diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/easymega-v2.0/ao_pins.h | 14 | ||||
| -rw-r--r-- | src/kernel/ao_data.h | 4 | ||||
| -rw-r--r-- | src/kernel/ao_log.h | 3 |
3 files changed, 19 insertions, 2 deletions
diff --git a/src/easymega-v2.0/ao_pins.h b/src/easymega-v2.0/ao_pins.h index 6217b5d2..399654f0 100644 --- a/src/easymega-v2.0/ao_pins.h +++ b/src/easymega-v2.0/ao_pins.h @@ -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 +#define AO_LOG_FORMAT AO_LOG_FORMAT_EASYMEGA_2 #define HAS_EEPROM 1 #define USE_INTERNAL_FLASH 0 @@ -306,6 +306,18 @@ struct ao_adc { #define AO_MPU9250_SPI_CS_PIN 13 #define HAS_IMU 1 +#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 diff --git a/src/kernel/ao_data.h b/src/kernel/ao_data.h index 3918f4e0..dda5de4c 100644 --- a/src/kernel/ao_data.h +++ b/src/kernel/ao_data.h @@ -382,6 +382,7 @@ typedef int16_t angle_t; /* in degrees */ /* X axis is aligned in the other board axis (across) */ /* Z axis is aligned perpendicular to the board (through) */ +#ifndef ao_data_along #define ao_data_along(packet) ((packet)->mpu9250.accel_y) #define ao_data_across(packet) ((packet)->mpu9250.accel_x) #define ao_data_through(packet) ((packet)->mpu9250.accel_z) @@ -389,6 +390,7 @@ typedef int16_t angle_t; /* in degrees */ #define ao_data_roll(packet) ((packet)->mpu9250.gyro_y) #define ao_data_pitch(packet) ((packet)->mpu9250.gyro_x) #define ao_data_yaw(packet) ((packet)->mpu9250.gyro_z) +#endif static inline float ao_convert_gyro(float sensor) { @@ -425,9 +427,11 @@ typedef int16_t ao_mag_t; /* in raw sample units */ * sensors. Also, the Z axis is flipped in sign. */ +#ifndef ao_data_mag_along #define ao_data_mag_along(packet) ((packet)->mpu9250.mag_x) #define ao_data_mag_across(packet) ((packet)->mpu9250.mag_y) #define ao_data_mag_through(packet) ((packet)->mpu9250.mag_z) +#endif #endif diff --git a/src/kernel/ao_log.h b/src/kernel/ao_log.h index a9715962..04f00d3e 100644 --- a/src/kernel/ao_log.h +++ b/src/kernel/ao_log.h @@ -55,6 +55,7 @@ extern enum ao_flight_state ao_log_state; #define AO_LOG_FORMAT_TELEFIRETWO 13 /* 32-byte test stand data */ #define AO_LOG_FORMAT_EASYMINI2 14 /* 16-byte MS5607 baro only, 3.3V supply, stm32f042 SoC */ #define AO_LOG_FORMAT_TELEMEGA_3 15 /* 32 byte typed telemega records with 32 bit gyro cal and mpu9250 */ +#define AO_LOG_FORMAT_EASYMEGA_2 16 /* 32 byte typed telemega records with 32 bit gyro cal, mpu9250 rotated 90° and adxl375 */ #define AO_LOG_FORMAT_NONE 127 /* No log at all */ /* Return the flight number from the given log slot, 0 if none, -slot on failure */ @@ -474,7 +475,7 @@ struct ao_log_gps { } u; }; -#if AO_LOG_FORMAT == AO_LOG_FOMAT_TELEMEGA_OLD || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA_3 +#if AO_LOG_FORMAT == AO_LOG_FOMAT_TELEMEGA_OLD || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA_3 || AO_LOG_FORMAT == AO_LOG_FORMAT_EASYMEGA_2 typedef struct ao_log_mega ao_log_type; #endif |