dbozgoren

Hi, How do you just read MPU6050_RA_ACCEL_XOUT_H and get all 6 register values for void MPU6050::getMotion6(.....) ? Thank you in advance. details ------------------------------------------------------------------------------------------ how I would implement getMotion6() (see https://github.com/Snowda/MPU9250/blob/master/MPU9250.cpp) { uint8_t msb = readRegister(MPU9250_ACCEL_XOUT_H); uint8_t lsb = readRegister(MPU9250_ACCEL_XOUT_L); *ax = (((int16_t)msb) << 8) | lsb; msb = readRegister(MPU9250_ACCEL_YOUT_H); lsb = readRegister(MPU9250_ACCEL_YOUT_L); *ay = (((int16_t)msb) << 8) | lsb; //repeat for az gx gy gz . . . } the way he implemented getMotion6() that I couldn't understand. (see https://github.com/jrowberg/i2cdevlib/blob/master/Arduino/MPU6050/MPU6050.cpp) { I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 14, buffer); *ax = (((int16_t)buffer[0]) << 8) | buffer[1]; *ay = (((int16_t)buffer[2]) << 8) | buffer[3]; *az = (((int16_t)buffer[4]) << 8) | buffer[5]; *gx = (((int16_t)buffer[8]) << 8) | buffer[9]; *gy = (((int16_t)buffer[10]) << 8) | buffer[11]; *gz = (((int16_t)buffer[12]) << 8) | buffer[13]; }