aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_HAL_Linux: reduce speed of MPU* devices

Browse Source 
After introducing the temperature check we are resetting the fifo
several times due to difference in temperature.
This commit is contained in:
Lucas De Marchi 2016-11-18 14:55:47 -02:00
parent 8d3361cef4
commit aadc1643fc
1 changed files with 8 additions and 13 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

21
libraries/AP_HAL_Linux/SPIDevice.cpp
View File

@ -73,8 +73,7 @@ SPIDesc SPIDeviceManager::_device[] = {
SPIDesc("lsm9ds0_g", 1, 0, SPI_MODE_3, 8, BBB_P8_9, 10*MHZ,10*MHZ),
SPIDesc("ms5611", 2, 0, SPI_MODE_3, 8, BBB_P9_42, 10*MHZ,10*MHZ),
SPIDesc("mpu6000", 2, 0, SPI_MODE_3, 8, BBB_P9_28, 500*1000, 20*MHZ),
/* MPU9250 is restricted to 1MHz for non-data and interrupt registers */
SPIDesc("mpu9250", 2, 0, SPI_MODE_3, 8, BBB_P9_23, 1*MHZ, 20*MHZ),
SPIDesc("mpu9250", 2, 0, SPI_MODE_3, 8, BBB_P9_23, 1*MHZ, 11*MHZ),
};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
SPIDesc SPIDeviceManager::_device[] = {
@ -82,8 +81,7 @@ SPIDesc SPIDeviceManager::_device[] = {
};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
SPIDesc SPIDeviceManager::_device[] = {
/* MPU9250 is restricted to 1MHz for non-data and interrupt registers */
SPIDesc("mpu9250", 0, 1, SPI_MODE_0, 8, SPI_CS_KERNEL, 1*MHZ, 20*MHZ),
SPIDesc("mpu9250", 0, 1, SPI_MODE_0, 8, SPI_CS_KERNEL, 1*MHZ, 11*MHZ),
SPIDesc("ublox", 0, 0, SPI_MODE_0, 8, SPI_CS_KERNEL, 5*MHZ, 5*MHZ),
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
SPIDesc("lsm9ds1_m", 0, 2, SPI_MODE_0, 8, SPI_CS_KERNEL, 1*MHZ, 10*MHZ),
@ -92,21 +90,18 @@ SPIDesc SPIDeviceManager::_device[] = {
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
SPIDesc SPIDeviceManager::_device[] = {
/* MPU9250 is restricted to 1MHz for non-data and interrupt registers */
SPIDesc("mpu9250", 0, 1, SPI_MODE_0, 8, SPI_CS_KERNEL, 1*MHZ, 20*MHZ),
SPIDesc("mpu9250", 0, 1, SPI_MODE_0, 8, SPI_CS_KERNEL, 1*MHZ, 11*MHZ),
SPIDesc("ms5611", 0, 0, SPI_MODE_0, 8, SPI_CS_KERNEL, 1*KHZ, 10*MHZ),
};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
SPIDesc SPIDeviceManager::_device[] = {
/* MPU9250 is restricted to 1MHz for non-data and interrupt registers */
SPIDesc("mpu9250", 2, 0, SPI_MODE_3, 8, SPI_CS_KERNEL, 1*MHZ, 20*MHZ),
SPIDesc("mpu9250ext", 1, 0, SPI_MODE_3, 8, SPI_CS_KERNEL, 1*MHZ, 20*MHZ),
SPIDesc("mpu9250", 2, 0, SPI_MODE_3, 8, SPI_CS_KERNEL, 1*MHZ, 11*MHZ),
SPIDesc("mpu9250ext", 1, 0, SPI_MODE_3, 8, SPI_CS_KERNEL, 1*MHZ, 11*MHZ),
SPIDesc("ms5611", 2, 1, SPI_MODE_3, 8, SPI_CS_KERNEL, 10*MHZ,10*MHZ),
};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
SPIDesc SPIDeviceManager::_device[] = {
/* MPU9250 is restricted to 1MHz for non-data and interrupt registers */
SPIDesc("mpu6000", 0, 0, SPI_MODE_3, 8, RPI_GPIO_25, 1*MHZ, 20*MHZ),
SPIDesc("mpu6000", 0, 0, SPI_MODE_3, 8, RPI_GPIO_25, 1*MHZ, 11*MHZ),
SPIDesc("ms5611", 0, 0, SPI_MODE_3, 8, RPI_GPIO_23, 10*MHZ, 10*MHZ),
SPIDesc("lsm9ds0_am", 0, 0, SPI_MODE_3, 8, RPI_GPIO_22, 10*MHZ, 10*MHZ),
SPIDesc("lsm9ds0_g", 0, 0, SPI_MODE_3, 8, RPI_GPIO_12, 10*MHZ, 10*MHZ),
@ -114,12 +109,12 @@ SPIDesc SPIDeviceManager::_device[] = {
};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
SPIDesc SPIDeviceManager::_device[] = {
SPIDesc("mpu9250", 0, 0, SPI_MODE_0, 8, RPI_GPIO_7, 1*MHZ, 20*MHZ),
SPIDesc("mpu9250", 0, 0, SPI_MODE_0, 8, RPI_GPIO_7, 1*MHZ, 11*MHZ),
SPIDesc("ublox", 0, 0, SPI_MODE_0, 8, RPI_GPIO_8, 250*KHZ, 5*MHZ),
};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK
SPIDesc SPIDeviceManager::_device[] = {
SPIDesc("mpu9250", 0, 1, SPI_MODE_0, 8, SPI_CS_KERNEL, 1*MHZ, 20*MHZ),
SPIDesc("mpu9250", 0, 1, SPI_MODE_0, 8, SPI_CS_KERNEL, 1*MHZ, 11*MHZ),
};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
SPIDesc SPIDeviceManager::_device[] = {