From 4da90cfabe0c3ccca684187baaad6c060980d3c6 Mon Sep 17 00:00:00 2001
From: sdes1 <sdes1@stu-workstation3.net.ida>
Date: Tue, 11 Nov 2025 18:06:18 +0100
Subject: [PATCH] read gyro+accel

---
 src/APP/Aufgabe4/ps7/core0/src/imu.c | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/src/APP/Aufgabe4/ps7/core0/src/imu.c b/src/APP/Aufgabe4/ps7/core0/src/imu.c
index 951e68d..bf409d6 100644
--- a/src/APP/Aufgabe4/ps7/core0/src/imu.c
+++ b/src/APP/Aufgabe4/ps7/core0/src/imu.c
@@ -29,7 +29,8 @@ static int16_t _imu_accMinData[3]={0,0,0}; //x, y, z
 int16_t accelData[3];
 int16_t gyroData[3];
 
-int16_t drawBuffer[1000];
+int16_t accelBuffer[5000];
+int16_t gyroBuffer[5000];
 
 static XIicPs Iic;
 XIicPs_Config *Config;
@@ -66,8 +67,9 @@ int mpu9250_Imu_Init(void *pdata){
 	while(1){
 		mpu9250_Read_Data(0x3B, 6, (u8*)accelData);
 		mpu9250_Read_Data(0x43, 6, (u8*)gyroData);
-		drawBuffer[i]=(int16_t)((accelData[0]&0xFF)<<8 | (accelData[8]&0xFF00)>>8);
-		i=(i+1)%1000;
+		accelBuffer[i]=(int16_t)((accelData[0]&0xFF)<<8 | (accelData[0]&0xFF00)>>8);
+		gyroBuffer[i]=(int16_t)((gyroData[1]&0xFF)<<8 | (gyroData[1]&0xFF00)>>8);
+		i=(i+1)%(sizeof(accelBuffer)/sizeof(accelBuffer[0]));
 		OSTimeDly(1);
 	}