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AP_HAL_Linux: add get_device_ptr to HAL I2CDevice API

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This commit is contained in:
Peter Barker 2025-01-29 11:52:24 +11:00 committed by Peter Barker
parent 0a617b500b
commit 07d5938d68
2 changed files with 12 additions and 12 deletions
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14
libraries/AP_HAL_Linux/I2CDevice.cpp
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@ -280,11 +280,11 @@ I2CDeviceManager::I2CDeviceManager()
_buses.reserve(4);
}
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)
{
for (uint8_t i = 0, n = _buses.size(); i < n; i++) {
if (_buses[i]->bus == bus) {
@ -313,10 +313,10 @@ I2CDeviceManager::get_device(uint8_t bus, uint8_t address,
}
/* Create a new device increasing the bus reference */
AP_HAL::OwnPtr<AP_HAL::I2CDevice>
AP_HAL::I2CDevice *
I2CDeviceManager::_create_device(I2CBus &b, uint8_t address) const
{
auto dev = AP_HAL::OwnPtr<AP_HAL::I2CDevice>(NEW_NOTHROW I2CDevice(b, address));
auto *dev = NEW_NOTHROW I2CDevice(b, address);
if (!dev) {
return nullptr;
}

10
libraries/AP_HAL_Linux/I2CDevice.h
View File

@ -95,10 +95,10 @@ public:
I2CDeviceManager();
/* AP_HAL::I2CDeviceManager implementation */
AP_HAL::OwnPtr<AP_HAL::I2CDevice> get_device(uint8_t bus, uint8_t address,
uint32_t bus_clock=400000,
bool use_smbus = false,
uint32_t timeout_ms=4) override;
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;
/*
* Stop all I2C threads and block until they are finalized. This doesn't
@ -124,7 +124,7 @@ public:
protected:
void _unregister(I2CBus &b);
AP_HAL::OwnPtr<AP_HAL::I2CDevice> _create_device(I2CBus &b, uint8_t address) const;
AP_HAL::I2CDevice *_create_device(I2CBus &b, uint8_t address) const;
std::vector<I2CBus*> _buses;
};