Where to begin…. (#13)

+/- Reworked collection of altimeter related functions into altimeter class
+/- Reworked bno055 class to be imu class with minimal functionality

\- Removed external Kalman filter implementations in favor of own in house version
\- Removed any/unused files
\+ Added buffer logger for when sitting on pad for extended period of time in effort to prevent filling of flash chip
\+ Added heartbeat LED for alive status

1 files changed, 11 insertions, 48 deletions

diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 59d21de..e372541 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -1,54 +1,17 @@
 add_executable(ads
-        active_drag_system.cpp
-        spi_flash.c
-        bno055.cpp
-        SimpleKalmanFilter.cpp
-        # kalmanfilter.cpp
-        pwm.cpp
-        AltEst/algebra.cpp
-        AltEst/altitude.cpp
-        AltEst/filters.cpp
-        )
-
-add_executable(read_flash
-        read_flash.c
-        spi_flash.c
-        )
-
-add_executable(servo_test
-        servo_test.cpp
-        pwm.cpp
-        )
-
-add_executable(alt_test
-        altimeter.cpp
-        )
-
-# pull in common dependencies
-target_link_libraries(ads pico_stdlib pico_multicore pico_sync hardware_i2c hardware_spi hardware_pwm pico_cyw43_arch_none ${Eigen_LIBRARIES})
+               active_drag_system.cpp
+               spi_flash.c
+               imu.cpp
+               pwm.cpp
+               altimeter.cpp
+               kalman_filter.cpp
+)
+
+target_link_libraries(ads pico_stdlib pico_multicore pico_sync hardware_i2c hardware_spi hardware_pwm hardware_adc pico_cyw43_arch_none ${Eigen_LIBRARIES})
 target_include_directories(ads PUBLIC ../include)
 
-target_link_libraries(read_flash pico_stdlib hardware_spi)
-target_include_directories(read_flash PUBLIC ../include)
-
-target_link_libraries(servo_test pico_stdlib hardware_pwm hardware_i2c)
-target_include_directories(servo_test PUBLIC ../include)
-
-target_link_libraries(alt_test pico_stdlib hardware_i2c hardware_gpio)
-
-pico_enable_stdio_usb(ads 1)
+pico_enable_stdio_usb(ads 0)
 pico_enable_stdio_uart(ads 0)
 
-pico_enable_stdio_usb(read_flash 1)
-pico_enable_stdio_uart(read_flash 0)
-
-pico_enable_stdio_usb(servo_test 1)
-pico_enable_stdio_uart(servo_test 0)
-
-pico_enable_stdio_usb(alt_test 1)
-pico_enable_stdio_uart(alt_test 0)
-# create map/bin/hex file etc.
 pico_add_extra_outputs(ads)
-pico_add_extra_outputs(read_flash)
-pico_add_extra_outputs(servo_test)
-pico_add_extra_outputs(alt_test)
+