void MAX30100::readFifoData()
{
uint8_t buffer[4];
burstRead(MAX30100_REG_FIFO_DATA, buffer, 4);
// Warning: the values are always left-aligned
rawIRValue = (buffer[0] << 8) | buffer[1];
rawRedValue = (buffer[2] << 8) | buffer[3];
}
void calibrate_gyro(unsigned int no_ofIterations, float *driftBuffer ){
unsigned int i;
int xGyro,yGyro,zGyro;
char xyzBuffer[6];
for(i=0;i<no_ofIterations;++i){
burstRead(SLAVE_ADDRESS_ITG3200, GYRO_XOUT_H_ITG3200, xyzBuffer, 6); //burst read Gyro 3- axis data
xGyro = ((xyzBuffer[0] << 8) | xyzBuffer[1]); //bit shift MSB ans add to LSB
yGyro = ((xyzBuffer[2] << 8) | xyzBuffer[3]);
zGyro = ((xyzBuffer[4] << 8) | xyzBuffer[5]);
driftBuffer[0] += xGyro; //add data to respective buffer
driftBuffer[1] += yGyro;
driftBuffer[2] += zGyro;
}
for(i=0;i<3;++i)
driftBuffer[i] /= no_ofIterations; //divide with no.of iterations to get average value of the drift along each axis
}