Voxl2: add qurt i2c driver support and first i2c driver voxlpm

boards/modalai/voxl2-slpi/default.px4board

@@ -1,6 +1,7 @@
 CONFIG_PLATFORM_QURT=y
 CONFIG_BOARD_TOOLCHAIN="qurt"
 CONFIG_DRIVERS_ACTUATORS_MODALAI_ESC=y
+CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_QSHELL_QURT=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_LAND_DETECTOR=y

boards/modalai/voxl2-slpi/src/CMakeLists.txt

@@ -38,6 +38,7 @@ set(DISABLE_PARAMS_MODULE_SCOPING TRUE PARENT_SCOPE)
 
 add_library(drivers_board
 	board_config.h
+	i2c.cpp
 	init.c
 	spi.cpp
     )

boards/modalai/voxl2-slpi/src/board_config.h

@@ -44,6 +44,7 @@
 /*
  * I2C buses
  */
+#define CONFIG_I2C 1
 #define PX4_NUMBER_I2C_BUSES    3
 
 /*

boards/modalai/voxl2-slpi/src/i2c.cpp

@@ -0,0 +1,42 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020 PX4 Development Team. 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.
+ *
+ ****************************************************************************/
+
+#include <px4_platform_common/i2c.h>
+#include <px4_arch/i2c_hw_description.h>
+#include <drivers/drv_sensor.h>
+
+constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
+	initI2CBusExternal(1),
+	initI2CBusExternal(2),
+	initI2CBusInternal(5)
+};

platforms/qurt/include/px4_arch/i2c_hw_description.h

@@ -0,0 +1,52 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020 PX4 Development Team. 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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <px4_platform_common/i2c.h>
+
+static inline constexpr px4_i2c_bus_t initI2CBusInternal(int bus)
+{
+	px4_i2c_bus_t ret{};
+	ret.bus = bus;
+	ret.is_external = false;
+	return ret;
+}
+
+static inline constexpr px4_i2c_bus_t initI2CBusExternal(int bus)
+{
+	px4_i2c_bus_t ret{};
+	ret.bus = bus;
+	ret.is_external = true;
+	return ret;
+}

src/lib/drivers/device/CMakeLists.txt

@@ -41,7 +41,7 @@ if (${PX4_PLATFORM} STREQUAL "nuttx")
 		list(APPEND SRCS_PLATFORM nuttx/SPI.cpp)
 	endif()
 elseif((${PX4_PLATFORM} MATCHES "qurt"))
-	# list(APPEND SRCS_PLATFORM qurt/I2C.cpp)
+	list(APPEND SRCS_PLATFORM qurt/I2C.cpp)
 	list(APPEND SRCS_PLATFORM qurt/SPI.cpp)
 	list(APPEND SRCS_PLATFORM qurt/uart.c)
 elseif(UNIX AND NOT APPLE) #TODO: add linux PX4 platform type

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

@@ -42,8 +42,11 @@
 
 #include "I2C.hpp"
 
-#include <dev_fs_lib_i2c.h>
+#if defined(CONFIG_I2C)
+
 #include <px4_platform_common/time.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/i2c_spi_buses.h>
 
 namespace device
 {
@@ -69,6 +72,11 @@ I2C::I2C(uint8_t device_type, const char *name, const int bus, const uint16_t ad
 	PX4_INFO("*** I2C Device ID 0x%x %d", _device_id.devid, _device_id.devid);
 }
 
+I2C::I2C(const I2CSPIDriverConfig &config)
+	: I2C(config.devid_driver_index, config.module_name, config.bus, config.i2c_address, config.bus_frequency)
+{
+}
+
 I2C::~I2C()
 {
 }
@@ -157,3 +165,5 @@ I2C::transfer(const uint8_t *send, const unsigned send_len, uint8_t *recv, const
 }
 
 } // namespace device
+
+#endif

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

@@ -37,11 +37,14 @@
  * Base class for devices connected via I2C.
  */
 
-#ifndef _DEVICE_I2C_H
-#define _DEVICE_I2C_H
+#pragma once
 
-#include <px4_arch/i2c_hw_description.h>
 #include "../CDev.hpp"
+#include <px4_platform_common/i2c.h>
+
+#if defined(CONFIG_I2C)
+
+struct I2CSPIDriverConfig;
 
 namespace device __EXPORT
 {
@@ -92,6 +95,7 @@ protected:
 	 * @param frequency	I2C bus frequency for the device (currently not used)
 	 */
 	I2C(uint8_t device_type, const char *name, const int bus, const uint16_t address, const uint32_t frequency);
+	I2C(const I2CSPIDriverConfig &config);
 	virtual ~I2C();
 
 	/**

src/modules/muorb/slpi/uORBProtobufChannel.cpp

@@ -38,6 +38,7 @@
 
 #include <drivers/drv_hrt.h>
 #include <drivers/device/spi.h>
+#include <drivers/device/i2c.h>
 #include <drivers/device/qurt/uart.h>
 #include <pthread.h>
 #include <px4_platform_common/tasks.h>
@@ -280,6 +281,10 @@ int px4muorb_orb_initialize(fc_func_ptrs *func_ptrs, int32_t clock_offset_us)
 
 		uORB::ProtobufChannel::GetInstance()->RegisterSendHandler(muorb_func_ptrs.topic_data_func_ptr);
 
+		// Configure the I2C driver function pointers
+		device::I2C::configure_callbacks(muorb_func_ptrs._config_i2c_bus_func_t, muorb_func_ptrs._set_i2c_address_func_t,
+						 muorb_func_ptrs._i2c_transfer_func_t);
+
 		// Configure the SPI driver function pointers
 		device::SPI::configure_callbacks(muorb_func_ptrs._config_spi_bus_func_t, muorb_func_ptrs._spi_transfer_func_t);