X-Git-Url: http://rtime.felk.cvut.cz/gitweb/pes-rpp/rpp-lib.git/blobdiff_plain/ac673c08dbe7667ad75ba5c44db851956b953ba0..7ce3175474253d2a0b887267c9645d5c68a53a21:/rpp/src/drv/hbridge.c

diff --git a/rpp/src/drv/hbridge.c b/rpp/src/drv/hbridge.c
index cc12697..c5da440 100644
--- a/rpp/src/drv/hbridge.c
+++ b/rpp/src/drv/hbridge.c
@@ -22,7 +22,7 @@
 // PWM is available for HBR control.
 #include "drv/drv.h"
 #include <os/semphr.h>
-#include "drv/spi.h"
+#include "drv/spi_tms570.h"
 #include "drv/gio_tab.h"
 
 //Flag variable if pwm was initialized and is ready to start.
@@ -81,7 +81,7 @@ int drv_hbr_spi_wdg_callback(struct spi_drv *ifc, int code,
 // SPI message format definition for watchdog reset command
 spi_msg_t hbr_spi_wdg = {
 	.flags = 0,
-	.addr = 0,
+	.dev = SPIDEV_L99H01,
 	.rq_len = 2,
 	.tx_buf = (uint8_t *)&hbr_spi_wdg_tx_shd,
 	.rx_buf = (uint8_t *)&hbr_spi_wdg_rx_shd,
@@ -100,15 +100,6 @@ spi_msg_t hbr_spi_wdg = {
  */
 void drv_hbr_wdg_task(void *p)
 {
-	spi_drv_t *ifc;
-
-	ifc = spi_find_drv(NULL, 4);
-
-	if (ifc == NULL) {
-		wdg_start = FALSE;
-		vTaskDelete(NULL);
-	}
-
 	portTickType xLastWakeTime;
 	xLastWakeTime = xTaskGetTickCount();
 
@@ -120,7 +111,7 @@ void drv_hbr_wdg_task(void *p)
 			wdg_start = FALSE;
 		}
 		else
-			spi_msg_rq_ins(ifc, &hbr_spi_wdg);
+			spi_msg_rq_ins(&hbr_spi_wdg);
 		xSemaphoreGive(wdg_sync);
 	}
 }