altos/altoslib: BMX160 Y axis gyro direction is opposite from MPU

[fw/altos] / src / telemega-v4.0 / ao_pins.h

diff --git a/src/telemega-v4.0/ao_pins.h b/src/telemega-v4.0/ao_pins.h
index 2a62403fbf394c9a858d740d72011113560cd7ef..dac3ae5fb92dc08936d18c9ec4db96917f9a2cc2 100644 (file)
--- a/src/telemega-v4.0/ao_pins.h
+++ b/src/telemega-v4.0/ao_pins.h
@@ -47,7 +47,7 @@
 #define HAS_SERIAL_1           0
 #define USE_SERIAL_1_STDIN     0
 #define SERIAL_1_PB6_PB7       0
-#define SERIAL_1_PA9_PA10      1
+#define SERIAL_1_PA9_PA10      0
 
 #define HAS_SERIAL_2           0
 #define USE_SERIAL_2_STDIN     0
@@ -69,7 +69,7 @@
 #define AO_CONFIG_MAX_SIZE                     1024
 #define LOG_ERASE_MARK                         0x55
 #define LOG_MAX_ERASE                          128
-#define AO_LOG_FORMAT                          AO_LOG_FORMAT_TELEMEGA_3
+#define AO_LOG_FORMAT                          AO_LOG_FORMAT_TELEMEGA_4
 
 #define HAS_EEPROM             1
 #define USE_INTERNAL_FLASH     0
@@ -89,8 +89,8 @@
 
 #define HAS_SPI_1              1
 #define SPI_1_PA5_PA6_PA7      1       /* Barometer */
-#define SPI_1_PB3_PB4_PB5      0
-#define SPI_1_PE13_PE14_PE15   1       /* Accelerometer, Gyro */
+#define SPI_1_PB3_PB4_PB5      1       /* Accelerometer */
+#define SPI_1_PE13_PE14_PE15   1       /* IMU */
 #define SPI_1_OSPEEDR          STM_OSPEEDR_10MHz
 
 #define HAS_SPI_2              1
@@ -98,13 +98,8 @@
 #define SPI_2_PD1_PD3_PD4      0
 #define SPI_2_OSPEEDR          STM_OSPEEDR_10MHz
 
-#define SPI_2_PORT             (&stm_gpiob)
-#define SPI_2_SCK_PIN          13
-#define SPI_2_MISO_PIN         14
-#define SPI_2_MOSI_PIN         15
-
-#define HAS_I2C_1              1
-#define I2C_1_PB8_PB9          1
+#define HAS_I2C_1              0
+#define I2C_1_PB8_PB9          0
 
 #define HAS_I2C_2              0
 #define I2C_2_PB10_PB11                0
@@ -151,7 +146,7 @@
 #define AO_PYRO_PIN_1  7
 
 /* Pyro C */
-#define AO_PYRO_PORT_2 (&stm_gpiob)
+#define AO_PYRO_PORT_2 (&stm_gpiod)
 #define AO_PYRO_PIN_2  5
 
 /* Pyro D */
@@ -343,7 +338,7 @@ struct ao_adc {
 #define ao_data_through(packet)        ((packet)->bmx160.acc_z)
 
 #define ao_data_roll(packet)   ((packet)->bmx160.gyr_x)
-#define ao_data_pitch(packet)  (-(packet)->bmx160.gyr_y)
+#define ao_data_pitch(packet)  ((packet)->bmx160.gyr_y)
 #define ao_data_yaw(packet)    ((packet)->bmx160.gyr_z)
 
 #define ao_data_mag_along(packet)      ((packet)->bmx160.mag_x)