static void mma8451_int2_cb(EXTDriver *extp, expchannel_t channel){
(void)extp;
(void)channel;
chSysLockFromIsr();
mma8451_sem.signalI();
chSysUnlockFromIsr();
}
static void bmp085_cb(EXTDriver *extp, expchannel_t channel){
(void)extp;
(void)channel;
chSysLockFromIsr();
bmp085_sem.signalI();
chSysUnlockFromIsr();
}
void TimeKeeper::stop(void) {
ready = false;
chThdTerminate(worker);
ppstimesync_sem.signal(); /* speed up termination */
chThdWait(worker);
worker = nullptr;
Exti.pps(false);
}
static void itg3200_cb(EXTDriver *extp, expchannel_t channel){
(void)extp;
(void)channel;
chSysLockFromIsr();
#if !GYRO_UPDATE_PERIOD_HARDCODED
if (itg3200_period_measured < 2){
if (itg3200_period_measured == 0){
tmStartMeasurement(&itg3200_tmup);
}
else if(itg3200_period_measured == 1){
tmStopMeasurement(&itg3200_tmup);
GyroUpdatePeriodUs = RTT2US(itg3200_tmup.last);
}
itg3200_period_measured++;
}
#endif /* !GYRO_UPDATE_PERIOD_HARDCODED */
itg3200_sem.signalI();
lsm303_sem.signalI();
chSysUnlockFromIsr();
}
static void release(void) {
protect_sem.signal();
}
static void acquire(void) {
protect_sem.wait();
}
void TimeKeeper::PPS_ISR_I(void) {
drift_est.sample_prev = drift_est.sample;
drift_est.sample = utc();
ppstimesync_sem.signalI();
}