Stripped down codebase for USB implementation.

5 files changed, 2 insertions, 235 deletions

diff --git a/.gdbinit b/.gdbinit
index 30645cc..e5324f2 100644
--- a/.gdbinit
+++ b/.gdbinit
@@ -1,4 +1,4 @@
-target extended-remote :1234
+target extended-remote :4242
 file suzumebachi.elf
 
 define flash
diff --git a/ahrs.h b/ahrs.h
deleted file mode 100644
index e78ae8d..0000000
--- a/ahrs.h
+++ /dev/null
@@ -1,25 +0,0 @@
-#ifndef AHRS_H
-#define AHRS_H
-
-#include "itg3200.h"
-#include "bma150.h"
-
-class AHRS {
-	public:
-		ITG3200 gyro;
-		BMA150 accel;
-		
-		AHRS(I2C& i2c) : gyro(i2c), accel(i2c) {}
-		
-		void init() {
-			gyro.init();
-			accel.init();
-		}
-		
-		void update() {
-			gyro.update();
-			accel.update();
-		}
-};
-
-#endif
diff --git a/main.cpp b/main.cpp
index 47e7c51..3b43d9d 100644
--- a/main.cpp
+++ b/main.cpp
@@ -1,86 +1,11 @@
 #include "stm32.h"
+#include "rcc.h"
 #include "interrupt.h"
 #include "thread.h"
 #include "time.h"
 
-#include "ppmsum.h"
-#include "i2c.h"
-
-#include "ahrs.h"
-#include "telemetry.h"
-
-#include "usart.h"
-#include "xbee.h"
-#include "gps.h"
-
 #include "pin.h"
 
-template<class T>
-inline void saturate(T& var, T absmax) {
-	if(var > absmax) {
-		var = absmax;
-	} else if(var < -absmax) {
-		var = -absmax;
-	}
-}
-
-template<class T>
-inline T limit(T var, T min, T max) {
-	if(var < min) {
-		return min;
-	} else if(var > max) {
-		return max;
-	} else {
-		return var;
-	}
-}
-
-class PID {
-	private:
-		uint16_t Kp, Ki, Kd;
-		
-		int16_t last;
-		int32_t accum;
-	
-	public:
-		PID(uint16_t p, uint16_t i, uint16_t d) : Kp(p), Ki(i), Kd(d), last(0), accum(0) {}
-		
-		int16_t update(int16_t error) {
-			// P
-			int32_t corr_p = Kp * error;
-			
-			// I
-			accum += Ki * error;
-			int32_t corr_i = accum;
-			
-			// D
-			int32_t corr_d = Kd * (error - last);
-			last = error;
-			
-			return (corr_p + corr_i + corr_d) >> 16;
-		}
-};
-
-AHRS ahrs(I2C1);
-
-volatile uint16_t motors[4];
-
-//GPS gps;
-
-void gps_thread_main() {
-	while(1) {
-		//P<GPSMsg> msg = gps.read();
-		
-		//if(msg->n < 128) {
-		//	xbee_send(2, msg->n, msg->buf);
-		//}
-	}
-}
-
-uint32_t gps_stack[256];
-
-Thread gps_thread(gps_stack, sizeof(gps_stack), gps_thread_main);
-
 static Pin& led_green = PD12;
 static Pin& led_yellow = PD13;
 static Pin& led_red = PD14;
@@ -100,44 +25,6 @@ int main() {
 	led_red.set_mode(Pin::Output);
 	led_blue.set_mode(Pin::Output);
 	
-	//RCC.enable(RCC.DMA1);
-	//RCC.enable(RCC.ADC1);
-	
-	PB6.set_af(7);
-	PB7.set_af(7);
-	PB6.set_mode(Pin::Output);
-	PB7.set_mode(Pin::Output);
-	
-	// Give all hardware enough time to initialize.
-	Time::sleep(200);
-	
-	I2C1.enable(PB8, PB9);
-	ahrs.init();
-	
-	//PPMSum ppmsum;
-	//ppmsum.enable();
-	
-	//RCC.enable(RCC.TIM2);
-	//TIM2.PSC = 72;
-	//TIM2.ARR = 5000;
-	//TIM2.CCER = 0x1111;
-	//TIM2.CCMR1 = 0x6868;
-	//TIM2.CCMR2 = 0x6868;
-	
-	//TIM2.CR1 = 0x05;
-	
-	//PID pid_pitch(6000, 0, 0);
-	//PID pid_roll(6000, 0, 0);
-	//PID pid_yaw(6000, 0, 0);
-	
-	RCC.enable(RCC.USART1);
-	
-	usart_enable();
-	//gps.enable();
-	
-	telemetry_thread.start();
-	//gps_thread.start();
-	
 	while(1) {
 		led_green.on();
 		Time::sleep(100);
@@ -154,36 +41,5 @@ int main() {
 		led_blue.on();
 		Time::sleep(100);
 		led_blue.off();
-		
-		// Wait for a new update.
-		//while(!(TIM2.SR & 0x01)) {
-		//	Thread::yield();
-		//}
-		//TIM2.SR = 0;
-		
-		// Update AHRS.
-		ahrs.update();
-		
-		// Update filter.
-		//int16_t throttle = ppmsum.channels[2] - 1000;
-		//int16_t pitch = pid_pitch.update((ppmsum.channels[1] - 1500) * 1 - ahrs.gyro.x);
-		//int16_t roll = pid_roll.update((ppmsum.channels[0] - 1500) * 1 - ahrs.gyro.y);
-		//int16_t yaw = pid_yaw.update((ppmsum.channels[3] - 1500) * -1 - ahrs.gyro.z);
-		
-		//int16_t max = throttle > 250 ? 250 : throttle;
-		//saturate(pitch, max);
-		//saturate(roll, max);
-		//saturate(yaw, max);
-		
-		// Generate motor mix.
-		//motors[0] = limit(throttle + pitch - roll + yaw, 0, 1000);
-		//motors[1] = limit(throttle - pitch - roll - yaw, 0, 1000);
-		//motors[2] = limit(throttle - pitch + roll + yaw, 0, 1000);
-		//motors[3] = limit(throttle + pitch + roll - yaw, 0, 1000);
-		
-		//TIM2.CCR1 = 1000 + motors[0];
-		//TIM2.CCR2 = 1000 + motors[1];
-		//TIM2.CCR3 = 1000 + motors[2];
-		//TIM2.CCR4 = 1000 + motors[3];
 	}
 }
diff --git a/telemetry.cpp b/telemetry.cpp
deleted file mode 100644
index 781fb60..0000000
--- a/telemetry.cpp
+++ /dev/null
@@ -1,56 +0,0 @@
-#include "telemetry.h"
-
-#include <time.h>
-
-#include "stm32.h"
-#include "ahrs.h"
-#include "xbee.h"
-
-extern volatile uint16_t motors[4];
-extern AHRS ahrs;
-
-volatile uint16_t dmabuf[2];
-
-void telemetry_main() {
-	/*
-	ADC1.CR2 = 0x9;
-	while(ADC1.CR2 & 0x8);
-	ADC1.CR2 = 0x5;
-	while(ADC1.CR2 & 0x4);
-	
-	DMA1.CH[0].CMAR = (uint32_t)&dmabuf;
-	DMA1.CH[0].CPAR = (uint32_t)&ADC1.DR;
-	DMA1.CH[0].CNDTR = 2;
-	DMA1.CH[0].CCR = 0x05a1;
-	
-	ADC1.SMPR2 = 0x003f000;
-	ADC1.SQR1 = 0x100000;
-	ADC1.SQR3 = 5 | (4 << 5);
-	ADC1.CR1 = 0x100;
-	ADC1.CR2 = 0x103;
-	ADC1.CR2 = 0x103;
-	*/
-	while(1) {
-		uint16_t buf[] = {
-			ahrs.gyro.x,
-			ahrs.gyro.y,
-			ahrs.gyro.z,
-			ahrs.accel.x,
-			ahrs.accel.y,
-			ahrs.accel.z,
-			motors[0],
-			motors[1],
-			motors[2],
-			motors[3],
-			dmabuf[0],
-			dmabuf[1],
-		};
-		
-		xbee_send(1, sizeof(buf), (uint8_t*)buf);
-		Time::sleep(100);
-	}
-}
-
-uint32_t telemetry_stack[1024];
-
-Thread telemetry_thread(telemetry_stack, sizeof(telemetry_stack), telemetry_main);
diff --git a/telemetry.h b/telemetry.h
deleted file mode 100644
index 9c2efaf..0000000
--- a/telemetry.h
+++ /dev/null
@@ -1,8 +0,0 @@
-#ifndef TELEMETRY_H
-#define TELEMETRY_H
-
-#include <thread.h>
-
-extern Thread telemetry_thread;
-
-#endif