Fixes

Author: BenChung

deploy/src/icm42688.jl

@@ -451,11 +451,11 @@ end
 Read raw gyroscope values (X, Y, Z) as signed 16-bit integers.
 """
 function read_gyro_raw(imu::ICM42688)
-    buf = @view imu.rx_buf[1:6]
-    read_regs!(imu, ICM42688Registers.GYRO_DATA_X1, buf)
-    gx = parse_int16_be(buf[1], buf[2])
-    gy = parse_int16_be(buf[3], buf[4])
-    gz = parse_int16_be(buf[5], buf[6])
+    read_regs!(imu, ICM42688Registers.GYRO_DATA_X1, 6)
+    buf = imu.rx_buf
+    gx = parse_int16_be(buf[2], buf[3])
+    gy = parse_int16_be(buf[4], buf[5])
+    gz = parse_int16_be(buf[6], buf[7])
     return (gx, gy, gz)
 end
 
@@ -476,9 +476,8 @@ end
 Read raw temperature value as a signed 16-bit integer.
 """
 function read_temp_raw(imu::ICM42688)
-    buf = @view imu.rx_buf[1:2]
-    read_regs!(imu, ICM42688Registers.TEMP_DATA1, buf)
-    return parse_int16_be(buf[1], buf[2])
+    read_regs!(imu, ICM42688Registers.TEMP_DATA1, 2)
+    return parse_int16_be(imu.rx_buf[2], imu.rx_buf[3])
 end
 
 """
@@ -500,17 +499,17 @@ Reads 14 consecutive bytes starting from TEMP_DATA1 (0x1D).
 Layout: TEMP(2) + ACCEL(6) + GYRO(6) = 14 bytes.
 """
 function read_all_raw(imu::ICM42688)
-    buf = @view imu.rx_buf[1:14]
-    read_regs!(imu, ICM42688Registers.TEMP_DATA1, buf)
+    read_regs!(imu, ICM42688Registers.TEMP_DATA1, 14)
+    buf = imu.rx_buf  # data at indices 2..15
 
     return ICM42688Data(
-        parse_int16_be(buf[3],  buf[4]),   # ACCEL_X
-        parse_int16_be(buf[5],  buf[6]),   # ACCEL_Y
-        parse_int16_be(buf[7],  buf[8]),   # ACCEL_Z
-        parse_int16_be(buf[1],  buf[2]),   # TEMP
-        parse_int16_be(buf[9],  buf[10]),  # GYRO_X
-        parse_int16_be(buf[11], buf[12]),  # GYRO_Y
-        parse_int16_be(buf[13], buf[14])   # GYRO_Z
+        parse_int16_be(buf[4],  buf[5]),   # ACCEL_X
+        parse_int16_be(buf[6],  buf[7]),   # ACCEL_Y
+        parse_int16_be(buf[8],  buf[9]),   # ACCEL_Z
+        parse_int16_be(buf[2],  buf[3]),   # TEMP
+        parse_int16_be(buf[10], buf[11]),  # GYRO_X
+        parse_int16_be(buf[12], buf[13]),  # GYRO_Y
+        parse_int16_be(buf[14], buf[15])   # GYRO_Z
     )
 end
 
@@ -614,9 +613,8 @@ end
 Read the number of bytes currently in the FIFO.
 """
 function read_fifo_count(imu::ICM42688)
-    buf = @view imu.rx_buf[1:2]
-    read_regs!(imu, ICM42688Registers.FIFO_COUNTH, buf)
-    return (UInt16(buf[1]) << 8) | UInt16(buf[2])
+    read_regs!(imu, ICM42688Registers.FIFO_COUNTH, 2)
+    return (UInt16(imu.rx_buf[2]) << 8) | UInt16(imu.rx_buf[3])
 end
 
 """

deploy/src/shift_driver.jl

@@ -1,6 +1,6 @@
 using PIOLib
 
-function shift_register_program(; ser_pin::Integer, clk_pin::Integer, rclk_pin::Integer,
+function shift_register_program(pio::PIOBlock; ser_pin::Integer, clk_pin::Integer, rclk_pin::Integer,
                                   nbits::Integer, clkdiv::Real=1.0f0)
     1 <= nbits <= 31 || error("nbits must be 1-31 (SET immediate is 5 bits, and 32 encodes as 0 in autopull threshold)")
 
@@ -15,7 +15,7 @@ function shift_register_program(; ser_pin::Integer, clk_pin::Integer, rclk_pin::
         Wrap(),
     ]; sideset_bits=1)
 
-    config = SMConfig(;
+    config = SMConfig(pio;
         out_pins=(ser_pin, 1),
         set_pins=(rclk_pin, 1),
         sideset_pin_base=clk_pin,
@@ -87,13 +87,13 @@ Initialize the PIO and state machine for driving the shift register chain.
 Caller is responsible for calling `close` when done.
 """
 function open_shift_registers(pio_idx::Integer=0)
-    prog, config = shift_register_program(
-        ser_pin=SER_PIN, clk_pin=CLK_PIN, rclk_pin=RCLK_PIN,
-        nbits=NBITS, clkdiv=CLKDIV,
-    )
-
     pio = open_pio(pio_idx)
     try
+        prog, config = shift_register_program(pio;
+            ser_pin=SER_PIN, clk_pin=CLK_PIN, rclk_pin=RCLK_PIN,
+            nbits=NBITS, clkdiv=CLKDIV,
+        )
+
         for pin in (SER_PIN, CLK_PIN, RCLK_PIN)
             pio_pin_init!(pio, pin)
         end