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Add calibration offsets and radii as properties on BNO055 library #30

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Merged
merged 6 commits into from
Jan 22, 2020
Merged

Add calibration offsets and radii as properties on BNO055 library #30

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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
d503a3d
as suggested, remove sleep from set method in ModeStruct
May 7, 2019
28c6685
more natural behavior for single value entities
May 12, 2019
77a8abe
use isinstance() instead of type() check
May 15, 2019
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37 changes: 37 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 +90,26 @@ 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
# single value comes back as a one-element tuple
return result[0] if isinstance(result, tuple) and len(result) == 1 else result

def __set__(self, obj, value):
last_mode = obj.mode
obj.mode = self.mode
# underlying __set__() expects a tuple
set_val = value if isinstance(value, tuple) else (value,)
super().__set__(obj, set_val)
obj.mode = last_mode

class BNO055:
"""
Expand Down Expand Up @@ -118,6 +143,18 @@ 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