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

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);