{
    "info": {
        "author": "Dr. Konstantin Selyunin",
        "author_email": "selyunin.k.v@gmail.com",
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        "classifiers": [
            "License :: OSI Approved :: MIT License",
            "Operating System :: POSIX",
            "Programming Language :: Python :: 3"
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        "description": "# BNO055 USB Stick Python driver\n\n[![PyPI version](https://badge.fury.io/py/bno055-usb-stick-py.svg)](https://badge.fury.io/py/bno055-usb-stick-py)\n\n**TL;DR:** *\"Swiss army knife\"* for using \n[`BNO055 USB Stick`](https://eu.mouser.com/new/bosch/bosch-bno055-usb-stick/) \nunder Linux from `python3`. \n\n`BNO055 USB Stick` comes with \n[`Development Desktop 2.0`](https://www.bosch-sensortec.com/bst/support_tools/downloads/overview_downloads) \nsoftware package, \nwhich is available for Windows only. \n\nIf you have a `BNO055 USB Stick` and want to\nuse it on a Linux platform \n(e.g. Ubuntu, Raspbian, Yocto, Suse, etc.) \nthis repo provides you with a `python 3` driver,\ncapable of reading / writing registers / burst read, \nand stream data read.\n\n## OS Prerequisites\n\n1. When plugged in on a Linux system, \nthe `BNO055 USB Stick` should appear \nas `/dev/ttyACM*` device. \nThis device is a so-called\n[`cdc_acm`](https://www.keil.com/pack/doc/mw/USB/html/group__usbh__cdcacm_functions.html) \n(communication device class), but let us leave \nthese details for now.\n\n2. Your Linux user must be a member of the\n`dialout` group \n(e.g. see this [thread](https://unix.stackexchange.com/questions/14354/read-write-to-a-serial-port-without-root))\nto be able to read/write `ttyACM*` devices \nwithout root privileges.\n\n3. `udev` is installed on the system.\nWe do autodetect the USB stick by relying on information from\nudev.\n\n## Installation\n\n```sh\npip install bno055_usb_stick_py\n```\n\n\n## Supported Python version\n\n**python v3.6+**\n\n## Python dependencies\n\n**TL;DR:** install \n(i) `pyserial`, \n(ii) `pyudev`,\n(iii) `dataclasses` (if using `python3.6`), and\n(iv) optionally: `pyquaternion` \nand `matplotlib`, \nor use \n[`environment.yml`](./environment.yml)\nto create conda environment\nwith dependencies resolved.\n\nFor further details regarding creating `conda` senvironment read [**this**](./CONDA_HOWTO.md) guide.\n\n## Quick start\n\nRead BNO register:\n\n```python\nfrom bno055_usb_stick_py import BnoUsbStick\nbno_usb_stick = BnoUsbStick()\nreg_addr = 0x00\nreg_val = bno_usb_stick.read_register(reg_addr)\nprint(f\"bno chip id addr: 0x{reg_addr:02X}, value: 0x{reg_val:02X}\")\n```\n\nWrite register:\n\n```python\nfrom bno055_usb_stick_py import BnoUsbStick\nbno_usb_stick = BnoUsbStick()\nreg_addr = 0x3F\nreg_value = 0x01\nbno_usb_stick.write_register(reg_addr, reg_value)\nprint(f\"bno self test started!\")\n```\n\nBurst register read:\n\n```python\nfrom bno055_usb_stick_py import BnoUsbStick\nbno_usb_stick = BnoUsbStick()\nreg_start_addr = 0x08\nnum_registers = 0x12\nburst_read_result = bno_usb_stick.burst_read(reg_start_addr, num_registers)\nprint(f\"bno burst read result: {burst_read_result}\")\n```\n\nGet 10 packets in streaming mode (using generator):\n\n```python\nfrom bno055_usb_stick_py import BnoUsbStick\n\nbno_usb_stick = BnoUsbStick()\nbno_usb_stick.activate_streaming()\nfor packet in bno_usb_stick.recv_streaming_generator(num_packets=10):\n    print(f\"bno data: {packet}\")\n```\n\nGet 100 packets in streaming mode (by receiving single packets):\n\n```python\nfrom bno055_usb_stick_py import BnoUsbStick\nbno_usb_stick = BnoUsbStick()\nbno_usb_stick.activate_streaming()\nfor _ in range(100):\n    packet = bno_usb_stick.recv_streaming_packet()\n    print(f\"{packet}\")\n```\n\nReceive infinite number of packets (in case you wait infinite time :wink: ):\n\n```python\nfrom bno055_usb_stick_py import BnoUsbStick\nbno_usb_stick = BnoUsbStick()\nbno_usb_stick.activate_streaming()\nfor packet in bno_usb_stick.recv_streaming_generator():\n    print(f\"{packet}\")\n```\n\n## Bno USB Stick Data Packet\n\nWhen receiving data in streaming mode, the result \nis an object of `BNO055` data class (from `bno055.py`) file.\n\n`BNO055` data class has the following fields:\n\n```python\nfrom bno055_usb_stick_py import BNO055\nbno_data = BNO055()\nbno_data.a_raw  # raw accelerometer data (a_raw_x, a_raw_y, a_raw_z)\nbno_data.g_raw  # raw gyro data (g_raw_x, g_raw_y, g_raw_z)\nbno_data.m_raw  # raw magnetometer data (m_raw_x, m_raw_y, m_raw_z)\nbno_data.euler_raw  # raw euler angles (heading, roll, pitch)\nbno_data.quaternion_raw  # raw quaternion data (q_raw_w, q_raw_x, q_raw_y, q_raw_z)\nbno_data.lin_a_raw  # raw linear acceleration data (lin_a_raw_x, lin_a_raw_y, lin_a_raw_z)\nbno_data.gravity_raw  # raw gravity vector (gravity_raw_x, gravity_raw_y, gravity_raw_z)\nbno_data.a  # accelerometer (a_x, a_y, a_z)\nbno_data.g  # gyroscope (g_x, g_y, g_z)\nbno_data.m  # magnetometer (m_x, m_y, m_z)\nbno_data.euler  # euler angler (heading, roll, pitch)\nbno_data.quaternion  # quaternion values (q_w, q_x, q_y, q_z)\nbno_data.lin_a  # linear acceleration (lin_a_x, lin_a_y, lin_a_z)\nbno_data.gravity  # gravity vector (gravity_x, gravity_y, gravity_z)\nbno_data.temp  # temperature register\nbno_data.calib_stat  # calibration status (addr 0x35) register\nbno_data.st_result  # status result (addr 0x36) register\nbno_data.int_sta  # interrupt status (addr 0x37) register\nbno_data.sys_clk_status  # system clock status (addr 0x38) register\nbno_data.sys_status  # system status (addr 0x39) register\n```\n\n## Prevent modem manager to capture serial device\n\nWhen plugging `bno_usb_stick` on Ubuntu,\nthe device is unavailable for the first 10-15 seconds,\ndue to the fact that `ModemManager` process \ntakes over and tries to use the device.\n\nTo avoid this Ubuntu-specific behavior, \nadd an exception to the `udev` rules,\ns.t. the `ModemManager` ignores the `bno_usb_stick`.\nRun the script:\n\n`python disable_modem_manager_bno_usb_stick.py`\n\nThe script requires root privileges. Essentially it copies \nthe `97-ttyacm.rules` file to `/etc/udev/rules.d` and reloads the \nudev rules.\n\n## Maintainer\n\n[Dr. Konstantin Selyunin](http://selyunin.com/), \nfor suggestions / questions / comments \nplease contact: \nselyunin [dot] k [dot] v [at] gmail [dot] com\n\n\n\n\n\n",
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