diff --git a/.gitattributes b/.gitattributes new file mode 100644 index 0000000..21c125c --- /dev/null +++ b/.gitattributes @@ -0,0 +1,11 @@ +# SPDX-FileCopyrightText: 2024 Justin Myers for Adafruit Industries +# +# SPDX-License-Identifier: Unlicense + +.py text eol=lf +.rst text eol=lf +.txt text eol=lf +.yaml text eol=lf +.toml text eol=lf +.license text eol=lf +.md text eol=lf diff --git a/.github/PULL_REQUEST_TEMPLATE/adafruit_circuitpython_pr.md b/.github/PULL_REQUEST_TEMPLATE/adafruit_circuitpython_pr.md new file mode 100644 index 0000000..8de294e --- /dev/null +++ b/.github/PULL_REQUEST_TEMPLATE/adafruit_circuitpython_pr.md @@ -0,0 +1,13 @@ +# SPDX-FileCopyrightText: 2021 Adafruit Industries +# +# SPDX-License-Identifier: MIT + +Thank you for contributing! Before you submit a pull request, please read the following. + +Make sure any changes you're submitting are in line with the CircuitPython Design Guide, available here: https://docs.circuitpython.org/en/latest/docs/design_guide.html + +If your changes are to documentation, please verify that the documentation builds locally by following the steps found here: https://adafru.it/build-docs + +Before submitting the pull request, make sure you've run Pylint and Black locally on your code. You can do this manually or using pre-commit. Instructions are available here: https://adafru.it/check-your-code + +Please remove all of this text before submitting. Include an explanation or list of changes included in your PR, as well as, if applicable, a link to any related issues. diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index 17b6e2f..041a337 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -10,63 +10,5 @@ jobs: test: runs-on: ubuntu-latest steps: - - name: Dump GitHub context - env: - GITHUB_CONTEXT: ${{ toJson(github) }} - run: echo "$GITHUB_CONTEXT" - - name: Translate Repo Name For Build Tools filename_prefix - id: repo-name - run: | - echo ::set-output name=repo-name::$( - echo ${{ github.repository }} | - awk -F '\/' '{ print tolower($2) }' | - tr '_' '-' - ) - - name: Set up Python 3.6 - uses: actions/setup-python@v1 - with: - python-version: 3.6 - - name: Versions - run: | - python3 --version - - name: Checkout Current Repo - uses: actions/checkout@v1 - with: - submodules: true - - name: Checkout tools repo - uses: actions/checkout@v2 - with: - repository: adafruit/actions-ci-circuitpython-libs - path: actions-ci - - name: Install dependencies - # (e.g. - apt-get: gettext, etc; pip: circuitpython-build-tools, requirements.txt; etc.) - run: | - source actions-ci/install.sh - - name: Pip install pylint, Sphinx, pre-commit - run: | - pip install --force-reinstall pylint Sphinx sphinx-rtd-theme pre-commit - - name: Library version - run: git describe --dirty --always --tags - - name: Pre-commit hooks - run: | - pre-commit run --all-files - - name: PyLint - run: | - pylint $( find . -path './adafruit*.py' ) - ([[ ! -d "examples" ]] || pylint --disable=missing-docstring,invalid-name,bad-whitespace $( find . -path "./examples/*.py" )) - - name: Build assets - run: circuitpython-build-bundles --filename_prefix ${{ steps.repo-name.outputs.repo-name }} --library_location . - - name: Build docs - working-directory: docs - run: sphinx-build -E -W -b html . _build/html - - name: Check For setup.py - id: need-pypi - run: | - echo ::set-output name=setup-py::$( find . -wholename './setup.py' ) - - name: Build Python package - if: contains(steps.need-pypi.outputs.setup-py, 'setup.py') - run: | - pip install --upgrade setuptools wheel twine readme_renderer testresources - python setup.py sdist - python setup.py bdist_wheel --universal - twine check dist/* + - name: Run Build CI workflow + uses: adafruit/workflows-circuitpython-libs/build@main diff --git a/.github/workflows/failure-help-text.yml b/.github/workflows/failure-help-text.yml new file mode 100644 index 0000000..0b1194f --- /dev/null +++ b/.github/workflows/failure-help-text.yml @@ -0,0 +1,19 @@ +# SPDX-FileCopyrightText: 2021 Scott Shawcroft for Adafruit Industries +# +# SPDX-License-Identifier: MIT + +name: Failure help text + +on: + workflow_run: + workflows: ["Build CI"] + types: + - completed + +jobs: + post-help: + runs-on: ubuntu-latest + if: ${{ github.event.workflow_run.conclusion == 'failure' && github.event.workflow_run.event == 'pull_request' }} + steps: + - name: Post comment to help + uses: adafruit/circuitpython-action-library-ci-failed@v1 diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml deleted file mode 100644 index 6d0015a..0000000 --- a/.github/workflows/release.yml +++ /dev/null @@ -1,85 +0,0 @@ -# SPDX-FileCopyrightText: 2017 Scott Shawcroft, written for Adafruit Industries -# -# SPDX-License-Identifier: MIT - -name: Release Actions - -on: - release: - types: [published] - -jobs: - upload-release-assets: - runs-on: ubuntu-latest - steps: - - name: Dump GitHub context - env: - GITHUB_CONTEXT: ${{ toJson(github) }} - run: echo "$GITHUB_CONTEXT" - - name: Translate Repo Name For Build Tools filename_prefix - id: repo-name - run: | - echo ::set-output name=repo-name::$( - echo ${{ github.repository }} | - awk -F '\/' '{ print tolower($2) }' | - tr '_' '-' - ) - - name: Set up Python 3.6 - uses: actions/setup-python@v1 - with: - python-version: 3.6 - - name: Versions - run: | - python3 --version - - name: Checkout Current Repo - uses: actions/checkout@v1 - with: - submodules: true - - name: Checkout tools repo - uses: actions/checkout@v2 - with: - repository: adafruit/actions-ci-circuitpython-libs - path: actions-ci - - name: Install deps - run: | - source actions-ci/install.sh - - name: Build assets - run: circuitpython-build-bundles --filename_prefix ${{ steps.repo-name.outputs.repo-name }} --library_location . - - name: Upload Release Assets - # the 'official' actions version does not yet support dynamically - # supplying asset names to upload. @csexton's version chosen based on - # discussion in the issue below, as its the simplest to implement and - # allows for selecting files with a pattern. - # https://github.com/actions/upload-release-asset/issues/4 - #uses: actions/upload-release-asset@v1.0.1 - uses: csexton/release-asset-action@master - with: - pattern: "bundles/*" - github-token: ${{ secrets.GITHUB_TOKEN }} - - upload-pypi: - runs-on: ubuntu-latest - steps: - - uses: actions/checkout@v1 - - name: Check For setup.py - id: need-pypi - run: | - echo ::set-output name=setup-py::$( find . -wholename './setup.py' ) - - name: Set up Python - if: contains(steps.need-pypi.outputs.setup-py, 'setup.py') - uses: actions/setup-python@v1 - with: - python-version: '3.x' - - name: Install dependencies - if: contains(steps.need-pypi.outputs.setup-py, 'setup.py') - run: | - python -m pip install --upgrade pip - pip install setuptools wheel twine - - name: Build and publish - if: contains(steps.need-pypi.outputs.setup-py, 'setup.py') - env: - TWINE_USERNAME: ${{ secrets.pypi_username }} - TWINE_PASSWORD: ${{ secrets.pypi_password }} - run: | - python setup.py sdist - twine upload dist/* diff --git a/.github/workflows/release_gh.yml b/.github/workflows/release_gh.yml new file mode 100644 index 0000000..9acec60 --- /dev/null +++ b/.github/workflows/release_gh.yml @@ -0,0 +1,19 @@ +# SPDX-FileCopyrightText: 2017 Scott Shawcroft, written for Adafruit Industries +# +# SPDX-License-Identifier: MIT + +name: GitHub Release Actions + +on: + release: + types: [published] + +jobs: + upload-release-assets: + runs-on: ubuntu-latest + steps: + - name: Run GitHub Release CI workflow + uses: adafruit/workflows-circuitpython-libs/release-gh@main + with: + github-token: ${{ secrets.GITHUB_TOKEN }} + upload-url: ${{ github.event.release.upload_url }} diff --git a/.github/workflows/release_pypi.yml b/.github/workflows/release_pypi.yml new file mode 100644 index 0000000..65775b7 --- /dev/null +++ b/.github/workflows/release_pypi.yml @@ -0,0 +1,19 @@ +# SPDX-FileCopyrightText: 2017 Scott Shawcroft, written for Adafruit Industries +# +# SPDX-License-Identifier: MIT + +name: PyPI Release Actions + +on: + release: + types: [published] + +jobs: + upload-release-assets: + runs-on: ubuntu-latest + steps: + - name: Run PyPI Release CI workflow + uses: adafruit/workflows-circuitpython-libs/release-pypi@main + with: + pypi-username: ${{ secrets.pypi_username }} + pypi-password: ${{ secrets.pypi_password }} diff --git a/.gitignore b/.gitignore index 2c6ddfd..db3d538 100644 --- a/.gitignore +++ b/.gitignore @@ -1,18 +1,48 @@ -# SPDX-FileCopyrightText: 2017 Scott Shawcroft, written for Adafruit Industries +# SPDX-FileCopyrightText: 2022 Kattni Rembor, written for Adafruit Industries # -# SPDX-License-Identifier: Unlicense +# SPDX-License-Identifier: MIT +# Do not include files and directories created by your personal work environment, such as the IDE +# you use, except for those already listed here. Pull requests including changes to this file will +# not be accepted. + +# This .gitignore file contains rules for files generated by working with CircuitPython libraries, +# including building Sphinx, testing with pip, and creating a virual environment, as well as the +# MacOS and IDE-specific files generated by using MacOS in general, or the PyCharm or VSCode IDEs. + +# If you find that there are files being generated on your machine that should not be included in +# your git commit, you should create a .gitignore_global file on your computer to include the +# files created by your personal setup. To do so, follow the two steps below. + +# First, create a file called .gitignore_global somewhere convenient for you, and add rules for +# the files you want to exclude from git commits. + +# Second, configure Git to use the exclude file for all Git repositories by running the +# following via commandline, replacing "path/to/your/" with the actual path to your newly created +# .gitignore_global file: +# git config --global core.excludesfile path/to/your/.gitignore_global + +# CircuitPython-specific files *.mpy -.idea + +# Python-specific files __pycache__ -_build *.pyc + +# Sphinx build-specific files +_build + +# This file results from running `pip -e install .` in a local repository +*.egg-info + +# Virtual environment-specific files .env -.python-version -build*/ -bundles +.venv + +# MacOS-specific files *.DS_Store -.eggs -dist -**/*.egg-info + +# IDE-specific files +.idea .vscode +*~ diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 6cd77e3..ff19dde 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -1,19 +1,21 @@ -# SPDX-FileCopyrightText: 2020 Diego Elio Pettenò +# SPDX-FileCopyrightText: 2024 Justin Myers for Adafruit Industries # # SPDX-License-Identifier: Unlicense repos: -- repo: https://github.com/python/black - rev: 19.10b0 + - repo: https://github.com/pre-commit/pre-commit-hooks + rev: v4.5.0 hooks: - - id: black -- repo: https://github.com/fsfe/reuse-tool - rev: latest + - id: check-yaml + - id: end-of-file-fixer + - id: trailing-whitespace + - repo: https://github.com/astral-sh/ruff-pre-commit + rev: v0.3.4 hooks: - - id: reuse -- repo: https://github.com/pre-commit/pre-commit-hooks - rev: v2.3.0 + - id: ruff-format + - id: ruff + args: ["--fix"] + - repo: https://github.com/fsfe/reuse-tool + rev: v3.0.1 hooks: - - id: check-yaml - - id: end-of-file-fixer - - id: trailing-whitespace + - id: reuse diff --git a/.pylintrc b/.pylintrc deleted file mode 100644 index 54a9d35..0000000 --- a/.pylintrc +++ /dev/null @@ -1,437 +0,0 @@ -# SPDX-FileCopyrightText: 2017 Scott Shawcroft, written for Adafruit Industries -# -# SPDX-License-Identifier: Unlicense - -[MASTER] - -# A comma-separated list of package or module names from where C extensions may -# be loaded. Extensions are loading into the active Python interpreter and may -# run arbitrary code -extension-pkg-whitelist= - -# Add files or directories to the blacklist. They should be base names, not -# paths. -ignore=CVS - -# Add files or directories matching the regex patterns to the blacklist. The -# regex matches against base names, not paths. -ignore-patterns= - -# Python code to execute, usually for sys.path manipulation such as -# pygtk.require(). -#init-hook= - -# Use multiple processes to speed up Pylint. -# jobs=1 -jobs=2 - -# List of plugins (as comma separated values of python modules names) to load, -# usually to register additional checkers. -load-plugins= - -# Pickle collected data for later comparisons. -persistent=yes - -# Specify a configuration file. -#rcfile= - -# Allow loading of arbitrary C extensions. Extensions are imported into the -# active Python interpreter and may run arbitrary code. -unsafe-load-any-extension=no - - -[MESSAGES CONTROL] - -# Only show warnings with the listed confidence levels. Leave empty to show -# all. Valid levels: HIGH, INFERENCE, INFERENCE_FAILURE, UNDEFINED -confidence= - -# Disable the message, report, category or checker with the given id(s). You -# can either give multiple identifiers separated by comma (,) or put this -# option multiple times (only on the command line, not in the configuration -# file where it should appear only once).You can also use "--disable=all" to -# disable everything first and then reenable specific checks. For example, if -# you want to run only the similarities checker, you can use "--disable=all -# --enable=similarities". If you want to run only the classes checker, but have -# no Warning level messages displayed, use"--disable=all --enable=classes -# --disable=W" -# disable=import-error,print-statement,parameter-unpacking,unpacking-in-except,old-raise-syntax,backtick,long-suffix,old-ne-operator,old-octal-literal,import-star-module-level,raw-checker-failed,bad-inline-option,locally-disabled,locally-enabled,file-ignored,suppressed-message,useless-suppression,deprecated-pragma,apply-builtin,basestring-builtin,buffer-builtin,cmp-builtin,coerce-builtin,execfile-builtin,file-builtin,long-builtin,raw_input-builtin,reduce-builtin,standarderror-builtin,unicode-builtin,xrange-builtin,coerce-method,delslice-method,getslice-method,setslice-method,no-absolute-import,old-division,dict-iter-method,dict-view-method,next-method-called,metaclass-assignment,indexing-exception,raising-string,reload-builtin,oct-method,hex-method,nonzero-method,cmp-method,input-builtin,round-builtin,intern-builtin,unichr-builtin,map-builtin-not-iterating,zip-builtin-not-iterating,range-builtin-not-iterating,filter-builtin-not-iterating,using-cmp-argument,eq-without-hash,div-method,idiv-method,rdiv-method,exception-message-attribute,invalid-str-codec,sys-max-int,bad-python3-import,deprecated-string-function,deprecated-str-translate-call -disable=print-statement,parameter-unpacking,unpacking-in-except,old-raise-syntax,backtick,long-suffix,old-ne-operator,old-octal-literal,import-star-module-level,raw-checker-failed,bad-inline-option,locally-disabled,locally-enabled,file-ignored,suppressed-message,useless-suppression,deprecated-pragma,apply-builtin,basestring-builtin,buffer-builtin,cmp-builtin,coerce-builtin,execfile-builtin,file-builtin,long-builtin,raw_input-builtin,reduce-builtin,standarderror-builtin,unicode-builtin,xrange-builtin,coerce-method,delslice-method,getslice-method,setslice-method,no-absolute-import,old-division,dict-iter-method,dict-view-method,next-method-called,metaclass-assignment,indexing-exception,raising-string,reload-builtin,oct-method,hex-method,nonzero-method,cmp-method,input-builtin,round-builtin,intern-builtin,unichr-builtin,map-builtin-not-iterating,zip-builtin-not-iterating,range-builtin-not-iterating,filter-builtin-not-iterating,using-cmp-argument,eq-without-hash,div-method,idiv-method,rdiv-method,exception-message-attribute,invalid-str-codec,sys-max-int,bad-python3-import,deprecated-string-function,deprecated-str-translate-call,import-error,bad-continuation - -# Enable the message, report, category or checker with the given id(s). You can -# either give multiple identifier separated by comma (,) or put this option -# multiple time (only on the command line, not in the configuration file where -# it should appear only once). See also the "--disable" option for examples. -enable= - - -[REPORTS] - -# Python expression which should return a note less than 10 (10 is the highest -# note). You have access to the variables errors warning, statement which -# respectively contain the number of errors / warnings messages and the total -# number of statements analyzed. This is used by the global evaluation report -# (RP0004). -evaluation=10.0 - ((float(5 * error + warning + refactor + convention) / statement) * 10) - -# Template used to display messages. This is a python new-style format string -# used to format the message information. See doc for all details -#msg-template= - -# Set the output format. Available formats are text, parseable, colorized, json -# and msvs (visual studio).You can also give a reporter class, eg -# mypackage.mymodule.MyReporterClass. -output-format=text - -# Tells whether to display a full report or only the messages -reports=no - -# Activate the evaluation score. -score=yes - - -[REFACTORING] - -# Maximum number of nested blocks for function / method body -max-nested-blocks=5 - - -[LOGGING] - -# Logging modules to check that the string format arguments are in logging -# function parameter format -logging-modules=logging - - -[SPELLING] - -# Spelling dictionary name. Available dictionaries: none. To make it working -# install python-enchant package. -spelling-dict= - -# List of comma separated words that should not be checked. -spelling-ignore-words= - -# A path to a file that contains private dictionary; one word per line. -spelling-private-dict-file= - -# Tells whether to store unknown words to indicated private dictionary in -# --spelling-private-dict-file option instead of raising a message. -spelling-store-unknown-words=no - - -[MISCELLANEOUS] - -# List of note tags to take in consideration, separated by a comma. -# notes=FIXME,XXX,TODO -notes=FIXME,XXX - - -[TYPECHECK] - -# List of decorators that produce context managers, such as -# contextlib.contextmanager. Add to this list to register other decorators that -# produce valid context managers. -contextmanager-decorators=contextlib.contextmanager - -# List of members which are set dynamically and missed by pylint inference -# system, and so shouldn't trigger E1101 when accessed. Python regular -# expressions are accepted. -generated-members= - -# Tells whether missing members accessed in mixin class should be ignored. A -# mixin class is detected if its name ends with "mixin" (case insensitive). -ignore-mixin-members=yes - -# This flag controls whether pylint should warn about no-member and similar -# checks whenever an opaque object is returned when inferring. The inference -# can return multiple potential results while evaluating a Python object, but -# some branches might not be evaluated, which results in partial inference. In -# that case, it might be useful to still emit no-member and other checks for -# the rest of the inferred objects. -ignore-on-opaque-inference=yes - -# List of class names for which member attributes should not be checked (useful -# for classes with dynamically set attributes). This supports the use of -# qualified names. -ignored-classes=optparse.Values,thread._local,_thread._local - -# List of module names for which member attributes should not be checked -# (useful for modules/projects where namespaces are manipulated during runtime -# and thus existing member attributes cannot be deduced by static analysis. It -# supports qualified module names, as well as Unix pattern matching. -ignored-modules=board - -# Show a hint with possible names when a member name was not found. The aspect -# of finding the hint is based on edit distance. -missing-member-hint=yes - -# The minimum edit distance a name should have in order to be considered a -# similar match for a missing member name. -missing-member-hint-distance=1 - -# The total number of similar names that should be taken in consideration when -# showing a hint for a missing member. -missing-member-max-choices=1 - - -[VARIABLES] - -# List of additional names supposed to be defined in builtins. Remember that -# you should avoid to define new builtins when possible. -additional-builtins= - -# Tells whether unused global variables should be treated as a violation. -allow-global-unused-variables=yes - -# List of strings which can identify a callback function by name. A callback -# name must start or end with one of those strings. -callbacks=cb_,_cb - -# A regular expression matching the name of dummy variables (i.e. expectedly -# not used). -dummy-variables-rgx=_+$|(_[a-zA-Z0-9_]*[a-zA-Z0-9]+?$)|dummy|^ignored_|^unused_ - -# Argument names that match this expression will be ignored. Default to name -# with leading underscore -ignored-argument-names=_.*|^ignored_|^unused_ - -# Tells whether we should check for unused import in __init__ files. -init-import=no - -# List of qualified module names which can have objects that can redefine -# builtins. -redefining-builtins-modules=six.moves,future.builtins - - -[FORMAT] - -# Expected format of line ending, e.g. empty (any line ending), LF or CRLF. -# expected-line-ending-format= -expected-line-ending-format=LF - -# Regexp for a line that is allowed to be longer than the limit. -ignore-long-lines=^\s*(# )??$ - -# Number of spaces of indent required inside a hanging or continued line. -indent-after-paren=4 - -# String used as indentation unit. This is usually " " (4 spaces) or "\t" (1 -# tab). -indent-string=' ' - -# Maximum number of characters on a single line. -max-line-length=100 - -# Maximum number of lines in a module -max-module-lines=1000 - -# List of optional constructs for which whitespace checking is disabled. `dict- -# separator` is used to allow tabulation in dicts, etc.: {1 : 1,\n222: 2}. -# `trailing-comma` allows a space between comma and closing bracket: (a, ). -# `empty-line` allows space-only lines. -no-space-check=trailing-comma,dict-separator - -# Allow the body of a class to be on the same line as the declaration if body -# contains single statement. -single-line-class-stmt=no - -# Allow the body of an if to be on the same line as the test if there is no -# else. -single-line-if-stmt=no - - -[SIMILARITIES] - -# Ignore comments when computing similarities. -ignore-comments=yes - -# Ignore docstrings when computing similarities. -ignore-docstrings=yes - -# Ignore imports when computing similarities. -ignore-imports=no - -# Minimum lines number of a similarity. -min-similarity-lines=4 - - -[BASIC] - -# Naming hint for argument names -argument-name-hint=(([a-z][a-z0-9_]{2,30})|(_[a-z0-9_]*))$ - -# Regular expression matching correct argument names -argument-rgx=(([a-z][a-z0-9_]{2,30})|(_[a-z0-9_]*))$ - -# Naming hint for attribute names -attr-name-hint=(([a-z][a-z0-9_]{2,30})|(_[a-z0-9_]*))$ - -# Regular expression matching correct attribute names -attr-rgx=(([a-z][a-z0-9_]{2,30})|(_[a-z0-9_]*))$ - -# Bad variable names which should always be refused, separated by a comma -bad-names=foo,bar,baz,toto,tutu,tata - -# Naming hint for class attribute names -class-attribute-name-hint=([A-Za-z_][A-Za-z0-9_]{2,30}|(__.*__))$ - -# Regular expression matching correct class attribute names -class-attribute-rgx=([A-Za-z_][A-Za-z0-9_]{2,30}|(__.*__))$ - -# Naming hint for class names -# class-name-hint=[A-Z_][a-zA-Z0-9]+$ -class-name-hint=[A-Z_][a-zA-Z0-9_]+$ - -# Regular expression matching correct class names -# class-rgx=[A-Z_][a-zA-Z0-9]+$ -class-rgx=[A-Z_][a-zA-Z0-9_]+$ - -# Naming hint for constant names -const-name-hint=(([A-Z_][A-Z0-9_]*)|(__.*__))$ - -# Regular expression matching correct constant names -const-rgx=(([A-Z_][A-Z0-9_]*)|(__.*__))$ - -# Minimum line length for functions/classes that require docstrings, shorter -# ones are exempt. -docstring-min-length=-1 - -# Naming hint for function names -function-name-hint=(([a-z][a-z0-9_]{2,30})|(_[a-z0-9_]*))$ - -# Regular expression matching correct function names -function-rgx=(([a-z][a-z0-9_]{2,30})|(_[a-z0-9_]*))$ - -# Good variable names which should always be accepted, separated by a comma -# good-names=i,j,k,ex,Run,_ -good-names=r,g,b,w,i,j,k,n,x,y,z,ex,ok,Run,_ - -# Include a hint for the correct naming format with invalid-name -include-naming-hint=no - -# Naming hint for inline iteration names -inlinevar-name-hint=[A-Za-z_][A-Za-z0-9_]*$ - -# Regular expression matching correct inline iteration names -inlinevar-rgx=[A-Za-z_][A-Za-z0-9_]*$ - -# Naming hint for method names -method-name-hint=(([a-z][a-z0-9_]{2,30})|(_[a-z0-9_]*))$ - -# Regular expression matching correct method names -method-rgx=(([a-z][a-z0-9_]{2,30})|(_[a-z0-9_]*))$ - -# Naming hint for module names -module-name-hint=(([a-z_][a-z0-9_]*)|([A-Z][a-zA-Z0-9]+))$ - -# Regular expression matching correct module names -module-rgx=(([a-z_][a-z0-9_]*)|([A-Z][a-zA-Z0-9]+))$ - -# Colon-delimited sets of names that determine each other's naming style when -# the name regexes allow several styles. -name-group= - -# Regular expression which should only match function or class names that do -# not require a docstring. -no-docstring-rgx=^_ - -# List of decorators that produce properties, such as abc.abstractproperty. Add -# to this list to register other decorators that produce valid properties. -property-classes=abc.abstractproperty - -# Naming hint for variable names -variable-name-hint=(([a-z][a-z0-9_]{2,30})|(_[a-z0-9_]*))$ - -# Regular expression matching correct variable names -variable-rgx=(([a-z][a-z0-9_]{2,30})|(_[a-z0-9_]*))$ - - -[IMPORTS] - -# Allow wildcard imports from modules that define __all__. -allow-wildcard-with-all=no - -# Analyse import fallback blocks. This can be used to support both Python 2 and -# 3 compatible code, which means that the block might have code that exists -# only in one or another interpreter, leading to false positives when analysed. -analyse-fallback-blocks=no - -# Deprecated modules which should not be used, separated by a comma -deprecated-modules=optparse,tkinter.tix - -# Create a graph of external dependencies in the given file (report RP0402 must -# not be disabled) -ext-import-graph= - -# Create a graph of every (i.e. internal and external) dependencies in the -# given file (report RP0402 must not be disabled) -import-graph= - -# Create a graph of internal dependencies in the given file (report RP0402 must -# not be disabled) -int-import-graph= - -# Force import order to recognize a module as part of the standard -# compatibility libraries. -known-standard-library= - -# Force import order to recognize a module as part of a third party library. -known-third-party=enchant - - -[CLASSES] - -# List of method names used to declare (i.e. assign) instance attributes. -defining-attr-methods=__init__,__new__,setUp - -# List of member names, which should be excluded from the protected access -# warning. -exclude-protected=_asdict,_fields,_replace,_source,_make - -# List of valid names for the first argument in a class method. -valid-classmethod-first-arg=cls - -# List of valid names for the first argument in a metaclass class method. -valid-metaclass-classmethod-first-arg=mcs - - -[DESIGN] - -# Maximum number of arguments for function / method -max-args=5 - -# Maximum number of attributes for a class (see R0902). -# max-attributes=7 -max-attributes=11 - -# Maximum number of boolean expressions in a if statement -max-bool-expr=5 - -# Maximum number of branch for function / method body -max-branches=12 - -# Maximum number of locals for function / method body -max-locals=15 - -# Maximum number of parents for a class (see R0901). -max-parents=7 - -# Maximum number of public methods for a class (see R0904). -max-public-methods=20 - -# Maximum number of return / yield for function / method body -max-returns=6 - -# Maximum number of statements in function / method body -max-statements=50 - -# Minimum number of public methods for a class (see R0903). -min-public-methods=1 - - -[EXCEPTIONS] - -# Exceptions that will emit a warning when being caught. Defaults to -# "Exception" -overgeneral-exceptions=Exception diff --git a/.readthedocs.yaml b/.readthedocs.yaml new file mode 100644 index 0000000..255dafd --- /dev/null +++ b/.readthedocs.yaml @@ -0,0 +1,22 @@ +# SPDX-FileCopyrightText: 2021 ladyada for Adafruit Industries +# +# SPDX-License-Identifier: Unlicense + +# Read the Docs configuration file +# See https://docs.readthedocs.io/en/stable/config-file/v2.html for details + +# Required +version: 2 + +sphinx: + configuration: docs/conf.py + +build: + os: ubuntu-lts-latest + tools: + python: "3" + +python: + install: + - requirements: docs/requirements.txt + - requirements: requirements.txt diff --git a/.readthedocs.yml b/.readthedocs.yml deleted file mode 100644 index a1e2575..0000000 --- a/.readthedocs.yml +++ /dev/null @@ -1,7 +0,0 @@ -# SPDX-FileCopyrightText: 2017 Scott Shawcroft, written for Adafruit Industries -# -# SPDX-License-Identifier: Unlicense - -python: - version: 3 -requirements_file: requirements.txt diff --git a/README.rst b/README.rst index af89cfd..847d7e8 100644 --- a/README.rst +++ b/README.rst @@ -1,23 +1,23 @@ Introduction ============ -.. image:: https://readthedocs.org/projects/adafruit-circuitpython-bno080/badge/?version=latest - :target: https://circuitpython.readthedocs.io/projects/bno080/en/latest/ +.. image:: https://readthedocs.org/projects/adafruit-circuitpython-bno08x/badge/?version=latest + :target: https://docs.circuitpython.org/projects/bno08x/en/latest/ :alt: Documentation Status -.. image:: https://img.shields.io/discord/327254708534116352.svg +.. image:: https://raw.githubusercontent.com/adafruit/Adafruit_CircuitPython_Bundle/main/badges/adafruit_discord.svg :target: https://adafru.it/discord :alt: Discord -.. image:: https://github.com/adafruit/Adafruit_CircuitPython_BNO080/workflows/Build%20CI/badge.svg - :target: https://github.com/adafruit/Adafruit_CircuitPython_BNO080/actions +.. image:: https://github.com/adafruit/Adafruit_CircuitPython_BNO08x/workflows/Build%20CI/badge.svg + :target: https://github.com/adafruit/Adafruit_CircuitPython_BNO08x/actions :alt: Build Status -.. image:: https://img.shields.io/badge/code%20style-black-000000.svg - :target: https://github.com/psf/black - :alt: Code Style: Black +.. image:: https://img.shields.io/endpoint?url=https://raw.githubusercontent.com/astral-sh/ruff/main/assets/badge/v2.json + :target: https://github.com/astral-sh/ruff + :alt: Code Style: Ruff -Helper library for the Hillcrest Laboratories BNO080 IMU +Helper library for the Hillcrest Laboratories BNO08x IMUs Dependencies @@ -35,26 +35,26 @@ Installing from PyPI ===================== On supported GNU/Linux systems like the Raspberry Pi, you can install the driver locally `from -PyPI `_. To install for current user: +PyPI `_. To install for current user: .. code-block:: shell - pip3 install adafruit-circuitpython-bno080 + pip3 install adafruit-circuitpython-bno08x To install system-wide (this may be required in some cases): .. code-block:: shell - sudo pip3 install adafruit-circuitpython-bno080 + sudo pip3 install adafruit-circuitpython-bno08x To install in a virtual environment in your current project: .. code-block:: shell mkdir project-name && cd project-name - python3 -m venv .env - source .env/bin/activate - pip3 install adafruit-circuitpython-bno080 + python3 -m venv .venv + source .venv/bin/activate + pip3 install adafruit-circuitpython-bno08x Usage Example ============= @@ -63,24 +63,28 @@ Usage Example import board import busio - import adafruit_bno080 + from adafruit_bno08x.i2c import BNO08X_I2C + from adafruit_bno08x import BNO_REPORT_ACCELEROMETER + REPORT_INTERVAL = const(100000) # 100 Hz i2c = busio.I2C(board.SCL, board.SDA) - bno = adafruit_bno080.BNO080(i2c) + bno = BNO08X_I2C(i2c) + bno.enable_feature(BNO_REPORT_ACCELEROMETER, REPORT_INTERVAL) while True: - quat = bno.rotation_vector - print("Rotation Vector Quaternion:") - print("I: %0.3f J: %0.3f K: %0.3f Accuracy: %0.3f"%(quat.i, quat.j, quat.k, quat.accuracy)) + accel_x, accel_y, accel_z = bno.acceleration + print("X: %0.6f Y: %0.6f Z: %0.6f m/s^2" % (accel_x, accel_y, accel_z)) + +Documentation +============= + +API documentation for this library can be found on `Read the Docs `_. + +For information on building library documentation, please check out `this guide `_. Contributing ============ Contributions are welcome! Please read our `Code of Conduct -`_ +`_ before contributing to help this project stay welcoming. - -Documentation -============= - -For information on building library documentation, please check out `this guide `_. diff --git a/adafruit_bno080/__init__.py b/adafruit_bno080/__init__.py deleted file mode 100644 index 472be59..0000000 --- a/adafruit_bno080/__init__.py +++ /dev/null @@ -1,353 +0,0 @@ -# SPDX-FileCopyrightText: Copyright (c) 2020 Bryan Siepert for Adafruit Industries -# -# SPDX-License-Identifier: MIT -""" -`adafruit_bno080` -================================================================================ - -Helper library for the Hillcrest Laboratories BNO080 IMU - - -* Author(s): Bryan Siepert - -Implementation Notes --------------------- - -**Hardware:** - -* `Adafruit BNO080 Breakout `_ - -**Software and Dependencies:** - -* Adafruit CircuitPython firmware for the supported boards: - https:# github.com/adafruit/circuitpython/releases - -* `Adafruit's Bus Device library `_ -""" -__version__ = "0.0.0-auto.0" -__repo__ = "https:# github.com/adafruit/Adafruit_CircuitPython_BNO080.git" - -from struct import unpack_from, pack_into -from collections import namedtuple -from time import sleep, monotonic -from micropython import const - -# Channel 0: the SHTP command channel -BNO_CHANNEL_EXE = const(1) -_BNO_CHANNEL_CONTROL = const(2) -_BNO_CHANNEL_INPUT_SENSOR_REPORTS = const(3) -_BNO_CHANNEL_WAKE_INPUT_SENSOR_REPORTS = const(4) -_BNO_CHANNEL_GYRO_ROTATION_VECTOR = const(5) - -_BNO_CMD_GET_FEATURE_REQUEST = const(0xFE) -_BNO_CMD_SET_FEATURE_COMMAND = const(0xFD) -_BNO_CMD_GET_FEATURE_RESPONSE = const(0xFC) - -_BNO_CMD_BASE_TIMESTAMP = const(0xFB) -_BNO_CMD_TIMESTAMP_REBASE = const(0xFA) -########## TODO ########## -_BNO_CMD_PRODUCT_ID_REQUEST = const(0xF9) -_BNO_CMD_PRODUCT_ID_RESPONSE = const(0xF8) - -_SHTP_REPORT_PRODUCT_ID_RESPONSE = const(0xF8) -_SHTP_REPORT_PRODUCT_ID_REQUEST = const(0xF9) -################## - -_BNO_CMD_FRS_WRITE_REQUEST = const(0xF7) -_BNO_CMD_FRS_WRITE_DATA = const(0xF6) -_BNO_CMD_FRS_WRITE_RESPONSE = const(0xF5) - -_BNO_CMD_FRS_READ_REQUEST = const(0xF4) -_BNO_CMD_FRS_READ_RESPONSE = const(0xF3) - -_BNO_CMD_COMMAND_REQUEST = const(0xF2) -_BNO_CMD_COMMAND_RESPONSE = const(0xF1) - -_BNO_REPORT_ACCELEROMETER = const(0x01) -_BNO_REPORT_GYROSCOPE = const(0x02) -_BNO_REPORT_MAGNETIC_FIELD = const(0x03) -_BNO_REPORT_LINEAR_ACCELERATION = const(0x04) -_BNO_REPORT_ROTATION_VECTOR = const(0x05) -_BNO_REPORT_GRAVITY = const(0x06) -_BNO_REPORT_UNCALIBRATED_GYROSCOPE = const(0x07) -_BNO_REPORT_GAME_ROTATION_VECTOR = const(0x08) -_BNO_REPORT_GEOMAGNETIC_ROTATION_VECTOR = const(0x09) -_BNO_REPORT_PRESSURE = const(0x0A) -_BNO_REPORT_AMBIENT_LIGHT = const(0x0B) -_BNO_REPORT_HUMIDITY = const(0x0C) -_BNO_REPORT_PROXIMITY = const(0x0D) -_BNO_REPORT_TEMPERATURE = const(0x0E) -_BNO_REPORT_UNCALIBRATED_MAGNETIC_FIELD = const(0x0F) -_BNO_REPORT_TAP_DETECTOR = const(0x10) -_BNO_REPORT_STEP_COUNTER = const(0x11) -_BNO_REPORT_SIGNIFICANT_MOTION = const(0x12) -_BNO_REPORT_STABILITY_CLASSIFIER = const(0x13) -_BNO_REPORT_RAW_ACCELEROMETER = const(0x14) -_BNO_REPORT_RAW_GYROSCOPE = const(0x15) -_BNO_REPORT_RAW_MAGNETOMETER = const(0x16) -_BNO_REPORT_SAR = const(0x17) -_BNO_REPORT_STEP_DETECTOR = const(0x18) -_BNO_REPORT_SHAKE_DETECTOR = const(0x19) -_BNO_REPORT_FLIP_DETECTOR = const(0x1A) -_BNO_REPORT_PICKUP_DETECTOR = const(0x1B) -_BNO_REPORT_STABILITY_DETECTOR = const(0x1C) -_BNO_REPORT_PERSONAL_ACTIVITY_CLASSIFIER = const(0x1E) -_BNO_REPORT_SLEEP_DETECTOR = const(0x1F) -_BNO_REPORT_TILT_DETECTOR = const(0x20) -_BNO_REPORT_POCKET_DETECTOR = const(0x21) -_BNO_REPORT_CIRCLE_DETECTOR = const(0x22) -_BNO_REPORT_HEART_RATE_MONITOR = const(0x23) -_BNO_REPORT_ARVR_STABILIZED_ROTATION_VECTOR = const(0x28) -_BNO_REPORT_ARVR_STABILIZED_GAME_ROTATION_VECTOR = const(0x29) - -_QUAT_REPORT_INTERVAL = const(50000) # in microseconds = 50ms -_QUAT_READ_TIMEOUT = 0.500 # timeout in seconds -_PACKET_READ_TIMEOUT = 1.000 # timeout in seconds -_BNO080_CMD_RESET = const(0x01) -_QUAT_Q_POINT = const(14) -_BNO_HEADER_LEN = const(4) - -_Q_POINT_14_SCALAR = 2 ** (14 * -1) -_Q_POINT_12_SCALAR = 2 ** (12 * -1) - - -DATA_BUFFER_SIZE = const(512) # data buffer size. obviously eats ram -Quaternion = namedtuple("Quaternion", ["i", "j", "k", "real",],) -PacketHeader = namedtuple( - "PacketHeader", - ["channel_number", "sequence_number", "data_length", "packet_byte_count",], -) - -REPORT_STATUS = ["Unreliable", "Accuracy low", "Accuracy medium", "Accuracy high"] - - -def _elapsed(start_time): - return monotonic() - start_time - - -def _parse_quat(packet): - - i_raw = unpack_from(" 5: - self._dbg("channel number out of range:", header.channel_number) - # data_length, packet_byte_count) - if header.packet_byte_count == 0x7FFF: - print("Byte count is 0x7FFF/0xFFFF; Error?") - if header.sequence_number == 0xFF: - print("Sequence number is 0xFF; Error?") - ready = False - else: - ready = header.data_length > 0 - - self._dbg("\tdata ready", ready) - return ready - - def _print_buffer(self, write_full=False): - header = Packet.header_from_buffer(self._data_buffer) - length = header.packet_byte_count - print("_packet byte count (data):", length) - if write_full: - print(" writing full buffer") - length = len(self._data_buffer) - - for idx, packet_byte in enumerate(self._data_buffer[:length]): - if (idx % 4) == 0: - print("\n[%3d] " % idx, end="") - print("0x{:02X} ".format(packet_byte), end="") - print("") diff --git a/adafruit_bno080/i2c.py b/adafruit_bno080/i2c.py deleted file mode 100644 index acb30a5..0000000 --- a/adafruit_bno080/i2c.py +++ /dev/null @@ -1,121 +0,0 @@ -# SPDX-FileCopyrightText: Copyright (c) 2020 Bryan Siepert for Adafruit Industries -# -# SPDX-License-Identifier: MIT -""" - - Subclass of `adafruit_bno080.BNO080` to use I2C - -""" -from time import sleep -from struct import pack_into -import adafruit_bus_device.i2c_device as i2c_device -from . import BNO080, DATA_BUFFER_SIZE, const, Packet - -# should be removeable; I _think_ something else should be able to prep the buffers? - -_BNO080_DEFAULT_ADDRESS = const(0x4A) - - -class BNO080_I2C(BNO080): - """Library for the BNO080 IMU from Hillcrest Laboratories - - :param ~busio.I2C i2c_bus: The I2C bus the BNO080 is connected to. - - """ - - def __init__(self, i2c_bus, address=_BNO080_DEFAULT_ADDRESS, debug=False): - self.bus_device_obj = i2c_device.I2CDevice(i2c_bus, address) - super().__init__(debug) - - def _send_packet(self, channel, data): - data_length = len(data) - write_length = data_length + 4 - - # struct.pack_into(fmt, buffer, offset, *values) - pack_into(" DATA_BUFFER_SIZE: - unread_bytes = total_read_length - DATA_BUFFER_SIZE - total_read_length = DATA_BUFFER_SIZE - self._dbg( - "reading", - total_read_length, - "bytes(%d+4)" % requested_read_length, - "leaving", - unread_bytes, - "unread bytes", - ) - with self.bus_device_obj as i2c: - i2c.readinto(self._data_buffer, end=total_read_length) - - return unread_bytes > 0 diff --git a/adafruit_bno080/spi.py b/adafruit_bno080/spi.py deleted file mode 100644 index 61b92a8..0000000 --- a/adafruit_bno080/spi.py +++ /dev/null @@ -1,123 +0,0 @@ -# SPDX-FileCopyrightText: Copyright (c) 2020 Bryan Siepert for Adafruit Industries -# -# SPDX-License-Identifier: MIT -""" - - Subclass of `adafruit_bno080.BNO080` to use SPI - -""" -from time import sleep -from struct import pack_into - -import adafruit_bus_device.spi_device as spi_device - -from . import BNO080, DATA_BUFFER_SIZE, const, Packet, BNO_CHANNEL_EXE - -# should be removeable; I _think_ something else should be able to prep the buffers? - -_BNO080_DEFAULT_ADDRESS = const(0x4A) - - -class BNO080_SPI(BNO080): - """Instantiate a `adafruit_bno080.BNO080_SPI` instance to communicate with - the sensor using SPI - - Args: - spi_bus ([busio.SPI]): The SPI bus to use to communicate with the BNO080 - cs_pin ([digitalio.DigitalInOut]): The pin object to use for the SPI Chip Select - debug (bool, optional): Enables print statements used for debugging. Defaults to False. - """ - - # """Library for the BNO080 IMU from Hillcrest Laboratories - - # :param ~busio.SPI spi_bus: The SPI bus the BNO080 is connected to. - # :param ~busio.SPI spi_bus: The SPI bus the BNO080 is connected to. - - # """ - - def __init__(self, spi_bus, cs_pin_obj, baudrate=100000, debug=False): - self.bus_device_obj = spi_device.SPIDevice( - spi_bus, cs_pin_obj, baudrate=baudrate, polarity=1, phase=1 - ) - super().__init__(debug) - - def reset(self): - sleep(1) - self._dbg("Sending Reset Packet") - self._send_packet(BNO_CHANNEL_EXE, bytearray([0x1, 0x0])) - self._dbg("Sleeping") - sleep(1.050) - self._dbg("**** waiting for advertising packet **") - # read and disregard first initial advertising packet - _advertising_packet = self._wait_for_packet() - # read and disregard init completed packet - self._dbg("**** received packet; waiting for init complete packet **") - _init_complete_packet = self._wait_for_packet() - - # I think this and `_send_packet` should take a `Packet` - def _read_packet(self): - - header = Packet.header_from_buffer(self._data_buffer) - - if header.data_length == 0: - raise RuntimeError("Zero bytes ready") - - read_length = header.data_length - self._read(read_length) - - # the read has filled the data buffer with as much as possible, so we can now - # render a header from that data to see what was received - response_header = Packet.header_from_buffer(self._data_buffer) - - self._dbg( - "Done reading! Data requested:", - read_length, - "Data read:", - response_header.data_length, - ) - - # update the cached sequence number so we know what to increment from - self._sequence_number[header.channel_number] = header.sequence_number - return True - - ###### Actually send bytes ########## - # Note: I _think_ these can be used for either SPI or I2C in the base class by having the - # subclass set the 'bus_device_object' to a `bus_device`.SPI` or `bus_device.I2C` - - # returns true if all requested data was read - def _read(self, requested_read_length): - self._dbg("trying to read", requested_read_length, "bytes") - unread_bytes = 0 - # +4 for the header - total_read_length = requested_read_length + 4 - if total_read_length > DATA_BUFFER_SIZE: - unread_bytes = total_read_length - DATA_BUFFER_SIZE - total_read_length = DATA_BUFFER_SIZE - - with self.bus_device_obj as spi: - spi.readinto(self._data_buffer, end=total_read_length) - self._print_buffer() - return unread_bytes > 0 - - def _send_packet(self, channel, data): - self._dbg("Sending packet to channel", channel) - data_length = len(data) - write_length = data_length + 4 - - # struct.pack_into(fmt, buffer, offset, *values) - pack_into("`_ + +**Software and Dependencies:** + +* Adafruit CircuitPython firmware for the supported boards: + https:# github.com/adafruit/circuitpython/releases + +* `Adafruit's Bus Device library `_ +""" + +from __future__ import annotations + +__version__ = "0.0.0+auto.0" +__repo__ = "https:# github.com/adafruit/Adafruit_CircuitPython_BNO08x.git" + +import time +from collections import namedtuple +from struct import pack_into, unpack_from + +from micropython import const + +# TODO: Remove on release +from .debug import channels, reports + +# For IDE type recognition +try: + from typing import Any, Optional + + from digitalio import DigitalInOut +except ImportError: + pass + +# TODO: shorten names +# Channel 0: the SHTP command channel +BNO_CHANNEL_SHTP_COMMAND = const(0) +BNO_CHANNEL_EXE = const(1) +_BNO_CHANNEL_CONTROL = const(2) +_BNO_CHANNEL_INPUT_SENSOR_REPORTS = const(3) +_BNO_CHANNEL_WAKE_INPUT_SENSOR_REPORTS = const(4) +_BNO_CHANNEL_GYRO_ROTATION_VECTOR = const(5) + +_GET_FEATURE_REQUEST = const(0xFE) +_SET_FEATURE_COMMAND = const(0xFD) +_GET_FEATURE_RESPONSE = const(0xFC) +_BASE_TIMESTAMP = const(0xFB) + +_TIMESTAMP_REBASE = const(0xFA) + +_SHTP_REPORT_PRODUCT_ID_RESPONSE = const(0xF8) +_SHTP_REPORT_PRODUCT_ID_REQUEST = const(0xF9) + +_FRS_WRITE_REQUEST = const(0xF7) +_FRS_WRITE_DATA = const(0xF6) +_FRS_WRITE_RESPONSE = const(0xF5) + +_FRS_READ_REQUEST = const(0xF4) +_FRS_READ_RESPONSE = const(0xF3) + +_COMMAND_REQUEST = const(0xF2) +_COMMAND_RESPONSE = const(0xF1) + +# DCD/ ME Calibration commands and sub-commands +_SAVE_DCD = const(0x6) +_ME_CALIBRATE = const(0x7) +_ME_CAL_CONFIG = const(0x00) +_ME_GET_CAL = const(0x01) + +# Calibrated Acceleration (m/s2) +BNO_REPORT_ACCELEROMETER = const(0x01) +# Calibrated gyroscope (rad/s). +BNO_REPORT_GYROSCOPE = const(0x02) +# Magnetic field calibrated (in µTesla). The fully calibrated magnetic field measurement. +BNO_REPORT_MAGNETOMETER = const(0x03) +# Linear acceleration (m/s2). Acceleration of the device with gravity removed +BNO_REPORT_LINEAR_ACCELERATION = const(0x04) +# Rotation Vector +BNO_REPORT_ROTATION_VECTOR = const(0x05) +# Gravity Vector (m/s2). Vector direction of gravity +BNO_REPORT_GRAVITY = const(0x06) +# Game Rotation Vector +BNO_REPORT_GAME_ROTATION_VECTOR = const(0x08) + +BNO_REPORT_GEOMAGNETIC_ROTATION_VECTOR = const(0x09) + +BNO_REPORT_STEP_COUNTER = const(0x11) + +BNO_REPORT_RAW_ACCELEROMETER = const(0x14) +BNO_REPORT_RAW_GYROSCOPE = const(0x15) +BNO_REPORT_RAW_MAGNETOMETER = const(0x16) +BNO_REPORT_SHAKE_DETECTOR = const(0x19) + +BNO_REPORT_STABILITY_CLASSIFIER = const(0x13) +BNO_REPORT_ACTIVITY_CLASSIFIER = const(0x1E) +BNO_REPORT_GYRO_INTEGRATED_ROTATION_VECTOR = const(0x2A) +# TODOz: +# Calibrated Acceleration (m/s2) +# Euler Angles (in degrees?) +# CALIBRATION +# RAW ACCEL, MAG, GYRO # Sfe says each needs the non-raw enabled to work + +_DEFAULT_REPORT_INTERVAL = const(50000) # in microseconds = 50ms +_QUAT_READ_TIMEOUT = 0.500 # timeout in seconds +_PACKET_READ_TIMEOUT = 2.000 # timeout in seconds +_FEATURE_ENABLE_TIMEOUT = 2.0 +_DEFAULT_TIMEOUT = 2.0 +_BNO08X_CMD_RESET = const(0x01) +_QUAT_Q_POINT = const(14) +_BNO_HEADER_LEN = const(4) + +_Q_POINT_14_SCALAR = 2 ** (14 * -1) +_Q_POINT_12_SCALAR = 2 ** (12 * -1) +# _Q_POINT_10_SCALAR = 2 ** (10 * -1) +_Q_POINT_9_SCALAR = 2 ** (9 * -1) +_Q_POINT_8_SCALAR = 2 ** (8 * -1) +_Q_POINT_4_SCALAR = 2 ** (4 * -1) + +_GYRO_SCALAR = _Q_POINT_9_SCALAR +_ACCEL_SCALAR = _Q_POINT_8_SCALAR +_QUAT_SCALAR = _Q_POINT_14_SCALAR +_GEO_QUAT_SCALAR = _Q_POINT_12_SCALAR +_MAG_SCALAR = _Q_POINT_4_SCALAR + +_REPORT_LENGTHS = { + _SHTP_REPORT_PRODUCT_ID_RESPONSE: 16, + _GET_FEATURE_RESPONSE: 17, + _COMMAND_RESPONSE: 16, + _SHTP_REPORT_PRODUCT_ID_RESPONSE: 16, + _BASE_TIMESTAMP: 5, + _TIMESTAMP_REBASE: 5, +} +# these raw reports require their counterpart to be enabled +_RAW_REPORTS = { + BNO_REPORT_RAW_ACCELEROMETER: BNO_REPORT_ACCELEROMETER, + BNO_REPORT_RAW_GYROSCOPE: BNO_REPORT_GYROSCOPE, + BNO_REPORT_RAW_MAGNETOMETER: BNO_REPORT_MAGNETOMETER, +} +_AVAIL_SENSOR_REPORTS = { + BNO_REPORT_ACCELEROMETER: (_Q_POINT_8_SCALAR, 3, 10), + BNO_REPORT_GRAVITY: (_Q_POINT_8_SCALAR, 3, 10), + BNO_REPORT_GYROSCOPE: (_Q_POINT_9_SCALAR, 3, 10), + BNO_REPORT_MAGNETOMETER: (_Q_POINT_4_SCALAR, 3, 10), + BNO_REPORT_LINEAR_ACCELERATION: (_Q_POINT_8_SCALAR, 3, 10), + BNO_REPORT_ROTATION_VECTOR: (_Q_POINT_14_SCALAR, 4, 14), + BNO_REPORT_GEOMAGNETIC_ROTATION_VECTOR: (_Q_POINT_12_SCALAR, 4, 14), + BNO_REPORT_GAME_ROTATION_VECTOR: (_Q_POINT_14_SCALAR, 4, 12), + BNO_REPORT_STEP_COUNTER: (1, 1, 12), + BNO_REPORT_SHAKE_DETECTOR: (1, 1, 6), + BNO_REPORT_STABILITY_CLASSIFIER: (1, 1, 6), + BNO_REPORT_ACTIVITY_CLASSIFIER: (1, 1, 16), + BNO_REPORT_RAW_ACCELEROMETER: (1, 3, 16), + BNO_REPORT_RAW_GYROSCOPE: (1, 3, 16), + BNO_REPORT_RAW_MAGNETOMETER: (1, 3, 16), +} +_INITIAL_REPORTS = { + BNO_REPORT_ACTIVITY_CLASSIFIER: { + "Tilting": -1, + "most_likely": "Unknown", + "OnStairs": -1, + "On-Foot": -1, + "Other": -1, + "On-Bicycle": -1, + "Still": -1, + "Walking": -1, + "Unknown": -1, + "Running": -1, + "In-Vehicle": -1, + }, + BNO_REPORT_STABILITY_CLASSIFIER: "Unknown", + BNO_REPORT_ROTATION_VECTOR: (0.0, 0.0, 0.0, 0.0), + BNO_REPORT_GAME_ROTATION_VECTOR: (0.0, 0.0, 0.0, 0.0), + BNO_REPORT_GEOMAGNETIC_ROTATION_VECTOR: (0.0, 0.0, 0.0, 0.0), +} + +_ENABLED_ACTIVITIES = 0x1FF # All activities; 1 bit set for each of 8 activities, + Unknown + +DATA_BUFFER_SIZE = const(512) # data buffer size. obviously eats ram +PacketHeader = namedtuple( + "PacketHeader", + [ + "channel_number", + "sequence_number", + "data_length", + "packet_byte_count", + ], +) + +REPORT_ACCURACY_STATUS = [ + "Accuracy Unreliable", + "Low Accuracy", + "Medium Accuracy", + "High Accuracy", +] + + +class PacketError(Exception): + """Raised when the packet couldnt be parsed""" + + pass + + +def _elapsed(start_time: float) -> float: + return time.monotonic() - start_time + + +############ PACKET PARSING ########################### +def _parse_sensor_report_data(report_bytes: bytearray) -> tuple[tuple, int]: + """Parses reports with only 16-bit fields""" + data_offset = 4 # this may not always be true + report_id = report_bytes[0] + scalar, count, _report_length = _AVAIL_SENSOR_REPORTS[report_id] + if report_id in _RAW_REPORTS: + # raw reports are unsigned + format_str = " int: + return unpack_from(" str: + classification_bitfield = unpack_from(" tuple[Any, ...]: + return unpack_from(" dict[str, str]: + activities = [ + "Unknown", + "In-Vehicle", # look + "On-Bicycle", # at + "On-Foot", # all + "Still", # this + "Tilting", # room + "Walking", # for + "Running", # activities + "OnStairs", + ] + + end_and_page_number = unpack_from(" 0 + page_number = end_and_page_number & 0x7F + most_likely = unpack_from(" bool: + shake_bitfield = unpack_from(" 0 + + +def parse_sensor_id(buffer: bytearray) -> tuple[int, ...]: + """Parse the fields of a product id report""" + if not buffer[0] == _SHTP_REPORT_PRODUCT_ID_RESPONSE: + raise AttributeError("Wrong report id for sensor id: %s" % hex(buffer[0])) + + sw_major = unpack_from(" tuple[Any, Any]: + # CMD response report: + # 0 Report ID = 0xF1 + # 1 Sequence number + # 2 Command + # 3 Command sequence number + # 4 Response sequence number + # 5 R0-10 A set of response values. The interpretation of these values is specific + # to the response for each command. + report_body = unpack_from(" None: + if command_params and len(command_params) > 9: + raise AttributeError( + "Command request reports can only have up to 9 arguments but %d were given" + % len(command_params) + ) + for _i in range(12): + buffer[_i] = 0 + buffer[0] = _COMMAND_REQUEST + buffer[1] = next_sequence_number + buffer[2] = command + if command_params is None: + return + + for idx, param in enumerate(command_params): + buffer[3 + idx] = param + + +def _report_length(report_id: int) -> int: + if report_id < 0xF0: # it's a sensor report + return _AVAIL_SENSOR_REPORTS[report_id][2] + + return _REPORT_LENGTHS[report_id] + + +def _separate_batch(packet: Packet, report_slices: list[Any]) -> None: + # get first report id, loop up its report length + # read that many bytes, parse them + next_byte_index = 0 + while next_byte_index < packet.header.data_length: + report_id = packet.data[next_byte_index] + required_bytes = _report_length(report_id) + + unprocessed_byte_count = packet.header.data_length - next_byte_index + + # handle incomplete remainder + if unprocessed_byte_count < required_bytes: + raise RuntimeError("Unprocessable Batch bytes", unprocessed_byte_count) + # we have enough bytes to read + # add a slice to the list that was passed in + report_slice = packet.data[next_byte_index : next_byte_index + required_bytes] + + report_slices.append([report_slice[0], report_slice]) + next_byte_index = next_byte_index + required_bytes + + +class Packet: + """A class representing a Hillcrest LaboratorySensor Hub Transport packet""" + + def __init__(self, packet_bytes: bytearray) -> None: + self.header = self.header_from_buffer(packet_bytes) + data_end_index = self.header.data_length + _BNO_HEADER_LEN + self.data = packet_bytes[_BNO_HEADER_LEN:data_end_index] + + def __str__(self) -> str: + length = self.header.packet_byte_count + outstr = "\n\t\t********** Packet *************\n" + outstr += "DBG::\t\t HEADER:\n" + + outstr += "DBG::\t\t Data Len: %d\n" % (self.header.data_length) + outstr += "DBG::\t\t Channel: %s (%d)\n" % ( + channels[self.channel_number], + self.channel_number, + ) + if self.channel_number in { + _BNO_CHANNEL_CONTROL, + _BNO_CHANNEL_INPUT_SENSOR_REPORTS, + }: + if self.report_id in reports: + outstr += "DBG::\t\t \tReport Type: %s (0x%x)\n" % ( + reports[self.report_id], + self.report_id, + ) + else: + outstr += "DBG::\t\t \t** UNKNOWN Report Type **: %s\n" % hex(self.report_id) + + if self.report_id > 0xF0 and len(self.data) >= 6 and self.data[5] in reports: + outstr += "DBG::\t\t \tSensor Report Type: %s(%s)\n" % ( + reports[self.data[5]], + hex(self.data[5]), + ) + + if self.report_id == 0xFC and len(self.data) >= 6 and self.data[1] in reports: + outstr += "DBG::\t\t \tEnabled Feature: %s(%s)\n" % ( + reports[self.data[1]], + hex(self.data[5]), + ) + outstr += "DBG::\t\t Sequence number: %s\n" % self.header.sequence_number + outstr += "\n" + outstr += "DBG::\t\t Data:" + + for idx, packet_byte in enumerate(self.data[:length]): + packet_index = idx + 4 + if (packet_index % 4) == 0: + outstr += f"\nDBG::\t\t[0x{packet_index:02X}] " + outstr += f"0x{packet_byte:02X} " + outstr += "\n" + outstr += "\t\t*******************************\n" + + return outstr + + @property + def report_id(self) -> int: + """The Packet's Report ID""" + return self.data[0] + + @property + def channel_number(self) -> int: + """The packet channel""" + return self.header.channel_number + + @classmethod + def header_from_buffer(cls, packet_bytes: bytearray) -> PacketHeader: + """Creates a `PacketHeader` object from a given buffer""" + packet_byte_count = unpack_from(" bool: + """Returns True if the header is an error condition""" + + if header.channel_number > 5: + return True + if header.packet_byte_count == 0xFFFF and header.sequence_number == 0xFF: + return True + return False + + +class BNO08X: + """Library for the BNO08x IMUs from Hillcrest Laboratories + + :param ~busio.I2C i2c_bus: The I2C bus the BNO08x is connected to. + + """ + + def __init__(self, reset: Optional[DigitalInOut] = None, debug: bool = False) -> None: + self._debug: bool = debug + self._reset: Optional[DigitalInOut] = reset + self._dbg("********** __init__ *************") + self._data_buffer: bytearray = bytearray(DATA_BUFFER_SIZE) + self._command_buffer: bytearray = bytearray(12) + self._packet_slices: list[Any] = [] + + # TODO: this is wrong there should be one per channel per direction + self._sequence_number: list[int] = [0, 0, 0, 0, 0, 0] + self._two_ended_sequence_numbers: dict[int, int] = {} + self._dcd_saved_at: float = -1 + self._me_calibration_started_at: float = -1.0 + self._calibration_complete = False + self._magnetometer_accuracy = 0 + self._wait_for_initialize = True + self._init_complete = False + self._id_read = False + # for saving the most recent reading when decoding several packets + self._readings: dict[int, Any] = {} + self.initialize() + + def initialize(self) -> None: + """Initialize the sensor""" + for _ in range(3): + self.hard_reset() + self.soft_reset() + try: + if self._check_id(): + break + except Exception: + time.sleep(0.5) + else: + raise RuntimeError("Could not read ID") + + @property + def magnetic(self) -> Optional[tuple[float, float, float]]: + """A tuple of the current magnetic field measurements on the X, Y, and Z axes""" + self._process_available_packets() # decorator? + try: + return self._readings[BNO_REPORT_MAGNETOMETER] + except KeyError: + raise RuntimeError("No magfield report found, is it enabled?") from None + + @property + def quaternion(self) -> Optional[tuple[float, float, float, float]]: + """A quaternion representing the current rotation vector""" + self._process_available_packets() + try: + return self._readings[BNO_REPORT_ROTATION_VECTOR] + except KeyError: + raise RuntimeError("No quaternion report found, is it enabled?") from None + + @property + def geomagnetic_quaternion(self) -> Optional[tuple[float, float, float, float]]: + """A quaternion representing the current geomagnetic rotation vector""" + self._process_available_packets() + try: + return self._readings[BNO_REPORT_GEOMAGNETIC_ROTATION_VECTOR] + except KeyError: + raise RuntimeError("No geomag quaternion report found, is it enabled?") from None + + @property + def game_quaternion(self) -> Optional[tuple[float, float, float, float]]: + """A quaternion representing the current rotation vector expressed as a quaternion with no + specific reference for heading, while roll and pitch are referenced against gravity. To + prevent sudden jumps in heading due to corrections, the `game_quaternion` property is not + corrected using the magnetometer. Some drift is expected""" + self._process_available_packets() + try: + return self._readings[BNO_REPORT_GAME_ROTATION_VECTOR] + except KeyError: + raise RuntimeError("No game quaternion report found, is it enabled?") from None + + @property + def steps(self) -> Optional[int]: + """The number of steps detected since the sensor was initialized""" + self._process_available_packets() + try: + return self._readings[BNO_REPORT_STEP_COUNTER] + except KeyError: + raise RuntimeError("No steps report found, is it enabled?") from None + + @property + def linear_acceleration(self) -> Optional[tuple[float, float, float]]: + """A tuple representing the current linear acceleration values on the X, Y, and Z + axes in meters per second squared""" + self._process_available_packets() + try: + return self._readings[BNO_REPORT_LINEAR_ACCELERATION] + except KeyError: + raise RuntimeError("No lin. accel report found, is it enabled?") from None + + @property + def acceleration(self) -> Optional[tuple[float, float, float]]: + """A tuple representing the acceleration measurements on the X, Y, and Z + axes in meters per second squared""" + self._process_available_packets() + try: + return self._readings[BNO_REPORT_ACCELEROMETER] + except KeyError: + raise RuntimeError("No accel report found, is it enabled?") from None + + @property + def gravity(self) -> Optional[tuple[float, float, float]]: + """A tuple representing the gravity vector in the X, Y, and Z components + axes in meters per second squared""" + self._process_available_packets() + try: + return self._readings[BNO_REPORT_GRAVITY] + except KeyError: + raise RuntimeError("No gravity report found, is it enabled?") from None + + @property + def gyro(self) -> Optional[tuple[float, float, float]]: + """A tuple representing Gyro's rotation measurements on the X, Y, and Z + axes in radians per second""" + self._process_available_packets() + try: + return self._readings[BNO_REPORT_GYROSCOPE] + except KeyError: + raise RuntimeError("No gyro report found, is it enabled?") from None + + @property + def shake(self) -> Optional[bool]: + """True if a shake was detected on any axis since the last time it was checked + + This property has a "latching" behavior where once a shake is detected, it will stay in a + "shaken" state until the value is read. This prevents missing shake events but means that + this property is not guaranteed to reflect the shake state at the moment it is read + """ + self._process_available_packets() + try: + shake_detected = self._readings[BNO_REPORT_SHAKE_DETECTOR] + # clear on read + if shake_detected: + self._readings[BNO_REPORT_SHAKE_DETECTOR] = False + return shake_detected + except KeyError: + raise RuntimeError("No shake report found, is it enabled?") from None + + @property + def stability_classification(self) -> Optional[str]: + """Returns the sensor's assessment of it's current stability, one of: + + * "Unknown" - The sensor is unable to classify the current stability + * "On Table" - The sensor is at rest on a stable surface with very little vibration + * "Stationary" - The sensor’s motion is below the stable threshold but\ + the stable duration requirement has not been met. This output is only available when\ + gyro calibration is enabled + * "Stable" - The sensor’s motion has met the stable threshold and duration requirements. + * "In motion" - The sensor is moving. + + """ + self._process_available_packets() + try: + stability_classification = self._readings[BNO_REPORT_STABILITY_CLASSIFIER] + return stability_classification + except KeyError: + raise RuntimeError("No stability classification report found, is it enabled?") from None + + @property + def activity_classification(self) -> Optional[dict]: + """Returns the sensor's assessment of the activity that is creating the motions\ + that it is sensing, one of: + + * "Unknown" + * "In-Vehicle" + * "On-Bicycle" + * "On-Foot" + * "Still" + * "Tilting" + * "Walking" + * "Running" + * "On Stairs" + + """ + self._process_available_packets() + try: + activity_classification = self._readings[BNO_REPORT_ACTIVITY_CLASSIFIER] + return activity_classification + except KeyError: + raise RuntimeError("No activity classification report found, is it enabled?") from None + + @property + def raw_acceleration(self) -> Optional[tuple[int, int, int]]: + """Returns the sensor's raw, unscaled value from the accelerometer registers""" + self._process_available_packets() + try: + raw_acceleration = self._readings[BNO_REPORT_RAW_ACCELEROMETER] + return raw_acceleration + except KeyError: + raise RuntimeError("No raw acceleration report found, is it enabled?") from None + + @property + def raw_gyro(self) -> Optional[tuple[int, int, int]]: + """Returns the sensor's raw, unscaled value from the gyro registers""" + self._process_available_packets() + try: + raw_gyro = self._readings[BNO_REPORT_RAW_GYROSCOPE] + return raw_gyro + except KeyError: + raise RuntimeError("No raw gyro report found, is it enabled?") from None + + @property + def raw_magnetic(self) -> Optional[tuple[int, int, int]]: + """Returns the sensor's raw, unscaled value from the magnetometer registers""" + self._process_available_packets() + try: + raw_magnetic = self._readings[BNO_REPORT_RAW_MAGNETOMETER] + return raw_magnetic + except KeyError: + raise RuntimeError("No raw magnetic report found, is it enabled?") from None + + def begin_calibration(self) -> None: + """Begin the sensor's self-calibration routine""" + # start calibration for accel, gyro, and mag + self._send_me_command( + [ + 1, # calibrate accel + 1, # calibrate gyro + 1, # calibrate mag + _ME_CAL_CONFIG, + 0, # calibrate planar acceleration + 0, # 'on_table' calibration + 0, # reserved + 0, # reserved + 0, # reserved + ] + ) + self._calibration_complete = False + + @property + def calibration_status(self) -> int: + """Get the status of the self-calibration""" + self._send_me_command( + [ + 0, # calibrate accel + 0, # calibrate gyro + 0, # calibrate mag + _ME_GET_CAL, + 0, # calibrate planar acceleration + 0, # 'on_table' calibration + 0, # reserved + 0, # reserved + 0, # reserved + ] + ) + return self._magnetometer_accuracy + + def _send_me_command(self, subcommand_params: Optional[list[int]]) -> None: + start_time = time.monotonic() + local_buffer = self._command_buffer + _insert_command_request_report( + _ME_CALIBRATE, + self._command_buffer, # should use self._data_buffer :\ but send_packet don't + self._get_report_seq_id(_COMMAND_REQUEST), + subcommand_params, + ) + self._send_packet(_BNO_CHANNEL_CONTROL, local_buffer) + self._increment_report_seq(_COMMAND_REQUEST) + while _elapsed(start_time) < _DEFAULT_TIMEOUT: + self._process_available_packets() + if self._me_calibration_started_at > start_time: + break + + def save_calibration_data(self) -> None: + """Save the self-calibration data""" + # send a DCD save command + start_time = time.monotonic() + local_buffer = bytearray(12) + _insert_command_request_report( + _SAVE_DCD, + local_buffer, # should use self._data_buffer :\ but send_packet don't + self._get_report_seq_id(_COMMAND_REQUEST), + ) + self._send_packet(_BNO_CHANNEL_CONTROL, local_buffer) + self._increment_report_seq(_COMMAND_REQUEST) + while _elapsed(start_time) < _DEFAULT_TIMEOUT: + self._process_available_packets() + if self._dcd_saved_at > start_time: + return + raise RuntimeError("Could not save calibration data") + + ############### private/helper methods ############### + # # decorator? + def _process_available_packets(self, max_packets: Optional[int] = None) -> None: + processed_count = 0 + while self._data_ready: + if max_packets and processed_count > max_packets: + return + # print("reading a packet") + try: + new_packet = self._read_packet() + except PacketError: + continue + self._handle_packet(new_packet) + processed_count += 1 + self._dbg("") + # print("Processed", processed_count, "packets") + self._dbg("") + self._dbg("") + self._dbg(" ** DONE! **") + + def _wait_for_packet_type( + self, channel_number: int, report_id: Optional[int] = None, timeout: float = 5.0 + ) -> Packet: + if report_id: + report_id_str = " with report id %s" % hex(report_id) + else: + report_id_str = "" + self._dbg("** Waiting for packet on channel", channel_number, report_id_str) + start_time = time.monotonic() + while _elapsed(start_time) < timeout: + new_packet = self._wait_for_packet() + + if new_packet.channel_number == channel_number: + if report_id: + if new_packet.report_id == report_id: + return new_packet + else: + return new_packet + if new_packet.channel_number not in { + BNO_CHANNEL_EXE, + BNO_CHANNEL_SHTP_COMMAND, + }: + self._dbg("passing packet to handler for de-slicing") + self._handle_packet(new_packet) + + raise RuntimeError("Timed out waiting for a packet on channel", channel_number) + + def _wait_for_packet(self, timeout: float = _PACKET_READ_TIMEOUT) -> Packet: + start_time = time.monotonic() + while _elapsed(start_time) < timeout: + if not self._data_ready: + continue + new_packet = self._read_packet() + return new_packet + raise RuntimeError("Timed out waiting for a packet") + + # update the cached sequence number so we know what to increment from + # TODO: this is wrong there should be one per channel per direction + # and apparently per report as well + def _update_sequence_number(self, new_packet: Packet) -> None: + channel = new_packet.channel_number + seq = new_packet.header.sequence_number + self._sequence_number[channel] = seq + + def _handle_packet(self, packet: Packet) -> None: + # split out reports first + try: + _separate_batch(packet, self._packet_slices) + while len(self._packet_slices) > 0: + self._process_report(*self._packet_slices.pop()) + except Exception as error: + print(packet) + raise error + + def _handle_control_report(self, report_id: int, report_bytes: bytearray) -> None: + if report_id == _SHTP_REPORT_PRODUCT_ID_RESPONSE: + ( + sw_part_number, + sw_major, + sw_minor, + sw_patch, + sw_build_number, + ) = parse_sensor_id(report_bytes) + self._dbg("FROM PACKET SLICE:") + self._dbg("*** Part Number: %d" % sw_part_number) + self._dbg("*** Software Version: %d.%d.%d" % (sw_major, sw_minor, sw_patch)) + self._dbg("\tBuild: %d" % (sw_build_number)) + self._dbg("") + + if report_id == _GET_FEATURE_RESPONSE: + get_feature_report = _parse_get_feature_response_report(report_bytes) + _report_id, feature_report_id, *_remainder = get_feature_report + self._readings[feature_report_id] = _INITIAL_REPORTS.get( + feature_report_id, (0.0, 0.0, 0.0) + ) + if report_id == _COMMAND_RESPONSE: + self._handle_command_response(report_bytes) + + def _handle_command_response(self, report_bytes: bytearray) -> None: + (report_body, response_values) = _parse_command_response(report_bytes) + + ( + _report_id, + _seq_number, + command, + _command_seq_number, + _response_seq_number, + ) = report_body + + # status, accel_en, gyro_en, mag_en, planar_en, table_en, *_reserved) = response_values + command_status, *_rest = response_values + + if command == _ME_CALIBRATE and command_status == 0: + self._me_calibration_started_at = time.monotonic() + + if command == _SAVE_DCD: + if command_status == 0: + self._dcd_saved_at = time.monotonic() + else: + raise RuntimeError("Unable to save calibration data") + + def _process_report(self, report_id: int, report_bytes: bytearray) -> None: + if report_id >= 0xF0: + self._handle_control_report(report_id, report_bytes) + return + self._dbg("\tProcessing report:", reports[report_id]) + if self._debug: + outstr = "" + for idx, packet_byte in enumerate(report_bytes): + packet_index = idx + if (packet_index % 4) == 0: + outstr += f"\nDBG::\t\t[0x{packet_index:02X}] " + outstr += f"0x{packet_byte:02X} " + self._dbg(outstr) + self._dbg("") + + if report_id == BNO_REPORT_STEP_COUNTER: + self._readings[report_id] = _parse_step_couter_report(report_bytes) + return + + if report_id == BNO_REPORT_SHAKE_DETECTOR: + shake_detected = _parse_shake_report(report_bytes) + # shake not previously detected - auto cleared by 'shake' property + try: + if not self._readings[BNO_REPORT_SHAKE_DETECTOR]: + self._readings[BNO_REPORT_SHAKE_DETECTOR] = shake_detected + except KeyError: + pass + return + + if report_id == BNO_REPORT_STABILITY_CLASSIFIER: + stability_classification = _parse_stability_classifier_report(report_bytes) + self._readings[BNO_REPORT_STABILITY_CLASSIFIER] = stability_classification + return + + if report_id == BNO_REPORT_ACTIVITY_CLASSIFIER: + activity_classification = _parse_activity_classifier_report(report_bytes) + self._readings[BNO_REPORT_ACTIVITY_CLASSIFIER] = activity_classification + return + sensor_data, accuracy = _parse_sensor_report_data(report_bytes) + if report_id == BNO_REPORT_MAGNETOMETER: + self._magnetometer_accuracy = accuracy + # TODO: FIXME; Sensor reports are batched in a LIFO which means that multiple reports + # for the same type will end with the oldest/last being kept and the other + # newer reports thrown away + self._readings[report_id] = sensor_data + + # TODO: Make this a Packet creation + @staticmethod + def _get_feature_enable_report( + feature_id: int, + report_interval: int, + sensor_specific_config: int = 0, + ) -> bytearray: + set_feature_report = bytearray(17) + set_feature_report[0] = _SET_FEATURE_COMMAND + set_feature_report[1] = feature_id + pack_into(" None: + """Used to enable a given feature of the BNO08x""" + self._dbg("\n********** Enabling feature id:", feature_id, "**********") + + if feature_id == BNO_REPORT_ACTIVITY_CLASSIFIER: + set_feature_report = self._get_feature_enable_report( + feature_id, report_interval, _ENABLED_ACTIVITIES + ) + else: + set_feature_report = self._get_feature_enable_report(feature_id, report_interval) + + feature_dependency = _RAW_REPORTS.get(feature_id, None) + # if the feature was enabled it will have a key in the readings dict + if feature_dependency and feature_dependency not in self._readings: + self._dbg("Enabling feature depencency:", feature_dependency) + self.enable_feature(feature_dependency) + + self._dbg("Enabling", feature_id) + self._send_packet(_BNO_CHANNEL_CONTROL, set_feature_report) + + start_time = time.monotonic() # 1 + + while _elapsed(start_time) < _FEATURE_ENABLE_TIMEOUT: + self._process_available_packets(max_packets=10) + if feature_id in self._readings: + return + raise RuntimeError("Was not able to enable feature", feature_id) + + def _check_id(self) -> bool: + self._dbg("\n********** READ ID **********") + if self._id_read: + return True + data = bytearray(2) + data[0] = _SHTP_REPORT_PRODUCT_ID_REQUEST + data[1] = 0 # padding + self._dbg("\n** Sending ID Request Report **") + self._send_packet(_BNO_CHANNEL_CONTROL, data) + self._dbg("\n** Waiting for packet **") + # _a_ packet arrived, but which one? + while True: + self._wait_for_packet_type(_BNO_CHANNEL_CONTROL, _SHTP_REPORT_PRODUCT_ID_RESPONSE) + sensor_id = self._parse_sensor_id() + if sensor_id: + self._id_read = True + return True + self._dbg("Packet didn't have sensor ID report, trying again") + + return False + + def _parse_sensor_id(self) -> Optional[int]: + if not self._data_buffer[4] == _SHTP_REPORT_PRODUCT_ID_RESPONSE: + return None + + sw_major = self._get_data(2, " None: + if self._debug: + print("DBG::\t\t", *args, **kwargs) + + def _get_data(self, index: int, fmt_string: str) -> Any: + # index arg is not including header, so add 4 into data buffer + data_index = index + 4 + return unpack_from(fmt_string, self._data_buffer, offset=data_index)[0] + + @property + def _data_ready(self) -> None: + raise RuntimeError("Not implemented") + + def hard_reset(self) -> None: + """Hardware reset the sensor to an initial unconfigured state""" + if not self._reset: + return + import digitalio # noqa: PLC0415 + + self._reset.direction = digitalio.Direction.OUTPUT + self._reset.value = True + time.sleep(0.01) + self._reset.value = False + time.sleep(0.01) + self._reset.value = True + time.sleep(0.01) + + def soft_reset(self) -> None: + """Reset the sensor to an initial unconfigured state""" + self._dbg("Soft resetting...", end="") + data = bytearray(1) + data[0] = 1 + _seq = self._send_packet(BNO_CHANNEL_EXE, data) + time.sleep(0.5) + _seq = self._send_packet(BNO_CHANNEL_EXE, data) + time.sleep(0.5) + + for _i in range(3): + try: + _packet = self._read_packet() + except PacketError: + time.sleep(0.5) + + self._dbg("OK!") + # all is good! + + def _send_packet(self, channel: int, data: bytearray) -> Optional[int]: # noqa: PLR6301 + raise RuntimeError("Not implemented") + + def _read_packet(self) -> Optional[Packet]: # noqa: PLR6301 + raise RuntimeError("Not implemented") + + def _increment_report_seq(self, report_id: int) -> None: + current = self._two_ended_sequence_numbers.get(report_id, 0) + self._two_ended_sequence_numbers[report_id] = (current + 1) % 256 + + def _get_report_seq_id(self, report_id: int) -> int: + return self._two_ended_sequence_numbers.get(report_id, 0) diff --git a/adafruit_bno08x/debug.py b/adafruit_bno08x/debug.py new file mode 100644 index 0000000..571de89 --- /dev/null +++ b/adafruit_bno08x/debug.py @@ -0,0 +1,113 @@ +# SPDX-FileCopyrightText: Copyright (c) 2020 Bryan Siepert for Adafruit Industries +# +# SPDX-License-Identifier: MIT +"""A collection of dictionaries for better debug messages""" + +# TODO: Remove for size before release +channels = { + 0x0: "SHTP_COMMAND", + 0x1: "EXE", + 0x2: "CONTROL", + 0x3: "INPUT_SENSOR_REPORTS", + 0x4: "WAKE_INPUT_SENSOR_REPORTS", + 0x5: "GYRO_ROTATION_VECTOR", +} + +# Command Response + +reports = { + 0xFB: "BASE_TIMESTAMP", + 0xF2: "COMMAND_REQUEST", + 0xF1: "COMMAND_RESPONSE", + 0xF4: "FRS_READ_REQUEST", + 0xF3: "FRS_READ_RESPONSE", + 0xF6: "FRS_WRITE_DATA", + 0xF7: "FRS_WRITE_REQUEST", + 0xF5: "FRS_WRITE_RESPONSE", + 0xFE: "GET_FEATURE_REQUEST", + 0xFC: "GET_FEATURE_RESPONSE", + 0xFD: "SET_FEATURE_COMMAND", + 0xFA: "TIMESTAMP_REBASE", + 0x01: "ACCELEROMETER", + 0x29: "ARVR_STABILIZED_GAME_ROTATION_VECTOR", + 0x28: "ARVR_STABILIZED_ROTATION_VECTOR", + 0x22: "CIRCLE_DETECTOR", + 0x1A: "FLIP_DETECTOR", + 0x08: "GAME_ROTATION_VECTOR", + 0x09: "GEOMAGNETIC_ROTATION_VECTOR", + 0x06: "GRAVITY", + 0x02: "GYROSCOPE", + 0x04: "LINEAR_ACCELERATION", + 0x03: "MAGNETIC_FIELD", + 0x1E: "PERSONAL_ACTIVITY_CLASSIFIER", + 0x1B: "PICKUP_DETECTOR", + 0x21: "POCKET_DETECTOR", + 0xF9: "PRODUCT_ID_REQUEST", + 0xF8: "PRODUCT_ID_RESPONSE", + 0x14: "RAW_ACCELEROMETER", + 0x15: "RAW_GYROSCOPE", + 0x16: "RAW_MAGNETOMETER", + 0x05: "ROTATION_VECTOR", + 0x17: "SAR", + 0x19: "SHAKE_DETECTOR", + 0x12: "SIGNIFICANT_MOTION", + 0x1F: "SLEEP_DETECTOR", + 0x13: "STABILITY_CLASSIFIER", + 0x1C: "STABILITY_DETECTOR", + 0x11: "STEP_COUNTER", + 0x18: "STEP_DETECTOR", + 0x10: "TAP_DETECTOR", + 0x20: "TILT_DETECTOR", + 0x07: "UNCALIBRATED_GYROSCOPE", + 0x0F: "UNCALIBRATED_MAGNETIC_FIELD", +} +# # Gravity (m/s2) +# _BNO_REPORT_GRAVITY = const(0x06) 10 bytes +# # Raw uncalibrated accelerometer data (ADC units). Used for testing +# _BNO_REPORT_RAW_ACCELEROMETER = const(0x14) 16 +# # Uncalibrated gyroscope (rad/s). +# _BNO_REPORT_UNCALIBRATED_GYROSCOPE = const(0x07) 16 +# # Raw uncalibrated gyroscope (ADC units). +# _BNO_REPORT_RAW_GYROSCOPE = const(0x15) 16 +# # Magnetic field uncalibrated (in µTesla). The magnetic field measurement +# without hard-iron offset applied, +# # the hard-iron estimate is provided as a separate parameter. +# _BNO_REPORT_UNCALIBRATED_MAGNETIC_FIELD = const(0x0F) +# # Raw magnetic field measurement (in ADC units). Direct data from the magnetometer. +# Used for testing. +# _BNO_REPORT_RAW_MAGNETOMETER = const(0x16) 16 +# # Geomagnetic Rotation Vector +# _BNO_REPORT_GEOMAGNETIC_ROTATION_VECTOR = const(0x09) +# # Game Rotation Vector +# _BNO_REPORT_GAME_ROTATION_VECTOR = const(0x08) +# # AR/VR Stabilized Game Rotation vector +# _BNO_REPORT_ARVR_STABILIZED_GAME_ROTATION_VECTOR = const(0x29) +# # AR/VR Stabilized Rotation Vector +# _BNO_REPORT_ARVR_STABILIZED_ROTATION_VECTOR = const(0x28) + +# Gyro rotation Vector +# Gyro rotation Vector Prediction + +# _BNO_REPORT_TAP_DETECTOR = const(0x10) +# _BNO_REPORT_STEP_COUNTER = const(0x11) +# _BNO_REPORT_SIGNIFICANT_MOTION = const(0x12) + +# _BNO_REPORT_SAR = const(0x17) +# _BNO_REPORT_STEP_DETECTOR = const(0x18) +# _BNO_REPORT_SHAKE_DETECTOR = const(0x19) +# _BNO_REPORT_FLIP_DETECTOR = const(0x1A) +# _BNO_REPORT_PICKUP_DETECTOR = const(0x1B) +# _BNO_REPORT_STABILITY_DETECTOR = const(0x1C) +# _BNO_REPORT_SLEEP_DETECTOR = const(0x1F) +# _BNO_REPORT_TILT_DETECTOR = const(0x20) +# _BNO_REPORT_POCKET_DETECTOR = const(0x21) +# _BNO_REPORT_CIRCLE_DETECTOR = const(0x22) + + +# Reset reasons from ID Report reponse: +# 0 – Not Applicable +# 1 – Power On Reset +# 2 – Internal System Reset +# 3 – Watchdog Timeout +# 4 – External Reset +# 5 – Other diff --git a/adafruit_bno08x/i2c.py b/adafruit_bno08x/i2c.py new file mode 100644 index 0000000..582de8d --- /dev/null +++ b/adafruit_bno08x/i2c.py @@ -0,0 +1,122 @@ +# SPDX-FileCopyrightText: Copyright (c) 2020 Bryan Siepert for Adafruit Industries +# +# SPDX-License-Identifier: MIT +""" + +Subclass of `adafruit_bno08x.BNO08X` to use I2C + +""" + +from struct import pack_into + +from adafruit_bus_device import i2c_device + +from . import BNO08X, DATA_BUFFER_SIZE, Packet, PacketError, const + +_BNO08X_DEFAULT_ADDRESS = const(0x4A) + + +class BNO08X_I2C(BNO08X): + """Library for the BNO08x IMUs from Hillcrest Laboratories + + :param ~busio.I2C i2c_bus: The I2C bus the BNO08x is connected to. + + """ + + def __init__(self, i2c_bus, reset=None, address=_BNO08X_DEFAULT_ADDRESS, debug=False): + self.bus_device_obj = i2c_device.I2CDevice(i2c_bus, address) + super().__init__(reset, debug) + + def _send_packet(self, channel, data): + data_length = len(data) + write_length = data_length + 4 + + pack_into(" DATA_BUFFER_SIZE: + self._data_buffer = bytearray(total_read_length) + self._dbg( + "!!!!!!!!!!!! ALLOCATION: increased _data_buffer to bytearray(%d) !!!!!!!!!!!!! " + % total_read_length + ) + with self.bus_device_obj as i2c: + i2c.readinto(self._data_buffer, end=total_read_length) + + @property + def _data_ready(self): + header = self._read_header() + + if header.channel_number > 5: + self._dbg("channel number out of range:", header.channel_number) + if header.packet_byte_count == 0x7FFF: + print("Byte count is 0x7FFF/0xFFFF; Error?") + if header.sequence_number == 0xFF: + print("Sequence number is 0xFF; Error?") + ready = False + else: + ready = header.data_length > 0 + + # self._dbg("\tdata ready", ready) + return ready diff --git a/adafruit_bno08x/spi.py b/adafruit_bno08x/spi.py new file mode 100644 index 0000000..9e57416 --- /dev/null +++ b/adafruit_bno08x/spi.py @@ -0,0 +1,169 @@ +# SPDX-FileCopyrightText: Copyright (c) 2020 Bryan Siepert for Adafruit Industries +# +# SPDX-License-Identifier: MIT +""" + +Subclass of `adafruit_bno08x.BNO08X` to use SPI + +""" + +import time +from struct import pack_into + +from adafruit_bus_device import spi_device +from digitalio import Direction, Pull + +from . import BNO08X, DATA_BUFFER_SIZE, Packet, PacketError, _elapsed + + +class BNO08X_SPI(BNO08X): + """Instantiate a `adafruit_bno08x.BNO08X_SPI` instance to communicate with + the sensor using SPI + + Args: + spi_bus ([busio.SPI]): The SPI bus to use to communicate with the BNO08x + cs_pin ([digitalio.DigitalInOut]): The pin object to use for the SPI Chip Select + debug (bool, optional): Enables print statements used for debugging. Defaults to False. + """ + + # """Library for the BNO08x IMUs from Hillcrest Laboratories + + # :param ~busio.SPI spi_bus: The SPI bus the BNO08x is connected to. + + # """ + + def __init__(self, spi_bus, cspin, intpin, resetpin, baudrate=1000000, debug=False): + self._spi = spi_device.SPIDevice(spi_bus, cspin, baudrate=baudrate, polarity=1, phase=1) + self._int = intpin + super().__init__(resetpin, debug) + + def hard_reset(self): + """Hardware reset the sensor to an initial unconfigured state""" + self._reset.direction = Direction.OUTPUT + self._int.direction = Direction.INPUT + self._int.pull = Pull.UP + + print("Hard resetting...") + self._reset.value = True # perform hardware reset + time.sleep(0.01) + self._reset.value = False + time.sleep(0.01) + self._reset.value = True + self._wait_for_int() + print("Done!") + self._read_packet() + + def _wait_for_int(self): + # print("Waiting for INT...", end="") + start_time = time.monotonic() + while _elapsed(start_time) < 3.0: + if not self._int.value: + break + else: + self.hard_reset() + # raise RuntimeError("Could not wake up") + # print("OK") + + def soft_reset(self): + """Reset the sensor to an initial unconfigured state""" + # print("Soft resetting...", end="") + # data = bytearray(1) + # data[0] = 1 + # _seq = self._send_packet(BNO_CHANNEL_EXE, data) + # time.sleep(0.5) + + for _i in range(3): + try: + _packet = self._read_packet() + except PacketError: + time.sleep(0.1) + # print("OK!") + # all is good! + + def _read_into(self, buf, start=0, end=None): + self._wait_for_int() + + with self._spi as spi: + spi.readinto(buf, start=start, end=end, write_value=0x00) + # print("SPI Read buffer (", end-start, "b )", [hex(i) for i in buf[start:end]]) + + def _read_header(self): + """Reads the first 4 bytes available as a header""" + self._wait_for_int() + + # read header + with self._spi as spi: + spi.readinto(self._data_buffer, end=4, write_value=0x00) + self._dbg("") + self._dbg("SHTP READ packet header: ", [hex(x) for x in self._data_buffer[0:4]]) + + def _read_packet(self): + self._read_header() + halfpacket = False + + print([hex(x) for x in self._data_buffer[0:4]]) + if self._data_buffer[1] & 0x80: + halfpacket = True + header = Packet.header_from_buffer(self._data_buffer) + packet_byte_count = header.packet_byte_count + channel_number = header.channel_number + sequence_number = header.sequence_number + + self._sequence_number[channel_number] = sequence_number + if packet_byte_count == 0: + raise PacketError("No packet available") + + self._dbg("channel %d has %d bytes available" % (channel_number, packet_byte_count - 4)) + + if packet_byte_count > DATA_BUFFER_SIZE: + self._data_buffer = bytearray(packet_byte_count) + + # re-read header bytes since this is going to be a new transaction + self._read_into(self._data_buffer, start=0, end=packet_byte_count) + # print("Packet: ", [hex(i) for i in self._data_buffer[0:packet_byte_count]]) + + if halfpacket: + raise PacketError("read partial packet") + new_packet = Packet(self._data_buffer) + if self._debug: + print(new_packet) + self._update_sequence_number(new_packet) + return new_packet + + def _read(self, requested_read_length): + self._dbg("trying to read", requested_read_length, "bytes") + unread_bytes = 0 + # +4 for the header + total_read_length = requested_read_length + 4 + if total_read_length > DATA_BUFFER_SIZE: + unread_bytes = total_read_length - DATA_BUFFER_SIZE + total_read_length = DATA_BUFFER_SIZE + + with self._spi as spi: + spi.readinto(self._data_buffer, end=total_read_length) + return unread_bytes > 0 + + def _send_packet(self, channel, data): + data_length = len(data) + write_length = data_length + 4 + + pack_into(" DATA_BUFFER_SIZE: + self._data_buffer = bytearray(packet_byte_count) + + # skip 4 header bytes since they've already been read + self._read_into(self._data_buffer, start=4, end=packet_byte_count) + + # print("Packet: ", [hex(i) for i in self._data_buffer[0:packet_byte_count]]) + + data = self._uart.read(1) + b = data[0] + if b != 0x7E: + raise RuntimeError("Didn't find packet end") + + new_packet = Packet(self._data_buffer) + if self._debug: + print(new_packet) + + self._update_sequence_number(new_packet) + + return new_packet + + @property + def _data_ready(self): + return self._uart.in_waiting >= 4 + + def soft_reset(self): + """Reset the sensor to an initial unconfigured state""" + print("Soft resetting...", end="") + + data = bytearray([0, 1]) + self._send_packet(BNO_CHANNEL_SHTP_COMMAND, data) + time.sleep(0.5) + + # read the SHTP announce command packet response + while True: + packet = self._read_packet() + if packet.channel_number == BNO_CHANNEL_SHTP_COMMAND: + break + + data = bytearray([1]) + self._send_packet(BNO_CHANNEL_EXE, data) + time.sleep(0.5) + self._send_packet(BNO_CHANNEL_EXE, data) + time.sleep(0.5) + + print("OK!") # all is good! diff --git a/docs/_static/custom.css b/docs/_static/custom.css new file mode 100644 index 0000000..d60cf4b --- /dev/null +++ b/docs/_static/custom.css @@ -0,0 +1,8 @@ +/* SPDX-FileCopyrightText: 2025 Sam Blenny + * SPDX-License-Identifier: MIT + */ + +/* Monkey patch the rtd theme to prevent horizontal stacking of short items + * see https://github.com/readthedocs/sphinx_rtd_theme/issues/1301 + */ +.py.property{display: block !important;} diff --git a/docs/api.rst b/docs/api.rst index d98d960..94131db 100644 --- a/docs/api.rst +++ b/docs/api.rst @@ -4,5 +4,8 @@ .. If your library file(s) are nested in a directory (e.g. /adafruit_foo/foo.py) .. use this format as the module name: "adafruit_foo.foo" -.. automodule:: adafruit_bno080 +API Reference +############# + +.. automodule:: adafruit_bno08x :members: diff --git a/docs/conf.py b/docs/conf.py index f82fa67..2a31881 100644 --- a/docs/conf.py +++ b/docs/conf.py @@ -1,9 +1,8 @@ -# -*- coding: utf-8 -*- - # SPDX-FileCopyrightText: 2017 Scott Shawcroft, written for Adafruit Industries # # SPDX-License-Identifier: MIT +import datetime import os import sys @@ -16,6 +15,7 @@ # ones. extensions = [ "sphinx.ext.autodoc", + "sphinxcontrib.jquery", "sphinx.ext.intersphinx", "sphinx.ext.napoleon", "sphinx.ext.todo", @@ -25,12 +25,12 @@ intersphinx_mapping = { - "python": ("https://docs.python.org/3.4", None), + "python": ("https://docs.python.org/3", None), "BusDevice": ( - "https://circuitpython.readthedocs.io/projects/busdevice/en/latest/", + "https://docs.circuitpython.org/projects/busdevice/en/latest/", None, ), - "CircuitPython": ("https://circuitpython.readthedocs.io/en/latest/", None), + "CircuitPython": ("https://docs.circuitpython.org/en/latest/", None), } # Add any paths that contain templates here, relative to this directory. @@ -42,8 +42,13 @@ master_doc = "index" # General information about the project. -project = "Adafruit BNO080 Library" -copyright = "2020 Bryan Siepert" +project = "Adafruit BNO08x Library" +creation_year = "2020" +current_year = str(datetime.datetime.now().year) +year_duration = ( + current_year if current_year == creation_year else creation_year + " - " + current_year +) +copyright = year_duration + " Bryan Siepert" author = "Bryan Siepert" # The version info for the project you're documenting, acts as replacement for @@ -60,7 +65,7 @@ # # This is also used if you do content translation via gettext catalogs. # Usually you set "language" from the command line for these cases. -language = None +language = "en" # List of patterns, relative to source directory, that match files and # directories to ignore when looking for source files. @@ -98,25 +103,18 @@ # The theme to use for HTML and HTML Help pages. See the documentation for # a list of builtin themes. # -on_rtd = os.environ.get("READTHEDOCS", None) == "True" - -if not on_rtd: # only import and set the theme if we're building docs locally - try: - import sphinx_rtd_theme +import sphinx_rtd_theme - html_theme = "sphinx_rtd_theme" - html_theme_path = [sphinx_rtd_theme.get_html_theme_path(), "."] - except: - html_theme = "default" - html_theme_path = ["."] -else: - html_theme_path = ["."] +html_theme = "sphinx_rtd_theme" # Add any paths that contain custom static files (such as style sheets) here, # relative to this directory. They are copied after the builtin static files, # so a file named "default.css" will overwrite the builtin "default.css". html_static_path = ["_static"] +# Include extra css to work around rtd theme glitches +html_css_files = ["custom.css"] + # The name of an image file (relative to this directory) to use as a favicon of # the docs. This file should be a Windows icon file (.ico) being 16x16 or 32x32 # pixels large. @@ -124,7 +122,7 @@ html_favicon = "_static/favicon.ico" # Output file base name for HTML help builder. -htmlhelp_basename = "AdafruitBno080Librarydoc" +htmlhelp_basename = "AdafruitBno08xLibrarydoc" # -- Options for LaTeX output --------------------------------------------- @@ -145,8 +143,8 @@ latex_documents = [ ( master_doc, - "AdafruitBNO080Library.tex", - "AdafruitBNO080 Library Documentation", + "AdafruitBNO08XLibrary.tex", + "AdafruitBNO08X Library Documentation", author, "manual", ), @@ -159,8 +157,8 @@ man_pages = [ ( master_doc, - "AdafruitBNO080library", - "Adafruit BNO080 Library Documentation", + "AdafruitBNO08Xlibrary", + "Adafruit BNO08x Library Documentation", [author], 1, ), @@ -174,10 +172,10 @@ texinfo_documents = [ ( master_doc, - "AdafruitBNO080Library", - "Adafruit BNO080 Library Documentation", + "AdafruitBNO08XLibrary", + "Adafruit BNO08x Library Documentation", author, - "AdafruitBNO080Library", + "AdafruitBNO08XLibrary", "One line description of project.", "Miscellaneous", ), diff --git a/docs/examples.rst b/docs/examples.rst index ad20161..f7dd4b3 100644 --- a/docs/examples.rst +++ b/docs/examples.rst @@ -3,6 +3,6 @@ Simple test Ensure your device works with this simple test. -.. literalinclude:: ../examples/bno080_simpletest.py - :caption: examples/bno080_simpletest.py +.. literalinclude:: ../examples/bno08x_simpletest.py + :caption: examples/bno08x_simpletest.py :linenos: diff --git a/docs/index.rst b/docs/index.rst index af9f68a..8d63075 100644 --- a/docs/index.rst +++ b/docs/index.rst @@ -26,14 +26,15 @@ Table of Contents .. toctree:: :caption: Related Products -* `Adafruit BNO080 Breakout `_ +* `Adafruit BNO08x Breakout `_ .. toctree:: :caption: Other Links - Download - CircuitPython Reference Documentation + Download from GitHub + Download Library Bundle + CircuitPython Reference Documentation CircuitPython Support Forum Discord Chat Adafruit Learning System diff --git a/docs/requirements.txt b/docs/requirements.txt new file mode 100644 index 0000000..979f568 --- /dev/null +++ b/docs/requirements.txt @@ -0,0 +1,7 @@ +# SPDX-FileCopyrightText: 2021 Kattni Rembor for Adafruit Industries +# +# SPDX-License-Identifier: Unlicense + +sphinx +sphinxcontrib-jquery +sphinx-rtd-theme diff --git a/examples/bno080_simpletest.py b/examples/bno080_simpletest.py deleted file mode 100644 index 9e46ff4..0000000 --- a/examples/bno080_simpletest.py +++ /dev/null @@ -1,21 +0,0 @@ -# SPDX-FileCopyrightText: 2020 Bryan Siepert, written for Adafruit Industries -# -# SPDX-License-Identifier: Unlicense -from time import sleep -import board -import busio -from adafruit_bno080.i2c import BNO080_I2C - - -i2c = busio.I2C(board.SCL, board.SDA) -bno = BNO080_I2C(i2c) - -while True: - quat = bno.quaternion # pylint:disable=no-member - - print("Rotation Vector Quaternion:") - print( - "I: %0.6f J: %0.6f K: %0.6f Real: %0.6f" % (quat.i, quat.j, quat.k, quat.real) - ) - print("") - sleep(0.5) diff --git a/examples/bno080_simpletest_spi.py b/examples/bno080_simpletest_spi.py deleted file mode 100644 index f742bf2..0000000 --- a/examples/bno080_simpletest_spi.py +++ /dev/null @@ -1,26 +0,0 @@ -# SPDX-FileCopyrightText: 2020 Bryan Siepert, written for Adafruit Industries -# -# SPDX-License-Identifier: Unlicense -from time import sleep -import board -import busio -from digitalio import DigitalInOut, Direction -from adafruit_bno080.spi import BNO080_SPI - -# need to limit clock to 3Mhz -spi = busio.SPI(board.SCK, MISO=board.MISO, MOSI=board.MOSI) - -cs = DigitalInOut(board.D5) -cs.direction = Direction.OUTPUT - -sleep(1) -bno = BNO080_SPI(spi, cs, debug=True) -print("We made it out!") -while True: - quat = bno.quaternion # pylint:disable=no-member - print("Rotation Vector Quaternion:") - print( - "I: %0.6f J: %0.6f K: %0.6f Real: %0.6f" % (quat.i, quat.j, quat.k, quat.real) - ) - print("") - sleep(0.5) diff --git a/examples/bno08x_calibration.py b/examples/bno08x_calibration.py new file mode 100644 index 0000000..b82a5d4 --- /dev/null +++ b/examples/bno08x_calibration.py @@ -0,0 +1,58 @@ +# SPDX-FileCopyrightText: 2020 Bryan Siepert, written for Adafruit Industries +# +# SPDX-License-Identifier: Unlicense +import time + +import board +import busio +from digitalio import DigitalInOut + +import adafruit_bno08x +from adafruit_bno08x.i2c import BNO08X_I2C + +i2c = busio.I2C(board.SCL, board.SDA) +reset_pin = DigitalInOut(board.D5) +bno = BNO08X_I2C(i2c, reset=reset_pin, debug=False) + +bno.begin_calibration() +# TODO: UPDATE UART/SPI +bno.enable_feature(adafruit_bno08x.BNO_REPORT_MAGNETOMETER) +bno.enable_feature(adafruit_bno08x.BNO_REPORT_GAME_ROTATION_VECTOR) +start_time = time.monotonic() +calibration_good_at = None +while True: + time.sleep(0.1) + + print("Magnetometer:") + mag_x, mag_y, mag_z = bno.magnetic + print("X: %0.6f Y: %0.6f Z: %0.6f uT" % (mag_x, mag_y, mag_z)) + print("") + + print("Game Rotation Vector Quaternion:") + ( + game_quat_i, + game_quat_j, + game_quat_k, + game_quat_real, + ) = bno.game_quaternion + print( + "I: %0.6f J: %0.6f K: %0.6f Real: %0.6f" + % (game_quat_i, game_quat_j, game_quat_k, game_quat_real) + ) + calibration_status = bno.calibration_status + print( + "Magnetometer Calibration quality:", + adafruit_bno08x.REPORT_ACCURACY_STATUS[calibration_status], + " (%d)" % calibration_status, + ) + if not calibration_good_at and calibration_status >= 2: + calibration_good_at = time.monotonic() + if calibration_good_at and (time.monotonic() - calibration_good_at > 5.0): + input_str = input("\n\nEnter S to save or anything else to continue: ") + if input_str.strip().lower() == "s": + bno.save_calibration_data() + break + calibration_good_at = None + print("**************************************************************") + +print("calibration done") diff --git a/examples/bno08x_find_heading.py b/examples/bno08x_find_heading.py new file mode 100644 index 0000000..7a52ef2 --- /dev/null +++ b/examples/bno08x_find_heading.py @@ -0,0 +1,55 @@ +# SPDX-FileCopyrightText: 2021 KC YUGESH +# SPDX-License-Identifier: Unlicense + +import time +from math import atan2, pi, sqrt + +from board import SCL, SDA +from busio import I2C + +from adafruit_bno08x import ( + BNO_REPORT_GEOMAGNETIC_ROTATION_VECTOR, + BNO_REPORT_ROTATION_VECTOR, +) +from adafruit_bno08x.i2c import BNO08X_I2C + +i2c = I2C(SCL, SDA, frequency=800000) +bno = BNO08X_I2C(i2c) +bno.enable_feature(BNO_REPORT_ROTATION_VECTOR) +bno.enable_feature(BNO_REPORT_GEOMAGNETIC_ROTATION_VECTOR) + +# quat_real, quat_i, quat_j, quat_k + + +def find_heading(dqw, dqx, dqy, dqz): + norm = sqrt(dqw * dqw + dqx * dqx + dqy * dqy + dqz * dqz) + dqw = dqw / norm + dqx = dqx / norm + dqy = dqy / norm + dqz = dqz / norm + + ysqr = dqy * dqy + + t3 = +2.0 * (dqw * dqz + dqx * dqy) + t4 = +1.0 - 2.0 * (ysqr + dqz * dqz) + yaw_raw = atan2(t3, t4) + yaw = yaw_raw * 180.0 / pi + if yaw > 0: + yaw = 360 - yaw + else: + yaw = abs(yaw) + return yaw # heading in 360 clockwise + + +while True: + quat_i, quat_j, quat_k, quat_real = bno.quaternion + heading = find_heading(quat_real, quat_i, quat_j, quat_k) + print("Heading using rotation vector:", heading) + + # the geomagnetic sensor is unstable + # Heading is calculated using geomagnetic vector + geo_quat_i, geo_quat_j, geo_quat_k, geo_quat_real = bno.geomagnetic_quaternion + heading_geo = find_heading(geo_quat_real, geo_quat_i, geo_quat_j, geo_quat_k) + print("Heading using geomagnetic rotation vector:", heading_geo) + print("") + time.sleep(0.1) diff --git a/examples/bno08x_more_reports.py b/examples/bno08x_more_reports.py new file mode 100644 index 0000000..3624887 --- /dev/null +++ b/examples/bno08x_more_reports.py @@ -0,0 +1,131 @@ +# SPDX-FileCopyrightText: 2020 Bryan Siepert, written for Adafruit Industries +# +# SPDX-License-Identifier: MIT +import time + +import board +import busio + +import adafruit_bno08x +from adafruit_bno08x.i2c import BNO08X_I2C + +i2c = busio.I2C(board.SCL, board.SDA, frequency=800000) +bno = BNO08X_I2C(i2c) + +bno.enable_feature(adafruit_bno08x.BNO_REPORT_ACCELEROMETER) +bno.enable_feature(adafruit_bno08x.BNO_REPORT_GYROSCOPE) +bno.enable_feature(adafruit_bno08x.BNO_REPORT_MAGNETOMETER) +bno.enable_feature(adafruit_bno08x.BNO_REPORT_LINEAR_ACCELERATION) +bno.enable_feature(adafruit_bno08x.BNO_REPORT_ROTATION_VECTOR) +bno.enable_feature(adafruit_bno08x.BNO_REPORT_GEOMAGNETIC_ROTATION_VECTOR) +bno.enable_feature(adafruit_bno08x.BNO_REPORT_GAME_ROTATION_VECTOR) +bno.enable_feature(adafruit_bno08x.BNO_REPORT_STEP_COUNTER) +bno.enable_feature(adafruit_bno08x.BNO_REPORT_STABILITY_CLASSIFIER) +bno.enable_feature(adafruit_bno08x.BNO_REPORT_ACTIVITY_CLASSIFIER) +bno.enable_feature(adafruit_bno08x.BNO_REPORT_SHAKE_DETECTOR) +bno.enable_feature(adafruit_bno08x.BNO_REPORT_RAW_ACCELEROMETER) +bno.enable_feature(adafruit_bno08x.BNO_REPORT_RAW_GYROSCOPE) +bno.enable_feature(adafruit_bno08x.BNO_REPORT_RAW_MAGNETOMETER) + +while True: + time.sleep(0.1) + + print("Acceleration:") + accel_x, accel_y, accel_z = bno.acceleration + print("X: %0.6f Y: %0.6f Z: %0.6f m/s^2" % (accel_x, accel_y, accel_z)) + print("") + + print("Gyro:") + gyro_x, gyro_y, gyro_z = bno.gyro + print("X: %0.6f Y: %0.6f Z: %0.6f rads/s" % (gyro_x, gyro_y, gyro_z)) + print("") + + print("Magnetometer:") + mag_x, mag_y, mag_z = bno.magnetic + print("X: %0.6f Y: %0.6f Z: %0.6f uT" % (mag_x, mag_y, mag_z)) + print("") + + print("Linear Acceleration:") + ( + linear_accel_x, + linear_accel_y, + linear_accel_z, + ) = bno.linear_acceleration + print("X: %0.6f Y: %0.6f Z: %0.6f m/s^2" % (linear_accel_x, linear_accel_y, linear_accel_z)) + print("") + + print("Rotation Vector Quaternion:") + quat_i, quat_j, quat_k, quat_real = bno.quaternion + print("I: %0.6f J: %0.6f K: %0.6f Real: %0.6f" % (quat_i, quat_j, quat_k, quat_real)) + print("") + + print("Geomagnetic Rotation Vector Quaternion:") + ( + geo_quat_i, + geo_quat_j, + geo_quat_k, + geo_quat_real, + ) = bno.geomagnetic_quaternion + print( + "I: %0.6f J: %0.6f K: %0.6f Real: %0.6f" + % (geo_quat_i, geo_quat_j, geo_quat_k, geo_quat_real) + ) + # print("") + + print("Game Rotation Vector Quaternion:") + ( + game_quat_i, + game_quat_j, + game_quat_k, + game_quat_real, + ) = bno.game_quaternion + print( + "I: %0.6f J: %0.6f K: %0.6f Real: %0.6f" + % (game_quat_i, game_quat_j, game_quat_k, game_quat_real) + ) + print("") + + print("Steps detected:", bno.steps) + print("") + + print("Stability classification:", bno.stability_classification) + print("") + + activity_classification = bno.activity_classification + most_likely = activity_classification["most_likely"] + print( + "Activity classification:", + most_likely, + "confidence: %d/100" % activity_classification[most_likely], + ) + + print("Raw Acceleration:") + ( + raw_accel_x, + raw_accel_y, + raw_accel_z, + ) = bno.raw_acceleration + print(f"X: 0x{raw_accel_x:04X} Y: 0x{raw_accel_y:04X} Z: 0x{raw_accel_z:04X} LSB") + print("") + + print("Raw Gyro:") + ( + raw_accel_x, + raw_accel_y, + raw_accel_z, + ) = bno.raw_gyro + print(f"X: 0x{raw_accel_x:04X} Y: 0x{raw_accel_y:04X} Z: 0x{raw_accel_z:04X} LSB") + print("") + + print("Raw Magnetometer:") + ( + raw_mag_x, + raw_mag_y, + raw_mag_z, + ) = bno.raw_magnetic + print(f"X: 0x{raw_mag_x:04X} Y: 0x{raw_mag_y:04X} Z: 0x{raw_mag_z:04X} LSB") + print("") + time.sleep(0.4) + if bno.shake: + print("SHAKE DETECTED!") + print("") diff --git a/examples/bno080_quaternion_service.py b/examples/bno08x_quaternion_service.py similarity index 67% rename from examples/bno080_quaternion_service.py rename to examples/bno08x_quaternion_service.py index a125a77..24ff0ca 100644 --- a/examples/bno080_quaternion_service.py +++ b/examples/bno08x_quaternion_service.py @@ -2,24 +2,27 @@ # # SPDX-License-Identifier: MIT import time + import board from adafruit_ble import BLERadio -from adafruit_bno080 import BNO080 from adafruit_ble_adafruit.adafruit_service import AdafruitServerAdvertisement from adafruit_ble_adafruit.quaternion_service import QuaternionService -i2c = board.I2C() -bno = BNO080(i2c) +from adafruit_bno08x import BNO08X + +i2c = board.I2C() # uses board.SCL and board.SDA +# i2c = board.STEMMA_I2C() # For using the built-in STEMMA QT connector on a microcontroller +bno = BNO08X(i2c) quat_svc = QuaternionService() -quat_svc.measurement_period = 100 +quat_svc.measurement_period = 50 quat_last_read = 0 ble = BLERadio() # The Web Bluetooth dashboard identifies known boards by their # advertised name, not by advertising manufacturer data. -ble.name = "Adafruit Hillcrest Laboratories BNO080 Breakout" +ble.name = "Adafruit Hillcrest Laboratories BNO08x Breakout" adv = AdafruitServerAdvertisement() adv.pid = 0x8088 @@ -32,11 +35,8 @@ ble.stop_advertising() while ble.connected: - now_msecs = time.monotonic_ns() // 1000000 # pylint: disable=no-member + now_msecs = time.monotonic_ns() // 1000000 if now_msecs - quat_last_read >= quat_svc.measurement_period: - quat_obj = bno.quaternion - bno_080_quat_out = (quat_obj.i, quat_obj.j, quat_obj.i, quat_obj.real) - - quat_svc.quaternion = bno_080_quat_out + quat_svc.quaternion = bno.quaternion quat_last_read = now_msecs diff --git a/examples/bno08x_simpletest.py b/examples/bno08x_simpletest.py new file mode 100644 index 0000000..4335994 --- /dev/null +++ b/examples/bno08x_simpletest.py @@ -0,0 +1,45 @@ +# SPDX-FileCopyrightText: 2020 Bryan Siepert, written for Adafruit Industries +# +# SPDX-License-Identifier: Unlicense +import time + +import board +import busio + +from adafruit_bno08x import ( + BNO_REPORT_ACCELEROMETER, + BNO_REPORT_GYROSCOPE, + BNO_REPORT_MAGNETOMETER, + BNO_REPORT_ROTATION_VECTOR, +) +from adafruit_bno08x.i2c import BNO08X_I2C + +i2c = busio.I2C(board.SCL, board.SDA, frequency=400000) +bno = BNO08X_I2C(i2c) + +bno.enable_feature(BNO_REPORT_ACCELEROMETER) +bno.enable_feature(BNO_REPORT_GYROSCOPE) +bno.enable_feature(BNO_REPORT_MAGNETOMETER) +bno.enable_feature(BNO_REPORT_ROTATION_VECTOR) + +while True: + time.sleep(0.5) + print("Acceleration:") + accel_x, accel_y, accel_z = bno.acceleration + print("X: %0.6f Y: %0.6f Z: %0.6f m/s^2" % (accel_x, accel_y, accel_z)) + print("") + + print("Gyro:") + gyro_x, gyro_y, gyro_z = bno.gyro + print("X: %0.6f Y: %0.6f Z: %0.6f rads/s" % (gyro_x, gyro_y, gyro_z)) + print("") + + print("Magnetometer:") + mag_x, mag_y, mag_z = bno.magnetic + print("X: %0.6f Y: %0.6f Z: %0.6f uT" % (mag_x, mag_y, mag_z)) + print("") + + print("Rotation Vector Quaternion:") + quat_i, quat_j, quat_k, quat_real = bno.quaternion + print("I: %0.6f J: %0.6f K: %0.6f Real: %0.6f" % (quat_i, quat_j, quat_k, quat_real)) + print("") diff --git a/examples/bno08x_simpletest_spi.py b/examples/bno08x_simpletest_spi.py new file mode 100644 index 0000000..f1c5174 --- /dev/null +++ b/examples/bno08x_simpletest_spi.py @@ -0,0 +1,35 @@ +# SPDX-FileCopyrightText: 2020 Bryan Siepert, written for Adafruit Industries +# +# SPDX-License-Identifier: Unlicense +from time import sleep + +import board +import busio +from digitalio import DigitalInOut, Direction + +from adafruit_bno08x.spi import BNO08X_SPI + +# need to limit clock to 3Mhz +spi = busio.SPI(board.SCK, MISO=board.MISO, MOSI=board.MOSI) + +cs = DigitalInOut(board.D5) +cs.direction = Direction.OUTPUT + +int_pin = DigitalInOut(board.D6) +int_pin.direction = Direction.INPUT + +wake_pin = DigitalInOut(board.D9) +wake_pin.direction = Direction.INPUT + +reset_pin = DigitalInOut(board.D9) +reset_pin.direction = Direction.INPUT + +bno = BNO08X_SPI(spi, cs, int_pin, wake_pin, reset_pin, debug=True) + +while True: + print("getting quat") + quat = bno.quaternion + print("Rotation Vector Quaternion:") + print("I: %0.6f J: %0.6f K: %0.6f Real: %0.6f" % (quat.i, quat.j, quat.k, quat.real)) + print("") + sleep(0.5) diff --git a/examples/bno08x_simpletest_uart.py b/examples/bno08x_simpletest_uart.py new file mode 100644 index 0000000..9a4a597 --- /dev/null +++ b/examples/bno08x_simpletest_uart.py @@ -0,0 +1,146 @@ +# SPDX-FileCopyrightText: 2020 Bryan Siepert, written for Adafruit Industries +# +# SPDX-License-Identifier: Unlicense +import time + +import board +import busio + +import adafruit_bno08x +from adafruit_bno08x.uart import BNO08X_UART + +uart = busio.UART(board.TX, board.RX, baudrate=3000000, receiver_buffer_size=2048) + +# uncomment and comment out the above for use with Raspberry Pi +# import serial +# uart = serial.Serial("/dev/serial0", 3000000) + +# for USB Serial (via FTDI cable): +# import serial +# uart = serial.Serial("/dev/ttyUSB0", baudrate=3000000) + +bno = BNO08X_UART(uart) + +bno.enable_feature(adafruit_bno08x.BNO_REPORT_ACCELEROMETER) +bno.enable_feature(adafruit_bno08x.BNO_REPORT_GYROSCOPE) +bno.enable_feature(adafruit_bno08x.BNO_REPORT_MAGNETOMETER) +bno.enable_feature(adafruit_bno08x.BNO_REPORT_ROTATION_VECTOR) + +# More reports! Uncomment the enable line below along with the print +# in the loop below +# bno.enable_feature(adafruit_bno08x.BNO_REPORT_LINEAR_ACCELERATION) +# bno.enable_feature(adafruit_bno08x.BNO_REPORT_GEOMAGNETIC_ROTATION_VECTOR) +# bno.enable_feature(adafruit_bno08x.BNO_REPORT_GAME_ROTATION_VECTOR) +# bno.enable_feature(adafruit_bno08x.BNO_REPORT_STEP_COUNTER) +# bno.enable_feature(adafruit_bno08x.BNO_REPORT_STABILITY_CLASSIFIER) +# bno.enable_feature(adafruit_bno08x.BNO_REPORT_ACTIVITY_CLASSIFIER) +# bno.enable_feature(adafruit_bno08x.BNO_REPORT_SHAKE_DETECTOR) +# bno.enable_feature(adafruit_bno08x.BNO_REPORT_RAW_ACCELEROMETER) +# bno.enable_feature(adafruit_bno08x.BNO_REPORT_RAW_GYROSCOPE) +# bno.enable_feature(adafruit_bno08x.BNO_REPORT_RAW_MAGNETOMETER) + +while True: + time.sleep(0.5) + + print("Acceleration:") + accel_x, accel_y, accel_z = bno.acceleration + print("X: %0.6f Y: %0.6f Z: %0.6f m/s^2" % (accel_x, accel_y, accel_z)) + print("") + + print("Gyro:") + gyro_x, gyro_y, gyro_z = bno.gyro + print("X: %0.6f Y: %0.6f Z: %0.6f rads/s" % (gyro_x, gyro_y, gyro_z)) + print("") + + print("Magnetometer:") + mag_x, mag_y, mag_z = bno.magnetic + print("X: %0.6f Y: %0.6f Z: %0.6f uT" % (mag_x, mag_y, mag_z)) + print("") + + print("Rotation Vector Quaternion:") + quat_i, quat_j, quat_k, quat_real = bno.quaternion + print("I: %0.6f J: %0.6f K: %0.6f Real: %0.6f" % (quat_i, quat_j, quat_k, quat_real)) + print("") + + # print("Linear Acceleration:") + # ( + # linear_accel_x, + # linear_accel_y, + # linear_accel_z, + # ) = bno.linear_acceleration + # print( + # "X: %0.6f Y: %0.6f Z: %0.6f m/s^2" + # % (linear_accel_x, linear_accel_y, linear_accel_z) + # ) + # print("") + + # print("Geomagnetic Rotation Vector Quaternion:") + # ( + # geo_quat_i, + # geo_quat_j, + # geo_quat_k, + # geo_quat_real, + # ) = bno.geomagnetic_quaternion + # print( + # "I: %0.6f J: %0.6f K: %0.6f Real: %0.6f" + # % (geo_quat_i, geo_quat_j, geo_quat_k, geo_quat_real) + # ) + # # print("") + + # print("Game Rotation Vector Quaternion:") + # ( + # game_quat_i, + # game_quat_j, + # game_quat_k, + # game_quat_real, + # ) = bno.game_quaternion + # print( + # "I: %0.6f J: %0.6f K: %0.6f Real: %0.6f" + # % (game_quat_i, game_quat_j, game_quat_k, game_quat_real) + # ) + # print("") + + # print("Steps detected:", bno.steps) + # print("") + + # print("Stability classification:", bno.stability_classification) + # print("") + + # activity_classification = bno.activity_classification + # most_likely = activity_classification["most_likely"] + # print( + # "Activity classification:", + # most_likely, + # "confidence: %d/100" % activity_classification[most_likely], + # ) + + # print("Raw Acceleration:") + # (raw_accel_x, raw_accel_y, raw_accel_z,) = bno.raw_acceleration + # print( + # "X: 0x{0:04X} Y: 0x{1:04X} Z: 0x{2:04X} LSB".format( + # raw_accel_x, raw_accel_y, raw_accel_z + # ) + # ) + # print("") + + # print("Raw Gyro:") + # (raw_accel_x, raw_accel_y, raw_accel_z,) = bno.raw_gyro + # print( + # "X: 0x{0:04X} Y: 0x{1:04X} Z: 0x{2:04X} LSB".format( + # raw_accel_x, raw_accel_y, raw_accel_z + # ) + # ) + # print("") + + # print("Raw Magnetometer:") + # (raw_mag_x, raw_mag_y, raw_mag_z,) = bno.raw_magnetic + # print( + # "X: 0x{0:04X} Y: 0x{1:04X} Z: 0x{2:04X} LSB".format( + # raw_mag_x, raw_mag_y, raw_mag_z + # ) + # ) + # print("") + # time.sleep(0.4) + # if bno.shake: + # print("SHAKE DETECTED!") + # print("") diff --git a/optional_requirements.txt b/optional_requirements.txt new file mode 100644 index 0000000..d4e27c4 --- /dev/null +++ b/optional_requirements.txt @@ -0,0 +1,3 @@ +# SPDX-FileCopyrightText: 2022 Alec Delaney, for Adafruit Industries +# +# SPDX-License-Identifier: Unlicense diff --git a/pyproject.toml b/pyproject.toml index f3c35ae..ad4db79 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,6 +1,52 @@ -# SPDX-FileCopyrightText: 2020 Diego Elio Pettenò +# SPDX-FileCopyrightText: 2022 Alec Delaney for Adafruit Industries # -# SPDX-License-Identifier: Unlicense +# SPDX-License-Identifier: MIT -[tool.black] -target-version = ['py35'] +[build-system] +requires = [ + "setuptools", + "wheel", + "setuptools-scm", +] + +[project] +name = "adafruit-circuitpython-bno08x" +description = "Helper library for the Hillcrest Laboratories BNO08x IMUs" +version = "0.0.0+auto.0" +readme = "README.rst" +authors = [ + {name = "Adafruit Industries", email = "circuitpython@adafruit.com"} +] +urls = {Homepage = "https://github.com/adafruit/Adafruit_CircuitPython_BNO08x"} +keywords = [ + "adafruit", + "blinka", + "circuitpython", + "micropython", + "bno080", + "IMU", + "BNO055", + "SENSOR", + "FUSION", + "VR", + "MOTION", + "TRACK", + "BNO085", +] +license = {text = "MIT"} +classifiers = [ + "Intended Audience :: Developers", + "Topic :: Software Development :: Libraries", + "Topic :: Software Development :: Embedded Systems", + "Topic :: System :: Hardware", + "License :: OSI Approved :: MIT License", + "Programming Language :: Python :: 3", +] +dynamic = ["dependencies", "optional-dependencies"] + +[tool.setuptools] +packages = ["adafruit_bno08x"] + +[tool.setuptools.dynamic] +dependencies = {file = ["requirements.txt"]} +optional-dependencies = {optional = {file = ["optional_requirements.txt"]}} diff --git a/requirements.txt b/requirements.txt index 3207dbb..a45c547 100644 --- a/requirements.txt +++ b/requirements.txt @@ -1,7 +1,6 @@ -# SPDX-FileCopyrightText: 2017 Scott Shawcroft, written for Adafruit Industries -# SPDX-FileCopyrightText: Copyright (c) 2020 Bryan Siepert for Adafruit Industries +# SPDX-FileCopyrightText: 2022 Alec Delaney, for Adafruit Industries # -# SPDX-License-Identifier: MIT +# SPDX-License-Identifier: Unlicense Adafruit-Blinka adafruit-circuitpython-busdevice diff --git a/ruff.toml b/ruff.toml new file mode 100644 index 0000000..b4460e1 --- /dev/null +++ b/ruff.toml @@ -0,0 +1,106 @@ +# SPDX-FileCopyrightText: 2024 Tim Cocks for Adafruit Industries +# +# SPDX-License-Identifier: MIT + +target-version = "py38" +line-length = 100 + +[lint] +preview = true +select = ["I", "PL", "UP"] + +extend-select = [ + "D419", # empty-docstring + "E501", # line-too-long + "W291", # trailing-whitespace + "PLC0414", # useless-import-alias + "PLC2401", # non-ascii-name + "PLC2801", # unnecessary-dunder-call + "PLC3002", # unnecessary-direct-lambda-call + "PLE0101", # return-in-init + "F706", # return-outside-function + "F704", # yield-outside-function + "PLE0116", # continue-in-finally + "PLE0117", # nonlocal-without-binding + "PLE0241", # duplicate-bases + "PLE0302", # unexpected-special-method-signature + "PLE0604", # invalid-all-object + "PLE0605", # invalid-all-format + "PLE0643", # potential-index-error + "PLE0704", # misplaced-bare-raise + "PLE1141", # dict-iter-missing-items + "PLE1142", # await-outside-async + "PLE1205", # logging-too-many-args + "PLE1206", # logging-too-few-args + "PLE1307", # bad-string-format-type + "PLE1310", # bad-str-strip-call + "PLE1507", # invalid-envvar-value + "PLE2502", # bidirectional-unicode + "PLE2510", # invalid-character-backspace + "PLE2512", # invalid-character-sub + "PLE2513", # invalid-character-esc + "PLE2514", # invalid-character-nul + "PLE2515", # invalid-character-zero-width-space + "PLR0124", # comparison-with-itself + "PLR0202", # no-classmethod-decorator + "PLR0203", # no-staticmethod-decorator + "UP004", # useless-object-inheritance + "PLR0206", # property-with-parameters + "PLR0904", # too-many-public-methods + "PLR0911", # too-many-return-statements + "PLR0912", # too-many-branches + "PLR0913", # too-many-arguments + "PLR0914", # too-many-locals + "PLR0915", # too-many-statements + "PLR0916", # too-many-boolean-expressions + "PLR1702", # too-many-nested-blocks + "PLR1704", # redefined-argument-from-local + "PLR1711", # useless-return + "C416", # unnecessary-comprehension + "PLR1733", # unnecessary-dict-index-lookup + "PLR1736", # unnecessary-list-index-lookup + + # ruff reports this rule is unstable + #"PLR6301", # no-self-use + + "PLW0108", # unnecessary-lambda + "PLW0120", # useless-else-on-loop + "PLW0127", # self-assigning-variable + "PLW0129", # assert-on-string-literal + "B033", # duplicate-value + "PLW0131", # named-expr-without-context + "PLW0245", # super-without-brackets + "PLW0406", # import-self + "PLW0602", # global-variable-not-assigned + "PLW0603", # global-statement + "PLW0604", # global-at-module-level + + # fails on the try: import typing used by libraries + #"F401", # unused-import + + "F841", # unused-variable + "E722", # bare-except + "PLW0711", # binary-op-exception + "PLW1501", # bad-open-mode + "PLW1508", # invalid-envvar-default + "PLW1509", # subprocess-popen-preexec-fn + "PLW2101", # useless-with-lock + "PLW3301", # nested-min-max +] + +ignore = [ + "PLR2004", # magic-value-comparison + "UP030", # format literals + "PLW1514", # unspecified-encoding + "PLR0913", # too-many-arguments + "PLR0915", # too-many-statements + "PLR0917", # too-many-positional-arguments + "PLR0904", # too-many-public-methods + "PLR0912", # too-many-branches + "PLR0916", # too-many-boolean-expressions + "UP007", # use x | y for type + "UP031", # use format instead of percent +] + +[format] +line-ending = "lf" diff --git a/setup.py b/setup.py deleted file mode 100644 index e1e3f89..0000000 --- a/setup.py +++ /dev/null @@ -1,59 +0,0 @@ -# SPDX-FileCopyrightText: 2017 Scott Shawcroft, written for Adafruit Industries -# SPDX-FileCopyrightText: Copyright (c) 2020 Bryan Siepert for Adafruit Industries -# -# SPDX-License-Identifier: MIT - -"""A setuptools based setup module. - -See: -https://packaging.python.org/en/latest/distributing.html -https://github.com/pypa/sampleproject -""" - -from setuptools import setup, find_packages - -# To use a consistent encoding -from codecs import open -from os import path - -here = path.abspath(path.dirname(__file__)) - -# Get the long description from the README file -with open(path.join(here, "README.rst"), encoding="utf-8") as f: - long_description = f.read() - -setup( - name="adafruit-circuitpython-bno080", - use_scm_version=True, - setup_requires=["setuptools_scm"], - description="Helper library for the Hillcrest Laboratories BNO080 IMU", - long_description=long_description, - long_description_content_type="text/x-rst", - # The project's main homepage. - url="https://github.com/adafruit/Adafruit_CircuitPython_BNO080", - # Author details - author="Adafruit Industries", - author_email="circuitpython@adafruit.com", - install_requires=["Adafruit-Blinka", "adafruit-circuitpython-busdevice",], - # Choose your license - license="MIT", - # See https://pypi.python.org/pypi?%3Aaction=list_classifiers - classifiers=[ - "Development Status :: 3 - Alpha", - "Intended Audience :: Developers", - "Topic :: Software Development :: Libraries", - "Topic :: System :: Hardware", - "License :: OSI Approved :: MIT License", - "Programming Language :: Python :: 3", - "Programming Language :: Python :: 3.4", - "Programming Language :: Python :: 3.5", - ], - # What does your project relate to? - keywords="adafruit blinka circuitpython micropython bno080 IMU BNO055 SENSOR FUSION VR " - "MOTION TRACK", - # You can just specify the packages manually here if your project is - # simple. Or you can use find_packages(). - # TODO: IF LIBRARY FILES ARE A PACKAGE FOLDER, - # CHANGE `py_modules=['...']` TO `packages=['...']` - py_modules=["adafruit_bno080"], -)