major refactor and implement hal

components/fk/src/main.c

@@ -4,18 +4,27 @@
 
 int app_main(void)
 {
-	mpu6050_init();
+	mpu6050_handle_t mpu6050_handle;
+	mpu6050_config_t mpu6050_config = {
+		.fs  = FS_SEL_500,
+		.afs = AFS_SEL_4G,
+		.scl = (gpio_num_t) (40),
+		.sda = (gpio_num_t) (37),
+	};
 
-	i2c_mpu6050_raw_gyro_t raw_gyro;
+	mpu6050_init(&mpu6050_handle, &mpu6050_config);
+
+	mpu6050_raw_gyro_t raw_gyro;
 
 	float x, y, z;
 	for (;;) {
-		mpu6050_get_raw_gyro(dev_handle, &raw_gyro);
+		mpu6050_get_raw_gyro(&mpu6050_handle, &raw_gyro);
 		x = raw_gyro.gyro_raw_xout / 65.5;
 		y = raw_gyro.gyro_raw_yout / 65.5;
 		z = raw_gyro.gyro_raw_zout / 65.5;
 		printf("%f %f %f\n", x, y, z);
 		vTaskDelay(pdMS_TO_TICKS(10));
 	}
+
 	return EXIT_SUCCESS;
 }

lib/drivers/SConscript.py

@@ -7,6 +7,7 @@
         env.Dir(f'{dir}')
         for dir in [
             'mpu6050',
+            'hal',
         ]
     ]
 )
@@ -16,6 +17,7 @@
         f'{driver}/SConscript.py'
         for driver in [
             'mpu6050',
+            'hal',
         ]
     ]
 )

lib/drivers/mpu6050/SConscript.py

@@ -2,6 +2,6 @@
 
 Import('env')
 
-source = [env.File('mpu6050.c')]
+source = [env.File('mpu6050.c'), env.File('i2c_hal_esp32.c')]
 
 Return('source')

lib/drivers/mpu6050/i2c_hal.h

@@ -0,0 +1,24 @@
+#ifndef I2C_HAL_H
+#define I2C_HAL_H
+
+#include <stdint.h>
+
+typedef struct i2c_hal_handle_s i2c_hal_handle_t;
+typedef struct i2c_hal_config_s i2c_hal_config_t;
+
+typedef struct {
+	void (*i2c_hal_init)(i2c_hal_handle_t *i2c_hal_handle,
+		i2c_hal_config_t	      *i2c_hal_config);
+	void (*i2c_hal_read)(i2c_hal_handle_t *i2c_hal_handle,
+		const uint8_t		       addr,
+		uint8_t			      *data,
+		uint32_t		       num_bytes);
+	void (*i2c_hal_write)(i2c_hal_handle_t *i2c_hal_handle,
+		const uint8_t			addr,
+		uint8_t			       *data,
+		uint32_t			num_bytes);
+} i2c_hal_t;
+
+extern i2c_hal_t i2c_hal;
+
+#endif	// I2C_HAL_H

lib/drivers/mpu6050/i2c_hal_esp32.c

@@ -0,0 +1,70 @@
+#include "i2c_hal_esp32.h"
+
+#include "i2c_hal.h"
+
+#include <string.h>
+
+#define I2C_MASTER_PORT I2C_NUM_0
+
+#define I2C_TIMEOUT_MS 500
+
+i2c_hal_t i2c_hal = {
+	.i2c_hal_init  = i2c_hal_init,
+	.i2c_hal_read  = i2c_hal_read,
+	.i2c_hal_write = i2c_hal_write,
+};
+
+void i2c_hal_init(
+	i2c_hal_handle_t *i2c_hal_handle, i2c_hal_config_t *i2c_hal_config)
+{
+	i2c_master_bus_config_t i2c_master_conf = {
+		.clk_source	   = I2C_CLK_SRC_DEFAULT,
+		.i2c_port	   = I2C_MASTER_PORT,
+		.scl_io_num	   = i2c_hal_config->scl,
+		.sda_io_num	   = i2c_hal_config->sda,
+		.glitch_ignore_cnt = 7,
+	};
+
+	i2c_master_bus_handle_t bus_handle;
+
+	ESP_ERROR_CHECK(i2c_new_master_bus(&i2c_master_conf, &bus_handle));
+
+	i2c_device_config_t i2c_dev_conf = {
+		.dev_addr_length = I2C_ADDR_BIT_LEN_7,
+
+		// should probably make a check that device_address &
+		// scl_speed_hz is configured properly before we continue
+		.device_address = i2c_hal_config->device_address,
+		.scl_speed_hz	= i2c_hal_config->scl_speed_hz,
+	};
+
+	ESP_ERROR_CHECK(i2c_master_bus_add_device(
+		bus_handle, &i2c_dev_conf, &(i2c_hal_handle->dev_handle)));
+}
+
+void i2c_hal_read(i2c_hal_handle_t *i2c_hal_handle,
+	const uint8_t		    addr,
+	uint8_t			   *data,
+	uint32_t		    num_bytes)
+{
+	i2c_master_transmit_receive(i2c_hal_handle->dev_handle,
+		&addr,
+		1,
+		data,
+		num_bytes,
+		I2C_TIMEOUT_MS);
+}
+
+void i2c_hal_write(i2c_hal_handle_t *i2c_hal_handle,
+	const uint8_t		     addr,
+	uint8_t			    *data,
+	uint32_t		     num_bytes)
+{
+	uint8_t tx[num_bytes + 1];
+	tx[0] = addr;
+
+	memcpy(tx + 1, data, num_bytes);
+
+	i2c_master_transmit(
+		i2c_hal_handle->dev_handle, tx, sizeof(tx), I2C_TIMEOUT_MS);
+}

lib/drivers/mpu6050/i2c_hal_esp32.h

@@ -0,0 +1,30 @@
+#ifndef I2C_HAL_ESP32
+#define I2C_HAL_ESP32
+
+#include "i2c_hal.h"
+#include <driver/i2c_master.h>
+#include <freertos/FreeRTOS.h>
+
+struct i2c_hal_handle_s {
+	i2c_master_dev_handle_t dev_handle;
+};
+
+struct i2c_hal_config_s {
+	uint8_t	 device_address;
+	uint32_t scl_speed_hz;
+	uint8_t	 scl;
+	uint8_t	 sda;
+};
+
+void i2c_hal_init(
+	i2c_hal_handle_t *i2c_hal_handle, i2c_hal_config_t *i2c_hal_config);
+void i2c_hal_read(i2c_hal_handle_t *i2c_hal_handle,
+	const uint8_t		    addr,
+	uint8_t			   *data,
+	uint32_t		    num_bytes);
+void i2c_hal_write(i2c_hal_handle_t *i2c_hal_handle,
+	const uint8_t		     addr,
+	uint8_t			    *data,
+	uint32_t		     num_bytes);
+
+#endif	// I2C_HAL_ESP32