Diff: BNO080.cpp

Revision:

2:2269b723d16a

Parent:

1:aac28ffd63ed

Child:

3:197ad972fb7c

--- a/BNO080.cpp	Sat Dec 29 03:31:00 2018 -0800
+++ b/BNO080.cpp	Sat Dec 29 04:09:34 2018 -0800
@@ -69,7 +69,7 @@
 
 /// Set to 1 to enable debug printouts.  Should be very useful if the chip is giving you trouble.
 /// When debugging, it is recommended to use the highest possible serial baudrate so as not to interrupt the timing of operations.
-#define BNO_DEBUG 1
+#define BNO_DEBUG 0
 
 BNO080::BNO080(Serial *debugPort, PinName user_SDApin, PinName user_SCLpin, PinName user_INTPin, PinName user_RSTPin,
 			   uint8_t i2cAddress, int i2cPortSpeed) :
@@ -77,8 +77,20 @@
 		_i2cPort(user_SDApin, user_SCLpin),
 		_i2cAddress(i2cAddress),
 		_int(user_INTPin),
-		_rst(user_RSTPin, 1)
+		_rst(user_RSTPin, 1),
+		commandSequenceNumber(0),
+		stability(UNKNOWN),
+		stepDetected(false),
+		stepCount(0),
+		significantMotionDetected(false),
+		shakeDetected(false),
+		xAxisShake(false),
+		yAxisShake(false),
+		zAxisShake(false)
 {
+	// zero sequence numbers
+	memset(sequenceNumber, 0, sizeof(sequenceNumber));
+
 	//Get user settings
 	_i2cPortSpeed = i2cPortSpeed;
 	if(_i2cPortSpeed > 4000000)
@@ -1207,49 +1219,49 @@
 	// data from SH-2 section 5.1
 	switch(report)
 	{
-		case Report::TOTAL_ACCELERATION:
+		case TOTAL_ACCELERATION:
 			reportMetaRecord = 0xE301;
 			break;
-		case Report::LINEAR_ACCELERATION:
+		case LINEAR_ACCELERATION:
 			reportMetaRecord = 0xE303;
 			break;
-		case Report::GRAVITY_ACCELERATION:
+		case GRAVITY_ACCELERATION:
 			reportMetaRecord = 0xE304;
 			break;
-		case Report::GYROSCOPE:
+		case GYROSCOPE:
 			reportMetaRecord = 0xE306;
 			break;
-		case Report::MAG_FIELD:
+		case MAG_FIELD:
 			reportMetaRecord = 0xE309;
 			break;
-		case Report::MAG_FIELD_UNCALIBRATED:
+		case MAG_FIELD_UNCALIBRATED:
 			reportMetaRecord = 0xE30A;
 			break;
-		case Report::ROTATION:
+		case ROTATION:
 			reportMetaRecord = 0xE30B;
 			break;
-		case Report::GEOMAGNETIC_ROTATION:
+		case GEOMAGNETIC_ROTATION:
 			reportMetaRecord = 0xE30D;
 			break;
-		case Report::GAME_ROTATION:
+		case GAME_ROTATION:
 			reportMetaRecord = 0xE30C;
 			break;
-		case Report::TAP_DETECTOR:
+		case TAP_DETECTOR:
 			reportMetaRecord = 0xE313;
 			break;
-		case Report::STABILITY_CLASSIFIER:
+		case STABILITY_CLASSIFIER:
 			reportMetaRecord = 0xE317;
 			break;
-		case Report::STEP_DETECTOR:
+		case STEP_DETECTOR:
 			reportMetaRecord = 0xE314;
 			break;
-		case Report::STEP_COUNTER:
+		case STEP_COUNTER:
 			reportMetaRecord = 0xE315;
 			break;
-		case Report::SIGNIFICANT_MOTION:
+		case SIGNIFICANT_MOTION:
 			reportMetaRecord = 0xE316;
 			break;
-		case Report::SHAKE_DETECTOR:
+		case SHAKE_DETECTOR:
 			reportMetaRecord = 0xE318;
 			break;
 	}