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AP_InertialSensor: run MPU6000 sensor register reads at 8MHz

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run other register IO at 500kHz
This commit is contained in:
Andrew Tridgell 2013-10-11 18:02:17 +11:00 committed by Randy Mackay
parent 04836ea763
commit 9833900f91
1 changed files with 11 additions and 2 deletions
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13
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
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@ -179,10 +179,10 @@ const uint8_t AP_InertialSensor_MPU6000::_temp_data_index = 3;
AP_InertialSensor_MPU6000::AP_InertialSensor_MPU6000() :
AP_InertialSensor(),
_mpu6000_product_id(AP_PRODUCT_ID_NONE),
_drdy_pin(NULL),
_temp(0),
_initialised(false)
_initialised(false),
_mpu6000_product_id(AP_PRODUCT_ID_NONE)
{
}
@ -308,7 +308,9 @@ bool AP_InertialSensor_MPU6000::update( void )
if (_last_filter_hz != _mpu6000_filter) {
if (_spi_sem->take(10)) {
_spi->set_bus_speed(AP_HAL::SPIDeviceDriver::SPI_SPEED_LOW);
_set_filter_register(_mpu6000_filter, 0);
_spi->set_bus_speed(AP_HAL::SPIDeviceDriver::SPI_SPEED_HIGH);
_spi_sem->give();
}
}
@ -484,6 +486,9 @@ bool AP_InertialSensor_MPU6000::hardware_init(Sample_rate sample_rate)
hal.scheduler->panic(PSTR("MPU6000: Unable to get semaphore"));
}
// initially run the bus at low speed (500kHz on APM2)
_spi->set_bus_speed(AP_HAL::SPIDeviceDriver::SPI_SPEED_LOW);
// Chip reset
uint8_t tries;
for (tries = 0; tries<5; tries++) {
@ -575,6 +580,10 @@ bool AP_InertialSensor_MPU6000::hardware_init(Sample_rate sample_rate)
register_write(MPUREG_INT_PIN_CFG, BIT_INT_RD_CLEAR | BIT_LATCH_INT_EN);
hal.scheduler->delay(1);
// now that we have initialised, we set the SPI bus speed to high
// (8MHz on APM2)
_spi->set_bus_speed(AP_HAL::SPIDeviceDriver::SPI_SPEED_HIGH);
_spi_sem->give();
return true;