AP_HAL: add the possibility to have more than 1 i2c

Bebop drone has 3 i2c

libraries/AP_HAL/HAL.h

@@ -19,7 +19,9 @@ public:
         AP_HAL::UARTDriver* _uartC, // telem1
         AP_HAL::UARTDriver* _uartD, // telem2
         AP_HAL::UARTDriver* _uartE, // 2nd GPS
-        AP_HAL::I2CDriver*  _i2c,
+        AP_HAL::I2CDriver*  _i2c0,
+        AP_HAL::I2CDriver*  _i2c1,
+        AP_HAL::I2CDriver*  _i2c2,
         AP_HAL::SPIDeviceManager* _spi,
         AP_HAL::AnalogIn*   _analogin,
         AP_HAL::Storage*    _storage,
@@ -35,7 +37,9 @@ public:
         uartC(_uartC),
         uartD(_uartD),
         uartE(_uartE),
-        i2c(_i2c),
+        i2c(_i2c0),
+        i2c1(_i2c1),
+        i2c2(_i2c2),
         spi(_spi),
         analogin(_analogin),
         storage(_storage),
@@ -55,6 +59,8 @@ public:
     AP_HAL::UARTDriver* uartD;
     AP_HAL::UARTDriver* uartE;
     AP_HAL::I2CDriver*  i2c;
+    AP_HAL::I2CDriver*  i2c1;
+    AP_HAL::I2CDriver*  i2c2;
     AP_HAL::SPIDeviceManager* spi;
     AP_HAL::AnalogIn*   analogin;
     AP_HAL::Storage*    storage;

libraries/AP_HAL_AVR/HAL_AVR_APM1_Class.cpp

@@ -43,6 +43,8 @@ HAL_AVR_APM1::HAL_AVR_APM1() :
         NULL, /* no uartD */
         NULL, /* no uartE */
         &avrI2CDriver,
+        NULL, /* only 1 i2c */
+        NULL, /* only 1 i2c */
         &apm1SPIDriver,
         &avrAnalogIn,
         &avrEEPROMStorage,

libraries/AP_HAL_AVR/HAL_AVR_APM2_Class.cpp

@@ -42,6 +42,8 @@ HAL_AVR_APM2::HAL_AVR_APM2() :
         NULL,            /* no uartD */
         NULL,            /* no uartE */
         &avrI2CDriver,
+        NULL, /* only one i2c */
+        NULL, /* only one i2c */
         &apm2SPIDriver,
         &avrAnalogIn,
         &avrEEPROMStorage,

libraries/AP_HAL_Empty/HAL_Empty_Class.cpp

@@ -29,6 +29,8 @@ HAL_Empty::HAL_Empty() :
         NULL,            /* no uartD */
         NULL,            /* no uartE */
         &i2cDriver,
+        NULL, /* only one i2c */
+        NULL, /* only one i2c */
         &spiDeviceManager,
         &analogIn,
         &storageDriver,

libraries/AP_HAL_FLYMAPLE/HAL_FLYMAPLE_Class.cpp

@@ -50,6 +50,8 @@ HAL_FLYMAPLE::HAL_FLYMAPLE() :
         NULL,            /* no uartD */
         NULL,            /* no uartE */
         &i2cDriver,
+        NULL,   /* only 1 i2c */
+        NULL,   /* only 1 i2c */
 	&spiDeviceManager,
 	&analogIn,
 	&storageDriver,

libraries/AP_HAL_Linux/HAL_Linux_Class.cpp

@@ -24,11 +24,19 @@ static LinuxUARTDriver uartBDriver(false);
 static LinuxUARTDriver uartCDriver(false);
 static LinuxUARTDriver uartEDriver(false);
 
-static LinuxSemaphore  i2cSemaphore;
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
-#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
+static LinuxSemaphore  i2cSemaphore0;
-static LinuxI2CDriver  i2cDriver(&i2cSemaphore, "/dev/i2c-2");
+static LinuxI2CDriver  i2cDriver0(&i2cSemaphore0, "/dev/i2c-0");
+static LinuxSemaphore  i2cSemaphore1;
+static LinuxI2CDriver  i2cDriver1(&i2cSemaphore1, "/dev/i2c-1");
+static LinuxSemaphore  i2cSemaphore2;
+static LinuxI2CDriver  i2cDriver2(&i2cSemaphore2, "/dev/i2c-2");
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
+static LinuxSemaphore  i2cSemaphore0;
+static LinuxI2CDriver  i2cDriver0(&i2cSemaphore0, "/dev/i2c-2");
 #else
-static LinuxI2CDriver  i2cDriver(&i2cSemaphore, "/dev/i2c-1");
+static LinuxSemaphore  i2cSemaphore0;
+static LinuxI2CDriver  i2cDriver0(&i2cSemaphore0, "/dev/i2c-1");
 #endif
 static LinuxSPIDeviceManager spiDeviceManager;
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
@@ -103,7 +111,15 @@ HAL_Linux::HAL_Linux() :
         &uartCDriver,
         NULL,            /* no uartD */
         &uartEDriver,
-        &i2cDriver,
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
+        &i2cDriver0,
+        &i2cDriver1,
+        &i2cDriver2,
+#else
+        &i2cDriver0,
+        NULL,
+        NULL,
+#endif
         &spiDeviceManager,
         &analogIn,
         &storageDriver,
@@ -183,7 +199,13 @@ void HAL_Linux::init(int argc,char* const argv[]) const
 
     scheduler->init(NULL);
     gpio->init();
-    i2c->begin();
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
+    i2c0->begin();
+    i2c1->begin();
+    i2c2->begin();
+#else
+    i2c0->begin();
+#endif
     rcout->init(NULL);
     rcin->init(NULL);
     uartA->begin(115200);    

libraries/AP_HAL_PX4/HAL_PX4_Class.cpp

@@ -72,6 +72,8 @@ HAL_PX4::HAL_PX4() :
         &uartDDriver,  /* uartD */
         &uartEDriver,  /* uartE */
         &i2cDriver, /* i2c */
+        NULL,   /* only one i2c */
+        NULL,   /* only one i2c */
         &spiDeviceManager, /* spi */
         &analogIn, /* analogin */
         &storageDriver, /* storage */

libraries/AP_HAL_SITL/HAL_SITL_Class.cpp

@@ -50,6 +50,8 @@ HAL_SITL::HAL_SITL() :
         &sitlUart3Driver,  /* uartD */
         &sitlUart4Driver,  /* uartE */
         &emptyI2C, /* i2c */
+        &emptyI2C, /* i2c */
+        &emptyI2C, /* i2c */
         &emptySPI, /* spi */
         &sitlAnalogIn, /* analogin */
         &sitlEEPROMStorage, /* storage */

libraries/AP_HAL_VRBRAIN/HAL_VRBRAIN_Class.cpp

@@ -103,7 +103,9 @@ HAL_VRBRAIN::HAL_VRBRAIN() :
         &uartCDriver,  /* uartC */
         &uartDDriver,  /* uartD */
         &uartEDriver,  /* uartE */
-        &i2cDriver, /* i2c */
+        &i2cDriver, /* Empty i2c */
+        &i2cDriver, /* Empty i2c */
+        &i2cDriver, /* Empty i2c */
         &spiDeviceManager, /* spi */
         &analogIn, /* analogin */
         &storageDriver, /* storage */