further tidying, fixed build warnings

Author: trullock

src/NineAxesMotion.cpp

@@ -77,24 +77,26 @@ void NineAxesMotion::initSensor(unsigned int address, int int_pin, int reset_pin
 	RESET_PIN = reset_pin;
 
 	//Initialize the GPIO peripheral
-	pinMode(INT_PIN, INPUT_PULLUP);		//Configure Interrupt pin
-	pinMode(RESET_PIN, OUTPUT);			//Configure Reset pin
+	pinMode(int_pin, INPUT_PULLUP);		//Configure Interrupt pin
+	pinMode(reset_pin, OUTPUT);			//Configure Reset pin
 
 	//Power on the BNO055
-	resetSensor(address);
+	resetSensor(address, reset_pin);
 }
 
 /*******************************************************************************************
 *Description: This function is used to reset the BNO055
-*Input Parameters: None
+*Input Parameters: 
+	unsigned int address: I2C address of the BNO055. Default 0x28
+	int reset_pin: GPIO to reset the BNO055 (RESET pin has to be HIGH for the BNO055 to operate)
 *Return Parameter: None
 *******************************************************************************************/
-void NineAxesMotion::resetSensor(unsigned int address)
+void NineAxesMotion::resetSensor(unsigned int address, int reset_pin)
 {
 	//Reset sequence
-	digitalWrite(RESET_PIN, LOW);		//Set the Reset pin LOW
+	digitalWrite(reset_pin, LOW);		//Set the Reset pin LOW
 	delay(RESET_PERIOD);				//Hold it for a while
-	digitalWrite(RESET_PIN, HIGH);		//Set the Reset pin HIGH
+	digitalWrite(reset_pin, HIGH);		//Set the Reset pin HIGH
 	delay(INIT_PERIOD);					//Pause for a while to let the sensor initialize completely (Anything >500ms should be fine)
 	//Initialization sequence
 	//Link the function pointers for communication (late-binding)
@@ -985,7 +987,7 @@ signed char BNO055_I2C_bus_read(unsigned char dev_addr,unsigned char reg_addr, u
 }
 
 
-signed char BNO055_I2C_bus_write(unsigned char dev_addr,unsigned char reg_addr, unsigned char *reg_data, unsigned char cnt)
+signed char BNO055_I2C_bus_write(unsigned char dev_addr, unsigned char reg_addr, unsigned char *reg_data, unsigned char cnt)
 {
 	BNO055_RETURN_FUNCTION_TYPE comres = BNO055_ZERO_U8X;
 	I2C.beginTransmission(dev_addr);	//Start of transmission
@@ -1006,7 +1008,7 @@ void _delay(u_32 period)
 }
 
 
-void NineAxesMotion::begin(unsigned int address = 0x28)
+void NineAxesMotion::begin(unsigned int address)
 {
 	initSensor(address);
 }

src/NineAxesMotion.h

@@ -58,7 +58,7 @@
 
 
 extern "C" {
-#include <utility/BNO055.h>
+#include "utility/BNO055.h"
 }
 #include <Wire.h>
 #include "Arduino.h"
@@ -92,18 +92,6 @@ struct bno055_accel_stat_t {
 	uint8_t powerMode;	//Power mode: Normal - Deep suspend
 };
 
-//GPIO to reset the BNO055 (RESET pin has to be HIGH for the BNO055 to operate)
-int RESET_PIN = 7; // 7 or 4 are most likely candidate pins
-
-//GPIO to receive the Interrupt from the BNO055 (Interrupt is visible on the INT LED on the Shield)
-#if defined(__AVR_ATmega32U4__) //Arduino Yun and Leonardo have I2C shared with pins 2 and 3
-int INT_PIN	= 7;
-#elif defined(ARDUINO_SAMD)
-int INT_PIN	= 7;				// Older SAMD boards have NMI mapped on pin 2
-#else
-int INT_PIN	= 2;
-#endif
-
 #define ENABLE			1		//For use in function parameters
 #define DISABLE			0		//For use in function parameters
 #define NO_MOTION		1		//Enables the no motion interrupt
@@ -156,10 +144,12 @@ class NineAxesMotion {
 
 	/*******************************************************************************************
 	*Description: This function is used to reset the BNO055
-	*Input Parameters: None
+	*Input Parameters: 
+		unsigned int address: I2C address of the BNO055. Default 0x28
+		int reset_pin: GPIO to reset the BNO055 (RESET pin has to be HIGH for the BNO055 to operate)
 	*Return Parameter: None
 	*******************************************************************************************/
-	void resetSensor(unsigned int address);
+	void resetSensor(unsigned int address, int reset_pin = 7);
 
 	/*******************************************************************************************
 	*Description: This function is used to set the operation mode of the BNO055
@@ -756,4 +746,4 @@ signed char BNO055_I2C_bus_read(unsigned char,unsigned char, unsigned char*, uns
 signed char BNO055_I2C_bus_write(unsigned char ,unsigned char , unsigned char* , unsigned char );
 void _delay(u_32);
 
-#endif __NAXISMOTION_H__
+#endif