C++ (Cpp) mpu9250_i2c_event примеры использования

Пример #1

Файл: imu_mpu9250_i2c.c Проект: HWal/paparazzi

void imu_mpu9250_event(void)
{
  uint32_t now_ts = get_sys_time_usec();

  // If the MPU9250 I2C transaction has succeeded: convert the data
  mpu9250_i2c_event(&imu_mpu9250.mpu);

  if (imu_mpu9250.mpu.data_available) {
    // set channel order
    struct Int32Vect3 accel = {
      IMU_MPU9250_X_SIGN *(int32_t)(imu_mpu9250.mpu.data_accel.value[IMU_MPU9250_CHAN_X]),
      IMU_MPU9250_Y_SIGN *(int32_t)(imu_mpu9250.mpu.data_accel.value[IMU_MPU9250_CHAN_Y]),
      IMU_MPU9250_Z_SIGN *(int32_t)(imu_mpu9250.mpu.data_accel.value[IMU_MPU9250_CHAN_Z])
    };
    struct Int32Rates rates = {
      IMU_MPU9250_X_SIGN *(int32_t)(imu_mpu9250.mpu.data_rates.value[IMU_MPU9250_CHAN_X]),
      IMU_MPU9250_Y_SIGN *(int32_t)(imu_mpu9250.mpu.data_rates.value[IMU_MPU9250_CHAN_Y]),
      IMU_MPU9250_Z_SIGN *(int32_t)(imu_mpu9250.mpu.data_rates.value[IMU_MPU9250_CHAN_Z])
    };
    // unscaled vector
    VECT3_COPY(imu.accel_unscaled, accel);
    RATES_COPY(imu.gyro_unscaled, rates);

    imu_mpu9250.mpu.data_available = false;

    imu_scale_gyro(&imu);
    imu_scale_accel(&imu);
    AbiSendMsgIMU_GYRO_INT32(IMU_MPU9250_ID, now_ts, &imu.gyro);
    AbiSendMsgIMU_ACCEL_INT32(IMU_MPU9250_ID, now_ts, &imu.accel);
  }
#if IMU_MPU9250_READ_MAG
  // Test if mag data are updated
  if (imu_mpu9250.mpu.akm.data_available) {
    struct Int32Vect3 mag = {
      IMU_MPU9250_X_SIGN *(int32_t)(imu_mpu9250.mpu.akm.data.value[IMU_MPU9250_CHAN_Y]),
      IMU_MPU9250_Y_SIGN *(int32_t)(imu_mpu9250.mpu.akm.data.value[IMU_MPU9250_CHAN_X]),
      -IMU_MPU9250_Z_SIGN *(int32_t)(imu_mpu9250.mpu.akm.data.value[IMU_MPU9250_CHAN_Z])
    };
    VECT3_COPY(imu.mag_unscaled, mag);
    imu_mpu9250.mpu.akm.data_available = false;
    imu_scale_mag(&imu);
    AbiSendMsgIMU_MAG_INT32(IMU_MPU9250_ID, now_ts, &imu.mag);

  }
#endif
}

Пример #2

Файл: imu_mpu9250_i2c.c Проект: AULA-PPZ/paparazzi

void imu_mpu9250_event(void)
{
  // If the MPU9250 I2C transaction has succeeded: convert the data
  mpu9250_i2c_event(&imu_mpu9250.mpu);

  if (imu_mpu9250.mpu.data_available) {
    // set channel order
    struct Int32Vect3 accel = {
      (int32_t)(imu_mpu9250.mpu.data_accel.value[IMU_MPU9250_CHAN_X]),
      (int32_t)(imu_mpu9250.mpu.data_accel.value[IMU_MPU9250_CHAN_Y]),
      (int32_t)(imu_mpu9250.mpu.data_accel.value[IMU_MPU9250_CHAN_Z])
    };
    struct Int32Rates rates = {
      (int32_t)(imu_mpu9250.mpu.data_rates.value[IMU_MPU9250_CHAN_X]),
      (int32_t)(imu_mpu9250.mpu.data_rates.value[IMU_MPU9250_CHAN_Y]),
      (int32_t)(imu_mpu9250.mpu.data_rates.value[IMU_MPU9250_CHAN_Z])
    };
    // unscaled vector
    VECT3_COPY(imu.accel_unscaled, accel);
    RATES_COPY(imu.gyro_unscaled, rates);

    imu_mpu9250.mpu.data_available = FALSE;
    imu_mpu9250.gyro_valid = TRUE;
    imu_mpu9250.accel_valid = TRUE;
  }
  // Test if mag data are updated
  if (imu_mpu9250.mpu.akm.data_available) {
    struct Int32Vect3 mag = {
      (int32_t)(imu_mpu9250.mpu.akm.data.value[IMU_MPU9250_CHAN_Y]),
      (int32_t)(imu_mpu9250.mpu.akm.data.value[IMU_MPU9250_CHAN_X]),
      -(int32_t)(imu_mpu9250.mpu.akm.data.value[IMU_MPU9250_CHAN_Z])
    };
    VECT3_COPY(imu.mag_unscaled, mag);
    imu_mpu9250.mag_valid = TRUE;
    imu_mpu9250.mpu.akm.data_available = FALSE;
  }

}