[Paparazzi-devel] SPI transaction queue driver for Lisa/M and other STM32F10x based autopilots

[Andre Devitt]

I've updated the SPI driver in my local code base for the STM32
architecture to use a similar queuing mechanism as the I2C driver as
well as supporting multiple slave devices.

Basically I created an SPI peripheral similar to the i2c_periph_t and
implemented the queue and spi_subtmit(spi_periph_t* p,
spi_transaction_t* t). Changes to the arch-independent code was to add
a slave index to the spi_transaction_t and an enumerated type
SPIStatus to indicate whether the SPI bus is running or not.

I've tested with 3 devices on the SPI2 bus and have not had any problems.

Should I submit a pull request for this change, and if so what branch
(I'm currently working off the 4_0.beta branch). In terms of other
peripherals I believe it will only affect the imu_aspirin2 subsystem
as that seems to be the only code using the stm32 spi_arch driver. I
am happy to change the imu_aspirin2 driver to use the new driver as
well but do not have an aspirin2 to test on.

Andre.