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icm20948+mpu9250: add support to configure the high bus speed

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This commit is contained in:
Beat Küng 2020-04-02 13:25:05 +02:00
parent 0becd29b46
commit bcce75e691
4 changed files with 12 additions and 7 deletions
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2
src/drivers/imu/icm20948/icm20948_main.cpp
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@ -103,7 +103,7 @@ icm20948_main(int argc, char *argv[])
int ch;
using ThisDriver = ICM20948;
BusCLIArguments cli{true, true};
cli.default_spi_frequency = 1000 * 1000; // low speed freq
cli.default_spi_frequency = 20 * 1000 * 1000;
cli.default_i2c_frequency = 400000;
while ((ch = cli.getopt(argc, argv, "R:")) != EOF) {

7
src/drivers/imu/icm20948/icm20948_spi.cpp
View File

@ -77,6 +77,8 @@ private:
/* Helper to set the desired speed and isolate the register on return */
void set_bus_frequency(unsigned &reg_speed_reg_out);
const int _high_bus_speed;
};
device::Device *
@ -86,7 +88,8 @@ ICM20948_SPI_interface(int bus, uint32_t devid, int bus_frequency, spi_mode_e sp
}
ICM20948_SPI::ICM20948_SPI(int bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode) :
SPI(DRV_IMU_DEVTYPE_ICM20948, MODULE_NAME, bus, device, spi_mode, bus_frequency)
SPI(DRV_IMU_DEVTYPE_ICM20948, MODULE_NAME, bus, device, spi_mode, ICM20948_LOW_SPI_BUS_SPEED),
_high_bus_speed(bus_frequency)
{
}
@ -94,7 +97,7 @@ void
ICM20948_SPI::set_bus_frequency(unsigned &reg_speed)
{
/* Set the desired speed */
set_frequency(ICM20948_IS_HIGH_SPEED(reg_speed) ? ICM20948_HIGH_SPI_BUS_SPEED : ICM20948_LOW_SPI_BUS_SPEED);
set_frequency(ICM20948_IS_HIGH_SPEED(reg_speed) ? _high_bus_speed : ICM20948_LOW_SPI_BUS_SPEED);
/* Isoolate the register on return */
reg_speed = ICM20948_REG(reg_speed);

2
src/drivers/imu/mpu9250/mpu9250_main.cpp
View File

@ -99,7 +99,7 @@ mpu9250_main(int argc, char *argv[])
int ch;
using ThisDriver = MPU9250;
BusCLIArguments cli{true, true};
cli.default_spi_frequency = 1000 * 1000; // low speed bus frequency
cli.default_spi_frequency = 20 * 1000 * 1000;
cli.default_i2c_frequency = 400000;
while ((ch = cli.getopt(argc, argv, "R:")) != EOF) {

8
src/drivers/imu/mpu9250/mpu9250_spi.cpp
View File

@ -74,9 +74,10 @@ protected:
int probe() override;
private:
/* Helper to set the desired speed and isolate the register on return */
void set_bus_frequency(unsigned &reg_speed_reg_out);
const int _high_bus_speed;
};
device::Device *
@ -86,7 +87,8 @@ MPU9250_SPI_interface(int bus, uint32_t cs, int bus_frequency, spi_mode_e spi_mo
}
MPU9250_SPI::MPU9250_SPI(int bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode) :
SPI(DRV_IMU_DEVTYPE_MPU9250, MODULE_NAME, bus, device, spi_mode, bus_frequency)
SPI(DRV_IMU_DEVTYPE_MPU9250, MODULE_NAME, bus, device, spi_mode, MPU9250_LOW_SPI_BUS_SPEED),
_high_bus_speed(bus_frequency)
{
}
@ -94,7 +96,7 @@ void
MPU9250_SPI::set_bus_frequency(unsigned &reg_speed)
{
/* Set the desired speed */
set_frequency(MPU9250_IS_HIGH_SPEED(reg_speed) ? MPU9250_HIGH_SPI_BUS_SPEED : MPU9250_LOW_SPI_BUS_SPEED);
set_frequency(MPU9250_IS_HIGH_SPEED(reg_speed) ? _high_bus_speed : MPU9250_LOW_SPI_BUS_SPEED);
/* Isolate the register on return */
reg_speed = MPU9250_REG(reg_speed);