tweaks, docs

Author: siddacious

README.rst

@@ -68,7 +68,10 @@ Usage Example
     uart = busio.UART(board.TX, board.RX, baudrate=115200, receiver_buffer_size=2048)
     rvc = BNO08x_RVC(uart)
     while True:
-        print("Roll: %2.2f Pitch: %2.2f Yaw: %2.2f Degrees Accel-X: %2.2f Accel-Y: %2.2f Accel-Z: %2.2f m/s^2"%rvc.heading)
+        roll, pitch, yaw, x_accel, y_accel, z_accel = rvc.heading
+        print("Roll: %2.2f Pitch: %2.2f Yaw: %2.2f Degrees" % (roll, pitch, yaw))
+        print("Acceleration X: %2.2f Y: %2.2f Z: %2.2f m/s^2" % (x_accel, y_accel, z_accel))
+        print("")
         time.sleep(0.1)
 
 Contributing

adafruit_bno08x_rvc.py

@@ -6,7 +6,6 @@
 
 A simple helper library for using the UART-RVC mode of the BNO08x IMUs
 
-
 * Author(s): Bryan Siepert
 
 Implementation Notes
@@ -15,40 +14,59 @@
 **Hardware:**
 
 * `Adafruit BNO08x Breakout <https:www.adafruit.com/products/4754>`_
+
 **Software and Dependencies:**
 
 * Adafruit CircuitPython firmware for the supported boards:
   https://github.com/adafruit/circuitpython/releases
-  
+
 """
 import time
 from struct import unpack_from
 
 __version__ = "0.0.0-auto.0"
 __repo__ = "https://github.com/adafruit/Adafruit_CircuitPython_BNO08x_RVC.git"
 
+
 class RVCReadTimeoutError(Exception):
     """Raised if a UART-RVC message cannot be read before the given timeout"""
 
+
 class BNO08x_RVC:
+    """A simple class for reading heading from the BNO08x IMUs using the UART-RVC mode"""
+
     def __init__(self, uart, timeout=1.0):
         self._uart = uart
-        self._debug=True
+        self._debug = True
         self._read_timeout = timeout
 
-    def _parse_frame(self, frame):
+    @staticmethod
+    def _parse_frame(frame):
         heading_frame = unpack_from("<BhhhhhhBBBB", frame)
-        _index, yaw, roll, pitch, x_accel, y_accel, z_accel, _res1, _res2, _res3, _checksum = heading_frame
-        checksum_calc = sum(frame[0:16])%256
+        (
+            _index,
+            yaw,
+            roll,
+            pitch,
+            x_accel,
+            y_accel,
+            z_accel,
+            _res1,
+            _res2,
+            _res3,
+            _checksum,
+        ) = heading_frame
+        checksum_calc = sum(frame[0:16]) % 256
         if checksum_calc != _checksum:
             return None
         yaw *= 0.01
         roll *= 0.01
         pitch *= 0.01
-        x_accel *=  0.0098067
-        y_accel *=  0.0098067
-        z_accel *=  0.0098067
+        x_accel *= 0.0098067
+        y_accel *= 0.0098067
+        z_accel *= 0.0098067
         return (yaw, roll, pitch, x_accel, y_accel, z_accel)
+
     @property
     def heading(self):
         """The current heading made up of
@@ -64,7 +82,7 @@ def heading(self):
         # try to read initial packet start byte
         data = None
         start_time = time.monotonic()
-        while time.monotonic()-start_time < self._read_timeout:
+        while time.monotonic() - start_time < self._read_timeout:
             data = self._uart.read(2)
             # print("data", data)
             if data[0] == 0xAA and data[1] == 0xAA:
@@ -73,4 +91,4 @@ def heading(self):
                 if heading is None:
                     continue
                 return heading
-        raise RVCReadTimeoutError("Unable to read RVC heading message")
+        raise RVCReadTimeoutError("Unable to read RVC heading message")

docs/index.rst

@@ -23,15 +23,9 @@ Table of Contents
 .. toctree::
     :caption: Tutorials
 
-.. todo:: Add any Learn guide links here. If there are none, then simply delete this todo and leave
-    the toctree above for use later.
-
 .. toctree::
     :caption: Related Products
 
-.. todo:: Add any product links here. If there are none, then simply delete this todo and leave
-    the toctree above for use later.
-
 .. toctree::
     :caption: Other Links
 

examples/bno08x_rvc_simpletest.py

@@ -9,6 +9,8 @@
 uart = busio.UART(board.TX, board.RX, baudrate=115200, receiver_buffer_size=2048)
 rvc = BNO08x_RVC(uart)
 while True:
-    print("Roll: %2.2f Pitch: %2.2f Yaw: %2.2f Degrees Accel-X: %2.2f Accel-Y: %2.2f Accel-Z: %2.2f m/s^2"%rvc.heading)
+    roll, pitch, yaw, x_accel, y_accel, z_accel = rvc.heading
+    print("Roll: %2.2f Pitch: %2.2f Yaw: %2.2f Degrees" % (roll, pitch, yaw))
+    print("Acceleration X: %2.2f Y: %2.2f Z: %2.2f m/s^2" % (x_accel, y_accel, z_accel))
+    print("")
     time.sleep(0.1)
-

setup.py

@@ -34,9 +34,7 @@
     # Author details
     author="Adafruit Industries",
     author_email="[email protected]",
-    install_requires=[
-        "Adafruit-Blinka",
-    ],
+    install_requires=["Adafruit-Blinka",],
     # Choose your license
     license="MIT",
     # See https://pypi.python.org/pypi?%3Aaction=list_classifiers
@@ -52,7 +50,7 @@
     ],
     # What does your project relate to?
     keywords="adafruit blinka circuitpython micropython bno08x_rvc IMU RVC UART Hillcrest "
-             "Laboratories Sensor Fusion Heading AHRS",
+    "Laboratories Sensor Fusion Heading AHRS",
     # You can just specify the packages manually here if your project is
     # simple. Or you can use find_packages().
     # TODO: IF LIBRARY FILES ARE A PACKAGE FOLDER,