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MatekH743 board_id, usb vid/pid changes, and MPU6000 delay before transfer - not after (#18733)

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* Make board_id compatible with ardupilot
 * Initialize outputs for CAM1/CAM2 and Vsw pad
 * Correct board type 1013 in bootloader to match AP
 * Change usb vendor string to "Matek"
 * Change cdcacm pid to 1013
 * Comment out FLASH_BASED_PARAMS because of #15331
This commit is contained in:
Viktor Vladic
2022-02-08 01:55:49 +01:00
committed by GitHub
parent 490a0c473b
commit f4d02a2937
8 changed files with 41 additions and 16 deletions
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src/drivers/imu/invensense/mpu6000/MPU6000.cpp
+2 -2
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@@ -436,8 +436,8 @@ uint8_t MPU6000::RegisterRead(Register reg)
uint8_t cmd[2] {};
cmd[0] = static_cast<uint8_t>(reg) | DIR_READ;
set_frequency(SPI_SPEED); // low speed for regular registers
transfer(cmd, cmd, sizeof(cmd));
px4_udelay(10);
transfer(cmd, cmd, sizeof(cmd));
return cmd[1];
}
@@ -445,8 +445,8 @@ void MPU6000::RegisterWrite(Register reg, uint8_t value)
{
uint8_t cmd[2] { (uint8_t)reg, value };
set_frequency(SPI_SPEED); // low speed for regular registers
transfer(cmd, cmd, sizeof(cmd));
px4_udelay(10);
transfer(cmd, cmd, sizeof(cmd));
}
void MPU6000::RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t clearbits)