Merge pull request #2548 from iNavFlight/de_busdev_i2c

Conversion to busDevice (further steps & cleanups)

src/main/drivers/accgyro/accgyro.h

@@ -23,10 +23,6 @@
 #include "drivers/sensor.h"
 #include "drivers/accgyro/accgyro_mpu.h"
 
-#ifndef MPU_I2C_INSTANCE
-#define MPU_I2C_INSTANCE I2C_DEVICE
-#endif
-
 #define GYRO_LPF_256HZ      0
 #define GYRO_LPF_188HZ      1
 #define GYRO_LPF_98HZ       2

src/main/drivers/accgyro/accgyro_mma845x.c

@@ -28,10 +28,6 @@
 #include "drivers/accgyro/accgyro.h"
 #include "drivers/accgyro/accgyro_mma845x.h"
 
-#ifndef MMA8452_I2C_INSTANCE
-#define MMA8452_I2C_INSTANCE I2CDEV_1
-#endif
-
 // MMA8452QT, Standard address 0x1C
 // ACC_INT2 routed to PA5
 

src/main/drivers/bus.h

@@ -104,6 +104,10 @@ typedef enum {
     DEVHW_SRF10,
     DEVHW_HCSR04_I2C,   // DIY-style adapter
     DEVHW_VL53L0X,
+
+    /* Other hardware */
+    DEVHW_MS4525,       // Pitot meter
+    DEVHW_PCA9685,      // PWM output device
 } devHardwareType_e;
 
 typedef enum {

src/main/drivers/bus_i2c.h

@@ -27,10 +27,6 @@
 #include "drivers/io_types.h"
 #include "drivers/rcc_types.h"
 
-#ifndef I2C_DEVICE
-#define I2C_DEVICE I2CINVALID
-#endif
-
 typedef enum {  // Weird mapping to keep config compatible with previos version
     I2C_SPEED_100KHZ    = 2,
     I2C_SPEED_200KHZ    = 3,
@@ -40,6 +36,7 @@ typedef enum {  // Weird mapping to keep config compatible with previos version
 
 typedef enum I2CDevice {
     I2CINVALID = -1,
+    I2CDEV_EMULATED = -1,   // Hack until we have proper I2C abstraction
     I2CDEV_1   = 0,
     I2CDEV_2,
     I2CDEV_3,

src/main/drivers/compass/compass_qmc5883l.c

@@ -86,8 +86,8 @@ static bool qmc5883Init(magDev_t * mag)
     bool ack = true;
 
     ack = ack && busWrite(mag->busDev, 0x0B, 0x01);
-    // ack = ack && i2cWrite(MAG_I2C_INSTANCE, QMC5883L_MAG_I2C_ADDRESS, 0x20, 0x40);
-    // ack = ack && i2cWrite(MAG_I2C_INSTANCE, QMC5883L_MAG_I2C_ADDRESS, 0x21, 0x01);
+    // ack = ack && i2cWrite(busWrite(mag->busDev, 0x20, 0x40);
+    // ack = ack && i2cWrite(busWrite(mag->busDev, 0x21, 0x01);
     ack = ack && busWrite(mag->busDev, QMC5883L_REG_CONF1, QMC5883L_MODE_CONTINUOUS | QMC5883L_ODR_200HZ | QMC5883L_OSR_512 | QMC5883L_RNG_8G);
 
     return ack;

src/main/drivers/io_pca9685.c

@@ -1,14 +1,18 @@
 #include <stdbool.h>
 #include <stdint.h>
 
-#include <platform.h>
+#include "platform.h"
 
-#include "drivers/gpio.h"
-#include "drivers/time.h"
-#include "drivers/bus_i2c.h"
+#include "build/build_config.h"
 
+#include "common/time.h"
 #include "common/maths.h"
 
+#include "drivers/io.h"
+#include "drivers/time.h"
+#include "drivers/bus.h"
+#include "drivers/bus_i2c.h"
+
 #define PCA9685_ADDR 0x40
 #define PCA9685_MODE1 0x00
 #define PCA9685_PRESCALE 0xFE
@@ -22,20 +26,21 @@
 #define PCA9685_SERVO_COUNT 16
 #define PCA9685_SYNC_THRESHOLD 5
 
-uint16_t currentOutputState[PCA9685_SERVO_COUNT] = {0};
-uint16_t temporaryOutputState[PCA9685_SERVO_COUNT] = {0};
+static busDevice_t * busDev;
+static uint16_t currentOutputState[PCA9685_SERVO_COUNT] = {0};
+static uint16_t temporaryOutputState[PCA9685_SERVO_COUNT] = {0};
 
 void pca9685setPWMOn(uint8_t servoIndex, uint16_t on) {
     if (servoIndex < PCA9685_SERVO_COUNT) {
-        i2cWrite(I2C_DEVICE, PCA9685_ADDR, LED0_ON_L + (servoIndex * 4), on);
-        i2cWrite(I2C_DEVICE, PCA9685_ADDR, LED0_ON_H + (servoIndex * 4), on>>8);
+        busWrite(busDev, LED0_ON_L + (servoIndex * 4), on);
+        busWrite(busDev, LED0_ON_H + (servoIndex * 4), on>>8);
     }
 }
 
 void pca9685setPWMOff(uint8_t servoIndex, uint16_t off) {
     if (servoIndex < PCA9685_SERVO_COUNT) {
-        i2cWrite(I2C_DEVICE, PCA9685_ADDR, LED0_OFF_L + (servoIndex * 4), off);
-        i2cWrite(I2C_DEVICE, PCA9685_ADDR, LED0_OFF_H + (servoIndex * 4), off>>8);
+        busWrite(busDev, LED0_OFF_L + (servoIndex * 4), off);
+        busWrite(busDev, LED0_OFF_H + (servoIndex * 4), off>>8);
     }
 }
 
@@ -87,40 +92,53 @@ void pca9685setPWMFreq(uint16_t freq) {
   prescaleval /= freq;
   prescaleval -= 1;
 
-  i2cWrite(I2C_DEVICE, PCA9685_ADDR, PCA9685_MODE1, 16);
+  busWrite(busDev, PCA9685_MODE1, 16);
   delay(1);
-  i2cWrite(I2C_DEVICE, PCA9685_ADDR, PCA9685_PRESCALE, (uint8_t) prescaleval);
+  busWrite(busDev, PCA9685_PRESCALE, (uint8_t) prescaleval);
   delay(1);
-  i2cWrite(I2C_DEVICE, PCA9685_ADDR, PCA9685_MODE1, 128);
+  busWrite(busDev, PCA9685_MODE1, 128);
 }
 
-bool pca9685Initialize(void) {
+static bool deviceDetect(busDevice_t * busDev)
+{
+    for (int retry = 0; retry < 5; retry++) {
+        uint8_t sig;
 
-    bool ack = false;
-    uint8_t sig;
+        delay(150);
 
-    ack = i2cRead(I2C_DEVICE, PCA9685_ADDR, PCA9685_MODE1, 1, &sig);
-
-    if (!ack) {
-        return false;
-    } else {
-        /*
-        Reset device
-        */
-        i2cWrite(I2C_DEVICE, PCA9685_ADDR, PCA9685_MODE1, 0x0);
-
-        /*
-        Set refresh rate
-        */
-        pca9685setPWMFreq(PCA9685_SERVO_FREQUENCY);
-
-        delay(1);
-
-        for (uint8_t i = 0; i < PCA9685_SERVO_COUNT; i++) {
-            pca9685setPWMOn(i, 0);
-            pca9685setPWMOff(i, 1500);
+        bool ack = busRead(busDev, PCA9685_MODE1, &sig);
+        if (ack) {
+            return true;
         }
+    };
 
-        return true;
-    }
+    return false;
+}
+
+bool pca9685Initialize(void)
+{
+    busDev = busDeviceInit(BUSTYPE_I2C, DEVHW_PCA9685, 0, 0);
+    if (busDev == NULL) {
+        return false;
+    }
+
+    if (!deviceDetect(busDev)) {
+        busDeviceDeInit(busDev);
+        return false;
+    }
+
+    /* Reset device */
+    busWrite(busDev, PCA9685_MODE1, 0x00);
+
+    /* Set refresh rate */
+    pca9685setPWMFreq(PCA9685_SERVO_FREQUENCY);
+
+    delay(1);
+
+    for (uint8_t i = 0; i < PCA9685_SERVO_COUNT; i++) {
+        pca9685setPWMOn(i, 0);
+        pca9685setPWMOff(i, 1500);
+    }
+
+    return true;
 }

src/main/drivers/pitotmeter.h

@@ -16,17 +16,17 @@
  */
 
 #pragma once
+#include "drivers/bus.h"
 
-typedef void (*pitotOpFuncPtr)(void);                       // pitot start operation
-typedef void (*pitotCalculateFuncPtr)(float *pressure, float *temperature); // airspeed calculation (filled params are pressure and temperature)
+struct pitotDev_s;
 
-typedef struct pitotDev_t {
+typedef void (*pitotOpFuncPtr)(struct pitotDev_s * pitot);                       // pitot start operation
+typedef void (*pitotCalculateFuncPtr)(struct pitotDev_s * pitot, float *pressure, float *temperature); // airspeed calculation (filled params are pressure and temperature)
+
+typedef struct pitotDev_s {
+    busDevice_t * busDev;
     uint16_t delay;
     pitotOpFuncPtr start;
     pitotOpFuncPtr get;
     pitotCalculateFuncPtr calculate;
 } pitotDev_t;
-
-#ifndef PITOT_I2C_INSTANCE
-#define PITOT_I2C_INSTANCE I2C_DEVICE
-#endif

src/main/drivers/pitotmeter_adc.c

@@ -22,6 +22,8 @@
 
 #include "build/build_config.h"
 
+#include "common/utils.h"
+
 #include "pitotmeter.h"
 #include "pitotmeter_adc.h"
 #include "adc.h"
@@ -36,16 +38,19 @@
 #define PITOT_ADC_VOLTAGE_ZERO          (2.5f)              // Pressure offset is 2.5V
 #define PITOT_ADC_VOLTAGE_TO_PRESSURE   (1000.0f)           // 1V/kPa = 1000 Pa/V
 
-static void adcPitotStart(void)
+static void adcPitotStart(pitotDev_t *pitot)
 {
+    UNUSED(pitot);
 }
 
-static void adcPitotRead(void)
+static void adcPitotRead(pitotDev_t *pitot)
 {
+    UNUSED(pitot);
 }
 
-static void adcPitotCalculate(float *pressure, float *temperature)
+static void adcPitotCalculate(pitotDev_t *pitot, float *pressure, float *temperature)
 {
+    UNUSED(pitot);
     uint16_t adcRaw = adcGetChannel(ADC_AIRSPEED);
     float voltage = (float)adcRaw * (3.3f / 4095.0f);  // 12 bit ADC with 3.3V VREF
 

src/main/drivers/pitotmeter_fake.c

@@ -22,6 +22,8 @@
 
 #include "build/build_config.h"
 
+#include "common/utils.h"
+
 #include "pitotmeter.h"
 #include "pitotmeter_fake.h"
 
@@ -29,16 +31,19 @@
 static int32_t fakePressure;
 static int32_t fakeTemperature;
 
-static void fakePitotStart(void)
+static void fakePitotStart(pitotDev_t *pitot)
 {
+    UNUSED(pitot);
 }
 
-static void fakePitotRead(void)
+static void fakePitotRead(pitotDev_t *pitot)
 {
+    UNUSED(pitot);
 }
 
-static void fakePitotCalculate(float *pressure, float *temperature)
+static void fakePitotCalculate(pitotDev_t *pitot, float *pressure, float *temperature)
 {
+    UNUSED(pitot);
     if (pressure)
         *pressure = fakePressure;    // Pa
     if (temperature)

src/main/drivers/pitotmeter_ms4525.c

@@ -28,60 +28,28 @@
 
 // MS4525, Standard address 0x28
 #define MS4525_ADDR                 0x28
-//#define MS4525_ADDR                 0x36
-//#define MS4525_ADDR                 0x46
-
-static void ms4525_start(void);
-static void ms4525_read(void);
-static void ms4525_calculate(float *pressure, float *temperature);
 
 static uint16_t ms4525_ut;  // static result of temperature measurement
 static uint16_t ms4525_up;  // static result of pressure measurement
 static uint8_t rxbuf[4];
 
-bool ms4525Detect(pitotDev_t *pitot)
+static void ms4525_start(pitotDev_t * pitot)
 {
-    bool ack = false;
-
-    // Read twice to fix:
-    // Sending a start-stop condition without any transitions on the SCL line (no clock pulses in between) creates a
-    // communication error for the next communication, even if the next start condition is correct and the clock pulse is applied.
-    // An additional start condition must be sent, which results in restoration of proper communication.
-    ack = i2cRead( PITOT_I2C_INSTANCE, MS4525_ADDR, 0xFF, 4, rxbuf );
-    ack = i2cRead( PITOT_I2C_INSTANCE, MS4525_ADDR, 0xFF, 4, rxbuf );
-    if (!ack)
-        return false;
-
-    pitot->delay = 10000;
-    pitot->start = ms4525_start;
-    pitot->get = ms4525_read;
-    pitot->calculate = ms4525_calculate;
-    ms4525_read();
-    return true;
+    busReadBuf( pitot->busDev, 0xFF, rxbuf, 4 );
 }
 
-static void ms4525_start(void)
+static void ms4525_read(pitotDev_t * pitot)
 {
-    i2cRead( PITOT_I2C_INSTANCE, MS4525_ADDR, 0xFF, 4, rxbuf );
-}
-
-static void ms4525_read(void)
-{
-    if (i2cRead( PITOT_I2C_INSTANCE, MS4525_ADDR, 0xFF, 4, rxbuf )) {
+    if (busReadBuf( pitot->busDev, 0xFF, rxbuf, 4 )) {
         ms4525_up = (rxbuf[0] << 8) | (rxbuf[1] << 0);
         ms4525_ut = ((rxbuf[2] << 8) | (rxbuf[3] << 0))>>5;
     }
 }
 
-
-void voltage_correction(float *pressure, float *temperature)
+static void ms4525_calculate(pitotDev_t * pitot, float *pressure, float *temperature)
 {
-    UNUSED(pressure);
-    UNUSED(temperature);
-}
+    UNUSED(pitot);
 
-static void ms4525_calculate(float *pressure, float *temperature)
-{
     uint8_t status = (ms4525_up & 0xC000) >> 14;
     switch (status) {
         case 0:
@@ -108,3 +76,29 @@ static void ms4525_calculate(float *pressure, float *temperature)
         *temperature = T; // K
 }
 
+bool ms4525Detect(pitotDev_t * pitot)
+{
+    pitot->busDev = busDeviceInit(BUSTYPE_I2C, DEVHW_MS4525, 0, OWNER_AIRSPEED);
+    if (pitot->busDev == NULL) {
+        return false;
+    }
+
+    bool ack = false;
+
+    // Read twice to fix:
+    // Sending a start-stop condition without any transitions on the SCL line (no clock pulses in between) creates a
+    // communication error for the next communication, even if the next start condition is correct and the clock pulse is applied.
+    // An additional start condition must be sent, which results in restoration of proper communication.
+    ack = busReadBuf( pitot->busDev, 0xFF, rxbuf, 4 );
+    ack = busReadBuf( pitot->busDev, 0xFF, rxbuf, 4 );
+    if (!ack) {
+        return false;
+    }
+
+    pitot->delay = 10000;
+    pitot->start = ms4525_start;
+    pitot->get = ms4525_read;
+    pitot->calculate = ms4525_calculate;
+    ms4525_read(pitot);
+    return true;
+}

src/main/drivers/rangefinder/rangefinder_hcsr04_i2c.c

@@ -55,7 +55,6 @@ void hcsr04i2cUpdate(rangefinderDev_t *rangefinder)
     uint8_t response[3];
 
     isHcsr04i2cResponding = busReadBuf(rangefinder->busDev, HCSR04_I2C_REGISTRY_STATUS, response, 3);
-    isHcsr04i2cResponding = i2cRead(I2C_DEVICE, HCSR04_I2C_Address, HCSR04_I2C_REGISTRY_STATUS, 3, response);
     
     if (!isHcsr04i2cResponding) {
         hcsr04i2cMeasurementCm = RANGEFINDER_HARDWARE_FAILURE;

src/main/drivers/rangefinder/rangefinder_srf10.c

@@ -31,10 +31,6 @@
 #include "drivers/rangefinder/rangefinder.h"
 #include "drivers/rangefinder/rangefinder_srf10.h"
 
-#ifndef SRF10_I2C_INSTANCE
-#define SRF10_I2C_INSTANCE I2CDEV_1
-#endif
-
 // Technical specification is at: http://robot-electronics.co.uk/htm/srf10tech.htm
 #define SRF10_MAX_RANGE_CM 600 // 6m, from SFR10 spec sheet
 // see http://www.robot-electronics.co.uk/htm/sonar_faq.htm for cone angles

src/main/drivers/resource.h

@@ -51,6 +51,7 @@ typedef enum {
     OWNER_VTX,
     OWNER_SPI_PREINIT,
     OWNER_COMPASS,
+    OWNER_AIRSPEED,
     OWNER_TOTAL_COUNT
 } resourceOwner_e;
 

src/main/fc/fc_init.c

@@ -422,23 +422,41 @@ void init(void)
 #endif
 
 #ifdef USE_I2C
-#if defined(I2C_DEVICE)
-    #if defined(I2C_DEVICE_SHARES_UART3)
+#ifdef USE_I2C_DEVICE_1
+    #ifdef I2C_DEVICE_1_SHARES_UART3
         if (!doesConfigurationUsePort(SERIAL_PORT_USART3)) {
-            i2cInit(I2C_DEVICE);
+            i2cInit(I2CDEV_1);
         }
     #else
-        i2cInit(I2C_DEVICE);
+            i2cInit(I2CDEV_1);
     #endif
 #endif
 
-#if defined(I2C_DEVICE_EXT)
-    #if defined(I2C_DEVICE_EXT_SHARES_UART3)
+#ifdef USE_I2C_DEVICE_2
+    #ifdef I2C_DEVICE_2_SHARES_UART3
         if (!doesConfigurationUsePort(SERIAL_PORT_USART3)) {
-            i2cInit(I2C_DEVICE_EXT);
+            i2cInit(I2CDEV_2);
         }
     #else
-        i2cInit(I2C_DEVICE_EXT);
+            i2cInit(I2CDEV_2);
+    #endif
+#endif
+
+#ifdef USE_I2C_DEVICE_3
+    i2cInit(I2CDEV_3);
+#endif
+
+#ifdef USE_I2C_DEVICE_4
+    i2cInit(I2CDEV_4);
+#endif
+
+#ifdef USE_I2C_DEVICE_EMULATED
+    #ifdef I2C_DEVICE_EMULATED_SHARES_UART3
+        if (!doesConfigurationUsePort(SERIAL_PORT_USART3)) {
+            i2cInit(I2CDEV_EMULATED);
+        }
+    #else
+            i2cInit(I2CDEV_EMULATED);
     #endif
 #endif
 #endif

src/main/sensors/pitotmeter.c

@@ -200,14 +200,14 @@ uint32_t pitotUpdate(void)
     switch (state) {
         default:
         case PITOTMETER_NEEDS_SAMPLES:
-            pitot.dev.start();
+            pitot.dev.start(&pitot.dev);
             state = PITOTMETER_NEEDS_CALCULATION;
             return pitot.dev.delay;
         break;
 
         case PITOTMETER_NEEDS_CALCULATION:
-            pitot.dev.get();
-            pitot.dev.calculate(&pitotPressure, &pitotTemperature);
+            pitot.dev.get(&pitot.dev);
+            pitot.dev.calculate(&pitot.dev, &pitotPressure, &pitotTemperature);
             DEBUG_SET(DEBUG_PITOT, 0, pitotPressure);
             if (pitotmeterConfig()->use_median_filtering) {
                 pitotPressure = applyPitotmeterMedianFilter(pitotPressure);

src/main/target/AIRBOTF4/target.h

@@ -28,8 +28,8 @@
 #define INVERTER_PIN_UART1      PC0 // PC0 used as inverter select GPIO
 
 #define USE_I2C
-#define I2C_DEVICE              (I2CDEV_2)
-#define I2C_DEVICE_SHARES_UART3
+#define USE_I2C_DEVICE_2
+#define I2C_DEVICE_2_SHARES_UART3
 
 // MPU6000 interrupts
 #define USE_EXTI
@@ -70,7 +70,7 @@
 
 #define USE_PITOT_ADC
 #define USE_PITOT_MS4525
-#define PITOT_I2C_INSTANCE      I2C_DEVICE
+#define PITOT_I2C_BUS           BUS_I2C2
 
 #define M25P16_CS_PIN           PB3
 #define M25P16_SPI_INSTANCE     SPI3

src/main/target/AIRHEROF3/target.h

@@ -51,7 +51,6 @@
 #define USE_BARO
 #define USE_BARO_BMP280
 
-#define USE_PITOT_MS4525
 #define USE_PITOT_ADC
 
 #define USE_UART1
@@ -101,7 +100,7 @@
 
 #ifdef AIRHEROF3_QUAD
     #define USE_I2C
-    #define I2C_DEVICE  (I2CDEV_1) // SDA (PB9/AF4), SCL (PB8/AF4)
+    #define USE_I2C_DEVICE_1    // SDA (PB9/AF4), SCL (PB8/AF4)
 
     #define I2C1_SCL    PB8
     #define I2C1_SDA    PB9

src/main/target/ALIENFLIGHTF3/target.h

@@ -91,8 +91,7 @@
 
 #define USE_I2C
 #define USE_I2C_PULLUP
-#define I2C_DEVICE (I2CDEV_2) // SDA (PA10/AF4), SCL (PA9/AF4)
-
+#define USE_I2C_DEVICE_2        // SDA (PA10/AF4), SCL (PA9/AF4)
 #define I2C2_SCL                PA9
 #define I2C2_SDA                PA10
 

src/main/target/ALIENFLIGHTF4/target.h

@@ -143,8 +143,8 @@
 #define SPI3_MOSI_PIN           PB5
 
 #define USE_I2C
+#define USE_I2C_DEVICE_1
 #define USE_I2C_PULLUP
-#define I2C_DEVICE              (I2CDEV_1)
 #define I2C1_SCL                PB6
 #define I2C1_SDA                PB7
 

src/main/target/ALIENFLIGHTNGF7/target.h

@@ -152,7 +152,7 @@
 
 #define USE_I2C
 #define USE_I2C_PULLUP
-#define I2C_DEVICE              (I2CDEV_1)
+#define USE_I2C_DEVICE_1
 #define I2C1_SCL                PB6
 #define I2C1_SDA                PB7
 

src/main/target/ANYFC/target.h

@@ -62,7 +62,7 @@
 #define USE_BARO_MS5611
 
 #define USE_PITOT_MS4525
-#define PITOT_I2C_INSTANCE      I2C_DEVICE_EXT
+#define PITOT_I2C_BUS           BUS_I2C2
 
 #define USB_IO
 #define USE_VCP
@@ -98,9 +98,9 @@
 #define USE_SPI_DEVICE_1
 
 #define USE_I2C
-#define I2C_DEVICE              (I2CDEV_1)
-#define I2C_DEVICE_EXT          (I2CDEV_2)
-#define I2C_DEVICE_EXT_SHARES_UART3
+#define USE_I2C_DEVICE_1
+#define USE_I2C_DEVICE_2
+#define I2C_DEVICE_2_SHARES_UART3
 //#define USE_I2C_PULLUP
 
 //#define HIL

src/main/target/ANYFCF7/target.h

@@ -62,7 +62,7 @@
 #endif
 
 #define USE_PITOT_MS4525
-#define PITOT_I2C_INSTANCE I2C_DEVICE_EXT
+#define PITOT_I2C_BUS           BUS_I2C2
 
 #define USABLE_TIMER_CHANNEL_COUNT 16
 
@@ -150,8 +150,7 @@
 
 #define USE_I2C
 #define USE_I2C_DEVICE_4
-#define I2C_DEVICE (I2CDEV_4)
-#define I2C_DEVICE_EXT (I2CDEV_2)
+#define USE_I2C_DEVICE_2
 //#define USE_I2C_PULLUP
 
 //#define HIL

src/main/target/ANYFCM7/target.h

@@ -54,7 +54,7 @@
 #define USE_BARO_MS5611
 
 #define USE_PITOT_MS4525
-#define PITOT_I2C_INSTANCE I2C_DEVICE
+#define PITOT_I2C_BUS           BUS_I2C2
 
 #define USABLE_TIMER_CHANNEL_COUNT 16
 
@@ -121,7 +121,6 @@
 
 #define USE_I2C
 #define USE_I2C_DEVICE_2
-#define I2C_DEVICE              (I2CDEV_2)
 
 #define USE_ADC
 #define ADC_CHANNEL_1_PIN               PC0

src/main/target/BEEROTORF4/target.h

@@ -127,7 +127,7 @@
 //#define SPI_RX_CS_PIN           PD2
 
 #define USE_I2C
-#define I2C_DEVICE              (I2CDEV_1)
+#define USE_I2C_DEVICE_1
 #define I2C1_SCL                PB6
 #define I2C1_SDA                PB7
 

src/main/target/BLUEJAYF4/target.h

@@ -64,8 +64,6 @@
 #define USE_BARO_BMP280
 #define USE_BARO_MS5611
 
-#define MS5611_I2C_INSTANCE     I2CDEV_1
-
 #define USE_SDCARD
 
 #define SDCARD_DETECT_INVERTED
@@ -130,7 +128,7 @@
 #define SPI3_MOSI_PIN           PC12
 
 #define USE_I2C
-#define I2C_DEVICE              (I2CDEV_1)
+#define USE_I2C_DEVICE_1
 #define USE_I2C_PULLUP
 
 #define USE_ADC

src/main/target/CC3D/target.h_

@@ -33,8 +33,8 @@
 #define USE_SPI_DEVICE_2
 
 #define USE_I2C
-#define I2C_DEVICE (I2CDEV_2) // Flex port - SCL/PB10, SDA/PB11
-#define I2C_DEVICE_SHARES_UART3
+#define USE_I2C_DEVICE_2        // Flex port - SCL/PB10, SDA/PB11
+#define I2C_DEVICE_2_SHARES_UART3
 
 #define MPU6000_CS_PIN          PA4
 #define MPU6000_SPI_BUS         BUS_SPI1

src/main/target/CHEBUZZF3/target.h

@@ -63,7 +63,7 @@
 #define SERIAL_PORT_COUNT 3
 
 #define USE_I2C
-#define I2C_DEVICE (I2CDEV_1)
+#define USE_I2C_DEVICE_1
 
 #define USE_ADC
 #define ADC_INSTANCE            ADC1

src/main/target/COLIBRI/target.h

@@ -119,7 +119,7 @@
 #define SPI2_MOSI_PIN           PC3
 
 #define USE_I2C
-#define I2C_DEVICE              (I2CDEV_3)
+#define USE_I2C_DEVICE_3
 #define I2C3_SCL                PA8
 #define I2C3_SDA                PC9
 

src/main/target/COLIBRI_RACE/target.h

@@ -93,7 +93,7 @@
 #define UART3_RX_PIN            PB11
 
 #define USE_I2C
-#define I2C_DEVICE (I2CDEV_2)
+#define USE_I2C_DEVICE_2
 
 #define I2C2_SCL                PA9
 #define I2C2_SDA                PA10

src/main/target/CRAZEPONYMINI/target.h

@@ -45,7 +45,7 @@
 #define VBAT_ADC_CHANNEL                ADC_CHN_1
 
 #define USE_I2C
-#define I2C_DEVICE              (I2CDEV_1)
+#define USE_I2C_DEVICE_1
 
 #define USE_SPI
 #define USE_SPI_DEVICE_1

src/main/target/EUSTM32F103RC/target.h

@@ -84,7 +84,7 @@
 #define SOFTSERIAL_2_TX_PIN     PB1
 
 #define USE_I2C
-#define I2C_DEVICE (I2CDEV_2)
+#define USE_I2C_DEVICE_2
 
 // #define SOFT_I2C // enable to test software i2c
 // #define SOFT_I2C_PB1011 // If SOFT_I2C is enabled above, need to define pinout as well (I2C1 = PB67, I2C2 = PB1011)

src/main/target/F4BY/target.h

@@ -120,7 +120,7 @@
 
 
 #define USE_I2C
-#define I2C_DEVICE              (I2CDEV_2)
+#define USE_I2C_DEVICE_2
 #define I2C2_SCL                PB10
 #define I2C2_SDA                PB11
 

src/main/target/FALCORE/target.h

@@ -54,7 +54,6 @@
 #define USE_MAG_HMC5883
 #define USE_MAG_MAG3110
 #define USE_MAG_QMC5883
-#define MAG_I2C_INSTANCE        I2C_DEVICE_EXT
 
 #define USB_IO
 
@@ -91,12 +90,12 @@
 #define SPI2_MOSI_PIN           PB15
 
 #define USE_I2C
-#define I2C_DEVICE              (I2CDEV_1)
-#define I2C_DEVICE_EXT          (I2CDEV_2)
 
+#define USE_I2C_DEVICE_1
 #define I2C1_SCL                PB6
 #define I2C1_SDA                PB7
 
+#define USE_I2C_DEVICE_2
 #define I2C2_SCL                PA9
 #define I2C2_SDA                PA10
 

src/main/target/FF_WINGF4/target.h

@@ -116,7 +116,7 @@
 #define SPI3_MOSI_PIN           PB5
 
 #define USE_I2C
-#define I2C_DEVICE              (I2CDEV_2)
+#define USE_I2C_DEVICE_2
 #define I2C2_SCL                PB10
 #define I2C2_SDA                PB11
 

src/main/target/FISHDRONEF4/target.h

@@ -145,9 +145,9 @@
 
 // *************** IIC *****************************
 #define USE_I2C
-#define I2C_DEVICE (I2CDEV_1)
-#define I2C1_SCL PB8
-#define I2C1_SDA PB9
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL                        PB8
+#define I2C1_SDA                        PB9
 
 // *************** ADC *****************************
 #define USE_ADC

src/main/target/FRSKYF3/target.h

@@ -59,7 +59,6 @@
 
 #define USE_I2C
 #define USE_I2C_DEVICE_1
-#define I2C_DEVICE              (I2CDEV_1)
 #define I2C1_SCL                PB6
 #define I2C1_SDA                PB7
 

src/main/target/FURYF3/target.h

@@ -131,7 +131,7 @@
 #define SOFTSERIAL_1_TX_PIN     PB1
 
 #define USE_I2C
-#define I2C_DEVICE              (I2CDEV_1) // SDA (PB9/AF4), SCL (PB8/AF4)
+#define USE_I2C_DEVICE_1    // SDA (PB9/AF4), SCL (PB8/AF4)
 
 #define I2C1_SCL                PB8
 #define I2C1_SDA                PB9

src/main/target/KFC32F3_INAV/target.h

@@ -104,13 +104,13 @@
 #define UART2_RX_PIN            PA3
 
 #define USE_I2C
-#define I2C_DEVICE              (I2CDEV_1)
+#define USE_I2C_DEVICE_1
 
 #define I2C1_SCL                PA15
 #define I2C1_SDA                PA14
 
 #define USE_PITOT_MS4525
-#define PITOT_I2C_INSTANCE      I2C_DEVICE
+#define PITOT_I2C_BUS           BUS_I2C1
 
 #define BOARD_HAS_VOLTAGE_DIVIDER
 #define USE_ADC

src/main/target/KROOZX/target.h

@@ -114,10 +114,12 @@
 #define SERIAL_PORT_COUNT       6
 
 #define USE_I2C
-#define I2C_DEVICE              (I2CDEV_1)
-#define I2C_DEVICE_EXT          (I2CDEV_3)
+
+#define USE_I2C_DEVICE_1
 #define I2C1_SCL                PB6
 #define I2C1_SDA                PB7
+
+#define USE_I2C_DEVICE_3
 #define I2C3_SCL                PA8
 #define I2C3_SDA                PC9
 

src/main/target/LUX_RACE/target.h

@@ -78,7 +78,7 @@
 #define UART3_RX_PIN            PB11
 
 #define USE_I2C
-#define I2C_DEVICE (I2CDEV_2)
+#define USE_I2C_DEVICE_2
 
 #define USE_ADC
 #define ADC_INSTANCE            ADC1

src/main/target/MATEKF405/target.h

@@ -118,17 +118,21 @@
 #ifdef MATEKF405OSD
     // OSD - no native I2C
     #define USE_I2C
+    #define USE_I2C_DEVICE_EMULATED
+    #define I2C_DEVICE_EMULATED_SHARES_UART3
     #define SOFT_I2C
-    #define DEFAULT_I2C_BUS         BUS_I2C_EMULATED
     #define SOFT_I2C_SCL            PC10
     #define SOFT_I2C_SDA            PC11
-    #define I2C_DEVICE_SHARES_UART3
+
+    #define DEFAULT_I2C_BUS         BUS_I2C_EMULATED
 #else
     // AIO
     #define USE_I2C
-    #define DEFAULT_I2C_BUS         BUS_I2C1
+    #define USE_I2C_DEVICE_1
     #define I2C1_SCL                PB6
     #define I2C1_SDA                PB7
+
+    #define DEFAULT_I2C_BUS         BUS_I2C1
 #endif
 
 

src/main/target/MOTOLAB/target.h

@@ -70,7 +70,7 @@
 #define UART3_RX_PIN            PB11 // PB11 (AF7)
 
 #define USE_I2C
-#define I2C_DEVICE              (I2CDEV_2)
+#define USE_I2C_DEVICE_2
 #define I2C2_SCL                PA9
 #define I2C2_SDA                PA10
 

src/main/target/OLIMEXINO/target.h

@@ -67,11 +67,7 @@
 #define SOFTSERIAL_2_TX_PIN     PB1
 
 #define USE_I2C
-#define I2C_DEVICE (I2CDEV_2)
-
-// #define SOFT_I2C // enable to test software i2c
-// #define SOFT_I2C_PB1011 // If SOFT_I2C is enabled above, need to define pinout as well (I2C1 = PB67, I2C2 = PB1011)
-// #define SOFT_I2C_PB67
+#define USE_I2C_DEVICE_2
 
 #define USE_ADC
 #define ADC_CHANNEL_1_PIN               PB1

src/main/target/OMNIBUS/target.h

@@ -88,12 +88,11 @@
 
 // Enable I2C instead of PWM7&8 for iNav
 #define USE_I2C
-#define I2C_DEVICE (I2CDEV_1) // PB6/SCL(PWM8), PB7/SDA(PWM7)
-// Because the I2C is shared with PWM7&8, there are no on-board ext. pullups.
-// Turn internal pullups, they are weak, but better than nothing.
+#define USE_I2C_DEVICE_1 // PB6/SCL(PWM8), PB7/SDA(PWM7)
 #define USE_I2C_PULLUP
 
 #define USE_PITOT_MS4525
+#define PITOT_I2C_BUS           BUS_I2C1
 
 #define USE_SPI
 #define USE_SPI_DEVICE_2 // PB12,13,14,15 on AF5

src/main/target/OMNIBUSF4/target.h

@@ -48,8 +48,8 @@
 #endif
 
 #define USE_I2C
-#define I2C_DEVICE              (I2CDEV_2)
-#define I2C_DEVICE_SHARES_UART3
+#define USE_I2C_DEVICE_2
+#define I2C_DEVICE_2_SHARES_UART3
 
 // MPU6000 interrupts
 #define USE_EXTI
@@ -109,7 +109,7 @@
 #endif
 
 #define USE_PITOT_MS4525
-#define PITOT_I2C_INSTANCE      I2C_DEVICE
+#define PITOT_I2C_BUS           BUS_I2C2
 
 #define USE_RANGEFINDER
 #define RANGEFINDER_I2C_BUS     BUS_I2C2

src/main/target/OMNIBUSF7/target.h

@@ -163,8 +163,8 @@
 #define SDCARD_DMA_CHANNEL                  DMA_CHANNEL_4
 
 #define USE_I2C
-#define I2C_DEVICE              (I2CDEV_2)
-#define I2C_DEVICE_SHARES_UART3
+#define USE_I2C_DEVICE_2
+#define I2C_DEVICE_2_SHARES_UART3
 
 #define USE_BARO
 #define USE_BARO_BMP280

src/main/target/PIXRACER/target.h

@@ -145,7 +145,7 @@
 #define SPI2_MOSI_PIN           PB15
 
 #define USE_I2C
-#define I2C_DEVICE              (I2CDEV_1)
+#define USE_I2C_DEVICE_1
 #define USE_I2C_PULLUP
 #define I2C1_SCL                PB8
 #define I2C1_SDA                PB9

src/main/target/PORT103R/target.h

@@ -97,7 +97,7 @@
 #define SOFTSERIAL_2_TX_PIN     PB1
 
 #define USE_I2C
-#define I2C_DEVICE              (I2CDEV_2)
+#define USE_I2C_DEVICE_2
 
 // #define SOFT_I2C // enable to test software i2c
 // #define SOFT_I2C_PB1011 // If SOFT_I2C is enabled above, need to define pinout as well (I2C1 = PB67, I2C2 = PB1011)

src/main/target/RCEXPLORERF3/target.h

@@ -67,8 +67,7 @@
 #define UART3_RX_PIN            PB11 // PB11 (AF7)
 
 #define USE_I2C
-#define I2C_DEVICE              (I2CDEV_2) // SDA (PA10/AF4), SCL (PA9/AF4)
-
+#define USE_I2C_DEVICE_2        // SDA (PA10/AF4), SCL (PA9/AF4)
 #define I2C2_SCL                PA9
 #define I2C2_SDA                PA10
 

src/main/target/REVO/target.h

@@ -65,7 +65,7 @@
 #define USE_BARO_MS5611
 
 //#define USE_PITOT_MS4525
-//#define PITOT_I2C_INSTANCE      I2C_DEVICE_EXT
+//#define PITOT_I2C_BUS           BUS_I2C2
 
 // #define USE_OPTICAL_FLOW
 // #define USE_OPFLOW_FAKE
@@ -113,8 +113,8 @@
 #define SPI3_MOSI_PIN           PC12
 
 #define USE_I2C
-#define I2C_DEVICE              (I2CDEV_1)
-#define I2C_DEVICE_EXT          (I2CDEV_2)
+#define USE_I2C_DEVICE_1
+#define USE_I2C_DEVICE_2
 
 #define USE_ADC
 #define ADC_CHANNEL_1_PIN               PC1

src/main/target/RMDO/target.h

@@ -79,7 +79,7 @@
 #define SOFTSERIAL_2_TX_PIN     PB1
 
 #define USE_I2C
-#define I2C_DEVICE              (I2CDEV_1) // PB6/SCL, PB7/SDA
+#define USE_I2C_DEVICE_1
 
 #define USE_SPI
 #define USE_SPI_DEVICE_2 // PB12,13,14,15 on AF5

src/main/target/SPARKY/target.h

@@ -74,8 +74,7 @@
 // Note: PA5 and PA0 are N/C on the sparky - potentially use for ADC or LED STRIP?
 
 #define USE_I2C
-#define I2C_DEVICE (I2CDEV_2) // SDA (PA10/AF4), SCL (PA9/AF4)
-
+#define USE_I2C_DEVICE_2
 #define I2C2_SCL                PA9
 #define I2C2_SDA                PA10
 

src/main/target/SPARKY2/target.h

@@ -106,7 +106,9 @@
 #define SPI3_MOSI_PIN           PC12
 
 #define USE_I2C
-#define I2C_DEVICE              (I2CDEV_1)
+#define USE_I2C_DEVICE_1
+#define USE_I2C_DEVICE_2
+#define I2C_DEVICE_2_SHARES_UART3
 
 #define USE_ADC
 // PC2 shared with HC-SR04

src/main/target/SPRACINGF3/target.h

@@ -78,7 +78,7 @@
 #define SOFTSERIAL_2_TX_PIN     PB1
 
 #define USE_I2C
-#define I2C_DEVICE (I2CDEV_1) // PB6/SCL, PB7/SDA
+#define USE_I2C_DEVICE_1
 
 #define USE_SPI
 #define USE_SPI_DEVICE_2 // PB12,13,14,15 on AF5

src/main/target/SPRACINGF3EVO/target.h

@@ -92,7 +92,7 @@
 #endif
 
 #define USE_I2C
-#define I2C_DEVICE              (I2CDEV_1) // PB6/SCL, PB7/SDA
+#define USE_I2C_DEVICE_1
 
 #define USE_SPI
 #define USE_SPI_DEVICE_1 // PB9,3,4,5 on AF5 SPI1 (MPU)

src/main/target/SPRACINGF3MINI/target.h

@@ -89,7 +89,7 @@
 #define SOFTSERIAL_1_TX_PIN     PA1
 
 #define USE_I2C
-#define I2C_DEVICE              (I2CDEV_1) // PB6/SCL, PB7/SDA
+#define USE_I2C_DEVICE_1
 
 #define USE_SPI
 #define USE_SPI_DEVICE_2 // PB12,13,14,15 on AF5

src/main/target/SPRACINGF3NEO/target.h

@@ -89,7 +89,6 @@
 
 #define USE_I2C
 #define USE_I2C_DEVICE_1
-#define I2C_DEVICE              (I2CDEV_1)
 
 #define USE_SPI
 #define USE_SPI_DEVICE_1 // MPU

src/main/target/SPRACINGF4EVO/target.h

@@ -90,7 +90,8 @@
 #define UART5_RX_PIN            PD2
 
 #define USE_I2C
-#define I2C_DEVICE              (I2CDEV_1)
+#define USE_I2C_DEVICE_1
+
 #if (SPRACINGF4EVO_REV >= 2)
     #define I2C1_SCL            PB8
     #define I2C1_SDA            PB9

src/main/target/STM32F3DISCOVERY/target.h

@@ -92,7 +92,7 @@
 #define USE_MAG_QMC5883
 
 #define USE_PITOT_MS4525
-#define PITOT_I2C_INSTANCE I2C_DEVICE
+#define PITOT_I2C_BUS           BUS_I2C1
 
 #define USE_VCP
 #define USE_UART1
@@ -119,7 +119,7 @@
 #define RX_CE_PIN                   PA1
 
 #define USE_I2C
-#define I2C_DEVICE              (I2CDEV_1)
+#define USE_I2C_DEVICE_1
 
 #define USE_ADC
 #define ADC_INSTANCE            ADC1

src/main/target/YUPIF4/target.h

@@ -62,7 +62,7 @@
 ////////////////////////
 
 #define USE_I2C
-#define I2C_DEVICE              (I2CDEV_2)
+#define USE_I2C_DEVICE_2
 #define I2C2_SCL                PB10
 #define I2C2_SDA                PB11
 

src/main/target/common_hardware.c

@@ -161,6 +161,14 @@
     BUSDEV_REGISTER_I2C(busdev_vl53l0x,     DEVHW_VL53L0X,      VL53L0X_I2C_BUS,    0x29,               NONE,           DEVFLAGS_NONE);
 #endif
 
+#if defined(USE_PITOT_MS4525)
+    #if !defined(MS4525_I2C_BUS)
+        #define MS4525_I2C_BUS PITOT_I2C_BUS
+    #endif
+    BUSDEV_REGISTER_I2C(busdev_ms5425,      DEVHW_MS4525,       MS4525_I2C_BUS,    0x28,               NONE,           DEVFLAGS_NONE);
+#endif
+
+
 #endif  // USE_TARGET_HARDWARE_DESCRIPTORS