From 4bc5b715bf935ebb6b76a9c7409261154c1adcec Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Fri, 4 Nov 2016 11:06:51 +1100 Subject: [PATCH] HAL_PX4: define 9250 and fix SPI bus speeds --- libraries/AP_HAL_PX4/SPIDevice.cpp | 14 +++++++++----- 1 file changed, 9 insertions(+), 5 deletions(-) diff --git a/libraries/AP_HAL_PX4/SPIDevice.cpp b/libraries/AP_HAL_PX4/SPIDevice.cpp index 64fc2564b1..ea0f4c97d7 100644 --- a/libraries/AP_HAL_PX4/SPIDevice.cpp +++ b/libraries/AP_HAL_PX4/SPIDevice.cpp @@ -33,14 +33,18 @@ static const AP_HAL::HAL &hal = AP_HAL::get_HAL(); SPIDesc SPIDeviceManager::device_table[] = { SPIDesc("mpu6000", PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_MPU, SPIDEV_MODE3, 500*KHZ, 11*MHZ), #if defined(PX4_SPI_BUS_EXT) - SPIDesc("ms5611_ext", PX4_SPI_BUS_EXT, (spi_dev_e)PX4_SPIDEV_BARO, SPIDEV_MODE3, 10*MHZ, 10*MHZ), + SPIDesc("ms5611_ext", PX4_SPI_BUS_EXT, (spi_dev_e)PX4_SPIDEV_BARO, SPIDEV_MODE3, 20*MHZ, 20*MHZ), #endif #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_PX4_V4 - SPIDesc("ms5611_int", PX4_SPI_BUS_BARO, (spi_dev_e)PX4_SPIDEV_BARO, SPIDEV_MODE3, 10*MHZ, 10*MHZ), + SPIDesc("ms5611_int", PX4_SPI_BUS_BARO, (spi_dev_e)PX4_SPIDEV_BARO, SPIDEV_MODE3, 20*MHZ, 20*MHZ), +#endif + SPIDesc("ms5611", PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_BARO, SPIDEV_MODE3, 20*MHZ, 20*MHZ), + SPIDesc("lsm9ds0_am", PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_ACCEL_MAG, SPIDEV_MODE3, 11*MHZ, 11*MHZ), + SPIDesc("lsm9ds0_g", PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_GYRO, SPIDEV_MODE3, 11*MHZ, 11*MHZ), + SPIDesc("mpu9250", PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_MPU, SPIDEV_MODE3, 1*MHZ, 11*MHZ), +#ifdef PX4_SPIDEV_EXT_MPU + SPIDesc("mpu9250_ext", PX4_SPI_BUS_EXT, (spi_dev_e)PX4_SPIDEV_EXT_MPU, SPIDEV_MODE3, 1*MHZ, 11*MHZ), #endif - SPIDesc("ms5611", PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_BARO, SPIDEV_MODE3, 10*MHZ, 10*MHZ), - SPIDesc("lsm9ds0_am", PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_ACCEL_MAG, SPIDEV_MODE3, 10*MHZ, 10*MHZ), - SPIDesc("lsm9ds0_g", PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_GYRO, SPIDEV_MODE3, 10*MHZ, 10*MHZ), SPIDesc(nullptr, 0, (spi_dev_e)0, (spi_mode_e)0, 0, 0), };