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drivers: use updated I2C SPI driver interface

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This commit is contained in:
Beat Küng
2021-07-08 12:59:35 -04:00
committed by Daniel Agar
parent c5aef9d512
commit e644036325
218 changed files with 812 additions and 2001 deletions
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src/drivers/imu/bosch/bmi055/BMI055.cpp
+9 -13
View File
@@ -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
+2 -4
View File
@@ -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
+4 -5
View File
@@ -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
+1 -2
View File
@@ -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
+4 -5
View File
@@ -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
+1 -2
View File
@@ -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
+8 -5
View File
@@ -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
+9 -13
View File
@@ -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
+2 -4
View File
@@ -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
+4 -5
View File
@@ -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
+1 -2
View File
@@ -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
+4 -5
View File
@@ -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
+1 -2
View File
@@ -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
+9 -13
View File
@@ -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
+2 -4
View File
@@ -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
+4 -5
View File
@@ -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
+1 -2
View File
@@ -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
+4 -5
View File
@@ -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
+1 -2
View File
@@ -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
+10 -7
View File
@@ -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
+8 -5
View File
@@ -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);