From 8c06e6cddcf7ee779316295a6c2306876b7a0dd4 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 11 May 2016 12:14:27 +1000
Subject: [PATCH] Revert "AP_HAL_PX4: embed PX4_I2C object into I2CDevice"

This reverts commit 54fd3702c3c834b901377aaf36857697e021666b.

These commits broke startup on PX4
---
 libraries/AP_HAL_PX4/I2CDevice.cpp | 34 ++++++++++++++++--------------
 libraries/AP_HAL_PX4/I2CDevice.h   | 15 ++++++-------
 2 files changed, 24 insertions(+), 25 deletions(-)

diff --git a/libraries/AP_HAL_PX4/I2CDevice.cpp b/libraries/AP_HAL_PX4/I2CDevice.cpp
index a1c6d18923..636b9fe66f 100644
--- a/libraries/AP_HAL_PX4/I2CDevice.cpp
+++ b/libraries/AP_HAL_PX4/I2CDevice.cpp
@@ -4,29 +4,26 @@
 
 namespace PX4 {
 
-I2CDevice::PX4_I2C::PX4_I2C(uint8_t bus)
-    : I2C("AP_I2C", "/dev/api2c", bus, 0, 400000UL)
+class PX4_I2C : public device::I2C {
+public:
+    PX4_I2C(uint8_t bus);
+    bool do_transfer(uint8_t address, const uint8_t *send, uint32_t send_len,
+                     uint8_t *recv, uint32_t recv_len);
+};
+
+PX4_I2C::PX4_I2C(uint8_t bus) :
+    I2C("AP_I2C", "/dev/api2c", bus, 0, 400000UL)
 {
     init();
 }
 
-bool I2CDevice::PX4_I2C::do_transfer(uint8_t address, const uint8_t *send, uint32_t send_len,
-                                     uint8_t *recv, uint32_t recv_len)
+bool PX4_I2C::do_transfer(uint8_t address, const uint8_t *send, uint32_t send_len,
+                          uint8_t *recv, uint32_t recv_len)
 {
     set_address(address);
     return transfer(send, send_len, recv, recv_len) == OK;
 }
 
-I2CDevice::I2CDevice(uint8_t bus, uint8_t address)
-    : _device(bus)
-    , _address(address)
-{
-}
-
-I2CDevice::~I2CDevice()
-{
-}
-
 bool I2CDevice::transfer(const uint8_t *send, uint32_t send_len,
                          uint8_t *recv, uint32_t recv_len)
 {
@@ -57,6 +54,10 @@ AP_HAL::Semaphore *I2CDevice::get_semaphore()
     return &semaphore;
 }
 
+I2CDevice::~I2CDevice()
+{
+}
+
 I2CDeviceManager::I2CDeviceManager()
 {
 }
@@ -64,8 +65,9 @@ I2CDeviceManager::I2CDeviceManager()
 AP_HAL::OwnPtr<AP_HAL::I2CDevice>
 I2CDeviceManager::get_device(uint8_t bus, uint8_t address)
 {
-    auto dev = AP_HAL::OwnPtr<AP_HAL::I2CDevice>(new I2CDevice(bus, address));
+    AP_HAL::OwnPtr<PX4_I2C> i2c { new PX4_I2C(bus) };
+    auto dev = AP_HAL::OwnPtr<AP_HAL::I2CDevice>(new I2CDevice(*i2c, address));
+
     return dev;
 }
-
 }
diff --git a/libraries/AP_HAL_PX4/I2CDevice.h b/libraries/AP_HAL_PX4/I2CDevice.h
index 819f5f41ef..9bad240e68 100644
--- a/libraries/AP_HAL_PX4/I2CDevice.h
+++ b/libraries/AP_HAL_PX4/I2CDevice.h
@@ -21,7 +21,11 @@ public:
     }
 
     /* AP_HAL::I2CDevice implementation */
-    I2CDevice(uint8_t bus, uint8_t address);
+    I2CDevice(PX4_I2C &device, uint8_t address)
+        : _device(device)
+        , _address(address)
+    {
+    }
 
     ~I2CDevice();
 
@@ -57,14 +61,7 @@ public:
     int get_fd() override;
 
 protected:
-    class PX4_I2C : public device::I2C {
-    public:
-        PX4_I2C(uint8_t bus);
-        bool do_transfer(uint8_t address, const uint8_t *send, uint32_t send_len,
-                         uint8_t *recv, uint32_t recv_len);
-    };
-
-    PX4_I2C _device;
+    PX4_I2C &_device;
     uint8_t _address;
     uint8_t _retries = 0;