus, device, spi_mode, bus_frequency),
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_drdy_gpio(drdy_gpio),
-	_px4_accel(get_device_id(), rotation),
-	_px4_gyro(get_device_id(), rotation)
+ICM20608G::ICM20608G(const I2CSPIDriverConfig &config) :
+	SPI(config),
+	I2CSPIDriver(config),
+	_drdy_gpio(config.drdy_gpio),
+	_px4_accel(get_device_id(), config.rotation),
+	_px4_gyro(get_device_id(), config.rotation)
 {
-	if (drdy_gpio != 0) {
+	if (_drdy_gpio != 0) {
 		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
 	}
 

src/drivers/imu/invensense/icm20608g/ICM20608G.hpp

@@ -56,12 +56,9 @@ using namespace InvenSense_ICM20608G;
 class ICM20608G : public device::SPI, public I2CSPIDriver<ICM20608G>
 {
 public:
-	ICM20608G(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
-		  spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio);
+	ICM20608G(const I2CSPIDriverConfig &config);
 	~ICM20608G() override;
 
-	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					     int runtime_instance);
 	static void print_usage();
 
 	void RunImpl();

src/drivers/imu/invensense/icm20608g/icm20608g_main.cpp

@@ -46,25 +46,6 @@ void ICM20608G::print_usage()
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
 
-I2CSPIDriverBase *ICM20608G::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-		int runtime_instance)
-{
-	ICM20608G *instance = new ICM20608G(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
-					    cli.bus_frequency, cli.spi_mode, iterator.DRDYGPIO());
-
-	if (!instance) {
-		PX4_ERR("alloc failed");
-		return nullptr;
-	}
-
-	if (OK != instance->init()) {
-		delete instance;
-		return nullptr;
-	}
-
-	return instance;
-}
-
 extern "C" int icm20608g_main(int argc, char *argv[])
 {
 	int ch;

src/drivers/imu/invensense/icm20649/ICM20649.cpp

@@ -40,15 +40,14 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
 	return (msb << 8u) | lsb;
 }
 
-ICM20649::ICM20649(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
-		   spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio) :
-	SPI(DRV_IMU_DEVTYPE_ICM20649, MODULE_NAME, bus, device, spi_mode, bus_frequency),
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_drdy_gpio(drdy_gpio),
-	_px4_accel(get_device_id(), rotation),
-	_px4_gyro(get_device_id(), rotation)
+ICM20649::ICM20649(const I2CSPIDriverConfig &config) :
+	SPI(config),
+	I2CSPIDriver(config),
+	_drdy_gpio(config.drdy_gpio),
+	_px4_accel(get_device_id(), config.rotation),
+	_px4_gyro(get_device_id(), config.rotation)
 {
-	if (drdy_gpio != 0) {
+	if (_drdy_gpio != 0) {
 		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
 	}
 

src/drivers/imu/invensense/icm20649/ICM20649.hpp

@@ -56,12 +56,9 @@ using namespace InvenSense_ICM20649;
 class ICM20649 : public device::SPI, public I2CSPIDriver<ICM20649>
 {
 public:
-	ICM20649(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
-		 spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio);
+	ICM20649(const I2CSPIDriverConfig &config);
 	~ICM20649() override;
 
-	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					     int runtime_instance);
 	static void print_usage();
 
 	void RunImpl();

src/drivers/imu/invensense/icm20649/icm20649_main.cpp

@@ -46,25 +46,6 @@ void ICM20649::print_usage()
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
 
-I2CSPIDriverBase *ICM20649::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					int runtime_instance)
-{
-	ICM20649 *instance = new ICM20649(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
-					  cli.bus_frequency, cli.spi_mode, iterator.DRDYGPIO());
-
-	if (!instance) {
-		PX4_ERR("alloc failed");
-		return nullptr;
-	}
-
-	if (OK != instance->init()) {
-		delete instance;
-		return nullptr;
-	}
-
-	return instance;
-}
-
 extern "C" int icm20649_main(int argc, char *argv[])
 {
 	int ch;

src/drivers/imu/invensense/icm20689/ICM20689.cpp

@@ -40,15 +40,14 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
 	return (msb << 8u) | lsb;
 }
 
-ICM20689::ICM20689(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
-		   spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio) :
-	SPI(DRV_IMU_DEVTYPE_ICM20689, MODULE_NAME, bus, device, spi_mode, bus_frequency),
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_drdy_gpio(drdy_gpio),
-	_px4_accel(get_device_id(), rotation),
-	_px4_gyro(get_device_id(), rotation)
+ICM20689::ICM20689(const I2CSPIDriverConfig &config) :
+	SPI(config),
+	I2CSPIDriver(config),
+	_drdy_gpio(config.drdy_gpio),
+	_px4_accel(get_device_id(), config.rotation),
+	_px4_gyro(get_device_id(), config.rotation)
 {
-	if (drdy_gpio != 0) {
+	if (_drdy_gpio != 0) {
 		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
 	}
 

src/drivers/imu/invensense/icm20689/ICM20689.hpp

@@ -56,12 +56,9 @@ using namespace InvenSense_ICM20689;
 class ICM20689 : public device::SPI, public I2CSPIDriver<ICM20689>
 {
 public:
-	ICM20689(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
-		 spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio);
+	ICM20689(const I2CSPIDriverConfig &config);
 	~ICM20689() override;
 
-	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					     int runtime_instance);
 	static void print_usage();
 
 	void RunImpl();

src/drivers/imu/invensense/icm20689/icm20689_main.cpp

@@ -46,25 +46,6 @@ void ICM20689::print_usage()
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
 
-I2CSPIDriverBase *ICM20689::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					int runtime_instance)
-{
-	ICM20689 *instance = new ICM20689(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
-					  cli.bus_frequency, cli.spi_mode, iterator.DRDYGPIO());
-
-	if (!instance) {
-		PX4_ERR("alloc failed");
-		return nullptr;
-	}
-
-	if (OK != instance->init()) {
-		delete instance;
-		return nullptr;
-	}
-
-	return instance;
-}
-
 extern "C" int icm20689_main(int argc, char *argv[])
 {
 	int ch;

src/drivers/imu/invensense/icm20948/ICM20948.cpp

@@ -42,22 +42,23 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
 	return (msb << 8u) | lsb;
 }
 
-ICM20948::ICM20948(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
-		   spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio, bool enable_magnetometer) :
-	SPI(DRV_IMU_DEVTYPE_ICM20948, MODULE_NAME, bus, device, spi_mode, bus_frequency),
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_drdy_gpio(drdy_gpio),
-	_px4_accel(get_device_id(), rotation),
-	_px4_gyro(get_device_id(), rotation)
+ICM20948::ICM20948(const I2CSPIDriverConfig &config) :
+	SPI(config),
+	I2CSPIDriver(config),
+	_drdy_gpio(config.drdy_gpio),
+	_px4_accel(get_device_id(), config.rotation),
+	_px4_gyro(get_device_id(), config.rotation)
 {
-	if (drdy_gpio != 0) {
+	if (_drdy_gpio != 0) {
 		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
 	}
 
 	ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
 
+	bool enable_magnetometer = config.custom1 == 1;
+
 	if (enable_magnetometer) {
-		_slave_ak09916_magnetometer = new AKM_AK09916::ICM20948_AK09916(*this, rotation);
+		_slave_ak09916_magnetometer = new AKM_AK09916::ICM20948_AK09916(*this, config.rotation);
 
 		if (_slave_ak09916_magnetometer) {
 			for (auto &r : _register_bank3_cfg) {

src/drivers/imu/invensense/icm20948/ICM20948.hpp

@@ -58,12 +58,9 @@ using namespace InvenSense_ICM20948;
 class ICM20948 : public device::SPI, public I2CSPIDriver<ICM20948>
 {
 public:
-	ICM20948(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
-		 spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio, bool enable_magnetometer = false);
+	ICM20948(const I2CSPIDriverConfig &config);
 	~ICM20948() override;
 
-	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					     int runtime_instance);
 	static void print_usage();
 
 	void RunImpl();

src/drivers/imu/invensense/icm20948/ICM20948_I2C_Passthrough.cpp

@@ -40,10 +40,9 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
 	return (msb << 8u) | lsb;
 }
 
-ICM20948_I2C_Passthrough::ICM20948_I2C_Passthrough(I2CSPIBusOption bus_option, int bus, int bus_frequency,
-		const int address) :
-	I2C(DRV_IMU_DEVTYPE_ICM20948, MODULE_NAME, bus, address, bus_frequency),
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus, address)
+ICM20948_I2C_Passthrough::ICM20948_I2C_Passthrough(const I2CSPIDriverConfig &config) :
+	I2C(config),
+	I2CSPIDriver(config)
 {
 }
 

src/drivers/imu/invensense/icm20948/ICM20948_I2C_Passthrough.hpp

@@ -53,11 +53,9 @@ using namespace InvenSense_ICM20948;
 class ICM20948_I2C_Passthrough : public device::I2C, public I2CSPIDriver<ICM20948_I2C_Passthrough>
 {
 public:
-	ICM20948_I2C_Passthrough(I2CSPIBusOption bus_option, int bus, int bus_frequency, const int address);
+	ICM20948_I2C_Passthrough(const I2CSPIDriverConfig &config);
 	~ICM20948_I2C_Passthrough() override;
 
-	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					     int runtime_instance);
 	static void print_usage();
 
 	void RunImpl();

src/drivers/imu/invensense/icm20948/icm20948_i2c_passthrough_main.cpp

@@ -46,25 +46,6 @@ void ICM20948_I2C_Passthrough::print_usage()
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
 
-I2CSPIDriverBase *ICM20948_I2C_Passthrough::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-		int runtime_instance)
-{
-	ICM20948_I2C_Passthrough *instance = new ICM20948_I2C_Passthrough(iterator.configuredBusOption(), iterator.bus(),
-			cli.bus_frequency, cli.i2c_address);
-
-	if (!instance) {
-		PX4_ERR("alloc failed");
-		return nullptr;
-	}
-
-	if (OK != instance->init()) {
-		delete instance;
-		return nullptr;
-	}
-
-	return instance;
-}
-
 extern "C" int icm20948_i2c_passthrough_main(int argc, char *argv[])
 {
 	using ThisDriver = ICM20948_I2C_Passthrough;

src/drivers/imu/invensense/icm20948/icm20948_main.cpp

@@ -47,26 +47,6 @@ void ICM20948::print_usage()
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
 
-I2CSPIDriverBase *ICM20948::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					int runtime_instance)
-{
-	bool mag = (cli.custom1 == 1);
-	ICM20948 *instance = new ICM20948(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
-					  cli.bus_frequency, cli.spi_mode, iterator.DRDYGPIO(), mag);
-
-	if (!instance) {
-		PX4_ERR("alloc failed");
-		return nullptr;
-	}
-
-	if (OK != instance->init()) {
-		delete instance;
-		return nullptr;
-	}
-
-	return instance;
-}
-
 extern "C" int icm20948_main(int argc, char *argv[])
 {
 	int ch;

src/drivers/imu/invensense/icm40609d/ICM40609D.cpp

@@ -40,15 +40,14 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
 	return (msb << 8u) | lsb;
 }
 
-ICM40609D::ICM40609D(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
-		     spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio) :
-	SPI(DRV_IMU_DEVTYPE_ICM40609D, MODULE_NAME, bus, device, spi_mode, bus_frequency),
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
+ICM40609D::ICM40609D(const I2CSPIDriverConfig &config) :
+	SPI(config),
+	I2CSPIDriver(config),
 	_drdy_gpio(drdy_gpio),
-	_px4_accel(get_device_id(), rotation),
-	_px4_gyro(get_device_id(), rotation)
+	_px4_accel(get_device_id(), config.rotation),
+	_px4_gyro(get_device_id(), config.rotation)
 {
-	if (drdy_gpio != 0) {
+	if (_drdy_gpio != 0) {
 		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
 	}
 

src/drivers/imu/invensense/icm40609d/ICM40609D.hpp

@@ -56,12 +56,9 @@ using namespace InvenSense_ICM40609D;
 class ICM40609D : public device::SPI, public I2CSPIDriver<ICM40609D>
 {
 public:
-	ICM40609D(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
-		  spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio);
+	ICM40609D(const I2CSPIDriverConfig &config);
 	~ICM40609D() override;
 
-	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					     int runtime_instance);
 	static void print_usage();
 
 	void RunImpl();

src/drivers/imu/invensense/icm40609d/icm40609d_main.cpp

@@ -46,25 +46,6 @@ void ICM40609D::print_usage()
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
 
-I2CSPIDriverBase *ICM40609D::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-		int runtime_instance)
-{
-	ICM40609D *instance = new ICM40609D(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
-					    cli.bus_frequency, cli.spi_mode, iterator.DRDYGPIO());
-
-	if (!instance) {
-		PX4_ERR("alloc failed");
-		return nullptr;
-	}
-
-	if (OK != instance->init()) {
-		delete instance;
-		return nullptr;
-	}
-
-	return instance;
-}
-
 extern "C" int icm40609d_main(int argc, char *argv[])
 {
 	int ch;

src/drivers/imu/invensense/icm42605/ICM42605.cpp

@@ -40,15 +40,14 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
 	return (msb << 8u) | lsb;
 }
 
-ICM42605::ICM42605(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
-		   spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio) :
-	SPI(DRV_IMU_DEVTYPE_ICM42605, MODULE_NAME, bus, device, spi_mode, bus_frequency),
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_drdy_gpio(drdy_gpio),
-	_px4_accel(get_device_id(), rotation),
-	_px4_gyro(get_device_id(), rotation)
+ICM42605::ICM42605(const I2CSPIDriverConfig &config) :
+	SPI(config),
+	I2CSPIDriver(config),
+	_drdy_gpio(config.drdy_gpio),
+	_px4_accel(get_device_id(), config.rotation),
+	_px4_gyro(get_device_id(), config.rotation)
 {
-	if (drdy_gpio != 0) {
+	if (_drdy_gpio != 0) {
 		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
 	}
 

src/drivers/imu/invensense/icm42605/ICM42605.hpp

@@ -56,12 +56,9 @@ using namespace InvenSense_ICM42605;
 class ICM42605 : public device::SPI, public I2CSPIDriver<ICM42605>
 {
 public:
-	ICM42605(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
-		 spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio);
+	ICM42605(const I2CSPIDriverConfig &config);
 	~ICM42605() override;
 
-	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					     int runtime_instance);
 	static void print_usage();
 
 	void RunImpl();

src/drivers/imu/invensense/icm42605/icm42605_main.cpp

@@ -46,25 +46,6 @@ void ICM42605::print_usage()
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
 
-I2CSPIDriverBase *ICM42605::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					int runtime_instance)
-{
-	ICM42605 *instance = new ICM42605(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
-					  cli.bus_frequency, cli.spi_mode, iterator.DRDYGPIO());
-
-	if (!instance) {
-		PX4_ERR("alloc failed");
-		return nullptr;
-	}
-
-	if (OK != instance->init()) {
-		delete instance;
-		return nullptr;
-	}
-
-	return instance;
-}
-
 extern "C" int icm42605_main(int argc, char *argv[])
 {
 	int ch;

src/drivers/imu/invensense/icm42688p/ICM42688P.cpp

@@ -40,15 +40,14 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
 	return (msb << 8u) | lsb;
 }
 
-ICM42688P::ICM42688P(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
-		     spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio) :
-	SPI(DRV_IMU_DEVTYPE_ICM42688P, MODULE_NAME, bus, device, spi_mode, bus_frequency),
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_drdy_gpio(drdy_gpio),
-	_px4_accel(get_device_id(), rotation),
-	_px4_gyro(get_device_id(), rotation)
+ICM42688P::ICM42688P(const I2CSPIDriverConfig &config) :
+	SPI(config),
+	I2CSPIDriver(config),
+	_drdy_gpio(config.drdy_gpio),
+	_px4_accel(get_device_id(), config.rotation),
+	_px4_gyro(get_device_id(), config.rotation)
 {
-	if (drdy_gpio != 0) {
+	if (config.drdy_gpio != 0) {
 		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
 	}
 

src/drivers/imu/invensense/icm42688p/ICM42688P.hpp

@@ -56,12 +56,9 @@ using namespace InvenSense_ICM42688P;
 class ICM42688P : public device::SPI, public I2CSPIDriver<ICM42688P>
 {
 public:
-	ICM42688P(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
-		  spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio);
+	ICM42688P(const I2CSPIDriverConfig &config);
 	~ICM42688P() override;
 
-	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					     int runtime_instance);
 	static void print_usage();
 
 	void RunImpl();

src/drivers/imu/invensense/icm42688p/icm42688p_main.cpp

@@ -46,25 +46,6 @@ void ICM42688P::print_usage()
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
 
-I2CSPIDriverBase *ICM42688P::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-		int runtime_instance)
-{
-	ICM42688P *instance = new ICM42688P(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
-					    cli.bus_frequency, cli.spi_mode, iterator.DRDYGPIO());
-
-	if (!instance) {
-		PX4_ERR("alloc failed");
-		return nullptr;
-	}
-
-	if (OK != instance->init()) {
-		delete instance;
-		return nullptr;
-	}
-
-	return instance;
-}
-
 extern "C" int icm42688p_main(int argc, char *argv[])
 {
 	int ch;

src/drivers/imu/invensense/mpu6000/MPU6000.cpp

@@ -40,15 +40,14 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
 	return (msb << 8u) | lsb;
 }
 
-MPU6000::MPU6000(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
-		 spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio) :
-	SPI(DRV_IMU_DEVTYPE_MPU6000, MODULE_NAME, bus, device, spi_mode, bus_frequency),
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_drdy_gpio(drdy_gpio),
-	_px4_accel(get_device_id(), rotation),
-	_px4_gyro(get_device_id(), rotation)
+MPU6000::MPU6000(const I2CSPIDriverConfig &config) :
+	SPI(config),
+	I2CSPIDriver(config),
+	_drdy_gpio(config.drdy_gpio),
+	_px4_accel(get_device_id(), config.rotation),
+	_px4_gyro(get_device_id(), config.rotation)
 {
-	if (drdy_gpio != 0) {
+	if (config.drdy_gpio != 0) {
 		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
 	}
 

src/drivers/imu/invensense/mpu6000/MPU6000.hpp

@@ -56,12 +56,9 @@ using namespace InvenSense_MPU6000;
 class MPU6000 : public device::SPI, public I2CSPIDriver<MPU6000>
 {
 public:
-	MPU6000(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
-		spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio);
+	MPU6000(const I2CSPIDriverConfig &config);
 	~MPU6000() override;
 
-	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					     int runtime_instance);
 	static void print_usage();
 
 	void RunImpl();

src/drivers/imu/invensense/mpu6000/mpu6000_main.cpp

@@ -46,25 +46,6 @@ void MPU6000::print_usage()
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
 
-I2CSPIDriverBase *MPU6000::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-				       int runtime_instance)
-{
-	MPU6000 *instance = new MPU6000(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
-					cli.bus_frequency, cli.spi_mode, iterator.DRDYGPIO());
-
-	if (!instance) {
-		PX4_ERR("alloc failed");
-		return nullptr;
-	}
-
-	if (OK != instance->init()) {
-		delete instance;
-		return nullptr;
-	}
-
-	return instance;
-}
-
 extern "C" int mpu6000_main(int argc, char *argv[])
 {
 	int ch;

src/drivers/imu/invensense/mpu6500/MPU6500.cpp

@@ -40,15 +40,14 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
 	return (msb << 8u) | lsb;
 }
 
-MPU6500::MPU6500(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
-		 spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio) :
-	SPI(DRV_IMU_DEVTYPE_MPU6500, MODULE_NAME, bus, device, spi_mode, bus_frequency),
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_drdy_gpio(drdy_gpio),
-	_px4_accel(get_device_id(), rotation),
-	_px4_gyro(get_device_id(), rotation)
+MPU6500::MPU6500(const I2CSPIDriverConfig &config) :
+	SPI(config),
+	I2CSPIDriver(config),
+	_drdy_gpio(config.drdy_gpio),
+	_px4_accel(get_device_id(), config.rotation),
+	_px4_gyro(get_device_id(), config.rotation)
 {
-	if (drdy_gpio != 0) {
+	if (config.drdy_gpio != 0) {
 		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
 	}
 

src/drivers/imu/invensense/mpu6500/MPU6500.hpp

@@ -56,12 +56,9 @@ using namespace InvenSense_MPU6500;
 class MPU6500 : public device::SPI, public I2CSPIDriver<MPU6500>
 {
 public:
-	MPU6500(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
-		spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio);
+	MPU6500(const I2CSPIDriverConfig &config);
 	~MPU6500() override;
 
-	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					     int runtime_instance);
 	static void print_usage();
 
 	void RunImpl();

src/drivers/imu/invensense/mpu6500/mpu6500_main.cpp

@@ -46,25 +46,6 @@ void MPU6500::print_usage()
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
 
-I2CSPIDriverBase *MPU6500::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-				       int runtime_instance)
-{
-	MPU6500 *instance = new MPU6500(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
-					cli.bus_frequency, cli.spi_mode, iterator.DRDYGPIO());
-
-	if (!instance) {
-		PX4_ERR("alloc failed");
-		return nullptr;
-	}
-
-	if (OK != instance->init()) {
-		delete instance;
-		return nullptr;
-	}
-
-	return instance;
-}
-
 extern "C" int mpu6500_main(int argc, char *argv[])
 {
 	int ch;

src/drivers/imu/invensense/mpu9250/MPU9250.cpp

@@ -42,22 +42,23 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
 	return (msb << 8u) | lsb;
 }
 
-MPU9250::MPU9250(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
-		 spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio, bool enable_magnetometer) :
-	SPI(DRV_IMU_DEVTYPE_MPU9250, MODULE_NAME, bus, device, spi_mode, bus_frequency),
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_drdy_gpio(drdy_gpio),
-	_px4_accel(get_device_id(), rotation),
-	_px4_gyro(get_device_id(), rotation)
+MPU9250::MPU9250(const I2CSPIDriverConfig &config) :
+	SPI(config),
+	I2CSPIDriver(config),
+	_drdy_gpio(config.drdy_gpio),
+	_px4_accel(get_device_id(), config.rotation),
+	_px4_gyro(get_device_id(), config.rotation)
 {
-	if (drdy_gpio != 0) {
+	if (_drdy_gpio != 0) {
 		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
 	}
 
 	ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
 
+	bool enable_magnetometer = config.custom1 == 1;
+
 	if (enable_magnetometer) {
-		_slave_ak8963_magnetometer = new AKM_AK8963::MPU9250_AK8963(*this, rotation);
+		_slave_ak8963_magnetometer = new AKM_AK8963::MPU9250_AK8963(*this, config.rotation);
 
 		if (_slave_ak8963_magnetometer) {
 			for (auto &r : _register_cfg) {

src/drivers/imu/invensense/mpu9250/MPU9250.hpp

@@ -58,12 +58,9 @@ using namespace InvenSense_MPU9250;
 class MPU9250 : public device::SPI, public I2CSPIDriver<MPU9250>
 {
 public:
-	MPU9250(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
-		spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio, bool enable_magnetometer = false);
+	MPU9250(const I2CSPIDriverConfig &config);
 	~MPU9250() override;
 
-	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					     int runtime_instance);
 	static void print_usage();
 
 	void RunImpl();

src/drivers/imu/invensense/mpu9250/MPU9250_I2C.cpp

@@ -40,15 +40,14 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
 	return (msb << 8u) | lsb;
 }
 
-MPU9250_I2C::MPU9250_I2C(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation,
-			 int bus_frequency, int address, spi_drdy_gpio_t drdy_gpio) :
-	I2C(DRV_IMU_DEVTYPE_MPU9250, MODULE_NAME, bus, address, bus_frequency),
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_drdy_gpio(drdy_gpio),
-	_px4_accel(get_device_id(), rotation),
-	_px4_gyro(get_device_id(), rotation)
+MPU9250_I2C::MPU9250_I2C(const I2CSPIDriverConfig &config) :
+	I2C(config),
+	I2CSPIDriver(config),
+	_drdy_gpio(config.drdy_gpio),
+	_px4_accel(get_device_id(), config.rotation),
+	_px4_gyro(get_device_id(), config.rotation)
 {
-	if (drdy_gpio != 0) {
+	if (_drdy_gpio != 0) {
 		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
 	}
 

src/drivers/imu/invensense/mpu9250/MPU9250_I2C.hpp

@@ -56,12 +56,9 @@ using namespace InvenSense_MPU9250;
 class MPU9250_I2C : public device::I2C, public I2CSPIDriver<MPU9250_I2C>
 {
 public:
-	MPU9250_I2C(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
-		    int address, spi_drdy_gpio_t drdy_gpio);
+	MPU9250_I2C(const I2CSPIDriverConfig &config);
 	~MPU9250_I2C() override;
 
-	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					     int runtime_instance);
 	static void print_usage();
 
 	void RunImpl();

src/drivers/imu/invensense/mpu9250/mpu9250_i2c_main.cpp

@@ -47,25 +47,6 @@ void MPU9250_I2C::print_usage()
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
 
-I2CSPIDriverBase *MPU9250_I2C::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-		int runtime_instance)
-{
-	MPU9250_I2C *instance = new MPU9250_I2C(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
-						cli.bus_frequency, cli.i2c_address, iterator.DRDYGPIO());
-
-	if (!instance) {
-		PX4_ERR("alloc failed");
-		return nullptr;
-	}
-
-	if (OK != instance->init()) {
-		delete instance;
-		return nullptr;
-	}
-
-	return instance;
-}
-
 extern "C" int mpu9250_i2c_main(int argc, char *argv[])
 {
 	int ch;

src/drivers/imu/invensense/mpu9250/mpu9250_main.cpp

@@ -47,26 +47,6 @@ void MPU9250::print_usage()
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
 
-I2CSPIDriverBase *MPU9250::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-				       int runtime_instance)
-{
-	bool mag = (cli.custom1 == 1);
-	MPU9250 *instance = new MPU9250(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
-					cli.bus_frequency, cli.spi_mode, iterator.DRDYGPIO(), mag);
-
-	if (!instance) {
-		PX4_ERR("alloc failed");
-		return nullptr;
-	}
-
-	if (OK != instance->init()) {
-		delete instance;
-		return nullptr;
-	}
-
-	return instance;
-}
-
 extern "C" int mpu9250_main(int argc, char *argv[])
 {
 	int ch;

src/drivers/imu/l3gd20/L3GD20.cpp

@@ -35,11 +35,10 @@
 
 constexpr uint8_t L3GD20::_checked_registers[];
 
-L3GD20::L3GD20(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
-	       spi_mode_e spi_mode) :
-	SPI(DRV_GYR_DEVTYPE_L3GD20, MODULE_NAME, bus, device, spi_mode, bus_frequency),
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_px4_gyro(get_device_id(), rotation),
+L3GD20::L3GD20(const I2CSPIDriverConfig &config) :
+	SPI(config),
+	I2CSPIDriver(config),
+	_px4_gyro(get_device_id(), config.rotation),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
 	_errors(perf_alloc(PC_COUNT, MODULE_NAME": err")),
 	_bad_registers(perf_alloc(PC_COUNT, MODULE_NAME": bad_reg")),

src/drivers/imu/l3gd20/L3GD20.hpp

@@ -161,12 +161,9 @@
 class L3GD20 : public device::SPI, public I2CSPIDriver<L3GD20>
 {
 public:
-	L3GD20(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
-	       spi_mode_e spi_mode);
+	L3GD20(const I2CSPIDriverConfig &config);
 	~L3GD20() override;
 
-	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					     int runtime_instance);
 	static void print_usage();
 
 	void RunImpl();

src/drivers/imu/l3gd20/l3gd20_main.cpp

@@ -49,25 +49,6 @@ L3GD20::print_usage()
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
 
-I2CSPIDriverBase *L3GD20::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-				      int runtime_instance)
-{
-	L3GD20 *instance = new L3GD20(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;
-}
-
 void L3GD20::custom_method(const BusCLIArguments &cli)
 {
 	switch (cli.custom1) {

src/drivers/imu/lsm303d/LSM303D.cpp

@@ -53,12 +53,11 @@ static constexpr uint8_t _checked_registers[] = {
 	ADDR_CTRL_REG7
 };
 
-LSM303D::LSM303D(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
-		 spi_mode_e spi_mode) :
-	SPI(DRV_IMU_DEVTYPE_LSM303D, MODULE_NAME, bus, device, spi_mode, bus_frequency),
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_px4_accel(get_device_id(), rotation),
-	_px4_mag(get_device_id(), rotation),
+LSM303D::LSM303D(const I2CSPIDriverConfig &config) :
+	SPI(config),
+	I2CSPIDriver(config),
+	_px4_accel(get_device_id(), config.rotation),
+	_px4_mag(get_device_id(), config.rotation),
 	_accel_sample_perf(perf_alloc(PC_ELAPSED, "lsm303d: acc_read")),
 	_mag_sample_perf(perf_alloc(PC_ELAPSED, "lsm303d: mag_read")),
 	_bad_registers(perf_alloc(PC_COUNT, "lsm303d: bad_reg")),

src/drivers/imu/lsm303d/LSM303D.hpp

@@ -141,12 +141,9 @@
 class LSM303D : public device::SPI, public I2CSPIDriver<LSM303D>
 {
 public:
-	LSM303D(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
-		spi_mode_e spi_mode);
+	LSM303D(const I2CSPIDriverConfig &config);
 	~LSM303D() override;
 
-	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					     int runtime_instance);
 	static void print_usage();
 
 	void RunImpl();

src/drivers/imu/lsm303d/lsm303d_main.cpp

@@ -52,25 +52,6 @@ LSM303D::print_usage()
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
 
-I2CSPIDriverBase *LSM303D::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-				       int runtime_instance)
-{
-	LSM303D *instance = new LSM303D(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;
-}
-
 extern "C" int lsm303d_main(int argc, char *argv[])
 {
 	int ch;

src/drivers/imu/st/lsm9ds1/LSM9DS1.cpp

@@ -40,12 +40,11 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
 	return (msb << 8u) | lsb;
 }
 
-LSM9DS1::LSM9DS1(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
-		 spi_mode_e spi_mode) :
-	SPI(DRV_IMU_DEVTYPE_ST_LSM9DS1_AG, MODULE_NAME, bus, device, spi_mode, bus_frequency),
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_px4_accel(get_device_id(), rotation),
-	_px4_gyro(get_device_id(), rotation)
+LSM9DS1::LSM9DS1(const I2CSPIDriverConfig &config) :
+	SPI(config),
+	I2CSPIDriver(config),
+	_px4_accel(get_device_id(), config.rotation),
+	_px4_gyro(get_device_id(), config.rotation)
 {
 	ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
 }

src/drivers/imu/st/lsm9ds1/LSM9DS1.hpp

@@ -55,12 +55,9 @@ using namespace ST_LSM9DS1;
 class LSM9DS1 : public device::SPI, public I2CSPIDriver<LSM9DS1>
 {
 public:
-	LSM9DS1(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
-		spi_mode_e spi_mode);
+	LSM9DS1(const I2CSPIDriverConfig &config);
 	~LSM9DS1() override;
 
-	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-					     int runtime_instance);
 	static void print_usage();
 
 	void RunImpl();

src/drivers/imu/st/lsm9ds1/lsm9ds1_main.cpp

@@ -46,25 +46,6 @@ void LSM9DS1::print_usage()
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
 
-I2CSPIDriverBase *LSM9DS1::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-				       int runtime_instance)
-{
-	LSM9DS1 *instance = new LSM9DS1(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;
-}
-
 extern "C" int lsm9ds1_main(int argc, char *argv[])
 {
 	int ch;