.. module:: bno055

*************
BNO055 Module
*************

This module contains the driver for BOSCH BNO055 9-axis Absolute Orientation Sensor. The BNO055 is a System in Package (SiP), integrating a triaxial 14-bit accelerometer, a triaxial 16-bit gyroscope with a range of ±2000 degrees per second, a triaxial geomagnetic sensor (`datasheet <https://ae-bst.resource.bosch.com/media/_tech/media/datasheets/BST_BNO055_DS000_14.pdf>`_).
    
.. class:: BNO055(i2cdrv, addr=0x28, clk=100000)

    Creates an intance of a new BNO055.

    :param i2cdrv: I2C Bus used '( I2C0, ... )'
    :param addr: Slave address, default 0x28
    :param clk: Clock speed, default 100kHz

    Example: ::

        from bosch.bno055 import bno055

        ...

        bno = bno055.BNO055(I2C0)
        bno.start()
        bno.init()
        abs_orientation = bno.get_euler()

    
.. method:: init(mode=None)

        Initialize the BNO055 setting the mode value.

        :param mode: Mode value selectable from Mode table (refer to page 20 of the BNO055 datasheet), default None

        
.. method:: set_mode(mode)

        Sets the Mode value of the BNO055.

        :param mode: Mode value (refer to page 20 of the BNO055 datasheet)

.. note:: The BNO055 provides a variety of output signals, which can be chosen by selecting the appropriate operation mode. The table below lists the different modes and the available sensor signals.

========== ============ ========= ========== ========== ===========
         Mode           Available Library Functions     
----------------------- -------------------------------------------
Value      Name         get_acc() get_magn() get_gyro() get_euler()
========== ============ ========= ========== ========== ===========
acc        ACCONLY      Yes       No         No         No  
magn       MAGONLY      No        Yes        No         No  
gyro       GYROONLY     No        No         Yes        No 
accmag     ACCMAG       Yes       Yes        No         No 
accgyro    ACCGYRO      Yes       No         Yes        No 
maggyro    MAGGYRO      No        Yes        Yes        No 
amg        AMG          No        Yes        Yes        No 
imu        IMU          Yes       No         Yes        Yes
comp       COMPASS      Yes       Yes        No         Yes
m4g        M4G          Yes       Yes        Yes        Yes
ndof_off   NDOF_FMC_OFF No        Yes        Yes        Yes
ndof       NDOF         Yes       Yes        Yes        Yes
========== ============ ========= ========== ========== ===========
                     
        
.. method:: get_calibration_status()

        Retrieves the current calibration status of the BNO055 main components:

        * System
        * Accelerometer
        * Gyroscope
        * Magnetometer

        .. note:: Read: 3 indicates fully calibrated; 0 indicates not calibrated.

        Returns [sys_cal_sts, acc_cal_sts, gyro_cal_sts, magn_cal_sts]

        
.. method:: get_calibration(raw=False)

        Retrieves the calibration values of the BMO055 main components (list of 11 elements):

        * Accelerometer Offset for X, Y, Z axes (values in m/s²) - list elements 0,1,2;
        * Magnetometer Offset for X, Y, Z axes (values in uT) - list elements 3,4,5;
        * Gyroscope Offset for X, Y, Z axes (values in Dps) - list elements 6,7,8;
        * Accelerometer Radius - list element 9;
        * Magnetometer Radius - list element 10.

        .. note:: If raw parameter is set to True, returns a list of 22 raw bytes. 

        Returns [list of calibration values]

        
.. method:: set_calibration(data, raw=False)

        Sets the calibration values of the BNO055 main components.
        
        :param data: List of values (11 elements) representing the sensors offsets and radius.
 
        data list must follow this order:

        * Accelerometer Offset for X, Y, Z axes (values in m/s²) - list elements 0,1,2;
        * Magnetometer Offset for X, Y, Z axes (values in uT) - list elements 3,4,5;
        * Gyroscope Offset for X, Y, Z axes (values in Dps) - list elements 6,7,8;
        * Accelerometer Radius - list element 9;
        * Magnetometer Radius - list element 10.  

        .. note:: If raw parameter is set to True, following rules are required:

                    * data list must have 22 elements;
                    * each element must be a byte (value 0 to 255);
                    * data list must be a sequence of [lsb1, msb1, lsb2, msb2, ..., ...];
                    * data list order is the same described above (elem0 and elem1 of data list are respectively lsb and msb of accelerometer offset in x axis).

        
.. method:: get_acc()

        Retrieves the current absolute acceleration as a list of X, Y, Z values in m/s²

        Returns [acc_x, acc_y, acc_z]

        
.. method:: get_gyro()

        Retrieves the current gyroscope data reading as a list of X, Y, Z values in degrees per second 

        Returns [gyro_x, gyro_y, gyro_z]

        
.. method:: get_magn()

        Retrieves the current magnetometer reading as a list of X, Y, Z values
        in micro-Teslas.

        Returns [value_magn_x, value_magn_y, value_magn_z]

        
.. method:: get_euler()

        Retrieves the current orientation as a list of heading, roll,
        and pitch euler angles in degrees.

        Returns [abs_or_h, abs_or_r, abs_or_p]

        
.. method:: get_lin_acc()

        Retrieves the current linear acceleration (acceleration from movement,
        not from gravity) as a list of X, Y, Z values in m/s²

        Returns [lin_acc_x, lin_acc_y, lin_acc_z]

        
.. method:: get_grav()

        Retrieves the current gravity acceleration as a list of X, Y, Z values in m/s²

        Returns [grav_x, grav_y, grav_z]

        
.. method:: get_quaternion()

        Retrieves the current orientation as a list of X, Y, Z, W quaternion
        values.

        Returns [w, x, y, z]

        
.. method:: get_temp()

        Retrieves the current temperature in Celtius.

        Returns temp