From 6f5883876d1f32a63715c6347e64fda004bba9ea Mon Sep 17 00:00:00 2001
From: Radomir Dopieralski <openstack@sheep.art.pl>
Date: Sat, 4 Feb 2017 22:13:45 +0100
Subject: [PATCH] Initial commit

---
 LICENSE            |   2 +-
 README.rst         |  56 +++++++++++---
 adafruit_bno055.py | 182 ++++++++++++++++++++++++++++++++++++++++++++-
 api.rst            |   2 -
 conf.py            |   4 +-
 requirements.txt   |   3 +-
 6 files changed, 227 insertions(+), 22 deletions(-)

diff --git a/LICENSE b/LICENSE
index e096cee..7511d62 100644
--- a/LICENSE
+++ b/LICENSE
@@ -1,6 +1,6 @@
 The MIT License (MIT)
 
-Copyright (c) 2017 Radomir Dopieralski for Adafruit Industries
+Copyright (c) 2017 Radomir Dopieralski, written for Adafruit Industries
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal
diff --git a/README.rst b/README.rst
index f46bbde..c7ebd35 100644
--- a/README.rst
+++ b/README.rst
@@ -1,4 +1,3 @@
-
 Introduction
 ============
 
@@ -6,27 +5,59 @@ Introduction
     :target: https://circuitpython.readthedocs.io/projects/bno055/en/latest/
     :alt: Documentation Status
 
-.. image :: https://badges.gitter.im/adafruit/circuitpython.svg
+.. image:: https://badges.gitter.im/adafruit/circuitpython.svg
     :target: https://gitter.im/adafruit/circuitpython?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge
     :alt: Gitter
 
-TODO
 
 Dependencies
 =============
-This driver depends on:
 
-* `Adafruit CircuitPython <https://github.com/adafruit/circuitpython>`_
-* `Bus Device <https://github.com/adafruit/Adafruit_CircuitPython_BusDevice>`_
+This driver depends on the `Register
+<https://github.com/adafruit/Adafruit_CircuitPython_Register>`_ and `Bus Device
+<https://github.com/adafruit/Adafruit_CircuitPython_BusDevice>`_ libraries.
+Please ensure they are also available on the CircuitPython filesystem.  This is
+easily achieved by downloading `a library and driver bundle
+<https://github.com/adafruit/Adafruit_CircuitPython_Bundle>`_.
 
-Please ensure all dependencies are available on the CircuitPython filesystem.
-This is easily achieved by downloading
-`the Adafruit library and driver bundle <https://github.com/adafruit/Adafruit_CircuitPython_Bundle>`_.
+Usage Notes
+===========
 
-Usage Example
-=============
+Of course, you must import the library to use it:
+
+.. code:: python
+
+    import adafruit_bno055
+
+
+This driver takes an instantiated and active I2C object (from the `nativeio` or
+the `bitbangio` library) as an argument to its constructor.  The way to create
+an I2C object depends on the board you are using. For boards with labeled SCL
+and SDA pins, you can:
+
+.. code:: python
+
+    from nativeio import I2C
+    #from bitbangio import I2C
+    from board import SDA, SCL
+
+    i2c = I2C(SCL, SDA)
+
+Once you have the I2C object, you can create the sensor object:
+
+.. code:: python
+
+    sensor = adafruit_bno055.BNO055(i2c)
+
+
+And then you can start reading the measurements:
+
+.. code:: python
+
+    print(sensor.temperature)
+    print(sensor.euler)
+    print(sensor.gravity)
 
-TODO
 
 Contributing
 ============
@@ -35,6 +66,7 @@ Contributions are welcome! Please read our `Code of Conduct
 <https://github.com/adafruit/Adafruit_CircuitPython_bno055/blob/master/CODE_OF_CONDUCT.md>`_
 before contributing to help this project stay welcoming.
 
+
 API Reference
 =============
 
diff --git a/adafruit_bno055.py b/adafruit_bno055.py
index bc9f9dc..77d6ff4 100644
--- a/adafruit_bno055.py
+++ b/adafruit_bno055.py
@@ -1,6 +1,6 @@
 # The MIT License (MIT)
 #
-# Copyright (c) 2017 Radomir Dopieralski for Adafruit Industries
+# Copyright (c) 2017 Radomir Dopieralski for Adafruit Industries.
 #
 # Permission is hereby granted, free of charge, to any person obtaining a copy
 # of this software and associated documentation files (the "Software"), to deal
@@ -19,11 +19,185 @@
 # LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 # THE SOFTWARE.
+
+
 """
-`adafruit_bno055`
-====================================================
+``adafruit_bno055``
+===================
 
-TODO(description)
+This is a CircuitPython driver for the Bosch BNO055 nine degree of freedom
+inertial measurement unit module with sensor fusion.
 
 * Author(s): Radomir Dopieralski
 """
+
+from micropython import const
+from adafruit_bus_device.i2c_device import I2CDevice
+from adafruit_register.i2c_struct import Struct, UnaryStruct
+import time
+
+
+_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)
+
+_MODE_REGISTER = const(0x3d)
+_PAGE_REGISTER = const(0x07)
+_TRIGGER_REGISTER = const(0x3f)
+_POWER_REGISTER = const(0x3e)
+_ID_REGISTER = const(0x00)
+
+
+class _ScaledReadOnlyStruct(Struct):
+    def __init__(self, register_address, struct_format, scale):
+        super(_ScaledReadOnlyStruct, self).__init__(
+            register_address, struct_format)
+        self.scale = scale
+
+    def __get__(self, obj, objtype=None):
+        result = super(_ScaledReadOnlyStruct, self).__get__(obj, objtype)
+        return tuple(self.scale * v for v in result)
+
+    def __set__(self, obj, value):
+        raise NotImplementedError()
+
+
+class _ReadOnlyUnaryStruct(UnaryStruct):
+    def __set__(self, obj, value):
+        raise NotImplementedError()
+
+
+class BNO055:
+    """
+    Driver for the BNO055 9DOF IMU sensor.
+    """
+
+    temperature = _ReadOnlyUnaryStruct(0x34, 'B')
+    """Measures the temperature of the chip in degrees Celsius."""
+    accelerometer = _ScaledReadOnlyStruct(0x08, '<hhh', 1/100)
+    """Gives the raw accelerometer readings, in m/s."""
+    magnetometer = _ScaledReadOnlyStruct(0x0e, '<hhh', 1/16)
+    """Gives the raw magnetometer readings in microteslas."""
+    gyroscope = _ScaledReadOnlyStruct(0x14, '<hhh', 1/900)
+    """Gives the raw gyroscope reading in degrees per second."""
+    euler = _ScaledReadOnlyStruct(0x1a, '<hhh', 1/16)
+    """Gives the calculated orientation angles, in degrees."""
+    quaternion = _ScaledReadOnlyStruct(0x20, '<hhhh', 1/(1<<14))
+    """Gives the calculated orientation as a quaternion."""
+    linear_acceleration = _ScaledReadOnlyStruct(0x28, '<hhh', 1/100)
+    """Returns the linear acceleration, without gravity, in m/s."""
+    gravity = _ScaledReadOnlyStruct(0x2e, '<hhh', 1/100)
+    """Returns the gravity vector, without acceleration in m/s."""
+
+    def __init__(self, i2c, address=0x28):
+        self.i2c_device = I2CDevice(i2c, address)
+        self.buffer = bytearray(2)
+        self.init()
+
+    def _write_register(self, register, value):
+        self.buffer[0] = register
+        self.buffer[1] = value
+        with self.i2c_device as i2c:
+            i2c.writeto(self.buffer)
+
+    def _read_register(self, register):
+        self.buffer[0] = register
+        with self.i2c_device as i2c:
+            i2c.writeto(self.buffer, end=1, stop=False)
+            i2c.readfrom_into(self.buffer, start=1)
+        return self.buffer[1]
+
+    def switch_mode(self, mode):
+        """
+        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:
+
+        +------------------+-------+---------+------+----------+
+        | Mode             | Accel | Compass | Gyro | Absolute |
+        +==================+=======+=========+======+==========+
+        | CONFIG_MODE      |   -   |   -     |  -   |     -    |
+        +------------------+-------+---------+------+----------+
+        | ACCONLY_MODE     |   X   |   -     |  -   |     -    |
+        +------------------+-------+---------+------+----------+
+        | MAGONLY_MODE     |   -   |   X     |  -   |     -    |
+        +------------------+-------+---------+------+----------+
+        | GYRONLY_MODE     |   -   |   -     |  X   |     -    |
+        +------------------+-------+---------+------+----------+
+        | ACCMAG_MODE      |   X   |   X     |  -   |     -    |
+        +------------------+-------+---------+------+----------+
+        | ACCGYRO_MODE     |   X   |   -     |  X   |     -    |
+        +------------------+-------+---------+------+----------+
+        | MAGGYRO_MODE     |   -   |   X     |  X   |     -    |
+        +------------------+-------+---------+------+----------+
+        | AMG_MODE         |   X   |   X     |  X   |     -    |
+        +------------------+-------+---------+------+----------+
+        | IMUPLUS_MODE     |   X   |   -     |  X   |     -    |
+        +------------------+-------+---------+------+----------+
+        | COMPASS_MODE     |   X   |   X     |  -   |     X    |
+        +------------------+-------+---------+------+----------+
+        | M4G_MODE         |   X   |   X     |  -   |     -    |
+        +------------------+-------+---------+------+----------+
+        | NDOF_FMC_OFF_MODE|   X   |   X     |  X   |     X    |
+        +------------------+-------+---------+------+----------+
+        | NDOF_MODE        |   X   |   X     |  X   |     X    |
+        +------------------+-------+---------+------+----------+
+
+        The default mode is ``NDOF_MODE``.
+        """
+        last_mode = self._read_register(_MODE_REGISTER)
+        self._write_register(_MODE_REGISTER, mode)
+        return last_mode
+
+    def init(self, mode=NDOF_MODE):
+        chip_id = self._read_register(_ID_REGISTER)
+        if chip_id != _CHIP_ID:
+            raise RuntimeError("bad chip id (%x != %x)" % (chip_id, _CHIP_ID))
+        self.reset()
+        self._write_register(_POWER_REGISTER, _POWER_NORMAL)
+        self._write_register(_PAGE_REGISTER, 0x00)
+        self._write_register(_TRIGGER_REGISTER, 0x00)
+        time.sleep(0.01)
+        self.switch_mode(mode)
+        time.sleep(0.01)
+
+    def reset(self):
+        """Resets the sensor to default settings."""
+        self.switch_mode(CONFIG_MODE)
+        try:
+            self._write_register(_TRIGGER_REGISTER, 0x20)
+        except OSError: # error due to the chip resetting
+            pass
+        while True: # wait for the chip to reset
+            time.sleep(0.01)
+            try:
+                chip_id = self._read_register(_ID_REGISTER)
+            except OSError:
+                chip_id = 0
+            if chip_id == _CHIP_ID:
+                break
+
+    def use_external_crystal(self, value):
+        """Switches the use of external crystal on or off."""
+        last_mode = self.switch_mode(CONFIG_MODE)
+        self._write_register(_PAGE_REGISTER, 0x00)
+        self._write_register(_TRIGGER_REGISTER, 0x80 if value else 0x00)
+        self.switch_mode(last_mode)
+        time.sleep(0.01)
diff --git a/api.rst b/api.rst
index df52f9c..71995e9 100644
--- a/api.rst
+++ b/api.rst
@@ -1,5 +1,3 @@
 
-.. If you created a package, create one automodule per module in the package.
-
 .. automodule:: adafruit_bno055
    :members:
diff --git a/conf.py b/conf.py
index b289969..347a485 100644
--- a/conf.py
+++ b/conf.py
@@ -28,7 +28,7 @@
 # General information about the project.
 project = u'Adafruit BNO055 Library'
 copyright = u'2017 Radomir Dopieralski'
-author = u'Scott Shawcroft'
+author = u'Radomir Dopieralski'
 
 # The version info for the project you're documenting, acts as replacement for
 # |version| and |release|, also used in various other places throughout the
@@ -118,7 +118,7 @@
 #  author, documentclass [howto, manual, or own class]).
 latex_documents = [
     (master_doc, 'AdafruitBNO055Library.tex', u'Adafruit BNO055 Library Documentation',
-     u'Phiilip Moyer', 'manual'),
+     u'Radomir Dopieralski', 'manual'),
 ]
 
 # -- Options for manual page output ---------------------------------------
diff --git a/requirements.txt b/requirements.txt
index c47d35a..324c855 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1 +1,2 @@
-adafruit-circuitpython-bus-device
+adafruit-micropython-register
+adafruit-micropython-bus-device>=0.1.1