require manually enabling. works a treat on feather m4

Author: ladyada

adafruit_bno080/__init__.py

@@ -371,23 +371,33 @@ def magnetic(self):
             return self._readings[BNO_REPORT_MAGNETIC_FIELD]
         except KeyError:
             raise RuntimeError("No magfield report found, is it enabled?") from None
+
     @property
     def quaternion(self):
         """A quaternion representing the current rotation vector"""
         self._process_available_packets()
-        return self._readings[BNO_REPORT_ROTATION_VECTOR]
+        try:
+            return self._readings[BNO_REPORT_ROTATION_VECTOR]
+        except KeyError:
+            raise RuntimeError("No quaternion report found, is it enabled?") from None
 
     @property
     def geomagnetic_quaternion(self):
         """A quaternion representing the current geomagnetic rotation vector"""
         self._process_available_packets()
-        return self._readings[BNO_REPORT_GEOMAGNETIC_ROTATION_VECTOR]
+        try:
+            return self._readings[BNO_REPORT_GEOMAGNETIC_ROTATION_VECTOR]
+        except KeyError:
+            raise RuntimeError("No geomag quaternion report found, is it enabled?") from None
 
     @property
     def steps(self):
         """The number of steps detected since the sensor was initialized"""
         self._process_available_packets()
-        return self._readings[BNO_REPORT_STEP_COUNTER]
+        try:
+            return self._readings[BNO_REPORT_STEP_COUNTER]
+        except KeyError:
+            raise RuntimeError("No steps report found, is it enabled?") from None
 
     @property
     def linear_acceleration(self):
@@ -428,10 +438,13 @@ def shake(self):
         this property is not guaranteed to reflect the shake state at the moment it is read
         """
         self._process_available_packets()
-        shake_detected = self._readings[BNO_REPORT_SHAKE_DETECTOR]
-        # clear on read
-        if shake_detected:
-            self._readings[BNO_REPORT_SHAKE_DETECTOR] = False
+        try:
+            shake_detected = self._readings[BNO_REPORT_SHAKE_DETECTOR]
+            # clear on read
+            if shake_detected:
+                self._readings[BNO_REPORT_SHAKE_DETECTOR] = False
+        except KeyError:
+            raise RuntimeError("No shake report found, is it enabled?") from None
 
     # # decorator?
     def _process_available_packets(self):

examples/bno080_simpletest.py

@@ -8,22 +8,27 @@
 from adafruit_bno080.i2c import BNO080_I2C
 from digitalio import DigitalInOut
 
-i2c = busio.I2C(board.SCL, board.SDA, frequency=400000)
-reset_pin = DigitalInOut(board.G0)
-bno = BNO080_I2C(i2c, reset=reset_pin)
+i2c = busio.I2C(board.SCL, board.SDA, frequency=800000)
+reset_pin = DigitalInOut(board.D5)
+bno = BNO080_I2C(i2c, reset=reset_pin, debug=False)
 
 bno.enable_feature(adafruit_bno080.BNO_REPORT_ACCELEROMETER)
-#bno.enable_feature(adafruit_bno080.BNO_REPORT_GYROSCOPE)
-#bno.enable_feature(adafruit_bno080.BNO_REPORT_MAGNETIC_FIELD)
+bno.enable_feature(adafruit_bno080.BNO_REPORT_GYROSCOPE)
+bno.enable_feature(adafruit_bno080.BNO_REPORT_MAGNETIC_FIELD)
+bno.enable_feature(adafruit_bno080.BNO_REPORT_LINEAR_ACCELERATION)
+bno.enable_feature(adafruit_bno080.BNO_REPORT_ROTATION_VECTOR)
+bno.enable_feature(adafruit_bno080.BNO_REPORT_GEOMAGNETIC_ROTATION_VECTOR)
+bno.enable_feature(adafruit_bno080.BNO_REPORT_STEP_COUNTER)
+bno.enable_feature(adafruit_bno080.BNO_REPORT_SHAKE_DETECTOR)
 
 while True:
-
+    time.sleep(0.1)
+    
     print("Acceleration:")
     accel_x, accel_y, accel_z = bno.acceleration  # pylint:disable=no-member
     print("X: %0.6f  Y: %0.6f Z: %0.6f  m/s^2" % (accel_x, accel_y, accel_z))
     print("")
 
-    """
     print("Gyro:")
     gyro_x, gyro_y, gyro_z = bno.gyro  # pylint:disable=no-member
     print("X: %0.6f  Y: %0.6f Z: %0.6f rads/s" % (gyro_x, gyro_y, gyro_z))
@@ -45,30 +50,29 @@
         % (linear_accel_x, linear_accel_y, linear_accel_z)
     )
     print("")
+
     print("Rotation Vector Quaternion:")
     quat_i, quat_j, quat_k, quat_real = bno.quaternion  # pylint:disable=no-member
-
     print(
         "I: %0.6f  J: %0.6f K: %0.6f  Real: %0.6f" % (quat_i, quat_j, quat_k, quat_real)
     )
     print("")
+
     print("Geomagnetic Rotation Vector Quaternion:")
     (
         geo_quat_i,
         geo_quat_j,
         geo_quat_k,
         geo_quat_real,
     ) = bno.geomagnetic_quaternion  # pylint:disable=no-member
-
     print(
         "I: %0.6f  J: %0.6f K: %0.6f  Real: %0.6f" % (quat_i, quat_j, quat_k, quat_real)
     )
     print("")
+
     print("Steps detected:", bno.steps)
     print("")
+
     if bno.shake:
         print("SHAKE DETECTED!")
         print("")
-
-    sleep(0.5)
-    """