remove dead code in imu.c

[protos/imu.git] / imu.c

diff --git a/imu.c b/imu.c
index d5a29cb..25ea1c3 100644 (file)
--- a/imu.c
+++ b/imu.c
@@ -180,105 +180,6 @@ int SENSOR_SIGN[]= {
        1,1,1    // MAGX, MAGY, MAGZ,
 };
 
-#if 0
-
-double read_adc(uint8_t index)
-{
-       int16_t value;
-
-       switch(index) {
-               case 0:
-                       itg3200_read_axe(0, &value);
-                       return (double) (SENSOR_SIGN[index] * value);
-               case 1:
-                       itg3200_read_axe(1, &value);
-                       return (double) (SENSOR_SIGN[index] * value);
-               case 2:
-                       itg3200_read_axe(2, &value);
-                       return (double) (SENSOR_SIGN[index] * value);
-               case 3:
-                       bma150_read_axe(0, &value);
-                       return (double) (SENSOR_SIGN[index] * bma15_axe2g(value));
-               case 4:
-                       bma150_read_axe(1, &value);
-                       return (double) (SENSOR_SIGN[index] * bma15_axe2g(value));
-               case 5:
-                       bma150_read_axe(2, &value);
-                       return (double) (SENSOR_SIGN[index] * bma15_axe2g(value));
-       }
-       return 0.0;
-}
-
-
-uint8_t measure_time = 0;
-void read_sensors(void)
-{
-       uint8_t flags;
-       uint8_t err;
-       uint16_t axes[3];
-
-       /* read mag */
-       measure_time ++;//= (measure_time +1)%3;
-       if (measure_time%2 == 0) {
-               err = ak8500_start_measure();
-               if (err) {
-                       printf("mag start err %X\r\n", err);
-                       measure_time = 0;
-               }
-       }
-       else if (measure_time%2 == 1) {
-               err = ak8500_read_all_axes(&axes);
-               if (err == 0) {
-                       /*
-                       Magnet_Vector[0] = (double)SENSOR_SIGN[6] * (double)axes[0];
-                       Magnet_Vector[1] = (double)SENSOR_SIGN[7] * (double)axes[1];
-                       Magnet_Vector[2] = (double)SENSOR_SIGN[8] * (double)axes[2];
-                       */
-                       /*
-                       */
-                       mag_x = SENSOR_SIGN[6] * axes[0];
-                       mag_y = SENSOR_SIGN[7] * axes[1];
-                       mag_z = SENSOR_SIGN[8] * axes[2];
-                       Magnet_Vector[0] = mag_x;
-                       Magnet_Vector[1] = mag_y;
-                       Magnet_Vector[2] = mag_z;
-
-               }
-               else {
-                       printf("mag read err %X\r\n", err);
-               }
-       }
-       /*
-       printf("%d %d %d\r\n",
-              mag_x,
-              mag_y,
-              mag_z
-              );
-       */
-       /*
-       printf("%f %f %f\r\n",
-              Magnet_Vector[0],
-              Magnet_Vector[1],
-              Magnet_Vector[2]);
-       */
-       /*
-       Gyro_Vector[0]=Gyro_Scaled_X(read_adc(0)); //gyro x roll
-       Gyro_Vector[1]=Gyro_Scaled_Y(read_adc(1)); //gyro y pitch
-       Gyro_Vector[2]=Gyro_Scaled_Z(read_adc(2)); //gyro Z yaw
-       */
-       Gyro_Vector[0]=ToRad(read_adc(0)); //gyro x roll
-       Gyro_Vector[1]=ToRad(read_adc(1)); //gyro y pitch
-       Gyro_Vector[2]=ToRad(read_adc(2)); //gyro Z yaw
-
-       Accel_Vector[0]=9.81 * read_adc(3); // acc x
-       Accel_Vector[1]=9.81 * read_adc(4); // acc y
-       Accel_Vector[2]=9.81 * read_adc(5); // acc z
-
-}
-
-#endif
-
-
 void quaternion2euler(void)
 {
        /*