From 5987cfeaafbbd8b2af4935d50cc643cd25d5129a Mon Sep 17 00:00:00 2001
From: Thad House <ThadHouse@users.noreply.github.com>
Date: Mon, 8 May 2017 20:04:41 -0700
Subject: [PATCH] Fix SPIs to not set CS DIO pins into DIO mode (#504)

HAL_GetPort both allocates the DIO and sets the DIO into DIO mode.  The DIO setting was overriding the SPI setting on the port, so SPI chip selects were broken if you had more than one.  Instead use CreatePortHandleForSPI, which is a special function that only allocates the DIO handle, but doesn't actually set the DIO into DIO mode.
---
 hal/lib/athena/SPI.cpp | 35 +++++++++++++++++++++--------------
 1 file changed, 21 insertions(+), 14 deletions(-)

diff --git a/hal/lib/athena/SPI.cpp b/hal/lib/athena/SPI.cpp
index d64f1c2107..3eb584a888 100644
--- a/hal/lib/athena/SPI.cpp
+++ b/hal/lib/athena/SPI.cpp
@@ -124,8 +124,9 @@ void HAL_InitializeSPI(int32_t port, int32_t* status) {
       CommonSPIPortInit(status);
       if (*status != 0) return;
       // CS1, Allocate
-      if ((digitalHandles[0] = HAL_InitializeDIOPort(
-               HAL_GetPort(26), false, status)) == HAL_kInvalidHandle) {
+      if ((digitalHandles[0] = HAL_InitializeDIOPort(createPortHandleForSPI(26),
+                                                     false, status)) ==
+          HAL_kInvalidHandle) {
         std::printf("Failed to allocate DIO 26 (CS1)\n");
         CommonSPIPortFree();
         return;
@@ -136,8 +137,9 @@ void HAL_InitializeSPI(int32_t port, int32_t* status) {
       CommonSPIPortInit(status);
       if (*status != 0) return;
       // CS2, Allocate
-      if ((digitalHandles[1] = HAL_InitializeDIOPort(
-               HAL_GetPort(27), false, status)) == HAL_kInvalidHandle) {
+      if ((digitalHandles[1] = HAL_InitializeDIOPort(createPortHandleForSPI(27),
+                                                     false, status)) ==
+          HAL_kInvalidHandle) {
         std::printf("Failed to allocate DIO 27 (CS2)\n");
         CommonSPIPortFree();
         return;
@@ -148,8 +150,9 @@ void HAL_InitializeSPI(int32_t port, int32_t* status) {
       CommonSPIPortInit(status);
       if (*status != 0) return;
       // CS3, Allocate
-      if ((digitalHandles[2] = HAL_InitializeDIOPort(
-               HAL_GetPort(28), false, status)) == HAL_kInvalidHandle) {
+      if ((digitalHandles[2] = HAL_InitializeDIOPort(createPortHandleForSPI(28),
+                                                     false, status)) ==
+          HAL_kInvalidHandle) {
         std::printf("Failed to allocate DIO 28 (CS3)\n");
         CommonSPIPortFree();
         return;
@@ -159,26 +162,30 @@ void HAL_InitializeSPI(int32_t port, int32_t* status) {
     case 4:
       initializeDigital(status);
       if (*status != 0) return;
-      if ((digitalHandles[5] = HAL_InitializeDIOPort(
-               HAL_GetPort(14), false, status)) == HAL_kInvalidHandle) {
+      if ((digitalHandles[5] = HAL_InitializeDIOPort(createPortHandleForSPI(14),
+                                                     false, status)) ==
+          HAL_kInvalidHandle) {
         std::printf("Failed to allocate DIO 14\n");
         return;
       }
-      if ((digitalHandles[6] = HAL_InitializeDIOPort(
-               HAL_GetPort(15), false, status)) == HAL_kInvalidHandle) {
+      if ((digitalHandles[6] = HAL_InitializeDIOPort(createPortHandleForSPI(15),
+                                                     false, status)) ==
+          HAL_kInvalidHandle) {
         std::printf("Failed to allocate DIO 15\n");
         HAL_FreeDIOPort(digitalHandles[5]);  // free the first port allocated
         return;
       }
-      if ((digitalHandles[7] = HAL_InitializeDIOPort(
-               HAL_GetPort(16), false, status)) == HAL_kInvalidHandle) {
+      if ((digitalHandles[7] = HAL_InitializeDIOPort(createPortHandleForSPI(16),
+                                                     false, status)) ==
+          HAL_kInvalidHandle) {
         std::printf("Failed to allocate DIO 16\n");
         HAL_FreeDIOPort(digitalHandles[5]);  // free the first port allocated
         HAL_FreeDIOPort(digitalHandles[6]);  // free the second port allocated
         return;
       }
-      if ((digitalHandles[8] = HAL_InitializeDIOPort(
-               HAL_GetPort(17), false, status)) == HAL_kInvalidHandle) {
+      if ((digitalHandles[8] = HAL_InitializeDIOPort(createPortHandleForSPI(17),
+                                                     false, status)) ==
+          HAL_kInvalidHandle) {
         std::printf("Failed to allocate DIO 17\n");
         HAL_FreeDIOPort(digitalHandles[5]);  // free the first port allocated
         HAL_FreeDIOPort(digitalHandles[6]);  // free the second port allocated