altos: Switch all tick variables to AO_TICK_TYPE/AO_TICK_SIGNED

[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 9d65684df490b29f6d33dc43a066bec7c031ce22..4ad2bfb4224a614cf6597258fef595e9eba86342 100644 (file)
--- a/src/telemega-v5.0/ao_pins.h
+++ b/src/telemega-v5.0/ao_pins.h
@@ -71,6 +71,7 @@
 #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
@@ -82,6 +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_MAKE_LOW(m)    ((m) * 197/179) /* 1900 Hz */
+#define AO_BEEP_MAKE_HIGH(m)   ((m) * 163/179) /* 2300 Hz */
 #define HAS_BATTERY_REPORT     1
 #define HAS_RADIO              1
 #define HAS_TELEMETRY          1
@@ -94,9 +98,13 @@
 #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
@@ -179,7 +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], \
@@ -308,10 +316,8 @@ struct ao_adc {
 #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
@@ -322,8 +328,25 @@ struct ao_adc {
 #define HAS_BOOT_RADIO         0
 
 
+/*
+ *
+ * If the board is laying component side up with
+ * the antenna (nose) pointing north
+ *
+ * +along      north   +roll   left up
+ * +across     west    +pitch  nose down
+ * +through    up      +yaw    left turn
+ */
+
 /*
  * mpu6000
+ *
+ *     pin 1 NW corner of chip
+ *
+ *     +along          +Y      +roll   +Y
+ *     +across         -X      +pitch  -X
+ *     +through        +Z      +yaw    +Z
+ *
  */
 
 #define HAS_MPU6000            1
@@ -334,28 +357,68 @@ struct ao_adc {
 #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_mpu6000_roll(m)     ((m)->gyro_y)
+#define ao_mpu6000_pitch(m)    (-(m)->gyro_x)
+#define ao_mpu6000_yaw(m)      ((m)->gyro_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_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)
 
-/* MMC5983 */
+#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)
 
-/* ADXL375 */
+#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
+ *
+ * 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)