adafruit_bno055.py

@@ -56,71 +56,12 @@ 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)
@@ -172,7 +113,7 @@ class _ModeStruct(Struct):  # pylint: disable=too-few-public-methods
         obj.mode = last_mode
 
 
-class BNO055:  # pylint: disable=too-many-public-methods
+class BNO055:
     """
     Base class for the BNO055 9DOF IMU sensor.
     """
@@ -185,9 +126,6 @@ class BNO055:  # pylint: disable=too-many-public-methods
         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)
@@ -205,8 +143,13 @@ class BNO055:  # pylint: disable=too-many-public-methods
     @property
     def mode(self):
         """
-        legend: x=on, -=off
+        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 |
         +==================+=======+=========+======+==========+
@@ -238,76 +181,6 @@ 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)
 
@@ -454,184 +327,6 @@ class BNO055:  # pylint: disable=too-many-public-methods
     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),