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HAL_Linux: MPU9250 is restricted to 1MHz for setup

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(see datasheet)
This commit is contained in:
Andrew Tridgell 2014-07-07 18:32:38 +10:00
parent 0f724c1d7a
commit 9f8f27090a
1 changed files with 2 additions and 1 deletions
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3
libraries/AP_HAL_Linux/SPIDriver.cpp
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@ -23,7 +23,8 @@ extern const AP_HAL::HAL& hal;
LinuxSPIDeviceDriver LinuxSPIDeviceManager::_device[LINUX_SPI_DEVICE_NUM_DEVICES] = {
LinuxSPIDeviceDriver(1, LINUX_SPI_DEVICE_MS5611, SPI_MODE_3, 8, BBB_P9_42, 6*MHZ, 6*MHZ),
LinuxSPIDeviceDriver(1, LINUX_SPI_DEVICE_MPU6000, SPI_MODE_3, 8, BBB_P9_28, 500*1000, 20*MHZ),
LinuxSPIDeviceDriver(1, LINUX_SPI_DEVICE_MPU9250, SPI_MODE_3, 8, BBB_P9_23, 6*MHZ, 20*MHZ),
/* MPU9250 is restricted to 1MHz for non-data and interrupt registers */
LinuxSPIDeviceDriver(1, LINUX_SPI_DEVICE_MPU9250, SPI_MODE_3, 8, BBB_P9_23, 1*MHZ, 20*MHZ),
LinuxSPIDeviceDriver(0, LINUX_SPI_DEVICE_LSM9DS0, SPI_MODE_0, 8, BBB_P9_17, 6*MHZ, 6*MHZ),
LinuxSPIDeviceDriver(1, LINUX_SPI_DEVICE_FRAM, SPI_MODE_0, 8, BBB_P8_12, 6*MHZ, 6*MHZ)
};