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HAL_Linux: fixed indexing of device array for SPI

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This commit is contained in:
Andrew Tridgell 2014-07-14 11:31:55 +10:00
parent 3292055af2
commit 224515f3eb
1 changed files with 25 additions and 5 deletions
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30
libraries/AP_HAL_Linux/SPIDriver.cpp
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@ -120,8 +120,18 @@ void LinuxSPIDeviceManager::init(void *)
void LinuxSPIDeviceManager::cs_assert(enum AP_HAL::SPIDevice type)
{
for (uint8_t i=0; i<LINUX_SPI_DEVICE_NUM_DEVICES; i++) {
if (_device[i]._bus != _device[type]._bus) {
uint8_t bus = 0, i;
for (i=0; i<LINUX_SPI_DEVICE_NUM_DEVICES; i++) {
if (_device[i]._type == type) {
bus = _device[i]._bus;
break;
}
}
if (i == LINUX_SPI_DEVICE_NUM_DEVICES) {
hal.scheduler->panic("Bad device type");
}
for (i=0; i<LINUX_SPI_DEVICE_NUM_DEVICES; i++) {
if (_device[i]._bus != bus) {
// not the same bus
continue;
}
@ -133,15 +143,25 @@ void LinuxSPIDeviceManager::cs_assert(enum AP_HAL::SPIDevice type)
}
for (uint8_t i=0; i<LINUX_SPI_DEVICE_NUM_DEVICES; i++) {
if (_device[i]._type == type) {
_device[type]._cs->write(0);
_device[i]._cs->write(0);
}
}
}
void LinuxSPIDeviceManager::cs_release(enum AP_HAL::SPIDevice type)
{
for (uint8_t i=0; i<LINUX_SPI_DEVICE_NUM_DEVICES; i++) {
if (_device[i]._bus != _device[type]._bus) {
uint8_t bus = 0, i;
for (i=0; i<LINUX_SPI_DEVICE_NUM_DEVICES; i++) {
if (_device[i]._type == type) {
bus = _device[i]._bus;
break;
}
}
if (i == LINUX_SPI_DEVICE_NUM_DEVICES) {
hal.scheduler->panic("Bad device type");
}
for (i=0; i<LINUX_SPI_DEVICE_NUM_DEVICES; i++) {
if (_device[i]._bus != bus) {
// not the same bus
continue;
}