altosui: Add config and pyro tabs to graph widget

[fw/altos] / src / telemega-v5.0 / ao_pins.h

diff --git a/src/telemega-v5.0/ao_pins.h b/src/telemega-v5.0/ao_pins.h
index 4ad2bfb4224a614cf6597258fef595e9eba86342..5901eeae272fd838b497e5470d34a42f718f4b71 100644 (file)
--- a/src/telemega-v5.0/ao_pins.h
+++ b/src/telemega-v5.0/ao_pins.h
@@ -84,8 +84,8 @@
 #define BEEPER_PORT            (&stm_gpioe)
 #define BEEPER_PIN             4
 #define AO_BEEP_MID_DEFAULT    179             /* 2100 Hz */
-#define AO_BEEP_MAKE_LOW(m)    ((m) * 197/179) /* 1900 Hz */
-#define AO_BEEP_MAKE_HIGH(m)   ((m) * 163/179) /* 2300 Hz */
+#define AO_BEEP_MAKE_LOW(m)    ((uint8_t) ((m) * 197U/179U)) /* 1900 Hz */
+#define AO_BEEP_MAKE_HIGH(m)   ((uint8_t) ((m) * 163U/179U)) /* 2300 Hz */
 #define HAS_BATTERY_REPORT     1
 #define HAS_RADIO              1
 #define HAS_TELEMETRY          1
@@ -268,6 +268,12 @@ struct ao_adc {
 #define AO_BATTERY_DIV_PLUS    56      /* 5.6k */
 #define AO_BATTERY_DIV_MINUS   100     /* 10k */
 
+/*
+ * Voltage divider on ADC pyro battery sampler
+ */
+#define AO_PYRO_BATTERY_DIV_PLUS       100     /* 100k */
+#define AO_PYRO_BATTERY_DIV_MINUS      27      /* 27k */
+
 /*
  * Voltage divider on ADC igniter samplers
  */
@@ -329,22 +335,27 @@ struct ao_adc {
 
 
 /*
+ * Here are the required sensor signs:
  *
- * If the board is laying component side up with
- * the antenna (nose) pointing north
+ * +along      nose up
+ * +across     USB down
+ * +through    TH down
  *
- * +along      north   +roll   left up
- * +across     west    +pitch  nose down
- * +through    up      +yaw    left turn
+ * With the board aligned to have positive accel for the relevant
+ * axis, looking down from above we have:
+ *
+ * +roll       counter clockwise (nose up)
+ * +pitch      counter clockwise (USB down)
+ * +yaw                counter clockwise (TH down)
  */
 
 /*
- * mpu6000
- *
- *     pin 1 NW corner of chip
+ * On TMega v5, MPU6000 pin 1 (NW corner of chip) is placed towards
+ * the USB and antenna edges of the board. Relative to MPU6000 specs,
+ * we don't need to change any signs and so the correct values are:
  *
  *     +along          +Y      +roll   +Y
- *     +across         -X      +pitch  -X
+ *     +across         +X      +pitch  +X
  *     +through        +Z      +yaw    +Z
  *
  */
@@ -358,11 +369,11 @@ struct ao_adc {
 #define HAS_IMU                        1
 
 #define ao_mpu6000_along(m)    ((m)->accel_y)
-#define ao_mpu6000_across(m)   (-(m)->accel_x)
+#define ao_mpu6000_across(m)   ((m)->accel_x)
 #define ao_mpu6000_through(m)  ((m)->accel_z)
 
 #define ao_mpu6000_roll(m)     ((m)->gyro_y)
-#define ao_mpu6000_pitch(m)    (-(m)->gyro_x)
+#define ao_mpu6000_pitch(m)    ((m)->gyro_x)
 #define ao_mpu6000_yaw(m)      ((m)->gyro_z)
 
 #define ao_data_along(packet)  ao_mpu6000_along(&(packet)->mpu6000)