From c834940c2785accc3e612c38f8fe7caeb7427086 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Mon, 24 Jul 2017 12:16:04 +0200
Subject: [PATCH] Saved the calibration once it is done for the next time.
---
src/bno055.c | 5 ++++-
1 file changed, 4 insertions(+), 1 deletion(-)
diff --git a/src/bno055.c b/src/bno055.c
index a7647fa..5e7520f 100644
--- a/src/bno055.c
+++ b/src/bno055.c
@@ -115,7 +115,7 @@ void bno055_erase_calibration(void)
{
uint8_t i;
- for(i=0;i<24;i++)
+ for(i=0;i<2;i++)
eeprom_write_byte(&bno055_cal_data[i],0xFF);
}
@@ -237,7 +237,10 @@ void bno055_loop(void)
else
ram_data[IMU_CONTROL]&=0xEF;
if((ram_data[IMU_CONTROL]&0x70)==0x70)
+ {
bno055_state=idle;
+ bno055_save_calibration();
+ }
else
bno055_state=get_calibrated;
}
--
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