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HAL_ChibiOS: added optional polled SPI mode

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This commit is contained in:
Andrew Tridgell 2019-02-19 09:39:16 +11:00
parent 9a2c19285d
commit 807d9e4b92
1 changed files with 10 additions and 2 deletions
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12
libraries/AP_HAL_ChibiOS/SPIDevice.cpp
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@ -174,11 +174,19 @@ void SPIDevice::do_transfer(const uint8_t *send, uint8_t *recv, uint32_t len)
return; return;
} }
#if defined(HAL_SPI_USE_POLLED)
for (uint16_t i=0; i<len; i++) {
uint8_t ret = spiPolledExchange(spi_devices[device_desc.bus].driver, send?send[i]:0);
if (recv) {
recv[i] = ret;
}
}
#else
bus.bouncebuffer_setup(send, len, recv, len); bus.bouncebuffer_setup(send, len, recv, len);
spiExchange(spi_devices[device_desc.bus].driver, len, send, recv); spiExchange(spi_devices[device_desc.bus].driver, len, send, recv);
bus.bouncebuffer_finish(send, recv, len); bus.bouncebuffer_finish(send, recv, len);
#endif
set_chip_select(old_cs_forced); set_chip_select(old_cs_forced);
} }