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Added functions getSensorRawValues() #6

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Added functions getSensorRawValues() #6

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24 changes: 19 additions & 5 deletions src/BMI088.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -861,10 +861,9 @@ bool Bmi088Accel::getDrdyStatus()

/* reads the BMI088 accel */
void Bmi088Accel::readSensor()
{
/* accel data */
{
uint16_t temp_uint11;
int16_t accel[3], temp_int11;
int16_t temp_int11;
readRegisters(ACC_ACCEL_DATA_ADDR,9,_buffer);
accel[0] = (_buffer[1] << 8) | _buffer[0];
accel[1] = (_buffer[3] << 8) | _buffer[2];
Expand All @@ -887,6 +886,12 @@ void Bmi088Accel::readSensor()
temp_c = (float) temp_int11 * 0.125f + 23.0f;
}

void Bmi088Accel::getSensorRawValues(int16_t* accelX, int16_t* accelY, int16_t* accelZ) {
*accelX = accel[0];
*accelY = accel[1];
*accelZ = accel[2];
}

/* returns the x acceleration, m/s/s */
float Bmi088Accel::getAccelX_mss()
{
Expand Down Expand Up @@ -1419,8 +1424,6 @@ bool Bmi088Gyro::getDrdyStatus()
/* reads the BMI088 gyro */
void Bmi088Gyro::readSensor()
{
/* accel data */
int16_t gyro[3];
readRegisters(GYRO_DATA_ADDR,6,_buffer);
gyro[0] = (_buffer[1] << 8) | _buffer[0];
gyro[1] = (_buffer[3] << 8) | _buffer[2];
Expand All @@ -1430,6 +1433,12 @@ void Bmi088Gyro::readSensor()
gyro_rads[2] = (float) (gyro[0] * tZ[0] + gyro[1] * tZ[1] + gyro[2] * tZ[2]) / 32767.0f * gyro_range_rads;
}

void Bmi088Gyro::getSensorRawValues(int16_t* gyroX, int16_t* gyroY, int16_t* gyroZ) {
*gyroX = gyro[0];
*gyroY = gyro[1];
*gyroZ = gyro[2];
}

/* returns the x gyro, rad/s */
float Bmi088Gyro::getGyroX_rads()
{
Expand Down Expand Up @@ -1725,6 +1734,11 @@ void Bmi088::readSensor()
gyro->readSensor();
}

void Bmi088::getSensorRawValues(int16_t* accelX, int16_t* accelY, int16_t* accelZ, int16_t* gyroX, int16_t* gyroY, int16_t* gyroZ) {
accel->getSensorRawValues(accelX, accelY, accelZ);
gyro->getSensorRawValues(gyroX, gyroY, gyroZ);
}

float Bmi088::getAccelX_mss()
{
return accel->getAccelX_mss();
Expand Down
5 changes: 5 additions & 0 deletions src/BMI088.h
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Original file line number Diff line number Diff line change
Expand Up @@ -81,6 +81,7 @@ class Bmi088Accel {
bool mapDrdyInt2(bool enable);
bool getDrdyStatus();
void readSensor();
void getSensorRawValues(int16_t* accelX, int16_t* accelY, int16_t* accelZ);
float getAccelX_mss();
float getAccelY_mss();
float getAccelZ_mss();
Expand Down Expand Up @@ -177,6 +178,7 @@ class Bmi088Accel {
// accel full scale range
float accel_range_mss;
// accel data
int16_t accel[3];
float accel_mss[3];
// temperature data
float temp_c;
Expand Down Expand Up @@ -242,6 +244,7 @@ class Bmi088Gyro {
bool mapDrdyInt4(bool enable);
bool getDrdyStatus();
void readSensor();
void getSensorRawValues(int16_t* gyroX, int16_t* gyroY, int16_t* gyroZ);
float getGyroX_rads();
float getGyroY_rads();
float getGyroZ_rads();
Expand Down Expand Up @@ -314,6 +317,7 @@ class Bmi088Gyro {
// gyro full scale range
float gyro_range_rads;
// gyro data
int16_t gyro[3];
float gyro_rads[3];
// self test
bool selfTest();
Expand Down Expand Up @@ -375,6 +379,7 @@ class Bmi088 {
bool mapSync(SyncPin pin);
bool pinModeDrdy(PinMode mode, PinLevel level);
void readSensor();
void getSensorRawValues(int16_t* accelX, int16_t* accelY, int16_t* accelZ, int16_t* gyroX, int16_t* gyroY, int16_t* gyroZ);
float getAccelX_mss();
float getAccelY_mss();
float getAccelZ_mss();
Expand Down