//在main.c中被main_periodic（）调用
void imu_periodic(void)
{
//imu_init()中imu_aspirin2的状态已设为Aspirin2StatusUninit
if (imu_aspirin2.status == Aspirin2StatusUninit) {
mpu_configure();
imu_aspirin2.status = Aspirin2StatusIdle;//imu空闲
aspirin2_mpu60x0.output_length = 22;//读和写的字数
aspirin2_mpu60x0.input_length = 22;
//mpu的读缓冲区的buf[0]为中断寄存器状态和spi读
aspirin2_mpu60x0.output_buf[0] = MPU60X0_REG_INT_STATUS + MPU60X0_SPI_READ;
for (int i=1; i<aspirin2_mpu60x0.output_length; i++) {
aspirin2_mpu60x0.output_buf[i] = 0;//剩余的21个缓冲区存放为0
}
}
else {
spi_submit(&(MPU6000_SPI_DEV), &aspirin2_mpu60x0);
}
}
void imu_periodic(void)
{
if (imu_aspirin2.status == Aspirin2StatusUninit) {
mpu_configure();
// imu_aspirin_arch_int_enable();
imu_aspirin2.status = Aspirin2StatusIdle;
aspirin2_mpu60x0.length = 22;
aspirin2_mpu60x0.mosi_buf[0] = MPU60X0_REG_INT_STATUS + MPU60X0_SPI_READ;
for (int i=1;i<aspirin2_mpu60x0.length;i++) {
aspirin2_mpu60x0.mosi_buf[i] = 0;
}
}
else {
// imu_aspirin2.imu_tx_buf[0] = MPU60X0_REG_WHO_AM_I + MPU60X0_SPI_READ;
// imu_aspirin2.imu_tx_buf[1] = 0x00;
spi_rw(&aspirin2_mpu60x0);
}
}
