teensy-usbhost/examples/JoystickBT/helperPS.ino

float pitch, roll;
float gx, gy, gz;
uint16_t xc, yc; 
uint8_t isTouch;
float ax, ay, az;
int16_t xc_old, yc_old;

void printAngles(){
  //test function calls
  float gx, gy, gz;
  getAccel(ax, ay, az);
  Serial.printf("Accel-g's: %f, %f, %f\n", ax, ay, az);
  getGyro(gx, gy, gz);
  Serial.printf("Gyro-deg/sec: %f, %f, %f\n", gx, gy, gz);

  getAngles(pitch, roll);
  Serial.printf("Pitch/Roll: %f, %f\n", pitch, roll);

  getCoords(xc, yc, isTouch);
}

void getCoords(uint16_t &xc, uint16_t &yc, uint8_t &isTouch){

	//uint8_t finger = 0;  //only getting finger 1
	uint8_t Id = 0;


  // Trackpad touch 1: id, active, x, y
  xc = ((psAxis[37] & 0x0f) << 8) | psAxis[36];
  yc = psAxis[38] << 4 | ((psAxis[37] & 0xf0) >> 4),

	isTouch = psAxis[35] >> 7;
  if(xc != xc_old || yc != yc_old){
    Serial.printf("Touch: %d, %d, %d, %d\n", psAxis[33], isTouch, xc, yc);
    xc_old = xc;
    yc_old = yc;
  }
}

void getAccel( float &ax,  float &ay,  float &az){
	int accelx = (int16_t)(psAxis[20]<<8) | psAxis[19];
	int accelz = (int16_t)(psAxis[22]<<8) | psAxis[21];
	int accely = (int16_t)(psAxis[24]<<8) | psAxis[23];

	ax = (float) accelx/8192;
	ay = (float) accely/8192;
	az = (float) accelz/8192;
}

void getAngles(float &p, float &r){
	getAccel( ax,  ay,  az);
	p = (atan2f(ay, az) + PI) * RAD_TO_DEG;
	r = (atan2f(ax, az) + PI) * RAD_TO_DEG;
}

void getGyro(float &gx, float &gy, float &gz){
	int gyroy = (int16_t)(psAxis[14]<<8) | psAxis[13];
	int gyroz = (int16_t)(psAxis[16]<<8) | psAxis[15];
	int gyrox = (int16_t)(psAxis[18]<<8) | psAxis[17];

	gx = (float) gyrox * RAD_TO_DEG/1024;
	gy = (float) gyroy * RAD_TO_DEG/1024;
	gz = (float) gyroz * RAD_TO_DEG/1024;
}