TAP:Added i2c speed setting to init

src/drivers/boards/tap-v1/CMakeLists.txt

@@ -39,6 +39,7 @@ px4_add_module(
 		../common/board_name.c
 		tap_init.c
 		tap_pwr.c
+		tap_i2c.cpp
 		tap_sdio.c
 		tap_timer_config.c
 		tap_spi.c

src/drivers/boards/tap-v1/board_config.h

@@ -108,6 +108,9 @@ __BEGIN_DECLS
 
 #define PX4_I2C_OBDEV_HMC5883	0x1e
 
+#define PX4_I2C_BUS_ONBOARD_HZ      400000
+#define PX4_I2C_BUS_SONAR_HZ        400000
+#define PX4_I2C_BUS_EXPANSION_HZ    100000
 /*
  * Devices on the onboard bus.
  *
@@ -339,5 +342,15 @@ bool board_pwr_button_down(void);
 
 void board_pwr(bool on_not_off);
 
+/****************************************************************************
+ * Name: board_i2c_initialize
+ *
+ * Description:
+ *   Called to set I2C bus frequncies.
+ *
+ ****************************************************************************/
+
+int board_i2c_initialize(void);
+
 #endif /* __ASSEMBLY__ */
 __END_DECLS

src/drivers/boards/tap-v1/tap_i2c.cpp

@@ -0,0 +1,69 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2016 PX4 Development Team. All rights reserved.
+ *         Author: David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file tap_i2c.c
+ *
+ * TAP_V1 LED backend.
+ */
+
+#include <px4_config.h>
+
+
+#include "board_config.h"
+#include <arch/board/board.h>
+#include <drivers/device/i2c.h>
+/****************************************************************************
+ * Name: board_i2c_initialize
+ *
+ * Description:
+ *   Called to set I2C bus frequncies.
+ *
+ ****************************************************************************/
+
+int board_i2c_initialize(void)
+{
+
+	int ret = device::I2C::set_bus_clock(PX4_I2C_BUS_ONBOARD, PX4_I2C_BUS_ONBOARD_HZ);
+
+	if (ret == OK) {
+		ret = device::I2C::set_bus_clock(PX4_I2C_BUS_SONAR, PX4_I2C_BUS_SONAR);
+	}
+
+	if (ret == OK) {
+		ret = device::I2C::set_bus_clock(PX4_I2C_BUS_EXPANSION, PX4_I2C_BUS_EXPANSION_HZ);
+	}
+
+	return ret;
+}

src/drivers/boards/tap-v1/tap_init.c

@@ -207,6 +207,13 @@ __EXPORT int nsh_archinitialize(void)
 	led_off(LED_AMBER);
 	led_off(LED_BLUE);
 
+	result = board_i2c_initialize();
+
+	if (result != OK) {
+		up_ledon(LED_AMBER);
+		return -ENODEV;
+	}
+
 #if defined(FLASH_BASED_PARAMS)
 	static sector_descriptor_t  sector_map[] = {
 		{1, 16 * 1024, 0x08004000},

src/drivers/mpu6000/mpu6000.cpp

@@ -99,11 +99,14 @@
   sample rate and then throw away duplicates by comparing
   accelerometer values. This time reduction is enough to cope with
   worst case timing jitter due to other timers
+
+  I2C bus is running at 100 kHz Transaction time is 2.163Ms
+ I2C bus is running at 400 kHz (304 kHz acutal) Transaction time
+ is 583 uS
+
  */
 #define MPU6000_TIMER_REDUCTION				200
-#define MPU6000_CONVERSION_INTERVAL			10000 //todo:This is set long for the moment
-// As the bus is running at 100KHX and the
-// Transaction time is 2.163Ms
+
 
 enum MPU6000_BUS {
 	MPU6000_BUS_ALL = 0,
@@ -1683,12 +1686,7 @@ MPU6000::cycle()
 			   &_work,
 			   (worker_t)&MPU6000::cycle_trampoline,
 			   this,
-			   USEC2TICK(MPU6000_CONVERSION_INTERVAL));
-//todo:This is set long for the moment
-// As the bus is running at 100KHX and the
-// Transaction time is 2.163Ms
-// It should be USEC2TICK(_call_interval - MPU6000_TIMER_REDUCTION));
-// When I get the bus running at 400Khz
+			   USEC2TICK(_call_interval - MPU6000_TIMER_REDUCTION));
 	}
 }
 #endif