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HAL: MPU6k and Baro SPI to 8Mhz

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This commit is contained in:
Randy Mackay 2013-11-15 21:57:18 +09:00
parent 08a6503364
commit f5488bc447
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_HAL_AVR/SPIDeviceManager_APM2.cpp
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@ -29,13 +29,13 @@ void APM2SPIDeviceManager::init(void* machtnichts) {
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, SPI0_SPCR_500kHz, SPI0_SPCR_500kHz, SPI0_SPSR_500kHz);
_mpu6k = new AVRSPI0DeviceDriver(mpu6k_cs, SPI0_SPCR_500kHz, SPI0_SPCR_8MHz, SPI0_SPSR_8MHz);
_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, SPI0_SPCR_500kHz, SPI0_SPCR_500kHz, SPI0_SPSR_500kHz);
_ms5611 = new AVRSPI0DeviceDriver(ms5611_cs, SPI0_SPCR_500kHz, SPI0_SPCR_8MHz, SPI0_SPSR_8MHz);
_ms5611->init();
/* optflow cs is on Arduino pin A3, PORTF3 */