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Fix resetting drdy_acc when reading sync data #15

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Fix resetting drdy_acc when reading sync data #15

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6b4a8c9
Read proper accelerometer registers
rikba Jul 17, 2023
c4d2cbe
Fix BMI08_ACCEL_BW_MASK
rikba Sep 27, 2023
766d869
Revert BMI08_ACCEL_BW_MASK for this branch
rikba Sep 27, 2023
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44 changes: 18 additions & 26 deletions bmi08a.c
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Original file line number Diff line number Diff line change
Expand Up @@ -1515,36 +1515,28 @@ int8_t bmi08a_get_synchronized_data(struct bmi08_sensor_data *accel,
/* Proceed if pointers are not NULL */
if ((accel != NULL) && (gyro != NULL))
{
/* Read accel x,y sensor data */
reg_addr = BMI08_REG_ACCEL_GP_0;
rslt = bmi08a_get_regs(reg_addr, &data[0], 4, dev);
/* Read accel x,y, z sensor data */
rslt = bmi08a_get_regs(BMI08_REG_ACCEL_X_LSB, &data[0], 6, dev);

if (rslt == BMI08_OK)
{
/* Read accel sensor data */
reg_addr = BMI08_REG_ACCEL_GP_4;
rslt = bmi08a_get_regs(reg_addr, &data[4], 2, dev);
lsb = data[0];
msb = data[1];
msblsb = (msb << 8) | lsb;
accel->x = ((int16_t) msblsb); /* Data in X axis */

if (rslt == BMI08_OK)
{
lsb = data[0];
msb = data[1];
msblsb = (msb << 8) | lsb;
accel->x = ((int16_t) msblsb); /* Data in X axis */

lsb = data[2];
msb = data[3];
msblsb = (msb << 8) | lsb;
accel->y = ((int16_t) msblsb); /* Data in Y axis */

lsb = data[4];
msb = data[5];
msblsb = (msb << 8) | lsb;
accel->z = ((int16_t) msblsb); /* Data in Z axis */

/* Read gyro sensor data */
rslt = bmi08g_get_data(gyro, dev);
}
lsb = data[2];
msb = data[3];
msblsb = (msb << 8) | lsb;
accel->y = ((int16_t) msblsb); /* Data in Y axis */

lsb = data[4];
msb = data[5];
msblsb = (msb << 8) | lsb;
accel->z = ((int16_t) msblsb); /* Data in Z axis */

/* Read gyro sensor data */
rslt = bmi08g_get_data(gyro, dev);
}
}
else
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