altos: Make telemega v0.1 compile with new quaternion code

Adds the necessary math code

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

diff --git a/src/telemega-v0.1/Makefile b/src/telemega-v0.1/Makefile
index bbf46f3c4c9e49cae8f73f814d78b56a2909e03b..7acaedd234ad13f3c24895386a6f10c0846169c3 100644 (file)
--- a/src/telemega-v0.1/Makefile
+++ b/src/telemega-v0.1/Makefile
@@ -25,6 +25,8 @@ INC = \
        ao_task.h \
        ao_whiten.h \
        ao_sample_profile.h \
+       ao_quaternion.h \
+       math.h \
        ao_mpu.h \
        stm32l.h \
        Makefile
@@ -44,6 +46,20 @@ 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_sin.c \
+       sf_fabs.c \
+       sf_floor.c \
+       sf_scalbn.c
+
 ALTOS_SRC = \
        ao_boot_chain.c \
        ao_interrupt.c \
@@ -95,6 +111,7 @@ ALTOS_SRC = \
        ao_aprs.c \
        $(PROFILE) \
        $(SAMPLE_PROFILE) \
+       $(MATH_SRC) \
        $(STACK_GUARD)
 
 PRODUCT=TeleMega-v0.1

diff --git a/src/telemega-v0.1/ao_pins.h b/src/telemega-v0.1/ao_pins.h
index 78e887c37b23697d4dfce46fe59dc1b14535a148..11934bd2ccd6371198e7dc70b8c10283a48ab8d2 100644 (file)
--- a/src/telemega-v0.1/ao_pins.h
+++ b/src/telemega-v0.1/ao_pins.h
@@ -319,8 +319,6 @@ struct ao_adc {
 #define AO_MPU6000_INT_PIN     13
 #define AO_MPU6000_I2C_INDEX   STM_I2C_INDEX(1)
 
-#define HAS_HIGHG_ACCEL                0
-
 /*
  * mma655x
  */