imu::imu(void)
{ twi_init(); // Initialize all peripherals.
accl_init();
mag_init();
gyro_init();
gyro_roll_angle = 0; // Initialize internal variables to zero.
gyro_pitch_angle = 0;
roll_angle = 0;
pitch_angle = 0;
yaw_angle = 0;
//gyro_x_position(void)
}
static void app_timer_accl_start(void* data) {
if(acclStop != NULL){
if(app_timer_reschedule(acclStop, 5000)) {
app_timer_cancel(acclStop);
}
acclStop = NULL;
}
if(acclStart != NULL){
acclStart = NULL;
}
accl_init();
// set timer that will stop reporting accl data after about one minute
acclStop = app_timer_register(80 * 1000, app_timer_accl_stop,NULL);
}