Grove driver, I2C migrations, bugfixes and docs (#532)

Tactility/Include/Tactility/hal/i2c/I2c.h

@@ -1,64 +0,0 @@
-#pragma once
-
-#include "./I2cCompat.h"
-#include "Tactility/Lock.h"
-
-#include <Tactility/freertoscompat/RTOS.h>
-
-#include <climits>
-#include <string>
-
-namespace tt::hal::i2c {
-
-constexpr TickType_t defaultTimeout = 10 / portTICK_PERIOD_MS;
-
-enum class Status {
-    Started,
-    Stopped,
-    Unknown
-};
-
-/** Start the bus for the specified port. */
-bool start(i2c_port_t port);
-
-/** Stop the bus for the specified port. */
-bool stop(i2c_port_t port);
-
-/** @return true if the bus is started */
-bool isStarted(i2c_port_t port);
-
-/** @return name or nullptr */
-const char* getName(i2c_port_t port);
-
-/** Read bytes in master mode. */
-bool masterRead(i2c_port_t port, uint8_t address, uint8_t* data, size_t dataSize, TickType_t timeout = defaultTimeout);
-
-/** Read bytes from the specified register in master mode. */
-bool masterReadRegister(i2c_port_t port, uint8_t address, uint8_t reg, uint8_t* data, size_t dataSize, TickType_t timeout = defaultTimeout);
-
-/** Write bytes in master mode. */
-bool masterWrite(i2c_port_t port, uint8_t address, const uint8_t* data, uint16_t dataSize, TickType_t timeout = defaultTimeout);
-
-/** Write bytes to a register in master mode */
-bool masterWriteRegister(i2c_port_t port, uint8_t address, uint8_t reg, const uint8_t* data, uint16_t dataSize, TickType_t timeout = defaultTimeout);
-
-/**
- * Write multiple values to multiple registers in master mode.
- * The input is as follows: { register1, value1, register2, value2, ... }
- * @return false if any of the write operations failed
- */
-bool masterWriteRegisterArray(i2c_port_t port, uint8_t address, const uint8_t* data, uint16_t dataSize, TickType_t timeout = defaultTimeout);
-
-/** Write bytes and then read the response bytes in master mode*/
-bool masterWriteRead(i2c_port_t port, uint8_t address, const uint8_t* writeData, size_t writeDataSize, uint8_t* readData, size_t readDataSize, TickType_t timeout = defaultTimeout);
-
-/** @return true when a device is detected at the specified address */
-bool masterHasDeviceAtAddress(i2c_port_t port, uint8_t address, TickType_t timeout = defaultTimeout);
-
-/**
- * The lock for the specified bus.
- * This can be used when calling native I2C functionality outside of Tactility.
- */
-Lock& getLock(i2c_port_t port);
-
-} // namespace

Tactility/Include/Tactility/hal/i2c/I2cCompat.h

@@ -1,38 +0,0 @@
-#pragma once
-
-#ifdef ESP_PLATFORM
-
-#include <hal/i2c_types.h>
-#include <driver/i2c.h>
-
-#else
-
-#include <cstdint>
-
-enum i2c_port_t {
-    I2C_NUM_0 = 0,
-    I2C_NUM_1,
-    LP_I2C_NUM_0,
-    I2C_NUM_MAX,
-};
-
-enum i2c_mode_t {
-    I2C_MODE_MASTER,
-    I2C_MODE_MAX,
-};
-
-struct i2c_config_t {
-    i2c_mode_t mode;
-    int sda_io_num;
-    int scl_io_num;
-    bool sda_pullup_en;
-    bool scl_pullup_en;
-    union {
-        struct {
-            uint32_t clk_speed;
-        } master;
-    };
-    uint32_t clk_flags;
-};
-
-#endif

Tactility/Include/Tactility/hal/i2c/I2cDevice.h

@@ -1,7 +1,7 @@
 #pragma once
 
 #include <tactility/hal/Device.h>
-#include "I2c.h"
+#include <tactility/drivers/i2c_controller.h>
 
 namespace tt::hal::i2c {
 
@@ -10,12 +10,13 @@ namespace tt::hal::i2c {
  * It helps to read and write registers.
  *
  * All read and write calls are thread-safe.
+ * @deprecated Use the device API from the Kernel project
  */
 class I2cDevice : public Device {
 
 protected:
 
-    i2c_port_t port;
+    ::Device* controller;
     uint8_t address;
 
     static constexpr TickType_t DEFAULT_TIMEOUT = 1000 / portTICK_PERIOD_MS;
@@ -36,11 +37,11 @@ protected:
 
 public:
 
-    explicit I2cDevice(i2c_port_t port, uint32_t address) : port(port), address(address) {}
+    explicit I2cDevice(::Device* controller, uint32_t address) : controller(controller), address(address) {}
 
     Type getType() const override { return Type::I2c; }
 
-    i2c_port_t getPort() const { return port; }
+    ::Device* getController() const { return controller; }
 
     uint8_t getAddress() const { return address; }
 };