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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-12-16 09:02:28 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-12-16 09:02:28 +0100 |
| commit | ae26e70f54f6cdc39d15f708c5d727f51ee882f7 (patch) | |
| tree | 100b817360e2c286866afff967df9f3c97c67b69 | |
| parent | da539ec83f30609700970ad7f06ad635e01ee658 (diff) | |
| parent | aed7133649276f48e622b544a73d5c64de758450 (diff) | |
| download | px4-firmware-ae26e70f54f6cdc39d15f708c5d727f51ee882f7.tar.gz px4-firmware-ae26e70f54f6cdc39d15f708c5d727f51ee882f7.tar.bz2 px4-firmware-ae26e70f54f6cdc39d15f708c5d727f51ee882f7.zip | |
Merge branch 'master' of github.com:PX4/Firmware
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.sensors | 16 | ||||
| -rw-r--r-- | makefiles/config_px4fmu-v2_default.mk | 1 | ||||
| -rw-r--r-- | src/drivers/l3gd20/l3gd20.cpp | 2 | ||||
| -rw-r--r-- | src/drivers/lsm303d/lsm303d.cpp | 2 | ||||
| -rw-r--r-- | src/drivers/mpu6000/mpu6000.cpp | 2 | ||||
| -rw-r--r-- | src/drivers/ms5611/ms5611_spi.cpp | 2 |
6 files changed, 16 insertions, 9 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors index f17b650bc..7f73acf85 100644 --- a/ROMFS/px4fmu_common/init.d/rc.sensors +++ b/ROMFS/px4fmu_common/init.d/rc.sensors @@ -19,12 +19,18 @@ fi if mpu6000 start then echo "using MPU6000" - set BOARD fmuv1 -else - echo "using L3GD20 and LSM303D" - l3gd20 start - lsm303d start +fi + +if l3gd20 start +then + echo "using L3GD20(H)" +fi + +if lsm303d start +then set BOARD fmuv2 +else + set BOARD fmuv1 fi # Start airspeed sensors diff --git a/makefiles/config_px4fmu-v2_default.mk b/makefiles/config_px4fmu-v2_default.mk index 015a7387a..68673c055 100644 --- a/makefiles/config_px4fmu-v2_default.mk +++ b/makefiles/config_px4fmu-v2_default.mk @@ -21,6 +21,7 @@ MODULES += drivers/px4fmu MODULES += drivers/px4io MODULES += drivers/boards/px4fmu-v2 MODULES += drivers/rgbled +MODULES += drivers/mpu6000 MODULES += drivers/lsm303d MODULES += drivers/l3gd20 MODULES += drivers/hmc5883 diff --git a/src/drivers/l3gd20/l3gd20.cpp b/src/drivers/l3gd20/l3gd20.cpp index d639acba1..670e51b97 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 11e5b95a7..969b5e25f 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 c95d11c83..be4e422b0 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 bc4074c55..26216e840 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) { } |