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AP_HAL_ChibiOS: add get_device_ptr to HAL I2CDevice API

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Peter Barker 2025-01-29 11:52:24 +11:00 committed by Peter Barker
parent 061f3825a7
commit 97e87dfcdb
2 changed files with 13 additions and 12 deletions
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15
libraries/AP_HAL_ChibiOS/I2CDevice.cpp
View File

@ -449,18 +449,17 @@ 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)
{
bus -= HAL_I2C_BUS_BASE;
if (bus >= ARRAY_SIZE(I2CD)) {
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);
}
/*

10
libraries/AP_HAL_ChibiOS/I2CDevice.h
View File

@ -126,10 +126,12 @@ public:
return static_cast<I2CDeviceManager*>(i2c_mgr);
}
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;
/* Get a pointer to a newly-allocated I2CDevice handle. Lifetime
* is externally handled */
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;
/*
get mask of bus numbers for all configured I2C buses