STATIC_INLINE void main_event(void)
{
/* event functions for mcu peripherals: i2c, usb_serial.. */
mcu_event();
DatalinkEvent();
if (autopilot_rc) {
RadioControlEvent(autopilot_on_rc_frame);
}
#if USE_IMU
ImuEvent();
#endif
#ifdef InsEvent
TODO("calling InsEvent, remove me..")
InsEvent();
#endif
#if USE_BARO_BOARD
BaroEvent();
#endif
#if USE_GPS
GpsEvent();
#endif
#if FAILSAFE_GROUND_DETECT || KILL_ON_GROUND_DETECT
DetectGroundEvent();
#endif
modules_event_task();
}
/*********** EVENT ***********************************************************/
void event_task_ap( void ) {
#ifndef SINGLE_MCU
#if defined USE_I2C0 || defined USE_I2C1 || defined USE_I2C2
i2c_event();
#endif
#endif
#if USE_AHRS && USE_IMU
ImuEvent(on_gyro_event, on_accel_event, on_mag_event);
#endif
#if USE_INS
InsEvent(NULL);
#endif
#if USE_GPS
GpsEvent(on_gps_solution);
#endif /* USE_GPS */
#if USE_BAROMETER
BaroEvent(on_baro_abs_event, on_baro_dif_event);
#endif
DatalinkEvent();
#ifdef MCU_SPI_LINK
link_mcu_event_task();
#endif
if (inter_mcu_received_fbw) {
/* receive radio control task from fbw */
inter_mcu_received_fbw = FALSE;
telecommand_task();
}
modules_event_task();
#ifdef AHRS_TRIGGERED_ATTITUDE_LOOP
if (new_ins_attitude > 0)
{
attitude_loop();
//LED_TOGGLE(3);
new_ins_attitude = 0;
}
#endif
} /* event_task_ap() */
/*********** EVENT ***********************************************************/
void event_task_ap( void ) {
#ifdef USE_INFRARED
infrared_event();
#endif
#ifdef USE_AHRS
ImuEvent(on_gyro_event, on_accel_event, on_mag_event);
#endif // USE_AHRS
#ifdef USE_GPS
GpsEvent(on_gps_solution);
#endif /** USE_GPS */
DatalinkEvent();
#ifdef MCU_SPI_LINK
link_mcu_event_task();
#endif
if (inter_mcu_received_fbw) {
/* receive radio control task from fbw */
inter_mcu_received_fbw = FALSE;
telecommand_task();
}
modules_event_task();
#ifdef AHRS_TRIGGERED_ATTITUDE_LOOP
if (new_ins_attitude > 0)
{
attitude_loop();
//LED_TOGGLE(3);
new_ins_attitude = 0;
}
#endif
} /* event_task_ap() */