Migrate to busDevice infrastructure. Phase 1

Makefile

@@ -557,6 +557,9 @@ COMMON_SRC = \
             config/parameter_group.c \
             drivers/adc.c \
             drivers/buf_writer.c \
+            drivers/bus.c \
+            drivers/bus_busdev_i2c.c \
+            drivers/bus_busdev_spi.c \
             drivers/bus_i2c_soft.c \
             drivers/bus_spi.c \
             drivers/bus_spi_soft.c \

src/main/drivers/accgyro/accgyro_mpu.c

@@ -232,7 +232,7 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro)
 
 #ifdef USE_GYRO_SPI_MPU6000
 #ifdef MPU6000_CS_PIN
-    gyro->bus.spi.csnPin = gyro->bus.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(MPU6000_CS_PIN)) : gyro->bus.spi.csnPin;
+    gyro->bus.busdev.spi.csnPin = gyro->bus.busdev.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(MPU6000_CS_PIN)) : gyro->bus.busdev.spi.csnPin;
 #endif
     sensor = mpu6000SpiDetect(&gyro->bus);
     if (sensor != MPU_NONE) {
@@ -246,7 +246,7 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro)
 
 #ifdef USE_GYRO_SPI_MPU6500
 #ifdef MPU6500_CS_PIN
-    gyro->bus.spi.csnPin = gyro->bus.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(MPU6500_CS_PIN)) : gyro->bus.spi.csnPin;
+    gyro->bus.busdev.spi.csnPin = gyro->bus.busdev.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(MPU6500_CS_PIN)) : gyro->bus.busdev.spi.csnPin;
 #endif
     sensor = mpu6500SpiDetect(&gyro->bus);
     // some targets using MPU_9250_SPI, ICM_20608_SPI or ICM_20602_SPI state sensor is MPU_65xx_SPI
@@ -261,7 +261,7 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro)
 
 #ifdef  USE_GYRO_SPI_MPU9250
 #ifdef MPU9250_CS_PIN
-    gyro->bus.spi.csnPin = gyro->bus.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(MPU9250_CS_PIN)) : gyro->bus.spi.csnPin;
+    gyro->bus.busdev.spi.csnPin = gyro->bus.busdev.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(MPU9250_CS_PIN)) : gyro->bus.busdev.spi.csnPin;
 #endif
     sensor = mpu9250SpiDetect(&gyro->bus);
     if (sensor != MPU_NONE) {
@@ -276,7 +276,7 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro)
 
 #ifdef USE_GYRO_SPI_ICM20608
 #ifdef ICM20608_CS_PIN
-    gyro->bus.spi.csnPin = gyro->bus.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(ICM20608_CS_PIN)) : gyro->bus.spi.csnPin;
+    gyro->bus.busdev.spi.csnPin = gyro->bus.busdev.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(ICM20608_CS_PIN)) : gyro->bus.busdev.spi.csnPin;
 #endif
     sensor = icm20608SpiDetect(&gyro->bus);
     if (sensor != MPU_NONE) {
@@ -290,7 +290,7 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro)
 
 #ifdef USE_GYRO_SPI_ICM20689
 #ifdef ICM20689_CS_PIN
-    gyro->bus.spi.csnPin = gyro->bus.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(ICM20689_CS_PIN)) : gyro->bus.spi.csnPin;
+    gyro->bus.busdev.spi.csnPin = gyro->bus.busdev.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(ICM20689_CS_PIN)) : gyro->bus.busdev.spi.csnPin;
 #endif
     sensor = icm20689SpiDetect(&gyro->bus);
     if (sensor != MPU_NONE) {

src/main/drivers/accgyro/accgyro_spi_mpu6000.c

@@ -105,22 +105,22 @@ static bool mpuSpi6000InitDone = false;
 
 bool mpu6000SpiWriteRegister(const busDevice_t *bus, uint8_t reg, uint8_t data)
 {
-    ENABLE_MPU6000(bus->spi.csnPin);
+    ENABLE_MPU6000(bus->busdev.spi.csnPin);
     delayMicroseconds(1);
     spiTransferByte(MPU6000_SPI_INSTANCE, reg);
     spiTransferByte(MPU6000_SPI_INSTANCE, data);
-    DISABLE_MPU6000(bus->spi.csnPin);
+    DISABLE_MPU6000(bus->busdev.spi.csnPin);
     delayMicroseconds(1);
 
     return true;
 }
 
 bool mpu6000SpiReadRegister(const busDevice_t *bus, uint8_t reg, uint8_t length, uint8_t *data)
 {
-    ENABLE_MPU6000(bus->spi.csnPin);
+    ENABLE_MPU6000(bus->busdev.spi.csnPin);
     spiTransferByte(MPU6000_SPI_INSTANCE, reg | 0x80); // read transaction
     spiTransfer(MPU6000_SPI_INSTANCE, data, NULL, length);
-    DISABLE_MPU6000(bus->spi.csnPin);
+    DISABLE_MPU6000(bus->busdev.spi.csnPin);
 
     return true;
 }
@@ -156,8 +156,8 @@ bool mpu6000SpiDetect(const busDevice_t *bus)
     uint8_t in;
     uint8_t attemptsRemaining = 5;
 
-    IOInit(bus->spi.csnPin, OWNER_MPU, RESOURCE_SPI_CS, 0);
-    IOConfigGPIO(bus->spi.csnPin, SPI_IO_CS_CFG);
+    IOInit(bus->busdev.spi.csnPin, OWNER_MPU, RESOURCE_SPI_CS, 0);
+    IOConfigGPIO(bus->busdev.spi.csnPin, SPI_IO_CS_CFG);
 
     spiSetSpeed(MPU6000_SPI_INSTANCE, SPI_CLOCK_INITIALIZATON);
 

src/main/drivers/accgyro/accgyro_spi_mpu6500.c

@@ -44,22 +44,22 @@
 
 bool mpu6500SpiWriteRegister(const busDevice_t *bus, uint8_t reg, uint8_t data)
 {
-    ENABLE_MPU6500(bus->spi.csnPin);
+    ENABLE_MPU6500(bus->busdev.spi.csnPin);
     delayMicroseconds(1);
     spiTransferByte(MPU6500_SPI_INSTANCE, reg);
     spiTransferByte(MPU6500_SPI_INSTANCE, data);
-    DISABLE_MPU6500(bus->spi.csnPin);
+    DISABLE_MPU6500(bus->busdev.spi.csnPin);
     delayMicroseconds(1);
 
     return true;
 }
 
 bool mpu6500SpiReadRegister(const busDevice_t *bus, uint8_t reg, uint8_t length, uint8_t *data)
 {
-    ENABLE_MPU6500(bus->spi.csnPin);
+    ENABLE_MPU6500(bus->busdev.spi.csnPin);
     spiTransferByte(MPU6500_SPI_INSTANCE, reg | 0x80); // read transaction
     spiTransfer(MPU6500_SPI_INSTANCE, data, NULL, length);
-    DISABLE_MPU6500(bus->spi.csnPin);
+    DISABLE_MPU6500(bus->busdev.spi.csnPin);
 
     return true;
 }
@@ -72,8 +72,8 @@ static void mpu6500SpiInit(const busDevice_t *bus)
         return;
     }
 
-    IOInit(bus->spi.csnPin, OWNER_MPU, RESOURCE_SPI_CS, 0);
-    IOConfigGPIO(bus->spi.csnPin, SPI_IO_CS_CFG);
+    IOInit(bus->busdev.spi.csnPin, OWNER_MPU, RESOURCE_SPI_CS, 0);
+    IOConfigGPIO(bus->busdev.spi.csnPin, SPI_IO_CS_CFG);
 
     spiSetSpeed(MPU6500_SPI_INSTANCE, SPI_CLOCK_FAST);
 

src/main/drivers/accgyro/accgyro_spi_mpu9250.c

@@ -54,33 +54,33 @@ static bool mpuSpi9250InitDone = false;
 
 bool mpu9250SpiReadRegister(const busDevice_t *bus, uint8_t reg, uint8_t length, uint8_t *data)
 {
-    ENABLE_MPU9250(bus->spi.csnPin);
+    ENABLE_MPU9250(bus->busdev.spi.csnPin);
     spiTransferByte(MPU9250_SPI_INSTANCE, reg | 0x80); // read transaction
     spiTransfer(MPU9250_SPI_INSTANCE, data, NULL, length);
-    DISABLE_MPU9250(bus->spi.csnPin);
+    DISABLE_MPU9250(bus->busdev.spi.csnPin);
 
     return true;
 }
 
 bool mpu9250SpiSlowReadRegister(const busDevice_t *bus, uint8_t reg, uint8_t length, uint8_t *data)
 {
-    ENABLE_MPU9250(bus->spi.csnPin);
+    ENABLE_MPU9250(bus->busdev.spi.csnPin);
     delayMicroseconds(1);
     spiTransferByte(MPU9250_SPI_INSTANCE, reg | 0x80); // read transaction
     spiTransfer(MPU9250_SPI_INSTANCE, data, NULL, length);
-    DISABLE_MPU9250(bus->spi.csnPin);
+    DISABLE_MPU9250(bus->busdev.spi.csnPin);
     delayMicroseconds(1);
 
     return true;
 }
 
 bool mpu9250SpiWriteRegister(const busDevice_t *bus, uint8_t reg, uint8_t data)
 {
-    ENABLE_MPU9250(bus->spi.csnPin);
+    ENABLE_MPU9250(bus->busdev.spi.csnPin);
     delayMicroseconds(1);
     spiTransferByte(MPU9250_SPI_INSTANCE, reg);
     spiTransferByte(MPU9250_SPI_INSTANCE, data);
-    DISABLE_MPU9250(bus->spi.csnPin);
+    DISABLE_MPU9250(bus->busdev.spi.csnPin);
     delayMicroseconds(1);
 
     return true;
@@ -158,8 +158,8 @@ static void mpu9250AccAndGyroInit(gyroDev_t *gyro)
 bool mpu9250SpiDetect(const busDevice_t *bus)
 {
     /* not the best place for this - should really have an init method */
-    IOInit(bus->spi.csnPin, OWNER_MPU, RESOURCE_SPI_CS, 0);
-    IOConfigGPIO(bus->spi.csnPin, SPI_IO_CS_CFG);
+    IOInit(bus->busdev.spi.csnPin, OWNER_MPU, RESOURCE_SPI_CS, 0);
+    IOConfigGPIO(bus->busdev.spi.csnPin, SPI_IO_CS_CFG);
 
     spiSetSpeed(MPU9250_SPI_INSTANCE, SPI_CLOCK_INITIALIZATON); //low speed
     mpu9250SpiWriteRegister(bus, MPU_RA_PWR_MGMT_1, MPU9250_BIT_RESET);

src/main/drivers/barometer/barometer_spi_bmp280.c

@@ -21,7 +21,7 @@
 #include <platform.h>
 
 #include "drivers/io.h"
-#include "drivers/bus_spi.h"
+#include "drivers/bus.h"
 
 #include "drivers/barometer/barometer.h"
 #include "drivers/barometer/barometer_bmp280.h"
@@ -35,6 +35,8 @@ extern int32_t bmp280_ut;
 
 static IO_t bmp280CsPin = IO_NONE;
 
+BUSDEV_REGISTER_SPI(bmp280_busdev, DEVHW_BMP280, 0, BMP280_CS_PIN);
+
 bool bmp280WriteRegister(uint8_t reg, uint8_t data)
 {
     ENABLE_BMP280;

src/main/drivers/bus.c

@@ -0,0 +1,158 @@
+/*
+ * This file is part of INAV.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this file,
+ * You can obtain one at http://mozilla.org/MPL/2.0/.
+ *
+ * Alternatively, the contents of this file may be used under the terms
+ * of the GNU General Public License Version 3, as described below:
+ *
+ * This file is free software: you may copy, redistribute and/or modify
+ * it under the terms of the GNU General Public License as published by the
+ * Free Software Foundation, either version 3 of the License, or (at your
+ * option) any later version.
+ *
+ * This file is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
+ * Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see http://www.gnu.org/licenses/.
+ */
+
+#include "platform.h"
+
+#include "drivers/bus.h"
+#include "drivers/io.h"
+
+static void busDevPreInit_SPI(const busDeviceDescriptor_t * descriptor)
+{
+    // Pre-initialize SPI device chip-select line to input with weak pull-up
+    IO_t io = IOGetByTag(descriptor->busdev.spi.csnPin);
+    if (io) {
+        IOInit(io, OWNER_SPI_PREINIT, RESOURCE_SPI_CS, 0);
+        IOConfigGPIO(io, IOCFG_IPU);
+    }
+}
+
+void busInit(void)
+{
+    /* Pre-initialize bus devices */
+    for (const busDeviceDescriptor_t * descriptor = __busdev_registry_start; (descriptor) < __busdev_registry_end; descriptor++) {
+        switch (descriptor->busType) {
+            case BUSTYPE_NONE:
+                break;
+
+            case BUSTYPE_I2C:
+                break;
+
+            case BUSTYPE_SPI:
+                busDevPreInit_SPI(descriptor);
+                break;
+        }
+    }
+}
+
+static bool busDevInit_I2C(busDevice_t * dev, const busDeviceDescriptor_t * descriptor)
+{
+    dev->busType = descriptor->busType;
+    dev->busdev.i2c.i2cBus = descriptor->busdev.i2c.i2cBus;
+    dev->busdev.i2c.address = descriptor->busdev.i2c.address;
+    return true;
+}
+
+static bool busDevInit_SPI(busDevice_t * dev, const busDeviceDescriptor_t * descriptor, resourceOwner_e owner)
+{
+    dev->busType = descriptor->busType;
+    dev->busdev.spi.spiBus = descriptor->busdev.spi.spiBus;
+    dev->busdev.spi.csnPin = IOGetByTag(descriptor->busdev.spi.csnPin);
+
+    if (dev->busdev.spi.csnPin) {
+        IOInit(dev->busdev.spi.csnPin, owner, RESOURCE_SPI_CS, 0);
+        IOConfigGPIO(dev->busdev.spi.csnPin, SPI_IO_CS_CFG);
+        IOHi(dev->busdev.spi.csnPin);
+        return true;
+    }
+
+    return false;
+}
+
+bool busDeviceInit(busDevice_t * dev, busType_e bus, devHardwareType_e hw, resourceOwner_e owner)
+{
+    for (const busDeviceDescriptor_t * descriptor = __busdev_registry_start; (descriptor) < __busdev_registry_end; descriptor++) {
+        if (hw == descriptor->devHwType && (bus == descriptor->busType || bus == BUSTYPE_ANY)) {
+            switch (descriptor->busType) {
+                case BUSTYPE_NONE:
+                    dev->busType = BUSTYPE_NONE;
+                    return false;
+
+                case BUSTYPE_I2C:
+                    return busDevInit_I2C(dev, descriptor);
+
+                case BUSTYPE_SPI:
+                    return busDevInit_SPI(dev, descriptor, owner);
+                    break;
+            }
+        }
+    }
+
+    return false;
+}
+
+/*
+bool busWriteBuf(const busDevice_t * dev, uint8_t reg, uint8_t * data, uint8_t length)
+{
+    switch (dev->busType) {
+        case BUSTYPE_NONE:
+            return false;
+        case BUSTYPE_SPI:
+            return spiBusWriteBuffer(dev, reg & 0x7f, data, length);
+        case BUSTYPE_I2C:
+            return i2cBusWriteBuffer(dev, reg, data);
+    }
+}
+*/
+
+bool busWrite(const busDevice_t * dev, uint8_t reg, uint8_t data)
+{
+    switch (dev->busType) {
+        case BUSTYPE_NONE:
+            return false;
+        case BUSTYPE_SPI:
+            return spiBusWriteRegister(dev, reg & 0x7f, data);
+        case BUSTYPE_I2C:
+            return i2cBusWriteRegister(dev, reg, data);
+    }
+
+    return false;
+}
+
+bool busReadBuf(const busDevice_t * dev, uint8_t reg, uint8_t * data, uint8_t length)
+{
+    switch (dev->busType) {
+        case BUSTYPE_NONE:
+            return false;
+        case BUSTYPE_SPI:
+            return spiBusReadBuffer(dev, reg | 0x80, data, length);
+        case BUSTYPE_I2C:
+            return i2cBusReadBuffer(dev, reg, data, length);
+    }
+
+    return false;
+}
+
+bool busRead(const busDevice_t * dev, uint8_t reg, uint8_t * data)
+{
+    switch (dev->busType) {
+        case BUSTYPE_SPI:
+            return spiBusReadRegister(dev, reg | 0x80, data);
+        case BUSTYPE_I2C:
+            return i2cBusReadRegister(dev, reg, data);
+        case BUSTYPE_NONE:
+            return false;
+    }
+
+    return false;
+}