示例#1
0
imu::imu(void)
{       twi_init(); // Initialize all peripherals.
        accl_init();
	    mag_init();
	    gyro_init();
		
	    gyro_roll_angle = 0; // Initialize internal variables to zero.
        gyro_pitch_angle = 0;
	    roll_angle = 0;
        pitch_angle = 0;
        yaw_angle = 0;
        
        //gyro_x_position(void)
}
示例#2
0
static void app_timer_accl_start(void* data) {
    
    if(acclStop != NULL){
        if(app_timer_reschedule(acclStop, 5000)) {
            app_timer_cancel(acclStop);
        }
        acclStop = NULL;
    }
    
    if(acclStart != NULL){
        acclStart = NULL;
    }



    accl_init();
    
    // set timer that will stop reporting accl data after about one minute
    acclStop = app_timer_register(80 * 1000, app_timer_accl_stop,NULL);
}