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HAL_AVR: changed to 16 byte bulk transfer on SPI0

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This commit is contained in:
Andrew Tridgell 2013-10-28 18:20:20 +11:00 committed by Randy Mackay
parent e3966bdab6
commit 0bda21a3fc
2 changed files with 8 additions and 7 deletions
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13
libraries/AP_HAL_AVR/SPIDevice_SPI0.cpp
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@ -76,7 +76,7 @@ uint8_t AVRSPI0DeviceDriver::_transfer(uint8_t data)
a specialised transfer function for the MPU6k. This saves 2 usec
per byte
*/
void AVRSPI0DeviceDriver::_transfer15(const uint8_t *tx, uint8_t *rx)
void AVRSPI0DeviceDriver::_transfer16(const uint8_t *tx, uint8_t *rx)
{
spi0_transferflag = true;
#define TRANSFER1(i) do { SPDR = tx[i]; while(!(SPSR & _BV(SPIF))); rx[i] = SPDR; } while(0)
@ -95,6 +95,7 @@ void AVRSPI0DeviceDriver::_transfer15(const uint8_t *tx, uint8_t *rx)
TRANSFER1(12);
TRANSFER1(13);
TRANSFER1(14);
TRANSFER1(15);
spi0_transferflag = false;
}
@ -112,11 +113,11 @@ void AVRSPI0DeviceDriver::transaction(const uint8_t *tx, uint8_t *rx,
_transfer(tx[i]);
}
} else {
while (len >= 15) {
_transfer15(tx, rx);
tx += 15;
rx += 15;
len -= 15;
while (len >= 16) {
_transfer16(tx, rx);
tx += 16;
rx += 16;
len -= 16;
}
for (uint16_t i = 0; i < len; i++) {
rx[i] = _transfer(tx[i]);

2
libraries/AP_HAL_AVR/SPIDevices.h
View File

@ -36,7 +36,7 @@ private:
void _cs_release();
uint8_t _transfer(uint8_t data);
// used for MPU6k
void _transfer15(const uint8_t *tx, uint8_t *rx);
void _transfer16(const uint8_t *tx, uint8_t *rx);
static AP_HAL_AVR::AVRSemaphore _semaphore;