From 97e87dfcdbabcb85706b76381fde62a6ebccfcbc Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 29 Jan 2025 11:52:24 +1100
Subject: [PATCH] AP_HAL_ChibiOS: add get_device_ptr to HAL I2CDevice API

---
 libraries/AP_HAL_ChibiOS/I2CDevice.cpp | 15 +++++++--------
 libraries/AP_HAL_ChibiOS/I2CDevice.h   | 10 ++++++----
 2 files changed, 13 insertions(+), 12 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/I2CDevice.cpp b/libraries/AP_HAL_ChibiOS/I2CDevice.cpp
index 12bead827bd..c5cec1730de 100644
--- a/libraries/AP_HAL_ChibiOS/I2CDevice.cpp
+++ b/libraries/AP_HAL_ChibiOS/I2CDevice.cpp
@@ -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);
 }
 
 /*
diff --git a/libraries/AP_HAL_ChibiOS/I2CDevice.h b/libraries/AP_HAL_ChibiOS/I2CDevice.h
index 143fe29f1d7..48764657639 100644
--- a/libraries/AP_HAL_ChibiOS/I2CDevice.h
+++ b/libraries/AP_HAL_ChibiOS/I2CDevice.h
@@ -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