6 files changed, 13 insertions, 78 deletions

diff --git a/src/drivers/include/drivers/gpios.hpp b/src/drivers/include/drivers/gpios.hpp
index 5010e45f..61d458a5 100644
--- a/src/drivers/include/drivers/gpios.hpp
+++ b/src/drivers/include/drivers/gpios.hpp
@@ -18,6 +18,7 @@
 #include <utility>
 
 #include "driver/i2c.h"
+#include "driver/i2c_types.h"
 #include "esp_check.h"
 #include "esp_err.h"
 #include "esp_log.h"
@@ -138,6 +139,8 @@ class Gpios : public IGpios {
  private:
   Gpios(bool invert_lock);
 
+  i2c_master_dev_handle_t i2c_;
+
   std::atomic<uint16_t> ports_;
   std::atomic<uint16_t> inputs_;
   const bool invert_lock_switch_;
diff --git a/src/drivers/include/drivers/haptics.hpp b/src/drivers/include/drivers/haptics.hpp
index e4666fad..60c54851 100644
--- a/src/drivers/include/drivers/haptics.hpp
+++ b/src/drivers/include/drivers/haptics.hpp
@@ -14,6 +14,7 @@
 #include <string>
 #include <variant>
 
+#include "driver/i2c_types.h"
 #include "drivers/nvs.hpp"
 
 namespace drivers {
@@ -197,6 +198,7 @@ class Haptics {
   auto TourLibraries(Effect from, Effect to) -> void;
 
  private:
+  i2c_master_dev_handle_t i2c_;
   std::optional<Effect> current_effect_;
   std::mutex playing_effect_;
 
@@ -313,7 +315,6 @@ class Haptics {
     kLraResonancePeriod = 0,
   };
 
-  auto PowerUp() -> void;
   auto WriteRegister(Register reg, uint8_t val) -> void;
   auto ReadRegister(Register reg) -> uint8_t;
 
diff --git a/src/drivers/include/drivers/i2c.hpp b/src/drivers/include/drivers/i2c.hpp
index 0dc1e7c0..55ac49b2 100644
--- a/src/drivers/include/drivers/i2c.hpp
+++ b/src/drivers/include/drivers/i2c.hpp
@@ -8,86 +8,12 @@
 
 #include <cstdint>
 
-#include "driver/i2c.h"
-#include "hal/i2c_types.h"
+#include "driver/i2c_master.h"
+#include "driver/i2c_types.h"
 
 namespace drivers {
 
 esp_err_t init_i2c(void);
-esp_err_t deinit_i2c(void);
-
-/*
- * Convenience wrapper for performing an I2C transaction with a reasonable
- * preconfigured timeout, automatic management of a heap-based command buffer,
- * and a terser API for enqueuing bytes.
- *
- * Any error codes from the underlying ESP IDF are treated as fatal, since they
- * typically represent invalid arguments or OOMs.
- */
-class I2CTransaction {
- public:
-  static const uint8_t kI2CTimeout = pdMS_TO_TICKS(100);
-
-  I2CTransaction();
-  ~I2CTransaction();
-
-  /*
-   * Executes all enqueued commands, returning the result code. Possible error
-   * codes, per the ESP-IDF docs:
-   *
-   * ESP_OK Success
-   * ESP_ERR_INVALID_ARG Parameter error
-   * ESP_FAIL Sending command error, slave doesn’t ACK the transfer.
-   * ESP_ERR_INVALID_STATE I2C driver not installed or not in master mode.
-   * ESP_ERR_TIMEOUT Operation timeout because the bus is busy.
-   */
-  esp_err_t Execute(int num_retries = 0);
-
-  /*
-   * Enqueues a start condition. May also be used for repeated start
-   * conditions.
-   */
-  I2CTransaction& start();
-  /* Enqueues a stop condition. */
-  I2CTransaction& stop();
-
-  /*
-   * Enqueues writing the given 7 bit address, followed by one bit indicating
-   * whether this is a read or write request.
-   *
-   * This command will expect an ACK before continuing.
-   */
-  I2CTransaction& write_addr(uint8_t addr, uint8_t op);
-
-  /*
-   * Enqueues one or more bytes to be written. The transaction will wait for
-   * an ACK to be returned before writing the next byte.
-   */
-  I2CTransaction& write_ack(uint8_t data);
-  template <typename... More>
-  I2CTransaction& write_ack(uint8_t data, More... more) {
-    write_ack(data);
-    write_ack(more...);
-    return *this;
-  }
-
-  /*
-   * Enqueues a read of one byte into the given uint8. Responds with the given
-   * ACK/NACK type.
-   */
-  I2CTransaction& read(uint8_t* dest, i2c_ack_type_t ack);
-
-  /* Returns the underlying command buffer. */
-  i2c_cmd_handle_t handle() { return handle_; }
-
-  // Cannot be moved or copied, since doing so is probably an error. Pass a
-  // reference instead.
-  I2CTransaction(const I2CTransaction&) = delete;
-  I2CTransaction& operator=(const I2CTransaction&) = delete;
-
- private:
-  i2c_cmd_handle_t handle_;
-  uint8_t* buffer_;
-};
+i2c_master_bus_handle_t i2c_handle();
 
 }  // namespace drivers
diff --git a/src/drivers/include/drivers/samd.hpp b/src/drivers/include/drivers/samd.hpp
index 2bdfa5c6..ea692cda 100644
--- a/src/drivers/include/drivers/samd.hpp
+++ b/src/drivers/include/drivers/samd.hpp
@@ -10,6 +10,7 @@
 #include <optional>
 #include <string>
 
+#include "driver/i2c_types.h"
 #include "drivers/nvs.hpp"
 #include "freertos/FreeRTOS.h"
 #include "freertos/semphr.h"
@@ -73,6 +74,7 @@ class Samd {
   Samd& operator=(const Samd&) = delete;
 
  private:
+  i2c_master_dev_handle_t i2c_;
   NvsStorage& nvs_;
 
   enum class RegisterName {
diff --git a/src/drivers/include/drivers/touchwheel.hpp b/src/drivers/include/drivers/touchwheel.hpp
index 9cd925a6..d14b3919 100644
--- a/src/drivers/include/drivers/touchwheel.hpp
+++ b/src/drivers/include/drivers/touchwheel.hpp
@@ -43,6 +43,7 @@ class TouchWheel {
   auto LowPowerMode(bool en) -> void;
 
  private:
+  i2c_master_dev_handle_t i2c_;
   TouchWheelData data_;
 
   enum Register {
diff --git a/src/drivers/include/drivers/wm8523.hpp b/src/drivers/include/drivers/wm8523.hpp
index a64f6bac..ac29ed81 100644
--- a/src/drivers/include/drivers/wm8523.hpp
+++ b/src/drivers/include/drivers/wm8523.hpp
@@ -8,6 +8,7 @@
 #include <stdint.h>
 #include <cstdint>
 #include <optional>
+#include "esp_err.h"
 
 namespace drivers {
 namespace wm8523 {
@@ -45,6 +46,7 @@ enum class Register : uint8_t {
   kZeroDetect = 8,
 };
 
+auto Init() -> esp_err_t;
 auto ReadRegister(Register reg) -> std::optional<uint16_t>;
 auto WriteRegister(Register reg, uint16_t data) -> bool;
 auto WriteRegister(Register reg, uint8_t msb, uint8_t lsb) -> bool;