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HAL_AVR: switch back to 500kHz SPI for MPU6k until we understand the issues

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this is for new plane release. We need for analysis before we can
re-enable high speed SPI
This commit is contained in:
Andrew Tridgell 2013-10-28 16:55:22 +11:00
parent a44e3191df
commit 580e7b8a4a
1 changed files with 7 additions and 2 deletions
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9
libraries/AP_HAL_AVR/SPIDeviceManager_APM2.cpp
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@ -20,17 +20,22 @@ void APM2SPIDeviceManager::init(void* machtnichts) {
* the MS5611 CS pin works around the problem
*/
#define SPI0_SPCR_8MHz 0
#define SPI0_SPSR_8MHz _BV(SPI2X)
#define SPI0_SPCR_500kHz _BV(SPR1)
#define SPI0_SPSR_500kHz _BV(SPI2X)
/* mpu6k cs is on Arduino pin 53, PORTB0 */
AVRDigitalSource* mpu6k_cs = new AVRDigitalSource(_BV(0), PB);
/* mpu6k: run clock at 8MHz in high speed mode and 512kHz for low
* speed */
_mpu6k = new AVRSPI0DeviceDriver(mpu6k_cs, _BV(SPR1), 0, _BV(SPI2X));
_mpu6k = new AVRSPI0DeviceDriver(mpu6k_cs, SPI0_SPCR_500kHz, SPI0_SPCR_500kHz, SPI0_SPSR_500kHz);
_mpu6k->init();
/* ms5611 cs is on Arduino pin 40, PORTG1 */
AVRDigitalSource* ms5611_cs = new AVRDigitalSource(_BV(1), PG);
/* ms5611: run clock at 8MHz */
_ms5611 = new AVRSPI0DeviceDriver(ms5611_cs, 0, 0, _BV(SPI2X));
_ms5611 = new AVRSPI0DeviceDriver(ms5611_cs, SPI0_SPCR_500kHz, SPI0_SPCR_500kHz, SPI0_SPSR_500kHz);
_ms5611->init();
/* optflow cs is on Arduino pin A3, PORTF3 */