private short ReadInt16(RegisterAG register)
{
Span <byte> val = stackalloc byte[2];
Read(register, val);
return(BinaryPrimitives.ReadInt16LittleEndian(val));
}
private void WriteByte(RegisterAG register, byte data)
{
Span <byte> buff = stackalloc byte[2]
{
(byte)register,
data
};
_i2c.Write(buff);
}
private Vector3 ReadVector3(RegisterAG register)
{
Span <byte> vec = stackalloc byte[6];
Read(register, vec);
short x = BinaryPrimitives.ReadInt16LittleEndian(vec.Slice(0, 2));
short y = BinaryPrimitives.ReadInt16LittleEndian(vec.Slice(2, 2));
short z = BinaryPrimitives.ReadInt16LittleEndian(vec.Slice(4, 2));
return(new Vector3(x, y, z));
}
private void Read(RegisterAG register, Span <byte> buffer)
{
_i2c.WriteByte((byte)((byte)register | ReadMask));
_i2c.Read(buffer);
}
