From ac357d8a285fd9ba2134328b5da607e9a5f02a8d Mon Sep 17 00:00:00 2001
From: Eric Westphal <bonanzaeric@gmail.com>
Date: Sat, 19 Dec 2020 10:01:42 -0500
Subject: [PATCH] Revert "Add support for bmx160 MPU"

---
 main/sensors.go   | 16 +-------
 sensors/bmx160.go | 97 -----------------------------------------------
 2 files changed, 1 insertion(+), 112 deletions(-)
 delete mode 100644 sensors/bmx160.go

diff --git a/main/sensors.go b/main/sensors.go
index bf775119..b754b8dc 100644
--- a/main/sensors.go
+++ b/main/sensors.go
@@ -25,8 +25,6 @@ const (
 	MPUREG_WHO_AM_I_VAL = 0x71 // Expected value.
 	ICMREG_WHO_AM_I     = 0x00
 	ICMREG_WHO_AM_I_VAL = 0xEA // Expected value.
-	BMXREG_WHO_AM_I     = 0x00
-	BMXREG_WHO_AM_I_VAL = 0xD8 // Expected value.
 )
 
 var (
@@ -142,11 +140,6 @@ func initIMU() (ok bool) {
 		log.Printf("Error identifying IMU: %s\n", err.Error())
 		return false
 	}
-	v3, err := i2cbus.ReadByteFromReg(0x68, BMXREG_WHO_AM_I)
-	if err != nil {
-		log.Printf("Error identifying IMU: %s\n", err.Error())
-		return false
-	}
 
 	if v == ICMREG_WHO_AM_I_VAL {
 		log.Println("ICM-20948 detected.")
@@ -162,15 +155,8 @@ func initIMU() (ok bool) {
 			myIMUReader = imu
 			return true
 		}
-	} else if v3 == BMXREG_WHO_AM_I_VAL {
-		log.Println("BMX-160 detected.")
-		imu, err := sensors.NewBMX160(&i2cbus)
-		if err == nil {
-			myIMUReader = imu
-			return true
-		}
 	} else {
-		log.Printf("Could not identify MPU. v=%02x, v2=%02x, v3=%02x.\n", v, v2, v3)
+		log.Printf("Could not identify MPU. v=%02x, v2=%02x.\n", v, v2)
 		return false
 	}
 
diff --git a/sensors/bmx160.go b/sensors/bmx160.go
deleted file mode 100644
index 25871bec..00000000
--- a/sensors/bmx160.go
+++ /dev/null
@@ -1,97 +0,0 @@
-// Package sensors provides a stratux interface to sensors used for AHRS calculations.
-package sensors
-
-import (
-	"../goflying/bmx160"
-	"github.com/kidoman/embd"
-)
-
-const (
-	bmx160gyroRange  = 125 // gyroRange is the default range to use for the Gyro.
-	bmx160accelRange = 4   // accelRange is the default range to use for the Accel.
-	bmx160updateFreq = 200  // updateFreq is the rate at which to update the sensor values.
-)
-
-// BMX160 is a Bosch BMX160 attached to the I2C bus and satisfies
-// the IMUReader interface.
-type BMX160 struct {
-	mpu *bmx160.BMX160
-}
-
-// NewBMX160 returns an instance of the BMX160 IMUReader, connected to an
-// BMX160 attached on the I2C bus with either valid address.
-func NewBMX160(i2cbus *embd.I2CBus) (*BMX160, error) {
-	var (
-		m   BMX160
-		mpu *bmx160.BMX160
-		err error
-	)
-
-	mpu, err = bmx160.NewBMX160(i2cbus, bmx160gyroRange, bmx160accelRange, bmx160updateFreq, false, false)
-	if err != nil {
-		return nil, err
-	}
-
-	// Set Gyro (Accel) LPFs to 20 (21) Hz to filter out prop/glareshield vibrations above 1200 (1260) RPM
-        // This is done in the constructor of BMX160
-
-	m.mpu = mpu
-	return &m, nil
-}
-
-// Read returns the average (since last reading) time, Gyro X-Y-Z, Accel X-Y-Z, Mag X-Y-Z,
-// error reading Gyro/Accel, and error reading Mag.
-func (m *BMX160) Read() (T int64, G1, G2, G3, A1, A2, A3, M1, M2, M3 float64, GAError, MAGError error) {
-	var (
-		data *bmx160.MPUData
-		i    int8
-	)
-	data = new(bmx160.MPUData)
-
-	for data.N == 0 && i < 5 {
-		data = <-m.mpu.CAvg
-		T = data.T.UnixNano()
-		G1 = data.G1
-		G2 = data.G2
-		G3 = data.G3
-		A1 = data.A1
-		A2 = data.A2
-		A3 = data.A3
-		M1 = data.M1
-		M2 = data.M2
-		M3 = data.M3
-		GAError = data.GAError
-		MAGError = data.MagError
-		i++
-	}
-	return
-}
-
-// ReadOne returns the most recent time, Gyro X-Y-Z, Accel X-Y-Z, Mag X-Y-Z,
-// error reading Gyro/Accel, and error reading Mag.
-func (m *BMX160) ReadOne() (T int64, G1, G2, G3, A1, A2, A3, M1, M2, M3 float64, GAError, MAGError error) {
-	var (
-		data *bmx160.MPUData
-	)
-	data = new(bmx160.MPUData)
-
-	data = <-m.mpu.C
-	T = data.T.UnixNano()
-	G1 = data.G1
-	G2 = data.G2
-	G3 = data.G3
-	A1 = data.A1
-	A2 = data.A2
-	A3 = data.A3
-	M1 = data.M1
-	M2 = data.M2
-	M3 = data.M3
-	GAError = data.GAError
-	MAGError = data.MagError
-	return
-}
-
-// Close stops reading the MPU.
-func (m *BMX160) Close() {
-	m.mpu.CloseMPU()
-}