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HAL_ChibiOS: fixed DMA allocation bug on SPI

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thanks to Mark Whitehorn for finding this crash
This commit is contained in:
Andrew Tridgell 2018-02-03 14:26:13 +11:00
parent 29add8a880
commit e29b79f41b
2 changed files with 7 additions and 2 deletions
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6
libraries/AP_HAL_ChibiOS/SPIDevice.cpp
View File

@ -73,7 +73,10 @@ void SPIBus::dma_allocate(void)
void SPIBus::dma_deallocate(void)
{
// another non-SPI peripheral wants one of our DMA channels
spiStop(spi_devices[bus].driver);
if (spi_started) {
spiStop(spi_devices[bus].driver);
spi_started = false;
}
}
@ -262,6 +265,7 @@ bool SPIDevice::set_chip_select(bool set)
bus.spicfg.cr1 = (uint16_t)(freq_flag | device_desc.mode);
bus.spicfg.cr2 = 0;
spiStart(spi_devices[device_desc.bus].driver, &bus.spicfg); /* Setup transfer parameters. */
bus.spi_started = true;
spiSelectI(spi_devices[device_desc.bus].driver); /* Slave Select assertion. */
cs_forced = true;
}

3
libraries/AP_HAL_ChibiOS/SPIDevice.h
View File

@ -32,7 +32,8 @@ public:
uint8_t bus;
SPIConfig spicfg;
void dma_allocate(void);
void dma_deallocate(void);
void dma_deallocate(void);
bool spi_started;
};
struct SPIDesc {