Diff: Adafruit_BNO055.cpp

Revision:

3:7db662f5d402

Parent:

2:8092160b6a59

--- a/Adafruit_BNO055.cpp	Wed Sep 16 22:32:29 2015 +0000
+++ b/Adafruit_BNO055.cpp	Tue Mar 16 05:41:43 2021 +0000
@@ -57,7 +57,7 @@
   uint8_t id = read8(BNO055_CHIP_ID_ADDR);
   if(id != BNO055_ID)
   {
-    wait_ms(1000); // hold on for boot
+    thread_sleep_for(1000); // hold on for boot
     id = read8(BNO055_CHIP_ID_ADDR);
     if(id != BNO055_ID) {
       return false;  // still not? ok bail
@@ -71,13 +71,13 @@
   write8(BNO055_SYS_TRIGGER_ADDR, 0x20);
   while (read8(BNO055_CHIP_ID_ADDR) != BNO055_ID)
   {
-    wait_ms(10);
+    thread_sleep_for(10);
   }
-  wait_ms(50);
+  thread_sleep_for(50);
 
   /* Set to normal power mode */
   write8(BNO055_PWR_MODE_ADDR, POWER_MODE_NORMAL);
-  wait_ms(10);
+  thread_sleep_for(10);
 
   write8(BNO055_PAGE_ID_ADDR, 0);
 
@@ -92,10 +92,10 @@
   */
 
   write8(BNO055_SYS_TRIGGER_ADDR, 0x0);
-  wait_ms(10);
+  thread_sleep_for(10);
   /* Set the requested operating mode (see section 3.3) */
   setMode(mode);
-  wait_ms(20);
+  thread_sleep_for(20);
 
   return true;
 }
@@ -109,7 +109,7 @@
 {
   _mode = mode;
   write8(BNO055_OPR_MODE_ADDR, _mode);
-  wait_ms(30);
+  thread_sleep_for(30);
 }
 
 /**************************************************************************/
@@ -123,17 +123,17 @@
 
   /* Switch to config mode (just in case since this is the default) */
   setMode(OPERATION_MODE_CONFIG);
-  wait_ms(25);
+  thread_sleep_for(25);
   write8(BNO055_PAGE_ID_ADDR, 0);
   if (usextal) {
     write8(BNO055_SYS_TRIGGER_ADDR, 0x80);
   } else {
     write8(BNO055_SYS_TRIGGER_ADDR, 0x00);
   }
-  wait_ms(10);
+  thread_sleep_for(10);
   /* Set the requested operating mode (see section 3.3) */
   setMode(modeback);
-  wait_ms(20);
+  thread_sleep_for(20);
 }
 
 
@@ -190,7 +190,7 @@
   if (system_error != 0)
     *system_error     = read8(BNO055_SYS_ERR_ADDR);
 
-  wait_ms(200);
+  thread_sleep_for(200);
 }
 
 /**************************************************************************/
@@ -399,9 +399,9 @@
 {
   char reg_to_write = (char)(reg);
   i2c->write(_address<<1, &reg_to_write, 1, true); 
-  wait(0.001);
+  thread_sleep_for(1);
   i2c->write(_address<<1, &value, 1, false); 
-  wait(0.001);
+  thread_sleep_for(1);
 
   /* ToDo: Check for error! */
   return true;
@@ -418,9 +418,9 @@
   char to_write = (char)reg;
 
   i2c->write(_address<<1, &to_write, 1, false);
-  wait(0.001);
+  thread_sleep_for(1);
   i2c->read(_address<<1, &to_read, 1, false);
-  wait(0.001);
+  thread_sleep_for(1);
   
   printf(" I2C Read : %d from addr: %d\r\n", to_read, to_write);
   return to_read;
@@ -436,9 +436,9 @@
   char reg_to_write = (char)(reg);
 
   i2c->write(_address<<1, &reg_to_write, 1, false); 
-  wait(0.001);
+  thread_sleep_for(1);
   i2c->read(_address<<1, buffer, len, false);
-  wait(0.001);
+  thread_sleep_for(1);
 
   printf("I2C: Read %d bytes from address %d\r\n", len, reg_to_write);