void imu_periodic(void)
{
adxl345_i2c_periodic(&imu_ppzuav.acc_adxl);
// Start reading the latest gyroscope data
itg3200_periodic(&imu_ppzuav.gyro_itg);
// Read HMC58XX at 50Hz (main loop for rotorcraft: 512Hz)
RunOnceEvery(10, hmc58xx_periodic(&imu_ppzuav.mag_hmc));
}
void imu_periodic(void)
{
// Start reading the latest gyroscope data
itg3200_periodic(&imu_umarim.itg);
// Start reading the latest accelerometer data
adxl345_i2c_periodic(&imu_umarim.adxl);
//RunOnceEvery(10,imu_umarim_downlink_raw());
}
void imu_periodic( void )
{
// Start reading the latest gyroscope data
itg3200_periodic();
// Start reading the latest accelerometer data
adxl345_periodic();
// Read HMC58XX at 50Hz (main loop for rotorcraft: 512Hz)
RunOnceEvery(10,hmc58xx_periodic());
//RunOnceEvery(20,imu_navgo_downlink_raw());
}
void imu_periodic( void )
{
// Start reading the latest gyroscope data
itg3200_periodic(&imu_navgo.itg);
// Start reading the latest accelerometer data
// Periodicity is automatically adapted
// 3200 is the maximum output freq corresponding to the parameter 0xF
// A factor 2 is applied to reduice the delay without overloading the i2c
RunOnceEvery((PERIODIC_FREQUENCY/(2*3200>>(0xf-NAVGO_ACCEL_RATE))), adxl345_i2c_periodic(&imu_navgo.adxl));
// Read HMC58XX at 100Hz (main loop for rotorcraft: 512Hz)
RunOnceEvery(5, hmc58xx_periodic(&imu_navgo.hmc));
//RunOnceEvery(20,imu_navgo_downlink_raw());
}
