From 93e1859ba63fc3ced83252e8d82585093b1e6818 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Wed, 31 Aug 2022 15:25:33 +0100
Subject: [PATCH] AP_HAL_ChibiOS: support is_busy() on WSPI device

---
 libraries/AP_HAL_ChibiOS/WSPIDevice.cpp | 9 +++++++++
 libraries/AP_HAL_ChibiOS/WSPIDevice.h   | 1 +
 2 files changed, 10 insertions(+)

diff --git a/libraries/AP_HAL_ChibiOS/WSPIDevice.cpp b/libraries/AP_HAL_ChibiOS/WSPIDevice.cpp
index 7c5cbf8f21..bdf70ed60c 100644
--- a/libraries/AP_HAL_ChibiOS/WSPIDevice.cpp
+++ b/libraries/AP_HAL_ChibiOS/WSPIDevice.cpp
@@ -85,6 +85,15 @@ WSPIDesc WSPIDeviceManager::device_table[] = { HAL_WSPI_DEVICE_LIST };
 #endif
 #endif
 
+bool WSPIDevice::is_busy()
+{
+#if HAL_USE_OCTOSPI
+    return (wspi_devices[device_desc.bus].driver->ospi->SR & OCTOSPI_SR_BUSY) != 0U;
+#else
+    return (wspi_devices[device_desc.bus].driver->qspi->SR & QUADSPI_SR_BUSY) != 0U;
+#endif
+}
+
 bool WSPIDevice::transfer(const uint8_t *send, uint32_t send_len,
                           uint8_t *recv, uint32_t recv_len)
 {
diff --git a/libraries/AP_HAL_ChibiOS/WSPIDevice.h b/libraries/AP_HAL_ChibiOS/WSPIDevice.h
index 0735fdec32..47af925e47 100644
--- a/libraries/AP_HAL_ChibiOS/WSPIDevice.h
+++ b/libraries/AP_HAL_ChibiOS/WSPIDevice.h
@@ -111,6 +111,7 @@ public:
 #endif
     }
 
+    bool is_busy() override;
     bool acquire_bus(bool acquire);
 
     // Enters Memory mapped or eXecution In Place or 0-4-4 mode