From f4ac204f4650dedcde52aa9ec001fafb5e7c5284 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sun, 15 Dec 2013 18:32:46 +0100
Subject: [PATCH] Cranking up bus speeds for all sensors to achievable 10.4
 MHz, will cut the bus lock time to half

---
 src/drivers/l3gd20/l3gd20.cpp     | 2 +-
 src/drivers/lsm303d/lsm303d.cpp   | 2 +-
 src/drivers/mpu6000/mpu6000.cpp   | 2 +-
 src/drivers/ms5611/ms5611_spi.cpp | 2 +-
 4 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/drivers/l3gd20/l3gd20.cpp b/src/drivers/l3gd20/l3gd20.cpp
index d639acba15..670e51b979 100644
--- a/src/drivers/l3gd20/l3gd20.cpp
+++ b/src/drivers/l3gd20/l3gd20.cpp
@@ -316,7 +316,7 @@ private:
 };
 
 L3GD20::L3GD20(int bus, const char* path, spi_dev_e device) :
-	SPI("L3GD20", path, bus, device, SPIDEV_MODE3, 8000000),
+	SPI("L3GD20", path, bus, device, SPIDEV_MODE3, 11*1000*1000 /* will be rounded to 10.4 MHz, within margins for L3GD20 */),
 	_call_interval(0),
 	_reports(nullptr),
 	_gyro_range_scale(0.0f),
diff --git a/src/drivers/lsm303d/lsm303d.cpp b/src/drivers/lsm303d/lsm303d.cpp
index 11e5b95a7e..969b5e25f9 100644
--- a/src/drivers/lsm303d/lsm303d.cpp
+++ b/src/drivers/lsm303d/lsm303d.cpp
@@ -486,7 +486,7 @@ private:
 
 
 LSM303D::LSM303D(int bus, const char* path, spi_dev_e device) :
-	SPI("LSM303D", path, bus, device, SPIDEV_MODE3, 8000000),
+	SPI("LSM303D", path, bus, device, SPIDEV_MODE3, 11*1000*1000 /* will be rounded to 10.4 MHz, within safety margins for LSM303D */),
 	_mag(new LSM303D_mag(this)),
 	_call_accel_interval(0),
 	_call_mag_interval(0),
diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp
index c95d11c83b..be4e422b04 100644
--- a/src/drivers/mpu6000/mpu6000.cpp
+++ b/src/drivers/mpu6000/mpu6000.cpp
@@ -170,7 +170,7 @@
   SPI speed
  */
 #define MPU6000_LOW_BUS_SPEED				1000*1000
-#define MPU6000_HIGH_BUS_SPEED				10*1000*1000
+#define MPU6000_HIGH_BUS_SPEED				11*1000*1000 /* will be rounded to 10.4 MHz, within margins for MPU6K */
 
 class MPU6000_gyro;
 
diff --git a/src/drivers/ms5611/ms5611_spi.cpp b/src/drivers/ms5611/ms5611_spi.cpp
index bc4074c55e..26216e840f 100644
--- a/src/drivers/ms5611/ms5611_spi.cpp
+++ b/src/drivers/ms5611/ms5611_spi.cpp
@@ -121,7 +121,7 @@ MS5611_spi_interface(ms5611::prom_u &prom_buf)
 }
 
 MS5611_SPI::MS5611_SPI(int bus, spi_dev_e device, ms5611::prom_u &prom_buf) :
-	SPI("MS5611_SPI", nullptr, bus, device, SPIDEV_MODE3, 6*1000*1000),
+	SPI("MS5611_SPI", nullptr, bus, device, SPIDEV_MODE3, 11*1000*1000 /* will be rounded to 10.4 MHz */),
 	_prom(prom_buf)
 {
 }