[stm32] better

Advanced-Robotics-Facility · Nov 6, 2024 · cb490cd · cb490cd
1 parent 2c39ede
commit cb490cd
Showing 1 changed file with 6 additions and 1 deletion.
diff --git a/soes/hal/advr_esc/hal_ec_STM32F4xx.c b/soes/hal/advr_esc/hal_ec_STM32F4xx.c
@@ -27,7 +27,12 @@ inline uint8_t spi_write(uint8_t data) {
 #else
 
 inline uint8_t spi_write(uint8_t data) {
-	// must be enabled in MX_SPIx_Init with __HAL_SPI_ENABLE(&hspix);
+	static uint8_t spi_enabled;
+	// must be enabled with __HAL_SPI_ENABLE(&hspix);
+	if ( ! spi_enabled ) {
+		__HAL_SPI_ENABLE(&ecat_spi);
+		spi_enabled = 1;
+	}
 	ecat_spi.Instance->DR = data;
 	while ( ! __HAL_SPI_GET_FLAG(&ecat_spi, SPI_FLAG_RXNE) );
 	return ecat_spi.Instance->DR;