Added ability to configure accelerometer

[evaherrada]

I can do this with the other sensors as well if you'd like me to.

[evaherrada]

Something odd is going on with github actions. Tested it on this PR, another PR on this library, and a PR on a different circuitpython library and got the same failure. I'll take a look at it.

Edit: I guess it fixed itself

[caternuson]

CircuitPython libraries favor using properties instead of getter/setter functions, see here:
https://circuitpython.readthedocs.io/en/5.3.x/docs/design_guide.html#getters-setters

So you are essentially wanting to add 3 properties:

• rng (or maybe acc_range or g-range?)
• bandwidth
• acc_mode

There are already several properties defined in this library you can use as a reference.

Also, be careful about Page 0 vs. Page 1 registers. You want to make sure you are accessing register 0x08 from Page 1. I'm not seeing anything that currently access anything in Page 1. But there is at least a _PAGE_REGISTER const already defined. And a few places where it is forced to Page 0.

[evaherrada]

@caternuson Thanks for taking a look at this. I'll make those changes now.

[evaherrada]

@caternuson Do you think it'd be worth adding the configuration for the gyro and magnetometer? It should be pretty much just copying and pasting the current code I've got (I've made the changes you asked, just have to test).

[caternuson]

Sure. Might as well. To keep things clear as to what sensor a parameter is related to, how about these naming prefixes?

• accel_
• gyro_
• magnet_

ex: accel_range, accel_bandwidth, accel_mode, etc.

[evaherrada]

@caternuson Yeah, I think that makes sense

[evaherrada]

@caternuson I have tested this and it does work well. The only issue arises when you're trying to use more than one non-fusion mode in the same run since the registers can't be written to even after the mode is switched. I seem to recall encountering this a few months ago, and I thought the issue was on the side of the bno055, but I could be completely misremembering.

[caternuson]

Your getters change to Page 1 then set back to Page 0. But none of the setters do that. Is that OK?

[evaherrada]

Your getters change to Page 1 then set back to Page 0. But none of the setters do that. Is that OK?

I think so. That being said, I'd feel better about the chances this could cause an issue later on if I had it change back to page 0, so I'll do that.

[caternuson]

Ah - just noticed the return type is string, because of use of bin(). It's better to have things be symmetric. That is, the getter and setter should be of the same type. For example, this should work:

Adafruit CircuitPython 5.3.0 on 2020-04-29; Adafruit ItsyBitsy M4 Express with samd51g19
>>> import board
>>> import adafruit_bno055
>>> bno = adafruit_bno055.BNO055_I2C(board.I2C())
>>> bno.accel_range
'0b1'
>>> range = bno.accel_range
>>> bno.accel_range = range
Traceback (most recent call last):
  File "<stdin>", line 1, in <module>
  File "adafruit_bno055.py", line 407, in accel_range
TypeError: can't convert 'int' object to str implicitly
>>> 

It also allows for comparisons, ex:

>>> adafruit_bno055.ACCEL_4G
1
>>> bno.accel_range
'0b1'
>>> bno.accel_range == adafruit_bno055.ACCEL_4G
False
>>> 

That should have been True.

[evaherrada]

@caternuson Ah, yeah. That definitely makes sense. I was wanting to display it 'visually' in binary since it is a lot easier to see what's going on that way, but it's definitely a lot better for it to return an int.

[caternuson]

One more suggestion added. But those last updates are working better:

Adafruit CircuitPython 5.3.0 on 2020-04-29; Adafruit ItsyBitsy M4 Express with samd51g19
>>> import board
>>> import adafruit_bno055
>>> bno = adafruit_bno055.BNO055_I2C(board.I2C())
>>> range = bno.accel_range
>>> bno.accel_range = range
>>> bno.accel_range == adafruit_bno055.ACCEL_4G
True
>>> 

[caternuson]

Cool. OK, calling it good at this point. Thanks for all the updates.