Diff: Gyroscope.cpp

Revision:

12:1632d7391453

Parent:

11:d21275e60ebb

Child:

16:3e2468d4f4c1

--- a/Gyroscope.cpp	Thu Mar 12 10:16:01 2015 +0000
+++ b/Gyroscope.cpp	Fri Mar 13 09:12:56 2015 +0000
@@ -55,22 +55,16 @@
     const float gyro_resolution = 0.0610351563; // deg/sec
 
     write_reg(0x15, 0); // new data interrupt disabled
-    
-    union {
-        uint8_t bytes[6];
-        struct {
-            int16_t z;
-            int16_t y;
-            int16_t x;
-        } val;
-    } buffer;
-    
-    size_t i = sizeof buffer;
-    while (i --> 0) {
-        buffer.bytes[i] = read_reg(0x02 + i);
-    };
-    
+
+    uint8_t buffer[6];
+    for (size_t i = 0; i < 6; i++)
+        buffer[i] = read_reg(0x02 + i);
+
+    const int16_t x = buffer[1] << 8 | buffer[0];
+    const int16_t y = buffer[3] << 8 | buffer[2];
+    const int16_t z = buffer[5] << 8 | buffer[4];
+
     write_reg(0x15, 1 << 7); // new data interrupt enabled
 
-    return Vector3(buffer.val.x, buffer.val.y, buffer.val.z) * gyro_resolution;
+    return Vector3(x, y, -z) * gyro_resolution;
 }