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HAL_AVR: spi3 at 8mhz for mpu6k and ms5611

This commit is contained in:
Andrew Tridgell 2013-10-10 19:49:35 +11:00 committed by Randy Mackay
parent f6038f36bf
commit 4dc2f4bd58
1 changed files with 4 additions and 6 deletions
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10
libraries/AP_HAL_AVR/SPIDeviceManager_APM2.cpp
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@ -22,16 +22,14 @@ void APM2SPIDeviceManager::init(void* machtnichts) {
/* mpu6k cs is on Arduino pin 53, PORTB0 */
AVRDigitalSource* mpu6k_cs = new AVRDigitalSource(_BV(0), PB);
/* mpu6k: divide clock by 32 to 500khz
* spcr gets bit SPR1, spsr gets bit SPI2X */
_mpu6k = new AVRSPI0DeviceDriver(mpu6k_cs, _BV(SPR1), _BV(SPI2X));
/* mpu6k: run clock at 8MHz */
_mpu6k = new AVRSPI0DeviceDriver(mpu6k_cs, 0, _BV(SPI2X));
_mpu6k->init();
/* ms5611 cs is on Arduino pin 40, PORTG1 */
AVRDigitalSource* ms5611_cs = new AVRDigitalSource(_BV(1), PG);
/* ms5611: divide clock by 32 to 500khz
* spcr gets bit SPR1, spsr gets bit SPI2X */
_ms5611 = new AVRSPI0DeviceDriver(ms5611_cs, _BV(SPR1), _BV(SPI2X));
/* mpu6k: run clock at 8MHz */
_ms5611 = new AVRSPI0DeviceDriver(ms5611_cs, 0, _BV(SPI2X));
_ms5611->init();
/* optflow cs is on Arduino pin A3, PORTF3 */