pybricks.iodevices.I2CDevice: Implement for embedded Pybricks.

Also supports async API.

This replaces the smbus version for ev3dev. Some missing methods will be reinstated in future commits.

Author: laurensvalk

bricks/ev3/mpconfigport.h

@@ -30,6 +30,7 @@
 #define PYBRICKS_PY_EXPERIMENTAL                (1)
 #define PYBRICKS_PY_HUBS                        (1)
 #define PYBRICKS_PY_IODEVICES                   (1)
+#define PYBRICKS_PY_IODEVICES_I2CDEVICE         (1)
 #define PYBRICKS_PY_IODEVICES_XBOX_CONTROLLER   (0)
 #define PYBRICKS_PY_MEDIA                       (1)
 #define PYBRICKS_PY_NXTDEVICES                  (1)

lib/pbio/platform/ev3/platform.c

@@ -322,7 +322,7 @@ const pbdrv_ioport_platform_data_t pbdrv_ioport_platform_data[PBDRV_CONFIG_IOPOR
         #if PBDRV_CONFIG_UART_DEBUG_FIRST_PORT
         .supported_modes = PBIO_PORT_MODE_UART,
         #else // PBDRV_CONFIG_UART_DEBUG_FIRST_PORT
-        .supported_modes = PBIO_PORT_MODE_UART | PBIO_PORT_MODE_LEGO_DCM,
+        .supported_modes = PBIO_PORT_MODE_UART | PBIO_PORT_MODE_I2C | PBIO_PORT_MODE_LEGO_DCM,
         #endif
     },
     {
@@ -345,7 +345,7 @@ const pbdrv_ioport_platform_data_t pbdrv_ioport_platform_data[PBDRV_CONFIG_IOPOR
             .adc_p1 = 8,
             .adc_p6 = 7,
         },
-        .supported_modes = PBIO_PORT_MODE_UART | PBIO_PORT_MODE_LEGO_DCM,
+        .supported_modes = PBIO_PORT_MODE_UART | PBIO_PORT_MODE_I2C | PBIO_PORT_MODE_LEGO_DCM,
     },
     {
         .port_id = PBIO_PORT_ID_3,
@@ -367,7 +367,7 @@ const pbdrv_ioport_platform_data_t pbdrv_ioport_platform_data[PBDRV_CONFIG_IOPOR
             .adc_p1 = 10,
             .adc_p6 = 9,
         },
-        .supported_modes = PBIO_PORT_MODE_UART | PBIO_PORT_MODE_LEGO_DCM,
+        .supported_modes = PBIO_PORT_MODE_UART | PBIO_PORT_MODE_I2C | PBIO_PORT_MODE_LEGO_DCM,
     },
     {
         .port_id = PBIO_PORT_ID_4,
@@ -389,7 +389,7 @@ const pbdrv_ioport_platform_data_t pbdrv_ioport_platform_data[PBDRV_CONFIG_IOPOR
             .adc_p1 = 12,
             .adc_p6 = 11,
         },
-        .supported_modes = PBIO_PORT_MODE_UART | PBIO_PORT_MODE_LEGO_DCM,
+        .supported_modes = PBIO_PORT_MODE_UART | PBIO_PORT_MODE_I2C | PBIO_PORT_MODE_LEGO_DCM,
     },
 };
 

lib/pbio/src/port.c

@@ -562,6 +562,10 @@ pbio_error_t pbio_port_set_mode(pbio_port_t *port, pbio_port_mode_t mode) {
             // access UART from their own event loop.
             pbdrv_ioport_p5p6_set_mode(port->pdata->pins, PBDRV_IOPORT_P5P6_MODE_UART);
             return PBIO_SUCCESS;
+        case PBIO_PORT_MODE_I2C:
+            // Enable I2C on the port. User controlled; no process needed here.
+            pbdrv_ioport_p5p6_set_mode(port->pdata->pins, PBDRV_IOPORT_P5P6_MODE_I2C);
+            return PBIO_SUCCESS;
         case PBIO_PORT_MODE_QUADRATURE:
             return PBIO_SUCCESS;
         default:

pybricks/iodevices/iodevices.h

@@ -13,6 +13,10 @@
 extern const mp_obj_type_t pb_type_iodevices_PUPDevice;
 extern const mp_obj_type_t pb_type_uart_device;
 
+#if PYBRICKS_PY_IODEVICES_I2CDEVICE
+extern const mp_obj_type_t pb_type_iodevices_I2CDevice;
+#endif
+
 #if PYBRICKS_PY_PUPDEVICES
 
 extern const mp_obj_type_t pb_type_iodevices_LWP3Device;
@@ -24,7 +28,6 @@ extern const mp_obj_type_t pb_type_iodevices_XboxController;
 
 extern const mp_obj_type_t pb_type_iodevices_AnalogSensor;
 extern const mp_obj_type_t pb_type_iodevices_Ev3devSensor;
-extern const mp_obj_type_t pb_type_iodevices_I2CDevice;
 
 #endif // PYBRICKS_PY_EV3DEVICES
 

pybricks/iodevices/pb_module_iodevices.c

@@ -12,6 +12,9 @@ static const mp_rom_map_elem_t iodevices_globals_table[] = {
     { MP_ROM_QSTR(MP_QSTR___name__),         MP_ROM_QSTR(MP_QSTR_iodevices)                },
     { MP_ROM_QSTR(MP_QSTR_PUPDevice),        MP_ROM_PTR(&pb_type_iodevices_PUPDevice)      },
     { MP_ROM_QSTR(MP_QSTR_UARTDevice),       MP_ROM_PTR(&pb_type_uart_device)              },
+    #if PYBRICKS_PY_IODEVICES_I2CDEVICE
+    { MP_ROM_QSTR(MP_QSTR_I2CDevice),        MP_ROM_PTR(&pb_type_iodevices_I2CDevice)      },
+    #endif
     #if PYBRICKS_PY_PUPDEVICES && PYBRICKS_PY_PUPDEVICES_REMOTE
     { MP_ROM_QSTR(MP_QSTR_LWP3Device),       MP_ROM_PTR(&pb_type_iodevices_LWP3Device)     },
     #endif
@@ -22,7 +25,6 @@ static const mp_rom_map_elem_t iodevices_globals_table[] = {
     { MP_ROM_QSTR(MP_QSTR_LUMPDevice),       MP_ROM_PTR(&pb_type_iodevices_PUPDevice)      },
     { MP_ROM_QSTR(MP_QSTR_AnalogSensor),     MP_ROM_PTR(&pb_type_iodevices_AnalogSensor)   },
     { MP_ROM_QSTR(MP_QSTR_Ev3devSensor),     MP_ROM_PTR(&pb_type_iodevices_Ev3devSensor)   },
-    { MP_ROM_QSTR(MP_QSTR_I2CDevice),        MP_ROM_PTR(&pb_type_iodevices_I2CDevice)      },
     #if PYBRICKS_PY_COMMON_MOTORS
     { MP_ROM_QSTR(MP_QSTR_DCMotor),          MP_ROM_PTR(&pb_type_DCMotor)                  },
     #endif