refactor mpl3115a2: use driver base class

src/drivers/barometer/mpl3115a2/MPL3115A2.cpp

@@ -54,9 +54,9 @@
 #define MPL3115A2_OSR                   2       /* Over Sample rate of 4 18MS Minimum time between data samples */
 #define MPL3115A2_CTRL_TRIGGER          (CTRL_REG1_OST | CTRL_REG1_OS(MPL3115A2_OSR))
 
-MPL3115A2::MPL3115A2(const int bus) :
+MPL3115A2::MPL3115A2(I2CSPIBusOption bus_option, const int bus, int bus_frequency) :
-	I2C("MPL3115A2", nullptr, bus, MPL3115A2_ADDRESS, 400000),
+	I2C("MPL3115A2", nullptr, bus, MPL3115A2_ADDRESS, bus_frequency),
-	ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())),
+	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
 	_px4_barometer(get_device_id()),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
 	_measure_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": measure")),
@@ -68,8 +68,6 @@ MPL3115A2::MPL3115A2(const int bus) :
 
 MPL3115A2::~MPL3115A2()
 {
-	stop();
-
 	perf_free(_sample_perf);
 	perf_free(_measure_perf);
 	perf_free(_comms_errors);
@@ -129,11 +127,6 @@ void MPL3115A2::start()
 	ScheduleNow();
 }
 
-void MPL3115A2::stop()
-{
-	ScheduleClear();
-}
-
 int MPL3115A2::reset()
 {
 	int max = 10;
@@ -149,7 +142,7 @@ int MPL3115A2::reset()
 	return ret == 1 ? PX4_OK : ret;
 }
 
-void MPL3115A2::Run()
+void MPL3115A2::RunImpl()
 {
 	int ret = PX4_ERROR;
 
@@ -243,7 +236,6 @@ int MPL3115A2::collect()
 	}
 
 
-
 	/* read the most recent measurement
 	 * 3 Pressure and 2 temprtture
 	 */
@@ -289,8 +281,9 @@ int MPL3115A2::collect()
 	return PX4_OK;
 }
 
-void MPL3115A2::print_info()
+void MPL3115A2::print_status()
 {
+	I2CSPIDriverBase::print_status();
 	perf_print_counter(_sample_perf);
 	perf_print_counter(_comms_errors);
 

src/drivers/barometer/mpl3115a2/MPL3115A2.hpp

@@ -46,27 +46,30 @@
 #include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/defines.h>
 #include <px4_platform_common/log.h>
-#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/i2c_spi_buses.h>
 
-class MPL3115A2 : public device::I2C, public px4::ScheduledWorkItem
+class MPL3115A2 : public device::I2C, public I2CSPIDriver<MPL3115A2>
 {
 public:
-	MPL3115A2(const int bus);
+	MPL3115A2(I2CSPIBusOption bus_option, const int bus, int bus_frequency);
 	~MPL3115A2() override;
 
+	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+					     int runtime_instance);
+	static void print_usage();
+
+
 	int init() override;
 	int probe() override;
 
-	void print_info();
+	void print_status();
 
+	void RunImpl();
 private:
 
 	void start();
-	void stop();
 	int  reset();
 
-	void Run() override;
-
 	int measure();
 	int collect();
 

src/drivers/barometer/mpl3115a2/mpl3115a2_main.cpp

@@ -34,165 +34,61 @@
 #include "MPL3115A2.hpp"
 
 #include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module.h>
 
-enum class MPL3115A2_BUS {
+void
-	ALL = 0,
+MPL3115A2::print_usage()
-	I2C_INTERNAL,
-	I2C_EXTERNAL,
-};
-
-namespace mpl3115a2
 {
-
+	PRINT_MODULE_USAGE_NAME("mpl3115a2", "driver");
-struct mpl3115a2_bus_option {
+	PRINT_MODULE_USAGE_SUBCATEGORY("baro");
-	MPL3115A2_BUS busid;
+	PRINT_MODULE_USAGE_COMMAND("start");
-	uint8_t busnum;
+	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
-	MPL3115A2 *dev;
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
-} bus_options[] = {
-#if defined(PX4_I2C_BUS_ONBOARD)
-	{ MPL3115A2_BUS::I2C_INTERNAL, PX4_I2C_BUS_ONBOARD, nullptr },
-#endif
-#if defined(PX4_I2C_BUS_EXPANSION)
-	{ MPL3115A2_BUS::I2C_EXTERNAL, PX4_I2C_BUS_EXPANSION, nullptr },
-#endif
-#if defined(PX4_I2C_BUS_EXPANSION1)
-	{ MPL3115A2_BUS::I2C_EXTERNAL, PX4_I2C_BUS_EXPANSION1, nullptr },
-#endif
-#if defined(PX4_I2C_BUS_EXPANSION2)
-	{ MPL3115A2_BUS::I2C_EXTERNAL, PX4_I2C_BUS_EXPANSION2, nullptr },
-#endif
-};
-
-// find a bus structure for a busid
-static mpl3115a2_bus_option *find_bus(MPL3115A2_BUS busid)
-{
-	for (mpl3115a2_bus_option &bus_option : bus_options) {
-		if ((busid == MPL3115A2_BUS::ALL ||
-		     busid == bus_option.busid) && bus_option.dev != nullptr) {
-
-			return &bus_option;
-		}
-	}
-
-	return nullptr;
 }
 
-static bool start_bus(mpl3115a2_bus_option &bus)
+I2CSPIDriverBase *MPL3115A2::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+		int runtime_instance)
 {
-	MPL3115A2 *dev = new MPL3115A2(bus.busnum);
+	MPL3115A2 *dev = new MPL3115A2(iterator.configuredBusOption(), iterator.bus(), cli.bus_frequency);
 
-	if (dev == nullptr || (dev->init() != PX4_OK)) {
+	if (dev == nullptr) {
-		PX4_ERR("driver start failed");
+		return nullptr;
+	}
+
+	if (OK != dev->init()) {
 		delete dev;
-		return false;
+		return nullptr;
 	}
 
-	bus.dev = dev;
+	return dev;
-
-	return true;
 }
 
-static int start(MPL3115A2_BUS busid)
-{
-	for (mpl3115a2_bus_option &bus_option : bus_options) {
-		if (bus_option.dev != nullptr) {
-			// this device is already started
-			PX4_WARN("already started");
-			continue;
-		}
-
-		if (busid != MPL3115A2_BUS::ALL && bus_option.busid != busid) {
-			// not the one that is asked for
-			continue;
-		}
-
-		if (start_bus(bus_option)) {
-			return PX4_OK;
-		}
-	}
-
-	return PX4_ERROR;
-}
-
-static int stop(MPL3115A2_BUS busid)
-{
-	mpl3115a2_bus_option *bus = find_bus(busid);
-
-	if (bus != nullptr && bus->dev != nullptr) {
-		delete bus->dev;
-		bus->dev = nullptr;
-
-	} else {
-		PX4_WARN("driver not running");
-		return PX4_ERROR;
-	}
-
-	return PX4_OK;
-}
-
-static int status(MPL3115A2_BUS busid)
-{
-	mpl3115a2_bus_option *bus = find_bus(busid);
-
-	if (bus != nullptr && bus->dev != nullptr) {
-		bus->dev->print_info();
-		return PX4_OK;
-	}
-
-	PX4_WARN("driver not running");
-	return PX4_ERROR;
-}
-
-static int usage()
-{
-	PX4_INFO("missing command: try 'start', 'stop', 'status'");
-	PX4_INFO("options:");
-	PX4_INFO("    -X    (i2c external bus)");
-	PX4_INFO("    -I    (i2c internal bus)");
-
-	return 0;
-}
-
-} // namespace
-
 extern "C" int mpl3115a2_main(int argc, char *argv[])
 {
-	int myoptind = 1;
+	using ThisDriver = MPL3115A2;
-	int ch;
+	BusCLIArguments cli{true, false};
-	const char *myoptarg = nullptr;
+	const char *verb = cli.parseDefaultArguments(argc, argv);
 
-	MPL3115A2_BUS busid = MPL3115A2_BUS::ALL;
+	if (!verb) {
-
+		ThisDriver::print_usage();
-	while ((ch = px4_getopt(argc, argv, "XI", &myoptind, &myoptarg)) != EOF) {
+		return -1;
-		switch (ch) {
-		case 'X':
-			busid = MPL3115A2_BUS::I2C_EXTERNAL;
-			break;
-
-		case 'I':
-			busid = MPL3115A2_BUS::I2C_INTERNAL;
-			break;
-
-		default:
-			return mpl3115a2::usage();
-		}
 	}
 
-	if (myoptind >= argc) {
+	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_BARO_DEVTYPE_MPL3115A2);
-		return mpl3115a2::usage();
-	}
-
-	const char *verb = argv[myoptind];
 
 	if (!strcmp(verb, "start")) {
-		return mpl3115a2::start(busid);
+		return ThisDriver::module_start(cli, iterator);
-
-	} else if (!strcmp(verb, "stop")) {
-		return mpl3115a2::stop(busid);
-
-	} else if (!strcmp(verb, "status")) {
-		return mpl3115a2::status(busid);
 	}
 
-	return mpl3115a2::usage();
+	if (!strcmp(verb, "stop")) {
+		return ThisDriver::module_stop(iterator);
+	}
+
+	if (!strcmp(verb, "status")) {
+		return ThisDriver::module_status(iterator);
+	}
+
+	ThisDriver::print_usage();
+	return -1;
 }
+