From 97f7076e0e3793eef2510e697a9f65e5340205ad Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 4 Mar 2025 16:23:30 +1100
Subject: [PATCH] AP_HAL_ChibiOS: add get_device-ptr to HAL DeviceMananger API

---
 libraries/AP_HAL_ChibiOS/Device.cpp    | 1 -
 libraries/AP_HAL_ChibiOS/I2CDevice.h   | 1 -
 libraries/AP_HAL_ChibiOS/SPIDevice.cpp | 9 ++++-----
 libraries/AP_HAL_ChibiOS/SPIDevice.h   | 2 +-
 4 files changed, 5 insertions(+), 8 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/Device.cpp b/libraries/AP_HAL_ChibiOS/Device.cpp
index ac78bfca0e..edb1fd6736 100644
--- a/libraries/AP_HAL_ChibiOS/Device.cpp
+++ b/libraries/AP_HAL_ChibiOS/Device.cpp
@@ -17,7 +17,6 @@
 #include "Device.h"
 
 #include <AP_HAL/AP_HAL.h>
-#include <AP_HAL/utility/OwnPtr.h>
 #include <stdio.h>
 
 #if HAL_USE_I2C == TRUE || HAL_USE_SPI == TRUE || HAL_USE_WSPI == TRUE
diff --git a/libraries/AP_HAL_ChibiOS/I2CDevice.h b/libraries/AP_HAL_ChibiOS/I2CDevice.h
index 4876465763..50c5ffbb2b 100644
--- a/libraries/AP_HAL_ChibiOS/I2CDevice.h
+++ b/libraries/AP_HAL_ChibiOS/I2CDevice.h
@@ -23,7 +23,6 @@
 
 #include <AP_HAL/HAL.h>
 #include <AP_HAL/I2CDevice.h>
-#include <AP_HAL/utility/OwnPtr.h>
 #include "AP_HAL_ChibiOS.h"
 
 #if HAL_USE_I2C == TRUE
diff --git a/libraries/AP_HAL_ChibiOS/SPIDevice.cpp b/libraries/AP_HAL_ChibiOS/SPIDevice.cpp
index 8709f86a82..be9273fe71 100644
--- a/libraries/AP_HAL_ChibiOS/SPIDevice.cpp
+++ b/libraries/AP_HAL_ChibiOS/SPIDevice.cpp
@@ -18,7 +18,6 @@
 
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Math/AP_Math.h>
-#include <AP_HAL/utility/OwnPtr.h>
 #include <AP_InternalError/AP_InternalError.h>
 #include "Util.h"
 #include "Scheduler.h"
@@ -445,8 +444,8 @@ bool SPIDevice::set_chip_select(bool set) {
 /*
   return a SPIDevice given a string device name
  */
-AP_HAL::OwnPtr<AP_HAL::SPIDevice>
-SPIDeviceManager::get_device(const char *name)
+AP_HAL::SPIDevice *
+SPIDeviceManager::get_device_ptr(const char *name)
 {
     /* Find the bus description in the table */
     uint8_t i;
@@ -456,7 +455,7 @@ SPIDeviceManager::get_device(const char *name)
         }
     }
     if (i == ARRAY_SIZE(device_table)) {
-        return AP_HAL::OwnPtr<AP_HAL::SPIDevice>(nullptr);
+        return nullptr;
     }
 
     SPIDesc &desc = device_table[i];
@@ -480,7 +479,7 @@ SPIDeviceManager::get_device(const char *name)
         buses = busp;
     }
 
-    return AP_HAL::OwnPtr<AP_HAL::SPIDevice>(NEW_NOTHROW SPIDevice(*busp, desc));
+    return NEW_NOTHROW SPIDevice(*busp, desc);
 }
 
 void SPIDeviceManager::set_register_rw_callback(const char* name, AP_HAL::Device::RegisterRWCb cb)
diff --git a/libraries/AP_HAL_ChibiOS/SPIDevice.h b/libraries/AP_HAL_ChibiOS/SPIDevice.h
index 5845e0448c..e14cc638f4 100644
--- a/libraries/AP_HAL_ChibiOS/SPIDevice.h
+++ b/libraries/AP_HAL_ChibiOS/SPIDevice.h
@@ -177,7 +177,7 @@ public:
         return static_cast<SPIDeviceManager*>(spi_mgr);
     }
 
-    AP_HAL::OwnPtr<AP_HAL::SPIDevice> get_device(const char *name) override;
+    AP_HAL::SPIDevice *get_device_ptr(const char *name) override;
 
     void set_register_rw_callback(const char* name, AP_HAL::Device::RegisterRWCb cb) override;