Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-22 00:28:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

HAL_Linux: fixed SPI mode handling per-device

Browse Source 
the mode must be set per-device, not per bus.
This commit is contained in:
Andrew Tridgell 2014-07-05 18:18:14 +10:00
parent 7cb547272b
commit 1c89f54934
1 changed files with 2 additions and 24 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

26
libraries/AP_HAL_Linux/SPIDriver.cpp
View File

@ -59,14 +59,6 @@ void LinuxSPIDeviceDriver::init()
goto failed;
}
ret = ioctl(_fd, SPI_IOC_RD_MODE, &_mode);
if (ret == -1) {
#if SPI_DEBUGGING
hal.console->printf("LinuxSPIDeviceDriver ioctl SPI_IOC_RD_MODE failed\n");
#endif
goto failed;
}
ret = ioctl(_fd, SPI_IOC_WR_BITS_PER_WORD, &_bitsPerWord);
if (ret == -1) {
#if SPI_DEBUGGING
@ -75,14 +67,6 @@ void LinuxSPIDeviceDriver::init()
goto failed;
}
ret = ioctl(_fd, SPI_IOC_RD_BITS_PER_WORD, &_bitsPerWord);
if (ret == -1) {
#if SPI_DEBUGGING
hal.console->printf("LinuxSPIDeviceDriver ioctl SPI_IOC_RD_BITS_PER_WORD failed\n");
#endif
goto failed;
}
ret = ioctl(_fd, SPI_IOC_WR_MAX_SPEED_HZ, &_speed);
if (ret == -1) {
#if SPI_DEBUGGING
@ -91,14 +75,6 @@ void LinuxSPIDeviceDriver::init()
goto failed;
}
ret = ioctl(_fd, SPI_IOC_RD_MAX_SPEED_HZ, &_speed);
if (ret == -1) {
#if SPI_DEBUGGING
hal.console->printf("LinuxSPIDeviceDriver ioctl SPI_IOC_RD_MAX_SPEED_HZ failed\n");
#endif
goto failed;
}
// Init the CS
_cs = hal.gpio->channel(_cs_pin);
_cs->mode(HAL_GPIO_OUTPUT);
@ -119,7 +95,9 @@ AP_HAL::Semaphore* LinuxSPIDeviceDriver::get_semaphore()
void LinuxSPIDeviceDriver::transaction(const uint8_t *tx, uint8_t *rx, uint16_t len)
{
cs_assert();
ioctl(_fd, SPI_IOC_WR_MODE, &_mode);
struct spi_ioc_transfer spi[1];
memset(spi, 0, sizeof(spi));
spi[0].tx_buf = (uint64_t)tx;
spi[0].rx_buf = (uint64_t)rx;
spi[0].len = len;