diff --git a/Documentation/conf.py b/Documentation/conf.py
index 7f8e4771830e44071fcd05aa864f4e7ad0bc78b4..c7a3ee6efa69b223ee9feb4d57f6dbcd1478b910 100644
--- a/Documentation/conf.py
+++ b/Documentation/conf.py
@@ -91,6 +91,7 @@ autodoc_mock_imports = [
"buttons",
"interrupt",
"sys_bme680",
+ "sys_bhi160",
"sys_display",
"sys_leds",
"sys_max30001",
diff --git a/Documentation/pycardium/bhi160.rst b/Documentation/pycardium/bhi160.rst
index b57dc77f55cb1b6ab1c283c9e9caccb2efb902fd..f50f736bd4c68605c5fc53cdab29a3b12042d5a0 100644
--- a/Documentation/pycardium/bhi160.rst
+++ b/Documentation/pycardium/bhi160.rst
@@ -2,9 +2,10 @@
``bhi160`` - Sensor Fusion
==========================
+
.. versionadded:: 1.4
-Supports the BHI160 sensor on the card10 for accelerometer, gyroscope...
+Supports the BHI160 sensor on the card10 for accelerometer, gyroscope, magnetometer and orientation.
**Example**:
@@ -17,114 +18,28 @@ Supports the BHI160 sensor on the card10 for accelerometer, gyroscope...
while True:
samples = bhi.read()
- print(samples)
- utime.sleep(0.5)
-
-
-.. class:: bhi160.BHI160Orientation(sample_rate,dynamic_range,callback,sample_buffer_len)
-
- Orientation of the BHI160
-
- Parameters:
- sample_rate: int, optional
- Sample rate (default is 4)
- dynamic_range: int, optional
- Dynamic range (default is 2)
- callback: callable, optional
- Call this callback when enough data is collected (default is None)
-
- .. todo:: The callback functionality is untested, so do not be confused if it does not work.
- sample_buffer_len: int, optional
- Length of sample buffer (default is 200)
-
- .. py:method:: read():
-
- Read sensor values
-
- :returns: Collected sensor values as list
-
- .. py:method:: close():
-
- Close the connection to the sensor
-
-
-.. class:: bhi160.BHI160Accelerometer
-
- Accelerometer of the BHI160
-
- Parameters:
- sample_rate: int, optional
- Sample rate (default is 4)
- dynamic_range: int, optional
- Dynamic range (default is 2)
- callback: callable, optional
- Call this callback when enough data is collected (default is None)
-
- .. todo:: The callback functionality is untested, so do not be confused if it does not work.
- sample_buffer_len: int, optional
- Length of sample buffer (default is 200)
-
- .. py:method:: read():
-
- Read sensor values
-
- :returns: Collected sensor values as list
-
- .. py:method:: close():
-
- Close the connection to the sensor
-
-.. class:: bhi160.BHI160Gyroscope
-
- Gyroscope of the BHI160
-
- Parameters:
- sample_rate: int, optional
- Sample rate (default is 4)
- dynamic_range: int, optional
- Dynamic range (default is 2)
- callback: callable, optional
- Call this callback when enough data is collected (default is None)
-
- .. todo:: The callback functionality is untested, so do not be confused if it does not work.
- sample_buffer_len: int, optional
- Length of sample buffer (default is 200)
-
- .. py:method:: read():
-
- Read sensor values
-
- :returns: Collected sensor values as list
-
- .. py:method:: close():
-
- Close the connection to the sensor
-
-.. class:: bhi160.BHI160Magnetometer
-
- Magnetometer of the BHI160
-
- Parameters:
- sample_rate: int, optional
- Sample rate (default is 4)
- dynamic_range: int, optional
- Dynamic range (default is 1)
- callback: callable, optional
- Call this callback when enough data is collected (default is None)
-
- .. todo:: The callback functionality is untested, so do not be confused if it does not work.
- sample_buffer_len: int, optional
- Length of sample buffer (default is 200)
-
- .. versionadded:: 1.11
+ if len(samples) == 0:
+ utime.sleep(0.25)
+ continue
+ # print the latest sample
+ print(samples[-1])
+ utime.sleep(0.25)
- .. py:method:: read():
- Read sensor values
+.. autoclass:: bhi160.BHI160
- :returns: Collected sensor values as list
+.. autoclass:: bhi160.BHI160Orientation
+ :members:
+ :inherited-members:
- .. py:method:: close():
+.. autoclass:: bhi160.BHI160Accelerometer
+ :members:
+ :inherited-members:
- Close the connection to the sensor
+.. autoclass:: bhi160.BHI160Gyroscope
+ :members:
+ :inherited-members:
+.. autoclass:: bhi160.BHI160Magnetometer
+ :members:
+ :inherited-members:
diff --git a/pycardium/modules/py/bhi160.py b/pycardium/modules/py/bhi160.py
index 231ba75ffbeac6379d694d000c3dd30bad7a8364..430508d10f2406c39a96f6062b7a7dafb1879be5 100644
--- a/pycardium/modules/py/bhi160.py
+++ b/pycardium/modules/py/bhi160.py
@@ -37,6 +37,9 @@ class BHI160:
self.close()
def close(self):
+ """
+ Close the connection to the sensor
+ """
if self.active:
self.active = False
ret = sys_bhi160.disable_sensor(self.sensor_id)
@@ -48,6 +51,18 @@ class BHI160:
interrupt.set_callback(self.interrupt_id, None)
def read(self):
+ """
+ Read sensor values
+
+ :returns: The recent collected sensor values as a list. If no data is
+ available the list contains no elements. Maximum length of the list
+ is ``sample_buffer_len``. The last element contains the most recent
+ data. The elements contains a sensor specific named tuple. See the
+ documentation of the sensor class for more information.
+
+ .. warning::
+ Weird behaviour ahead: If the internal buffer overflows, the new samples will be dropped.
+ """
result = []
if self.active:
for sample in sys_bhi160.read_sensor(self.stream_id):
@@ -70,6 +85,28 @@ class BHI160:
class BHI160Accelerometer(BHI160):
+ """
+ Accelerometer of the BHI160.
+
+ This sensors sample data named tuple contains the following fields:
+
+ - ``x``: Acceleration along the x axis
+ - ``y``: Acceleration along the y axis
+ - ``z``: Acceleration along the z axis
+ - ``status``: accuracy / "confidence" value of the sensor (0 being worst and 3 being best)
+
+ .. todo::
+ These values are not scaled correctly
+
+ :param int sample_rate: Sample rate (optional, default is 4, range is 1 - 200 in *Hz*)
+ :param int dynamic_range: Dynamic range (optional, default is 2)
+ :param callback: Call this callback when enough data is collected (optional, default is None)
+
+ .. todo::
+ The callback functionality is untested, so do not be confused if it does not work.
+ :param int sample_buffer_len: Length of sample buffer (optional, default is 200)
+ """
+
def __init__(
self, sample_rate=4, dynamic_range=2, callback=None, sample_buffer_len=200
):
@@ -90,6 +127,28 @@ class BHI160Accelerometer(BHI160):
class BHI160Gyroscope(BHI160):
+ """
+ Gyroscope of the BHI160.
+
+ This sensors sample data named tuple contains the following fields:
+
+ - ``x``: Rotation around the x axis
+ - ``y``: Rotation around the y axis
+ - ``z``: Rotation around the z axis
+ - ``status``: accuracy / "confidence" value of the sensor (0 being worst and 3 being best)
+
+ .. todo::
+ These values are not scaled correctly
+
+ :param int sample_rate: Sample rate (optional, default is 4, range is 1 - 200 in *Hz*)
+ :param int dynamic_range: Dynamic range (optional, default is 2)
+ :param callback: Call this callback when enough data is collected (optional, default is None)
+
+ .. todo::
+ The callback functionality is untested, so do not be confused if it does not work.
+ :param int sample_buffer_len: Length of sample buffer (optional, default is 200)
+ """
+
def __init__(
self, sample_rate=4, dynamic_range=2, callback=None, sample_buffer_len=200
):
@@ -110,6 +169,30 @@ class BHI160Gyroscope(BHI160):
class BHI160Orientation(BHI160):
+ """
+ Orientation of the BHI160. Orientation is a virtual sensor that combines
+ Accelerometer, Magnetometer and Gyroscope using the IMU Algorithm to
+ calculate an absolute orientation.
+
+ This sensors sample data named tuple contains the following fields:
+
+ - ``x``: azimuth
+ - ``y``: pitch
+ - ``z``: roll
+ - ``status``: accuracy / "confidence" value of the sensor (0 being worst and 3 being best)
+
+ .. todo::
+ These values are not scaled correctly
+
+ :param int sample_rate: Sample rate (optional, default is 4, range is 1 - 200 in *Hz*)
+ :param int dynamic_range: This parameter is unused for the Orientation.
+ :param callback: Call this callback when enough data is collected (optional, default is None)
+
+ .. todo::
+ The callback functionality is untested, so do not be confused if it does not work.
+ :param int sample_buffer_len: Length of sample buffer (optional, default is 200)
+ """
+
def __init__(
self, sample_rate=4, dynamic_range=2, callback=None, sample_buffer_len=200
):
@@ -130,6 +213,30 @@ class BHI160Orientation(BHI160):
class BHI160Magnetometer(BHI160):
+ """
+ Magnetometer of the BHI160
+
+ This sensors sample data named tuple contains the following fields:
+
+ - ``x``: Magnetic field along the x axis
+ - ``y``: Magnetic field along the y axis
+ - ``z``: Magnetic field along the z axis
+ - ``status``: accuracy / "confidence" value of the sensor (0 being worst and 3 being best)
+
+ .. todo::
+ These values are not scaled correctly
+
+ :param int sample_rate: Sample rate (optional, default is 4, range is 1 - 200 in *Hz*)
+ :param int dynamic_range: Dynamic range (optional, default is 1)
+ :param callback: Call this callback when enough data is collected (optional, default is None)
+
+ .. todo::
+ The callback functionality is untested, so do not be confused if it does not work.
+ :param int sample_buffer_len: Length of sample buffer (optional, default is 200)
+
+ .. versionadded:: 1.11
+ """
+
def __init__(
self, sample_rate=4, dynamic_range=1, callback=None, sample_buffer_len=200
):