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CurieIMU.cpp: Don't lock interrupts for SPI transfers #349

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Merged
merged 1 commit into from
Dec 5, 2016
Merged

CurieIMU.cpp: Don't lock interrupts for SPI transfers #349

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12 changes: 1 addition & 11 deletions libraries/CurieIMU/src/CurieIMU.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1778,20 +1778,10 @@ bool CurieIMUClass::stepsDetected()
int CurieIMUClass::serial_buffer_transfer(uint8_t *buf, unsigned tx_cnt,
unsigned rx_cnt)
{
int flags, status;

if (rx_cnt) /* For read transfers, assume 1st byte contains register address */
buf[0] |= (1 << BMI160_SPI_READ_BIT);

/* Lock interrupts here to
* - avoid concurrent access to the SPI bus
* - avoid delays in SPI transfer due to unrelated interrupts
*/
flags = interrupt_lock();
status = ss_spi_xfer(SPI_SENSING_1, buf, tx_cnt, rx_cnt);
interrupt_unlock(flags);

return status;
return ss_spi_xfer(SPI_SENSING_1, buf, tx_cnt, rx_cnt);
}

/** Interrupt handler for interrupts from PIN1 on the BMI160
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