Changed the name of the class (Added a C in front of the class name)

Changed the communications timeout to 500 ms.
the set_operation_mode() function only does it function if the new mode is different from the current one.

src/bno055_imu_driver.h

@@ -150,7 +150,7 @@ typedef enum {temp_celcius,temp_farenheit} temp_units_t;
 /* axis remapping definitions */
 typedef enum {X_AXIS=0x00,Y_AXIS=0x01,Z_AXIS=0x02} axis_t;
 
-class BNO055IMUDriver
+class CBNO055IMUDriver
 {
   private:
     std::string imu_name;
@@ -205,7 +205,7 @@ class BNO055IMUDriver
     void get_sensor_units(void);
     void get_sensor_configs(void);
   public:
-    BNO055IMUDriver(const std::string &name);
+    CBNO055IMUDriver(const std::string &name);
     void open(const std::string &serial_dev);
     void set_power_mode(power_mode_t power_mode);
     power_mode_t get_power_mode(void);
@@ -242,7 +242,7 @@ class BNO055IMUDriver
     bool is_magnetometer_calibrated(void);
     bool is_gyroscope_calibrated(void);
     bool is_imu_calibrated(void);
-    ~BNO055IMUDriver();
+    ~CBNO055IMUDriver();
 };
 
 #endif

src/examples/bno055_imu_driver_test.cpp

@@ -6,28 +6,41 @@
 int main(int argc, char *argv[])
 {
   try{
-    bool accel_cal,mag_cal,gyro_cal,imu_cal;
+    bool accel_cal,mag_cal,gyro_cal;
     CEventServer *event_server=CEventServer::instance();
     std::list<std::string> events;
-    BNO055IMUDriver imu("darwin_imu");
+    CBNO055IMUDriver imu("darwin_imu");
     std::vector<double> accel,mag,gyro;
     std::vector<double> quat,euler,linear_acc,gravity;
     unsigned int i;
 
     imu.open("/dev/ttyUSB1");
-    imu.set_operation_mode(ndof_mode);
-    do{
-      accel_cal=imu.is_accelerometer_calibrated();
-      std::cout << "Accelerometer calibrated: " << accel_cal << std::endl;
-      mag_cal=imu.is_magnetometer_calibrated();
-      std::cout << "Magnetometer calibrated: " << mag_cal << std::endl;
-      gyro_cal=imu.is_gyroscope_calibrated();
-      std::cout << "Gyroscope calibrated: " << gyro_cal << std::endl;
-      imu_cal=imu.is_imu_calibrated();
-      std::cout << "IMU calibrated: " << imu_cal << std::endl;
-      sleep(1);
-    }while(!accel_cal || !mag_cal || !gyro_cal || !imu_cal);
-
+    try{
+      imu.load_calibration("bno055.cal");
+      do{
+        imu.set_operation_mode(ndof_mode);
+        accel_cal=imu.is_accelerometer_calibrated();
+        std::cout << "Accelerometer calibrated: " << accel_cal << std::endl;
+        mag_cal=imu.is_magnetometer_calibrated();
+        std::cout << "Magnetometer calibrated: " << mag_cal << std::endl;
+        gyro_cal=imu.is_gyroscope_calibrated();
+        std::cout << "Gyroscope calibrated: " << gyro_cal << std::endl;
+        sleep(1);
+      }while(!accel_cal || !mag_cal || !gyro_cal);
+    }catch(CException &e){
+      std::cout << e.what() << std::endl;
+      do{
+        imu.set_operation_mode(ndof_mode);
+        accel_cal=imu.is_accelerometer_calibrated();
+        std::cout << "Accelerometer calibrated: " << accel_cal << std::endl;
+        mag_cal=imu.is_magnetometer_calibrated();
+        std::cout << "Magnetometer calibrated: " << mag_cal << std::endl;
+        gyro_cal=imu.is_gyroscope_calibrated();
+        std::cout << "Gyroscope calibrated: " << gyro_cal << std::endl;
+        sleep(1);
+      }while(!accel_cal || !mag_cal || !gyro_cal);
+      imu.save_calibration("bno055.cal");
+    }
     events.push_back(imu.get_new_data_event_id()); 
     for(i=0;i<1000;i++)
     {