From c8da9c9a3d55df49fbd2df7f6dc730d7dc5788cc Mon Sep 17 00:00:00 2001 From: bugobliterator Date: Fri, 13 Sep 2024 16:37:59 +1000 Subject: [PATCH] AP_HAL_ChibiOS: Cube*: make SPI config same where possible to improve performance --- libraries/AP_HAL_ChibiOS/hwdef/CubeOrangePlus/hwdef.dat | 4 ++-- libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary/hwdef.dat | 6 +++--- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrangePlus/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrangePlus/hwdef.dat index d2163dbf14520..b313991cd9d88 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrangePlus/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrangePlus/hwdef.dat @@ -42,10 +42,10 @@ COMPASS AK09916 I2C:2:0x0C false ROTATION_ROLL_180_YAW_225 PG1 ICM45686_CS CS #IMU 0 -SPIDEV icm42688_ext SPI4 DEVID4 ACCEL_EXT_CS MODE3 2*MHZ 8*MHZ +SPIDEV icm42688_ext SPI4 DEVID4 ACCEL_EXT_CS MODE3 20*MHZ 20*MHZ #IMU 1 -SPIDEV icm42688_ext2 SPI4 DEVID5 GYRO_EXT_CS MODE3 2*MHZ 8*MHZ +SPIDEV icm42688_ext2 SPI4 DEVID5 GYRO_EXT_CS MODE3 20*MHZ 20*MHZ #IMU 2 SPIDEV icm45686 SPI1 DEVID4 ICM45686_CS MODE0 2*MHZ 8*MHZ diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary/hwdef.dat index 5bd8d3c71c639..092afbc4a76aa 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary/hwdef.dat @@ -105,15 +105,15 @@ PE5 SPI4_MISO SPI4 PE6 SPI4_MOSI SPI4 # Sensors -SPIDEV icm42688_0 SPI1 DEVID1 ICM42688_0_CS MODE3 2*MHZ 8*MHZ +SPIDEV icm42688_0 SPI1 DEVID1 ICM42688_0_CS MODE3 20*MHZ 20*MHZ SPIDEV ms5611_0 SPI1 DEVID2 BARO_0_CS MODE3 20*MHZ 20*MHZ -SPIDEV icm42688_1 SPI2 DEVID1 ICM42688_1_CS MODE3 2*MHZ 8*MHZ +SPIDEV icm42688_1 SPI2 DEVID1 ICM42688_1_CS MODE3 8*MHZ 8*MHZ SPIDEV rm3100 SPI2 DEVID2 RM3100_CS MODE3 1*MHZ 1*MHZ SPIDEV icm20649 SPI4 DEVID1 ICM_2_CS MODE3 4*MHZ 8*MHZ # alternative to icm20649 -SPIDEV icm45686 SPI4 DEVID1 ICM_2_CS MODE3 2*MHZ 8*MHZ +SPIDEV icm45686 SPI4 DEVID1 ICM_2_CS MODE3 20*MHZ 20*MHZ SPIDEV ms5611_1 SPI4 DEVID2 BARO_1_CS MODE3 20*MHZ 20*MHZ IMU Invensensev3 SPI:icm42688_1 ROTATION_YAW_90