From 74d70c0a5f150768867474b1332712d6251d8182 Mon Sep 17 00:00:00 2001
From: Paul D'Angio <pcdangio@gmail.com>
Date: Mon, 10 Jun 2019 16:25:22 -0400
Subject: [PATCH] Initial test of be16toh method on x accel data.
---
src/driver.cpp | 4 +++-
1 file changed, 3 insertions(+), 1 deletion(-)
diff --git a/src/driver.cpp b/src/driver.cpp
index 0105ae2..1b89876 100644
--- a/src/driver.cpp
+++ b/src/driver.cpp
@@ -292,7 +292,9 @@ void driver::read_data()
read_mpu9250_registers(driver::register_mpu9250_type::ACCEL_X_HIGH, 14, atg_buffer);
// Parse out accel data.
- data.accel_x = driver::m_accel_fsr * static_cast<float>(static_cast<short>(static_cast<unsigned short>(atg_buffer[0]) << 8) | static_cast<short>(atg_buffer[1])) / 32768.0f;
+
+ //data.accel_x = driver::m_accel_fsr * static_cast<float>(static_cast<short>(static_cast<unsigned short>(atg_buffer[0]) << 8) | static_cast<short>(atg_buffer[1])) / 32768.0f;
+ data.accel_x = driver::m_accel_fsr * static_cast<float>(be16toh(*reinterpret_cast<short*>(&atg_buffer[0]))) / 32768.0f;
data.accel_y = driver::m_accel_fsr * static_cast<float>(static_cast<short>(static_cast<unsigned short>(atg_buffer[2]) << 8) | static_cast<short>(atg_buffer[3])) / 32768.0f;
data.accel_z = driver::m_accel_fsr * static_cast<float>(static_cast<short>(static_cast<unsigned short>(atg_buffer[4]) << 8) | static_cast<short>(atg_buffer[5])) / 32768.0f;
--
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