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mpu6000:Support different clock freq per IC type

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This commit is contained in:
David Sidrane
2017-07-11 09:51:31 +02:00
committed by Lorenz Meier
parent 3c42c8f7fa
commit 3f0d26c949
1 changed files with 29 additions and 10 deletions
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src/drivers/mpu6000/mpu6000_spi.cpp
+29 -10
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@@ -71,14 +71,27 @@
# define EXTERNAL_BUS 0
# endif
/*
The MPU6000 can only handle high SPI bus speeds on the sensor and
interrupt status registers. All other registers have a maximum 1MHz
SPI speed
*/
#define MPU6000_LOW_SPI_BUS_SPEED 1000*1000
#define MPU6000_HIGH_SPI_BUS_SPEED 11*1000*1000 /* will be rounded to 10.4 MHz, within margins for MPU6K */
/* The MPU6000 can only handle high SPI bus speeds of 20Mhz on the sensor and
* interrupt status registers. All other registers have a maximum 1MHz
* SPI speed
*
* The ICM parts are not rated as high.
*
* The Actual Value will be rounded down by the spi driver.
* 168 Mhz CPU 180 Mhz CPU
* Selected ------------actual---------------
* 20 Mhz 10.5 Mhz 11.250 Mhz
* 10 Mhz 5.250 Mhz 5.625 Mhz
* 8 Mhz 5.250 Mhz 5.625 Mhz
* 1 Mhz 0.703125 Mhz 0.65625 Mhz
*
*/
#define MPU6000_LOW_SPI_BUS_SPEED 1000*1000
#define MPU6000_HIGH_SPI_BUS_SPEED 20*1000*1000
#define ICM20608_HIGH_SPI_BUS_SPEED 8*1000*1000
#define ICM20689_HIGH_SPI_BUS_SPEED 8*1000*1000
#define ICM20602_HIGH_SPI_BUS_SPEED 10*1000*1000
#define UNKNOWN_HIGH_SPI_BUS_SPEED 8*1000*1000 // Use the minimum
device::Device *MPU6000_SPI_interface(int bus, int device_type, bool external_bus);
@@ -103,6 +116,7 @@ private:
int _device_type;
/* Helper to set the desired speed and isolate the register on return */
int _max_frequency;
void set_bus_frequency(unsigned &reg_speed_reg_out);
};
@@ -251,9 +265,9 @@ MPU6000_SPI::set_bus_frequency(unsigned &reg_speed)
{
/* Set the desired speed */
set_frequency(MPU6000_IS_HIGH_SPEED(reg_speed) ? MPU6000_HIGH_SPI_BUS_SPEED : MPU6000_LOW_SPI_BUS_SPEED);
set_frequency(MPU6000_IS_HIGH_SPEED(reg_speed) ? _max_frequency : MPU6000_LOW_SPI_BUS_SPEED);
/* Isoolate the register on return */
/* Isolate the register on return */
reg_speed = MPU6000_REG(reg_speed);
}
@@ -328,23 +342,28 @@ MPU6000_SPI::probe()
{
uint8_t whoami = 0;
uint8_t expected = MPU_WHOAMI_6000;
_max_frequency = UNKNOWN_HIGH_SPI_BUS_SPEED;
switch (_device_type) {
default:
case 6000:
_max_frequency = MPU6000_HIGH_SPI_BUS_SPEED;
break;
case 20602:
expected = ICM_WHOAMI_20602;
_max_frequency = ICM20602_HIGH_SPI_BUS_SPEED;
break;
case 20608:
expected = ICM_WHOAMI_20608;
_max_frequency = ICM20608_HIGH_SPI_BUS_SPEED;
break;
case 20689:
expected = ICM_WHOAMI_20689;
_max_frequency = ICM20689_HIGH_SPI_BUS_SPEED;
break;
}