AP_Baro: use SPI full duplex API for DMA optimisation

andyp1per · andyp1per · commit 5c0c6cbbae70 · 2025-03-25T07:57:20.000Z
diff --git a/libraries/AP_Baro/AP_Baro_BMP388.cpp b/libraries/AP_Baro/AP_Baro_BMP388.cpp
@@ -245,7 +245,7 @@ bool AP_Baro_BMP388::read_registers(uint8_t reg, uint8_t *data, uint8_t len)
     uint8_t b[len+2];
     b[0] = reg | 0x80;
     memset(&b[1], 0, len+1);
-    if (!dev->transfer(b, len+2, b, len+2)) {
+    if (!dev->transfer_fullduplex(b, len+2)) {
         return false;
     }
     memcpy(data, &b[2], len);

Original file line number	Diff line number	Diff line change
`@@ -245,7 +245,7 @@ bool AP_Baro_BMP388::read_registers(uint8_t reg, uint8_t *data, uint8_t len)`
`245`	`245`	`uint8_t b[len+2];`
`246`	`246`	`b[0] = reg \| 0x80;`
`247`	`247`	`memset(&b[1], 0, len+1);`
`248`		`- if (!dev->transfer(b, len+2, b, len+2)) {`
	`248`	`+ if (!dev->transfer_fullduplex(b, len+2)) {`
`249`	`249`	`return false;`
`250`	`250`	`}`
`251`	`251`	`memcpy(data, &b[2], len);`