Diff: Adafruit_BNO055.cpp

Revision:

2:8092160b6a59

Parent:

1:b48e4192c101

Child:

3:7db662f5d402

diff -r b48e4192c101 -r 8092160b6a59 Adafruit_BNO055.cpp
--- a/Adafruit_BNO055.cpp	Wed Sep 16 20:27:32 2015 +0000
+++ b/Adafruit_BNO055.cpp	Wed Sep 16 22:32:29 2015 +0000
@@ -51,7 +51,7 @@
 bool Adafruit_BNO055::begin(adafruit_bno055_opmode_t mode)
 {
   /* Enable I2C */
-  i2c->frequency(100000);
+  //i2c->frequency(10000);
 
   /* Make sure we have the right device */
   uint8_t id = read8(BNO055_CHIP_ID_ADDR);
@@ -270,7 +270,8 @@
   x = y = z = 0;
 
   /* Read vector data (6 bytes) */
-  readLen((adafruit_bno055_reg_t)vector_type, (char*)buffer, 6);
+  //readLen((adafruit_bno055_reg_t)vector_type, (char*)buffer, 6);
+  readLen((adafruit_bno055_reg_t)0x08, (char*)buffer, 6);
 
   x = ((int16_t)buffer[0]) | (((int16_t)buffer[1]) << 8);
   y = ((int16_t)buffer[2]) | (((int16_t)buffer[3]) << 8);
@@ -420,6 +421,8 @@
   wait(0.001);
   i2c->read(_address<<1, &to_read, 1, false);
   wait(0.001);
+  
+  printf(" I2C Read : %d from addr: %d\r\n", to_read, to_write);
   return to_read;
 }
 
@@ -437,6 +440,8 @@
   i2c->read(_address<<1, buffer, len, false);
   wait(0.001);
 
+  printf("I2C: Read %d bytes from address %d\r\n", len, reg_to_write);
+
   /* ToDo: Check for errors! */
   return true;
 }