diff --git a/libraries/AP_HAL_Linux/AP_HAL_Linux_Namespace.h b/libraries/AP_HAL_Linux/AP_HAL_Linux_Namespace.h
index b6863556bd..7c99b706e9 100644
--- a/libraries/AP_HAL_Linux/AP_HAL_Linux_Namespace.h
+++ b/libraries/AP_HAL_Linux/AP_HAL_Linux_Namespace.h
@@ -6,6 +6,8 @@ namespace Linux {
class UARTDriver;
class SPIUARTDriver;
class RPIOUARTDriver;
+ class I2CDevice;
+ class I2CDeviceManager;
class I2CDriver;
class SPIDeviceManager;
class SPIDeviceDriver;
diff --git a/libraries/AP_HAL_Linux/AP_HAL_Linux_Private.h b/libraries/AP_HAL_Linux/AP_HAL_Linux_Private.h
index d989f3f04d..b046841ee7 100644
--- a/libraries/AP_HAL_Linux/AP_HAL_Linux_Private.h
+++ b/libraries/AP_HAL_Linux/AP_HAL_Linux_Private.h
@@ -9,6 +9,7 @@
#include "UARTDriver.h"
#include "SPIUARTDriver.h"
#include "RPIOUARTDriver.h"
+#include "I2CDevice.h"
#include "I2CDriver.h"
#include "SPIDriver.h"
#include "AnalogIn.h"
diff --git a/libraries/AP_HAL_Linux/I2CDevice.cpp b/libraries/AP_HAL_Linux/I2CDevice.cpp
new file mode 100644
index 0000000000..09380c071b
--- /dev/null
+++ b/libraries/AP_HAL_Linux/I2CDevice.cpp
@@ -0,0 +1,165 @@
+/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+ * Copyright (C) 2015-2016 Intel Corporation. All rights reserved.
+ *
+ * This file is free software: you can redistribute it and/or modify it
+ * under the terms of the GNU General Public License as published by the
+ * Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This file is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program. If not, see .
+ */
+#include "I2CDevice.h"
+
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+
+#include
+
+#include "Util.h"
+
+namespace Linux {
+
+static const AP_HAL::HAL &hal = AP_HAL::get_HAL();
+
+/* Private struct to maintain for each bus */
+class I2CBus {
+public:
+ ~I2CBus()
+ {
+ if (fd >= 0) {
+ ::close(fd);
+ }
+ }
+
+ int open(uint8_t n)
+ {
+ char path[sizeof("/dev/i2c-XXX")];
+ int r;
+
+ if (fd >= 0) {
+ return -EBUSY;
+ }
+
+ // TODO: open the bus
+ bus = n;
+
+ return fd;
+ }
+
+ Semaphore sem;
+ int fd = -1;
+ uint8_t bus;
+
+ uint8_t ref;
+};
+
+I2CDevice::~I2CDevice()
+{
+ // Unregister itself from the I2CDeviceManager
+ I2CDeviceManager::from(hal.i2c_mgr)->_unregister(_bus);
+}
+
+bool I2CDevice::transfer(const uint8_t *send, uint32_t send_len,
+ uint8_t *recv, uint32_t recv_len)
+{
+ // TODO: implement I2C transfer
+ return false;
+}
+
+AP_HAL::Semaphore *I2CDevice::get_semaphore()
+{
+ return &_bus.sem;
+}
+
+int I2CDevice::get_fd()
+{
+ return _bus.fd;
+}
+
+I2CDeviceManager::I2CDeviceManager()
+{
+ /* Reserve space up-front for 4 buses */
+ _buses.reserve(4);
+}
+
+AP_HAL::OwnPtr
+I2CDeviceManager::get_device(std::vector devpaths, uint8_t address)
+{
+ // implement device search on sysfs
+ return nullptr;
+}
+
+AP_HAL::OwnPtr
+I2CDeviceManager::get_device(uint8_t bus, uint8_t address)
+{
+ for (uint8_t i = 0, n = _buses.size(); i < n; i++) {
+ if (_buses[i]->bus == bus) {
+ return _create_device(*_buses[i], address);
+ }
+ }
+
+ /* Bus not found for this device, create a new one */
+ AP_HAL::OwnPtr b{new I2CBus()};
+ if (!b) {
+ return nullptr;
+ }
+
+ if (b->open(bus) < 0) {
+ return nullptr;
+ }
+
+ auto dev = _create_device(*b, address);
+ if (!dev) {
+ return nullptr;
+ }
+
+ _buses.push_back(b.leak());
+
+ return dev;
+}
+
+/* Create a new device increasing the bus reference */
+AP_HAL::OwnPtr
+I2CDeviceManager::_create_device(I2CBus &b, uint8_t address) const
+{
+ auto dev = AP_HAL::OwnPtr(new I2CDevice(b, address));
+ if (!dev) {
+ return nullptr;
+ }
+ b.ref++;
+ return dev;
+}
+
+void I2CDeviceManager::_unregister(I2CBus &b)
+{
+ assert(b.ref > 0);
+
+ if (--b.ref > 0) {
+ return;
+ }
+
+ for (auto it = _buses.begin(); it != _buses.end(); it++) {
+ if ((*it)->bus == b.bus) {
+ _buses.erase(it);
+ delete &b;
+ break;
+ }
+ }
+}
+
+}
diff --git a/libraries/AP_HAL_Linux/I2CDevice.h b/libraries/AP_HAL_Linux/I2CDevice.h
new file mode 100644
index 0000000000..359bf35f3e
--- /dev/null
+++ b/libraries/AP_HAL_Linux/I2CDevice.h
@@ -0,0 +1,116 @@
+/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+ * Copyright (C) 2015-2016 Intel Corporation. All rights reserved.
+ *
+ * This file is free software: you can redistribute it and/or modify it
+ * under the terms of the GNU General Public License as published by the
+ * Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This file is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program. If not, see .
+ */
+#pragma once
+
+#include
+#include
+
+#include
+#include
+#include
+
+#include "Semaphores.h"
+
+namespace Linux {
+
+class I2CBus;
+
+class I2CDevice : public AP_HAL::I2CDevice {
+public:
+ static I2CDevice *from(AP_HAL::I2CDevice *dev)
+ {
+ return static_cast(dev);
+ }
+
+ /* AP_HAL::I2CDevice implementation */
+
+ I2CDevice(I2CBus &bus, uint8_t address)
+ : _bus(bus)
+ , _address(address)
+ {
+ }
+
+ ~I2CDevice();
+
+ /* See AP_HAL::I2CDevice::set_address() */
+ void set_address(uint8_t address) override { _address = address; }
+
+ /* See AP_HAL::I2CDevice::set_retries() */
+ void set_retries(uint8_t retries) override { _retries = retries; }
+
+ /* AP_HAL::Device implementation */
+
+ /* See AP_HAL::Device::set_speed(): Empty implementation, not supported. */
+ bool set_speed(enum Device::Speed speed) override { return true; }
+
+ /* See AP_HAL::Device::transfer() */
+ bool transfer(const uint8_t *send, uint32_t send_len,
+ uint8_t *recv, uint32_t recv_len) override;
+
+ /* See AP_HAL::Device::get_semaphore() */
+ AP_HAL::Semaphore *get_semaphore() override;
+
+ /* See AP_HAL::Device::register_periodic_callback() */
+ AP_HAL::Device::PeriodicHandle *register_periodic_callback(
+ uint32_t period_usec, AP_HAL::MemberProc) override
+ {
+ /* Not implemented yet */
+ return nullptr;
+ };
+
+ /* See AP_HAL::Device::get_fd() */
+ int get_fd() override;
+
+protected:
+ I2CBus &_bus;
+ uint8_t _address;
+ uint8_t _retries = 0;
+};
+
+class I2CDeviceManager : public AP_HAL::I2CDeviceManager {
+public:
+ friend class I2CDevice;
+
+ static I2CDeviceManager *from(AP_HAL::I2CDeviceManager *i2c_mgr)
+ {
+ return static_cast(i2c_mgr);
+ }
+
+ I2CDeviceManager();
+
+ /*
+ * Get device by looking up the I2C bus on the buses from @devpaths.
+ *
+ * Each string in @devpaths are possible locations for the bus as
+ * returned by 'udevadm info -q path /dev/i2c-X'. The first I2C bus
+ * matching a prefix in @devpaths is returned.
+ */
+ AP_HAL::OwnPtr get_device(
+ std::vector devpaths, uint8_t address);
+
+ /* AP_HAL::I2CDeviceManager implementation */
+ AP_HAL::OwnPtr get_device(uint8_t bus, uint8_t address) override;
+
+protected:
+ void _unregister(I2CBus &b);
+ AP_HAL::OwnPtr _create_device(I2CBus &b, uint8_t address) const;
+
+ std::vector _buses;
+};
+
+}