def __init__(self,
rst=None,
address=BNO055_ADDRESS_A,
i2c=None,
gpio=None,
serial_port=None,
serial_timeout_sec=5,
**kwargs):
# If reset pin is provided save it and a reference to provided GPIO
# bus (or the default system GPIO bus if none is provided).
self._rst = rst
if self._rst is not None:
if gpio is None:
import Adafruit_GPIO as GPIO
#gpio = GPIO.get_platform_gpio()
print 'Setup as Pi'
gpio = GPIO.set_platform_gpio_rpi()
self._gpio = gpio
# Setup the reset pin as an output at a high level.
self._gpio.setup(self._rst, GPIO.OUT)
self._gpio.set_high(self._rst)
# Wait a 650 milliseconds in case setting the reset high reset the chip.
time.sleep(0.65)
self._serial = None
self._i2c_device = None
if serial_port is not None:
# Use serial communication if serial_port name is provided.
# Open the serial port at 115200 baud, 8N1. Add a 5 second timeout
# to prevent hanging if device is disconnected.
self._serial = serial.Serial(serial_port,
115200,
timeout=serial_timeout_sec,
writeTimeout=serial_timeout_sec)
else:
# Use I2C if no serial port is provided.
# Assume we're using platform's default I2C bus if none is specified.
if i2c is None:
import Adafruit_GPIO.I2C as I2C
i2c = I2C
# Save a reference to the I2C device instance for later communication.
self._i2c_device = i2c.get_i2c_device(address, **kwargs)
