Merge pull request #51 from adafruit/accel_config

Added ability to configure accelerometer

adafruit_bno055.py

@@ -205,13 +205,8 @@ class BNO055:  # pylint: disable=too-many-public-methods
     @property
     def mode(self):
         """
-        Switch the mode of operation and return the previous mode.
-
-        Mode of operation defines which sensors are enabled and whether the
-        measurements are absolute or relative.
-        If a sensor is disabled, it will return an empty tuple.
-
         legend: x=on, -=off
+
         +------------------+-------+---------+------+----------+
         | Mode             | Accel | Compass | Gyro | Absolute |
         +==================+=======+=========+======+==========+
@@ -243,6 +238,76 @@ class BNO055:  # pylint: disable=too-many-public-methods
         +------------------+-------+---------+------+----------+
 
         The default mode is ``NDOF_MODE``.
+
+        | You can set the mode using the line below:
+        | ``sensor.mode = adafruit_bno055.ACCONLY_MODE``
+        | replacing ``ACCONLY_MODE`` with the mode you want to use
+
+        .. data:: CONFIG_MODE
+
+           This mode is used to configure BNO, wherein all output data is reset to zero and sensor
+           fusion is halted.
+
+        .. data:: ACCONLY_MODE
+
+           In this mode, the BNO055 behaves like a stand-alone acceleration sensor. In this mode the
+           other sensors (magnetometer, gyro) are suspended to lower the power consumption.
+
+        .. data:: MAGONLY_MODE
+
+           In MAGONLY mode, the BNO055 behaves like a stand-alone magnetometer, with acceleration
+           sensor and gyroscope being suspended.
+
+        .. data:: GYRONLY_MODE
+
+           In GYROONLY mode, the BNO055 behaves like a stand-alone gyroscope, with acceleration
+           sensor and magnetometer being suspended.
+
+        .. data:: ACCMAG_MODE
+
+           Both accelerometer and magnetometer are switched on, the user can read the data from
+           these two sensors.
+
+        .. data:: ACCGYRO_MODE
+
+           Both accelerometer and gyroscope are switched on; the user can read the data from these
+           two sensors.
+
+        .. data:: MAGGYRO_MODE
+
+           Both magnetometer and gyroscope are switched on, the user can read the data from these
+           two sensors.
+
+        .. data:: AMG_MODE
+
+           All three sensors accelerometer, magnetometer and gyroscope are switched on.
+
+        .. data:: IMUPLUS_MODE
+
+           In the IMU mode the relative orientation of the BNO055 in space is calculated from the
+           accelerometer and gyroscope data. The calculation is fast (i.e. high output data rate).
+
+        .. data:: COMPASS_MODE
+
+           The COMPASS mode is intended to measure the magnetic earth field and calculate the
+           geographic direction.
+
+        .. data:: M4G_MODE
+
+           The M4G mode is similar to the IMU mode, but instead of using the gyroscope signal to
+           detect rotation, the changing orientation of the magnetometer in the magnetic field is
+           used.
+
+        .. data:: NDOF_FMC_OFF_MODE
+
+           This fusion mode is same as NDOF mode, but with the Fast Magnetometer Calibration turned
+           ‘OFF’.
+
+        .. data:: NDOF_MODE
+
+           This is a fusion mode with 9 degrees of freedom where the fused absolute orientation data
+           is calculated from accelerometer, gyroscope and the magnetometer.
+
         """
         return self._read_register(_MODE_REGISTER)
 
@@ -632,7 +697,9 @@ class BNO055_UART(BNO055):
         if not isinstance(data, bytes):
             data = bytes([data])
         self._uart.write(bytes([0xAA, 0x00, register, len(data)]) + data)
-        time.sleep(0.1)
+        now = time.monotonic()
+        while self._uart.in_waiting < 2 and time.monotonic() - now < 0.25:
+            pass
         resp = self._uart.read(self._uart.in_waiting)
         if len(resp) < 2:
             raise OSError("UART access error.")
@@ -640,9 +707,16 @@ class BNO055_UART(BNO055):
             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)
+        i = 0
+        while i < 3:
+            self._uart.write(bytes([0xAA, 0x01, register, length]))
+            now = time.monotonic()
+            while self._uart.in_waiting < length + 2 and time.monotonic() - now < 0.1:
+                pass
+            resp = self._uart.read(self._uart.in_waiting)
+            if len(resp) >= 2 and resp[0] == 0xBB:
+                break
+            i += 1
         if len(resp) < 2:
             raise OSError("UART access error.")
         if resp[0] != 0xBB:

docs/conf.py

@@ -10,16 +10,12 @@ sys.path.insert(0, os.path.abspath(".."))
 # Add any Sphinx extension module names here, as strings. They can be
 # extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
 # ones.
-extensions = [
-    "sphinx.ext.autodoc",
-    "sphinx.ext.intersphinx",
-    "sphinx.ext.viewcode",
-]
+extensions = ["sphinx.ext.autodoc", "sphinx.ext.intersphinx", "sphinx.ext.viewcode"]
 
 # Uncomment the below if you use native CircuitPython modules such as
 # digitalio, micropython and busio. List the modules you use. Without it, the
 # autodoc module docs will fail to generate with a warning.
-# autodoc_mock_imports = ["adafruit_bus_device", "micropython", "adafruit_register"]
+autodoc_mock_imports = ["adafruit_bus_device", "micropython", "adafruit_register"]
 
 intersphinx_mapping = {
     "python": ("https://docs.python.org/3.4", None),
@@ -144,7 +140,7 @@ latex_documents = [
         "Adafruit BNO055 Library Documentation",
         "Radomir Dopieralski",
         "manual",
-    ),
+    )
 ]
 
 # -- Options for manual page output ---------------------------------------
@@ -175,5 +171,5 @@ texinfo_documents = [
         "AdafruitBNO055Library",
         "One line description of project.",
         "Miscellaneous",
-    ),
+    )
 ]

examples/bno055_i2c-gpio_simpletest.py

@@ -0,0 +1,35 @@
+"""
+This example demonstrates how to instantiate the
+Adafruit BNO055 Sensor using this library and just
+the I2C bus number.
+This example will only work on a Raspberry Pi
+and does require the i2c-gpio kernel module to be
+installed and enabled. Most Raspberry Pis will
+already have it installed, however most do not
+have it enabled. You will have to manually enable it
+"""
+
+import time
+from adafruit_extended_bus import ExtendedI2C as I2C
+import adafruit_bno055
+
+# To enable i2c-gpio, add the line `dtoverlay=i2c-gpio` to /boot/config.txt
+# Then reboot the pi
+
+# Create library object using our Extended Bus I2C port
+# Use `ls /dev/i2c*` to find out what i2c devices are connected
+i2c = I2C(1)  # Device is /dev/i2c-1
+sensor = adafruit_bno055.BNO055_I2C(i2c)
+
+while True:
+    print("Temperature: {} degrees C".format(sensor.temperature))
+    print("Accelerometer (m/s^2): {}".format(sensor.acceleration))
+    print("Magnetometer (microteslas): {}".format(sensor.magnetic))
+    print("Gyroscope (rad/sec): {}".format(sensor.gyro))
+    print("Euler angle: {}".format(sensor.euler))
+    print("Quaternion: {}".format(sensor.quaternion))
+    print("Linear acceleration (m/s^2): {}".format(sensor.linear_acceleration))
+    print("Gravity (m/s^2): {}".format(sensor.gravity))
+    print()
+
+    time.sleep(1)