Efficiently reading raw data?

[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

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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];

}