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rewrote the gyro and accel update functions to make them faster

This commit is contained in:
Jake Goodwin 2023-08-31 17:42:55 -07:00
parent 56e568643b
commit 68e1048a7b
1 changed files with 12 additions and 28 deletions
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40
src/gy521_driver/gy521_driver.c
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@ -139,38 +139,22 @@ _Bool gy521_init(gy521_module *m, uint8_t slave_address) {
void gy521_update_accel(gy521_module *m)
{
uint8_t read_regs[NUM_ACCEL_REGS] = {accel_xouth, accel_xoutl,
accel_youth, accel_youth,
accel_zouth, accel_zoutl};
/*update individually the structure by communicating with the device.*/
for(uint8_t i = 0; i < NUM_ACCEL_REGS; i++) {
read_regs[i] = read_register(m, read_regs[i]);
}
/*bitshift to reassembly the high/low regs into a single 16bit*/
m->accel.x = (read_regs[0] << 8) | read_regs[1];
m->accel.y = (read_regs[2] << 8) | read_regs[3];
m->accel.z = (read_regs[4] << 8) | read_regs[5];
m->accel.x = read_register(m, accel_xouth) <<8;
m->accel.x |= read_register(m, accel_xoutl);
m->accel.y = read_register(m, accel_youth) <<8;
m->accel.y |= read_register(m, accel_youtl);
m->accel.z = read_register(m, accel_zouth) <<8;
m->accel.z |= read_register(m, accel_zoutl);
}
void gy521_update_gyro(gy521_module *m)
{
uint8_t read_regs[NUM_GYRO_REGS] = {gyro_xouth, gyro_xoutl,
gyro_youth, gyro_youth,
gyro_zouth, gyro_zoutl};
/*update individually the structure by communicating with the device.*/
for(uint8_t i = 0; i < NUM_GYRO_REGS; i++) {
read_regs[i] = read_register(m, read_regs[i]);
}
/*bitshift to reassembly the high/low regs into a single 16bit*/
m->gyro.x = (read_regs[0] << 8) | read_regs[1];
m->gyro.y = (read_regs[2] << 8) | read_regs[3];
m->gyro.z = (read_regs[4] << 8) | read_regs[5];
m->gyro.x = read_register(m, gyro_xouth) <<8;
m->gyro.x |= read_register(m, gyro_xoutl);
m->gyro.y = read_register(m, gyro_youth) <<8;
m->gyro.y |= read_register(m, gyro_youtl);
m->gyro.z = read_register(m, gyro_zouth) <<8;
m->gyro.z |= read_register(m, gyro_zoutl);
}