Diff: main.cpp

Revision:

1:b4065d4d692a

Parent:

0:0dc9a3be9863

Child:

2:8595c827daa9

--- a/main.cpp	Mon Sep 19 02:40:41 2016 +0000
+++ b/main.cpp	Mon Sep 19 21:01:30 2016 +0000
@@ -74,11 +74,9 @@
     i2c_reg_buffer[1] = 0x28;    
     imu_comm->write(BMI160_ADDR, i2c_reg_buffer, sizeof(i2c_reg_buffer), false);
  
-    for(;;) {
-        int err = 0;
-        
+    for(;;) {      
         /* reads status register */
-        i2c_reg_buffer[0] = 0x02;
+        i2c_reg_buffer[0] = 0x1B;
         err = imu_comm->write(BMI160_ADDR, i2c_reg_buffer, 1, true);
         err = imu_comm->read(BMI160_ADDR, (char *)&acc_status, sizeof(acc_status), false);
         
@@ -86,9 +84,8 @@
         i2c_reg_buffer[0] = 0x12;
         err = imu_comm->write(BMI160_ADDR, i2c_reg_buffer, 1, true);
         err = imu_comm->read(BMI160_ADDR, (char *)&acc_sample_buffer, sizeof(acc_sample_buffer), false);
-
         acc_sema.release();
-        Thread::wait(200);
+        Thread::wait(ACC_SAMPLE_RATE);
     }    
 }
 
@@ -155,6 +152,7 @@
     }
 }
 
+
 /**
  * @brief main application entry point
  */