From 34411809d3a90cd1d37873c9f2f386c267083709 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Thu, 30 Mar 2023 12:43:02 +0100
Subject: [PATCH] AP_HAL_ChibiOS: revert to ChibiOS SPI driver model v1

---
 libraries/AP_HAL_ChibiOS/SPIDevice.cpp | 22 ++++++++++------------
 1 file changed, 10 insertions(+), 12 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/SPIDevice.cpp b/libraries/AP_HAL_ChibiOS/SPIDevice.cpp
index 2367f3de36..9b0dd2c3c3 100644
--- a/libraries/AP_HAL_ChibiOS/SPIDevice.cpp
+++ b/libraries/AP_HAL_ChibiOS/SPIDevice.cpp
@@ -205,7 +205,7 @@ bool SPIDevice::do_transfer(const uint8_t *send, uint8_t *recv, uint32_t len)
     // expect this timeout to trigger unless there is a severe MCU
     // error
     const uint32_t timeout_us = 20000U + len * 32U;
-    msg_t msg = osalThreadSuspendTimeoutS(&spi_devices[device_desc.bus].driver->sync_transfer, TIME_US2I(timeout_us));
+    msg_t msg = osalThreadSuspendTimeoutS(&spi_devices[device_desc.bus].driver->thread, TIME_US2I(timeout_us));
     osalSysUnlock();
     if (msg == MSG_TIMEOUT) {
         ret = false;
@@ -233,7 +233,7 @@ bool SPIDevice::clock_pulse(uint32_t n)
         acquire_bus(true, true);
         osalSysLock();
         spiStartIgnoreI(spi_devices[device_desc.bus].driver, n);
-        msg = osalThreadSuspendTimeoutS(&spi_devices[device_desc.bus].driver->sync_transfer, TIME_US2I(timeout_us));
+        msg = osalThreadSuspendTimeoutS(&spi_devices[device_desc.bus].driver->thread, TIME_US2I(timeout_us));
         osalSysUnlock();
         if (msg == MSG_TIMEOUT) {
             spiAbort(spi_devices[device_desc.bus].driver);
@@ -246,7 +246,7 @@ bool SPIDevice::clock_pulse(uint32_t n)
         }
         osalSysLock();
         spiStartIgnoreI(spi_devices[device_desc.bus].driver, n);
-        msg = osalThreadSuspendTimeoutS(&spi_devices[device_desc.bus].driver->sync_transfer, TIME_US2I(timeout_us));
+        msg = osalThreadSuspendTimeoutS(&spi_devices[device_desc.bus].driver->thread, TIME_US2I(timeout_us));
         osalSysUnlock();
         if (msg == MSG_TIMEOUT) {
             spiAbort(spi_devices[device_desc.bus].driver);
@@ -365,18 +365,16 @@ bool SPIDevice::acquire_bus(bool set, bool skip_cs)
         spiAcquireBus(spi_devices[device_desc.bus].driver);              /* Acquire ownership of the bus.    */
         bus.spicfg.ssport = PAL_PORT(device_desc.pal_line);
         bus.spicfg.sspad = PAL_PAD(device_desc.pal_line);
-        bus.spicfg.data_cb = nullptr;
-        bus.spicfg.error_cb = nullptr;
-        bus.spicfg.slave = false;
+        bus.spicfg.end_cb = nullptr;
 #if defined(STM32H7)
         bus.spicfg.cfg1 = freq_flag;
         bus.spicfg.cfg2 = device_desc.mode;
-        if (bus.spicfg.txsource == nullptr) {
-            bus.spicfg.txsource = (uint32_t *)malloc_dma(4);
-            memset(bus.spicfg.txsource, 0xFF, 4);
+        if (bus.spicfg.dummytx == nullptr) {
+            bus.spicfg.dummytx = (uint32_t *)malloc_dma(4);
+            memset(bus.spicfg.dummytx, 0xFF, 4);
         }
-        if (bus.spicfg.rxsink == nullptr) {
-            bus.spicfg.rxsink = (uint32_t *)malloc_dma(4);
+        if (bus.spicfg.dummyrx == nullptr) {
+            bus.spicfg.dummyrx = (uint32_t *)malloc_dma(4);
         }
 #else
         bus.spicfg.cr1 = (uint16_t)(freq_flag | device_desc.mode);
@@ -502,7 +500,7 @@ void SPIDevice::test_clock_freq(void)
         uint32_t t0 = AP_HAL::micros();
         spiStartExchange(spi_devices[i].driver, len, buf1, buf2);
         chSysLock();
-        msg_t msg = osalThreadSuspendTimeoutS(&spi_devices[i].driver->sync_transfer, chTimeMS2I(100));
+        msg_t msg = osalThreadSuspendTimeoutS(&spi_devices[i].driver->thread, chTimeMS2I(100));
         chSysUnlock();
         if (msg == MSG_TIMEOUT) {
             spiAbort(spi_devices[i].driver);