MagSample mag_sample_averaged(int samples) {
int32_t field_accum[3] = { 0, 0, 0 };
for (int s=0; s<samples; s++) {
signal.wait();
for (int i=0; i<3; i++)
field_accum[i] += sample.field[i];
}
MagSample ret = sample;
for (int i=0; i<3; i++)
ret.field[i] = field_accum[i] / samples;
return ret;
}
MPUSample mpu_sample_averaged(int samples) {
int32_t accel_accum[3] = { 0, 0, 0 };
int32_t gyro_accum[3] = { 0, 0, 0 };
for (int s=0; s<samples; s++) {
signal.wait();
for (int i=0; i<3; i++) {
accel_accum[i] += sample.accel[i];
gyro_accum[i] += sample.gyro[i];
}
}
MPUSample ret = sample;
for (int i=0; i<3; i++) {
sample.accel[i] = accel_accum[i] / samples;
sample.gyro[i] = gyro_accum[i] / samples;
}
return ret;
}
MagSample mag_sample(bool block) {
KernelCriticalSection crit;
if (block)
signal.wait();
return sample;
}
AltSample alt_sample(bool wait) {
if (wait)
signal.wait();
return sample;
}