AP_HAL_Linux: convert CameraSensor_Mt9v117 to I2CDevice

libraries/AP_HAL_Linux/CameraSensor_Mt9v117.cpp

@@ -15,8 +15,10 @@
 #include <AP_HAL/AP_HAL.h>
 
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
-
 #include "CameraSensor_Mt9v117.h"
+
+#include <utility>
+
 #include "GPIO.h"
 
 /* Cam sensor register definitions */
@@ -106,17 +108,18 @@ extern const AP_HAL::HAL& hal;
 using namespace Linux;
 
 CameraSensor_Mt9v117::CameraSensor_Mt9v117(const char *device_path,
-                                           AP_HAL::I2CDriver *i2c,
-                                           uint8_t addr,
+                                           AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
                                            enum mt9v117_res res,
-                                           uint16_t nrst_gpio,
-                                           uint32_t clock_freq)
+                                           uint16_t nrst_gpio, uint32_t clock_freq)
     : CameraSensor(device_path)
-    , _i2c(i2c)
-    , _addr(addr)
+    , _dev(std::move(dev))
     , _nrst_gpio(nrst_gpio)
     , _clock_freq(clock_freq)
 {
+    if (!_dev) {
+        AP_HAL::panic("Could not find I2C bus for CameraSensor_Mt9v117");
+    }
+
     switch (res) {
     case MT9V117_QVGA:
         _init_sensor();
@@ -137,7 +140,7 @@ uint8_t CameraSensor_Mt9v117::_read_reg8(uint16_t reg)
     buf[0] = (uint8_t) (reg >> 8);
     buf[1] = (uint8_t) (reg & 0xFF);
 
-    if (!_i2c->do_transfer(_addr, buf, 2, buf, 1)) {
+    if (!_dev->transfer(buf, 2, buf, 1)) {
         hal.console->printf("mt9v117: error reading 0x%2x\n", reg);
         return 0;
     }
@@ -152,7 +155,7 @@ void CameraSensor_Mt9v117::_write_reg8(uint16_t reg, uint8_t val)
     buf[1] = (uint8_t) (reg & 0xFF);
     buf[2] = val;
 
-    if (!_i2c->do_transfer(_addr, buf, 3, NULL, 0)) {
+    if (!_dev->transfer(buf, 3, nullptr, 0)) {
         hal.console->printf("mt9v117: error writing 0x%2x\n", reg);
     }
 }
@@ -163,7 +166,7 @@ uint16_t CameraSensor_Mt9v117::_read_reg16(uint16_t reg)
     buf[0] = (uint8_t) (reg >> 8);
     buf[1] = (uint8_t) (reg & 0xFF);
 
-    if (!_i2c->do_transfer(_addr, buf, 2, buf, 2)) {
+    if (!_dev->transfer(buf, 2, buf, 2)) {
         hal.console->printf("mt9v117: error reading 0x%4x\n", reg);
         return 0;
     }
@@ -179,7 +182,7 @@ void CameraSensor_Mt9v117::_write_reg16(uint16_t reg, uint16_t val)
     buf[2] = (uint8_t) (val >> 8);
     buf[3] = (uint8_t) (val & 0xFF);
 
-    if (!_i2c->do_transfer(_addr, buf, 4, NULL, 0)) {
+    if (!_dev->transfer(buf, 4, nullptr, 0)) {
         hal.console->printf("mt9v117: error writing 0x%4x\n", reg);
     }
 }
@@ -194,7 +197,7 @@ void CameraSensor_Mt9v117::_write_reg32(uint16_t reg, uint32_t val)
     buf[4] = (uint8_t) ((val >> 8) & 0xFF);
     buf[5] = (uint8_t) (val & 0xFF);
 
-    if (!_i2c->do_transfer(_addr, buf, 6, NULL, 0)) {
+    if (!_dev->transfer(buf, 6, NULL, 0)) {
         hal.console->printf("mt9v117: error writing 0x%8x\n", reg);
     }
 }
@@ -316,8 +319,7 @@ void CameraSensor_Mt9v117::_apply_patch()
 
     /* write patch */
     for (unsigned int i = 0; i < MT9V117_PATCH_LINE_NUM; i++) {
-        _i2c->do_transfer(_addr,
-                          _patch_lines[i].data, _patch_lines[i].size, NULL, 0);
+        _dev->transfer(_patch_lines[i].data, _patch_lines[i].size, nullptr, 0);
     }
 
     _write_reg16(LOGICAL_ADDRESS_ACCESS, 0x0000);

libraries/AP_HAL_Linux/CameraSensor_Mt9v117.h

@@ -14,6 +14,8 @@
  */
 #pragma once
 
+#include <AP_HAL/I2CDevice.h>
+
 #include "AP_HAL_Linux.h"
 #include "CameraSensor.h"
 
@@ -32,8 +34,9 @@ struct mt9v117_patch {
 
 class CameraSensor_Mt9v117 : public CameraSensor {
 public:
-    CameraSensor_Mt9v117(const char *device_path, AP_HAL::I2CDriver *i2c,
-                         uint8_t addr, enum mt9v117_res res,
+    CameraSensor_Mt9v117(const char *device_path,
+                         AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
+                         enum mt9v117_res res,
                          uint16_t nrst_gpio, uint32_t clock_freq);
 
 private:
@@ -58,7 +61,7 @@ private:
     void _configure_sensor_qvga();
     void _init_sensor();
 
-    AP_HAL::I2CDriver *_i2c;
+    AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;
     uint32_t _clock_freq;
     uint16_t _nrst_gpio = 0xFFFF;
     uint8_t _addr;

libraries/AP_HAL_Linux/OpticalFlow_Onboard.cpp

@@ -80,7 +80,8 @@ void OpticalFlow_Onboard::init(AP_HAL::OpticalFlow::Gyro_Cb get_gyro)
     _pwm->enable(true);
 
     _camerasensor = new CameraSensor_Mt9v117(HAL_OPTFLOW_ONBOARD_SUBDEV_PATH,
-                                             hal.i2c, 0x5D, MT9V117_QVGA,
+                                             hal.i2c_mgr->get_device(0, 0x5D),
+                                             MT9V117_QVGA,
                                              BEBOP_GPIO_CAMV_NRST,
                                              BEBOP_CAMV_PWM_FREQ);
     if (!_camerasensor->set_format(HAL_OPTFLOW_ONBOARD_SENSOR_WIDTH,