AP_BattMonitor: AP_BattMonitor_SMBus: use I2CDevice interface

libraries/AP_BattMonitor/AP_BattMonitor.cpp

@@ -175,7 +175,8 @@ AP_BattMonitor::init()
 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4
                 drivers[instance] = new AP_BattMonitor_SMBus_PX4(*this, instance, state[instance]);
 #else
-                drivers[instance] = new AP_BattMonitor_SMBus_I2C(*this, instance, state[instance]);
+                drivers[instance] = new AP_BattMonitor_SMBus_I2C(*this, instance, state[instance],
+                                                                 hal.i2c_mgr->get_device(0, BATTMONITOR_SMBUS_I2C_ADDR));
 #endif
                 _num_instances++;
                 break;

libraries/AP_BattMonitor/AP_BattMonitor_SMBus_I2C.cpp

@@ -4,6 +4,7 @@
 #include <AP_Math/AP_Math.h>
 #include "AP_BattMonitor.h"
 #include "AP_BattMonitor_SMBus_I2C.h"
+#include <utility>
 
 extern const AP_HAL::HAL& hal;
 
@@ -11,8 +12,6 @@ extern const AP_HAL::HAL& hal;
 
 #if CONFIG_HAL_BOARD != HAL_BOARD_PX4
 
-#define BATTMONITOR_SMBUS_I2C_ADDR  0x0B    // default I2C bus address
-
 #define BATTMONITOR_SMBUS_TEMP      0x08    // temperature register
 #define BATTMONITOR_SMBUS_VOLTAGE   0x09    // voltage register
 #define BATTMONITOR_SMBUS_FULL_CHARGE_CAPACITY  0x10    // full capacity register
@@ -28,8 +27,11 @@ extern const AP_HAL::HAL& hal;
 #define BATTMONITOR_SMBUS_CURRENT               0x2a    // current register
 
 // Constructor
-AP_BattMonitor_SMBus_I2C::AP_BattMonitor_SMBus_I2C(AP_BattMonitor &mon, uint8_t instance, AP_BattMonitor::BattMonitor_State &mon_state) :
-    AP_BattMonitor_SMBus(mon, instance, mon_state)
+AP_BattMonitor_SMBus_I2C::AP_BattMonitor_SMBus_I2C(AP_BattMonitor &mon, uint8_t instance,
+                                                   AP_BattMonitor::BattMonitor_State &mon_state,
+                                                   AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev) :
+    AP_BattMonitor_SMBus(mon, instance, mon_state),
+    _dev(std::move(dev))
 {}
 
 /// Read the battery voltage and current.  Should be called at 10hz
@@ -62,26 +64,23 @@ void AP_BattMonitor_SMBus_I2C::read()
 // returns true if read was successful, false if failed
 bool AP_BattMonitor_SMBus_I2C::read_word(uint8_t reg, uint16_t& data) const
 {
-    // get pointer to i2c bus semaphore
-    AP_HAL::Semaphore* i2c_sem = hal.i2c->get_semaphore();
-
     // take i2c bus semaphore
-    if (!i2c_sem->take_nonblocking()) {
+    if (!_dev->get_semaphore()->take_nonblocking()) {
         return false;
     }
 
     uint8_t buff[3];    // buffer to hold results
 
     // read three bytes and place in last three bytes of buffer
-    if (hal.i2c->readRegisters(BATTMONITOR_SMBUS_I2C_ADDR, reg, 3, buff) != 0) {
-        i2c_sem->give();
+    if (!_dev->read_registers(reg, buff, sizeof(buff))) {
+        _dev->get_semaphore()->give();
         return false;
     }
 
     // check PEC
     uint8_t pec = get_PEC(BATTMONITOR_SMBUS_I2C_ADDR, reg, true, buff, 2);
     if (pec != buff[2]) {
-        i2c_sem->give();
+        _dev->get_semaphore()->give();
         return false;
     }
 
@@ -89,7 +88,7 @@ bool AP_BattMonitor_SMBus_I2C::read_word(uint8_t reg, uint16_t& data) const
     data = (uint16_t)buff[1]<<8 | (uint16_t)buff[0];
 
     // give back i2c semaphore
-    i2c_sem->give();
+    _dev->get_semaphore()->give();
 
     // return success
     return true;
@@ -100,22 +99,19 @@ uint8_t AP_BattMonitor_SMBus_I2C::read_block(uint8_t reg, uint8_t* data, uint8_t
 {
     uint8_t buff[max_len+2];    // buffer to hold results (2 extra byte returned holding length and PEC)
 
-    // get pointer to i2c bus semaphore
-    AP_HAL::Semaphore* i2c_sem = hal.i2c->get_semaphore();
-
     // take i2c bus semaphore
-    if (!i2c_sem->take_nonblocking()) {
+    if (!_dev->get_semaphore()->take_nonblocking()) {
         return 0;
     }
 
     // read bytes
-    if (hal.i2c->readRegisters(BATTMONITOR_SMBUS_I2C_ADDR, reg, max_len+2, buff) != 0) {
-        i2c_sem->give();
+    if (!_dev->read_registers(reg, buff, sizeof(buff))) {
+        _dev->get_semaphore()->give();
         return 0;
     }
 
     // give back i2c semaphore
-    i2c_sem->give();
+    _dev->get_semaphore()->give();
 
     // get length
     uint8_t bufflen = buff[0];

libraries/AP_BattMonitor/AP_BattMonitor_SMBus_I2C.h

@@ -5,13 +5,18 @@
 #include <AP_Param/AP_Param.h>
 #include <AP_Math/AP_Math.h>
 #include "AP_BattMonitor_SMBus.h"
+#include <AP_HAL/I2CDevice.h>
+
+#define BATTMONITOR_SMBUS_I2C_ADDR 0x0B    // default I2C bus address
 
 class AP_BattMonitor_SMBus_I2C : public AP_BattMonitor_SMBus
 {
 public:
 
     // Constructor
-    AP_BattMonitor_SMBus_I2C(AP_BattMonitor &mon, uint8_t instance, AP_BattMonitor::BattMonitor_State &mon_state);
+    AP_BattMonitor_SMBus_I2C(AP_BattMonitor &mon, uint8_t instance,
+                             AP_BattMonitor::BattMonitor_State &mon_state,
+                             AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
 
     // Read the battery voltage and current.  Should be called at 10hz
     void read();
@@ -28,4 +33,6 @@ private:
     // get_PEC - calculate PEC for a read or write from the battery
     //  buff is the data that was read or will be written
     uint8_t get_PEC(const uint8_t i2c_addr, uint8_t cmd, bool reading, const uint8_t buff[], uint8_t len) const;
+
+    AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;
 };