From 7440d982e3c3fbba702034654188f8e7dfcfe8fb Mon Sep 17 00:00:00 2001 From: Tobin Hall Date: Mon, 28 Jan 2019 12:06:07 +1300 Subject: [PATCH] Adding detection of which axis is waiting for the data. --- Firmware/MotorControl/low_level.cpp | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/Firmware/MotorControl/low_level.cpp b/Firmware/MotorControl/low_level.cpp index 2a899906..58c48755 100644 --- a/Firmware/MotorControl/low_level.cpp +++ b/Firmware/MotorControl/low_level.cpp @@ -764,5 +764,8 @@ void start_analog_thread() void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef *hspi) { - axes[0]->encoder_.abs_spi_cb(); + if(hspi->pRxBuffPtr == (uint8_t*)axes[0]->encoder_.abs_spi_dma_rx_) + axes[0]->encoder_.abs_spi_cb(); + else if (hspi->pRxBuffPtr == (uint8_t*)axes[1]->encoder_.abs_spi_dma_rx_) + axes[1]->encoder_.abs_spi_cb(); }