Thread.inot

/* Breaks for all kind of stuff ...
 */

/* To fix this in the "class-wrapping" method, remove `static`
 * and change objects declarations
 * from `Classname obj(args...)`
 * to `Classname obj = Classname{args..}`
 */

/**************************************************************************************
 * CONSTANTS
 **************************************************************************************/

static byte constexpr LSM6DSOX_ADDRESS      = 0x6A;
static byte constexpr LSM6DSOX_WHO_AM_I_REG = 0x0F;

/**************************************************************************************
 * GLOBAL VARIABLES
 **************************************************************************************/

// BusDevice lsm6dsox(Wire, LSM6DSOX_ADDRESS);
BusDevice lsm6dsox = BusDevice{Wire, LSM6DSOX_ADDRESS};

/**************************************************************************************
 * FUNCTIONS
 **************************************************************************************/

byte lsm6dsox_read_reg(byte reg_addr)
{
  byte read_buf = 0;
  lsm6dsox.wire().write_then_read(&reg_addr, 1, &read_buf, 1);
  return read_buf;
}

/**************************************************************************************
 * SETUP/LOOP
 **************************************************************************************/

void setup()
{
  Serial.begin(9600);
}

void loop()
{
  /* Sleep between 5 and 500 ms */
  rtos::ThisThread::sleep_for(rtos::Kernel::Clock::duration_u32(random(5,500)));
  /* Try to read some data from the LSM6DSOX. */
  byte const who_am_i = lsm6dsox_read_reg(LSM6DSOX_WHO_AM_I_REG);
  /* Print thread id and chip id value to serial. */
  char msg[64] = {0};
  snprintf(msg, sizeof(msg), "%s: LSM6DSOX[WHO_AM_I] = 0x%X", rtos::ThisThread::get_name(), who_am_i);
  Serial.println(msg);
}