Affordable Smart Wheelchair / Mbed OS BNO080_program

added main and defined M_PI

Dependencies:   BNOWrapper

Diff: Watchdog/Watchdog.cpp

Revision:
10:14374b492f1d
Parent:
8:729ad465d6c9
--- a/Watchdog/Watchdog.cpp	Wed Aug 07 17:26:41 2019 +0000
+++ b/Watchdog/Watchdog.cpp	Wed Aug 07 18:50:14 2019 +0000
@@ -28,9 +28,10 @@
 #include "mbed.h"
 #include "Watchdog.h"
 #include "BNO080.h"
+#include <BNO080Wheelchair.h>
 
 /// Watchdog gets instantiated at the module level
-Watchdog::Watchdog(BNO080 *imu)
+Watchdog::Watchdog(BNO080Wheelchair *imu)
 {
 #ifdef LPC
     wdreset = (LPC_WDT->WDMOD >> 2) & 1;    // capture the cause of the previous reset
@@ -84,7 +85,7 @@
     } else if ((timeout * (LsiFreq/32)) < 0xFF0) {
         PrescalerCode = IWDG_PRESCALER_32;
         Prescaler = 32;
-        if(imu1->begin()) {
+        if(imu1->setup()) {
             IWDG->KR = 0xAAAA;    //Reload IWDG
             IWDG->KR = 0xCCCC;    //Start IWDG
             Service();