From 18df21306926dbc0cc7dc5b7d8b51158954730f6 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sun, 6 Nov 2016 20:55:17 +1100 Subject: [PATCH] HAL_PX4: fixed initial SPI bus speed and report new SPI instances --- libraries/AP_HAL_PX4/SPIDevice.cpp | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/libraries/AP_HAL_PX4/SPIDevice.cpp b/libraries/AP_HAL_PX4/SPIDevice.cpp index 86640cfc67..5c407c274b 100644 --- a/libraries/AP_HAL_PX4/SPIDevice.cpp +++ b/libraries/AP_HAL_PX4/SPIDevice.cpp @@ -69,10 +69,18 @@ SPIDevice::SPIDevice(SPIBus &_bus, SPIDesc &_device_desc) { set_device_bus(_bus.bus); set_device_address(_device_desc.device); + set_speed(AP_HAL::Device::SPEED_LOW); + SPI_SELECT(bus.dev, device_desc.device, false); + printf("SPI device %s on %u:%u at speed %u mode %u\n", + device_desc.name, + (unsigned)bus.bus, (unsigned)device_desc.device, + (unsigned)frequency, (unsigned)device_desc.mode); } SPIDevice::~SPIDevice() { + printf("SPI device %s on %u:%u closed\n", device_desc.name, + (unsigned)bus.bus, (unsigned)device_desc.device); } bool SPIDevice::set_speed(AP_HAL::Device::Speed speed)