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Code Issues Releases Activity

OP-238 AHRS Comms: Bring down clock rate of comms to AHRS to 2.25 MHz. Decrease

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to only transmitting one object per transmission too to keep size down.
Also move to using the driver structure so the paramter is in a clear place.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2333 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2011-01-05 10:34:42 +00:00 committed by peabody124
parent 3e9ee37c73
commit 0e7661539e
2 changed files with 4 additions and 4 deletions
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4
flight/Libraries/ahrs_spi_comm.c
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@ -53,7 +53,7 @@ typedef enum { COMMS_NULL, COMMS_OBJECT } COMMSCOMMAND;
//The maximum number of objects that can be updated in one cycle.
//Currently the link is capable of sending 3 packets per cycle but 2 is enough
#define MAX_UPDATE_OBJECTS 2
#define MAX_UPDATE_OBJECTS 1
//Number of transmissions + 1 before we expect to see the data acknowledge
//This is controlled by the SPI hardware.
@ -144,7 +144,7 @@ void AhrsInitComms(void)
#ifdef IN_AHRS
PIOS_SPI_Init();
#else
PIOS_SPI_SetClockSpeed(PIOS_OPAHRS_SPI, PIOS_SPI_PRESCALER_8); //36MHz/16 = 2.25MHz
/* Comms already init in OP code */
for (int ct = 0; ct < MAX_AHRS_OBJECTS; ct++) {
AhrsObjHandle hdl = AhrsFromIndex(ct);
if (hdl) {

4
flight/OpenPilot/System/pios_board.c
View File

@ -101,7 +101,7 @@ const struct pios_spi_cfg pios_spi_sdcard_cfg = {
.SPI_CRCPolynomial = 7,
.SPI_CPOL = SPI_CPOL_High,
.SPI_CPHA = SPI_CPHA_2Edge,
.SPI_BaudRatePrescaler = 7 << 3, /* Maximum divider (ie. slowest clock rate) */
.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_256, /* Maximum divider (ie. slowest clock rate) */
},
.dma = {
.ahb_clk = RCC_AHBPeriph_DMA1,
@ -199,7 +199,7 @@ const struct pios_spi_cfg pios_spi_ahrs_cfg = {
.SPI_CRCPolynomial = 7,
.SPI_CPOL = SPI_CPOL_High,
.SPI_CPHA = SPI_CPHA_2Edge,
.SPI_BaudRatePrescaler = 7 << 3, /* Maximum divider (ie. slowest clock rate) */
.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_16,
},
.use_crc = TRUE,
.dma = {