bool MPU9250_DMP::read(float* acc, float* gyr, float* mag, int16_t* temp, ORIENTATION* ori)
{
if ( fifoAvailable() && dmpUpdateFifo() == INV_SUCCESS )
{
if (acc) {
acc[0] = calcAccel(ax);
acc[1] = calcAccel(ay);
acc[2] = calcAccel(az);
}
if (gyr) {
gyr[0] = calcGyro(gx);
gyr[1] = calcGyro(gy);
gyr[2] = calcGyro(gz);
}
if (mag) {
mag[0] = calcMag(mx);
mag[1] = calcMag(my);
mag[2] = calcMag(mz);
}
if ((_features & DMP_FEATURE_6X_LP_QUAT) && ori) {
computeEulerAngles();
ori->pitch = pitch;
ori->yaw = yaw;
ori->roll = roll;
}
if (temp) {
updateTemperature();
*temp = temperature;
}
return true;
}
return false;
}
static void vcomBulkIn(uint8_t EP, uint8_t EPStatus) {
int i;
if (fifoAvailable(&txfifo) == 0) {
usbEnableNAKInterrupts(0);
return;
}
for (i = 0; i < MAX_PACKET_SIZE; i++)
if (!fifoGet(&txfifo, &_vcom_buffer[i])) break;
if (i > 0) usbWrite(EP, _vcom_buffer, i);
}
