start migrate i2c to serial

Signed-off-by: Cassard Mathieu <cassard.mathieu@gmail.com>
cleanup

Signed-off-by: Cassard Mathieu <cassard.mathieu@gmail.com>
make a lot of stuff work (or almost, maybe,...)

Signed-off-by: Cassard Mathieu <cassard.mathieu@gmail.com>
better angle ration

Signed-off-by: Cassard Mathieu <cassard.mathieu@gmail.com>