Removed old stuff.

1 files changed, 0 insertions, 256 deletions

diff --git a/main.cpp b/main.cpp
index 6eb1a27..7af1122 100644
--- a/main.cpp
+++ b/main.cpp
@@ -230,259 +230,3 @@ int main() {
 		}
 	}
 }
-
-/*
-#include "thread.h"
-#include "usbserial.h"
-#include "itg3200.h"
-#include "bma150.h"
-#include "ak8975.h"
-#include "ppmsum.h"
-#include "motormixer.h"
-
-#include <ch.h>
-#include <hal.h>
-
-#include "IMU.h"
-
-class LEDThread : public BaseThread<LEDThread, 128> {
-	public:
-		noreturn_t thread_main() {
-			systime_t time = chTimeNow();     // T0
-			while (TRUE) {
-				time += MS2ST(1000);            // Next deadline
-				palClearPad(GPIOA, 5);
-				chThdSleepUntil(time);
-				time += MS2ST(1000);            // Next deadline
-				palSetPad(GPIOA, 5);
-				chThdSleepUntil(time);
-			}
-		}
-};
-
-LEDThread led_thread;
-
-PPMSum ppmsum;
-MotorMixer motors;
-
-class USBThread : public BaseThread<USBThread, 256> {
-	private:
-		typedef enum {W_S, W_N, W_V} w_s_t;
-	
-	public:
-		USBSerial* usbs;
-		
-		uint8_t data[9];
-		
-		noreturn_t thread_main() {
-			for(int i = 0; i < 9; i++) {
-				data[i] = 0;
-			}
-			
-			w_s_t w_s = W_S;
-			uint8_t w_n = 0;
-			
-			while(1) {
-				size_t buffer = usbs->getc();
-				if(buffer >= 0 && buffer < 256) {
-					if(w_s == W_S && buffer == 'S') {
-						w_s = W_N;
-					} else if(w_s == W_N && buffer >= '1' && buffer <= '9') {
-						w_s = W_V;
-						w_n = buffer - '1';
-					} else if(w_s == W_V) {
-						w_s = W_S;
-						data[w_n] = buffer;
-					} else {
-						w_s = W_S;
-					}
-				}
-			}
-		}
-};
-
-USBThread usb_thread;
-USBSerial usbs;
-
-#include "foo.h"
-#include <cmath>
-
-uint8_t syncword[] = {0xff, 0x00, 0xaa, 0x55};
-uint8_t buf[64];
-int16_t* sensordata = (int16_t*)buf;
-
-template<class T>
-inline void saturate(T& var, int absmax) {
-	if(var > absmax) {
-		var = absmax;
-	} else if(var < -absmax) {
-		var = -absmax;
-	}
-}
-
-class I2CThread : public BaseThread<I2CThread, 256> {
-	public:
-		ITG3200 gyro;
-		BMA150 acc;
-		AK8975 magn;
-		
-		int16_t x, y, z;
-		
-		noreturn_t thread_main() {
-			I2CSensor::enable_bus();
-			
-			gyro.init();
-			acc.init();
-			magn.init();
-			
-			systime_t time = chTimeNow();
-			
-			int32_t pitch_angle_accum = 0;
-			int32_t roll_angle_accum = 0;
-			
-			while (1) {
-				gyro.update();
-				acc.update();
-				magn.update();
-				x = gyro.x;
-				y = gyro.y;
-				z = gyro.z;
-				
-				IMUupdate(gyro.x * 0.0012141420883438813, gyro.y * 0.0012141420883438813, gyro.z * 0.0012141420883438813, acc.x, acc.y, acc.z);
-				
-				//float pitch = asinf(2*(q0*q2 - q3*q1));
-				//int16_t pitch = atan2f(2*(q2*q3 + q0*q1), 1 - 2 * (q1*q1 + q2*q2)) / M_PI * 32767;
-				//int16_t roll = atan2f(2*(-q1*q3 + q0*q2), 1 - 2 * (q1*q1 + q2*q2)) / M_PI * 32767;
-				//int16_t yaw = atan2f(2*(q2*q1 + q0*q3), 1 - 2 * (q3*q3 + q2*q2)) / M_PI * 32767;
-				
-				float norm_x = 2*(q0*q2 - q1*q3);
-				float norm_y = 2*(q0*q1 + q2*q3);
-				float norm_z = (1 - 2*(q1*q1 + q2*q2));
-				
-				float elev = acosf(norm_z);
-				float azim = atan2f(norm_y, norm_x);
-				
-				int16_t pitch = elev * sinf(azim) / M_PI * 32767;
-				int16_t roll = elev * cosf(azim) / M_PI * 32767;
-				int16_t yaw = 0;
-				
-				sensordata[0] = gyro.x;
-				sensordata[1] = gyro.y;
-				sensordata[2] = gyro.z;
-				sensordata[3] = acc.x;
-				sensordata[4] = acc.y;
-				sensordata[5] = acc.z;
-				sensordata[6] = magn.x;
-				sensordata[7] = magn.y;
-				sensordata[8] = magn.z;
-				sensordata[9] = pitch;
-				sensordata[10] = roll;
-				sensordata[11] = yaw;
-				
-				usbs.write(syncword, sizeof(syncword));
-				usbs.write(buf, sizeof(buf));
-				
-				/*usbprintf(usbs, "%6d, %6d, %6d | %6d, %6d, %6d | %6d, %6d, %6d | %6d, %6d, %6d, %6d | %6d, %6d, %6d\r\n",
-					gyro.x, gyro.y, gyro.z,
-					acc.x, acc.y, acc.z,
-					magn.x, magn.y, magn.z,
-					int(q0 * 10000), int(q1 * 10000), int(q2 * 10000), int(q3 * 10000),
-					int(pitch * 10000), int(roll * 10000), int(yaw * 10000));*//*
-				
-				int16_t pitch_angle_target = (ppmsum.data[1] - 500) * 8;
-				int16_t roll_angle_target = (ppmsum.data[0] - 500) * 8;
-				
-				int16_t pitch_angle_error = pitch_angle_target - pitch;
-				int16_t roll_angle_error = roll_angle_target - roll;
-				
-				// 25 deg max error.
-				saturate(pitch_angle_error, 4551);
-				saturate(roll_angle_error, 4551);
-				
-				pitch_angle_accum += pitch_angle_error;
-				roll_angle_accum += roll_angle_error;
-				
-				// 20 deg s max error.
-				saturate(pitch_angle_accum, 364088);
-				saturate(roll_angle_accum, 364088);
-				
-				int32_t pitch_rate_target = (pitch_angle_error * 2 * 65536 + pitch_angle_accum * 98) >> 16;
-				int32_t roll_rate_target = (roll_angle_error * 2 * 65536 + roll_angle_accum * 98) >> 16;
-				
-				int16_t pitch_rate_comp = ((pitch_rate_target - (gyro.x * 4000 / 360)) * 6 * 36) >> 16;
-				int16_t roll_rate_comp = ((roll_rate_target - (gyro.y * 4000 / 360)) * 6 * 36) >> 16;
-				
-				saturate(pitch_rate_comp, 250);
-				saturate(roll_rate_comp, 250);
-				
-				motors.update(ppmsum.data[2], pitch_rate_comp, roll_rate_comp, 0);
-				
-				time += MS2ST(10);
-				if(time > chTimeNow()) {
-					chThdSleepUntil(time);
-				}
-			}
-		}
-};
-
-I2CThread i2c_thread;
-
-static const ADCConversionGroup adcgrpcfg = {
-	FALSE,
-	2,
-	0,
-	0,
-	0,
-	0,
-	0,
-	ADC_SQR1_NUM_CH(2),
-	0,
-	ADC_SQR3_SQ2_N(ADC_CHANNEL_IN14) | ADC_SQR3_SQ1_N(ADC_CHANNEL_IN15)
-};
-
-class ADCThread : public BaseThread<ADCThread, 128> {
-	private:
-		adcsample_t adc_samples[2];
-		
-	public:
-		noreturn_t thread_main() {
-			adcStart(&ADCD1, NULL);
-			
-			systime_t time = chTimeNow();
-			while (TRUE) {
-				adcStartConversion(&ADCD1, &adcgrpcfg, adc_samples, 1);
-				sensordata[12] = adc_samples[0] * 1265 / 1000;
-				sensordata[13] = adc_samples[1] * 2201 / 1000;
-				
-				time += MS2ST(1000);
-				chThdSleepUntil(time);
-			}
-		}
-};
-
-ADCThread adc_thread;
-
-int main(void) {
-	halInit();
-	chSysInit();
-	
-	led_thread.start();
-	
-	ppmsum.start();
-	
-	usbs.init();
-	
-	i2c_thread.start();
-	
-	adc_thread.start();
-	
-	motors.start();
-	
-	usb_thread.usbs = &usbs;
-	usb_thread.start();
-	
-	while (1) {
-		chThdSleepMilliseconds(1000);
-	}
-}
-*/
\ No newline at end of file