altos/easymega-v2.0: Add adxl375, replace mpu6000 with 9250 [v2]

Should reflect current hardware design now.

v2:
	Use SPI mode 3 for ADXL375
	Invert ADXL375 values

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

3 files changed, 33 insertions, 61 deletions

diff --git a/src/easymega-v2.0/Makefile b/src/easymega-v2.0/Makefile
index ece4e9bb..bfe8a849 100644
--- a/src/easymega-v2.0/Makefile
+++ b/src/easymega-v2.0/Makefile
@@ -19,15 +19,14 @@ INC = \
 	ao_product.h \
 	ao_ms5607.h \
 	ao_mpu9250.h \
+	ao_adxl375.h \
 	ao_profile.h \
 	ao_task.h \
 	ao_whiten.h \
 	ao_sample_profile.h \
 	ao_quaternion.h \
-	math.h \
 	ao_mpu.h \
 	stm32l.h \
-	math.h \
 	Makefile
 
 #
@@ -44,21 +43,6 @@ INC = \
 #STACK_GUARD=ao_mpu_stm.c
 #STACK_GUARD_DEF=-DHAS_STACK_GUARD=1
 
-MATH_SRC=\
-	ef_acos.c \
-	ef_sqrt.c \
-	ef_rem_pio2.c \
-	kf_cos.c \
-	kf_sin.c \
-	kf_rem_pio2.c \
-	sf_copysign.c \
-	sf_cos.c \
-	sf_fabs.c \
-	sf_floor.c \
-	sf_scalbn.c \
-	sf_sin.c \
-	ef_log.c
-
 ALTOS_SRC = \
 	ao_boot_chain.c \
 	ao_interrupt.c \
@@ -67,7 +51,7 @@ ALTOS_SRC = \
 	ao_cmd.c \
 	ao_config.c \
 	ao_task.c \
-	ao_led.c \
+	ao_led_stm.c \
 	ao_stdio.c \
 	ao_panic.c \
 	ao_timer.c \
@@ -79,6 +63,7 @@ ALTOS_SRC = \
 	ao_data.c \
 	ao_ms5607.c \
 	ao_mpu9250.c \
+	ao_adxl375.c \
 	ao_adc_stm.c \
 	ao_beep_stm.c \
 	ao_eeprom_stm.c \
@@ -97,7 +82,6 @@ ALTOS_SRC = \
 	ao_flight.c \
 	ao_companion.c \
 	ao_pyro.c \
-	$(MATH_SRC) \
 	$(PROFILE) \
 	$(SAMPLE_PROFILE) \
 	$(STACK_GUARD)
diff --git a/src/easymega-v2.0/ao_easymega.c b/src/easymega-v2.0/ao_easymega.c
index 9848c367..bb2e7cfd 100644
--- a/src/easymega-v2.0/ao_easymega.c
+++ b/src/easymega-v2.0/ao_easymega.c
@@ -17,9 +17,9 @@
  */
 
 #include <ao.h>
-#include <ao_hmc5883.h>
-#include <ao_mpu6000.h>
-#include <ao_mma655x.h>
+#include <ao_ms5607.h>
+#include <ao_mpu9250.h>
+#include <ao_adxl375.h>
 #include <ao_log.h>
 #include <ao_exti.h>
 #include <ao_companion.h>
@@ -43,7 +43,7 @@ main(void)
 #endif
 
 	ao_task_init();
-	ao_led_init(LEDS_AVAILABLE);
+	ao_led_init();
 	ao_led_on(LEDS_AVAILABLE);
 	ao_timer_init();
 
@@ -53,23 +53,12 @@ main(void)
 	ao_exti_init();
 
 	ao_adc_init();
-#if HAS_BEEP
 	ao_beep_init();
-#endif
 	ao_cmd_init();
 
-#if HAS_MS5607
 	ao_ms5607_init();
-#endif
-#if HAS_HMC5883
-	ao_hmc5883_init();
-#endif
-#if HAS_MPU6000
-	ao_mpu6000_init();
-#endif
-#if HAS_MMA655X
-	ao_mma655x_init();
-#endif
+	ao_mpu9250_init();
+	ao_adxl375_init();
 
 	ao_eeprom_init();
 	ao_storage_init();
diff --git a/src/easymega-v2.0/ao_pins.h b/src/easymega-v2.0/ao_pins.h
index 508c043c..6217b5d2 100644
--- a/src/easymega-v2.0/ao_pins.h
+++ b/src/easymega-v2.0/ao_pins.h
@@ -25,8 +25,8 @@
 #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
@@ -89,20 +89,15 @@
 
 #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
 
@@ -169,9 +164,6 @@
 /* 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
  */
@@ -307,22 +299,29 @@ 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
- */
+/* 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_SPI_SPEED	AO_SPI_SPEED_4MHz
+
+#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