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Add calibration offsets and radii as properties on BNO055 library #22

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Add calibration offsets and radii as properties on BNO055 library #22

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768f33b
Add calibration offsets and radii as properties on BNO055 library
katlings Feb 26, 2019
0afc334
Add docstrings to calibration value properties
katlings Mar 12, 2019
a85d9c1
add a mode aware Struct (as suggested by @deshipu) and use that to ex…
May 6, 2019
3a88c78
Merge pull request #1 from sjirwin/master
katlings May 6, 2019
d503a3d
as suggested, remove sleep from set method in ModeStruct
May 7, 2019
cf11d8a
Merge pull request #2 from sjirwin/master
katlings May 7, 2019
a1a670d
Merge branch 'master' of github.com:adafruit/Adafruit_CircuitPython_B…
katlings May 7, 2019
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34 changes: 34 additions & 0 deletions adafruit_bno055.py
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Original file line number Diff line number Diff line change
Expand Up @@ -62,6 +62,11 @@
_MODE_REGISTER = const(0x3d)
_PAGE_REGISTER = const(0x07)
_CALIBRATION_REGISTER = const(0x35)
_OFFSET_ACCEL_REGISTER = const(0x55)
_OFFSET_MAGNET_REGISTER = const(0x5b)
_OFFSET_GYRO_REGISTER = const(0x61)
_RADIUS_ACCEL_REGISTER = const(0x67)
_RADIUS_MAGNET_REGISTER = const(0x69)
_TRIGGER_REGISTER = const(0x3f)
_POWER_REGISTER = const(0x3e)
_ID_REGISTER = const(0x00)
Expand All @@ -85,6 +90,23 @@ class _ReadOnlyUnaryStruct(UnaryStruct): # pylint: disable=too-few-public-method
def __set__(self, obj, value):
raise NotImplementedError()

class _ModeStruct(Struct): # pylint: disable=too-few-public-methods
def __init__(self, register_address, struct_format, mode):
super().__init__(register_address, struct_format)
self.mode = mode

def __get__(self, obj, objtype=None):
last_mode = obj.mode
obj.mode = self.mode
result = super().__get__(obj, objtype)
obj.mode = last_mode
return result

def __set__(self, obj, value):
last_mode = obj.mode
obj.mode = self.mode
super().__set__(obj, value)
obj.mode = last_mode

class BNO055:
"""
Expand Down Expand Up @@ -118,6 +140,18 @@ class BNO055:
gravity = _ScaledReadOnlyStruct(0x2e, '<hhh', 1/100)
"""Returns the gravity vector, without acceleration in m/s."""

offsets_accelerometer = _ModeStruct(_OFFSET_ACCEL_REGISTER, '<hhh', CONFIG_MODE)
"""Calibration offsets for the accelerometer"""
offsets_magnetometer = _ModeStruct(_OFFSET_MAGNET_REGISTER, '<hhh', CONFIG_MODE)
"""Calibration offsets for the magnetometer"""
offsets_gyroscope = _ModeStruct(_OFFSET_GYRO_REGISTER, '<hhh', CONFIG_MODE)
"""Calibration offsets for the gyroscope"""

radius_accelerometer = _ModeStruct(_RADIUS_ACCEL_REGISTER, '<h', CONFIG_MODE)
"""Radius for accelerometer (cm?)"""
radius_magnetometer = _ModeStruct(_RADIUS_MAGNET_REGISTER, '<h', CONFIG_MODE)
"""Radius for magnetometer (cm?)"""

def __init__(self, i2c, address=0x28):
self.i2c_device = I2CDevice(i2c, address)
self.buffer = bytearray(2)
Expand Down