move typedef out of object so its accessable

adafruit · Aug 14, 2022 · fbe39c8 · fbe39c8
1 parent 8bc20da
commit fbe39c8
Show file tree

Hide file tree

Showing 2 changed files with 18 additions and 19 deletions.
diff --git a/Adafruit_BNO055.cpp b/Adafruit_BNO055.cpp
@@ -164,8 +164,7 @@ void Adafruit_BNO055::setMode(adafruit_bno055_opmode_t mode) {
  *           for example: a return of 12 (0X0C) => NDOF
  */
 adafruit_bno055_opmode_t Adafruit_BNO055::getMode() {
-  adafruit_bno055_opmode_t operating_mode = read8(BNO055_OPR_MODE_ADDR);
-  return operating_mode;
+  return (adafruit_bno055_opmode_t)read8(BNO055_OPR_MODE_ADDR);
 }
 
 /*!

diff --git a/Adafruit_BNO055.h b/Adafruit_BNO055.h
@@ -57,6 +57,23 @@ typedef struct {
   int16_t mag_radius; /**< magnetometer radius */
 } adafruit_bno055_offsets_t;
 
+/** Operation mode settings **/
+typedef enum {
+  OPERATION_MODE_CONFIG = 0X00,
+  OPERATION_MODE_ACCONLY = 0X01,
+  OPERATION_MODE_MAGONLY = 0X02,
+  OPERATION_MODE_GYRONLY = 0X03,
+  OPERATION_MODE_ACCMAG = 0X04,
+  OPERATION_MODE_ACCGYRO = 0X05,
+  OPERATION_MODE_MAGGYRO = 0X06,
+  OPERATION_MODE_AMG = 0X07,
+  OPERATION_MODE_IMUPLUS = 0X08,
+  OPERATION_MODE_COMPASS = 0X09,
+  OPERATION_MODE_M4G = 0X0A,
+  OPERATION_MODE_NDOF_FMC_OFF = 0X0B,
+  OPERATION_MODE_NDOF = 0X0C
+} adafruit_bno055_opmode_t;
+
 /*!
  *  @brief  Class that stores state and functions for interacting with
  *          BNO055 Sensor
@@ -219,23 +236,6 @@ class Adafruit_BNO055 : public Adafruit_Sensor {
     POWER_MODE_SUSPEND = 0X02
   } adafruit_bno055_powermode_t;
 
-  /** Operation mode settings **/
-  typedef enum {
-    OPERATION_MODE_CONFIG = 0X00,
-    OPERATION_MODE_ACCONLY = 0X01,
-    OPERATION_MODE_MAGONLY = 0X02,
-    OPERATION_MODE_GYRONLY = 0X03,
-    OPERATION_MODE_ACCMAG = 0X04,
-    OPERATION_MODE_ACCGYRO = 0X05,
-    OPERATION_MODE_MAGGYRO = 0X06,
-    OPERATION_MODE_AMG = 0X07,
-    OPERATION_MODE_IMUPLUS = 0X08,
-    OPERATION_MODE_COMPASS = 0X09,
-    OPERATION_MODE_M4G = 0X0A,
-    OPERATION_MODE_NDOF_FMC_OFF = 0X0B,
-    OPERATION_MODE_NDOF = 0X0C
-  } adafruit_bno055_opmode_t;
-
   /** Remap settings **/
   typedef enum {
     REMAP_CONFIG_P0 = 0x21,