void imu_periodic(void) {
// read adc
Max1168Periodic();
// read mag
#if defined IMU_B2_MAG_TYPE && IMU_B2_MAG_TYPE == IMU_B2_MAG_MS2100
ms2100_periodic(&ms2100);
#elif defined IMU_B2_MAG_TYPE && IMU_B2_MAG_TYPE == IMU_B2_MAG_AMI601
RunOnceEvery(10, { ami601_read(); });
void imu_periodic(void) {
// check ssp idle
if (imu_ssp_status != IMU_SSP_STA_IDLE)
{
imu_overrun++;
return; //, DEBUG_IMU, IMU_ERR_OVERUN);
}
// setup 16 bits
ImuSetSSP16bits();
// read adc
imu_ssp_status = IMU_SSP_STA_BUSY_MAX1168;
max1168_read();
#if defined IMU_B2_MAG_TYPE && IMU_B2_MAG_TYPE == IMU_B2_MAG_AMI601
RunOnceEvery(10, { ami601_read(); });
void imu_periodic(void)
{
ImuCristaArchPeriodic();
#ifdef USE_AMI601
RunOnceEvery(10, { ami601_read(); });
static inline void main_init(void)
{
mcu_init();
sys_time_register_timer((1. / PERIODIC_FREQUENCY), NULL);
LED_ON(4);
ami601_init();
downlink_init();
mcu_int_enable();
}
static inline void main_periodic_task(void)
{
// RunOnceEvery(100, {DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);});
RunOnceEvery(10, { ami601_read();});
}
static inline void main_event_task(void)
{
mcu_event();
AMI601Event(on_mag);
}
static inline void on_mag(void)
{
LED_TOGGLE(4);
ami601_status = AMI601_IDLE;
struct Int32Vect3 bla = {ami601_values[0], ami601_values[1], ami601_values[2]};
DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel, DefaultDevice, &bla.x, &bla.y, &bla.z);
