imu_aspirin.c

void imu_periodic(void) {
    if (imu_aspirin.status == AspirinStatusUninit) {
        imu_aspirin_arch_int_enable();
        itg3200_init();
        hmc5843_init();
        configure_accel();
        imu_aspirin.status = AspirinStatusIdle;
    }
    else {
        // Watchdogs
        if (imu_aspirin.time_since_last_gyro_reading++ > GYRO_TIMEOUT) {
            i2c2_er_irq_handler();
            itg3200_read();
            imu_aspirin.time_since_last_gyro_reading = 0;
        }
        if (imu_aspirin.time_since_last_accel_reading++ > ACCEL_TIMEOUT) {
            configure_accel();
            imu_aspirin.time_since_last_accel_reading = 0;
        }
        if (imu_aspirin.time_since_last_mag_reading++ > MAG_TIMEOUT) {
            i2c2_er_irq_handler();
            hmc5843_read();
            imu_aspirin.time_since_last_mag_reading = 0;
        }
    }
}