Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-23 16:23:56 -04:00
Code Issues Packages Projects Releases Wiki Activity

OptFlow: correct SPI mode and baud rates

Browse Source
This commit is contained in:
Randy Mackay 2013-12-01 23:20:02 +09:00
parent 0cda3c9a71
commit f8e269cd04
1 changed files with 5 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
libraries/AP_HAL_AVR/SPIDeviceManager_APM2.cpp
View File

@ -42,7 +42,7 @@ void APM2SPIDeviceManager::init(void* machtnichts) {
AVRDigitalSource* optflow_cs = new AVRDigitalSource(_BV(3), PF);
/* optflow: divide clock by 8 to 2Mhz
* spcr gets bit SPR0, spsr gets bit SPI2X */
_optflow_spi0 = new AVRSPI0DeviceDriver(optflow_cs, _BV(SPR0), _BV(SPR0), _BV(SPI2X));
_optflow_spi0 = new AVRSPI0DeviceDriver(optflow_cs, _BV(SPR0)|_BV(CPOL)|_BV(CPHA), _BV(SPR0)|_BV(CPOL)|_BV(CPHA), _BV(SPI2X));
_optflow_spi0->init();
/* Dataflash CS is on Arduino pin 28, PORTA6 */
@ -53,8 +53,10 @@ void APM2SPIDeviceManager::init(void* machtnichts) {
_dataflash = new AVRSPI3DeviceDriver(df_cs, 0, 0);
_dataflash->init();
/* XXX need correct mode and baud */
_optflow_spi3 = new AVRSPI3DeviceDriver(optflow_cs, 0, 0);
/* optflow uses mode 3 and a clock of 2mhz
* ucsr3c = _BV(UCPHA3N)|_BV(UCPOL3) = 3
* ubrr3 = 3 */
_optflow_spi3 = new AVRSPI3DeviceDriver(optflow_cs, 3, 3);
_optflow_spi3->init();
}