C++ (Cpp) adxl345_i2c_event Examples

Example #1

File: imu_aspirin_i2c.c Project: FatihRasimBahar/paparazzi

void imu_aspirin_i2c_event(void)
{
  adxl345_i2c_event(&imu_aspirin.acc_adxl);
  if (imu_aspirin.acc_adxl.data_available) {
    VECT3_COPY(imu.accel_unscaled, imu_aspirin.acc_adxl.data.vect);
    imu_aspirin.acc_adxl.data_available = FALSE;
    imu_aspirin.accel_valid = TRUE;
  }

  /* If the itg3200 I2C transaction has succeeded: convert the data */
  itg3200_event(&imu_aspirin.gyro_itg);
  if (imu_aspirin.gyro_itg.data_available) {
    RATES_COPY(imu.gyro_unscaled, imu_aspirin.gyro_itg.data.rates);
    imu_aspirin.gyro_itg.data_available = FALSE;
    imu_aspirin.gyro_valid = TRUE;
  }

  /* HMC58XX event task */
  hmc58xx_event(&imu_aspirin.mag_hmc);
  if (imu_aspirin.mag_hmc.data_available) {
#ifdef IMU_ASPIRIN_VERSION_1_0
    VECT3_COPY(imu.mag_unscaled, imu_aspirin.mag_hmc.data.vect);
#else // aspirin 1.5 with hmc5883
    imu.mag_unscaled.x =  imu_aspirin.mag_hmc.data.vect.y;
    imu.mag_unscaled.y = -imu_aspirin.mag_hmc.data.vect.x;
    imu.mag_unscaled.z =  imu_aspirin.mag_hmc.data.vect.z;
#endif
    imu_aspirin.mag_hmc.data_available = FALSE;
    imu_aspirin.mag_valid = TRUE;
  }
}

Example #2

File: imu_umarim.c Project: AULA-PPZ/paparazzi

void imu_umarim_event(void)
{
  // If the itg3200 I2C transaction has succeeded: convert the data
  itg3200_event(&imu_umarim.itg);
  if (imu_umarim.itg.data_available) {
    RATES_COPY(imu.gyro_unscaled, imu_umarim.itg.data.rates);
    imu_umarim.itg.data_available = FALSE;
    imu_umarim.gyr_valid = TRUE;
  }

  // If the adxl345 I2C transaction has succeeded: convert the data
  adxl345_i2c_event(&imu_umarim.adxl);
  if (imu_umarim.adxl.data_available) {
    VECT3_ASSIGN(imu.accel_unscaled, imu_umarim.adxl.data.vect.y, -imu_umarim.adxl.data.vect.x,
                 imu_umarim.adxl.data.vect.z);
    imu_umarim.adxl.data_available = FALSE;
    imu_umarim.acc_valid = TRUE;
  }
}

Example #3

File: imu_umarim.c Project: CodeMining/paparazzi

void imu_umarim_event(void)
{
  uint32_t now_ts = get_sys_time_usec();

  // If the itg3200 I2C transaction has succeeded: convert the data
  itg3200_event(&imu_umarim.itg);
  if (imu_umarim.itg.data_available) {
    RATES_COPY(imu.gyro_unscaled, imu_umarim.itg.data.rates);
    imu_umarim.itg.data_available = FALSE;
    imu_scale_gyro(&imu);
    AbiSendMsgIMU_GYRO_INT32(IMU_BOARD_ID, now_ts, &imu.gyro);
  }

  // If the adxl345 I2C transaction has succeeded: convert the data
  adxl345_i2c_event(&imu_umarim.adxl);
  if (imu_umarim.adxl.data_available) {
    VECT3_ASSIGN(imu.accel_unscaled, imu_umarim.adxl.data.vect.y, -imu_umarim.adxl.data.vect.x,
                 imu_umarim.adxl.data.vect.z);
    imu_umarim.adxl.data_available = FALSE;
    imu_scale_accel(&imu);
    AbiSendMsgIMU_ACCEL_INT32(IMU_BOARD_ID, now_ts, &imu.accel);
  }
}

Example #4

File: imu_navgo.c Project: 1bitsquared/paparazzi

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;
  }

}

Example #5

File: imu_ppzuav.c Project: 2seasuav/paparuzzi

void imu_ppzuav_event(void)
{
  uint32_t now_ts = get_sys_time_usec();

  adxl345_i2c_event(&imu_ppzuav.acc_adxl);
  if (imu_ppzuav.acc_adxl.data_available) {
    imu.accel_unscaled.x = -imu_ppzuav.acc_adxl.data.vect.x;
    imu.accel_unscaled.y =  imu_ppzuav.acc_adxl.data.vect.y;
    imu.accel_unscaled.z = -imu_ppzuav.acc_adxl.data.vect.z;
    imu_ppzuav.acc_adxl.data_available = false;
    imu_scale_accel(&imu);
    AbiSendMsgIMU_ACCEL_INT32(IMU_PPZUAV_ID, now_ts, &imu.accel);
  }

  /* If the itg3200 I2C transaction has succeeded: convert the data */
  itg3200_event(&imu_ppzuav.gyro_itg);
  if (imu_ppzuav.gyro_itg.data_available) {
    imu.gyro_unscaled.p = -imu_ppzuav.gyro_itg.data.rates.p;
    imu.gyro_unscaled.q =  imu_ppzuav.gyro_itg.data.rates.q;
    imu.gyro_unscaled.r = -imu_ppzuav.gyro_itg.data.rates.r;
    imu_ppzuav.gyro_itg.data_available = false;
    imu_scale_gyro(&imu);
    AbiSendMsgIMU_GYRO_INT32(IMU_PPZUAV_ID, now_ts, &imu.gyro);
  }

  /* HMC58XX event task */
  hmc58xx_event(&imu_ppzuav.mag_hmc);
  if (imu_ppzuav.mag_hmc.data_available) {
    imu.mag_unscaled.x = -imu_ppzuav.mag_hmc.data.vect.y;
    imu.mag_unscaled.y = -imu_ppzuav.mag_hmc.data.vect.x;
    imu.mag_unscaled.z = -imu_ppzuav.mag_hmc.data.vect.z;
    imu_ppzuav.mag_hmc.data_available = false;
    imu_scale_mag(&imu);
    AbiSendMsgIMU_MAG_INT32(IMU_PPZUAV_ID, now_ts, &imu.mag);
  }
}

Example #6

File: imu_aspirin_i2c.c Project: AE4317group07/paparazzi

void imu_aspirin_i2c_event(void)
{
  uint32_t now_ts = get_sys_time_usec();

  adxl345_i2c_event(&imu_aspirin.acc_adxl);
  if (imu_aspirin.acc_adxl.data_available) {
    VECT3_COPY(imu.accel_unscaled, imu_aspirin.acc_adxl.data.vect);
    imu_aspirin.acc_adxl.data_available = FALSE;
    imu_scale_accel(&imu);
    AbiSendMsgIMU_ACCEL_INT32(IMU_ASPIRIN_ID, now_ts, &imu.accel);
  }

  /* If the itg3200 I2C transaction has succeeded: convert the data */
  itg3200_event(&imu_aspirin.gyro_itg);
  if (imu_aspirin.gyro_itg.data_available) {
    RATES_COPY(imu.gyro_unscaled, imu_aspirin.gyro_itg.data.rates);
    imu_aspirin.gyro_itg.data_available = FALSE;
    imu_scale_gyro(&imu);
    AbiSendMsgIMU_GYRO_INT32(IMU_ASPIRIN_ID, now_ts, &imu.gyro);
  }

  /* HMC58XX event task */
  hmc58xx_event(&imu_aspirin.mag_hmc);
  if (imu_aspirin.mag_hmc.data_available) {
#ifdef IMU_ASPIRIN_VERSION_1_0
    VECT3_COPY(imu.mag_unscaled, imu_aspirin.mag_hmc.data.vect);
#else // aspirin 1.5 with hmc5883
    imu.mag_unscaled.x =  imu_aspirin.mag_hmc.data.vect.y;
    imu.mag_unscaled.y = -imu_aspirin.mag_hmc.data.vect.x;
    imu.mag_unscaled.z =  imu_aspirin.mag_hmc.data.vect.z;
#endif
    imu_aspirin.mag_hmc.data_available = FALSE;
    imu_scale_mag(&imu);
    AbiSendMsgIMU_MAG_INT32(IMU_ASPIRIN_ID, now_ts, &imu.mag);
  }
}