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AP_HAL_AVR: panic in spidevice0

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This commit is contained in:
Pat Hickey 2012-12-17 16:28:33 -08:00 committed by Andrew Tridgell
parent 885fc79af5
commit 90670cb499
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_HAL_AVR/SPIDevice_SPI0.cpp
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@ -55,12 +55,12 @@ void AVRSPI0DeviceDriver::cs_release() {
uint8_t AVRSPI0DeviceDriver::transfer(uint8_t data) { uint8_t AVRSPI0DeviceDriver::transfer(uint8_t data) {
if (spi0_transferflag) { if (spi0_transferflag) {
hal.console->println_P(PSTR("PANIC: SPI0 transfer collision")); hal.scheduler->panic(PSTR("PANIC: SPI0 transfer collision"));
} }
spi0_transferflag = true; spi0_transferflag = true;
SPDR = data; SPDR = data;
if (SPSR & _BV(WCOL)) { if (SPSR & _BV(WCOL)) {
hal.console->println_P(PSTR("PANIC: SPI0 write collision")); hal.scheduler->panic(PSTR("PANIC: SPI0 write collision"));
return 0; return 0;
} }
while(!(SPSR & _BV(SPIF))); while(!(SPSR & _BV(SPIF)));