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AP_HAL_Linux: SPIDevice: compile out debug stuff 

This should at most be behind a flag. If the device is being used by
other process/drivers, it's a problem with that specific user/distro:
don't penalize everybody else. Besides, changing the mode is not atomic
and nothing guarantees the other side doesn't get scheduled and change
it back before we get to run.
This commit is contained in:
Lucas De Marchi 2018-08-09 13:26:15 -07:00 committed by Lucas De Marchi
parent 2c6dd64c67
commit ad8ab97725
1 changed files with 7 additions and 2 deletions
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9
libraries/AP_HAL_Linux/SPIDevice.cpp
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@ -37,6 +37,8 @@
#include "Thread.h"
#include "Util.h"
#define DEBUG 0
namespace Linux {
static const AP_HAL::HAL &hal = AP_HAL::get_HAL();
@ -295,8 +297,8 @@ bool SPIDevice::transfer(const uint8_t *send, uint32_t send_len,
return false;
}
int r;
if (_bus.last_mode == _desc.mode) {
#if DEBUG
if (_desc.mode == _bus.last_mode) {
/*
the mode in the kernel is not tied to the file descriptor,
so there is a chance some other process has changed it since
@ -316,6 +318,9 @@ bool SPIDevice::transfer(const uint8_t *send, uint32_t send_len,
_bus.last_mode = -1;
}
}
#endif
int r;
if (_desc.mode != _bus.last_mode) {
r = ioctl(fd, SPI_IOC_WR_MODE, &_desc.mode);
if (r < 0) {