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HAL_ChibiOS: fixed I2C flush/invalidate calls

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This commit is contained in:
Andrew Tridgell 2018-06-01 11:37:14 +10:00
parent 0fade4eb9e
commit fef1b0ffc6
1 changed files with 8 additions and 8 deletions
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16
libraries/AP_HAL_ChibiOS/I2CDevice.cpp
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@ -208,10 +208,6 @@ bool I2CDevice::transfer(const uint8_t *send, uint32_t send_len,
} }
#endif #endif
if (send) {
dma_flush(send, send_len);
}
if (_split_transfers) { if (_split_transfers) {
/* /*
splitting the transfer() into two pieces avoids a stop condition splitting the transfer() into two pieces avoids a stop condition
@ -238,10 +234,6 @@ bool I2CDevice::transfer(const uint8_t *send, uint32_t send_len,
} }
} }
if (recv) {
dma_invalidate(recv, recv_len);
}
bus.dma_handle->unlock(); bus.dma_handle->unlock();
return true; return true;
} }
@ -254,6 +246,10 @@ bool I2CDevice::_transfer(const uint8_t *send, uint32_t send_len,
bus.bouncebuffer_setup(send_buf, send_len, recv_buf, recv_len); bus.bouncebuffer_setup(send_buf, send_len, recv_buf, recv_len);
if (send_len) {
dma_flush(send_buf, send_len);
}
i2cAcquireBus(I2CD[bus.busnum].i2c); i2cAcquireBus(I2CD[bus.busnum].i2c);
for(uint8_t i=0 ; i <= _retries; i++) { for(uint8_t i=0 ; i <= _retries; i++) {
@ -269,6 +265,10 @@ bool I2CDevice::_transfer(const uint8_t *send, uint32_t send_len,
ret = i2cMasterTransmitTimeout(I2CD[bus.busnum].i2c, _address, send_buf, send_len, ret = i2cMasterTransmitTimeout(I2CD[bus.busnum].i2c, _address, send_buf, send_len,
recv_buf, recv_len, MS2ST(timeout_ms)); recv_buf, recv_len, MS2ST(timeout_ms));
} }
if (recv_len) {
dma_invalidate(recv_buf, recv_len);
}
bus.i2c_active = false; bus.i2c_active = false;
if (ret != MSG_OK) { if (ret != MSG_OK) {
//restart the bus //restart the bus