Add UART support

adafruit_bno055.py

@@ -31,6 +31,7 @@
 * Author(s): Radomir Dopieralski
 """
 import time
+import struct
 
 from micropython import const
 from adafruit_bus_device.i2c_device import I2CDevice
@@ -114,33 +115,10 @@ def __set__(self, obj, value):
 
 class BNO055:
     """
-    Driver for the BNO055 9DOF IMU sensor.
+    Base class for the BNO055 9DOF IMU sensor.
     """
 
-    _temperature = _ReadOnlyUnaryStruct(0x34, "b")
-    _acceleration = _ScaledReadOnlyStruct(0x08, "<hhh", 1 / 100)
-    _magnetic = _ScaledReadOnlyStruct(0x0E, "<hhh", 1 / 16)
-    _gyro = _ScaledReadOnlyStruct(0x14, "<hhh", 0.001090830782496456)
-    _euler = _ScaledReadOnlyStruct(0x1A, "<hhh", 1 / 16)
-    _quaternion = _ScaledReadOnlyStruct(0x20, "<hhhh", 1 / (1 << 14))
-    _linear_acceleration = _ScaledReadOnlyStruct(0x28, "<hhh", 1 / 100)
-    _gravity = _ScaledReadOnlyStruct(0x2E, "<hhh", 1 / 100)
-
-    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)
+    def __init__(self):
         chip_id = self._read_register(_ID_REGISTER)
         if chip_id != _CHIP_ID:
             raise RuntimeError("bad chip id (%x != %x)" % (chip_id, _CHIP_ID))
@@ -152,18 +130,6 @@ def __init__(self, i2c, address=0x28):
         self.mode = NDOF_MODE
         time.sleep(0.01)
 
-    def _write_register(self, register, value):
-        self.buffer[0] = register
-        self.buffer[1] = value
-        with self.i2c_device as i2c:
-            i2c.write(self.buffer)
-
-    def _read_register(self, register):
-        self.buffer[0] = register
-        with self.i2c_device as i2c:
-            i2c.write_then_readinto(self.buffer, self.buffer, out_end=1, in_start=1)
-        return self.buffer[1]
-
     def _reset(self):
         """Resets the sensor to default settings."""
         self.mode = CONFIG_MODE
@@ -266,6 +232,10 @@ def temperature(self):
         """Measures the temperature of the chip in degrees Celsius."""
         return self._temperature
 
+    @property
+    def _temperature(self):
+        raise NotImplementedError("Must be implemented.")
+
     @property
     def acceleration(self):
         """Gives the raw accelerometer readings, in m/s.
@@ -275,6 +245,10 @@ def acceleration(self):
             return self._acceleration
         return (None, None, None)
 
+    @property
+    def _acceleration(self):
+        raise NotImplementedError("Must be implemented.")
+
     @property
     def magnetic(self):
         """Gives the raw magnetometer readings in microteslas.
@@ -284,6 +258,10 @@ def magnetic(self):
             return self._magnetic
         return (None, None, None)
 
+    @property
+    def _magnetic(self):
+        raise NotImplementedError("Must be implemented.")
+
     @property
     def gyro(self):
         """Gives the raw gyroscope reading in radians per second.
@@ -293,6 +271,10 @@ def gyro(self):
             return self._gyro
         return (None, None, None)
 
+    @property
+    def _gyro(self):
+        raise NotImplementedError("Must be implemented.")
+
     @property
     def euler(self):
         """Gives the calculated orientation angles, in degrees.
@@ -302,6 +284,10 @@ def euler(self):
             return self._euler
         return (None, None, None)
 
+    @property
+    def _euler(self):
+        raise NotImplementedError("Must be implemented.")
+
     @property
     def quaternion(self):
         """Gives the calculated orientation as a quaternion.
@@ -311,6 +297,10 @@ def quaternion(self):
             return self._quaternion
         return (None, None, None, None)
 
+    @property
+    def _quaternion(self):
+        raise NotImplementedError("Must be implemented.")
+
     @property
     def linear_acceleration(self):
         """Returns the linear acceleration, without gravity, in m/s.
@@ -320,6 +310,10 @@ def linear_acceleration(self):
             return self._linear_acceleration
         return (None, None, None)
 
+    @property
+    def _linear_acceleration(self):
+        raise NotImplementedError("Must be implemented.")
+
     @property
     def gravity(self):
         """Returns the gravity vector, without acceleration in m/s.
@@ -328,3 +322,185 @@ def gravity(self):
         if self.mode in [0x09, 0x0B, 0x0C]:
             return self._gravity
         return (None, None, None)
+
+    @property
+    def _gravity(self):
+        raise NotImplementedError("Must be implemented.")
+
+    def _write_register(self, register, value):
+        raise NotImplementedError("Must be implemented.")
+
+    def _read_register(self, register):
+        raise NotImplementedError("Must be implemented.")
+
+
+class BNO055_I2C(BNO055):
+    """
+    Driver for the BNO055 9DOF IMU sensor via I2C.
+    """
+
+    _temperature = _ReadOnlyUnaryStruct(0x34, "b")
+    _acceleration = _ScaledReadOnlyStruct(0x08, "<hhh", 1 / 100)
+    _magnetic = _ScaledReadOnlyStruct(0x0E, "<hhh", 1 / 16)
+    _gyro = _ScaledReadOnlyStruct(0x14, "<hhh", 0.001090830782496456)
+    _euler = _ScaledReadOnlyStruct(0x1A, "<hhh", 1 / 16)
+    _quaternion = _ScaledReadOnlyStruct(0x20, "<hhhh", 1 / (1 << 14))
+    _linear_acceleration = _ScaledReadOnlyStruct(0x28, "<hhh", 1 / 100)
+    _gravity = _ScaledReadOnlyStruct(0x2E, "<hhh", 1 / 100)
+
+    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.buffer = bytearray(2)
+        self.i2c_device = I2CDevice(i2c, address)
+        super().__init__()
+
+    def _write_register(self, register, value):
+        self.buffer[0] = register
+        self.buffer[1] = value
+        with self.i2c_device as i2c:
+            i2c.write(self.buffer)
+
+    def _read_register(self, register):
+        self.buffer[0] = register
+        with self.i2c_device as i2c:
+            i2c.write_then_readinto(self.buffer, self.buffer, out_end=1, in_start=1)
+        return self.buffer[1]
+
+
+class BNO055_UART(BNO055):
+    """
+    Driver for the BNO055 9DOF IMU sensor via UART.
+    """
+
+    def __init__(self, uart):
+        self._uart = uart
+        self._uart.baudrate = 115200
+        super().__init__()
+
+    def _write_register(self, register, data):  # pylint: disable=arguments-differ
+        if not isinstance(data, bytes):
+            data = bytes([data])
+        self._uart.write(bytes([0xAA, 0x00, register, len(data)]) + data)
+        time.sleep(0.1)
+        resp = self._uart.read(self._uart.in_waiting)
+        if len(resp) < 2:
+            raise OSError("UART access error.")
+        if resp[0] != 0xEE or resp[1] != 0x01:
+            raise RuntimeError("UART write error: {}".format(resp[1]))
+
+    def _read_register(self, register, length=1):  # pylint: disable=arguments-differ
+        self._uart.write(bytes([0xAA, 0x01, register, length]))
+        time.sleep(0.1)
+        resp = self._uart.read(self._uart.in_waiting)
+        if len(resp) < 2:
+            raise OSError("UART access error.")
+        if resp[0] != 0xBB:
+            raise RuntimeError("UART read error: {}".format(resp[1]))
+        if length > 1:
+            return resp[2:]
+        return int(resp[2])
+
+    @property
+    def _temperature(self):
+        return self._read_register(0x34)
+
+    @property
+    def _acceleration(self):
+        resp = struct.unpack("<hhh", self._read_register(0x08, 6))
+        return tuple([x / 100 for x in resp])
+
+    @property
+    def _magnetic(self):
+        resp = struct.unpack("<hhh", self._read_register(0x0E, 6))
+        return tuple([x / 16 for x in resp])
+
+    @property
+    def _gyro(self):
+        resp = struct.unpack("<hhh", self._read_register(0x0E, 6))
+        return tuple([x * 0.001090830782496456 for x in resp])
+
+    @property
+    def _euler(self):
+        resp = struct.unpack("<hhh", self._read_register(0x1A, 6))
+        return tuple([x / 16 for x in resp])
+
+    @property
+    def _quaternion(self):
+        resp = struct.unpack("<hhhh", self._read_register(0x20, 8))
+        return tuple([x / (1 << 14) for x in resp])
+
+    @property
+    def _linear_acceleration(self):
+        resp = struct.unpack("<hhh", self._read_register(0x28, 6))
+        return tuple([x / 100 for x in resp])
+
+    @property
+    def _gravity(self):
+        resp = struct.unpack("<hhh", self._read_register(0x2E, 6))
+        return tuple([x / 100 for x in resp])
+
+    @property
+    def offsets_accelerometer(self):
+        """Calibration offsets for the accelerometer"""
+        return struct.unpack("<hhh", self._read_register(_OFFSET_ACCEL_REGISTER, 6))
+
+    @offsets_accelerometer.setter
+    def offsets_accelerometer(self, offsets):
+        data = bytearray(6)
+        struct.pack_into("<hhh", data, 0, *offsets)
+        self._write_register(_OFFSET_ACCEL_REGISTER, bytes(data))
+
+    @property
+    def offsets_magnetometer(self):
+        """Calibration offsets for the magnetometer"""
+        return struct.unpack("<hhh", self._read_register(_OFFSET_MAGNET_REGISTER, 6))
+
+    @offsets_magnetometer.setter
+    def offsets_magnetometer(self, offsets):
+        data = bytearray(6)
+        struct.pack_into("<hhh", data, 0, *offsets)
+        self._write_register(_OFFSET_MAGNET_REGISTER, bytes(data))
+
+    @property
+    def offsets_gyroscope(self):
+        """Calibration offsets for the gyroscope"""
+        return struct.unpack("<hhh", self._read_register(_OFFSET_GYRO_REGISTER, 6))
+
+    @offsets_gyroscope.setter
+    def offsets_gyroscope(self, offsets):
+        data = bytearray(6)
+        struct.pack_into("<hhh", data, 0, *offsets)
+        self._write_register(_OFFSET_GYRO_REGISTER, bytes(data))
+
+    @property
+    def radius_accelerometer(self):
+        """Radius for accelerometer (cm?)"""
+        return struct.unpack("<h", self._read_register(_RADIUS_ACCEL_REGISTER, 2))[0]
+
+    @radius_accelerometer.setter
+    def radius_accelerometer(self, radius):
+        data = bytearray(2)
+        struct.pack_into("<h", data, 0, radius)
+        self._write_register(_RADIUS_ACCEL_REGISTER, bytes(data))
+
+    @property
+    def radius_magnetometer(self):
+        """Radius for magnetometer (cm?)"""
+        return struct.unpack("<h", self._read_register(_RADIUS_MAGNET_REGISTER, 2))[0]
+
+    @radius_magnetometer.setter
+    def radius_magnetometer(self, radius):
+        data = bytearray(2)
+        struct.pack_into("<h", data, 0, radius)
+        self._write_register(_RADIUS_MAGNET_REGISTER, bytes(data))

examples/bno055_simpletest.py

@@ -3,8 +3,13 @@
 import busio
 import adafruit_bno055
 
+# Use these lines for I2C
 i2c = busio.I2C(board.SCL, board.SDA)
-sensor = adafruit_bno055.BNO055(i2c)
+sensor = adafruit_bno055.BNO055_I2C(i2c)
+
+# User these lines for UART
+#uart = busio.UART(board.TX, board.RX)
+#sensor = adafruit_bno055.BNO055_UART(uart)
 
 while True:
     print("Temperature: {} degrees C".format(sensor.temperature))

examples/bno055_webgl_demo/server.py

@@ -40,7 +40,7 @@
 i2c = busio.I2C(board.SCL, board.SDA)
 
 # Create the BNO sensor connection.
-bno = adafruit_bno055.BNO055(i2c)
+bno = adafruit_bno055.BNO055_I2C(i2c)
 
 # Application configuration below.  You probably don't need to change these values.