Limit SPI freq to 7MHz and change default to 6MHz at begin

Nathan Seidle · Nathan Seidle · commit 12826906df4a · 2019-11-25T10:40:30.000-07:00
IC can't communicate with SPI freqs above 7MHz. And some platforms (looking at you Artemis) will run the SPI clock at 7.125MHz when started at 7MHz breaking the first example.
diff --git a/src/ICM_20948.cpp b/src/ICM_20948.cpp
@@ -887,6 +887,9 @@ ICM_20948_SPI::ICM_20948_SPI()
 
 ICM_20948_Status_e ICM_20948_SPI::begin(uint8_t csPin, SPIClass &spiPort, uint32_t SPIFreq)
 {
+    if (SPIFreq > 7000000)
+        SPIFreq = 7000000;
+
     // Associate
     _spi = &spiPort;
     _spisettings = SPISettings(SPIFreq, ICM_20948_SPI_DEFAULT_ORDER, ICM_20948_SPI_DEFAULT_MODE);
diff --git a/src/ICM_20948.h b/src/ICM_20948.h
@@ -138,7 +138,7 @@ class ICM_20948_I2C : public ICM_20948
 };
 
 // SPI
-#define ICM_20948_SPI_DEFAULT_FREQ 7000000
+#define ICM_20948_SPI_DEFAULT_FREQ 6000000
 #define ICM_20948_SPI_DEFAULT_ORDER MSBFIRST
 #define ICM_20948_SPI_DEFAULT_MODE SPI_MODE0
 

Original file line number	Diff line number	Diff line change
`@@ -887,6 +887,9 @@ ICM_20948_SPI::ICM_20948_SPI()`
`887`	`887`
`888`	`888`	`ICM_20948_Status_e ICM_20948_SPI::begin(uint8_t csPin, SPIClass &spiPort, uint32_t SPIFreq)`
`889`	`889`	`{`
	`890`	`+ if (SPIFreq > 7000000)`
	`891`	`+ SPIFreq = 7000000;`
	`892`	`+`
`890`	`893`	`// Associate`
`891`	`894`	`_spi = &spiPort;`
`892`	`895`	`_spisettings = SPISettings(SPIFreq, ICM_20948_SPI_DEFAULT_ORDER, ICM_20948_SPI_DEFAULT_MODE);`