main.cpp

#include <mbed.h>
#include <BNO080.h>
#include "Watchdog.h"

int main()
{
	Timer t;
	t.start();
    Serial pc(USBTX, USBRX, 57600);
   // Watchdog dog;
    //dog.Configure(200000);         //need to find the time for entire program to run

    // Create IMU, passing in output stream, pins, I2C address, and I2C frequency
    // These pin assignments are specific to stm32- L432KC
    //BNO080 imu(&pc, D4, D5, D12, D10, 0x4b, 100000);
    BNO080 imu(&pc, PB_9, PB_8, PA_6, PA_5, 0x4b, 100000);
    imu.begin();

    // Tell the IMU to report rotation every 100ms and acceleration every 200ms

    imu.enableReport(BNO080::TOTAL_ACCELERATION, 100);
    imu.enableReport(BNO080::ROTATION, 100);

    while (true) {
        wait(.05);

        // poll the IMU for new data -- this returns true if any packets were received

        if(imu.updateData()) {
            // now check for the specific type of data that was received (can be multiple at once)
            //if (imu.hasNewData(BNO080::TOTAL_ACCELERATION) || imu.hasNewData(BNO080::ROTATION)) {
                //pc.printf("Total Accel: ");
                //imu.totalAcceleration.print(pc, true);

                //pc.printf(", Rotation:");
                TVector3 eulerRadians = imu.rotationVector.euler();
                TVector3 eulerDegrees = eulerRadians * (180.0 / M_PI);
                eulerDegrees.print(pc, true);
                pc.printf(" %f", t.read());
                pc.printf("\n");

               // dog.Service();
            //}
           // else
            	//pc.printf("no data 2\r\n");
        }
       // else
        	//pc.printf("no data 1\r\n");
    }

}