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Merge pull request #51 from adafruit/accel_config
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Added ability to configure accelerometer
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@evaherrada
evaherrada committed Aug 6, 2020
2 parents 2064bdb + 8f165ab commit 7f6d9fc
Showing 1 changed file with 241 additions and 1 deletion.
242 changes: 241 additions & 1 deletion adafruit_bno055.py
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Original file line number Diff line number Diff line change
Expand Up @@ -56,12 +56,71 @@
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)
Expand Down Expand Up @@ -113,7 +172,7 @@ def __set__(self, obj, value):
obj.mode = last_mode


class BNO055:
class BNO055: # pylint: disable=too-many-public-methods
"""
Base class for the BNO055 9DOF IMU sensor.
"""
Expand All @@ -126,6 +185,9 @@ def __init__(self):
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)
Expand Down Expand Up @@ -392,6 +454,184 @@ def gravity(self):
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.")

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