drivers/mpu9x50: clean up code

[maribu]

Contribution description

Avoid using floating point arithmetic and some minor cleanups.

Testing procedure

make BOARD=msbiot -C examples/default flash term

Output with master

> 2023-05-23 21:40:13,551 # main(): This is RIOT! (Version: 2023.07-devel-420-geb10a)
2023-05-23 21:40:13,553 # Welcome to RIOT!
> saul read 5
2023-05-23 21:40:16,845 # saul read 5
2023-05-23 21:40:16,849 # Reading from #5 (mpu9x50|SENSE_ACCEL)
2023-05-23 21:40:16,852 # Data:	[0]         -25 mgₙ
2023-05-23 21:40:16,854 # 	[1]         -36 mgₙ
2023-05-23 21:40:16,856 # 	[2]         998 mgₙ
> saul read 6
2023-05-23 21:40:20,102 # saul read 6
2023-05-23 21:40:20,106 # Reading from #6 (mpu9x50|SENSE_GYRO)
2023-05-23 21:40:20,109 # Data:	[0]         0.0 dps
2023-05-23 21:40:20,110 # 	[1]         0.2 dps
2023-05-23 21:40:20,112 # 	[2]         0.0 dps
> saul read 7
2023-05-23 21:40:22,715 # saul read 7
2023-05-23 21:40:22,719 # Reading from #7 (mpu9x50|SENSE_MAG)
2023-05-23 21:40:22,721 # Data:	[0]        0.10 Gs
2023-05-23 21:40:22,723 # 	[1]        0.01 Gs
2023-05-23 21:40:22,725 # 	[2]        0.75 Gs

Output with this PR

> 2023-05-23 21:40:28,155 # main(): This is RIOT! (Version: 2023.07-devel-420-geb10a-mpu9x50-no-float)
2023-05-23 21:40:28,156 # Welcome to RIOT!
> saul read 5
2023-05-23 21:40:29,587 # saul read 5
2023-05-23 21:40:29,591 # Reading from #5 (mpu9x50|SENSE_ACCEL)
2023-05-23 21:40:29,594 # Data:	[0]        1296 mgₙ
2023-05-23 21:40:29,596 # 	[1]        1796 mgₙ
2023-05-23 21:40:29,598 # 	[2]         660 mgₙ
> saul read 6
2023-05-23 21:40:30,902 # saul read 6
2023-05-23 21:40:30,906 # Reading from #6 (mpu9x50|SENSE_GYRO)
2023-05-23 21:40:30,909 # Data:	[0]       -15.3 dps
2023-05-23 21:40:30,910 # 	[1]        67.1 dps
2023-05-23 21:40:30,912 # 	[2]       -13.7 dps
> saul read 7
2023-05-23 21:40:32,535 # saul read 7
2023-05-23 21:40:32,539 # Reading from #7 (mpu9x50|SENSE_MAG)
2023-05-23 21:40:32,542 # Data:	[0]        0.12 Gs
2023-05-23 21:40:32,543 # 	[1]        0.01 Gs
2023-05-23 21:40:32,545 # 	[2]        0.76 Gs

Issues/PRs references

#19614

[maribu]

This yields a major reduction in .text (~2.5 KiB safed), RAM consumption is unchanged.

[aabadie]

Code looks good and output is given.

ACK

[riot-ci]

Murdock results

✔️ PASSED

533af18 drivers/mpu9x50: clean up code

Success	Failures	Total	Runtime
6933	0	6933	10m:42s

Artifacts

• Documentation preview

[benpicco]

bors merge

[bors]

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• Murdock
• static-tests
• tools-build-success

[maribu]

Thx :)