void imu_process_values() {
value_process_dt = micros() - value_process_timer; // for benchmarking
value_process_timer = micros();
process_gyro();
process_accel();
combine();
}
BOOL callback_tilt_reading( struct sCAN* mMsg )
{
BOOL retval = FALSE;
switch (mMsg->id.group.id)
{
case ID_ACCEL_XYZ :
count_accel++;
parse_accel_msg (mMsg);
process_accel (FALSE); //ShowAccelerometerData);
retval= TRUE;
break;
case ID_GYRO_XYZ :
count_gyro++;
parse_gyro_msg (mMsg); // puts into RawxyzGyro
process_gyro (FALSE); //ShowGyroData);
if (ShowGyroData)
{
printf("\n");
//print_vector( &RawxyzGyro ); printf("\n");
//print_message(mMsg); printf("\n");
}
retval=TRUE;
break;
/* case ID_MAGNET_XYZ :
count_magnet++;
if (ShowMagnetData && ShowCANData) print_message(mMsg);
parse_magnet_msg(mMsg);
process_magnet(ShowMagnetData);
if (ShowMagnetData) printf("\n");
retval= TRUE;
break; */
default:
retval= FALSE;
break;
}
//if ((count_accel==1) && (count_gyro==1) && (count_magnet==1))
if ((count_accel==1) && (count_gyro==1))
{
printf("<<<=======FUSION===========>>>\n");
compute_accelGyro_fusion(FALSE);
(*tiltsensor_callback)( );
/*if (count_samples++ < 300)
save_timeslice_data();
else
close_log_file();
*/
count_accel=0;
count_gyro=0;
count_magnet=0;
}
return retval;
}
Bool
Window_process_accel( Handle self, int key)
{
return var-> modal ? my-> first_that_component( self, (void*)find_accel, &key)
: inherited process_accel( self, key);
}
