Paparazzi UAS  v5.15_devel-81-gd13dafb
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imu_aspirin_arch.c
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1 #include "subsystems/imu.h"
2 
3 
4 #include "LPC21xx.h"
5 
6 //#define ASPIRIN_GYRO_EOC_PINSEL PINSEL1
7 //#define ASPIRIN_GYRO_EOC_PINSEL_BIT 0
8 //#define ASPIRIN_GYRO_EOC_PINSEL_VAL 1
9 
10 
12 {
13 }
14 
16 {
17 }
18 
20 {
21  /* set input pin for gyro eoc */
23 
24  //ASPIRIN_GYRO_EOC_PINSEL |= ASPIRIN_GYRO_EOC_PINSEL_VAL << ASPIRIN_GYRO_EOC_PINSEL_BIT;
25 }
26 
27 
28 /****** the interrupts should be handled in the peripheral drivers *******/
29 
30 /*
31  * Gyro data ready
32  */
34 {
35 
36  /* clear EXTI */
37 // if(EXTI_GetITStatus(EXTI_Line14) != RESET)
38 // EXTI_ClearITPendingBit(EXTI_Line14);
39 
40  //imu_aspirin.gyro_eoc = true;
41  //imu_aspirin.status = AspirinStatusReadingGyro;
42 }
43 
44 /*
45  * Accel data ready
46  */
48 {
49 
50  /* clear EXTI */
51 // if(EXTI_GetITStatus(EXTI_Line2) != RESET)
52 // EXTI_ClearITPendingBit(EXTI_Line2);
53 
54 }
55 
56 /*
57  * Accel end of DMA transfer
58  */
60 {
61 
62  //imu_aspirin.accel_available = true;
63 }
#define ASPIRIN_GYRO_EOC_IODIR
void imu_aspirin_arch_init(void)
void dma1_c4_irq_handler(void)
#define ASPIRIN_GYRO_EOC_PIN
void imu_aspirin_arch_int_disable(void)
void exti15_10_irq_handler(void)
Inertial Measurement Unit interface.
void exti2_irq_handler(void)
void imu_aspirin_arch_int_enable(void)