void loop(void)
{
AP_HAL::SPIDeviceDriver *spi;
AP_HAL::Semaphore *spi_sem;
hal.console->printf("Scanning SPI bus devices\n");
for (uint8_t i=0; i < ARRAY_SIZE(whoami_list); i++) {
spi = hal.spi->device(whoami_list[i].dev);
if (spi == NULL) {
hal.console->printf("Failed to get SPI device for %s\n", whoami_list[i].name);
continue;
}
spi_sem = spi->get_semaphore();
if (!spi_sem->take(1000)) {
hal.console->printf("Failed to get SPI semaphore for %s\n", whoami_list[i].name);
continue;
}
uint8_t tx[2] = { whoami_list[i].whoami_reg, 0 };
uint8_t rx[2];
spi->transaction(tx, rx, 2);
hal.console->printf("WHO_AM_I for %s: 0x%02x\n", whoami_list[i].name, (unsigned)rx[1]);
spi_sem->give();
}
hal.scheduler->delay(200);
}
void setup (void) {
hal.console->printf_P(PSTR("Starting Semaphore test\r\n"));
setup_pin(PIN_A0);
setup_pin(PIN_A1);
setup_pin(PIN_A2);
setup_pin(PIN_A3);
hal.console->printf_P(PSTR("Using Dataflash's Semaphore\r\n"));
AP_HAL::SPIDeviceDriver *dataflash = hal.spi->device(
AP_HAL::SPIDevice_Dataflash);
if (dataflash == NULL) {
hal.scheduler->panic(PSTR("Error: No SPIDevice_Dataflash driver!"));
}
sem = dataflash->get_semaphore();
if (sem == NULL) {
hal.scheduler->panic(PSTR("Error: No SPIDeviceDriver semaphore!"));
}
hal.scheduler->register_timer_process(async_blinker, NULL);
}