[paparazzi-commits] [5171]

[antoine drouin]

Revision: 5171
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5171
Author:   poine
Date:     2010-07-26 21:23:52 +0000 (Mon, 26 Jul 2010)
Log Message:
-----------


Removed Paths:
-------------
    paparazzi3/trunk/sw/airborne/booz/test/booz2_test_imu_b2.c

Deleted: paparazzi3/trunk/sw/airborne/booz/test/booz2_test_imu_b2.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/test/booz2_test_imu_b2.c  2010-07-26 
21:22:47 UTC (rev 5170)
+++ paparazzi3/trunk/sw/airborne/booz/test/booz2_test_imu_b2.c  2010-07-26 
21:23:52 UTC (rev 5171)
@@ -1,132 +0,0 @@
-/*
- * $Id$
- *  
- * Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
- *
- * This file is part of paparazzi.
- *
- * paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA. 
- */
-
-#include <inttypes.h>
-
-#include "std.h"
-#include "init_hw.h"
-#include "sys_time.h"
-#include "led.h"
-#include "uart.h"
-#include "messages.h"
-#include "downlink.h"
-
-#include "booz_imu.h"
-
-#include "interrupt_hw.h"
-
-
-static inline void main_init( void );
-static inline void main_periodic_task( void );
-static inline void main_event_task( void );
-
-static inline void on_gyro_accel_event(void);
-static inline void on_mag_event(void);
-
-int main( void ) {
-  main_init();
-  while(1) {
-    if (sys_time_periodic())
-      main_periodic_task();
-    main_event_task();
-  }
-  return 0;
-}
-
-static inline void main_init( void ) {
-
-  hw_init();
-  sys_time_init();
-  booz_imu_init();
-
-  int_enable();
-}
-
-static inline void main_periodic_task( void ) {
-  RunOnceEvery(100, {
-      LED_TOGGLE(3);
-      DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM);
-    });
-  booz_imu_periodic();
-  RunOnceEvery(10, { LED_PERIODIC();});
-}
-
-static inline void main_event_task( void ) {
-
-  BoozImuEvent(on_gyro_accel_event, on_mag_event);
-
-}
-
-static inline void on_gyro_accel_event(void) {
-  BoozImuScaleGyro();
-  BoozImuScaleAccel();
-
-  LED_TOGGLE(2);
-  static uint8_t cnt;
-  cnt++;
-  if (cnt > 15) cnt = 0;
-
-  if (cnt == 0) {
-    DOWNLINK_SEND_IMU_GYRO_RAW(DefaultChannel,
-                              &booz_imu.gyro_unscaled.p,
-                              &booz_imu.gyro_unscaled.q,
-                              &booz_imu.gyro_unscaled.r);
-    
-    DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel,
-                               &booz_imu.accel_unscaled.x,
-                               &booz_imu.accel_unscaled.y,
-                               &booz_imu.accel_unscaled.z);
-  }
-  else if (cnt == 7) {
-    DOWNLINK_SEND_BOOZ2_GYRO(DefaultChannel,
-                            &booz_imu.gyro.p,
-                            &booz_imu.gyro.q,
-                            &booz_imu.gyro.r);
-    
-    DOWNLINK_SEND_BOOZ2_ACCEL(DefaultChannel,
-                             &booz_imu.accel.x,
-                             &booz_imu.accel.y,
-                             &booz_imu.accel.z);
-  }
-}
-
-
-static inline void on_mag_event(void) {
-  BoozImuScaleMag();
-  static uint8_t cnt;
-  cnt++;
-  if (cnt > 1) cnt = 0;
-
-  if (cnt%2) {
-    DOWNLINK_SEND_BOOZ2_MAG(DefaultChannel,
-                           &booz_imu.mag.x,
-                           &booz_imu.mag.y,
-                           &booz_imu.mag.z);
-  }
-  else {
-    DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel,
-                             &booz_imu.mag_unscaled.x,
-                             &booz_imu.mag_unscaled.y,
-                             &booz_imu.mag_unscaled.z);
-  }
-}