From a5b93cb5a341b08d7064f6617ebf5e1198975dff Mon Sep 17 00:00:00 2001
From: Guylain Plante <gplante2@gmail.com>
Date: Mon, 17 Apr 2023 22:32:34 -0400
Subject: [PATCH] Added functions getSensorRawValues()

---
 src/BMI088.cpp | 24 +++++++++++++++++++-----
 src/BMI088.h   |  5 +++++
 2 files changed, 24 insertions(+), 5 deletions(-)

diff --git a/src/BMI088.cpp b/src/BMI088.cpp
index c6ca973..61cb2ae 100644
--- a/src/BMI088.cpp
+++ b/src/BMI088.cpp
@@ -861,10 +861,9 @@ bool Bmi088Accel::getDrdyStatus()
 
 /* reads the BMI088 accel */
 void Bmi088Accel::readSensor()
-{
-  /* accel data */
+{  
   uint16_t temp_uint11;
-  int16_t accel[3], temp_int11;
+  int16_t temp_int11;
   readRegisters(ACC_ACCEL_DATA_ADDR,9,_buffer);
   accel[0] = (_buffer[1] << 8) | _buffer[0];
   accel[1] = (_buffer[3] << 8) | _buffer[2];
@@ -887,6 +886,12 @@ void Bmi088Accel::readSensor()
   temp_c = (float) temp_int11 * 0.125f + 23.0f;
 }
 
+void Bmi088Accel::getSensorRawValues(int16_t* accelX, int16_t* accelY, int16_t* accelZ) { 
+ *accelX = accel[0];
+ *accelY = accel[1];
+ *accelZ = accel[2];
+}
+
 /* returns the x acceleration, m/s/s */
 float Bmi088Accel::getAccelX_mss()
 {
@@ -1419,8 +1424,6 @@ bool Bmi088Gyro::getDrdyStatus()
 /* reads the BMI088 gyro */
 void Bmi088Gyro::readSensor()
 {
-  /* accel data */
-  int16_t gyro[3];
   readRegisters(GYRO_DATA_ADDR,6,_buffer);
   gyro[0] = (_buffer[1] << 8) | _buffer[0];
   gyro[1] = (_buffer[3] << 8) | _buffer[2];
@@ -1430,6 +1433,12 @@ void Bmi088Gyro::readSensor()
   gyro_rads[2] = (float) (gyro[0] * tZ[0] + gyro[1] * tZ[1] + gyro[2] * tZ[2]) / 32767.0f * gyro_range_rads;
 }
 
+void Bmi088Gyro::getSensorRawValues(int16_t* gyroX, int16_t* gyroY, int16_t* gyroZ) { 
+ *gyroX = gyro[0];
+ *gyroY = gyro[1];
+ *gyroZ = gyro[2];
+}
+
 /* returns the x gyro, rad/s */
 float Bmi088Gyro::getGyroX_rads()
 {
@@ -1725,6 +1734,11 @@ void Bmi088::readSensor()
   gyro->readSensor();
 }
 
+void Bmi088::getSensorRawValues(int16_t* accelX, int16_t* accelY, int16_t* accelZ, int16_t* gyroX, int16_t* gyroY, int16_t* gyroZ) { 
+  accel->getSensorRawValues(accelX, accelY, accelZ);
+  gyro->getSensorRawValues(gyroX, gyroY, gyroZ);
+}
+
 float Bmi088::getAccelX_mss()
 {
   return accel->getAccelX_mss();
diff --git a/src/BMI088.h b/src/BMI088.h
index a8909f7..d8b5966 100644
--- a/src/BMI088.h
+++ b/src/BMI088.h
@@ -81,6 +81,7 @@ class Bmi088Accel {
     bool mapDrdyInt2(bool enable);
     bool getDrdyStatus();
     void readSensor();
+    void getSensorRawValues(int16_t* accelX, int16_t* accelY, int16_t* accelZ);
     float getAccelX_mss();
     float getAccelY_mss();
     float getAccelZ_mss();
@@ -177,6 +178,7 @@ class Bmi088Accel {
     // accel full scale range
     float accel_range_mss;
     // accel data
+    int16_t accel[3];
     float accel_mss[3];
     // temperature data
     float temp_c;
@@ -242,6 +244,7 @@ class Bmi088Gyro {
     bool mapDrdyInt4(bool enable);
     bool getDrdyStatus();
     void readSensor();
+    void getSensorRawValues(int16_t* gyroX, int16_t* gyroY, int16_t* gyroZ);
     float getGyroX_rads();
     float getGyroY_rads();
     float getGyroZ_rads();
@@ -314,6 +317,7 @@ class Bmi088Gyro {
     // gyro full scale range
     float gyro_range_rads;
     // gyro data
+    int16_t gyro[3];
     float gyro_rads[3];
     // self test
     bool selfTest();
@@ -375,6 +379,7 @@ class Bmi088 {
     bool mapSync(SyncPin pin);    
     bool pinModeDrdy(PinMode mode, PinLevel level);
     void readSensor();
+    void getSensorRawValues(int16_t* accelX, int16_t* accelY, int16_t* accelZ, int16_t* gyroX, int16_t* gyroY, int16_t* gyroZ);
     float getAccelX_mss();
     float getAccelY_mss();
     float getAccelZ_mss();