From c265553652444293f90189c7481fb7eb16f28115 Mon Sep 17 00:00:00 2001
From: Vegard Storheil Eriksen <zyp@jvnv.net>
Date: Sat, 19 Nov 2011 19:01:00 +0100
Subject: Separated AHRS and telemetry code.

---
 main.cpp | 71 ++++++++++------------------------------------------------------
 1 file changed, 11 insertions(+), 60 deletions(-)

(limited to 'main.cpp')

diff --git a/main.cpp b/main.cpp
index 635467b..c465f00 100644
--- a/main.cpp
+++ b/main.cpp
@@ -6,8 +6,8 @@
 #include "ppmsum.h"
 #include "i2c.h"
 
-#include "itg3200.h"
-#include "bma150.h"
+#include "ahrs.h"
+#include "telemetry.h"
 
 #include "usart.h"
 #include "xbee.h"
@@ -60,55 +60,10 @@ class PID {
 };
 
 I2C i2c;
-ITG3200 gyro(i2c);
-BMA150 accel(i2c);
+AHRS ahrs(i2c);
 
-volatile uint16_t dmabuf[2];
 volatile uint16_t motors[4];
 
-void threadmain() {
-	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[] = {
-			gyro.x,
-			gyro.y,
-			gyro.z,
-			accel.x,
-			accel.y,
-			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 thstack[1024];
-
-Thread thread(thstack, sizeof(thstack), threadmain);
-
 GPS gps;
 
 void gps_thread_main() {
@@ -148,9 +103,7 @@ int main() {
 	Time::sleep(200);
 	
 	i2c.enable();
-	
-	gyro.init();
-	accel.init();
+	ahrs.init();
 	
 	PPMSum ppmsum;
 	ppmsum.enable();
@@ -171,7 +124,7 @@ int main() {
 	usart_enable();
 	gps.enable();
 	
-	thread.start();
+	telemetry_thread.start();
 	//gps_thread.start();
 	
 	while(1) {
@@ -181,23 +134,21 @@ int main() {
 		}
 		TIM2.SR = 0;
 		
-		// Read sensors.
-		gyro.update();
-		accel.update();
+		// Update AHRS.
+		ahrs.update();
 		
 		// Update filter.
-		
-		// Generate motor mix.
 		int16_t throttle = ppmsum.channels[2] - 1000;
-		int16_t pitch = pid_pitch.update((ppmsum.channels[1] - 1500) * 1 - gyro.x);
-		int16_t roll = pid_roll.update((ppmsum.channels[0] - 1500) * 1 - gyro.y);
-		int16_t yaw = pid_yaw.update((ppmsum.channels[3] - 1500) * -1 - gyro.z);
+		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);
-- 
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