Initial public release of WII5 Buoy firmware

Firmware for an autonomous wave-measurement buoy (ATmega2560-based
WII5 v2 board). Reads wave motion from a Sparton AHRS-M1/M2 IMU,
samples GPS and battery state, and reports back over Iridium SBD
satellite telemetry. Originally developed 2012-2024.

This is the first public release. Code, documentation, and field-tested
operating modes (Capture, Sleep, Position, ManualTest, SelfTest,
LowBattery) are licensed under Apache 2.0 — see LICENSE and NOTICE.

See README.md for an overview and build instructions, CONTRIBUTING.md
for how to contribute, and DEPLOYMENTS.md for the field-deployment log.

doc/SPARTON.txt

@@ -0,0 +1,39 @@
+Sparton Programming
+
+Standard:
+
+  'chan0TriggerDivisor 0 set drop',
+  'accelrange 2 set drop',
+  'chan0Enables array[ 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ]array set drop',
+  'chan0Format 3 set drop',
+  'chan0EnableBit cputime dvid@ set drop',
+  'chan0EnableBit magp dvid@ set drop',
+  'chan0EnableBit accelp dvid@ set drop',
+  'chan0EnableBit roll dvid@ set drop',
+  'chan0EnableBit pitch dvid@ set drop',
+  'chan0EnableBit yaw dvid@ set drop',
+  'chan0EnableBit gyrop dvid@ set drop',
+  'chan0Trigger 6 set drop',
+  'chanTimerX100us 156 set drop',
+  // Trigger on delay?
+  'chan0TriggerDivisor 1 set drop',
+
+Change from 64Hz to 8Hz
+
+
+
+
+Problem with X and Y Data
+
+  ‘centripetalCompensation 0 set drop’
+  ‘magAiding 1 set drop’
+
+Log some sample Data
+
+name di.
+serialnumber di.
+VERSION di.
+VERSION_M4 di.
+gyroSampleRate di.
+save_mask d.on
+db.print