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HAL_PX4: define 9250 and fix SPI bus speeds

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This commit is contained in:
Andrew Tridgell 2016-11-04 11:06:51 +11:00
parent a5c5e033d2
commit 4bc5b715bf
1 changed files with 9 additions and 5 deletions
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14
libraries/AP_HAL_PX4/SPIDevice.cpp
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@ -33,14 +33,18 @@ static const AP_HAL::HAL &hal = AP_HAL::get_HAL();
SPIDesc SPIDeviceManager::device_table[] = { SPIDesc SPIDeviceManager::device_table[] = {
SPIDesc("mpu6000", PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_MPU, SPIDEV_MODE3, 500*KHZ, 11*MHZ), SPIDesc("mpu6000", PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_MPU, SPIDEV_MODE3, 500*KHZ, 11*MHZ),
#if defined(PX4_SPI_BUS_EXT) #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 #endif
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_PX4_V4 #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 #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), SPIDesc(nullptr, 0, (spi_dev_e)0, (spi_mode_e)0, 0, 0),
}; };