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gps: explicitly set SPI bus speed to 1MHz

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Required on RPi, the default seems to be too high.
This commit is contained in:
Beat Küng
2018-10-31 01:36:25 +01:00
committed by Daniel Agar
parent bec43b0b28
commit 52fc56a61f
1 changed files with 24 additions and 0 deletions
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24
src/drivers/gps/gps.cpp
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@@ -87,6 +87,9 @@
#include "devices/src/mtk.h"
#include "devices/src/ashtech.h"
#ifdef __PX4_LINUX
#include <linux/spi/spidev.h>
#endif /* __PX4_LINUX */
#define TIMEOUT_5HZ 500
#define RATE_MEASUREMENT_PERIOD 5000000
@@ -608,6 +611,27 @@ GPS::run()
PX4_ERR("GPS: failed to open serial port: %s err: %d", _port, errno);
return;
}
#ifdef __PX4_LINUX
if (_interface == GPSHelper::Interface::SPI) {
int spi_speed = 1000000; // make sure the bus speed is not too high (required on RPi)
int status_value = ioctl(_serial_fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi_speed);
if (status_value < 0) {
PX4_ERR("SPI_IOC_WR_MAX_SPEED_HZ failed for %s (%d)", _port, errno);
return;
}
status_value = ioctl(_serial_fd, SPI_IOC_RD_MAX_SPEED_HZ, &spi_speed);
if (status_value < 0) {
PX4_ERR("SPI_IOC_RD_MAX_SPEED_HZ failed for %s (%d)", _port, errno);
return;
}
}
#endif /* __PX4_LINUX */
}
param_t handle = param_find("GPS_YAW_OFFSET");