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HAL_Linux: BUS_SPEED selected individually in SPIDriver

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This commit is contained in:
Víctor Mayoral Vilches 2014-06-05 11:09:41 +02:00 committed by Andrew Tridgell
parent 8a85f8d6d2
commit 665bf4a247
1 changed files with 4 additions and 7 deletions
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11
libraries/AP_HAL_Linux/SPIDriver.cpp
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@ -16,9 +16,6 @@ using namespace Linux;
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
#define SPI0_BUS_SPEED 1000000
#define SPI1_BUS_SPEED 2600000
LinuxSPIDeviceDriver::LinuxSPIDeviceDriver(const char *spipath, uint8_t mode, uint8_t bitsPerWord, uint8_t cs_pin, uint32_t speed): LinuxSPIDeviceDriver::LinuxSPIDeviceDriver(const char *spipath, uint8_t mode, uint8_t bitsPerWord, uint8_t cs_pin, uint32_t speed):
_spipath(spipath), _spipath(spipath),
_fd(-1), _fd(-1),
@ -122,10 +119,10 @@ void LinuxSPIDeviceDriver::transfer(const uint8_t *data, uint16_t len)
} }
LinuxSPIDeviceManager::LinuxSPIDeviceManager() : LinuxSPIDeviceManager::LinuxSPIDeviceManager() :
_device_cs0("/dev/spidev2.0", SPI_MODE_0, 8, 7, SPI1_BUS_SPEED), /* SPIDevice_MS5611 */ _device_cs0("/dev/spidev2.0", SPI_MODE_0, 8, 7, 6*1000*1000), /* SPIDevice_MS5611 */
_device_cs1("/dev/spidev2.0", SPI_MODE_0, 8, 113, SPI1_BUS_SPEED), /* SPIDevice_MPU6000 */ _device_cs1("/dev/spidev2.0", SPI_MODE_0, 8, 113, 20*1000*1000), /* SPIDevice_MPU6000 */
_device_cs2("/dev/spidev2.0", SPI_MODE_0, 8, 49, SPI1_BUS_SPEED), /* SPIDevice_MPU9250 */ _device_cs2("/dev/spidev2.0", SPI_MODE_0, 8, 49, 6*1000*1000), /* SPIDevice_MPU9250 */
_device_cs3("/dev/spidev1.0", SPI_MODE_0, 8, 5,SPI0_BUS_SPEED) /* SPIDevice_LSM9DS0 */ _device_cs3("/dev/spidev1.0", SPI_MODE_0, 8, 5, 6*1000*1000) /* SPIDevice_LSM9DS0 */
{} {}
void LinuxSPIDeviceManager::init(void *) void LinuxSPIDeviceManager::init(void *)