Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-26 01:33:56 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_HAL_Linux: SPIUARTDriver: fix conversion to SPIDevice

Browse Source 
We need to use the fullduplex method to transfer both tx and rx at the
same time.
This commit is contained in:
Lucas De Marchi 2016-07-22 01:50:41 -03:00
parent cbbd6f9d78
commit 418cc817a3
1 changed files with 3 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
libraries/AP_HAL_Linux/SPIUARTDriver.cpp
View File

@ -131,7 +131,7 @@ int SPIUARTDriver::_write_fd(const uint8_t *buf, uint16_t size)
return 0;
}
_dev->transfer(buf, sizeof(*buf), nullptr, 0);
_dev->transfer_fullduplex(buf, _buffer, size);
sem_give();
@ -186,6 +186,7 @@ int SPIUARTDriver::_write_fd(const uint8_t *buf, uint16_t size)
}
static uint8_t ff_stub[300] = {0xff};
int SPIUARTDriver::_read_fd(uint8_t *buf, uint16_t n)
{
if (_external) {
@ -206,7 +207,7 @@ int SPIUARTDriver::_read_fd(uint8_t *buf, uint16_t n)
n = 100;
}
_dev->transfer(nullptr, 0, ff_stub, sizeof(ff_stub));
_dev->transfer_fullduplex(ff_stub, buf, n);
sem_give();