Add functions to check if new IMU data are available

Author: descampsa

libraries/CurieIMU/src/BMI160.cpp

@@ -2386,3 +2386,21 @@ uint8_t BMI160Class::getRegister(uint8_t reg) {
 void BMI160Class::setRegister(uint8_t reg, uint8_t data) {
     reg_write(reg, data);
 }
+
+/** Check if new gyroscope data is available
+ * @return True if new data is available, else false.
+ */
+bool BMI160Class::gyroDataReady()
+{
+    return reg_read_bits(BMI160_RA_STATUS, BMI160_STATUS_DRDY_GYR, 1);
+}
+
+/** Check if new accelerometer data is available
+ * @return True if new data is available, else false.
+ */
+bool BMI160Class::accelDataReady()
+{
+    return reg_read_bits(BMI160_RA_STATUS, BMI160_STATUS_DRDY_ACC, 1);
+}
+
+

libraries/CurieIMU/src/BMI160.h

@@ -652,6 +652,9 @@ class BMI160Class {
         uint8_t getInterruptLatch();
         void setInterruptLatch(uint8_t latch);
         void resetInterrupt();
+        
+        bool gyroDataReady();
+        bool accelDataReady();
 
     protected:
         virtual int serial_buffer_transfer(uint8_t *buf, unsigned tx_cnt, unsigned rx_cnt);