platforms: remove unnecessary i2c platform abstraction

boards/av/x-v1/src/init.c

@@ -70,7 +70,6 @@
 #include <drivers/drv_board_led.h>
 #include <systemlib/px4_macros.h>
 #include <px4_platform_common/init.h>
-#include <px4_platform_common/i2c.h>
 #include <px4_platform/gpio.h>
 #include <px4_platform/board_dma_alloc.h>
 
@@ -217,7 +216,7 @@ static int configure_switch(void)
 	// ethernet switch enable
 	uint8_t txdata[] = {0x51, 0x00, 0x21, 0x00}; //0x5100, 0x2100 MSB to LSB here.
 
-	struct px4_i2c_msg_t msgv;
+	struct i2c_msg_s msgv;
 
 	msgv.frequency = 100000;
 	msgv.addr = 0x5F;

platforms/common/include/px4_platform_common/i2c.h

@@ -1,122 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2015 Mark Charlebois. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file px4_i2c.h
- *
- * Includes device headers depending on the build target
- */
-
-#pragma once
-
-#define PX4_I2C_M_READ           0x0001          /* read data, from slave to master */
-
-#if defined (__PX4_NUTTX)
-__BEGIN_DECLS
-
-/*
- * Building for NuttX
- */
-#include <px4_platform_common/px4_config.h>
-#include <sys/ioctl.h>
-#include <nuttx/arch.h>
-#include <nuttx/wqueue.h>
-#include <nuttx/clock.h>
-#include <nuttx/i2c/i2c_master.h>
-#include <nuttx/irq.h>
-#include <nuttx/wqueue.h>
-#include <chip.h>
-#include <arch/board/board.h>
-#include <arch/chip/chip.h>
-#include "up_internal.h"
-#include "up_arch.h"
-
-#define px4_i2c_msg_t i2c_msg_s
-
-typedef struct i2c_master_s px4_i2c_dev_t;
-__END_DECLS
-
-#elif defined(__PX4_POSIX)
-#include <stdint.h>
-
-#define I2C_M_READ           0x0001          /* read data, from slave to master */
-#define I2C_M_TEN            0x0002          /* ten bit address */
-#define I2C_M_NORESTART      0x0080          /* message should not begin with (re-)start of transfer */
-
-// NOTE - This is a copy of the NuttX i2c_msg_s structure
-
-typedef struct {
-	uint32_t frequency;         /* I2C frequency */
-	uint16_t addr;              /* Slave address (7- or 10-bit) */
-	uint16_t flags;             /* See I2C_M_* definitions */
-	uint8_t *buffer;        /* Buffer to be transferred */
-	ssize_t length;             /* Length of the buffer in bytes */
-} px4_i2c_msg_t;
-
-// NOTE - This is a copy of the NuttX i2c_ops_s structure
-typedef struct {
-	const struct px4_i2c_ops_t *ops; /* I2C vtable */
-} px4_i2c_dev_t;
-
-//#define SPI_SELECT(d,id,s) ((d)->ops->select(d,id,s))
-#define SPI_SELECT(d,id,s)
-
-// FIXME - Stub implementation
-// Original version commented out
-//#define I2C_TRANSFER(d,m,c) ((d)->ops->transfer(d,m,c))
-inline int I2C_TRANSFER(px4_i2c_dev_t *dev, px4_i2c_msg_t *msg, int count);
-inline int I2C_TRANSFER(px4_i2c_dev_t *dev, px4_i2c_msg_t *msg, int count) { return 0; }
-
-#ifdef __PX4_QURT
-
-struct i2c_msg {
-	uint16_t  addr;                  /* Slave address */
-	uint16_t  flags;                 /* See I2C_M_* definitions */
-	uint8_t  *buf;
-	int       len;
-};
-
-#define I2C_RDWR 0x0FFF
-
-struct i2c_rdwr_ioctl_data {
-	struct i2c_msg *msgs;   /* pointers to i2c_msgs */
-	uint32_t nmsgs;         /* number of i2c_msgs */
-};
-
-// FIXME - The functions are not implemented on QuRT/DSPAL
-int ioctl(int fd, int flags, unsigned long data);
-int write(int fd, const char *buffer, int buflen);
-#endif
-#else
-#error "No target platform defined"
-#endif

platforms/nuttx/src/px4/common/include/px4_platform/micro_hal.h

@@ -35,7 +35,6 @@
 
 __BEGIN_DECLS
 #include <nuttx/spi/spi.h>
-#include <nuttx/i2c/i2c_master.h>
 
 /* For historical reasons (NuttX STM32 numbering) PX4 bus numbering is 1 based
  * All PX4 code, including, board code is written to assuming 1 based numbering.

platforms/qurt/include/i2c.h

@@ -1,44 +0,0 @@
-/****************************************************************************
- * include/nuttx/i2c.h
- *
- *   Copyright(C) 2009-2012 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES(INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-#pragma once
-
-#include <stdint.h>
-
-struct i2c_msg_s {
-	uint16_t  addr;                  /* Slave address */
-	uint16_t  flags;                 /* See I2C_M_* definitions */
-	uint8_t  *buffer;
-	int       length;
-};

src/lib/drivers/device/nuttx/I2C.cpp

@@ -182,7 +182,7 @@ I2C::transfer(const uint8_t *send, const unsigned send_len, uint8_t *recv, const
 	do {
 		DEVICE_DEBUG("transfer out %p/%u  in %p/%u", send, send_len, recv, recv_len);
 
-		px4_i2c_msg_t msgv[2] {};
+		i2c_msg_s msgv[2] {};
 		unsigned msgs = 0;
 
 		if (send_len > 0) {

src/lib/drivers/device/nuttx/I2C.hpp

@@ -42,7 +42,7 @@
 
 #include "../CDev.hpp"
 
-#include <px4_platform_common/i2c.h>
+#include <nuttx/i2c/i2c_master.h>
 
 #if !defined(CONFIG_I2C)
 #  error I2C support requires CONFIG_I2C
@@ -113,7 +113,7 @@ protected:
 
 private:
 	uint32_t		_frequency{0};
-	px4_i2c_dev_t		*_dev{nullptr};
+	i2c_master_s		*_dev{nullptr};
 
 };
 

src/lib/drivers/device/posix/I2C.cpp

@@ -142,7 +142,7 @@ I2C::transfer(const uint8_t *send, const unsigned send_len, uint8_t *recv, const
 
 		if (recv_len > 0) {
 			msgv[msgs].addr = get_device_address();
-			msgv[msgs].flags = I2C_M_READ;
+			msgv[msgs].flags = I2C_M_RD;
 			msgv[msgs].buf = recv;
 			msgv[msgs].len = recv_len;
 			msgs++;

src/lib/drivers/device/posix/I2C.hpp

@@ -42,8 +42,6 @@
 
 #include "../CDev.hpp"
 
-#include <px4_platform_common/i2c.h>
-
 namespace device __EXPORT
 {
 

src/lib/drivers/device/qurt/I2C.cpp

@@ -75,7 +75,7 @@ I2C::init()
 
 	// Open the actual I2C device
 	char dev_path[16] {};
-	snprintf(dev_path, sizeof(dev_path), "/dev/iic-%i", get_device_bus());
+	snprintf(dev_path, sizeof(dev_path), DEV_FS_I2C_DEVICE_TYPE_STRING"%i", get_device_bus());
 	_fd = ::open(dev_path, O_RDWR);
 
 	if (_fd < 0) {

src/lib/drivers/device/qurt/I2C.hpp

@@ -42,8 +42,6 @@
 
 #include "../CDev.hpp"
 
-#include <px4_platform_common/i2c.h>
-
 namespace device __EXPORT
 {
 

src/systemcmds/i2cdetect/i2cdetect.cpp

@@ -42,7 +42,6 @@
 #include <px4_platform_common/log.h>
 #include <px4_platform_common/module.h>
 #include <px4_platform_common/getopt.h>
-#include <px4_platform_common/i2c.h>
 
 namespace i2cdetect
 {
@@ -80,7 +79,7 @@ int detect(int bus)
 			do {
 				uint8_t send_data = 0;
 				uint8_t recv_data = 0;
-				px4_i2c_msg_t msgv[2];
+				i2c_msg_s msgv[2] {};
 
 				// send
 				msgv[0].frequency = 100000;