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OptFlow: correct SPI mode and baud rates

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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
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8
libraries/AP_HAL_AVR/SPIDeviceManager_APM2.cpp
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@ -42,7 +42,7 @@ void APM2SPIDeviceManager::init(void* machtnichts) {
AVRDigitalSource* optflow_cs = new AVRDigitalSource(_BV(3), PF); AVRDigitalSource* optflow_cs = new AVRDigitalSource(_BV(3), PF);
/* optflow: divide clock by 8 to 2Mhz /* optflow: divide clock by 8 to 2Mhz
* spcr gets bit SPR0, spsr gets bit SPI2X */ * 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(); _optflow_spi0->init();
/* Dataflash CS is on Arduino pin 28, PORTA6 */ /* 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 = new AVRSPI3DeviceDriver(df_cs, 0, 0);
_dataflash->init(); _dataflash->init();
/* XXX need correct mode and baud */ /* optflow uses mode 3 and a clock of 2mhz
_optflow_spi3 = new AVRSPI3DeviceDriver(optflow_cs, 0, 0); * ucsr3c = _BV(UCPHA3N)|_BV(UCPOL3) = 3
* ubrr3 = 3 */
_optflow_spi3 = new AVRSPI3DeviceDriver(optflow_cs, 3, 3);
_optflow_spi3->init(); _optflow_spi3->init();
} }