imu_aspirin.h

inline void imu_aspirin_event(void (* _gyro_handler)(void), void (* _accel_handler)(void), void (* _mag_handler)(void))
{
    switch(imu_aspirin.status) {
        case AspirinStatusUninit :
            return;
        case AspirinStatusIdle :
            break;
        case AspirinStatusReadingGyro :
            if (imu_aspirin.i2c_trans_gyro.status == I2CTransSuccess) {
                imu_aspirin.status = AspirinStatusIdle;
                imu_aspirin.time_since_last_gyro_reading = 0;
                gyro_copy_i2c();
                _gyro_handler();
            }
            break;
        case AspirinStatusReadingMag :
            if (imu_aspirin.i2c_trans_mag.status == I2CTransSuccess) {
                imu_aspirin.status = AspirinStatusIdle;
                imu_aspirin.time_since_last_mag_reading = 0;
                mag_copy_i2c();
                _mag_handler();
            }
            break;
        case AspirinStatusReadingAccel :
            imu_aspirin_arch_int_disable();
            imu_aspirin.time_since_last_accel_reading = 0;
            accel_copy_spi();
            _accel_handler();
            imu_aspirin_arch_int_enable();
            imu_aspirin.status = AspirinStatusIdle;
            break;
        default:
            imu_aspirin.status = AspirinStatusUninit;
            return;
            break;
    }
}