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Possible fix for #11 #15

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Merged
merged 2 commits into from
Oct 9, 2018
Merged

Possible fix for #11 #15

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42517d7
Possible fix for #11
davidskeck Oct 9, 2018
cf551a6
Updated calibration functionality after review.
davidskeck Oct 9, 2018
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17 changes: 17 additions & 0 deletions adafruit_bno055.py
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Original file line number Diff line number Diff line change
Expand Up @@ -61,6 +61,7 @@

_MODE_REGISTER = const(0x3d)
_PAGE_REGISTER = const(0x07)
_CALIBRATION_REGISTER = const(0x35)
_TRIGGER_REGISTER = const(0x3f)
_POWER_REGISTER = const(0x3e)
_ID_REGISTER = const(0x00)
Expand Down Expand Up @@ -144,6 +145,14 @@ def _read_register(self, register):
i2c.readinto(self.buffer, start=1)
return self.buffer[1]

def _get_calibration_data(self):
calibration_data = self._read_register(_CALIBRATION_REGISTER)
sys = (calibration_data >> 6) & 0x03
gyro = (calibration_data >> 4) & 0x03
accel = (calibration_data >> 2) & 0x03
mag = calibration_data & 0x03
return sys, gyro, accel, mag

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Being able to get the individual status's might be useful. Change this to a property called calibration_status, still returning the same tuple.

def reset(self):
"""Resets the sensor to default settings."""
self.mode = CONFIG_MODE
Expand Down Expand Up @@ -196,6 +205,14 @@ def mode(self):
"""
return self._read_register(_MODE_REGISTER)

@property
def is_fully_calibrated(self):
"""Returns the status of the sensor calibration."""
sys, gyro, accel, mag = self._get_calibration_data()
if sys < 3 or gyro < 3 or accel < 3 or mag < 3:
return False
return True

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Change name to simply calibrated. And a python-y way to do the check and return is:

return sys == gyro == accel == mag == 0x03

Also - the doc strings for properties should read like a variable, not a function. So instead of describing what it does ("Returns..."), describe what it is ("The status of...").

@mode.setter
def mode(self, new_mode):
self._write_register(_MODE_REGISTER, new_mode)
Expand Down