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Merged
tridge merged 2 commits into from
Jan 13, 2026
Merged

AP_Notify: stop using ownptr for SH1106 #31837

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fcaad43
AP_Notify: factor out a probe_i2c_display method
peterbarker Jan 1, 2026
48f478a
AP_Notify: stop using ownptr for SH1106
peterbarker Jan 1, 2026
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27 changes: 16 additions & 11 deletions libraries/AP_Notify/Display.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -30,8 +30,6 @@
#include <AP_GPS/AP_GPS.h>
#include <AP_BattMonitor/AP_BattMonitor.h>

#include <utility>

extern const AP_HAL::HAL& hal;

// Bit Map
Expand Down Expand Up @@ -327,6 +325,20 @@ static_assert(ARRAY_SIZE(_font) == 1280, "_font is correct size");
static_assert(ARRAY_SIZE(_font) == 475, "_font is correct size");
#endif

Display_Backend *Display::probe_i2c_display(uint8_t bus, probe_i2c_display_probefn_t probe)
{

const auto dev_ptr = hal.i2c_mgr->get_device_ptr(bus, NOTIFY_DISPLAY_I2C_ADDR);
if (dev_ptr == nullptr) {
return nullptr;
}
Display_Backend *ret = probe(*dev_ptr);
if (ret == nullptr) {
delete dev_ptr;
}
return ret;
}

bool Display::init(void)
{
// exit immediately if already initialised
Expand All @@ -338,18 +350,11 @@ bool Display::init(void)
FOREACH_I2C(i) {
switch (pNotify->_display_type) {
case DISPLAY_SSD1306: {
const auto dev_ptr = hal.i2c_mgr->get_device_ptr(i, NOTIFY_DISPLAY_I2C_ADDR);
if (dev_ptr == nullptr) {
break;
}
_driver = Display_SSD1306_I2C::probe(*dev_ptr);
if (_driver == nullptr) {
delete dev_ptr;
}
_driver = probe_i2c_display(i, Display_SSD1306_I2C::probe);
break;
}
case DISPLAY_SH1106: {
_driver = Display_SH1106_I2C::probe(std::move(hal.i2c_mgr->get_device(i, NOTIFY_DISPLAY_I2C_ADDR)));
_driver = probe_i2c_display(i, Display_SH1106_I2C::probe);
break;
}
case DISPLAY_SITL: {
Expand Down
4 changes: 4 additions & 0 deletions libraries/AP_Notify/Display.h
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,10 @@ class Display: public NotifyDevice {
void send_text_blocking(const char *text, uint8_t line) override;
void release_text(uint8_t line) override;
private:

using probe_i2c_display_probefn_t = Display_Backend* (*)(AP_HAL::Device&);
Display_Backend *probe_i2c_display(uint8_t bus, probe_i2c_display_probefn_t probe);

void draw_char(uint16_t x, uint16_t y, const char c);
void draw_text(uint16_t x, uint16_t y, const char *c);
void update_all();
Expand Down
37 changes: 9 additions & 28 deletions libraries/AP_Notify/Display_SH1106_I2C.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -14,24 +14,12 @@
*/
#include "Display_SH1106_I2C.h"

#include <utility>

#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/I2CDevice.h>
#include <AP_HAL/Device.h>

// constructor
Display_SH1106_I2C::Display_SH1106_I2C(AP_HAL::OwnPtr<AP_HAL::Device> dev) :
_dev(std::move(dev))
Display_Backend *Display_SH1106_I2C::probe(AP_HAL::Device &_dev)
{
}

Display_SH1106_I2C::~Display_SH1106_I2C()
{
}

Display_SH1106_I2C *Display_SH1106_I2C::probe(AP_HAL::OwnPtr<AP_HAL::Device> dev)
{
Display_SH1106_I2C *driver = NEW_NOTHROW Display_SH1106_I2C(std::move(dev));
Display_SH1106_I2C *driver = NEW_NOTHROW Display_SH1106_I2C(_dev);
if (!driver || !driver->hw_init()) {
delete driver;
return nullptr;
Expand Down Expand Up @@ -67,21 +55,14 @@ bool Display_SH1106_I2C::hw_init()

memset(_displaybuffer, 0, SH1106_COLUMNS * SH1106_ROWS_PER_PAGE);

// take i2c bus semaphore
if (!_dev) {
return false;
}
_dev->get_semaphore()->take_blocking();
WITH_SEMAPHORE(dev.get_semaphore());

// init display
bool success = _dev->transfer((uint8_t *)&init_seq, sizeof(init_seq), nullptr, 0);

// give back i2c semaphore
_dev->get_semaphore()->give();
bool success = dev.transfer((uint8_t *)&init_seq, sizeof(init_seq), nullptr, 0);

if (success) {
_need_hw_update = true;
_dev->register_periodic_callback(20000, FUNCTOR_BIND_MEMBER(&Display_SH1106_I2C::_timer, void));
dev.register_periodic_callback(20000, FUNCTOR_BIND_MEMBER(&Display_SH1106_I2C::_timer, void));
}

return success;
Expand Down Expand Up @@ -114,12 +95,12 @@ void Display_SH1106_I2C::_timer()
// write buffer to display
for (uint8_t i = 0; i < (SH1106_ROWS / SH1106_ROWS_PER_PAGE); i++) {
command.page = 0xB0 | (i & 0x0F);
_dev->transfer((uint8_t *)&command, sizeof(command), nullptr, 0);
dev.transfer((uint8_t *)&command, sizeof(command), nullptr, 0);

memcpy(&display_buffer.db[0], &_displaybuffer[i * SH1106_COLUMNS], SH1106_COLUMNS/2);
_dev->transfer((uint8_t *)&display_buffer, SH1106_COLUMNS/2 + 1, nullptr, 0);
dev.transfer((uint8_t *)&display_buffer, SH1106_COLUMNS/2 + 1, nullptr, 0);
memcpy(&display_buffer.db[0], &_displaybuffer[i * SH1106_COLUMNS + SH1106_COLUMNS/2 ], SH1106_COLUMNS/2);
_dev->transfer((uint8_t *)&display_buffer, SH1106_COLUMNS/2 + 1, nullptr, 0);
dev.transfer((uint8_t *)&display_buffer, SH1106_COLUMNS/2 + 1, nullptr, 0);
}
}

Expand Down
10 changes: 6 additions & 4 deletions libraries/AP_Notify/Display_SH1106_I2C.h
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,7 @@ class Display_SH1106_I2C: public Display_Backend {

public:

static Display_SH1106_I2C *probe(AP_HAL::OwnPtr<AP_HAL::Device> dev);
static Display_Backend *probe(AP_HAL::Device &_dev);

void hw_update() override;
void set_pixel(uint16_t x, uint16_t y) override;
Expand All @@ -21,16 +21,18 @@ class Display_SH1106_I2C: public Display_Backend {

protected:

Display_SH1106_I2C(AP_HAL::OwnPtr<AP_HAL::Device> dev);
~Display_SH1106_I2C() override;
Display_SH1106_I2C(AP_HAL::Device &_dev) :
dev{_dev}
{ }
~Display_SH1106_I2C() override {};

private:

bool hw_init() override;

void _timer();

AP_HAL::OwnPtr<AP_HAL::Device> _dev;
AP_HAL::Device &dev;
uint8_t _displaybuffer[SH1106_COLUMNS * SH1106_ROWS_PER_PAGE];
bool _need_hw_update;

Expand Down
2 changes: 1 addition & 1 deletion libraries/AP_Notify/Display_SSD1306_I2C.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -28,7 +28,7 @@ Display_SSD1306_I2C::~Display_SSD1306_I2C()
}


Display_SSD1306_I2C *Display_SSD1306_I2C::probe(AP_HAL::Device &_dev)
Display_Backend *Display_SSD1306_I2C::probe(AP_HAL::Device &_dev)
{
Display_SSD1306_I2C *driver = NEW_NOTHROW Display_SSD1306_I2C(_dev);
if (!driver || !driver->hw_init()) {
Expand Down
2 changes: 1 addition & 1 deletion libraries/AP_Notify/Display_SSD1306_I2C.h
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Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,7 @@ class Display_SSD1306_I2C: public Display_Backend {

public:

static Display_SSD1306_I2C *probe(AP_HAL::Device &_dev);
static Display_Backend *probe(AP_HAL::Device &_dev);

void hw_update() override;
void set_pixel(uint16_t x, uint16_t y) override;
Expand Down
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