From dd59a5ff57523e7d33ae3aef094b7fdd87caedc9 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Wed, 17 Jan 2018 13:55:52 +1100 Subject: [PATCH] HAL_ChibiOS: adjust external bus clock for mpu9250 this fixes an issue with fast sampling on the PH2.1 cube --- libraries/AP_HAL_ChibiOS/hwdef/fmuv3/hwdef.dat | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/fmuv3/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/fmuv3/hwdef.dat index 7289a4c523..bc48e25aec 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/fmuv3/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/fmuv3/hwdef.dat @@ -132,7 +132,7 @@ SPIDEV ms5611 SPI1 DEVID3 BARO_CS MODE3 20*MHZ 20*MHZ SPIDEV ms5611_ext SPI4 DEVID2 BARO_EXT_CS MODE3 20*MHZ 20*MHZ SPIDEV mpu6000 SPI1 DEVID4 MPU_CS MODE3 1*MHZ 8*MHZ SPIDEV mpu9250 SPI1 DEVID4 MPU_CS MODE3 1*MHZ 8*MHZ -SPIDEV mpu9250_ext SPI4 DEVID1 MPU_EXT_CS MODE3 1*MHZ 8*MHZ +SPIDEV mpu9250_ext SPI4 DEVID1 MPU_EXT_CS MODE3 4*MHZ 4*MHZ SPIDEV hmc5843 SPI1 DEVID5 MAG_CS MODE3 11*MHZ 11*MHZ SPIDEV lsm9ds0_g SPI1 DEVID4 GYRO_EXT_CS MODE3 11*MHZ 11*MHZ SPIDEV lsm9ds0_am SPI1 DEVID3 ACCEL_EXT_CS MODE3 11*MHZ 11*MHZ @@ -144,6 +144,14 @@ SPIDEV external0m1 SPI4 DEVID5 MPU_EXT_CS MODE1 2*MHZ 2*MHZ SPIDEV external0m2 SPI4 DEVID5 MPU_EXT_CS MODE2 2*MHZ 2*MHZ SPIDEV external0m3 SPI4 DEVID5 MPU_EXT_CS MODE3 2*MHZ 2*MHZ +# for SPI clock testing +#SPIDEV clock500 SPI4 DEVID5 MPU_EXT_CS MODE0 500*KHZ 500*KHZ # gives 329KHz +#SPIDEV clock1 SPI4 DEVID5 MPU_EXT_CS MODE0 1*MHZ 1*MHZ # gives 657kHz +#SPIDEV clock2 SPI4 DEVID5 MPU_EXT_CS MODE0 2*MHZ 2*MHZ # gives 1.3MHz +#SPIDEV clock4 SPI4 DEVID5 MPU_EXT_CS MODE0 4*MHZ 4*MHZ # gives 2.6MHz +#SPIDEV clock8 SPI4 DEVID5 MPU_EXT_CS MODE0 8*MHZ 8*MHZ # gives 5.5MHz +#SPIDEV clock16 SPI4 DEVID5 MPU_EXT_CS MODE0 16*MHZ 16*MHZ # gives 10.6MHz + define HAL_CHIBIOS_ARCH_FMUV3 1 define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"