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HAL_ChibiOS: fix sdcard on SPI bus on H7

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the spiIgnore() call was hanging on H7. The ChibiOS submodule change
fixes that, but this patch is also needed to ensure we timeout any
spiIgnore calls correctly
This commit is contained in:
Andrew Tridgell 2021-09-27 17:39:40 +10:00
parent 2c2c85c4d8
commit d1d5cd5d9f
1 changed files with 20 additions and 3 deletions
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23
libraries/AP_HAL_ChibiOS/SPIDevice.cpp
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@ -217,22 +217,39 @@ bool SPIDevice::do_transfer(const uint8_t *send, uint8_t *recv, uint32_t len)
return ret;
}
/*
this pulses the clock for n bytes. The data is ignored.
*/
bool SPIDevice::clock_pulse(uint32_t n)
{
msg_t msg;
const uint32_t timeout_us = 20000U + n * 32U;
if (!cs_forced) {
//special mode to init sdcard without cs asserted
bus.semaphore.take_blocking();
acquire_bus(true, true);
spiIgnore(spi_devices[device_desc.bus].driver, n);
osalSysLock();
spiStartIgnoreI(spi_devices[device_desc.bus].driver, n);
msg = osalThreadSuspendTimeoutS(&spi_devices[device_desc.bus].driver->thread, TIME_US2I(timeout_us));
osalSysUnlock();
if (msg == MSG_TIMEOUT) {
spiAbort(spi_devices[device_desc.bus].driver);
}
acquire_bus(false, true);
bus.semaphore.give();
} else {
if (!bus.semaphore.check_owner()) {
return false;
}
spiIgnore(spi_devices[device_desc.bus].driver, n);
osalSysLock();
spiStartIgnoreI(spi_devices[device_desc.bus].driver, n);
msg = osalThreadSuspendTimeoutS(&spi_devices[device_desc.bus].driver->thread, TIME_US2I(timeout_us));
osalSysUnlock();
if (msg == MSG_TIMEOUT) {
spiAbort(spi_devices[device_desc.bus].driver);
}
}
return true;
return msg != MSG_TIMEOUT;
}
uint32_t SPIDevice::derive_freq_flag_bus(uint8_t busid, uint32_t _frequency)