Handle-ize gyro driver

micropython/modules/lib/ICM20608.c

@@ -6,12 +6,22 @@ and register map: https://invensense.tdk.com/download-pdf/icm-20608-g-register-m
 #include <stdio.h>
 #include <stdlib.h>
 #include <opencube_hw.h>
-#include "pico/stdlib.h"
 #include "hardware/i2c.h"
 #include "ICM20608.h"
+#include "shared_resource.h"
 
-void ICM20608G_init(ICM20608G_t *sensor)
+static void ICM20608G_init(mp_obj_t self_in);
+
+DEFINE_SHARED_RESOURCE(ICM20608G_t, sensor_obj, ICM20608G_init, NULL);
+
+ICM20608G_t *ICM20608G_get(void)
+{
+    return shared_resource_get_or_new(&sensor_obj);
+}
+
+void ICM20608G_init(mp_obj_t self_in)
 {
+    ICM20608G_t *sensor = MP_OBJ_TO_PTR(self_in);
     sensor->address = ICM20608_I2C_ADDR;
     sensor->i2c_port = INTERNAL_I2C_BUS;
     // Check the device ID

micropython/modules/lib/ICM20608.h

@@ -8,6 +8,7 @@ and register map: https://invensense.tdk.com/download-pdf/icm-20608-g-register-m
 
 #include "pico/stdlib.h"
 #include "hardware/i2c.h"
+#include "shared_resource.h"
 
 // Device ID
 #define ICM20608G_WHO_AM_I 0x75
@@ -63,6 +64,7 @@ and register map: https://invensense.tdk.com/download-pdf/icm-20608-g-register-m
 
 typedef struct
 {
+    shared_resource_base_t base;
     i2c_inst_t *i2c_port;  // I2C port of the sensor
     uint8_t address;       // I2C address of the sensor
     uint8_t dev_id;        // Device ID of the sensor
@@ -74,7 +76,7 @@ typedef struct
 } ICM20608G_t;
 
 // Initialize ICM20608G
-void ICM20608G_init(ICM20608G_t *sensor);
+ICM20608G_t *ICM20608G_get(void);
 
 // Write value to given register
 void ICM20608G_write_register(ICM20608G_t *sensor, uint8_t reg, uint8_t value);

micropython/modules/opencube_brick/ICM20608_api.c

@@ -21,7 +21,7 @@ STATIC mp_obj_t ICM20608_make_new(const mp_obj_type_t* type, size_t n_args, size
     self->base.type = type;
     self->icm = (ICM20608G_t*)malloc(sizeof(ICM20608G_t));
     opencube_lock_i2c_or_raise();
-    ICM20608G_init(self->icm);
+    self->icm = ICM20608G_get();
     opencube_unlock_i2c();
     return MP_OBJ_FROM_PTR(self);
 }