altos: Add support for MegaAccel daughter card.

Switches all acceleration computation to using the MegaAccel
accelerometer to ensure support for high-g flights.

MPU6000 values continue to be logged as normal

Signed-off-by: Keith Packard <keithp@keithp.com>

5 files changed, 51 insertions, 12 deletions

diff --git a/src/cc1111/ao_adc.c b/src/cc1111/ao_adc.c
index 95643956..ce827e25 100644
--- a/src/cc1111/ao_adc.c
+++ b/src/cc1111/ao_adc.c
@@ -56,7 +56,7 @@ ao_adc_isr(void) __interrupt 1
 	/* TeleMetrum readings */
 #if HAS_ACCEL_REF
 	if (sequence == 2) {
-		a = (uint8_t __xdata *) (&ao_data_ring[ao_data_head].accel_ref);
+		a = (uint8_t __xdata *) (&ao_data_ring[ao_data_head].adc.accel_ref);
 		sequence = 0;
 	} else
 #endif
diff --git a/src/cc1111/ao_arch.h b/src/cc1111/ao_arch.h
index 704ae4f9..44116b81 100644
--- a/src/cc1111/ao_arch.h
+++ b/src/cc1111/ao_arch.h
@@ -205,6 +205,7 @@ struct ao_adc {
 	int16_t		v_batt;		/* battery voltage */
 	int16_t		sense_d;	/* drogue continuity sense */
 	int16_t		sense_m;	/* main continuity sense */
+	int16_t		accel_ref;	/* acceleration reference */
 };
 
 #define AO_DATA_RING	32
diff --git a/src/core/ao_data.h b/src/core/ao_data.h
index bb26c4c0..83f8df59 100644
--- a/src/core/ao_data.h
+++ b/src/core/ao_data.h
@@ -31,9 +31,6 @@ struct ao_data {
 #if HAS_ADC
 	struct ao_adc			adc;
 #endif
-#if HAS_ACCEL_REF
-	uint16_t			accel_ref;
-#endif
 #if HAS_MS5607
 	struct ao_ms5607_sample		ms5607;
 #endif
@@ -82,7 +79,7 @@ typedef int16_t alt_t;
  * ao_data_accel_invert	- flip rocket ends for positive acceleration
  */
 
-#if HAS_MPU6000
+#if HAS_MPU6000 && !HAS_HIGHG_ACCEL
 
 typedef int16_t accel_t;
 
@@ -181,7 +178,7 @@ typedef int16_t accel_t;
  */
 #if HAS_ACCEL_REF
 #define ao_data_accel_sample(packet) \
-	((uint16_t) ((((uint32_t) (packet)->adc.accel << 16) / ((packet)->accel_ref << 1))) >> 1)
+	((uint16_t) ((((uint32_t) (packet)->adc.accel << 16) / ((packet)->adc.accel_ref << 1))) >> 1)
 #else
 #define ao_data_accel_sample(packet) ((packet)->adc.accel)
 #endif /* HAS_ACCEL_REF */
diff --git a/src/megametrum-v0.1/ao_pins.h b/src/megametrum-v0.1/ao_pins.h
index ff0edaa9..75b22045 100644
--- a/src/megametrum-v0.1/ao_pins.h
+++ b/src/megametrum-v0.1/ao_pins.h
@@ -98,6 +98,7 @@
 #define HAS_FLIGHT		1
 #define HAS_ADC			1
 #define HAS_ACCEL		1
+#define HAS_ACCEL_REF		1
 #define HAS_LOG			1
 
 #define AO_DATA_RING		32
@@ -107,6 +108,8 @@ struct ao_adc {
 	int16_t			sense[AO_ADC_NUM_SENSE];
 	int16_t			v_batt;
 	int16_t			v_pbatt;
+	int16_t			accel_ref;
+	int16_t			accel;
 	int16_t			temp;
 };
 
@@ -142,13 +145,22 @@ struct ao_adc {
 #define AO_ADC_V_PBATT_PORT	stm_gpiob
 #define AO_ADC_V_PBATT_PIN	1
 
+#define AO_ADC_ACCEL_REF	10
+#define AO_ADC_ACCEL_REF_PORT	stm_gpioc
+#define AO_ADC_ACCEL_REF_PIN	0
+
+#define AO_ADC_ACCEL		11
+#define AO_ADC_ACCEL_PORT	stm_gpioc
+#define AO_ADC_ACCEL_PIN	1
+
 #define AO_ADC_TEMP		16
 
 #define AO_ADC_RCC_AHBENR	((1 << STM_RCC_AHBENR_GPIOAEN) | \
 				 (1 << STM_RCC_AHBENR_GPIOEEN) | \
-				 (1 << STM_RCC_AHBENR_GPIOBEN))
+				 (1 << STM_RCC_AHBENR_GPIOBEN) | \
+				 (1 << STM_RCC_AHBENR_GPIOCEN))
 
-#define AO_NUM_ADC_PIN		(AO_ADC_NUM_SENSE + 2)
+#define AO_NUM_ADC_PIN		(AO_ADC_NUM_SENSE + 4)
 
 #define AO_ADC_PIN0_PORT	AO_ADC_SENSE_A_PORT
 #define AO_ADC_PIN0_PIN		AO_ADC_SENSE_A_PIN
@@ -166,8 +178,12 @@ struct ao_adc {
 #define AO_ADC_PIN6_PIN		AO_ADC_V_BATT_PIN
 #define AO_ADC_PIN7_PORT	AO_ADC_V_PBATT_PORT
 #define AO_ADC_PIN7_PIN		AO_ADC_V_PBATT_PIN
+#define AO_ADC_PIN8_PORT	AO_ADC_ACCEL_REF_PORT
+#define AO_ADC_PIN8_PIN		AO_ADC_ACCEL_REF_PIN
+#define AO_ADC_PIN9_PORT	AO_ADC_ACCEL_PORT
+#define AO_ADC_PIN9_PIN		AO_ADC_ACCEL_PIN
 
-#define AO_NUM_ADC	       	(AO_ADC_NUM_SENSE + 3)
+#define AO_NUM_ADC	       	(AO_ADC_NUM_SENSE + 5)
 
 #define AO_ADC_SQ1		AO_ADC_SENSE_A
 #define AO_ADC_SQ2		AO_ADC_SENSE_B
@@ -177,7 +193,9 @@ struct ao_adc {
 #define AO_ADC_SQ6		AO_ADC_SENSE_F
 #define AO_ADC_SQ7		AO_ADC_V_BATT
 #define AO_ADC_SQ8		AO_ADC_V_PBATT
-#define AO_ADC_SQ9		AO_ADC_TEMP
+#define AO_ADC_SQ9		AO_ADC_ACCEL_REF
+#define AO_ADC_SQ10		AO_ADC_ACCEL
+#define AO_ADC_SQ11		AO_ADC_TEMP
 
 /*
  * Pressure sensor settings
@@ -230,4 +248,6 @@ struct ao_adc {
 #define AO_MPU6000_INT_PIN	13
 #define AO_MPU6000_I2C_INDEX	STM_I2C_INDEX(1)
 
+#define HAS_HIGHG_ACCEL		1
+
 #endif /* _AO_PINS_H_ */
diff --git a/src/stm/ao_adc_stm.c b/src/stm/ao_adc_stm.c
index ea9e25e4..24a1fdd0 100644
--- a/src/stm/ao_adc_stm.c
+++ b/src/stm/ao_adc_stm.c
@@ -82,7 +82,7 @@ ao_adc_poll(void)
 	stm_adc.sr = 0;
 	ao_dma_set_transfer(STM_DMA_INDEX(STM_DMA_CHANNEL_ADC1),
 			    &stm_adc.dr,
-			    (void *) (&ao_data_ring[ao_data_head].tick + 1),
+			    (void *) (&ao_data_ring[ao_data_head].adc),
 			    AO_NUM_ADC,
 			    (0 << STM_DMA_CCR_MEM2MEM) |
 			    (STM_DMA_CCR_PL_HIGH << STM_DMA_CCR_PL) |
@@ -180,6 +180,15 @@ ao_adc_init(void)
 #ifdef AO_ADC_PIN9_PORT
 	stm_moder_set(&AO_ADC_PIN9_PORT, AO_ADC_PIN9_PIN, STM_MODER_ANALOG);
 #endif
+#ifdef AO_ADC_PIN10_PORT
+	stm_moder_set(&AO_ADC_PIN10_PORT, AO_ADC_PIN10_PIN, STM_MODER_ANALOG);
+#endif
+#ifdef AO_ADC_PIN11_PORT
+	stm_moder_set(&AO_ADC_PIN11_PORT, AO_ADC_PIN11_PIN, STM_MODER_ANALOG);
+#endif
+#ifdef AO_ADC_PIN12_PORT
+	stm_moder_set(&AO_ADC_PIN12_PORT, AO_ADC_PIN12_PIN, STM_MODER_ANALOG);
+#endif
 
 	stm_rcc.apb2enr |= (1 << STM_RCC_APB2ENR_ADC1EN);
 
@@ -240,7 +249,19 @@ ao_adc_init(void)
 #if AO_NUM_ADC > 8
 	stm_adc.sqr4 |= (AO_ADC_SQ9 << 10);
 #endif
-
+#if AO_NUM_ADC > 9
+	stm_adc.sqr4 |= (AO_ADC_SQ10 << 15);
+#endif
+#if AO_NUM_ADC > 10
+	stm_adc.sqr4 |= (AO_ADC_SQ11 << 20);
+#endif
+#if AO_NUM_ADC > 11
+	stm_adc.sqr4 |= (AO_ADC_SQ12 << 25);
+#endif
+#if AO_NUM_ADC > 12
+#error "need to finish stm_adc.sqr settings"
+#endif
+	
 	/* Turn ADC on */
 	stm_adc.cr2 = AO_ADC_CR2_VAL;