void SysTick_Handler(void)
{
uint8_t index;
uint32_t currentTime;
float mxrTemp[3];
sysTickCycleCounter = *DWT_CYCCNT;
sysTickUptime++;
watchDogsTick();
if ((systemReady == true) &&
(cliBusy == false) &&
(accelCalibrating == false) &&
(escCalibrating == false) &&
(magCalibrating == false) &&
(mpu6000Calibrating == false))
{
#ifdef _DTIMING
// LA2_ENABLE;
#endif
frameCounter++;
if (frameCounter > FRAME_COUNT)
frameCounter = 1;
///////////////////////////////
currentTime = micros();
deltaTime1000Hz = currentTime - previous1000HzTime;
previous1000HzTime = currentTime;
readMPU6000();
accelSum500Hz[XAXIS] += rawAccel[XAXIS].value;
accelSum500Hz[YAXIS] += rawAccel[YAXIS].value;
accelSum500Hz[ZAXIS] += rawAccel[ZAXIS].value;
accelSum100Hz[XAXIS] += rawAccel[XAXIS].value;
accelSum100Hz[YAXIS] += rawAccel[YAXIS].value;
accelSum100Hz[ZAXIS] += rawAccel[ZAXIS].value;
gyroSum500Hz[ROLL ] += rawGyro[ROLL ].value;
gyroSum500Hz[PITCH] += rawGyro[PITCH].value;
gyroSum500Hz[YAW ] += rawGyro[YAW ].value;
mxrTemp[XAXIS] = mxr9150XAxis();
mxrTemp[YAXIS] = mxr9150YAxis();
mxrTemp[ZAXIS] = mxr9150ZAxis();
accelSum500HzMXR[XAXIS] += mxrTemp[XAXIS];
accelSum500HzMXR[YAXIS] += mxrTemp[YAXIS];
accelSum500HzMXR[ZAXIS] += mxrTemp[ZAXIS];
accelSum100HzMXR[XAXIS] += mxrTemp[XAXIS];
accelSum100HzMXR[YAXIS] += mxrTemp[YAXIS];
accelSum100HzMXR[ZAXIS] += mxrTemp[ZAXIS];
///////////////////////////////
if ((frameCounter % COUNT_500HZ) == 0)
{
frame_500Hz = true;
for (index = 0; index < 3; index++)
{
accelSummedSamples500Hz[index] = accelSum500Hz[index];
accelSum500Hz[index] = 0;
accelSummedSamples500HzMXR[index] = accelSum500HzMXR[index];
accelSum500HzMXR[index] = 0.0f;
gyroSummedSamples500Hz[index] = gyroSum500Hz[index];
gyroSum500Hz[index] = 0;
}
}
///////////////////////////////
if ((frameCounter % COUNT_100HZ) == 0)
{
frame_100Hz = true;
for (index = 0; index < 3; index++)
{
accelSummedSamples100Hz[index] = accelSum100Hz[index];
accelSum100Hz[index] = 0;
accelSummedSamples100HzMXR[index] = accelSum100HzMXR[index];
accelSum100HzMXR[index] = 0.0f;
}
if (!newTemperatureReading)
{
readTemperatureRequestPressure(MS5611_I2C);
newTemperatureReading = true;
}
else
{
readPressureRequestTemperature(MS5611_I2C);
newPressureReading = true;
}
}
///////////////////////////////
if ((frameCounter % COUNT_50HZ) == 0)
frame_50Hz = true;
///////////////////////////////
if (((frameCounter + 1) % COUNT_10HZ) == 0)
newMagData = readMag(HMC5883L_I2C);
if ((frameCounter % COUNT_10HZ) == 0)
frame_10Hz = true;
///////////////////////////////
if ((frameCounter % COUNT_5HZ) == 0)
frame_5Hz = true;
///////////////////////////////
if ((frameCounter % COUNT_1HZ) == 0)
frame_1Hz = true;
///////////////////////////////////
executionTime1000Hz = micros() - currentTime;
///////////////////////////////
#ifdef _DTIMING
// LA2_DISABLE;
#endif
}
}
void SysTick_Handler(void)
{
uint8_t index;
uint32_t currentTime;
sysTickCycleCounter = *DWT_CYCCNT;
sysTickUptime++;
watchDogsTick();
if ((systemReady == true) &&
(cliBusy == false) &&
(escCalibrating == false) &&
(magCalibrating == false) &&
(mpu6000Calibrating == false))
{
frameCounter++;
if (frameCounter > FRAME_COUNT)
frameCounter = 1;
///////////////////////////////
currentTime = micros();
deltaTime1000Hz = currentTime - previous1000HzTime;
previous1000HzTime = currentTime;
readMPU6000();
accelSum500Hz[XAXIS] += rawAccel[XAXIS].value;
accelSum500Hz[YAXIS] += rawAccel[YAXIS].value;
accelSum500Hz[ZAXIS] += rawAccel[ZAXIS].value;
accelSum100Hz[XAXIS] += rawAccel[XAXIS].value;
accelSum100Hz[YAXIS] += rawAccel[YAXIS].value;
accelSum100Hz[ZAXIS] += rawAccel[ZAXIS].value;
gyroSum500Hz[ROLL ] += rawGyro[ROLL ].value;
gyroSum500Hz[PITCH] += rawGyro[PITCH].value;
gyroSum500Hz[YAW ] += rawGyro[YAW ].value;
///////////////////////////////
if ((frameCounter % COUNT_500HZ) == 0)
{
frame_500Hz = true;
for (index = 0; index < 3; index++)
{
accelSummedSamples500Hz[index] = accelSum500Hz[index];
accelSum500Hz[index] = 0.0f;
gyroSummedSamples500Hz[index] = gyroSum500Hz[index];
gyroSum500Hz[index] = 0.0f;
}
}
///////////////////////////////
if ((frameCounter % COUNT_100HZ) == 0)
{
frame_100Hz = true;
for (index = 0; index < 3; index++)
{
accelSummedSamples100Hz[index] = accelSum100Hz[index];
accelSum100Hz[index] = 0.0f;
}
if (!newTemperatureReading)
{
readTemperatureRequestPressure();
newTemperatureReading = true;
}
else
{
readPressureRequestTemperature();
newPressureReading = true;
}
}
///////////////////////////////
if ((frameCounter % COUNT_50HZ) == 0)
{
frame_50Hz = true;
}
///////////////////////////////
if (((frameCounter + 1) % COUNT_10HZ) == 0)
newMagData = readMag();
if ((frameCounter % COUNT_10HZ) == 0)
{
frame_10Hz = true;
}
///////////////////////////////
if ((frameCounter % COUNT_5HZ) == 0)
{
frame_5Hz = true;
}
///////////////////////////////
if ((frameCounter % COUNT_1HZ) == 0)
{
frame_1Hz = true;
}
///////////////////////////////////
executionTime1000Hz = micros() - currentTime;
///////////////////////////////
}
}