X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Ftelemega-v5.0%2Fao_pins.h;h=5901eeae272fd838b497e5470d34a42f718f4b71;hb=23fec388ebdf4230663324e1f0ebfbd79059e841;hp=3f2c9ea44e5365a8c7862499c874b21a8c6a7d50;hpb=c49bd3cb0c31a51fae79ddc92237cc309be9a242;p=fw%2Faltos diff --git a/src/telemega-v5.0/ao_pins.h b/src/telemega-v5.0/ao_pins.h index 3f2c9ea4..5901eeae 100644 --- a/src/telemega-v5.0/ao_pins.h +++ b/src/telemega-v5.0/ao_pins.h @@ -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)