1 files changed, 14 insertions, 71 deletions
diff --git a/src/drivers/i2c.cpp b/src/drivers/i2c.cpp
index 793ce9f9..5e7e7593 100644
--- a/src/drivers/i2c.cpp
+++ b/src/drivers/i2c.cpp
@@ -9,93 +9,36 @@
 #include <cstdint>
 
 #include "assert.h"
-#include "driver/i2c.h"
+#include "driver/i2c_master.h"
+#include "driver/i2c_types.h"
 #include "esp_err.h"
 #include "hal/i2c_types.h"
+#include "soc/clk_tree_defs.h"
 
 namespace drivers {
 
 static const i2c_port_t kI2CPort = I2C_NUM_0;
 static const gpio_num_t kI2CSdaPin = GPIO_NUM_4;
 static const gpio_num_t kI2CSclPin = GPIO_NUM_2;
-static const uint32_t kI2CClkSpeed = 400'000;
 
-static constexpr int kCmdLinkSize = I2C_LINK_RECOMMENDED_SIZE(12);
+static i2c_master_bus_handle_t sHandle;
 
 esp_err_t init_i2c(void) {
-  i2c_config_t config = {
-      .mode = I2C_MODE_MASTER,
+  i2c_master_bus_config_t config = {
+      .i2c_port = kI2CPort,
       .sda_io_num = kI2CSdaPin,
       .scl_io_num = kI2CSclPin,
-      .sda_pullup_en = false,
-      .scl_pullup_en = false,
-      .master =
-          {
-              .clk_speed = kI2CClkSpeed,
-          },
-      // No requirements for the clock.
-      .clk_flags = 0,
+      .clk_source = I2C_CLK_SRC_DEFAULT,
+      .glitch_ignore_cnt = 7,
+      .intr_priority = 0,
+      .trans_queue_depth = 0,
+      .flags = {.enable_internal_pullup = true, .allow_pd = false},
   };
-
-  if (esp_err_t err = i2c_param_config(kI2CPort, &config)) {
-    return err;
-  }
-  if (esp_err_t err = i2c_driver_install(kI2CPort, config.mode, 0, 0, 0)) {
-    return err;
-  }
-  if (esp_err_t err = i2c_set_timeout(kI2CPort, 400000)) {
-    return err;
-  }
-
-  return ESP_OK;
-}
-
-esp_err_t deinit_i2c(void) {
-  return i2c_driver_delete(kI2CPort);
-}
-
-I2CTransaction::I2CTransaction() {
-  // Use a fixed size buffer to avoid many many tiny allocations.
-  buffer_ = (uint8_t*)calloc(sizeof(uint8_t), kCmdLinkSize);
-  handle_ = i2c_cmd_link_create_static(buffer_, kCmdLinkSize);
-  assert(handle_ != NULL && "failed to create command link");
-}
-
-I2CTransaction::~I2CTransaction() {
-  free(buffer_);
-}
-
-esp_err_t I2CTransaction::Execute(int num_retries) {
-  esp_err_t res;
-  do {
-    res = i2c_master_cmd_begin(I2C_NUM_0, handle_, kI2CTimeout);
-  } while (res == ESP_ERR_TIMEOUT && num_retries-- > 0);
-  return res;
-}
-
-I2CTransaction& I2CTransaction::start() {
-  ESP_ERROR_CHECK(i2c_master_start(handle_));
-  return *this;
-}
-
-I2CTransaction& I2CTransaction::stop() {
-  ESP_ERROR_CHECK(i2c_master_stop(handle_));
-  return *this;
-}
-
-I2CTransaction& I2CTransaction::write_addr(uint8_t addr, uint8_t op) {
-  write_ack(addr << 1 | op);
-  return *this;
-}
-
-I2CTransaction& I2CTransaction::write_ack(uint8_t data) {
-  ESP_ERROR_CHECK(i2c_master_write_byte(handle_, data, true));
-  return *this;
+  return i2c_new_master_bus(&config, &sHandle);
 }
 
-I2CTransaction& I2CTransaction::read(uint8_t* dest, i2c_ack_type_t ack) {
-  ESP_ERROR_CHECK(i2c_master_read_byte(handle_, dest, ack));
-  return *this;
+i2c_master_bus_handle_t i2c_handle() {
+  return sHandle;
 }
 
 }  // namespace drivers