Jamie Smith / Mbed OS BNO080-Examples

Example/test programs for my BNO080 driver.

Dependencies:   BNO080

BNO080 Driver Examples

These examples show how to use some of the functionality on my BNO080 driver. To get started with MBed CLI:

Build Instructions

$ hg clone https://MultipleMonomials@os.mbed.com/users/MultipleMonomials/code/BNO080-Examples/
$ cd BNO080-Examples
$ mbed deploy
$ mbed compile

Diff: BNOTestSuite.cpp

Revision:
3:f72d98d0095e
Parent:
1:14c135ea7134
Child:
4:85b98cc04a0a
--- a/BNOTestSuite.cpp	Thu Jan 30 03:20:09 2020 -0800
+++ b/BNOTestSuite.cpp	Mon May 04 03:04:11 2020 -0700
@@ -6,11 +6,13 @@
 
 #include "BNOTestSuite.h"
 
+#include <cinttypes>
+
 #define RAD_TO_DEG (180.0/M_PI)
 
 void BNOTestSuite::test_printInfo()
 {
-	pc.printf("BNO080 reports as SW version %hhu.%hhu.%hu, build %lu, part no. %lu\n",
+	pc.printf("BNO080 reports as SW version %" PRIu8 ".%" PRIu8 ".%" PRIu16", build %" PRIu32 ", part no. %" PRIu32"\n",
 			imu.majorSoftwareVersion, imu.minorSoftwareVersion, imu.patchSoftwareVersion,
 			imu.buildNumber, imu.partNumber);
 }
@@ -26,7 +28,7 @@
 	{
         // note: for some reason it seems like wait() here waits 10x the time you tell it to
         // not sure what's causing this behavior, and I don't see it with mbed os 2
-        wait(.0001f * update_rate_ms);
+        ThisThread::sleep_for(update_rate_ms);
 
         if(imu.updateData())
 		{
@@ -54,7 +56,7 @@
 
 	while (true)
 	{
-		wait(.001f);
+        ThisThread::sleep_for(1);
 
 		if(imu.updateData())
 		{
@@ -104,7 +106,7 @@
 	{
 		// note: for some reason it seems like wait() here waits 10x the time you tell it to
         // not sure what's causing this behavior, and I don't see it with mbed os 2
-        wait(.0001f * update_rate_ms);
+        ThisThread::sleep_for(update_rate_ms);
 
 		if(imu.updateData())
 		{
@@ -134,9 +136,7 @@
 
 	while (true)
 	{
-		// note: for some reason it seems like wait() here waits 10x the time you tell it to
-        // not sure what's causing this behavior, and I don't see it with mbed os 2
-        wait(.0001f * update_rate_ms);
+        ThisThread::sleep_for(update_rate_ms);
 
 		if(imu.updateData())
 		{
@@ -185,7 +185,7 @@
 	{
 		// note: for some reason it seems like wait() here waits 10x the time you tell it to
         // not sure what's causing this behavior, and I don't see it with mbed os 2
-        wait(.0001f * update_rate_ms);
+        ThisThread::sleep_for(update_rate_ms);
 
 		if(imu.updateData())
 		{
@@ -214,7 +214,7 @@
 
 	while (true)
 	{
-		wait(.001f);
+        ThisThread::sleep_for(1);
 
 		if(imu.updateData())
 		{
@@ -275,9 +275,7 @@
 
 	while (true)
 	{
-		// note: for some reason it seems like wait() here waits 10x the time you tell it to
-        // not sure what's causing this behavior, and I don't see it with mbed os 2
-        wait(.0001f * update_rate_ms);
+        ThisThread::sleep_for(update_rate_ms);
 
 		if(imu.updateData())
 		{
@@ -345,9 +343,7 @@
 
 	while (true)
 	{
-		// note: for some reason it seems like wait() here waits 10x the time you tell it to
-        // not sure what's causing this behavior, and I don't see it with mbed os 2
-        wait(.0001f * update_rate_ms);
+        ThisThread::sleep_for(update_rate_ms);
 
 		if(imu.updateData())
 		{
@@ -388,7 +384,7 @@
 	while(!imu.begin())
 	{
 		pc.printf("Failed to connect to IMU!\r\n");
-		wait(.5);
+        ThisThread::sleep_for(500);
 	}
 
 	//Declare test harness