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added gravity vector validated with BNO085 #40

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Merged
merged 1 commit into from
Apr 20, 2023
Merged

added gravity vector validated with BNO085 #40

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23 changes: 14 additions & 9 deletions adafruit_bno08x/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -81,6 +81,9 @@
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)
Expand Down Expand Up @@ -139,6 +142,7 @@
}
_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),
Expand Down Expand Up @@ -370,15 +374,6 @@ def _separate_batch(packet, report_slices):
next_byte_index = next_byte_index + required_bytes


# class Report:
# _buffer = bytearray(DATA_BUFFER_SIZE)
# _report_obj = Report(_buffer)

# @classmethod
# def get_report(cls)
# return cls._report_obj


class Packet:
"""A class representing a Hillcrest LaboratorySensor Hub Transport packet"""

Expand Down Expand Up @@ -597,6 +592,16 @@ def acceleration(self):
except KeyError:
raise RuntimeError("No accel report found, is it enabled?") from None

@property
def gravity(self):
"""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):
"""A tuple representing Gyro's rotation measurements on the X, Y, and Z
Expand Down