static inline void main_periodic_task( void ) {
// LED_TOGGLE(6);
max1168_read();
RunOnceEvery(10,
{
DOWNLINK_SEND_BOOT(DefaultChannel, DefaultDevice, &sys_time.nb_sec);
LED_PERIODIC();
});
uint8_t
imu_event_task(void)
{
uint8_t valid = 0;
if ( max1168_event() )
{
valid = IMU_ACC | IMU_GYR;
booz_imu.gyro_unscaled.p = max1168_values[IMU_GYRO_P_CHAN];
booz_imu.gyro_unscaled.q = max1168_values[IMU_GYRO_Q_CHAN];
booz_imu.gyro_unscaled.r = max1168_values[IMU_GYRO_R_CHAN];
booz_imu.accel_unscaled.x = max1168_values[IMU_ACCEL_X_CHAN];
booz_imu.accel_unscaled.y = max1168_values[IMU_ACCEL_Y_CHAN];
booz_imu.accel_unscaled.z = max1168_values[IMU_ACCEL_Z_CHAN];
imu_scale_gyro();
imu_scale_accel();
max1168_reset();
}
if (do_max1168_read && imu_spi_selected == SPI_NONE)
{
Booz2ImuSetSpi16bits();
imu_spi_selected = SPI_SLAVE_MAX1168;
do_max1168_read = FALSE;
max1168_read();
}
if (do_micromag_read && imu_spi_selected == SPI_NONE)
{
Booz2ImuSetSpi8bits();
imu_spi_selected = SPI_SLAVE_MM;
do_micromag_read = FALSE;
}
if (imu_spi_selected == SPI_SLAVE_MM)
micromag_read();
if ( micromag_event() )
{
valid |= IMU_MAG;
booz_imu.mag_unscaled.x = micromag_values[IMU_MAG_X_CHAN];
booz_imu.mag_unscaled.y = micromag_values[IMU_MAG_Y_CHAN];
booz_imu.mag_unscaled.z = micromag_values[IMU_MAG_Z_CHAN];
imu_scale_mag();
micromag_reset();
}
return valid;
}
void imu_periodic(void) {
// check ssp idle
if (imu_ssp_status != IMU_SSP_STA_IDLE)
{
imu_overrun++;
return; //, DEBUG_IMU, IMU_ERR_OVERUN);
}
// setup 16 bits
ImuSetSSP16bits();
// read adc
imu_ssp_status = IMU_SSP_STA_BUSY_MAX1168;
max1168_read();
#if defined IMU_B2_MAG_TYPE && IMU_B2_MAG_TYPE == IMU_B2_MAG_AMI601
RunOnceEvery(10, { ami601_read(); });
