From b1a350a18a13232b25cbacb35d500e6ec45ae85f Mon Sep 17 00:00:00 2001
From: Kinsey Moore <kinsey.moore@oarcorp.com>
Date: Fri, 6 Sep 2024 15:11:29 -0500
Subject: [PATCH] bsps/stm32h7: Add full duplex support for SPI

---
 bsps/arm/stm32h7/spi/spi-support.c | 12 +++++++++---
 1 file changed, 9 insertions(+), 3 deletions(-)

diff --git a/bsps/arm/stm32h7/spi/spi-support.c b/bsps/arm/stm32h7/spi/spi-support.c
index 45df6aae72..026e25a062 100644
--- a/bsps/arm/stm32h7/spi/spi-support.c
+++ b/bsps/arm/stm32h7/spi/spi-support.c
@@ -298,13 +298,19 @@ static int stm32h7_spi_transfer(
       return 1;
     }
     /* perform transfer */
-    if (msg->tx_buf != NULL) {
+    if (msg->tx_buf != NULL && msg->rx_buf != NULL) {
+      status = HAL_SPI_TransmitReceive(
+        &ctx->spi, msg->tx_buf, msg->rx_buf, msg->len, 100
+      );
+      if (status != HAL_OK) {
+        return 1;
+      }
+    } else if (msg->tx_buf != NULL) {
       status = HAL_SPI_Transmit(&ctx->spi, msg->tx_buf, msg->len, 100);
       if (status != HAL_OK) {
         return 1;
       }
-    }
-    if (msg->rx_buf != NULL) {
+    } else if (msg->rx_buf != NULL) {
       status = HAL_SPI_Receive(&ctx->spi, msg->rx_buf, msg->len, 100);
       if (status != HAL_OK) {
         return 1;