bring over updates to main, generate docs for first time

.github/workflows/docs.yml

@@ -0,0 +1,32 @@
+name: Generate Documentation
+
+on:
+  push:
+    branches:
+      - main
+jobs:
+  generate_docs:
+    runs-on: [ubuntu-latest]
+    steps:
+    - name: setup directories
+      run: mkdir -p ~/ros_ws/src/bno055
+    - name: checkout
+      uses: actions/checkout@v2
+      with:
+        path: ~/ros_ws/src/bno055
+    - name: setup ROS environment
+      uses: flynneva/setup-ros@master
+      with:
+        use-ros2-testing: true
+        required-ros-distributions: rolling
+    - name: build documentation
+      uses: ammaraskar/sphinx-action@master
+      with:
+        docs-folder: "~/ros_ws/src/bno055/docs/"
+        pre-build-command: "apt-get update -y && pip3 install -r ~/ros_ws/src/bno055/requirements.txt && pip3 install sphinxcontrib-napoleon"
+        build-command: '"source /opt/ros/rolling/setup.bash" && "sphinx-build -b html . ./html/"'
+    - name: deploy
+      uses: peaceiris/actions-gh-pages@v3
+      with:
+        github_token: ${{ secrets.GITHUB_TOKEN }}
+        publish_dir: ~/ros_ws/src/bno055/docs/html/

.gitignore

@@ -2,3 +2,4 @@
 /bno055.iml
 /venv
 .vscode/
+docs/html

bno055/bno055.py

@@ -40,7 +40,13 @@
 
 
 class Bno055Node(Node):
-    """ROS2 Node for interfacing Bosch Bno055 IMU sensor."""
+    """
+    ROS2 Node for interfacing Bosch Bno055 IMU sensor.
+
+    :param Node: ROS2 Node Class to initialize from
+    :type Node: ROS2 Node
+    :raises NotImplementedError: Indicates feature/function is not implemented yet.
+    """
 
     sensor = None
     param = None

bno055/registers.py

@@ -27,75 +27,214 @@
 # POSSIBILITY OF SUCH DAMAGE.
 
 
-# BOSCH BNO055 IMU Registers map and other information
-# Page 0 registers
-CHIP_ID = 0x00
-PAGE_ID = 0x07
-ACCEL_DATA = 0x08
-MAG_DATA = 0x0e
-GYRO_DATA = 0x14
-FUSED_EULER = 0x1a
-FUSED_QUAT = 0x20
-LIA_DATA = 0x28
-GRAVITY_DATA = 0x2e
-TEMP_DATA = 0x34
-CALIB_STAT = 0x35
-SYS_STATUS = 0x39
-SYS_ERR = 0x3a
-UNIT_SEL = 0x3b
-OPER_MODE = 0x3d
-PWR_MODE = 0x3e
-SYS_TRIGGER = 0x3f
-TEMP_SOURCE = 0x440
-AXIS_MAP_CONFIG = 0x41
-AXIS_MAP_SIGN = 0x42
-
-ACC_OFFSET = 0x55
-MAG_OFFSET = 0x5b
-GYR_OFFSET = 0x61
-ACC_RADIUS = 0x68
-MAG_RADIUS = 0x69
-
-# Page 1 registers
-ACC_CONFIG = 0x08
-MAG_CONFIG = 0x09
-GYR_CONFIG0 = 0x0a
-GYR_CONFIG1 = 0x0b
-
-#  Operation modes
-OPER_MODE_CONFIG = 0x00
-OPER_MODE_ACCONLY = 0x01
-OPER_MODE_MAGONLY = 0x02
-OPER_MODE_GYROONLY = 0x03
-OPER_MODE_ACCMAG = 0x04
-OPER_MODE_ACCGYRO = 0x05
-OPER_MODE_MAGGYRO = 0x06
-OPER_MODE_AMG = 0x07
-OPER_MODE_IMU = 0x08
-OPER_MODE_COMPASS = 0x09
-OPER_MODE_M4G = 0x0a
-OPER_MODE_NDOF_FMC_OFF = 0x0b
-OPER_MODE_NDOF = 0x0C
-
-#  Power modes
-PWR_MODE_NORMAL = 0x00
-PWR_MODE_LOW = 0x01
-PWR_MODE_SUSPEND = 0x02
-
-# Communication constants
-BNO055_ID = 0xa0
-START_BYTE_WR = 0xaa
-START_BYTE_RESP = 0xbb
-START_BYTE_ERROR_RESP = 0xee
-READ = 0x01
-WRITE = 0x00
-
-# Default calibration values (taken from desk test approximation.) [x y z]
-# Signed hex 16 bit representation
-
-# +/- 2000 units (at max 2G)    (1 unit = 1 mg = 1 LSB = 0.01 m/s2)
+# Adafruit BNO055 Absolute Orientation Sensor Library
+# Copyright (c) 2015 Adafruit Industries
+# Author: Tony DiCola
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+# THE SOFTWARE.
+
+
+#: I2C addresses
+BNO055_ADDRESS_A                     = 0x28
+BNO055_ADDRESS_B                     = 0x29
+BNO055_ID                            = 0xA0
+
+#: Page id register definition
+BNO055_PAGE_ID_ADDR                  = 0X07
+
+#: PAGE0 REGISTER DEFINITION START
+BNO055_CHIP_ID_ADDR                  = 0x00
+BNO055_ACCEL_REV_ID_ADDR             = 0x01
+BNO055_MAG_REV_ID_ADDR               = 0x02
+BNO055_GYRO_REV_ID_ADDR              = 0x03
+BNO055_SW_REV_ID_LSB_ADDR            = 0x04
+BNO055_SW_REV_ID_MSB_ADDR            = 0x05
+BNO055_BL_REV_ID_ADDR                = 0X06
+
+#: Accel data register
+BNO055_ACCEL_DATA_X_LSB_ADDR         = 0X08
+BNO055_ACCEL_DATA_X_MSB_ADDR         = 0X09
+BNO055_ACCEL_DATA_Y_LSB_ADDR         = 0X0A
+BNO055_ACCEL_DATA_Y_MSB_ADDR         = 0X0B
+BNO055_ACCEL_DATA_Z_LSB_ADDR         = 0X0C
+BNO055_ACCEL_DATA_Z_MSB_ADDR         = 0X0D
+
+#: Mag data register
+BNO055_MAG_DATA_X_LSB_ADDR           = 0X0E
+BNO055_MAG_DATA_X_MSB_ADDR           = 0X0F
+BNO055_MAG_DATA_Y_LSB_ADDR           = 0X10
+BNO055_MAG_DATA_Y_MSB_ADDR           = 0X11
+BNO055_MAG_DATA_Z_LSB_ADDR           = 0X12
+BNO055_MAG_DATA_Z_MSB_ADDR           = 0X13
+
+#: Gyro data registers
+BNO055_GYRO_DATA_X_LSB_ADDR          = 0X14
+BNO055_GYRO_DATA_X_MSB_ADDR          = 0X15
+BNO055_GYRO_DATA_Y_LSB_ADDR          = 0X16
+BNO055_GYRO_DATA_Y_MSB_ADDR          = 0X17
+BNO055_GYRO_DATA_Z_LSB_ADDR          = 0X18
+BNO055_GYRO_DATA_Z_MSB_ADDR          = 0X19
+
+#: Euler data registers
+BNO055_EULER_H_LSB_ADDR              = 0X1A
+BNO055_EULER_H_MSB_ADDR              = 0X1B
+BNO055_EULER_R_LSB_ADDR              = 0X1C
+BNO055_EULER_R_MSB_ADDR              = 0X1D
+BNO055_EULER_P_LSB_ADDR              = 0X1E
+BNO055_EULER_P_MSB_ADDR              = 0X1F
+
+#: Quaternion data registers
+BNO055_QUATERNION_DATA_W_LSB_ADDR    = 0X20
+BNO055_QUATERNION_DATA_W_MSB_ADDR    = 0X21
+BNO055_QUATERNION_DATA_X_LSB_ADDR    = 0X22
+BNO055_QUATERNION_DATA_X_MSB_ADDR    = 0X23
+BNO055_QUATERNION_DATA_Y_LSB_ADDR    = 0X24
+BNO055_QUATERNION_DATA_Y_MSB_ADDR    = 0X25
+BNO055_QUATERNION_DATA_Z_LSB_ADDR    = 0X26
+BNO055_QUATERNION_DATA_Z_MSB_ADDR    = 0X27
+
+#: Linear acceleration data registers
+BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR  = 0X28
+BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR  = 0X29
+BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR  = 0X2A
+BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR  = 0X2B
+BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR  = 0X2C
+BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR  = 0X2D
+
+#: Gravity data registers
+BNO055_GRAVITY_DATA_X_LSB_ADDR       = 0X2E
+BNO055_GRAVITY_DATA_X_MSB_ADDR       = 0X2F
+BNO055_GRAVITY_DATA_Y_LSB_ADDR       = 0X30
+BNO055_GRAVITY_DATA_Y_MSB_ADDR       = 0X31
+BNO055_GRAVITY_DATA_Z_LSB_ADDR       = 0X32
+BNO055_GRAVITY_DATA_Z_MSB_ADDR       = 0X33
+
+#: Temperature data register
+BNO055_TEMP_ADDR                     = 0X34
+
+#: Status registers
+BNO055_CALIB_STAT_ADDR               = 0X35
+BNO055_SELFTEST_RESULT_ADDR          = 0X36
+BNO055_INTR_STAT_ADDR                = 0X37
+
+BNO055_SYS_CLK_STAT_ADDR             = 0X38
+BNO055_SYS_STAT_ADDR                 = 0X39
+BNO055_SYS_ERR_ADDR                  = 0X3A
+
+#: Unit selection register
+BNO055_UNIT_SEL_ADDR                 = 0X3B
+BNO055_DATA_SELECT_ADDR              = 0X3C
+
+#: Mode registers
+BNO055_OPR_MODE_ADDR                 = 0X3D
+BNO055_PWR_MODE_ADDR                 = 0X3E
+
+BNO055_SYS_TRIGGER_ADDR              = 0X3F
+BNO055_TEMP_SOURCE_ADDR              = 0X40
+
+#: Axis remap registers
+BNO055_AXIS_MAP_CONFIG_ADDR          = 0X41
+BNO055_AXIS_MAP_SIGN_ADDR            = 0X42
+
+#: Axis remap values
+AXIS_REMAP_X                         = 0x00
+AXIS_REMAP_Y                         = 0x01
+AXIS_REMAP_Z                         = 0x02
+AXIS_REMAP_POSITIVE                  = 0x00
+AXIS_REMAP_NEGATIVE                  = 0x01
+
+#: SIC registers
+BNO055_SIC_MATRIX_0_LSB_ADDR         = 0X43
+BNO055_SIC_MATRIX_0_MSB_ADDR         = 0X44
+BNO055_SIC_MATRIX_1_LSB_ADDR         = 0X45
+BNO055_SIC_MATRIX_1_MSB_ADDR         = 0X46
+BNO055_SIC_MATRIX_2_LSB_ADDR         = 0X47
+BNO055_SIC_MATRIX_2_MSB_ADDR         = 0X48
+BNO055_SIC_MATRIX_3_LSB_ADDR         = 0X49
+BNO055_SIC_MATRIX_3_MSB_ADDR         = 0X4A
+BNO055_SIC_MATRIX_4_LSB_ADDR         = 0X4B
+BNO055_SIC_MATRIX_4_MSB_ADDR         = 0X4C
+BNO055_SIC_MATRIX_5_LSB_ADDR         = 0X4D
+BNO055_SIC_MATRIX_5_MSB_ADDR         = 0X4E
+BNO055_SIC_MATRIX_6_LSB_ADDR         = 0X4F
+BNO055_SIC_MATRIX_6_MSB_ADDR         = 0X50
+BNO055_SIC_MATRIX_7_LSB_ADDR         = 0X51
+BNO055_SIC_MATRIX_7_MSB_ADDR         = 0X52
+BNO055_SIC_MATRIX_8_LSB_ADDR         = 0X53
+BNO055_SIC_MATRIX_8_MSB_ADDR         = 0X54
+
+#: Accelerometer Offset registers
+ACCEL_OFFSET_X_LSB_ADDR              = 0X55
+ACCEL_OFFSET_X_MSB_ADDR              = 0X56
+ACCEL_OFFSET_Y_LSB_ADDR              = 0X57
+ACCEL_OFFSET_Y_MSB_ADDR              = 0X58
+ACCEL_OFFSET_Z_LSB_ADDR              = 0X59
+ACCEL_OFFSET_Z_MSB_ADDR              = 0X5A
+
+#: Magnetometer Offset registers
+MAG_OFFSET_X_LSB_ADDR                = 0X5B
+MAG_OFFSET_X_MSB_ADDR                = 0X5C
+MAG_OFFSET_Y_LSB_ADDR                = 0X5D
+MAG_OFFSET_Y_MSB_ADDR                = 0X5E
+MAG_OFFSET_Z_LSB_ADDR                = 0X5F
+MAG_OFFSET_Z_MSB_ADDR                = 0X60
+
+#: Gyroscope Offset register s
+GYRO_OFFSET_X_LSB_ADDR               = 0X61
+GYRO_OFFSET_X_MSB_ADDR               = 0X62
+GYRO_OFFSET_Y_LSB_ADDR               = 0X63
+GYRO_OFFSET_Y_MSB_ADDR               = 0X64
+GYRO_OFFSET_Z_LSB_ADDR               = 0X65
+GYRO_OFFSET_Z_MSB_ADDR               = 0X66
+
+#: Radius registers
+ACCEL_RADIUS_LSB_ADDR                = 0X67
+ACCEL_RADIUS_MSB_ADDR                = 0X68
+MAG_RADIUS_LSB_ADDR                  = 0X69
+MAG_RADIUS_MSB_ADDR                  = 0X6A
+
+#: Power modes
+POWER_MODE_NORMAL                    = 0X00
+POWER_MODE_LOWPOWER                  = 0X01
+POWER_MODE_SUSPEND                   = 0X02
+
+#: Operation mode settings
+OPERATION_MODE_CONFIG                = 0X00
+OPERATION_MODE_ACCONLY               = 0X01
+OPERATION_MODE_MAGONLY               = 0X02
+OPERATION_MODE_GYRONLY               = 0X03
+OPERATION_MODE_ACCMAG                = 0X04
+OPERATION_MODE_ACCGYRO               = 0X05
+OPERATION_MODE_MAGGYRO               = 0X06
+OPERATION_MODE_AMG                   = 0X07
+OPERATION_MODE_IMUPLUS               = 0X08
+OPERATION_MODE_COMPASS               = 0X09
+OPERATION_MODE_M4G                   = 0X0A
+OPERATION_MODE_NDOF_FMC_OFF          = 0X0B
+OPERATION_MODE_NDOF                  = 0X0C
+
+#: Default calibration values (taken from desk test approximation.) [x y z]
+#: Signed hex 16 bit representation
+
+#: +/- 2000 units (at max 2G)    (1 unit = 1 mg = 1 LSB = 0.01 m/s2)
 ACC_OFFSET_DEFAULT = [0xFFEC, 0x00A5, 0xFFE8]
-# +/- 6400 units                (1 unit = 1/16 uT)
+#: +/- 6400 units                (1 unit = 1/16 uT)
 MAG_OFFSET_DEFAULT = [0xFFB4, 0xFE9E, 0x027D]
-# +/- 2000 units up to 32000 (dps range dependent)               (1 unit = 1/16 dps)
+#: +/- 2000 units up to 32000 (dps range dependent)               (1 unit = 1/16 dps)
 GYR_OFFSET_DEFAULT = [0x0002, 0xFFFF, 0xFFFF]