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AP_HAL_AVR: SPI debugging

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This commit is contained in:
Pat Hickey 2012-12-05 17:15:49 -08:00 committed by Andrew Tridgell
parent d504db195e
commit ff09314ab8
1 changed files with 9 additions and 1 deletions
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10
libraries/AP_HAL_AVR/SPIDevice_SPI0.cpp
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@ -16,6 +16,8 @@ extern const AP_HAL::HAL& hal;
AVRSemaphore AVRSPI0DeviceDriver::_semaphore;
static volatile bool spi0_transferflag = false;
void AVRSPI0DeviceDriver::init() {
hal.gpio->pinMode(SPI0_MISO_PIN, GPIO_INPUT);
hal.gpio->pinMode(SPI0_MOSI_PIN, GPIO_OUTPUT);
@ -50,12 +52,18 @@ void AVRSPI0DeviceDriver::cs_release() {
}
uint8_t AVRSPI0DeviceDriver::transfer(uint8_t data) {
if (spi0_transferflag) {
hal.console->println_P(PSTR("PANIC: SPI0 transfer collision"));
}
spi0_transferflag = true;
SPDR = data;
if (SPSR & _BV(WCOL)) {
hal.console->println_P(PSTR("PANIC: SPI0 write collision"));
return 0;
}
while(!(SPSR & _BV(SPIF)));
return SPDR;
uint8_t read_spdr = SPDR;
spi0_transferflag = false;
return read_spdr;
}