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Revert "HAL_PX4: Add input parameter check." 

This reverts commit 5f41b09fde.

This change is completely incorrect. It is quite common to do SPI
transfers with zero send bytes, and is required for many sensors and
other devices
This commit is contained in:
Andrew Tridgell 2016-12-07 12:45:15 +11:00
parent dec954bb0c
commit 05d9455f87
1 changed files with 3 additions and 6 deletions
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9
libraries/AP_HAL_PX4/SPIDevice.cpp
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@ -187,18 +187,15 @@ void SPIDevice::do_transfer(const uint8_t *send, uint8_t *recv, uint32_t len)
bool SPIDevice::transfer(const uint8_t *send, uint32_t send_len,
uint8_t *recv, uint32_t recv_len)
{
// Check input parameters
if(0 == send_len || nullptr == send || (nullptr == recv && 0 != recv_len)) {
return false;
}
if (send_len == recv_len && send == recv) {
// simplest cases, needed for DMA
do_transfer(send, recv, recv_len);
return true;
}
uint8_t buf[send_len+recv_len];
memcpy(buf, send, send_len); // Set Register number, etc..
if (send_len > 0) {
memcpy(buf, send, send_len);
}
if (recv_len > 0) {
memset(&buf[send_len], 0, recv_len);
}