void computeMPU6000RTData(void)
{
uint8_t axis;
uint16_t samples;
double accelSum[3] = { 0.0f, 0.0f, 0.0f };
double gyroSum[3] = { 0.0f, 0.0f, 0.0f };
double accelSumMXR[3] = { 0.0f, 0.0f, 0.0f };
mpu6000Calibrating = true;
for (samples = 0; samples < 5000; samples++)
{
readMPU6000();
computeMPU6000TCBias();
accelSum[XAXIS] += (float)rawAccel[XAXIS].value - accelTCBias[XAXIS];
accelSum[YAXIS] += (float)rawAccel[YAXIS].value - accelTCBias[YAXIS];
accelSum[ZAXIS] += (float)rawAccel[ZAXIS].value - accelTCBias[ZAXIS];
gyroSum[ROLL ] += (float)rawGyro[ROLL ].value - gyroTCBias[ROLL ];
gyroSum[PITCH] += (float)rawGyro[PITCH].value - gyroTCBias[PITCH];
gyroSum[YAW ] += (float)rawGyro[YAW ].value - gyroTCBias[YAW ];
accelSumMXR[XAXIS] += mxr9150XAxis();
accelSumMXR[YAXIS] += mxr9150YAxis();
accelSumMXR[ZAXIS] += mxr9150ZAxis();
delayMicroseconds(1000);
}
for (axis = 0; axis < 3; axis++)
{
accelSum[axis] = accelSum[axis] / 5000.0f * ACCEL_SCALE_FACTOR;
gyroRTBias[axis] = gyroSum[axis] / 5000.0f;
accelSumMXR[axis] = (accelSumMXR[axis] / 5000.0f - eepromConfig.accelBiasMXR[axis]) * eepromConfig.accelScaleFactorMXR[axis];
}
#if defined(MPU_ACCEL)
accelOneG = sqrt(SQR(accelSum[XAXIS]) + SQR(accelSum[YAXIS]) + SQR(accelSum[ZAXIS]));
#endif
#if defined(MXR_ACCEL)
accelOneG = sqrt(SQR(accelSumMXR[XAXIS]) + SQR(accelSumMXR[YAXIS]) + SQR(accelSumMXR[ZAXIS]));
#endif
mpu6000Calibrating = false;
}
void computeMPU6000RTData(void)
{
uint8_t axis;
uint16_t samples;
float accelSum[3] = { 0.0, 0.0, 0.0 };
float gyroSum[3] = { 0.0, 0.0, 0.0 };
mpu6000Calibrating = true;
for (samples = 0; samples < 5000; samples++)
{
readMPU6000();
computeMPU6000TCBias();
if (eepromConfig.useMXR9150 == true)
{
accelSum[XAXIS] += (mxr9150XAxis() - eepromConfig.accelBiasMXR[XAXIS]) * eepromConfig.accelScaleFactorMXR[XAXIS];
accelSum[YAXIS] += (mxr9150YAxis() - eepromConfig.accelBiasMXR[YAXIS]) * eepromConfig.accelScaleFactorMXR[YAXIS];
accelSum[ZAXIS] += (mxr9150ZAxis() - eepromConfig.accelBiasMXR[ZAXIS]) * eepromConfig.accelScaleFactorMXR[ZAXIS];
}
else
{
accelSum[XAXIS] += ((float)rawAccel[XAXIS].value - eepromConfig.accelBiasMPU[XAXIS] - accelTCBias[XAXIS]) * eepromConfig.accelScaleFactorMPU[XAXIS];
accelSum[YAXIS] += ((float)rawAccel[YAXIS].value - eepromConfig.accelBiasMPU[YAXIS] - accelTCBias[YAXIS]) * eepromConfig.accelScaleFactorMPU[YAXIS];
accelSum[ZAXIS] += ((float)rawAccel[ZAXIS].value - eepromConfig.accelBiasMPU[ZAXIS] - accelTCBias[ZAXIS]) * eepromConfig.accelScaleFactorMPU[ZAXIS];
}
gyroSum[ROLL ] += (float)rawGyro[ROLL ].value - gyroTCBias[ROLL ];
gyroSum[PITCH] += (float)rawGyro[PITCH].value - gyroTCBias[PITCH];
gyroSum[YAW ] += (float)rawGyro[YAW ].value - gyroTCBias[YAW ];
delayMicroseconds(1000);
}
for (axis = 0; axis < 3; axis++)
{
accelSum[axis] = accelSum[axis] / 5000.0f;
gyroRTBias[axis] = gyroSum[axis] / 5000.0f;
}
accelOneG = (float)(sqrt(SQR(accelSum[XAXIS]) + SQR(accelSum[YAXIS]) + SQR(accelSum[ZAXIS])));
mpu6000Calibrating = false;
}
void computeMPU6000RTData(void)
{
uint8_t axis;
uint16_t samples;
float accelSum[3] = { 0.0f, 0.0f, 0.0f };
float gyroSum[3] = { 0.0f, 0.0f, 0.0f };
mpu6000Calibrating = true;
for (samples = 0; samples < 5000; samples++)
{
readMPU6000();
computeMPU6000TCBias();
accelSum[XAXIS] += (float)rawAccel[XAXIS].value - accelTCBias[XAXIS];
accelSum[YAXIS] += (float)rawAccel[YAXIS].value - accelTCBias[YAXIS];
accelSum[ZAXIS] += (float)rawAccel[ZAXIS].value - accelTCBias[ZAXIS];
gyroSum[ROLL ] += (float)rawGyro[ROLL ].value - gyroTCBias[ROLL ];
gyroSum[PITCH] += (float)rawGyro[PITCH].value - gyroTCBias[PITCH];
gyroSum[YAW ] += (float)rawGyro[YAW ].value - gyroTCBias[YAW ];
delayMicroseconds(1000);
}
for (axis = 0; axis < 3; axis++)
{
accelSum[axis] = accelSum[axis] / 5000.0f * ACCEL_SCALE_FACTOR;
gyroRTBias[axis] = gyroSum[axis] / 5000.0f;
}
accelOneG = sqrt(accelSum[XAXIS] * accelSum[XAXIS] +
accelSum[YAXIS] * accelSum[YAXIS] +
accelSum[ZAXIS] * accelSum[ZAXIS]);
mpu6000Calibrating = false;
}
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;
///////////////////////////////
}
}