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

Tactility/Source/app/i2cscanner/I2cHelpers.cpp

@@ -1,7 +1,8 @@
 #include "Tactility/app/i2cscanner/I2cHelpers.h"
 
 #include <Tactility/StringUtils.h>
-#include <Tactility/hal/i2c/I2c.h>
+
+#include <tactility/drivers/i2c_controller.h>
 
 #include <iomanip>
 #include <vector>
@@ -19,31 +20,36 @@ std::string getAddressText(uint8_t address) {
 
 std::string getPortNamesForDropdown() {
     std::vector<std::string> config_names;
-    for (int port = 0; port < I2C_NUM_MAX; ++port) {
-        auto native_port = static_cast<i2c_port_t>(port);
-        if (hal::i2c::isStarted(native_port)) {
-            auto* name = hal::i2c::getName(native_port);
-            if (name != nullptr) {
-                config_names.push_back(name);
-            }
+    device_for_each_of_type(&I2C_CONTROLLER_TYPE, &config_names, [](auto* device, auto* context) {
+        auto* names = static_cast<std::vector<std::string>*>(context);
+        if (device_is_ready(device)) {
+            names->push_back(device->name);
         }
-    }
+        return true;
+    });
     return string::join(config_names, "\n");
 }
 
-bool getActivePortAtIndex(int32_t index, int32_t& out) {
-    int current_index = -1;
-    for (int port = 0; port < I2C_NUM_MAX; ++port) {
-        auto native_port = static_cast<i2c_port_t>(port);
-        if (hal::i2c::isStarted(native_port)) {
-            current_index++;
-            if (current_index == index) {
-                out = port;
-                return true;
+bool getActivePortAtIndex(int32_t index, struct Device** out) {
+    struct Context {
+        int32_t targetIndex;
+        int32_t currentIndex;
+        struct Device* foundDevice;
+    } context = { index, 0, nullptr };
+
+    device_for_each_of_type(&I2C_CONTROLLER_TYPE, &context, [](auto* device, auto* ctx) {
+        auto* c = static_cast<Context*>(ctx);
+        if (device_is_ready(device)) {
+            if (c->currentIndex == c->targetIndex) {
+                c->foundDevice = device;
+                return false;
             }
+            c->currentIndex++;
         }
-    }
-    return false;
+        return true;
+    });
+    *out = context.foundDevice;
+    return context.foundDevice != nullptr;
 }
 
 }