Merge pull request #51 from adafruit/accel_config

Added ability to configure accelerometer

adafruit_bno055.py

@@ -56,12 +56,71 @@ M4G_MODE = const(0x0A)
 NDOF_FMC_OFF_MODE = const(0x0B)
 NDOF_MODE = const(0x0C)
 
+ACCEL_2G = const(0x00)  # For accel_range property
+ACCEL_4G = const(0x01)  # Default
+ACCEL_8G = const(0x02)
+ACCEL_16G = const(0x03)
+ACCEL_7_81HZ = const(0x00)  # For accel_bandwidth property
+ACCEL_15_63HZ = const(0x04)
+ACCEL_31_25HZ = const(0x08)
+ACCEL_62_5HZ = const(0x0C)  # Default
+ACCEL_125HZ = const(0x10)
+ACCEL_250HZ = const(0x14)
+ACCEL_500HZ = const(0x18)
+ACCEL_1000HZ = const(0x1C)
+ACCEL_NORMAL_MODE = const(0x00)  # Default. For accel_mode property
+ACCEL_SUSPEND_MODE = const(0x20)
+ACCEL_LOWPOWER1_MODE = const(0x40)
+ACCEL_STANDBY_MODE = const(0x60)
+ACCEL_LOWPOWER2_MODE = const(0x80)
+ACCEL_DEEPSUSPEND_MODE = const(0xA0)
+
+GYRO_2000_DPS = const(0x00)  # Default. For gyro_range property
+GYRO_1000_DPS = const(0x01)
+GYRO_500_DPS = const(0x02)
+GYRO_250_DPS = const(0x03)
+GYRO_125_DPS = const(0x04)
+GYRO_523HZ = const(0x00)  # For gyro_bandwidth property
+GYRO_230HZ = const(0x08)
+GYRO_116HZ = const(0x10)
+GYRO_47HZ = const(0x18)
+GYRO_23HZ = const(0x20)
+GYRO_12HZ = const(0x28)
+GYRO_64HZ = const(0x30)
+GYRO_32HZ = const(0x38)  # Default
+GYRO_NORMAL_MODE = const(0x00)  # Default. For gyro_mode property
+GYRO_FASTPOWERUP_MODE = const(0x01)
+GYRO_DEEPSUSPEND_MODE = const(0x02)
+GYRO_SUSPEND_MODE = const(0x03)
+GYRO_ADVANCEDPOWERSAVE_MODE = const(0x04)
+
+MAGNET_2HZ = const(0x00)  # For magnet_rate property
+MAGNET_6HZ = const(0x01)
+MAGNET_8HZ = const(0x02)
+MAGNET_10HZ = const(0x03)
+MAGNET_15HZ = const(0x04)
+MAGNET_20HZ = const(0x05)  # Default
+MAGNET_25HZ = const(0x06)
+MAGNET_30HZ = const(0x07)
+MAGNET_LOWPOWER_MODE = const(0x00)  # For magnet_operation_mode property
+MAGNET_REGULAR_MODE = const(0x08)  # Default
+MAGNET_ENHANCEDREGULAR_MODE = const(0x10)
+MAGNET_ACCURACY_MODE = const(0x18)
+MAGNET_NORMAL_MODE = const(0x00)  # for magnet_power_mode property
+MAGNET_SLEEP_MODE = const(0x20)
+MAGNET_SUSPEND_MODE = const(0x40)
+MAGNET_FORCEMODE_MODE = const(0x60)  # Default
+
 _POWER_NORMAL = const(0x00)
 _POWER_LOW = const(0x01)
 _POWER_SUSPEND = const(0x02)
 
 _MODE_REGISTER = const(0x3D)
 _PAGE_REGISTER = const(0x07)
+_ACCEL_CONFIG_REGISTER = const(0x08)
+_MAGNET_CONFIG_REGISTER = const(0x09)
+_GYRO_CONFIG_0_REGISTER = const(0x0A)
+_GYRO_CONFIG_1_REGISTER = const(0x0B)
 _CALIBRATION_REGISTER = const(0x35)
 _OFFSET_ACCEL_REGISTER = const(0x55)
 _OFFSET_MAGNET_REGISTER = const(0x5B)
@@ -113,7 +172,7 @@ class _ModeStruct(Struct):  # pylint: disable=too-few-public-methods
         obj.mode = last_mode
 
 
-class BNO055:
+class BNO055:  # pylint: disable=too-many-public-methods
     """
     Base class for the BNO055 9DOF IMU sensor.
     """
@@ -126,6 +185,9 @@ class BNO055:
         self._write_register(_POWER_REGISTER, _POWER_NORMAL)
         self._write_register(_PAGE_REGISTER, 0x00)
         self._write_register(_TRIGGER_REGISTER, 0x00)
+        self.accel_range = ACCEL_4G
+        self.gyro_range = GYRO_2000_DPS
+        self.magnet_rate = MAGNET_20HZ
         time.sleep(0.01)
         self.mode = NDOF_MODE
         time.sleep(0.01)
@@ -143,13 +205,8 @@ class BNO055:
     @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 |
         +==================+=======+=========+======+==========+
@@ -181,6 +238,76 @@ class BNO055:
         +------------------+-------+---------+------+----------+
 
         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)
 
@@ -327,6 +454,184 @@ class BNO055:
     def _gravity(self):
         raise NotImplementedError("Must be implemented.")
 
+    @property
+    def accel_range(self):
+        """ Switch the accelerometer range and return the new range. Default value: +/- 4g
+        See table 3-8 in the datasheet.
+        """
+        self._write_register(_PAGE_REGISTER, 0x01)
+        value = self._read_register(_ACCEL_CONFIG_REGISTER)
+        self._write_register(_PAGE_REGISTER, 0x00)
+        return 0b00000011 & value
+
+    @accel_range.setter
+    def accel_range(self, rng=ACCEL_4G):
+        self._write_register(_PAGE_REGISTER, 0x01)
+        value = self._read_register(_ACCEL_CONFIG_REGISTER)
+        masked_value = 0b11111100 & value
+        self._write_register(_ACCEL_CONFIG_REGISTER, masked_value | rng)
+        self._write_register(_PAGE_REGISTER, 0x00)
+
+    @property
+    def accel_bandwidth(self):
+        """ Switch the accelerometer bandwidth and return the new bandwidth. Default value: 62.5 Hz
+        See table 3-8 in the datasheet.
+        """
+        self._write_register(_PAGE_REGISTER, 0x01)
+        value = self._read_register(_ACCEL_CONFIG_REGISTER)
+        self._write_register(_PAGE_REGISTER, 0x00)
+        return 0b00011100 & value
+
+    @accel_bandwidth.setter
+    def accel_bandwidth(self, bandwidth=ACCEL_62_5HZ):
+        if self.mode in [0x08, 0x09, 0x0A, 0x0B, 0x0C]:
+            raise RuntimeError("Mode must not be a fusion mode")
+        self._write_register(_PAGE_REGISTER, 0x01)
+        value = self._read_register(_ACCEL_CONFIG_REGISTER)
+        masked_value = 0b11100011 & value
+        self._write_register(_ACCEL_CONFIG_REGISTER, masked_value | bandwidth)
+        self._write_register(_PAGE_REGISTER, 0x00)
+
+    @property
+    def accel_mode(self):
+        """ Switch the accelerometer mode and return the new mode. Default value: Normal
+        See table 3-8 in the datasheet.
+        """
+        self._write_register(_PAGE_REGISTER, 0x01)
+        value = self._read_register(_ACCEL_CONFIG_REGISTER)
+        self._write_register(_PAGE_REGISTER, 0x00)
+        return 0b11100000 & value
+
+    @accel_mode.setter
+    def accel_mode(self, mode=ACCEL_NORMAL_MODE):
+        if self.mode in [0x08, 0x09, 0x0A, 0x0B, 0x0C]:
+            raise RuntimeError("Mode must not be a fusion mode")
+        self._write_register(_PAGE_REGISTER, 0x01)
+        value = self._read_register(_ACCEL_CONFIG_REGISTER)
+        masked_value = 0b00011111 & value
+        self._write_register(_ACCEL_CONFIG_REGISTER, masked_value | mode)
+        self._write_register(_PAGE_REGISTER, 0x00)
+
+    @property
+    def gyro_range(self):
+        """ Switch the gyroscope range and return the new range. Default value: 2000 dps
+        See table 3-9 in the datasheet.
+        """
+        self._write_register(_PAGE_REGISTER, 0x01)
+        value = self._read_register(_GYRO_CONFIG_0_REGISTER)
+        self._write_register(_PAGE_REGISTER, 0x00)
+        return 0b00000111 & value
+
+    @gyro_range.setter
+    def gyro_range(self, rng=GYRO_2000_DPS):
+        if self.mode in [0x08, 0x09, 0x0A, 0x0B, 0x0C]:
+            raise RuntimeError("Mode must not be a fusion mode")
+        self._write_register(_PAGE_REGISTER, 0x01)
+        value = self._read_register(_GYRO_CONFIG_0_REGISTER)
+        masked_value = 0b00111000 & value
+        self._write_register(_GYRO_CONFIG_0_REGISTER, masked_value | rng)
+        self._write_register(_PAGE_REGISTER, 0x00)
+
+    @property
+    def gyro_bandwidth(self):
+        """ Switch the gyroscope bandwidth and return the new bandwidth. Default value: 32 Hz
+        See table 3-9 in the datasheet.
+        """
+        self._write_register(_PAGE_REGISTER, 0x01)
+        value = self._read_register(_GYRO_CONFIG_0_REGISTER)
+        self._write_register(_PAGE_REGISTER, 0x00)
+        return 0b00111000 & value
+
+    @gyro_bandwidth.setter
+    def gyro_bandwidth(self, bandwidth=GYRO_32HZ):
+        if self.mode in [0x08, 0x09, 0x0A, 0x0B, 0x0C]:
+            raise RuntimeError("Mode must not be a fusion mode")
+        self._write_register(_PAGE_REGISTER, 0x01)
+        value = self._read_register(_GYRO_CONFIG_0_REGISTER)
+        masked_value = 0b00000111 & value
+        self._write_register(_GYRO_CONFIG_0_REGISTER, masked_value | bandwidth)
+        self._write_register(_PAGE_REGISTER, 0x00)
+
+    @property
+    def gyro_mode(self):
+        """ Switch the gyroscope mode and return the new mode. Default value: Normal
+        See table 3-9 in the datasheet.
+        """
+        self._write_register(_PAGE_REGISTER, 0x01)
+        value = self._read_register(_GYRO_CONFIG_1_REGISTER)
+        self._write_register(_PAGE_REGISTER, 0x00)
+        return 0b00000111 & value
+
+    @gyro_mode.setter
+    def gyro_mode(self, mode=GYRO_NORMAL_MODE):
+        if self.mode in [0x08, 0x09, 0x0A, 0x0B, 0x0C]:
+            raise RuntimeError("Mode must not be a fusion mode")
+        self._write_register(_PAGE_REGISTER, 0x01)
+        value = self._read_register(_GYRO_CONFIG_1_REGISTER)
+        masked_value = 0b00000000 & value
+        self._write_register(_GYRO_CONFIG_1_REGISTER, masked_value | mode)
+        self._write_register(_PAGE_REGISTER, 0x00)
+
+    @property
+    def magnet_rate(self):
+        """ Switch the magnetometer data output rate and return the new rate. Default value: 20Hz
+        See table 3-10 in the datasheet.
+        """
+        self._write_register(_PAGE_REGISTER, 0x01)
+        value = self._read_register(_MAGNET_CONFIG_REGISTER)
+        self._write_register(_PAGE_REGISTER, 0x00)
+        return 0b00000111 & value
+
+    @magnet_rate.setter
+    def magnet_rate(self, rate=MAGNET_20HZ):
+        if self.mode in [0x08, 0x09, 0x0A, 0x0B, 0x0C]:
+            raise RuntimeError("Mode must not be a fusion mode")
+        self._write_register(_PAGE_REGISTER, 0x01)
+        value = self._read_register(_MAGNET_CONFIG_REGISTER)
+        masked_value = 0b01111000 & value
+        self._write_register(_MAGNET_CONFIG_REGISTER, masked_value | rate)
+        self._write_register(_PAGE_REGISTER, 0x00)
+
+    @property
+    def magnet_operation_mode(self):
+        """ Switch the magnetometer operation mode and return the new mode. Default value: Regular
+        See table 3-10 in the datasheet.
+        """
+        self._write_register(_PAGE_REGISTER, 0x01)
+        value = self._read_register(_MAGNET_CONFIG_REGISTER)
+        self._write_register(_PAGE_REGISTER, 0x00)
+        return 0b00011000 & value
+
+    @magnet_operation_mode.setter
+    def magnet_operation_mode(self, mode=MAGNET_REGULAR_MODE):
+        if self.mode in [0x08, 0x09, 0x0A, 0x0B, 0x0C]:
+            raise RuntimeError("Mode must not be a fusion mode")
+        self._write_register(_PAGE_REGISTER, 0x01)
+        value = self._read_register(_MAGNET_CONFIG_REGISTER)
+        masked_value = 0b01100111 & value
+        self._write_register(_MAGNET_CONFIG_REGISTER, masked_value | mode)
+        self._write_register(_PAGE_REGISTER, 0x00)
+
+    @property
+    def magnet_mode(self):
+        """ Switch the magnetometer power mode and return the new mode. Default value: Forced
+        See table 3-10 in the datasheet.
+        """
+        self._write_register(_PAGE_REGISTER, 0x01)
+        value = self._read_register(_MAGNET_CONFIG_REGISTER)
+        self._write_register(_PAGE_REGISTER, 0x00)
+        return 0b01100000 & value
+
+    @magnet_mode.setter
+    def magnet_mode(self, mode=MAGNET_FORCEMODE_MODE):
+        if self.mode in [0x08, 0x09, 0x0A, 0x0B, 0x0C]:
+            raise RuntimeError("Mode must not be a fusion mode")
+        self._write_register(_PAGE_REGISTER, 0x01)
+        value = self._read_register(_MAGNET_CONFIG_REGISTER)
+        masked_value = 0b00011111 & value
+        self._write_register(_MAGNET_CONFIG_REGISTER, masked_value | mode)
+        self._write_register(_PAGE_REGISTER, 0x00)
+
     def _write_register(self, register, value):
         raise NotImplementedError("Must be implemented.")
 

docs/conf.py

@@ -15,7 +15,7 @@ extensions = ["sphinx.ext.autodoc", "sphinx.ext.intersphinx", "sphinx.ext.viewco
 # 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),