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HAL_PX4: avoid bounce buffers for SPI when possible

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This commit is contained in:
Andrew Tridgell 2016-11-27 10:39:01 +11:00
parent f3d401abb9
commit 37a9a78725
2 changed files with 7 additions and 2 deletions
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7
libraries/AP_HAL_PX4/SPIDevice.cpp
View File

@ -146,7 +146,7 @@ bool SPIDevice::set_speed(AP_HAL::Device::Speed speed)
/*
low level transfer function
*/
void SPIDevice::do_transfer(uint8_t *send, uint8_t *recv, uint32_t len)
void SPIDevice::do_transfer(const uint8_t *send, uint8_t *recv, uint32_t len)
{
/*
to accomodate the method in PX4 drivers of using interrupt
@ -187,6 +187,11 @@ void SPIDevice::do_transfer(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)
{
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];
if (send_len > 0) {
memcpy(buf, send, send_len);

2
libraries/AP_HAL_PX4/SPIDevice.h
View File

@ -62,7 +62,7 @@ public:
bool set_speed(AP_HAL::Device::Speed speed) override;
// low level transfer function
void do_transfer(uint8_t *send, uint8_t *recv, uint32_t len);
void do_transfer(const uint8_t *send, uint8_t *recv, uint32_t len);
/* See AP_HAL::Device::transfer() */
bool transfer(const uint8_t *send, uint32_t send_len,