me/IronOS
1
0
Fork 1
mirror of https://github.com/Ralim/IronOS.git synced 2025-02-26 07:53:55 +00:00
Code Issues Actions Packages Projects Releases Wiki Activity

Speed up accelerometer data intake.

Browse Source 
The LIS2DH12 driver performed an unnecessary endianness conversion, as
data from the sensor was already coming in little-endian format.  The
MMA8652FC driver is now using the rev16 opcode to perform the swap
rather than doing all the bitshuffling operations in multiple steps.
This commit is contained in:
Alessandro Gatti
2019-08-29 04:03:54 +02:00
parent c96f1b528a
commit 5eb3df47df
5 changed files with 29 additions and 23 deletions
Download Patch File Download Diff File Expand all files Collapse all files

21
workspace/TS100/Core/Src/MMA8652FC.cpp
View File

@@ -5,7 +5,9 @@
* Author: Ben V. Brown
*/
#include <MMA8652FC.hpp>
#include <array>
#include "MMA8652FC.hpp"
#include "cmsis_os.h"
typedef struct {
@@ -62,12 +64,15 @@ Orientation MMA8652FC::getOrientation() {
return ORIENTATION_FLAT;
}
void MMA8652FC::getAxisReadings(int16_t *x, int16_t *y, int16_t *z) {
uint8_t tempArr[6];
FRToSI2C::Mem_Read( MMA8652FC_I2C_ADDRESS, OUT_X_MSB_REG, I2C_MEMADD_SIZE_8BIT,
(uint8_t*) tempArr, 6);
(*x) = tempArr[0] << 8 | tempArr[1];
(*y) = tempArr[2] << 8 | tempArr[3];
(*z) = tempArr[4] << 8 | tempArr[5];
void MMA8652FC::getAxisReadings(int16_t& x, int16_t& y, int16_t& z) {
std::array<int16_t, 3> sensorData;
FRToSI2C::Mem_Read(MMA8652FC_I2C_ADDRESS, OUT_X_MSB_REG, I2C_MEMADD_SIZE_8BIT,
reinterpret_cast<uint8_t*>(sensorData.begin()),
sensorData.size() * sizeof(int16_t));
x = static_cast<int16_t>(__builtin_bswap16(*reinterpret_cast<uint16_t*>(&sensorData[0])));
y = static_cast<int16_t>(__builtin_bswap16(*reinterpret_cast<uint16_t*>(&sensorData[1])));
z = static_cast<int16_t>(__builtin_bswap16(*reinterpret_cast<uint16_t*>(&sensorData[2])));
}