mode setter enables changes and honors delays. #27
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caternuson
reviewed
May 4, 2019
adafruit_bno055.py
Outdated
| @@ -197,6 +197,14 @@ def mode(self): | |||
| """ | |||
| return self._read_register(_MODE_REGISTER) | |||
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| @mode.setter | |||
| def mode(self, new_mode): | |||
| self._write_register(_MODE_REGISTER, _CONFIG_MODE) # Empirically necessary | |||
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_CONFIG_MODE is not defined, needs to be CONFIG_MODE
adafruit_bno055.py
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| @mode.setter | ||
| def mode(self, new_mode): | ||
| self._write_register(_MODE_REGISTER, _CONFIG_MODE) # Empirically necessary | ||
| time.sleep_ms(0.02) # Datasheet table 3.6 |
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I think this needs to be time.sleep(0.02).
adafruit_bno055.py
Outdated
| def mode(self, new_mode): | ||
| self._write_register(_MODE_REGISTER, _CONFIG_MODE) # Empirically necessary | ||
| time.sleep_ms(0.02) # Datasheet table 3.6 | ||
| if new_mode != _CONFIG_MODE: |
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Same here for _CONFIG_MODE
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You are right. Now updated. |
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Looks good. Tested: Adafruit CircuitPython 3.1.2 on 2019-01-07; Adafruit ItsyBitsy M4 Express with samd51g19
>>> import adafruit_bno055
>>> from busio import I2C
>>> from board import SDA, SCL
>>> i2c = I2C(SCL, SDA)
>>> imu = adafruit_bno055.BNO055(i2c)
>>> imu.mode
12
>>> imu.mode = 5
>>> imu.mode
5
>>> |
caternuson
approved these changes
May 9, 2019
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May 10, 2019
Updating https://github.com/adafruit/Adafruit_CircuitPython_ADS1x15 to 2.0.0 from 1.0.2: > Merge pull request adafruit/Adafruit_CircuitPython_ADS1x15#28 from caternuson/iss26_continuous > Merge pull request adafruit/Adafruit_CircuitPython_ADS1x15#31 from dherrada/master Updating https://github.com/adafruit/Adafruit_CircuitPython_AMG88xx to 1.1.3 from 1.1.2: > Merge pull request adafruit/Adafruit_CircuitPython_AMG88xx#14 from dherrada/master Updating https://github.com/adafruit/Adafruit_CircuitPython_BNO055 to 3.0.6 from 3.0.5: > Merge pull request adafruit/Adafruit_CircuitPython_BNO055#27 from peterhinch/mode-fix > Merge pull request adafruit/Adafruit_CircuitPython_BNO055#25 from peterhinch/issues_23_24 Updating https://github.com/adafruit/Adafruit_CircuitPython_IRRemote to 3.3.2 from 3.3.1: > Merge pull request adafruit/Adafruit_CircuitPython_IRRemote#23 from dherrada/master Updating https://github.com/adafruit/Adafruit_CircuitPython_LIS3DH to 4.3.5 from 4.3.4: > Merge pull request adafruit/Adafruit_CircuitPython_LIS3DH#50 from dherrada/master Updating https://github.com/adafruit/Adafruit_CircuitPython_MAX7219 to 1.2.1 from 1.2.0: > Merge pull request adafruit/Adafruit_CircuitPython_MAX7219#19 from dherrada/master Updating https://github.com/adafruit/Adafruit_CircuitPython_MLX90393 to 1.2.1 from 1.2.0: > Merge pull request adafruit/Adafruit_CircuitPython_MLX90393#9 from dherrada/master Updating https://github.com/adafruit/Adafruit_CircuitPython_MPL3115A2 to 1.1.3 from 1.1.2: > Merge pull request adafruit/Adafruit_CircuitPython_MPL3115A2#5 from dherrada/master Updating https://github.com/adafruit/Adafruit_CircuitPython_MPR121 to 2.0.2 from 2.0.1: > Merge pull request adafruit/Adafruit_CircuitPython_MPR121#18 from dherrada/master Updating https://github.com/adafruit/Adafruit_CircuitPython_PyPortal to 3.0.1 from 3.0.0: > Merge pull request adafruit/Adafruit_CircuitPython_PyPortal#33 from ChewyTurtle/master Updating https://github.com/adafruit/Adafruit_CircuitPython_SI5351 to 1.1.3 from 1.1.2: > Merge pull request adafruit/Adafruit_CircuitPython_SI5351#5 from dherrada/master Updating https://github.com/adafruit/Adafruit_CircuitPython_SSD1306 to 2.6.3 from 2.6.2: > Merge pull request adafruit/Adafruit_CircuitPython_SSD1306#25 from dherrada/master Updating https://github.com/adafruit/Adafruit_CircuitPython_AVRprog to 1.1.3 from 1.1.2: > Merge pull request adafruit/Adafruit_CircuitPython_AVRprog#8 from dherrada/master
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This fixes two issues with the mode setter.
Firstly, as per issue #26, it is necessary to set
_CONFIG_MODEprior to making any other mode change. The datasheet is misleading on this but it is empirically necessary.Secondly the datasheet mandates delays after setting and clearing
_CONFIG_MODE.Please note that I have no means of running CircuitPython: I have tested this code against MicroPython only.