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HAL_AVR: force all devices on SPI0 to low speed when one is low speed

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this forces MS5611 to low speed when MPU6K is low speed
This commit is contained in:
Andrew Tridgell 2013-11-15 17:45:02 +11:00 committed by Randy Mackay
parent bea7e4c9bc
commit 5999a468ac
2 changed files with 7 additions and 0 deletions
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6
libraries/AP_HAL_AVR/SPIDevice_SPI0.cpp
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@ -17,6 +17,7 @@ extern const AP_HAL::HAL& hal;
#define SPI0_SCK_PIN 52
AVRSemaphore AVRSPI0DeviceDriver::_semaphore;
bool AVRSPI0DeviceDriver::_force_low_speed;
static volatile bool spi0_transferflag = false;
@ -40,6 +41,9 @@ void AVRSPI0DeviceDriver::_cs_assert()
{
const uint8_t valid_spcr_mask =
(_BV(CPOL) | _BV(CPHA) | _BV(SPR1) | _BV(SPR0));
if (_force_low_speed) {
_spcr = _spcr_lowspeed;
}
uint8_t new_spcr = (SPCR & ~valid_spcr_mask) | (_spcr & valid_spcr_mask);
SPCR = new_spcr;
@ -145,8 +149,10 @@ void AVRSPI0DeviceDriver::set_bus_speed(AVRSPI0DeviceDriver::bus_speed speed)
{
if (speed == AVRSPI0DeviceDriver::SPI_SPEED_HIGH) {
_spcr = _spcr_highspeed;
_force_low_speed = false;
} else {
_spcr = _spcr_lowspeed;
_force_low_speed = true;
}
}

1
libraries/AP_HAL_AVR/SPIDevices.h
View File

@ -39,6 +39,7 @@ private:
void _transfer16(const uint8_t *tx, uint8_t *rx);
static AP_HAL_AVR::AVRSemaphore _semaphore;
static bool _force_low_speed;
AP_HAL_AVR::AVRDigitalSource *_cs_pin;
const uint8_t _spcr_lowspeed;