AP_HAL_ESP32: add get_device_ptr to HAL I2CDevice API

ArduPilot · Jan 30, 2025 · 4697365 · 4697365
1 parent d5922b2
commit 4697365
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Showing 2 changed files with 8 additions and 9 deletions.
diff --git a/libraries/AP_HAL_ESP32/I2CDevice.cpp b/libraries/AP_HAL_ESP32/I2CDevice.cpp
@@ -150,17 +150,16 @@ bool I2CDevice::adjust_periodic_callback(AP_HAL::Device::PeriodicHandle h, uint3
     return bus.adjust_timer(h, period_usec);
 }
 
-AP_HAL::OwnPtr<AP_HAL::I2CDevice>
-I2CDeviceManager::get_device(uint8_t bus, uint8_t address,
-                             uint32_t bus_clock,
-                             bool use_smbus,
-                             uint32_t timeout_ms)
+AP_HAL::I2CDevice *
+I2CDeviceManager::get_device_ptr(uint8_t bus, uint8_t address,
+                                 uint32_t bus_clock,
+                                 bool use_smbus,
+                                 uint32_t timeout_ms)
 {
     if (bus >= ARRAY_SIZE(i2c_bus_desc)) {
-        return AP_HAL::OwnPtr<AP_HAL::I2CDevice>(nullptr);
+        return nullptr;
     }
-    auto dev = AP_HAL::OwnPtr<AP_HAL::I2CDevice>(NEW_NOTHROW I2CDevice(bus, address, bus_clock, use_smbus, timeout_ms));
-    return dev;
+    return NEW_NOTHROW I2CDevice(bus, address, bus_clock, use_smbus, timeout_ms);
 }
 
 /*

diff --git a/libraries/AP_HAL_ESP32/I2CDevice.h b/libraries/AP_HAL_ESP32/I2CDevice.h
@@ -124,7 +124,7 @@ class I2CDeviceManager : public AP_HAL::I2CDeviceManager
         return static_cast<I2CDeviceManager*>(i2c_mgr);
     }
 
-    AP_HAL::OwnPtr<AP_HAL::I2CDevice> get_device(uint8_t bus, uint8_t address,
+    AP_HAL::I2CDevice *get_device_ptr(uint8_t bus, uint8_t address,
             uint32_t bus_clock=400000,
             bool use_smbus = false,
             uint32_t timeout_ms=4) override;