From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Sun, 11 Aug 2019 08:09:56 +0000 (-0300)
Subject: Enable I2C interface.
X-Git-Tag: f1~2
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=82aaadd45f7f013288158103d3668cde7695c36c;p=bno055_driver.git

Enable I2C interface.
---

diff --git a/src/bno055_node.cpp b/src/bno055_node.cpp
index 024d863..2dad386 100644
--- a/src/bno055_node.cpp
+++ b/src/bno055_node.cpp
@@ -20,7 +20,7 @@
 *******************************************************************************/
 
 #include <bno055_tty.h>
-//#include <bno055_i2c.h>
+#include <bno055_i2c.h>
 #include <bno055_units.h>
 
 #include <ros/node_handle.h>
@@ -103,7 +103,7 @@ Bno055Node::Bno055Node(ros::NodeHandle node): uart_(false)
 	else
 	{
 		u8 address=std::stoi(addressStr,NULL,0);	
-//		if(BNO055_i2c_init(device.c_str(),address,&bno055_))
+		if(BNO055_i2c_init(device.c_str(),address,&bno055_))
 		{
 			perror("Error initializing I2C interface");
 			exit(-1);
@@ -168,7 +168,7 @@ Bno055Node::~Bno055Node(void)
 	gravityPub_.shutdown();
 
 	if(uart_) BNO055_tty_close(&bno055_);
-//	else BNO055_i2c_close(&bno055_);
+	else BNO055_i2c_close(&bno055_);
 }
 
 void Bno055Node::publish(void) const