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GCS_MAVLink: add support for bank selection on SPI DEVICE_OPs

This commit is contained in:
Siddharth Purohit 2020-07-30 19:36:39 +05:30 committed by Peter Barker
parent 3ddd1d484a
commit 1a08252504
1 changed files with 8 additions and 6 deletions
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14
libraries/GCS_MAVLink/GCS_DeviceOp.cpp
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@ -54,11 +54,11 @@ void GCS_MAVLINK::handle_device_op_read(const mavlink_message_t &msg)
} }
if (regstart == 0xff) { if (regstart == 0xff) {
// assume raw transfer, non-register interface // assume raw transfer, non-register interface
ret = dev->transfer(nullptr, 0, data, packet.count); ret = dev->transfer_bank(packet.bank, nullptr, 0, data, packet.count);
// reply using register start 0 for display purposes // reply using register start 0 for display purposes
regstart = 0; regstart = 0;
} else { } else {
ret = dev->read_registers(packet.regstart, data, packet.count); ret = dev->read_bank_registers(packet.bank, packet.regstart, data, packet.count);
} }
dev->get_semaphore()->give(); dev->get_semaphore()->give();
if (!ret) { if (!ret) {
@ -71,7 +71,8 @@ void GCS_MAVLINK::handle_device_op_read(const mavlink_message_t &msg)
retcode, retcode,
regstart, regstart,
packet.count, packet.count,
data); data,
packet.bank);
return; return;
fail: fail:
@ -81,7 +82,8 @@ fail:
retcode, retcode,
packet.regstart, packet.regstart,
0, 0,
nullptr); nullptr,
packet.bank);
} }
/* /*
@ -112,12 +114,12 @@ void GCS_MAVLINK::handle_device_op_write(const mavlink_message_t &msg)
} }
if (packet.regstart == 0xff) { if (packet.regstart == 0xff) {
// assume raw transfer, non-register interface // assume raw transfer, non-register interface
if (!dev->transfer(packet.data, packet.count, nullptr, 0)) { if (!dev->transfer_bank(packet.bank, packet.data, packet.count, nullptr, 0)) {
retcode = 4; retcode = 4;
} }
} else { } else {
for (uint8_t i=0; i<packet.count; i++) { for (uint8_t i=0; i<packet.count; i++) {
if (!dev->write_register(packet.regstart+i, packet.data[i])) { if (!dev->write_bank_register(packet.bank, packet.regstart+i, packet.data[i])) {
retcode = 4; retcode = 4;
break; break;
} }