void imu_periodic( void )
{
// Start reading the latest gyroscope data
if (!imu_krooz.mpu.config.initialized)
mpu60x0_i2c_start_configure(&imu_krooz.mpu);
if (!imu_krooz.hmc.initialized)
hmc58xx_start_configure(&imu_krooz.hmc);
if (imu_krooz.meas_nb) {
RATES_ASSIGN(imu.gyro_unscaled, imu_krooz.rates_sum.q / imu_krooz.meas_nb, imu_krooz.rates_sum.p / imu_krooz.meas_nb, imu_krooz.rates_sum.r / imu_krooz.meas_nb);
#if KROOZ_USE_MEDIAN_FILTER
UpdateMedianFilterRatesInt(median_gyro, imu.gyro_unscaled);
#endif
VECT3_ASSIGN(imu.accel_unscaled, imu_krooz.accel_sum.y / imu_krooz.meas_nb, imu_krooz.accel_sum.x / imu_krooz.meas_nb, imu_krooz.accel_sum.z / imu_krooz.meas_nb);
#if KROOZ_USE_MEDIAN_FILTER
UpdateMedianFilterVect3Int(median_accel, imu.accel_unscaled);
#endif
RATES_ASSIGN(imu_krooz.rates_sum, 0, 0, 0);
VECT3_ASSIGN(imu_krooz.accel_sum, 0, 0, 0);
imu_krooz.meas_nb = 0;
imu_krooz.gyr_valid = TRUE;
imu_krooz.acc_valid = TRUE;
}
//RunOnceEvery(10,imu_krooz_downlink_raw());
}
void imu_navgo_event( void )
{
// If the itg3200 I2C transaction has succeeded: convert the data
itg3200_event(&imu_navgo.itg);
if (imu_navgo.itg.data_available) {
RATES_ASSIGN(imu.gyro_unscaled, -imu_navgo.itg.data.rates.q, imu_navgo.itg.data.rates.p, imu_navgo.itg.data.rates.r);
#if NAVGO_USE_MEDIAN_FILTER
UpdateMedianFilterRatesInt(median_gyro, imu.gyro_unscaled);
#endif
imu_navgo.itg.data_available = FALSE;
imu_navgo.gyr_valid = TRUE;
}
// If the adxl345 I2C transaction has succeeded: convert the data
adxl345_i2c_event(&imu_navgo.adxl);
if (imu_navgo.adxl.data_available) {
VECT3_ASSIGN(imu.accel_unscaled, imu_navgo.adxl.data.vect.y, -imu_navgo.adxl.data.vect.x, imu_navgo.adxl.data.vect.z);
#if NAVGO_USE_MEDIAN_FILTER
UpdateMedianFilterVect3Int(median_accel, imu.accel_unscaled);
#endif
imu_navgo.adxl.data_available = FALSE;
imu_navgo.acc_valid = TRUE;
}
// HMC58XX event task
hmc58xx_event(&imu_navgo.hmc);
if (imu_navgo.hmc.data_available) {
VECT3_COPY(imu.mag_unscaled, imu_navgo.hmc.data.vect);
#if NAVGO_USE_MEDIAN_FILTER
UpdateMedianFilterVect3Int(median_mag, imu.mag_unscaled);
#endif
imu_navgo.hmc.data_available = FALSE;
imu_navgo.mag_valid = TRUE;
}
}
