From 2359b73d1ffe508880546d8030bb893d3e8dbb8c Mon Sep 17 00:00:00 2001 From: DanielePettenuzzo Date: Mon, 30 Apr 2018 14:43:20 +0200 Subject: [PATCH] pmw3901 driver: lock bus during transfers (avoid conflicts with sd card on crazyflie) --- src/drivers/pmw3901/pmw3901.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/drivers/pmw3901/pmw3901.cpp b/src/drivers/pmw3901/pmw3901.cpp index e841afd02a..d717d3ba9c 100644 --- a/src/drivers/pmw3901/pmw3901.cpp +++ b/src/drivers/pmw3901/pmw3901.cpp @@ -342,6 +342,9 @@ PMW3901::init() { int ret = PX4_ERROR; + /* For devices competing with NuttX SPI drivers on a bus (Crazyflie SD Card expansion board) */ + SPI::set_lockmode(LOCK_THREADS); + /* do I2C init (and probe) first */ if (SPI::init() != OK) { goto out;