really updating navgo and umarim imu drivers

sw/airborne/boards/navgo/imu_navgo.c

@@ -74,13 +74,16 @@ void imu_impl_init(void)
 void imu_periodic( void )
 {
   // Start reading the latest gyroscope data
-  itg3200_periodic();
+  Itg3200Periodic();
 
   // Start reading the latest accelerometer data
-  adxl345_periodic();
+  // Periodicity is automatically adapted
+  // 3200 is the maximum output freq corresponding to the parameter 0xF
+  // A factor 2 is applied to reduice the delay without overloading the i2c
+  RunOnceEvery((PERIODIC_FREQUENCY/(2*3200>>(0xf-ADXL345_BW_RATE))),Adxl345Periodic());
 
-  // Read HMC58XX at 50Hz (main loop for rotorcraft: 512Hz)
-  RunOnceEvery(10,hmc58xx_periodic());
+  // Read HMC58XX at 100Hz (main loop for rotorcraft: 512Hz)
+  RunOnceEvery(5,Hmc58xxPeriodic());
 
   //RunOnceEvery(20,imu_navgo_downlink_raw());
 }

sw/airborne/boards/navgo_1.0.h

@@ -51,6 +51,16 @@
 
 #define DefaultVoltageOfAdc(adc) (0.01837*adc)
 
+/* SPI (SSP) */
+#define SPI_SELECT_SLAVE0_PORT 0
+#define SPI_SELECT_SLAVE0_PIN 20
+
+#define SPI1_DRDY_PINSEL PINSEL1
+#define SPI1_DRDY_PINSEL_BIT   0
+#define SPI1_DRDY_PINSEL_VAL   1
+#define SPI1_DRDY_EINT         0
+#define SPI1_DRDY_VIC_IT       VIC_EINT0
+
 /* PWM0 (internal PWM5) */
 /* P0.21 */
 #define PWM0_PINSEL PINSEL1
@@ -65,4 +75,4 @@
 
 #define BOARD_HAS_BARO
 
-#endif /* CONFIG_UMARIM_V1_0_H */
+#endif /* CONFIG_NAVGO_V1_0_H */

sw/airborne/boards/umarim/imu_umarim.c

@@ -69,10 +69,10 @@ void imu_impl_init(void)
 void imu_periodic( void )
 {
   // Start reading the latest gyroscope data
-  itg3200_periodic();
+  Itg3200Periodic();
 
   // Start reading the latest accelerometer data
-  adxl345_periodic();
+  Adxl345Periodic();
 
   //RunOnceEvery(10,imu_umarim_downlink_raw());
 }