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HAL_AVR: changed to 16 byte bulk transfer on SPI0

This commit is contained in:
Andrew Tridgell 2013-10-28 18:20:20 +11:00
parent 53c3dff334
commit 11e1cf31c4
2 changed files with 8 additions and 7 deletions
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13
libraries/AP_HAL_AVR/SPIDevice_SPI0.cpp
View File

@ -76,7 +76,7 @@ uint8_t AVRSPI0DeviceDriver::_transfer(uint8_t data)
a specialised transfer function for the MPU6k. This saves 2 usec a specialised transfer function for the MPU6k. This saves 2 usec
per byte per byte
*/ */
void AVRSPI0DeviceDriver::_transfer15(const uint8_t *tx, uint8_t *rx) void AVRSPI0DeviceDriver::_transfer16(const uint8_t *tx, uint8_t *rx)
{ {
spi0_transferflag = true; spi0_transferflag = true;
#define TRANSFER1(i) do { SPDR = tx[i]; while(!(SPSR & _BV(SPIF))); rx[i] = SPDR; } while(0) #define TRANSFER1(i) do { SPDR = tx[i]; while(!(SPSR & _BV(SPIF))); rx[i] = SPDR; } while(0)
@ -95,6 +95,7 @@ void AVRSPI0DeviceDriver::_transfer15(const uint8_t *tx, uint8_t *rx)
TRANSFER1(12); TRANSFER1(12);
TRANSFER1(13); TRANSFER1(13);
TRANSFER1(14); TRANSFER1(14);
TRANSFER1(15);
spi0_transferflag = false; spi0_transferflag = false;
} }
@ -112,11 +113,11 @@ void AVRSPI0DeviceDriver::transaction(const uint8_t *tx, uint8_t *rx,
_transfer(tx[i]); _transfer(tx[i]);
} }
} else { } else {
while (len >= 15) { while (len >= 16) {
_transfer15(tx, rx); _transfer16(tx, rx);
tx += 15; tx += 16;
rx += 15; rx += 16;
len -= 15; len -= 16;
} }
for (uint16_t i = 0; i < len; i++) { for (uint16_t i = 0; i < len; i++) {
rx[i] = _transfer(tx[i]); rx[i] = _transfer(tx[i]);

2
libraries/AP_HAL_AVR/SPIDevices.h
View File

@ -36,7 +36,7 @@ private:
void _cs_release(); void _cs_release();
uint8_t _transfer(uint8_t data); uint8_t _transfer(uint8_t data);
// used for MPU6k // used for MPU6k
void _transfer15(const uint8_t *tx, uint8_t *rx); void _transfer16(const uint8_t *tx, uint8_t *rx);
static AP_HAL_AVR::AVRSemaphore _semaphore; static AP_HAL_AVR::AVRSemaphore _semaphore;