refactor pcf8583: use driver base class

src/drivers/drv_sensor.h

@@ -145,6 +145,7 @@
 #define DRV_LED_DEVTYPE_RGBLED_NCP5623C 0x7b
 #define DRV_BAT_DEVTYPE_SMBUS         0x7c
 #define DRV_SENS_DEVTYPE_IRLOCK       0x7d
+#define DRV_SENS_DEVTYPE_PCF8583      0x7e
 
 #define DRV_DEVTYPE_UNUSED		0xff
 

src/drivers/rpm/pcf8583/PCF8583.cpp

@@ -33,18 +33,13 @@
 
 #include "PCF8583.hpp"
 
-PCF8583::PCF8583(int bus, int address) :
+PCF8583::PCF8583(I2CSPIBusOption bus_option, const int bus, int bus_frequency) :
-	I2C("PCF8583", nullptr, bus, address, 400000),
+	I2C("PCF8583", nullptr, bus, PCF8583_BASEADDR_DEFAULT, bus_frequency),
-	ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())),
+	ModuleParams(nullptr),
-	ModuleParams(nullptr)
+	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus)
 {
 }
 
-PCF8583::~PCF8583()
-{
-	ScheduleClear();
-}
-
 int PCF8583::init()
 {
 	set_device_address(_param_pcf8583_addr.get());
@@ -53,9 +48,9 @@ int PCF8583::init()
 		return PX4_ERROR;
 	}
 
-	PX4_INFO("addr: %d, pool: %d, reset: %d, magenet: %d", get_device_address(), _param_pcf8583_pool.get(),
+	PX4_DEBUG("addr: %d, pool: %d, reset: %d, magenet: %d", get_device_address(), _param_pcf8583_pool.get(),
-		 _param_pcf8583_reset.get(),
+		  _param_pcf8583_reset.get(),
-		 _param_pcf8583_magnet.get());
+		  _param_pcf8583_magnet.get());
 
 	// set counter mode
 	setRegister(0x00, 0b00100000);
@@ -114,7 +109,7 @@ uint8_t PCF8583::readRegister(uint8_t reg)
 	return rcv;
 }
 
-void PCF8583::Run()
+void PCF8583::RunImpl()
 {
 	// read sensor and compute frequency
 	int oldcount = _count;
@@ -145,7 +140,8 @@ void PCF8583::Run()
 	_rpm_pub.publish(msg);
 }
 
-void PCF8583::print_info()
+void PCF8583::print_status()
 {
+	I2CSPIDriverBase::print_status();
 	PX4_INFO("poll interval:  %d us", _param_pcf8583_pool.get());
 }

src/drivers/rpm/pcf8583/PCF8583.hpp

@@ -45,7 +45,7 @@
 #include <px4_platform_common/module_params.h>
 #include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/defines.h>
-#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/i2c_spi_buses.h>
 #include <drivers/device/i2c.h>
 #include <uORB/Publication.hpp>
 #include <uORB/topics/rpm.h>
@@ -54,19 +54,24 @@
 /* Configuration Constants */
 #define PCF8583_BASEADDR_DEFAULT             0x50
 
-class PCF8583 : public device::I2C, public px4::ScheduledWorkItem, public ModuleParams
+class PCF8583 : public device::I2C, public ModuleParams, public I2CSPIDriver<PCF8583>
 {
 public:
-	PCF8583(int bus = PX4_I2C_BUS_EXPANSION, int address = PCF8583_BASEADDR_DEFAULT);
+	PCF8583(I2CSPIBusOption bus_option, const int bus, int bus_frequency);
-	~PCF8583() override;
+	~PCF8583() override = default;
+
+	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+					     int runtime_instance);
+	static void print_usage();
+
+	void		RunImpl();
 
 	int    init() override;
-	void   print_info();
+	void   print_status() override;
 
 private:
 
 	int  probe() override;
-	void Run() override ; // Perform a poll cycle; overide for ScheduledWorkItem
 
 	int            getCounter();
 	void           resetCounter();

src/drivers/rpm/pcf8583/pcf8583_main.cpp

@@ -34,109 +34,60 @@
 #include "PCF8583.hpp"
 
 #include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module.h>
 
-namespace pcf8583
+void
+PCF8583::print_usage()
 {
-PCF8583 *g_dev{nullptr};
+	PRINT_MODULE_USAGE_NAME("pcf8583", "driver");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+}
 
-static int start(int i2c_bus)
+I2CSPIDriverBase *PCF8583::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+				       int runtime_instance)
 {
-	if (g_dev != nullptr) {
+	PCF8583 *instance = new PCF8583(iterator.configuredBusOption(), iterator.bus(), cli.bus_frequency);
-		PX4_WARN("already started");
+
-		return 0;
+	if (instance == nullptr) {
+		PX4_ERR("alloc failed");
+		return nullptr;
 	}
 
-	// create the driver
+	if (instance->init() != PX4_OK) {
-	g_dev = new PCF8583(i2c_bus);
+		delete instance;
+		return nullptr;
+	}
 
-	if (g_dev == nullptr) {
+	return instance;
-		PX4_ERR("driver alloc failed");
+}
+extern "C" __EXPORT int pcf8583_main(int argc, char *argv[])
+{
+	using ThisDriver = PCF8583;
+	BusCLIArguments cli{true, false};
+
+	const char *verb = cli.parseDefaultArguments(argc, argv);
+
+	if (!verb) {
+		ThisDriver::print_usage();
 		return -1;
 	}
 
-	if (g_dev->init() != PX4_OK) {
+	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_SENS_DEVTYPE_PCF8583);
-		PX4_ERR("driver init failed");
-		delete g_dev;
-		g_dev = nullptr;
-		return -1;
-	}
-
-	PX4_INFO("pcf8583 for bus: %d started.", i2c_bus);
-
-	return 0;
-}
-
-static int stop()
-{
-	if (g_dev == nullptr) {
-		PX4_WARN("driver not running");
-		return -1;
-	}
-
-	delete g_dev;
-	g_dev = nullptr;
-
-	return 0;
-}
-
-static int status()
-{
-	if (g_dev == nullptr) {
-		PX4_INFO("driver not running");
-		return 0;
-	}
-
-	g_dev->print_info();
-
-	return 0;
-}
-
-static int usage()
-{
-	PX4_INFO("missing command: try 'start', 'stop', 'status'");
-	PX4_INFO("options:");
-	PX4_INFO("    -b i2cbus (%d)", PX4_I2C_BUS_EXPANSION);
-
-	return 0;
-}
-
-} // namespace pcf8583
-
-extern "C" int pcf8583_main(int argc, char *argv[])
-{
-	int i2c_bus = PX4_I2C_BUS_EXPANSION;
-	int myoptind = 1;
-	int ch = 0;
-	const char *myoptarg = nullptr;
-
-	// start options
-	while ((ch = px4_getopt(argc, argv, "b:", &myoptind, &myoptarg)) != EOF) {
-		switch (ch) {
-		case 'b':
-			i2c_bus = atoi(myoptarg);
-			break;
-
-		default:
-			return pcf8583::usage();
-		}
-	}
-
-	if (myoptind >= argc) {
-		pcf8583::usage();
-		return -1;
-	}
-
-	const char *verb = argv[myoptind];
 
 	if (!strcmp(verb, "start")) {
-		return pcf8583::start(i2c_bus);
+		return ThisDriver::module_start(cli, iterator);
-
-	} else if (!strcmp(verb, "stop")) {
-		return pcf8583::stop();
-
-	} else if (!strcmp(verb, "status")) {
-		return pcf8583::status();
 	}
 
-	return pcf8583::usage();
+	if (!strcmp(verb, "stop")) {
+		return ThisDriver::module_stop(iterator);
+	}
+
+	if (!strcmp(verb, "status")) {
+		return ThisDriver::module_status(iterator);
+	}
+
+	ThisDriver::print_usage();
+	return -1;
 }