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https://github.com/ArduPilot/ardupilot
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HAL_ChibiOS: added optional polled SPI mode
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@ -174,11 +174,19 @@ void SPIDevice::do_transfer(const uint8_t *send, uint8_t *recv, uint32_t len)
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return;
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}
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#if defined(HAL_SPI_USE_POLLED)
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for (uint16_t i=0; i<len; i++) {
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uint8_t ret = spiPolledExchange(spi_devices[device_desc.bus].driver, send?send[i]:0);
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if (recv) {
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recv[i] = ret;
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}
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}
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#else
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bus.bouncebuffer_setup(send, len, recv, len);
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spiExchange(spi_devices[device_desc.bus].driver, len, send, recv);
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bus.bouncebuffer_finish(send, recv, len);
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#endif
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set_chip_select(old_cs_forced);
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}
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