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Update BMI160 bulk read function (#466)

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This commit is contained in:
Chris D
2025-08-12 05:01:00 -04:00
committed by GitHub
parent 51c7d15a8b
commit a8e689784f
1 changed files with 4 additions and 8 deletions
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12
src/sensors/softfusion/drivers/bmi160.h
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@@ -30,6 +30,7 @@
#include <limits>
#include "../../../sensorinterface/RegisterInterface.h"
#include "callbacks.h"
#include "vqf.h"
namespace SlimeVR::Sensors::SoftFusion::Drivers {
@@ -182,12 +183,7 @@ struct BMI160 {
return to_ret;
}
template <typename AccelCall, typename GyroCall, typename TempCall>
void bulkRead(
AccelCall&& processAccelSample,
GyroCall&& processGyroSample,
TempCall&& processTempSample
) {
void bulkRead(DriverCallbacks<int16_t>&& callbacks) {
const auto fifo_bytes = m_RegisterInterface.readReg16(Regs::FifoLength) & 0x7FF;
const auto bytes_to_read = std::min(
@@ -218,7 +214,7 @@ struct BMI160 {
gyro[0] = getFromFifo<uint16_t>(i, read_buffer);
gyro[1] = getFromFifo<uint16_t>(i, read_buffer);
gyro[2] = getFromFifo<uint16_t>(i, read_buffer);
processGyroSample(gyro, GyrTs);
callbacks.processGyroSample(gyro, GyrTs);
}
if (header & Fifo::AccelDataBit) {
@@ -226,7 +222,7 @@ struct BMI160 {
accel[0] = getFromFifo<uint16_t>(i, read_buffer);
accel[1] = getFromFifo<uint16_t>(i, read_buffer);
accel[2] = getFromFifo<uint16_t>(i, read_buffer);
processAccelSample(accel, AccTs);
callbacks.processAccelSample(accel, AccTs);
}
}
}