void imu_aspirin_i2c_event(void)
{
adxl345_i2c_event(&imu_aspirin.acc_adxl);
if (imu_aspirin.acc_adxl.data_available) {
VECT3_COPY(imu.accel_unscaled, imu_aspirin.acc_adxl.data.vect);
imu_aspirin.acc_adxl.data_available = FALSE;
imu_aspirin.accel_valid = TRUE;
}
/* If the itg3200 I2C transaction has succeeded: convert the data */
itg3200_event(&imu_aspirin.gyro_itg);
if (imu_aspirin.gyro_itg.data_available) {
RATES_COPY(imu.gyro_unscaled, imu_aspirin.gyro_itg.data.rates);
imu_aspirin.gyro_itg.data_available = FALSE;
imu_aspirin.gyro_valid = TRUE;
}
/* HMC58XX event task */
hmc58xx_event(&imu_aspirin.mag_hmc);
if (imu_aspirin.mag_hmc.data_available) {
#ifdef IMU_ASPIRIN_VERSION_1_0
VECT3_COPY(imu.mag_unscaled, imu_aspirin.mag_hmc.data.vect);
#else // aspirin 1.5 with hmc5883
imu.mag_unscaled.x = imu_aspirin.mag_hmc.data.vect.y;
imu.mag_unscaled.y = -imu_aspirin.mag_hmc.data.vect.x;
imu.mag_unscaled.z = imu_aspirin.mag_hmc.data.vect.z;
#endif
imu_aspirin.mag_hmc.data_available = FALSE;
imu_aspirin.mag_valid = TRUE;
}
}
void imu_umarim_event(void)
{
// If the itg3200 I2C transaction has succeeded: convert the data
itg3200_event(&imu_umarim.itg);
if (imu_umarim.itg.data_available) {
RATES_COPY(imu.gyro_unscaled, imu_umarim.itg.data.rates);
imu_umarim.itg.data_available = FALSE;
imu_umarim.gyr_valid = TRUE;
}
// If the adxl345 I2C transaction has succeeded: convert the data
adxl345_i2c_event(&imu_umarim.adxl);
if (imu_umarim.adxl.data_available) {
VECT3_ASSIGN(imu.accel_unscaled, imu_umarim.adxl.data.vect.y, -imu_umarim.adxl.data.vect.x,
imu_umarim.adxl.data.vect.z);
imu_umarim.adxl.data_available = FALSE;
imu_umarim.acc_valid = TRUE;
}
}
void imu_umarim_event(void)
{
uint32_t now_ts = get_sys_time_usec();
// If the itg3200 I2C transaction has succeeded: convert the data
itg3200_event(&imu_umarim.itg);
if (imu_umarim.itg.data_available) {
RATES_COPY(imu.gyro_unscaled, imu_umarim.itg.data.rates);
imu_umarim.itg.data_available = FALSE;
imu_scale_gyro(&imu);
AbiSendMsgIMU_GYRO_INT32(IMU_BOARD_ID, now_ts, &imu.gyro);
}
// If the adxl345 I2C transaction has succeeded: convert the data
adxl345_i2c_event(&imu_umarim.adxl);
if (imu_umarim.adxl.data_available) {
VECT3_ASSIGN(imu.accel_unscaled, imu_umarim.adxl.data.vect.y, -imu_umarim.adxl.data.vect.x,
imu_umarim.adxl.data.vect.z);
imu_umarim.adxl.data_available = FALSE;
imu_scale_accel(&imu);
AbiSendMsgIMU_ACCEL_INT32(IMU_BOARD_ID, now_ts, &imu.accel);
}
}
void imu_navgo_event( void )
{
// If the itg3200 I2C transaction has succeeded: convert the data
itg3200_event(&imu_navgo.itg);
if (imu_navgo.itg.data_available) {
RATES_ASSIGN(imu.gyro_unscaled, -imu_navgo.itg.data.rates.q, imu_navgo.itg.data.rates.p, imu_navgo.itg.data.rates.r);
#if NAVGO_USE_MEDIAN_FILTER
UpdateMedianFilterRatesInt(median_gyro, imu.gyro_unscaled);
#endif
imu_navgo.itg.data_available = FALSE;
imu_navgo.gyr_valid = TRUE;
}
// If the adxl345 I2C transaction has succeeded: convert the data
adxl345_i2c_event(&imu_navgo.adxl);
if (imu_navgo.adxl.data_available) {
VECT3_ASSIGN(imu.accel_unscaled, imu_navgo.adxl.data.vect.y, -imu_navgo.adxl.data.vect.x, imu_navgo.adxl.data.vect.z);
#if NAVGO_USE_MEDIAN_FILTER
UpdateMedianFilterVect3Int(median_accel, imu.accel_unscaled);
#endif
imu_navgo.adxl.data_available = FALSE;
imu_navgo.acc_valid = TRUE;
}
// HMC58XX event task
hmc58xx_event(&imu_navgo.hmc);
if (imu_navgo.hmc.data_available) {
VECT3_COPY(imu.mag_unscaled, imu_navgo.hmc.data.vect);
#if NAVGO_USE_MEDIAN_FILTER
UpdateMedianFilterVect3Int(median_mag, imu.mag_unscaled);
#endif
imu_navgo.hmc.data_available = FALSE;
imu_navgo.mag_valid = TRUE;
}
}
void imu_ppzuav_event(void)
{
uint32_t now_ts = get_sys_time_usec();
adxl345_i2c_event(&imu_ppzuav.acc_adxl);
if (imu_ppzuav.acc_adxl.data_available) {
imu.accel_unscaled.x = -imu_ppzuav.acc_adxl.data.vect.x;
imu.accel_unscaled.y = imu_ppzuav.acc_adxl.data.vect.y;
imu.accel_unscaled.z = -imu_ppzuav.acc_adxl.data.vect.z;
imu_ppzuav.acc_adxl.data_available = false;
imu_scale_accel(&imu);
AbiSendMsgIMU_ACCEL_INT32(IMU_PPZUAV_ID, now_ts, &imu.accel);
}
/* If the itg3200 I2C transaction has succeeded: convert the data */
itg3200_event(&imu_ppzuav.gyro_itg);
if (imu_ppzuav.gyro_itg.data_available) {
imu.gyro_unscaled.p = -imu_ppzuav.gyro_itg.data.rates.p;
imu.gyro_unscaled.q = imu_ppzuav.gyro_itg.data.rates.q;
imu.gyro_unscaled.r = -imu_ppzuav.gyro_itg.data.rates.r;
imu_ppzuav.gyro_itg.data_available = false;
imu_scale_gyro(&imu);
AbiSendMsgIMU_GYRO_INT32(IMU_PPZUAV_ID, now_ts, &imu.gyro);
}
/* HMC58XX event task */
hmc58xx_event(&imu_ppzuav.mag_hmc);
if (imu_ppzuav.mag_hmc.data_available) {
imu.mag_unscaled.x = -imu_ppzuav.mag_hmc.data.vect.y;
imu.mag_unscaled.y = -imu_ppzuav.mag_hmc.data.vect.x;
imu.mag_unscaled.z = -imu_ppzuav.mag_hmc.data.vect.z;
imu_ppzuav.mag_hmc.data_available = false;
imu_scale_mag(&imu);
AbiSendMsgIMU_MAG_INT32(IMU_PPZUAV_ID, now_ts, &imu.mag);
}
}
void imu_aspirin_i2c_event(void)
{
uint32_t now_ts = get_sys_time_usec();
adxl345_i2c_event(&imu_aspirin.acc_adxl);
if (imu_aspirin.acc_adxl.data_available) {
VECT3_COPY(imu.accel_unscaled, imu_aspirin.acc_adxl.data.vect);
imu_aspirin.acc_adxl.data_available = FALSE;
imu_scale_accel(&imu);
AbiSendMsgIMU_ACCEL_INT32(IMU_ASPIRIN_ID, now_ts, &imu.accel);
}
/* If the itg3200 I2C transaction has succeeded: convert the data */
itg3200_event(&imu_aspirin.gyro_itg);
if (imu_aspirin.gyro_itg.data_available) {
RATES_COPY(imu.gyro_unscaled, imu_aspirin.gyro_itg.data.rates);
imu_aspirin.gyro_itg.data_available = FALSE;
imu_scale_gyro(&imu);
AbiSendMsgIMU_GYRO_INT32(IMU_ASPIRIN_ID, now_ts, &imu.gyro);
}
/* HMC58XX event task */
hmc58xx_event(&imu_aspirin.mag_hmc);
if (imu_aspirin.mag_hmc.data_available) {
#ifdef IMU_ASPIRIN_VERSION_1_0
VECT3_COPY(imu.mag_unscaled, imu_aspirin.mag_hmc.data.vect);
#else // aspirin 1.5 with hmc5883
imu.mag_unscaled.x = imu_aspirin.mag_hmc.data.vect.y;
imu.mag_unscaled.y = -imu_aspirin.mag_hmc.data.vect.x;
imu.mag_unscaled.z = imu_aspirin.mag_hmc.data.vect.z;
#endif
imu_aspirin.mag_hmc.data_available = FALSE;
imu_scale_mag(&imu);
AbiSendMsgIMU_MAG_INT32(IMU_ASPIRIN_ID, now_ts, &imu.mag);
}
}