uint32_t
reset_timer_ms()
{
timer_ms_base = 0;
timer_ms_base = get_timer_ms();
return timer_ms_base;
}
int main(void)
{
SetupHardware();
data_init(&data, &calib_params); //put some values into structure for testing
ahrs_init(&data, &u8g, &calib_params);
GlobalInterruptEnable();
for (;;)
{
//time between updates
timer_old = timer;
timer = get_timer_ms();
if (timer > timer_old) {
t_period = (timer - timer_old) / 1000.0; //in seconds
}
else
t_period = 0;
data.time_period = t_period;
//read data - sensors
adxl345_read(&data); //accelerometer read
l3g4200d_read_seq(&data); //gyroscope read
hmc5883l_read(&data); //magnetometer read
//buttons
buttons_read(&data);
//compute
//ahrs_orientation_from_gyro(&data);
ahrs_orientation(&data);
//ahrs_orientation_from_accel_mag(&data);
HID_Task();
USB_USBTask();
}
}
uint64_t Timer::get_timer_sec() {
return get_timer_ms()/1000;
}
std::string Timer::get_timer_ms_str() {
std::stringstream ss;
ss << get_timer_ms() << "ms";
return ss.str();
}
