X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Ftelemega-v5.0%2Fao_pins.h;h=5901eeae272fd838b497e5470d34a42f718f4b71;hb=abfa580ad700415f5ea240450a1621f9de35de82;hp=2f70f27b1c09baba93148d8845fc925aa8c02211;hpb=064e30c73ff539ec53d15efe6cbab982b9c35eaf;p=fw%2Faltos

diff --git a/src/telemega-v5.0/ao_pins.h b/src/telemega-v5.0/ao_pins.h
index 2f70f27b..5901eeae 100644
--- a/src/telemega-v5.0/ao_pins.h
+++ b/src/telemega-v5.0/ao_pins.h
@@ -83,7 +83,9 @@
 #define BEEPER_CHANNEL		2
 #define BEEPER_PORT		(&stm_gpioe)
 #define BEEPER_PIN		4
-#define AO_BEEP_MID_DEFAULT	179	/* 2100 Hz */
+#define AO_BEEP_MID_DEFAULT	179		/* 2100 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
@@ -185,7 +187,7 @@ struct ao_adc {
 };
 
 #define AO_ADC_DUMP(p) \
-	printf("tick: %5u A: %5d B: %5d C: %5d D: %5d drogue: %5d main: %5d batt: %5d pbatt: %5d temp: %5d\n", \
+	printf("tick: %5lu A: %5d B: %5d C: %5d D: %5d drogue: %5d main: %5d batt: %5d pbatt: %5d temp: %5d\n", \
 	       (p)->tick, \
 	       (p)->adc.sense[0], (p)->adc.sense[1], (p)->adc.sense[2], \
 	       (p)->adc.sense[3], (p)->adc.sense[4], (p)->adc.sense[5], \
@@ -266,6 +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
  */
@@ -327,22 +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
  *
  */
@@ -356,11 +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)