From 42517d70d443288e30a9b19599e9bf5a59b5e8ed Mon Sep 17 00:00:00 2001
From: David Keck <davidskeck@users.noreply.github.com>
Date: Mon, 8 Oct 2018 21:01:19 -0400
Subject: [PATCH 1/2] Possible fix for #11

Would like someone to review, didn't setup hardware tests yet. Will do so when I have more time. Thanks for the Hacktoberfest tag!
---
 adafruit_bno055.py | 17 +++++++++++++++++
 1 file changed, 17 insertions(+)

diff --git a/adafruit_bno055.py b/adafruit_bno055.py
index dff4500..97d2485 100644
--- a/adafruit_bno055.py
+++ b/adafruit_bno055.py
@@ -61,6 +61,7 @@
 
 _MODE_REGISTER = const(0x3d)
 _PAGE_REGISTER = const(0x07)
+_CALIBRATION_REGISTER = const(0x35)
 _TRIGGER_REGISTER = const(0x3f)
 _POWER_REGISTER = const(0x3e)
 _ID_REGISTER = const(0x00)
@@ -144,6 +145,14 @@ def _read_register(self, register):
             i2c.readinto(self.buffer, start=1)
         return self.buffer[1]
 
+    def _get_calibration_data(self):
+        calibration_data = self._read_register(_CALIBRATION_REGISTER)
+        sys = (calibration_data >> 6) & 0x03
+        gyro = (calibration_data >> 4) & 0x03
+        accel = (calibration_data >> 2) & 0x03
+        mag = calibration_data & 0x03
+        return sys, gyro, accel, mag
+
     def reset(self):
         """Resets the sensor to default settings."""
         self.mode = CONFIG_MODE
@@ -196,6 +205,14 @@ def mode(self):
         """
         return self._read_register(_MODE_REGISTER)
 
+    @property
+    def is_fully_calibrated(self):
+        """Returns the status of the sensor calibration."""
+        sys, gyro, accel, mag = self._get_calibration_data()
+        if sys < 3 or gyro < 3 or accel < 3 or mag < 3:
+            return False
+        return True
+
     @mode.setter
     def mode(self, new_mode):
         self._write_register(_MODE_REGISTER, new_mode)

From cf551a6399551e06a41dd3e92fb7c9ee466a09b3 Mon Sep 17 00:00:00 2001
From: David Keck <davidskeck@users.noreply.github.com>
Date: Tue, 9 Oct 2018 07:52:06 -0400
Subject: [PATCH 2/2] Updated calibration functionality after review.

---
 adafruit_bno055.py | 28 ++++++++++++++--------------
 1 file changed, 14 insertions(+), 14 deletions(-)

diff --git a/adafruit_bno055.py b/adafruit_bno055.py
index 97d2485..a32e9fe 100644
--- a/adafruit_bno055.py
+++ b/adafruit_bno055.py
@@ -145,14 +145,6 @@ def _read_register(self, register):
             i2c.readinto(self.buffer, start=1)
         return self.buffer[1]
 
-    def _get_calibration_data(self):
-        calibration_data = self._read_register(_CALIBRATION_REGISTER)
-        sys = (calibration_data >> 6) & 0x03
-        gyro = (calibration_data >> 4) & 0x03
-        accel = (calibration_data >> 2) & 0x03
-        mag = calibration_data & 0x03
-        return sys, gyro, accel, mag
-
     def reset(self):
         """Resets the sensor to default settings."""
         self.mode = CONFIG_MODE
@@ -206,12 +198,20 @@ def mode(self):
         return self._read_register(_MODE_REGISTER)
 
     @property
-    def is_fully_calibrated(self):
-        """Returns the status of the sensor calibration."""
-        sys, gyro, accel, mag = self._get_calibration_data()
-        if sys < 3 or gyro < 3 or accel < 3 or mag < 3:
-            return False
-        return True
+    def calibration_status(self):
+        """Tuple containing sys, gyro, accel, and mag calibration data."""
+        calibration_data = self._read_register(_CALIBRATION_REGISTER)
+        sys = (calibration_data >> 6) & 0x03
+        gyro = (calibration_data >> 4) & 0x03
+        accel = (calibration_data >> 2) & 0x03
+        mag = calibration_data & 0x03
+        return sys, gyro, accel, mag
+
+    @property
+    def calibrated(self):
+        """Boolean indicating calibration status."""
+        sys, gyro, accel, mag = self.calibration_status
+        return sys == gyro == accel == mag == 0x03
 
     @mode.setter
     def mode(self, new_mode):