lights: use driver base class

ROMFS/cannode/init.d/rcS

@@ -68,13 +68,13 @@ unset BOARD_RC_DEFAULTS
 #
 # Start system state indicator.
 #
-rgbled start
+rgbled start -X
-rgbled_ncp5623c start
+rgbled_ncp5623c start -X
 rgbled_pwm start
 
 if param greater LIGHT_EN_BLINKM 0
 then
-	if blinkm start
+	if blinkm start -X
 	then
 		blinkm systemstate
 	fi

ROMFS/px4fmu_common/init.d/rcS

@@ -198,13 +198,13 @@ else
 	#
 	# Start system state indicator.
 	#
-	rgbled start
+	rgbled start -X
-	rgbled_ncp5623c start
+	rgbled_ncp5623c start -X
 	rgbled_pwm start
 
 	if param greater LIGHT_EN_BLINKM 0
 	then
-		if blinkm start
+		if blinkm start -X
 		then
 			blinkm systemstate
 		fi

ROMFS/px4fmu_test/init.d/rcS

@@ -9,7 +9,7 @@ set BOARD_RC /etc/init.d/rc.board
 
 uorb start
 
-if rgbled start
+if rgbled start -X
 then
 	led_control on -c blue
 fi

boards/px4/fmu-v2/init/rc.board_sensors

@@ -3,6 +3,8 @@
 # PX4 FMUv2 specific board sensors init
 #------------------------------------------------------------------------------
 
+rgbled start -I
+
 adc start
 
 # External I2C bus

boards/px4/fmu-v3/init/rc.board_sensors

@@ -3,6 +3,8 @@
 # PX4 FMUv3 specific board sensors init
 #------------------------------------------------------------------------------
 
+rgbled start -I
+
 adc start
 
 # External I2C bus

boards/px4/fmu-v4pro/init/rc.board_sensors

@@ -3,6 +3,8 @@
 # PX4 FMUv4pro specific board sensors init
 #------------------------------------------------------------------------------
 
+rgbled start -I
+
 adc start
 
 # Internal SPI bus ICM-20608-G

boards/uvify/core/init/rc.board_sensors

@@ -15,7 +15,7 @@ fi
 if param compare SYS_AUTOSTART 6002
 then
 	# GPS LED
-	rgbled_ncp5623c start -a 0x38
+	rgbled_ncp5623c start -X -a 0x38
 
 	#mpu6000 -s -R 4 -T 20608 start
 	mpu9250 -R 4 start
@@ -34,7 +34,7 @@ fi
 if param compare SYS_AUTOSTART 4071
 then
 	# IFO GPS LED
-	rgbled_ncp5623c start -a 0x38
+	rgbled_ncp5623c start -X -a 0x38
 
 	# IFO rgb LED
 	pca9685 start

posix-configs/bbblue/px4.config

@@ -55,7 +55,7 @@ mpu9250 start
 
 gps start -d /dev/ttyS2 -s -p ubx
 
-#rgbled start -b 1
+#rgbled start -I -b 1
 
 adc start
 battery_status start

posix-configs/bbblue/px4_fw.config

@@ -55,7 +55,7 @@ mpu9250 start
 
 gps start -d /dev/ttyS2 -s -p ubx
 
-#rgbled start -b 1
+#rgbled start -I -b 1
 
 adc start
 battery_status start

src/drivers/drv_led.h

@@ -55,7 +55,3 @@ static_assert(led_control_s::ORB_QUEUE_LENGTH >= BOARD_MAX_LEDS, "led_control_s:
 #error "BOARD_MAX_LEDS too large. You need to change the led_mask type in the led_control uorb topic (and where it's used)"
 #endif
 
-// Legacy paths - 2 are need to allow both pwm and i2c drviers to co-exist
-#define RGBLED0_DEVICE_PATH "/dev/rgbled0"         // Primary RGB LED on i2c
-#define RGBLED1_DEVICE_PATH "/dev/rgbled1"	   // Primary RGB LED(NCP5623C) on i2c
-#define RGBLED_PWM0_DEVICE_PATH "/dev/rgbled_pwm0" // Secondary RGB LED on PWM

src/drivers/drv_sensor.h

@@ -138,6 +138,9 @@
 #define DRV_DIST_DEVTYPE_VL53LXX      0x76
 #define DRV_POWER_DEVTYPE_INA226      0x77
 #define DRV_POWER_DEVTYPE_VOXLPM      0x78
+#define DRV_LED_DEVTYPE_BLINKM        0x79
+#define DRV_LED_DEVTYPE_RGBLED        0x7a
+#define DRV_LED_DEVTYPE_RGBLED_NCP5623C 0x7b
 
 #define DRV_DEVTYPE_UNUSED		0xff
 

src/drivers/lights/blinkm/blinkm.cpp

@@ -99,7 +99,8 @@
 
 #include <drivers/device/i2c.h>
 #include <drivers/drv_blinkm.h>
-#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/i2c_spi_buses.h>
+#include <px4_platform_common/module.h>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/actuator_armed.h>
 #include <uORB/topics/battery_status.h>
@@ -113,12 +114,17 @@ static const int LED_OFFTIME = 120;
 static const int LED_BLINK = 1;
 static const int LED_NOBLINK = 0;
 
-class BlinkM : public device::I2C, public px4::ScheduledWorkItem
+class BlinkM : public device::I2C, public I2CSPIDriver<BlinkM>
 {
 public:
-	BlinkM(int bus, int blinkm);
+	BlinkM(I2CSPIBusOption bus_option, const int bus, int bus_frequency, const int address);
 	virtual ~BlinkM() = default;
 
+	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+					     int runtime_instance);
+	static void print_usage();
+
+	void custom_method(const BusCLIArguments &cli) override;
 
 	virtual int		init();
 	virtual int		probe();
@@ -127,6 +133,7 @@ public:
 
 	static const char	*const script_names[];
 
+	void			RunImpl();
 private:
 	enum ScriptID {
 		USER		= 0,
@@ -196,8 +203,6 @@ private:
 
 	void 			setLEDColor(int ledcolor);
 
-	void			Run() override;
-
 	int			set_rgb(uint8_t r, uint8_t g, uint8_t b);
 
 	int			fade_rgb(uint8_t r, uint8_t g, uint8_t b);
@@ -221,12 +226,6 @@ private:
 	int			get_firmware_version(uint8_t version[2]);
 };
 
-/* for now, we only support one BlinkM */
-namespace
-{
-BlinkM *g_blinkm;
-}
-
 /* list of script names, must match script ID numbers */
 const char *const BlinkM::script_names[] = {
 	"USER",
@@ -254,9 +253,9 @@ const char *const BlinkM::script_names[] = {
 
 extern "C" __EXPORT int blinkm_main(int argc, char *argv[]);
 
-BlinkM::BlinkM(int bus, int blinkm) :
+BlinkM::BlinkM(I2CSPIBusOption bus_option, const int bus, int bus_frequency, const int address) :
-	I2C("blinkm", BLINKM0_DEVICE_PATH, bus, blinkm, 100000),
+	I2C("blinkm", BLINKM0_DEVICE_PATH, bus, 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),
 	led_color_1(LED_OFF),
 	led_color_2(LED_OFF),
 	led_color_3(LED_OFF),
@@ -382,7 +381,7 @@ BlinkM::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 
 
 void
-BlinkM::Run()
+BlinkM::RunImpl()
 {
 	if (led_thread_ready == true) {
 		if (!detected_cells_blinked) {
@@ -924,111 +923,117 @@ BlinkM::get_firmware_version(uint8_t version[2])
 	return transfer(&msg, sizeof(msg), version, 2);
 }
 
-void blinkm_usage();
+void
-
+BlinkM::print_usage()
-void blinkm_usage()
 {
-	warnx("missing command: try 'start', 'systemstate', 'ledoff', 'list' or a script name {options}");
+	PRINT_MODULE_USAGE_NAME("blinkm", "driver");
-	warnx("options:");
+	PRINT_MODULE_USAGE_COMMAND("start");
-	warnx("\t-b --bus i2cbus (3)");
+	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
-	warnx("\t-a --blinkmaddr blinkmaddr (9)");
+	PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(9);
+	PRINT_MODULE_USAGE_COMMAND("systemstate");
+	PRINT_MODULE_USAGE_COMMAND("ledoff");
+	PRINT_MODULE_USAGE_COMMAND("list");
+	PRINT_MODULE_USAGE_COMMAND("script");
+	PRINT_MODULE_USAGE_PARAM_STRING('n', nullptr, "<file>", "Script file name", false);
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
 
-int
+I2CSPIDriverBase *BlinkM::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-blinkm_main(int argc, char *argv[])
+				      int runtime_instance)
 {
+	BlinkM *instance = new BlinkM(iterator.configuredBusOption(), iterator.bus(), cli.bus_frequency, cli.i2c_address);
 
-	int i2cdevice = PX4_I2C_BUS_EXPANSION;
+	if (instance == nullptr) {
-	int blinkmadr = 9;
+		PX4_ERR("alloc failed");
-
+		return nullptr;
-	int x;
-
-	if (argc < 2) {
-		blinkm_usage();
-		return 1;
 	}
 
-	for (x = 1; x < argc; x++) {
+	if (instance->init() != PX4_OK) {
-		if (strcmp(argv[x], "-b") == 0 || strcmp(argv[x], "--bus") == 0) {
+		delete instance;
-			if (argc > x + 1) {
+		return nullptr;
-				i2cdevice = atoi(argv[x + 1]);
+	}
-			}
+
+	return instance;
+}
+
+void
+BlinkM::custom_method(const BusCLIArguments &cli)
+{
+	setMode(cli.custom1);
+}
+
+extern "C" __EXPORT int blinkm_main(int argc, char *argv[])
+{
+	int ch;
+	using ThisDriver = BlinkM;
+	BusCLIArguments cli{true, false};
+	cli.default_i2c_frequency = 100000;
+	cli.i2c_address = 9;
+	const char *script = nullptr;
+
+	while ((ch = cli.getopt(argc, argv, "n:")) != EOF) {
+		switch (ch) {
+		case 'n':
+			script = cli.optarg();
+			break;
 		}
-
-		if (strcmp(argv[x], "-a") == 0 || strcmp(argv[x], "--blinkmaddr") == 0) {
-			if (argc > x + 1) {
-				blinkmadr = atoi(argv[x + 1]);
-			}
-		}
-
 	}
 
-	if (!strcmp(argv[1], "start")) {
+	const char *verb = cli.optarg();
-		if (g_blinkm != nullptr) {
-			warnx("already started");
-			return 1;
-		}
 
-		g_blinkm = new BlinkM(i2cdevice, blinkmadr);
+	if (!verb) {
-
+		ThisDriver::print_usage();
-		if (g_blinkm == nullptr) {
+		return -1;
-			warnx("new failed");
-			return 1;
-		}
-
-		if (OK != g_blinkm->init()) {
-			delete g_blinkm;
-			g_blinkm = nullptr;
-			warnx("init failed");
-			return 1;
-		}
-
-		return 0;
 	}
 
+	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_LED_DEVTYPE_BLINKM);
 
-	if (g_blinkm == nullptr) {
+	if (!strcmp(verb, "start")) {
-		PX4_ERR("not started");
+		return ThisDriver::module_start(cli, iterator);
-		blinkm_usage();
-		return 0;
 	}
 
-	if (!strcmp(argv[1], "systemstate")) {
+	if (!strcmp(verb, "stop")) {
-		g_blinkm->setMode(1);
+		return ThisDriver::module_stop(iterator);
-		return 0;
 	}
 
-	if (!strcmp(argv[1], "ledoff")) {
+	if (!strcmp(verb, "status")) {
-		g_blinkm->setMode(0);
+		return ThisDriver::module_status(iterator);
-		return 0;
 	}
 
+	if (!strcmp(verb, "systemstate")) {
+		cli.custom1 = 1;
+		return ThisDriver::module_custom_method(cli, iterator);
+	}
 
-	if (!strcmp(argv[1], "list")) {
+	if (!strcmp(verb, "ledoff")) {
+		cli.custom1 = 0;
+		return ThisDriver::module_custom_method(cli, iterator);
+	}
+
+	if (!strcmp(verb, "list")) {
 		for (unsigned i = 0; BlinkM::script_names[i] != nullptr; i++) {
-			PX4_ERR("    %s", BlinkM::script_names[i]);
+			PX4_INFO("    %s", BlinkM::script_names[i]);
 		}
 
-		PX4_ERR("    <html color number>");
+		PX4_INFO("    <html color number>");
 		return 0;
 	}
 
-	/* things that require access to the device */
+	if (!strcmp(verb, "script") && script) {
-	int fd = px4_open(BLINKM0_DEVICE_PATH, 0);
+		/* things that require access to the device */
+		int fd = px4_open(BLINKM0_DEVICE_PATH, 0);
 
-	if (fd < 0) {
+		if (fd < 0) {
-		warn("can't open BlinkM device");
+			PX4_ERR("can't open BlinkM device");
-		return 1;
+			return 1;
-	}
+		}
 
-	g_blinkm->setMode(0);
+		px4_ioctl(fd, BLINKM_PLAY_SCRIPT_NAMED, (unsigned long)script);
 
-	if (px4_ioctl(fd, BLINKM_PLAY_SCRIPT_NAMED, (unsigned long)argv[1]) == OK) {
+		px4_close(fd);
 		return 0;
 	}
 
-	px4_close(fd);
+	ThisDriver::print_usage();
-
+	return -1;
-	blinkm_usage();
-	return 0;
 }

src/drivers/lights/rgbled/rgbled.cpp

@@ -46,7 +46,8 @@
 #include <lib/led/led.h>
 #include <lib/parameters/param.h>
 #include <px4_platform_common/getopt.h>
-#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/i2c_spi_buses.h>
+#include <px4_platform_common/module.h>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/parameter_update.h>
 
@@ -60,16 +61,23 @@
 #define SETTING_NOT_POWERSAVE	0x01	/**< power-save mode not off */
 #define SETTING_ENABLE   	0x02	/**< on */
 
-class RGBLED : public device::I2C, public px4::ScheduledWorkItem
+class RGBLED : public device::I2C, public I2CSPIDriver<RGBLED>
 {
 public:
-	RGBLED(int bus, int rgbled);
+	RGBLED(I2CSPIBusOption bus_option, const int bus, int bus_frequency, const int address);
-	virtual ~RGBLED();
+	virtual ~RGBLED() = default;
 
-	virtual int		init();
+	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-	virtual int		probe();
+					     int runtime_instance);
-	int			status();
+	static void print_usage();
 
+	int		init() override;
+	int		probe() override;
+
+	void			RunImpl();
+
+protected:
+	void			print_status() override;
 private:
 
 	float			_brightness{1.0f};
@@ -78,15 +86,12 @@ private:
 	uint8_t			_r{0};
 	uint8_t			_g{0};
 	uint8_t			_b{0};
-	volatile bool		_running{false};
-	volatile bool		_should_run{true};
 	bool			_leds_enabled{true};
 
 	uORB::Subscription	_parameter_update_sub{ORB_ID(parameter_update)};
 
 	LedController		_led_controller;
 
-	void			Run() override;
 
 	int			send_led_enable(bool enable);
 	int			send_led_rgb();
@@ -94,30 +99,10 @@ private:
 	void			update_params();
 };
 
-/* for now, we only support one RGBLED */
+RGBLED::RGBLED(I2CSPIBusOption bus_option, const int bus, int bus_frequency, const int address) :
-namespace
+	I2C("rgbled", nullptr, bus, address, bus_frequency),
+	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus)
 {
-RGBLED *g_rgbled = nullptr;
-}
-
-void rgbled_usage();
-
-extern "C" __EXPORT int rgbled_main(int argc, char *argv[]);
-
-RGBLED::RGBLED(int bus, int rgbled) :
-	I2C("rgbled", RGBLED0_DEVICE_PATH, bus, rgbled, 100000),
-	ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id()))
-{
-}
-
-RGBLED::~RGBLED()
-{
-	_should_run = false;
-	int counter = 0;
-
-	while (_running && ++counter < 10) {
-		px4_usleep(100000);
-	}
 }
 
 int
@@ -135,8 +120,6 @@ RGBLED::init()
 
 	update_params();
 
-	_running = true;
-
 	// kick off work queue
 	ScheduleNow();
 
@@ -173,8 +156,8 @@ RGBLED::probe()
 	return ret;
 }
 
-int
+void
-RGBLED::status()
+RGBLED::print_status()
 {
 	bool on, powersave;
 	uint8_t r, g, b;
@@ -183,27 +166,17 @@ RGBLED::status()
 
 	if (ret == OK) {
 		/* we don't care about power-save mode */
-		DEVICE_LOG("state: %s", on ? "ON" : "OFF");
+		PX4_INFO("state: %s", on ? "ON" : "OFF");
-		DEVICE_LOG("red: %u, green: %u, blue: %u", (unsigned)r, (unsigned)g, (unsigned)b);
+		PX4_INFO("red: %u, green: %u, blue: %u", (unsigned)r, (unsigned)g, (unsigned)b);
 
 	} else {
 		PX4_WARN("failed to read led");
 	}
-
-	return ret;
 }
 
-/**
- * Main loop function
- */
 void
-RGBLED::Run()
+RGBLED::RunImpl()
 {
-	if (!_should_run) {
-		_running = false;
-		return;
-	}
-
 	// check for parameter updates
 	if (_parameter_update_sub.updated()) {
 		// clear update
@@ -349,113 +322,61 @@ RGBLED::update_params()
 }
 
 void
-rgbled_usage()
+RGBLED::print_usage()
 {
-	PX4_INFO("missing command: try 'start', 'status', 'stop'");
+	PRINT_MODULE_USAGE_NAME("rgbled", "driver");
-	PX4_INFO("options:");
+	PRINT_MODULE_USAGE_COMMAND("start");
-	PX4_INFO("    -b i2cbus (%d)", PX4_I2C_BUS_LED);
+	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
-	PX4_INFO("    -a addr (0x%x)", ADDR);
+	PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x55);
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
 
-int
+I2CSPIDriverBase *RGBLED::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-rgbled_main(int argc, char *argv[])
+				      int runtime_instance)
 {
-	int i2cdevice = -1;
+	RGBLED *instance = new RGBLED(iterator.configuredBusOption(), iterator.bus(), cli.bus_frequency, cli.i2c_address);
-	int rgbledadr = ADDR; /* 7bit */
 
-	int ch;
+	if (instance == nullptr) {
-
+		PX4_ERR("alloc failed");
-	/* jump over start/off/etc and look at options first */
+		return nullptr;
-	int myoptind = 1;
-	const char *myoptarg = nullptr;
-
-	while ((ch = px4_getopt(argc, argv, "a:b:", &myoptind, &myoptarg)) != EOF) {
-		switch (ch) {
-		case 'a':
-			rgbledadr = strtol(myoptarg, nullptr, 0);
-			break;
-
-		case 'b':
-			i2cdevice = strtol(myoptarg, nullptr, 0);
-			break;
-
-		default:
-			rgbled_usage();
-			return 1;
-		}
 	}
 
-	if (myoptind >= argc) {
+	if (instance->init() != PX4_OK) {
-		rgbled_usage();
+		delete instance;
-		return 1;
+		return nullptr;
 	}
 
-	const char *verb = argv[myoptind];
+	return instance;
+}
+
+extern "C" __EXPORT int rgbled_main(int argc, char *argv[])
+{
+	using ThisDriver = RGBLED;
+	BusCLIArguments cli{true, false};
+	cli.default_i2c_frequency = 100000;
+	cli.i2c_address = ADDR;
+
+	const char *verb = cli.parseDefaultArguments(argc, argv);
+
+	if (!verb) {
+		ThisDriver::print_usage();
+		return -1;
+	}
+
+	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_LED_DEVTYPE_RGBLED);
 
 	if (!strcmp(verb, "start")) {
-		if (g_rgbled != nullptr) {
+		return ThisDriver::module_start(cli, iterator);
-			PX4_WARN("already started");
-			return 1;
-		}
-
-		if (i2cdevice == -1) {
-			// try the external bus first
-			i2cdevice = PX4_I2C_BUS_EXPANSION;
-			g_rgbled = new RGBLED(PX4_I2C_BUS_EXPANSION, rgbledadr);
-
-			if (g_rgbled != nullptr && OK != g_rgbled->init()) {
-				delete g_rgbled;
-				g_rgbled = nullptr;
-			}
-
-			if (g_rgbled == nullptr) {
-				// fall back to default bus
-				if (PX4_I2C_BUS_LED == PX4_I2C_BUS_EXPANSION) {
-					PX4_WARN("no RGB led on bus #%d", i2cdevice);
-					return 1;
-				}
-
-				i2cdevice = PX4_I2C_BUS_LED;
-			}
-		}
-
-		if (g_rgbled == nullptr) {
-			g_rgbled = new RGBLED(i2cdevice, rgbledadr);
-
-			if (g_rgbled == nullptr) {
-				PX4_WARN("alloc failed");
-				return 1;
-			}
-
-			if (OK != g_rgbled->init()) {
-				delete g_rgbled;
-				g_rgbled = nullptr;
-				PX4_WARN("no RGB led on bus #%d", i2cdevice);
-				return 1;
-			}
-		}
-
-		return 0;
-	}
-
-	/* need the driver past this point */
-	if (g_rgbled == nullptr) {
-		PX4_WARN("not started");
-		rgbled_usage();
-		return 1;
-	}
-
-	if (!strcmp(verb, "status")) {
-		g_rgbled->status();
-		return 0;
 	}
 
 	if (!strcmp(verb, "stop")) {
-		delete g_rgbled;
+		return ThisDriver::module_stop(iterator);
-		g_rgbled = nullptr;
-		return 0;
 	}
 
-	rgbled_usage();
+	if (!strcmp(verb, "status")) {
-	return 1;
+		return ThisDriver::module_status(iterator);
+	}
+
+	ThisDriver::print_usage();
+	return -1;
 }

src/drivers/lights/rgbled_ncp5623c/rgbled_ncp5623c.cpp

@@ -45,7 +45,8 @@
 #include <lib/led/led.h>
 #include <lib/parameters/param.h>
 #include <px4_platform_common/getopt.h>
-#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/i2c_spi_buses.h>
+#include <px4_platform_common/module.h>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/parameter_update.h>
 
@@ -61,14 +62,20 @@
 #define NCP5623_LED_OFF		0x00	/**< off */
 
 
-class RGBLED_NPC5623C : public device::I2C, public px4::ScheduledWorkItem
+class RGBLED_NPC5623C : public device::I2C, public I2CSPIDriver<RGBLED_NPC5623C>
 {
 public:
-	RGBLED_NPC5623C(int bus, int rgbled);
+	RGBLED_NPC5623C(I2CSPIBusOption bus_option, const int bus, int bus_frequency, const int address);
-	virtual ~RGBLED_NPC5623C();
+	virtual ~RGBLED_NPC5623C() = default;
 
-	virtual int		init();
+	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-	virtual int		probe();
+					     int runtime_instance);
+	static void print_usage();
+
+	int		init() override;
+	int		probe() override;
+
+	void			RunImpl();
 
 private:
 
@@ -86,38 +93,16 @@ private:
 
 	LedController		_led_controller;
 
-	void			Run() override;
-
 	int			send_led_rgb();
 	void			update_params();
 
 	int			write(uint8_t reg, uint8_t data);
 };
 
-/* for now, we only support one RGBLED */
+RGBLED_NPC5623C::RGBLED_NPC5623C(I2CSPIBusOption bus_option, const int bus, int bus_frequency, const int address) :
-namespace
+	I2C("rgbled1", nullptr, bus, address, bus_frequency),
+	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus)
 {
-RGBLED_NPC5623C *g_rgbled = nullptr;
-}
-
-void rgbled_ncp5623c_usage();
-
-extern "C" __EXPORT int rgbled_ncp5623c_main(int argc, char *argv[]);
-
-RGBLED_NPC5623C::RGBLED_NPC5623C(int bus, int rgbled) :
-	I2C("rgbled1", RGBLED1_DEVICE_PATH, bus, rgbled, 100000),
-	ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id()))
-{
-}
-
-RGBLED_NPC5623C::~RGBLED_NPC5623C()
-{
-	_should_run = false;
-	int counter = 0;
-
-	while (_running && ++counter < 10) {
-		px4_usleep(100000);
-	}
 }
 
 int
@@ -157,17 +142,9 @@ RGBLED_NPC5623C::probe()
 	return write(NCP5623_LED_CURRENT, 0x00);
 }
 
-/**
- * Main loop function
- */
 void
-RGBLED_NPC5623C::Run()
+RGBLED_NPC5623C::RunImpl()
 {
-	if (!_should_run) {
-		_running = false;
-		return;
-	}
-
 	// check for parameter updates
 	if (_parameter_update_sub.updated()) {
 		// clear update
@@ -262,108 +239,63 @@ RGBLED_NPC5623C::update_params()
 }
 
 void
-rgbled_ncp5623c_usage()
+RGBLED_NPC5623C::print_usage()
 {
-	PX4_INFO("missing command: try 'start', 'stop'");
+	PRINT_MODULE_USAGE_NAME("rgbled", "driver");
-	PX4_INFO("options:");
+	PRINT_MODULE_USAGE_COMMAND("start");
-	PX4_INFO("    -b i2cbus (%d)", PX4_I2C_BUS_LED);
+	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
-	PX4_INFO("    -a addr (0x%x)", ADDR);
+	PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x39);
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
 
-int
+I2CSPIDriverBase *RGBLED_NPC5623C::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-rgbled_ncp5623c_main(int argc, char *argv[])
+		int runtime_instance)
 {
-	int i2cdevice = -1;
+	RGBLED_NPC5623C *instance = new RGBLED_NPC5623C(iterator.configuredBusOption(), iterator.bus(), cli.bus_frequency,
-	int rgbledadr = ADDR; /* 7bit */
+			cli.i2c_address);
 
-	int ch;
+	if (instance == nullptr) {
-
+		PX4_ERR("alloc failed");
-	/* jump over start/off/etc and look at options first */
+		return nullptr;
-	int myoptind = 1;
-	const char *myoptarg = nullptr;
-
-	while ((ch = px4_getopt(argc, argv, "a:b:", &myoptind, &myoptarg)) != EOF) {
-		switch (ch) {
-		case 'a':
-			rgbledadr = strtol(myoptarg, nullptr, 0);
-			break;
-
-		case 'b':
-			i2cdevice = strtol(myoptarg, nullptr, 0);
-			break;
-
-		default:
-			rgbled_ncp5623c_usage();
-			return 1;
-		}
 	}
 
-	if (myoptind >= argc) {
+	if (instance->init() != PX4_OK) {
-		rgbled_ncp5623c_usage();
+		delete instance;
-		return 1;
+		return nullptr;
 	}
 
-	const char *verb = argv[myoptind];
+	return instance;
+}
+
+extern "C" __EXPORT int rgbled_ncp5623c_main(int argc, char *argv[])
+{
+	using ThisDriver = RGBLED_NPC5623C;
+	BusCLIArguments cli{true, false};
+	cli.default_i2c_frequency = 100000;
+	cli.i2c_address = ADDR;
+
+	const char *verb = cli.parseDefaultArguments(argc, argv);
+
+	if (!verb) {
+		ThisDriver::print_usage();
+		return -1;
+	}
+
+	BusInstanceIterator iterator(MODULE_NAME, cli,
+				     DRV_LED_DEVTYPE_RGBLED_NCP5623C);
 
 	if (!strcmp(verb, "start")) {
-		if (g_rgbled != nullptr) {
+		return ThisDriver::module_start(cli, iterator);
-			PX4_WARN("already started");
-			return 1;
-		}
-
-		if (i2cdevice == -1) {
-			// try the external bus first
-			i2cdevice = PX4_I2C_BUS_EXPANSION;
-			g_rgbled = new RGBLED_NPC5623C(PX4_I2C_BUS_EXPANSION, rgbledadr);
-
-			if (g_rgbled != nullptr && OK != g_rgbled->init()) {
-				delete g_rgbled;
-				g_rgbled = nullptr;
-			}
-
-			if (g_rgbled == nullptr) {
-				// fall back to default bus
-				if (PX4_I2C_BUS_LED == PX4_I2C_BUS_EXPANSION) {
-					PX4_WARN("no RGB led on bus #%d", i2cdevice);
-					return 1;
-				}
-
-				i2cdevice = PX4_I2C_BUS_LED;
-			}
-		}
-
-		if (g_rgbled == nullptr) {
-			g_rgbled = new RGBLED_NPC5623C(i2cdevice, rgbledadr);
-
-			if (g_rgbled == nullptr) {
-				PX4_WARN("alloc failed");
-				return 1;
-			}
-
-			if (OK != g_rgbled->init()) {
-				delete g_rgbled;
-				g_rgbled = nullptr;
-				PX4_WARN("no RGB led on bus #%d", i2cdevice);
-				return 1;
-			}
-		}
-
-		return 0;
-	}
-
-	/* need the driver past this point */
-	if (g_rgbled == nullptr) {
-		PX4_WARN("not started");
-		rgbled_ncp5623c_usage();
-		return 1;
 	}
 
 	if (!strcmp(verb, "stop")) {
-		delete g_rgbled;
+		return ThisDriver::module_stop(iterator);
-		g_rgbled = nullptr;
-		return 0;
 	}
 
-	rgbled_ncp5623c_usage();
+	if (!strcmp(verb, "status")) {
-	return 1;
+		return ThisDriver::module_status(iterator);
+	}
+
+	ThisDriver::print_usage();
+	return -1;
 }