X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Feasymega-v2.0%2Fao_pins.h;h=a304d03429741fece015fd6311bc21661efa163e;hp=aff06cdd8dc9bdc66fc8abea3812b68e2cf03535;hb=7f46240dfc57164f0c1b0c4c4ed9695bca63860d;hpb=393a5e929b530d9ee4f78cd01faa4dd90c95fe3a

diff --git a/src/easymega-v2.0/ao_pins.h b/src/easymega-v2.0/ao_pins.h
index aff06cdd..a304d034 100644
--- a/src/easymega-v2.0/ao_pins.h
+++ b/src/easymega-v2.0/ao_pins.h
@@ -19,14 +19,13 @@
 #ifndef _AO_PINS_H_
 #define _AO_PINS_H_
 
-#define HAS_TASK_QUEUE		1
 
 /* 16MHz High speed external crystal */
 #define AO_HSE			16000000
 
 /* PLLVCO = 96MHz (so that USB will work) */
-#define AO_PLLMUL		12
-#define AO_RCC_CFGR_PLLMUL	(STM_RCC_CFGR_PLLMUL_12)
+#define AO_PLLMUL		6
+#define AO_RCC_CFGR_PLLMUL	(STM_RCC_CFGR_PLLMUL_6)
 
 /* SYSCLK = 32MHz (no need to go faster than CPU) */
 #define AO_PLLDIV		3
@@ -69,7 +68,7 @@
 #define AO_CONFIG_MAX_SIZE                     1024
 #define LOG_ERASE_MARK                         0x55
 #define LOG_MAX_ERASE                          128
-#define AO_LOG_FORMAT				AO_LOG_FORMAT_TELEMEGA
+#define AO_LOG_FORMAT				AO_LOG_FORMAT_EASYMEGA_2
 
 #define HAS_EEPROM		1
 #define USE_INTERNAL_FLASH	0
@@ -77,6 +76,10 @@
 #define USE_STORAGE_CONFIG	0
 #define HAS_USB			1
 #define HAS_BEEP		1
+#define BEEPER_TIMER		2
+#define BEEPER_CHANNEL		3
+#define BEEPER_PORT		(&stm_gpioa)
+#define BEEPER_PIN		2
 #define HAS_BATTERY_REPORT	1
 #define HAS_RADIO		0
 #define HAS_TELEMETRY		0
@@ -85,20 +88,15 @@
 
 #define HAS_SPI_1		1
 #define SPI_1_PA5_PA6_PA7	1	/* Barometer */
-#define SPI_1_PB3_PB4_PB5	1	/* Accelerometer, Gyro */
+#define SPI_1_PB3_PB4_PB5	1	/* Accelerometer */
 #define SPI_1_PE13_PE14_PE15	0
 #define SPI_1_OSPEEDR		STM_OSPEEDR_10MHz
 
 #define HAS_SPI_2		1
-#define SPI_2_PB13_PB14_PB15	1	/* Flash, Companion */
+#define SPI_2_PB13_PB14_PB15	1	/* Flash, IMU, Companion */
 #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
 
@@ -165,9 +163,6 @@
 /* Number of general purpose pyro channels available */
 #define AO_PYRO_NUM	4
 
-#define AO_IGNITER_SET_DROGUE(v)	stm_gpio_set(AO_IGNITER_DROGUE_PORT, AO_IGNITER_DROGUE_PIN, v)
-#define AO_IGNITER_SET_MAIN(v)		stm_gpio_set(AO_IGNITER_MAIN_PORT, AO_IGNITER_MAIN_PIN, v)
-
 /*
  * ADC
  */
@@ -182,7 +177,7 @@ 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], \
@@ -303,22 +298,40 @@ struct ao_adc {
  */
 
 #define HAS_MPU9250		1
-#define AO_MPU9250_INT_PORT	(&stm_gpioe)
-#define AO_MPU9250_INT_PIN	0
-#define AO_MPU9250_SPI_BUS	AO_SPI_1_PE13_PE14_PE15
-#define AO_MPU9250_SPI_CS_PORT	(&stm_gpiod)
-#define AO_MPU9250_SPI_CS_PIN	2
+#define AO_MPU9250_INT_PORT	(&stm_gpioc)
+#define AO_MPU9250_INT_PIN	15
+#define AO_MPU9250_SPI_BUS	(AO_SPI_2_PB13_PB14_PB15 | AO_SPI_MODE_0)
+#define AO_MPU9250_SPI_CS_PORT	(&stm_gpioc)
+#define AO_MPU9250_SPI_CS_PIN	13
 #define HAS_IMU			1
 
-/*
- * mma655x
- */
+#define ao_data_along(packet)	((packet)->mpu9250.accel_x)
+#define ao_data_across(packet)	(-(packet)->mpu9250.accel_y)
+#define ao_data_through(packet)	((packet)->mpu9250.accel_z)
+
+#define ao_data_roll(packet)	((packet)->mpu9250.gyro_x)
+#define ao_data_pitch(packet)	(-(packet)->mpu9250.gyro_y)
+#define ao_data_yaw(packet)	((packet)->mpu9250.gyro_z)
+
+#define ao_data_mag_along(packet)	((packet)->mpu9250.mag_y)
+#define ao_data_mag_across(packet)	(-(packet)->mpu9250.mag_x)
+#define ao_data_mag_through(packet)	((packet)->mpu9250.mag_z)
+
+/* ADXL375 */
+
+#define HAS_ADXL375		1
+#define AO_ADXL375_SPI_INDEX	(AO_SPI_1_PB3_PB4_PB5 | AO_SPI_MODE_3)
+#define AO_ADXL375_CS_PORT	(&stm_gpioc)
+#define AO_ADXL375_CS_PIN	12
+
+#define AO_ADXL375_INT1_PORT	(&stm_gpiob)
+#define AO_ADXL375_INT1_PIN	8
+
+#define AO_ADXL375_INT2_PORT	(&stm_gpiob)
+#define AO_ADXL375_INT2_PIN	9
 
-#define HAS_MMA655X		0
-#define AO_MMA655X_INVERT	0
-#define AO_MMA655X_SPI_INDEX	AO_SPI_1_PB3_PB4_PB5
-#define AO_MMA655X_CS_PORT	(&stm_gpioc)
-#define AO_MMA655X_CS_PIN	12
+#define AO_ADXL375_AXIS		x
+#define AO_ADXL375_INVERT	1
 
 #define NUM_CMDS		16