mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-08 00:48:30 -04:00
04836ea763
this should allow us to work even with older chips. See the MPU6000 product specification, which says max 20MHz for sensor and interrupt regs, and max 1MHz for all other regs
75 lines
2.5 KiB
C++
75 lines
2.5 KiB
C++
#include <AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
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#include <avr/io.h>
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#include <AP_HAL.h>
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#include "SPIDriver.h"
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#include "SPIDevices.h"
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#include "utility/pins_arduino_mega.h"
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using namespace AP_HAL_AVR;
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extern const AP_HAL::HAL& hal;
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void APM2SPIDeviceManager::init(void* machtnichts) {
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/* Note that the order of the init() of the MS5611 and MPU6k is
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* critical for the APM2. If you initialise in the wrong order
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* then the MS5611 doesn't initialise itself correctly. This
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* indicates an electrical fault in the APM2 which needs to be
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* investigated. Meanwhile, initialising the MPU6k CS pin before
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* the MS5611 CS pin works around the problem
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*/
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/* mpu6k cs is on Arduino pin 53, PORTB0 */
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AVRDigitalSource* mpu6k_cs = new AVRDigitalSource(_BV(0), PB);
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/* mpu6k: run clock at 8MHz in high speed mode and 512kHz for low
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* speed */
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_mpu6k = new AVRSPI0DeviceDriver(mpu6k_cs, _BV(SPR1), 0, _BV(SPI2X));
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_mpu6k->init();
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/* ms5611 cs is on Arduino pin 40, PORTG1 */
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AVRDigitalSource* ms5611_cs = new AVRDigitalSource(_BV(1), PG);
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/* ms5611: run clock at 8MHz */
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_ms5611 = new AVRSPI0DeviceDriver(ms5611_cs, 0, 0, _BV(SPI2X));
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_ms5611->init();
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/* optflow cs is on Arduino pin A3, PORTF3 */
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AVRDigitalSource* optflow_cs = new AVRDigitalSource(_BV(3), PF);
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/* optflow: divide clock by 8 to 2Mhz
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* spcr gets bit SPR0, spsr gets bit SPI2X */
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_optflow_spi0 = new AVRSPI0DeviceDriver(optflow_cs, _BV(SPR0), _BV(SPR0), _BV(SPI2X));
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_optflow_spi0->init();
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/* Dataflash CS is on Arduino pin 28, PORTA6 */
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AVRDigitalSource* df_cs = new AVRDigitalSource(_BV(6), PA);
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/* dataflash uses mode 0 and a clock of 8mhz
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* ucsr3c = 0
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* ubrr3 = 0 */
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_dataflash = new AVRSPI3DeviceDriver(df_cs, 0, 0);
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_dataflash->init();
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/* XXX need correct mode and baud */
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_optflow_spi3 = new AVRSPI3DeviceDriver(optflow_cs, 0, 0);
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_optflow_spi3->init();
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}
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AP_HAL::SPIDeviceDriver* APM2SPIDeviceManager::device(enum AP_HAL::SPIDevice d)
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{
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switch (d) {
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case AP_HAL::SPIDevice_Dataflash:
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return _dataflash;
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case AP_HAL::SPIDevice_MS5611:
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return _ms5611;
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case AP_HAL::SPIDevice_MPU6000:
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return _mpu6k;
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case AP_HAL::SPIDevice_ADNS3080_SPI0:
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return _optflow_spi0;
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case AP_HAL::SPIDevice_ADNS3080_SPI3:
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return _optflow_spi3;
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default:
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return NULL;
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};
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}
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#endif
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