From 393d232741db2f1784c6a6ca78e52d6b3e2c1750 Mon Sep 17 00:00:00 2001
From: Konstantin Selyunin <selyunin.k.v@gmail.com>
Date: Wed, 20 Nov 2024 21:35:40 +0100
Subject: [PATCH] :recycle: combine sensor measurements [#1]

Combine acc_x, acc_y, acc_z into sensor measurements in a property.
Similar to gyro.
---
 src/umrx_app_v3/sensors/bmi088.py | 35 ++++++++-----------------------
 1 file changed, 9 insertions(+), 26 deletions(-)

diff --git a/src/umrx_app_v3/sensors/bmi088.py b/src/umrx_app_v3/sensors/bmi088.py
index b7a278c..40afcb3 100644
--- a/src/umrx_app_v3/sensors/bmi088.py
+++ b/src/umrx_app_v3/sensors/bmi088.py
@@ -1,3 +1,4 @@
+import struct
 from collections.abc import Callable
 
 
@@ -77,19 +78,10 @@ def gyro_chip_id(self) -> int:
         return self.read_gyro(BMI088.gyro_chip_id_addr)
 
     @property
-    def gyro_rate_x(self) -> int:
-        lsb, msb = self.read_gyro(BMI088.gyro_rate_x_lsb_addr, 2)
-        return (msb << 8) | lsb
-
-    @property
-    def gyro_rate_y(self) -> int:
-        lsb, msb = self.read_gyro(BMI088.gyro_rate_y_lsb_addr, 2)
-        return (msb << 8) | lsb
-
-    @property
-    def gyro_rate_z(self) -> int:
-        lsb, msb = self.read_gyro(BMI088.gyro_rate_z_lsb_addr, 2)
-        return (msb << 8) | lsb
+    def gyro_rate(self) -> tuple[int, int, int]:
+        payload = self.read_gyro(BMI088.gyro_rate_x_lsb_addr, 6)
+        g_x, g_y, g_z = struct.unpack("<hhh", payload)
+        return g_x, g_y, g_z
 
     @property
     def gyro_int_stat_1(self) -> int:
@@ -210,19 +202,10 @@ def acc_status(self) -> int:
         return self.read_accel(BMI088.acc_status_addr)
 
     @property
-    def acc_x(self) -> int:
-        lsb, msb = self.read_accel(BMI088.acc_x_lsb_addr, 2)
-        return (msb << 8) | lsb
-
-    @property
-    def acc_y(self) -> int:
-        lsb, msb = self.read_accel(BMI088.acc_y_lsb_addr, 2)
-        return (msb << 8) | lsb
-
-    @property
-    def acc_z(self) -> int:
-        lsb, msb = self.read_accel(BMI088.acc_z_lsb_addr, 2)
-        return (msb << 8) | lsb
+    def acceleration(self) -> tuple[int, int, int]:
+        payload = self.read_accel(BMI088.acc_x_lsb_addr, 6)
+        a_x, a_y, a_z = struct.unpack("<hhh", payload)
+        return a_x, a_y, a_z
 
     @property
     def acc_sensor_time(self) -> int: