#define LOG_ERASE_MARK 0x55
#define LOG_MAX_ERASE 128
#define AO_LOG_FORMAT AO_LOG_FORMAT_TELEMEGA_5
+#define AO_LOG_NORMALIZED 1
#define HAS_EEPROM 1
#define USE_INTERNAL_FLASH 0
#define BEEPER_CHANNEL 2
#define BEEPER_PORT (&stm_gpioe)
#define BEEPER_PIN 4
+#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
#define SPI_1_PE13_PE14_PE15 1 /* MPU6000 */
#define SPI_1_OSPEEDR STM_OSPEEDR_10MHz
+//#define MMC5983_I2C 1
+
#define HAS_SPI_2 1
#define SPI_2_PB13_PB14_PB15 1 /* Flash, Companion */
+#ifndef MMC5983_I2C
#define SPI_2_PD1_PD3_PD4 1 /* MMC5983 */
+#endif
#define SPI_2_OSPEEDR STM_OSPEEDR_10MHz
#define HAS_I2C_1 0
};
#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], \
#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
*/
#define AO_CC1200_SPI_BUS AO_SPI_2_PB13_PB14_PB15
#define AO_CC1200_SPI stm_spi2
-#define AO_CC1200_INT_PORT (&stm_gpioe)
-#define AO_CC1200_INT_PIN 1
-#define AO_CC1200_MCU_WAKEUP_PORT (&stm_gpioc)
-#define AO_CC1200_MCU_WAKEUP_PIN (0)
+#define AO_CC1200_INT_PORT (&stm_gpiob)
+#define AO_CC1200_INT_PIN 11
#define AO_CC1200_INT_GPIO 2
#define AO_CC1200_INT_GPIO_IOCFG CC1200_IOCFG2
/*
- * mpu6000
+ * Here are the required sensor signs:
+ *
+ * +along nose up
+ * +across USB down
+ * +through TH down
+ *
+ * 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)
+ */
+
+/*
+ * 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
+ * +through +Z +yaw +Z
+ *
*/
#define HAS_MPU6000 1
#define AO_MPU6000_SPI_CS_PIN 13
#define HAS_IMU 1
-#define ao_data_along(packet) ((packet)->mpu6000.accel_x)
-#define ao_data_across(packet) (-(packet)->mpu6000.accel_y)
-#define ao_data_through(packet) ((packet)->mpu6000.accel_z)
+#define ao_mpu6000_along(m) ((m)->accel_y)
+#define ao_mpu6000_across(m) ((m)->accel_x)
+#define ao_mpu6000_through(m) ((m)->accel_z)
-#define ao_data_roll(packet) ((packet)->mpu6000.gyro_x)
-#define ao_data_pitch(packet) (-(packet)->mpu6000.gyro_y)
-#define ao_data_yaw(packet) ((packet)->mpu6000.gyro_z)
+#define ao_mpu6000_roll(m) ((m)->gyro_y)
+#define ao_mpu6000_pitch(m) ((m)->gyro_x)
+#define ao_mpu6000_yaw(m) ((m)->gyro_z)
-/* MMC5983 */
+#define ao_data_along(packet) ao_mpu6000_along(&(packet)->mpu6000)
+#define ao_data_across(packet) ao_mpu6000_across(&(packet)->mpu6000)
+#define ao_data_through(packet) ao_mpu6000_through(&(packet)->mpu6000)
+
+#define ao_data_roll(packet) ao_mpu6000_roll(&(packet)->mpu6000)
+#define ao_data_pitch(packet) ao_mpu6000_pitch(&(packet)->mpu6000)
+#define ao_data_yaw(packet) ao_mpu6000_yaw(&(packet)->mpu6000)
+
+/* Bit-banging i2c */
+#define AO_I2C_SCL_PORT (&stm_gpiod)
+#define AO_I2C_SCL_PIN 1
+#define AO_I2C_SDA_PORT (&stm_gpiod)
+#define AO_I2C_SDA_PIN 4
+
+/*
+ * MMC5983
+ *
+ * pin 1 NE corner of chip
+ *
+ * +along -Y
+ * +across +X
+ * +through -Z
+ */
#define HAS_MMC5983 1
#define AO_MMC5983_INT_PORT (&stm_gpiod)
#define AO_MMC5983_INT_PIN 5
-#define AO_MMC5983_SPI_INDEX AO_SPI_2_PD1_PD3_PD4
+#define AO_MMC5983_SPI_CLK_PORT (&stm_gpiod)
+#define AO_MMC5983_SPI_CLK_PIN 1
+#define AO_MMC5983_SPI_MISO_PORT (&stm_gpiod)
+#define AO_MMC5983_SPI_MISO_PIN 3
+#define AO_MMC5983_SPI_MOSI_PORT (&stm_gpiod)
+#define AO_MMC5983_SPI_MOSI_PIN 4
+#define AO_MMC5983_SPI_INDEX (AO_SPI_2_PD1_PD3_PD4 | AO_SPI_MODE_3)
#define AO_MMC5983_SPI_CS_PORT (&stm_gpioa)
#define AO_MMC5983_SPI_CS_PIN 15
-#define ao_data_mag_along(packet) ((packet)->mmc5983.x)
-#define ao_data_mag_across(packet) ((packet)->mmc5983.y)
-#define ao_data_mag_through(packet) ((packet)->mmc5983.z)
+#define ao_mmc5983_along(m) (-(m)->y)
+#define ao_mmc5983_across(m) ((m)->x)
+#define ao_mmc5983_through(m) (-(m)->z)
+
+#define ao_data_mag_along(packet) ao_mmc5983_along(&(packet)->mmc5983)
+#define ao_data_mag_across(packet) ao_mmc5983_across(&(packet)->mmc5983)
+#define ao_data_mag_through(packet) ao_mmc5983_through(&(packet)->mmc5983)
-/* ADXL375 */
+/*
+ * ADXL375
+ *
+ * pin 1 NW corner of chip
+ *
+ * +along +X
+ * +across +Y
+ * +through +Z
+ */
#define HAS_ADXL375 1
#define AO_ADXL375_SPI_INDEX (AO_SPI_1_PB3_PB4_PB5 | AO_SPI_MODE_3)
projects / fw / altos / blobdiff