From a5d46e95b0bce0200162b74461ff65e92314a007 Mon Sep 17 00:00:00 2001
From: saji <champ189@umn.edu>
Date: Tue, 2 Apr 2024 15:18:15 -0500
Subject: [PATCH] added gyro, move things around

---
 app/prj.conf                          |  3 ---
 app/sample.yaml                       | 16 ----------------
 app/src/canlog.c                      |  2 +-
 boards/vendor/telem3/telem3.dts       | 12 ++++++++++--
 boards/vendor/telem3/telem3_defconfig |  4 ++++
 west.yml                              |  1 +
 6 files changed, 16 insertions(+), 22 deletions(-)
 delete mode 100644 app/sample.yaml

diff --git a/app/prj.conf b/app/prj.conf
index 1d3ca4a..0dfd452 100644
--- a/app/prj.conf
+++ b/app/prj.conf
@@ -7,7 +7,6 @@ CONFIG_SENSOR=y
 CONFIG_POLL=y
 CONFIG_CAN=y
 CONFIG_CAN_INIT_PRIORITY=80
-CONFIG_CAN_MAX_FILTER=5
 
 CONFIG_LOG=y
 CONFIG_SHELL=y
@@ -26,8 +25,6 @@ CONFIG_FILE_SYSTEM=y
 CONFIG_FAT_FILESYSTEM_ELM=y
 CONFIG_FILE_SYSTEM_MKFS=y
 CONFIG_FILE_SYSTEM_SHELL=y
-CONFIG_FS_LOG_LEVEL_DBG=y
-CONFIG_SDMMC_LOG_LEVEL_DBG=y
 
 CONFIG_HEAP_MEM_POOL_SIZE=16384
 CONFIG_GNSS=y
diff --git a/app/sample.yaml b/app/sample.yaml
deleted file mode 100644
index 582bb8f..0000000
--- a/app/sample.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-# This file is provided so that the application can be compiled using Twister,
-# the Zephyr testing tool. In this file, multiple combinations can be specified,
-# so that you can easily test all of them locally or in CI.
-sample:
-  description: Example application
-  name: example-application 
-common:
-  build_only: true
-  integration_platforms:
-    - custom_plank
-    - nucleo_f302r8
-tests:
-  app.default: {}
-  app.debug:
-    extra_overlay_confs:
-      - debug.conf
diff --git a/app/src/canlog.c b/app/src/canlog.c
index b053150..c33176d 100644
--- a/app/src/canlog.c
+++ b/app/src/canlog.c
@@ -123,7 +123,7 @@ void can_task() {
         k_msgq_get(&sd_canframes, &incoming_frame, K_FOREVER);
         fs_write(&logfile, &incoming_frame, sizeof(incoming_frame));
         fs_sync(&logfile);
-        LOG_INF("write!");
+        LOG_DBG("write!");
     }
 }
 
diff --git a/boards/vendor/telem3/telem3.dts b/boards/vendor/telem3/telem3.dts
index 6c89bea..5b85bca 100644
--- a/boards/vendor/telem3/telem3.dts
+++ b/boards/vendor/telem3/telem3.dts
@@ -182,9 +182,17 @@ zephyr_udc0: &usb {
 	bme280@0 {
 		compatible = "bosch,bme280";
 		reg = <0>;
-		spi-max-frequency = <DT_FREQ_M(1)>;
+		spi-max-frequency = <DT_FREQ_M(10)>;
+		status = "okay";
 	};
 	/* TODO: add LSM6DS3 may need custom driver */
+	lsm6ds3: lsm6dsl@1 {
+		compatible = "st,lsm6dsl";
+		reg = <1>;
+		irq-gpios = <&gpiob 0 GPIO_ACTIVE_HIGH>;
+		spi-max-frequency = <DT_FREQ_M(10)>;
+		status = "okay";
+	};
 };
 
 &vref {
@@ -228,4 +236,4 @@ zephyr_udc0: &usb {
 		data-rate = <OSPI_DTR_TRANSFER>;
 		status = "okay";
 	};
-};
\ No newline at end of file
+};
diff --git a/boards/vendor/telem3/telem3_defconfig b/boards/vendor/telem3/telem3_defconfig
index 15d295e..d1e4f0e 100644
--- a/boards/vendor/telem3/telem3_defconfig
+++ b/boards/vendor/telem3/telem3_defconfig
@@ -10,6 +10,10 @@ CONFIG_CLOCK_CONTROL=y
 # console
 CONFIG_CONSOLE=y
 CONFIG_UART_CONSOLE=y
+CONFIG_USB_DEVICE_STACK=y
+CONFIG_USB_DEVICE_PRODUCT="Telem3.0"
+CONFIG_USB_DEVICE_PID=0x0004
+CONFIG_USB_DEVICE_INITIALIZE_AT_BOOT=y
 
 # Enable MPU
 CONFIG_ARM_MPU=y
diff --git a/west.yml b/west.yml
index 5335323..3de88d2 100644
--- a/west.yml
+++ b/west.yml
@@ -19,3 +19,4 @@ manifest:
           - mcuboot
           - cmsis      # required by the ARM port
           - hal_stm32  # required by the nucleo_f302r8 board (STM32 based)
+          - hal_st  # required by the nucleo_f302r8 board (STM32 based)