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Merge pull request #23 from jposada202020/improving_docs
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‎README.rst‎

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@@ -62,17 +62,15 @@ Usage Example
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.. code-block:: python3
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import board
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import busio
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from adafruit_bno08x.i2c import BNO08X_I2C
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from adafruit_bno08x import BNO_REPORT_ACCELEROMETER
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import adafruit_bno08x
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i2c = busio.I2C(board.SCL, board.SDA)
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bno = BNO08X_I2C(i2c)
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bno.enable_feature(BNO_REPORT_ACCELEROMETER)
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i2c = board.I2C() # uses board.SCL and board.SDA
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bno = adafruit_bno08x.BNO08X(i2c)
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while True:
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accel_x, accel_y, accel_z = bno.acceleration # pylint:disable=no-member
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print("X: %0.6f Y: %0.6f Z: %0.6f m/s^2" % (accel_x, accel_y, accel_z))
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quat = bno.rotation_vector
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print("Rotation Vector Quaternion:")
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print("I: %0.3f J: %0.3f K: %0.3f Accuracy: %0.3f"%(quat.i, quat.j, quat.k, quat.accuracy))
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Contributing
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============

‎adafruit_bno08x/__init__.py‎

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# SPDX-License-Identifier: MIT
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"""
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`adafruit_bno08x`
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================================================================================
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=================
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Helper library for the Hillcrest Laboratories BNO08x IMUs
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**Hardware:**
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* `Adafruit BNO08x Breakout <https:www.adafruit.com/products/4754>`_
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* `Adafruit 9-DOF Orientation IMU Fusion Breakout
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<https://www.adafruit.com/products/4754>`_ (Product ID: 4566)
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**Software and Dependencies:**
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* Adafruit CircuitPython firmware for the supported boards:
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https:# github.com/adafruit/circuitpython/releases
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https://circuitpython.org/downloads
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* Adafruit's Bus Device library:
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https://github.com/adafruit/Adafruit_CircuitPython_BusDevice
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* `Adafruit's Bus Device library <https:# github.com/adafruit/Adafruit_CircuitPython_BusDevice>`_
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"""
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__version__ = "0.0.0-auto.0"
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__repo__ = "https:# github.com/adafruit/Adafruit_CircuitPython_BNO08x.git"
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class BNO08X: # pylint: disable=too-many-instance-attributes, too-many-public-methods
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"""Library for the BNO08x IMUs from Hillcrest Laboratories
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:param ~busio.I2C i2c_bus: The I2C bus the BNO08x is connected to.
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This sensor is able to communicate over I2C, SPI, or UART:
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* I2C: :class:`adafruit_bno08x.i2c.BNO08X_I2C`
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* SPI: :class:`adafruit_bno08x.spi.BNO08X_SPI`
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* UART: :class:`adafruit_bno08x.uart.BNO08X_UART`
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"""
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‎adafruit_bno08x/i2c.py‎

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#
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# SPDX-License-Identifier: MIT
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"""
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Subclass of `adafruit_bno08x.BNO08X` to use I2C
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Subclass of `adafruit_bno08x.BNO08X` to use I2C
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===============================================
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"""
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from struct import pack_into
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import adafruit_bus_device.i2c_device as i2c_device
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"""Library for the BNO08x IMUs from Hillcrest Laboratories
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:param ~busio.I2C i2c_bus: The I2C bus the BNO08x is connected to.
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:param ~digitalio.DigitalInOut reset: Optional for I2C use. Connected to the RST pin;
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used to hard-reset the device.
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:param int address: The I2C device address. Defaults to :const:`0x4A`
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:param bool debug: Enables print statements used for debugging. Defaults to `False`
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**Quickstart: Importing and using the device**
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Here is an example of using the :class:`BNO08X_I2C` class.
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First you will need to import the libraries to use the sensor
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.. code-block:: python
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import board
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from adafruit_bno08x.i2c import BNO08X_I2C
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Once this is done you can define your `board.I2C` object and define your sensor object
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.. code-block:: python
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# The sensor can communicate over I2C at 400kHz if you need the higher speed.
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i2c = board.I2C() # uses board.SCL and board.SDA
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bno = BNO08X_I2C(i2c)
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For this particular you need to define some things to get some data.
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.. code-block:: python
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bno.enable_feature(adafruit_bno08x.BNO_REPORT_ACCELEROMETER)
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bno.enable_feature(adafruit_bno08x.BNO_REPORT_GYROSCOPE)
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bno.enable_feature(adafruit_bno08x.BNO_REPORT_MAGNETOMETER)
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bno.enable_feature(adafruit_bno08x.BNO_REPORT_ROTATION_VECTOR)
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Now you have access to the :attr:`acceleration`, :attr:`gyro`
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:attr:`magnetic` and :attr:`quaternion` attributes
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.. code-block:: python
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accel_x, accel_y, accel_z = bno.acceleration
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gyro_x, gyro_y, gyro_z = bno.gyro
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mag_x, mag_y, mag_z = bno.magnetic
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quat_i, quat_j, quat_k, quat_real = bno.quaternion
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"""
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with self.bus_device_obj as i2c:
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i2c.readinto(self._data_buffer, end=4) # this is expecting a header?
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self._dbg("")
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# print("SHTP READ packet header: ", [hex(x) for x in self._data_buffer[0:4]])
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header = Packet.header_from_buffer(self._data_buffer)
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packet_byte_count = header.packet_byte_count
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else:
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ready = header.data_length > 0
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# self._dbg("\tdata ready", ready)
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return ready

‎adafruit_bno08x/spi.py‎

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#
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# SPDX-License-Identifier: MIT
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"""
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Subclass of `adafruit_bno08x.BNO08X` to use SPI
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Subclass of `adafruit_bno08x.BNO08X` to use SPI
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================================================
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"""
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import time
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from struct import pack_into
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class BNO08X_SPI(BNO08X):
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"""Instantiate a `adafruit_bno08x.BNO08X_SPI` instance to communicate with
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"""
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Instantiate a `adafruit_bno08x.spi.BNO08X_SPI` instance to communicate with
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the sensor using SPI
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Args:
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spi_bus ([busio.SPI]): The SPI bus to use to communicate with the BNO08x
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cs_pin ([digitalio.DigitalInOut]): The pin object to use for the SPI Chip Select
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debug (bool, optional): Enables print statements used for debugging. Defaults to False.
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"""
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:param ~busio.SPI spi_bus: The SPI bus to use to communicate with the BNO08x
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:param ~digitalio.DigitalInOut cspin: The pin object to use for the SPI Chip Select
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:param ~digitalio.DigitalInOut intpin: The pin object to interrupt
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:param ~digitalio.DigitalInOut resetpin: Required for SPI mode. Connected to the
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RST pin on the device, and used to hard-reset the device.
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:param int baudrate: baudrate of the SPI bus. Defaults to :const:`1000000`
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:param bool debug: Enables print statements used for debugging. Defaults to `False`
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**Quickstart: Importing and using the device**
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Here is an example of using the :class:`BNO08X_SPI` class.
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First you will need to import the libraries to use the sensor
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.. code-block:: python
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import board
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from adafruit_bno08x.spi import BNO08X_SPI
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# """Library for the BNO08x IMUs from Hillcrest Laboratories
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Once this is done you can define your `board.SPI` object and define your sensor object
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# :param ~busio.SPI spi_bus: The SPI bus the BNO08x is connected to.
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.. code-block:: python
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# """
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spi = board.SPI()
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bno = BNO08X_SPI(spi)
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For this particular you need to define some things to get some data.
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.. code-block:: python
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bno.enable_feature(adafruit_bno08x.BNO_REPORT_ACCELEROMETER)
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bno.enable_feature(adafruit_bno08x.BNO_REPORT_GYROSCOPE)
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bno.enable_feature(adafruit_bno08x.BNO_REPORT_MAGNETOMETER)
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bno.enable_feature(adafruit_bno08x.BNO_REPORT_ROTATION_VECTOR)
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Now you have access to the :attr:`acceleration`, :attr:`gyro`
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:attr:`magnetic` and :attr:`quaternion` attributes
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.. code-block:: python
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accel_x, accel_y, accel_z = bno.acceleration
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gyro_x, gyro_y, gyro_z = bno.gyro
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mag_x, mag_y, mag_z = bno.magnetic
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quat_i, quat_j, quat_k, quat_real = bno.quaternion
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"""
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def __init__(
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self, spi_bus, cspin, intpin, resetpin, baudrate=1000000, debug=False

‎adafruit_bno08x/uart.py‎

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#
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# SPDX-License-Identifier: MIT
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"""
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Subclass of `adafruit_bno08x.BNO08X` to use UART
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Subclass of `adafruit_bno08x.BNO08X` to use UART
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================================================
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"""
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class BNO08X_UART(BNO08X):
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"""Library for the BNO08x IMUs from Hillcrest Laboratories
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:param uart: The UART devce the BNO08x is connected to.
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:param uart: The UART device the BNO08x is connected to.
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:param ~digitalio.DigitalInOut reset: The pin object to reset
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:param bool debug: Enables print statements used for debugging. Defaults to `False`
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**Quickstart: Importing and using the device**
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Here is an example of using the :class:`BNO08X_UART` class.
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First you will need to import the libraries to use the sensor
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.. code-block:: python
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import board
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import busio
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from adafruit_bno08x.uart import BNO08X_UART
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Once this is done you can define your `busio.UART` object and define your sensor object
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.. code-block:: python
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uart = busio.UART(board.TX, board.RX, baudrate=3000000, receiver_buffer_size=2048)
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bno = BNO08X_UART(uart)
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For this particular you need to define some things to get some data.
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.. code-block:: python
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bno.enable_feature(adafruit_bno08x.BNO_REPORT_ACCELEROMETER)
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bno.enable_feature(adafruit_bno08x.BNO_REPORT_GYROSCOPE)
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bno.enable_feature(adafruit_bno08x.BNO_REPORT_MAGNETOMETER)
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bno.enable_feature(adafruit_bno08x.BNO_REPORT_ROTATION_VECTOR)
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Now you have access to the :attr:`acceleration`, :attr:`gyro`
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:attr:`magnetic` and :attr:`quaternion` attributes
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.. code-block:: python
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accel_x, accel_y, accel_z = bno.acceleration
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gyro_x, gyro_y, gyro_z = bno.gyro
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mag_x, mag_y, mag_z = bno.magnetic
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quat_i, quat_j, quat_k, quat_real = bno.quaternion
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"""
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‎docs/api.rst‎

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.. automodule:: adafruit_bno08x
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:members:
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:exclude-members: PacketError
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.. automodule:: adafruit_bno08x.i2c
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:members:
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.. automodule:: adafruit_bno08x.spi
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:members:
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.. automodule:: adafruit_bno08x.uart
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:members:

‎docs/examples.rst‎

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.. literalinclude:: ../examples/bno08x_simpletest.py
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:caption: examples/bno08x_simpletest.py
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:linenos:
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Simple test SPI
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---------------
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This is the simple test using the SPI bus
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.. literalinclude:: ../examples/bno08x_simpletest_spi.py
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:caption: examples/bno08x_simpletest_spi.py
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:linenos:
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Simple test UART
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----------------
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This is the simple test using the UART bus
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.. literalinclude:: ../examples/bno08x_simpletest_uart.py
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:caption: examples/bno08x_simpletest_uart.py
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:linenos:
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Quaternion Service
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------------------
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Example showing the quaternion service
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.. literalinclude:: ../examples/bno08x_quaternion_service.py
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:caption: examples/bno08x_quaternion_service.py
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:linenos:
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Reports Example
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---------------
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Example showing how to produce reports
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.. literalinclude:: ../examples/bno08x_more_reports.py
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:caption: examples/bno08x_more_reports.py
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:linenos:
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Finding heading example
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-----------------------
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This illustrate how to find the heading
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.. literalinclude:: ../examples/bno08x_more_reports.py
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:caption: examples/bno08x_more_reports.py
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:linenos:
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Calibration Example
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-------------------
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How to calibrate the device
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.. literalinclude:: ../examples/bno08x_calibration.py
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:caption: examples/bno08x_calibration.py
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:linenos:

‎docs/index.rst‎

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.. toctree::
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:caption: Tutorials
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Adafruit 9-DOF Orientation IMU Fusion Breakout - BNO085 Learning Guide <https://learn.adafruit.com/adafruit-9-dof-orientation-imu-fusion-breakout-bno085/>
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.. toctree::
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:caption: Related Products
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* `Adafruit BNO08x Breakout <https:www.adafruit.com/products/4754>`_
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Adafruit 9-DOF Orientation IMU Fusion Breakout - BNO085 <https://www.adafruit.com/products/4754>
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.. toctree::

‎examples/bno08x_calibration.py‎

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# SPDX-License-Identifier: Unlicense
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import time
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import board
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import busio
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from digitalio import DigitalInOut
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import adafruit_bno08x
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from adafruit_bno08x.i2c import BNO08X_I2C
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i2c = busio.I2C(board.SCL, board.SDA)
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i2c = board.I2C() # uses board.SCL and board.SDA
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reset_pin = DigitalInOut(board.D5)
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bno = BNO08X_I2C(i2c, reset=reset_pin, debug=False)
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‎examples/bno08x_quaternion_service.py‎

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from adafruit_ble_adafruit.quaternion_service import QuaternionService
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from adafruit_bno08x import BNO08X
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i2c = board.I2C()
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i2c = board.I2C() # uses board.SCL and board.SDA
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bno = BNO08X(i2c)
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quat_svc = QuaternionService()

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