From: Olivier Matz <zer0@droids-corp.org>
Date: Thu, 17 Jul 2014 17:55:49 +0000 (+0200)
Subject: remove dead code in imu.c
X-Git-Url: http://git.droids-corp.org/?p=protos%2Fimu.git;a=commitdiff_plain;h=a4e442441be45647f1115a59b7bff452910cf509

remove dead code in imu.c
---

diff --git a/imu.c b/imu.c
index d5a29cb..25ea1c3 100644
--- 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)
 {
 	/*