Fix BMI160 accelerometer read in non-DMA SPI transfer (betaflight#12338)

davidbitton · Feb 5, 2024 · 3812bd8 · 3812bd8
1 parent 53d2789
commit 3812bd8
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Showing 2 changed files with 7 additions and 3 deletions.
diff --git a/src/main/drivers/accgyro/accgyro_spi_bmi160.c b/src/main/drivers/accgyro/accgyro_spi_bmi160.c
@@ -322,7 +322,7 @@ static bool bmi160AccRead(accDev_t *acc)
     case GYRO_EXTI_INT:
     case GYRO_EXTI_NO_INT:
     {
-        dev->txBuf[0] = BMI160_REG_ACC_DATA_X_LSB | 0x80;
+        dev->txBuf[1] = BMI160_REG_ACC_DATA_X_LSB | 0x80;
 
         busSegment_t segments[] = {
                 {.u.buffers = {NULL, NULL}, 7, true, NULL},

diff --git a/src/main/drivers/bus_spi.c b/src/main/drivers/bus_spi.c
@@ -41,6 +41,10 @@
 
 #define NUM_QUEUE_SEGS 5
 
+#if !defined(STM32G4) && !defined(STM32H7) && !defined(AT32F435)
+#define USE_TX_IRQ_HANDLER
+#endif
+
 static uint8_t spiRegisteredDeviceCount = 0;
 
 spiDevice_t spiDevice[SPIDEV_COUNT];
@@ -501,7 +505,7 @@ FAST_IRQ_HANDLER static void spiRxIrqHandler(dmaChannelDescriptor_t* descriptor)
     spiIrqHandler(dev);
 }
 
-#if !defined(STM32G4) && !defined(STM32H7)
+#ifdef USE_TX_IRQ_HANDLER
 // Interrupt handler for SPI transmit DMA completion
 FAST_IRQ_HANDLER static void spiTxIrqHandler(dmaChannelDescriptor_t* descriptor)
 {
@@ -671,7 +675,7 @@ void spiInitBusDMA(void)
             dmaSetHandler(dmaRxIdentifier, spiRxIrqHandler, NVIC_PRIO_SPI_DMA, 0);
 
             bus->useDMA = true;
-#if !defined(STM32G4) && !defined(STM32H7)
+#ifdef USE_TX_IRQ_HANDLER
         } else if (dmaTxIdentifier) {
             // Transmit on DMA is adequate for OSD so worth having
             bus->dmaTx = dmaGetDescriptorByIdentifier(dmaTxIdentifier);