[Paparazzi-devel] Reply to:"RE: Test flight with ArduIMU with Steve's firmware." (mark.griffin)

[Chris]

Hi.
Yes this flight was with the i2c queue buffer increased to 16 although 
as Steve pointed out to me this might not have an effect at all, and the 
bus lowered to ~19Khz since i calculated that ther
is enough time to transfer the required data at 50Hz.
I did alter some files like the "i2c_arch.c" "ins_arduimu.c" and 
"ins_arduimu.h"
Here is the part from my airframe file:
<define name="I2C_TRANSACTION_QUEUE_LEN" value="16"/> <!-- default is 8 -->
<define name="I2C0_SCLL" value="400"/> <!-- default clock speed 37.5KHz 
with our 15MHz PCLK I2C0_CLOCK=PCLK/(I2C0_SCLL+I2C0_SCLH) -->
<define name="I2C0_SCLH" value="400"/> <!-- Default values are 200 and 
must be the same for both SCLL and SCLH -->

I will send you the modified i2c files, Steve has them also, so someone 
who knows the lpc's I2C architecture well, can approve or dismiss those 
changes.
Chris