PrintActiveOffsets can be simplified

GetActiveOffsets was duplicated in PrintActiveOffsets so we can simplify further the function PrintActiveOffsets and eliminate duplicating code.

Author: ZHomeSlice

Arduino/MPU6050/MPU6050.cpp

@@ -3373,39 +3373,25 @@ void MPU6050_Base::PID(uint8_t ReadAddress, float kP,float kI, uint8_t Loops){
 
 int16_t * MPU6050_Base::GetActiveOffsets() {
     uint8_t AOffsetRegister = (getDeviceID() < 0x38 )? MPU6050_RA_XA_OFFS_H:0x77;
-    int16_t Data[6]{0};
-    if(AOffsetRegister == 0x06)	I2Cdev::readWords(devAddr, AOffsetRegister, 3, (uint16_t *)Data, I2Cdev::readTimeout, wireObj);
+    if(AOffsetRegister == 0x06)	I2Cdev::readWords(devAddr, AOffsetRegister, 3, (uint16_t *)offsets, I2Cdev::readTimeout, wireObj);
     else {
-        I2Cdev::readWords(devAddr, AOffsetRegister, 1, (uint16_t *)Data, I2Cdev::readTimeout, wireObj);
-        I2Cdev::readWords(devAddr, AOffsetRegister+3, 1, (uint16_t *)(Data+1), I2Cdev::readTimeout, wireObj);
-        I2Cdev::readWords(devAddr, AOffsetRegister+6, 1, (uint16_t *)(Data+2), I2Cdev::readTimeout, wireObj);
-    }
-    I2Cdev::readWords(devAddr, 0x13, 3, (uint16_t *)(Data+3), I2Cdev::readTimeout, wireObj);
-    for(uint i = 0; i < 6; i++){
-        offsets[i] = Data[i];
+        I2Cdev::readWords(devAddr, AOffsetRegister, 1, (uint16_t *)offsets, I2Cdev::readTimeout, wireObj);
+        I2Cdev::readWords(devAddr, AOffsetRegister+3, 1, (uint16_t *)(offsets+1), I2Cdev::readTimeout, wireObj);
+        I2Cdev::readWords(devAddr, AOffsetRegister+6, 1, (uint16_t *)(offsets+2), I2Cdev::readTimeout, wireObj);
     }
+    I2Cdev::readWords(devAddr, 0x13, 3, (uint16_t *)(offsets+3), I2Cdev::readTimeout, wireObj);
     return offsets;
 }
 
 void MPU6050_Base::PrintActiveOffsets() {
-	uint8_t AOffsetRegister = (getDeviceID() < 0x38 )? MPU6050_RA_XA_OFFS_H:0x77;
-	int16_t Data[3];
-	//Serial.print(F("Offset Register 0x"));
-	//Serial.print(AOffsetRegister>>4,HEX);Serial.print(AOffsetRegister&0x0F,HEX);
-	Serial.print(F("\n\n//\t\tX Accel\t\tY Accel\t\tZ Accel\t\tX Gyro\t\tY Gyro\t\tZ Gyro\n// OFFSETS\t"));
-	if(AOffsetRegister == 0x06)	I2Cdev::readWords(devAddr, AOffsetRegister, 3, (uint16_t *)Data, I2Cdev::readTimeout, wireObj);
-	else {
-		I2Cdev::readWords(devAddr, AOffsetRegister, 1, (uint16_t *)Data, I2Cdev::readTimeout, wireObj);
-		I2Cdev::readWords(devAddr, AOffsetRegister+3, 1, (uint16_t *)Data+1, I2Cdev::readTimeout, wireObj);
-		I2Cdev::readWords(devAddr, AOffsetRegister+6, 1, (uint16_t *)Data+2, I2Cdev::readTimeout, wireObj);
-	}
+    GetActiveOffsets();
 	//	A_OFFSET_H_READ_A_OFFS(Data);
-    Serial.print((float)Data[0], 5); Serial.print(",\t");
-    Serial.print((float)Data[1], 5); Serial.print(",\t");
-    Serial.print((float)Data[2], 5); Serial.print(",\t");
-	I2Cdev::readWords(devAddr, 0x13, 3, (uint16_t *)Data, I2Cdev::readTimeout, wireObj);
+    Serial.print((float)offsets[0], 5); Serial.print(",\t");
+    Serial.print((float)offsets[1], 5); Serial.print(",\t");
+    Serial.print((float)offsets[2], 5); Serial.print(",\t");
+	
 	//	XG_OFFSET_H_READ_OFFS_USR(Data);
-    Serial.print((float)Data[0], 5); Serial.print(",\t");
-    Serial.print((float)Data[1], 5); Serial.print(",\t");
-    Serial.print((float)Data[2], 5); Serial.print("\n\n");
+    Serial.print((float)offsets[3], 5); Serial.print(",\t");
+    Serial.print((float)offsets[4], 5); Serial.print(",\t");
+    Serial.print((float)offsets[5], 5); Serial.print("\n\n");
 }