Merge pull request #52 from adafruit/docs-update

Added documentation for modes

Author: tannewt

adafruit_bno055.py

@@ -143,13 +143,8 @@ def _reset(self):
     @property
     def mode(self):
         """
-        Switch the mode of operation and return the previous mode.
-
-        Mode of operation defines which sensors are enabled and whether the
-        measurements are absolute or relative.
-        If a sensor is disabled, it will return an empty tuple.
-
         legend: x=on, -=off
+
         +------------------+-------+---------+------+----------+
         | Mode             | Accel | Compass | Gyro | Absolute |
         +==================+=======+=========+======+==========+
@@ -181,6 +176,76 @@ def mode(self):
         +------------------+-------+---------+------+----------+
 
         The default mode is ``NDOF_MODE``.
+
+        | You can set the mode using the line below:
+        | ``sensor.mode = adafruit_bno055.ACCONLY_MODE``
+        | replacing ``ACCONLY_MODE`` with the mode you want to use
+
+        .. data:: CONFIG_MODE
+
+           This mode is used to configure BNO, wherein all output data is reset to zero and sensor
+           fusion is halted.
+
+        .. data:: ACCONLY_MODE
+
+           In this mode, the BNO055 behaves like a stand-alone acceleration sensor. In this mode the
+           other sensors (magnetometer, gyro) are suspended to lower the power consumption.
+
+        .. data:: MAGONLY_MODE
+
+           In MAGONLY mode, the BNO055 behaves like a stand-alone magnetometer, with acceleration
+           sensor and gyroscope being suspended.
+
+        .. data:: GYRONLY_MODE
+
+           In GYROONLY mode, the BNO055 behaves like a stand-alone gyroscope, with acceleration
+           sensor and magnetometer being suspended.
+
+        .. data:: ACCMAG_MODE
+
+           Both accelerometer and magnetometer are switched on, the user can read the data from
+           these two sensors.
+
+        .. data:: ACCGYRO_MODE
+
+           Both accelerometer and gyroscope are switched on; the user can read the data from these
+           two sensors.
+
+        .. data:: MAGGYRO_MODE
+
+           Both magnetometer and gyroscope are switched on, the user can read the data from these
+           two sensors.
+
+        .. data:: AMG_MODE
+
+           All three sensors accelerometer, magnetometer and gyroscope are switched on.
+
+        .. data:: IMUPLUS_MODE
+
+           In the IMU mode the relative orientation of the BNO055 in space is calculated from the
+           accelerometer and gyroscope data. The calculation is fast (i.e. high output data rate).
+
+        .. data:: COMPASS_MODE
+
+           The COMPASS mode is intended to measure the magnetic earth field and calculate the
+           geographic direction.
+
+        .. data:: M4G_MODE
+
+           The M4G mode is similar to the IMU mode, but instead of using the gyroscope signal to
+           detect rotation, the changing orientation of the magnetometer in the magnetic field is
+           used.
+
+        .. data:: NDOF_FMC_OFF_MODE
+
+           This fusion mode is same as NDOF mode, but with the Fast Magnetometer Calibration turned
+           ‘OFF’.
+
+        .. data:: NDOF_MODE
+
+           This is a fusion mode with 9 degrees of freedom where the fused absolute orientation data
+           is calculated from accelerometer, gyroscope and the magnetometer.
+
         """
         return self._read_register(_MODE_REGISTER)
 

docs/conf.py

@@ -15,7 +15,7 @@
 # Uncomment the below if you use native CircuitPython modules such as
 # digitalio, micropython and busio. List the modules you use. Without it, the
 # autodoc module docs will fail to generate with a warning.
-# autodoc_mock_imports = ["adafruit_bus_device", "micropython", "adafruit_register"]
+autodoc_mock_imports = ["adafruit_bus_device", "micropython", "adafruit_register"]
 
 intersphinx_mapping = {
     "python": ("https://docs.python.org/3.4", None),