Mercurial > micropython-bno055

changeset 0:b2ba261d8c5e draft default tip

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Initial commit
author Radomir Dopieralski <sheep-devel@sheep.art.pl>
date Thu, 09 Feb 2017 00:05:30 +0100
parents
children
files bno055.py functools.py
diffstat 2 files changed, 143 insertions(+), 0 deletions(-) [+]
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line diff
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/bno055.py	Thu Feb 09 00:05:30 2017 +0100
@@ -0,0 +1,117 @@
+from micropython import const
+import ustruct
+import utime
+from functools import partial
+
+
+_CHIP_ID = const(0xa0)
+
+CONFIG_MODE = const(0x00)
+ACCONLY_MODE = const(0x01)
+MAGONLY_MODE = const(0x02)
+GYRONLY_MODE = const(0x03)
+ACCMAG_MODE = const(0x04)
+ACCGYRO_MODE = const(0x05)
+MAGGYRO_MODE = const(0x06)
+AMG_MODE = const(0x07)
+IMUPLUS_MODE = const(0x08)
+COMPASS_MODE = const(0x09)
+M4G_MODE = const(0x0a)
+NDOF_FMC_OFF_MODE = const(0x0b)
+NDOF_MODE = const(0x0c)
+
+_POWER_NORMAL = const(0x00)
+_POWER_LOW = const(0x01)
+_POWER_SUSPEND = const(0x02)
+
+
+class BNO055:
+    """
+    Driver for the BNO055 9DOF IMU sensor.
+
+    Example::
+
+        import bno055
+        from machine import I2C, Pin
+
+        i2c = I2C(-1, Pin(5), Pin(4), timeout=1000)
+        s = bno055.BNO055(i2c)
+        print(s.temperature())
+        print(s.euler())
+    """
+
+    def __init__(self, i2c, address=0x28):
+        self.i2c = i2c
+        self.address = address
+        self.init()
+
+    def _registers(self, register, struct, value=None, scale=1):
+        if value is None:
+            size = ustruct.calcsize(struct)
+            data = self.i2c.readfrom_mem(self.address, register, size)
+            value = ustruct.unpack(struct, data)
+            if scale != 1:
+                value = tuple(v * scale for v in value)
+            return value
+        if scale != 1:
+            value = tuple(v / scale for v in value)
+        data = ustruct.pack(struct, *value)
+        self.i2c.writeto_mem(self.address, register, data)
+
+    def _register(self, value=None, register=0x00, struct='B'):
+        if value is None:
+            return self._registers(register, struct=struct)[0]
+        self._registers(register, struct=struct, value=(value,))
+
+    _chip_id = partial(_register, register=0x00, value=None)
+    _power_mode = partial(_register, register=0x3e)
+    _system_trigger = partial(_register, register=0x3f)
+    _page_id = partial(_register, register=0x07)
+    operation_mode = partial(_register, register=0x3d)
+    temperature = partial(_register, register=0x34, value=None)
+    accelerometer = partial(_registers, register=0x08, struct='<hhh',
+                            value=None, scale=1/100)
+    magnetometer = partial(_registers, register=0x0e, struct='<hhh',
+                           value=None, scale=1/16)
+    gyroscope = partial(_registers, register=0x14, struct='<hhh',
+                        value=None, scale=1/900)
+    euler = partial(_registers, register=0x1a, struct='<hhh',
+                    value=None, scale=1/16)
+    quaternion = partial(_registers, register=0x20, struct='<hhhh',
+                         value=None, scale=1/(1<<14))
+    linear_acceleration = partial(_registers, register=0x28, struct='<hhh',
+                                  value=None, scale=1/100)
+    gravity = partial(_registers, register=0x2e, struct='<hhh',
+                      value=None, scale=1/100)
+
+    def init(self, mode=NDOF_MODE):
+        chip_id = self._chip_id()
+        if chip_id != _CHIP_ID:
+            raise RuntimeError("bad chip id (%x != %x)" % (chip_id, _CHIP_ID))
+        self.reset()
+        self._power_mode(_POWER_NORMAL)
+        self._page_id(0)
+        self._system_trigger(0x00)
+        self.operation_mode(mode)
+        utime.sleep_ms(100) # wait for the first measurement
+
+    def reset(self):
+        self.operation_mode(CONFIG_MODE)
+        self._system_trigger(0x20)
+        while True:
+            utime.sleep_ms(1)
+            try:
+                chip_id = self._chip_id()
+            except OSError as e:
+                if e.args[0] != 19: # errno 19 ENODEV
+                    raise
+                chip_id = 0
+            if chip_id == _CHIP_ID:
+                return
+
+    def use_external_crystal(self, value):
+        last_mode = self.operation_mode()
+        self.operation_mode(CONFIG_MODE)
+        self._page_id(0)
+        self._system_trigger(0x80 if value else 0x00)
+        self.operation_mode(last_mode)
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/functools.py	Thu Feb 09 00:05:30 2017 +0100
@@ -0,0 +1,26 @@
+def partial(func, *args, **kwargs):
+    def _partial(*more_args, **more_kwargs):
+        kw = kwargs.copy()
+        kw.update(more_kwargs)
+        return func(*(args + more_args), **kw)
+    return _partial
+
+
+def update_wrapper(wrapper, wrapped):
+    # Dummy impl
+    return wrapper
+
+
+def wraps(wrapped):
+    # Dummy impl
+    return lambda x: x
+
+def reduce(function, iterable, initializer=None):
+    it = iter(iterable)
+    if initializer is None:
+        value = next(it)
+    else:
+        value = initializer
+    for element in it:
+        value = function(value, element)
+    return value