Initial commit.

Author: tdicola

.gitignore

@@ -0,0 +1,3 @@
+__pycache__
+_build
+*.pyc

.travis.yml

@@ -0,0 +1,53 @@
+# Travis CI configuration for automated .mpy file generation.
+# Author: Tony DiCola
+# License: Public Domain
+# This configuration will work with Travis CI (travis-ci.org) to automacially
+# build .mpy files for CircuitPython when a new tagged release is created.  This
+# file is relatively generic and can be shared across multiple repositories by
+# following these steps:
+#   1. Copy this file into a .travis.yml file in the root of the repository.
+#   2. Change the deploy > file section below to list each of the .mpy files
+#      that should be generated.  The config will automatically look for
+#      .py files with the same name as the source for generating the .mpy files.
+#      Note that the .mpy extension should be lower case!
+#   3. Commit the .travis.yml file and push it to GitHub.
+#   4. Go to travis-ci.org and find the repository (it needs to be setup to access
+#      your github account, and your github account needs access to write to the
+#      repo).  Flip the 'ON' switch on for Travis and the repo, see the Travis
+#      docs for more details: https://docs.travis-ci.com/user/getting-started/
+#   5. Get a GitHub 'personal access token' which has at least 'public_repo' or
+#      'repo' scope: https://help.github.com/articles/creating-an-access-token-for-command-line-use/
+#      Keep this token safe and secure!  Anyone with the token will be able to
+#      access and write to your GitHub repositories.  Travis will use the token
+#      to attach the .mpy files to the release.
+#   6. In the Travis CI settings for the repository that was enabled find the
+#      environment variable editing page: https://docs.travis-ci.com/user/environment-variables/#Defining-Variables-in-Repository-Settings
+#      Add an environment variable named GITHUB_TOKEN and set it to the value
+#      of the GitHub personal access token above.  Keep 'Display value in build
+#      log' flipped off.
+#   7. That's it!  Tag a release and Travis should go to work to add .mpy files
+#      to the release.  It takes about a 2-3 minutes for a worker to spin up,
+#      build mpy-cross, and add the binaries to the release.
+language: generic
+
+sudo: true
+
+deploy:
+  provider: releases
+  api_key: $GITHUB_TOKEN
+  file:
+  - "adafruit_fxas21002c.mpy"
+  skip_cleanup: true
+  on:
+    tags: true
+
+before_install:
+- sudo apt-get -yqq update
+- sudo apt-get install -y build-essential git python python-pip
+- git clone https://github.com/adafruit/circuitpython.git -b 2.x
+- make -C circuitpython/mpy-cross
+- export PATH=$PATH:$PWD/circuitpython/mpy-cross/
+- sudo pip install shyaml
+
+before_deploy:
+- shyaml get-values deploy.file < .travis.yml | sed 's/.mpy/.py/' | xargs -L1 mpy-cross

CODE_OF_CONDUCT.md

@@ -0,0 +1,74 @@
+# Contributor Covenant Code of Conduct
+
+## Our Pledge
+
+In the interest of fostering an open and welcoming environment, we as
+contributors and maintainers pledge to making participation in our project and
+our community a harassment-free experience for everyone, regardless of age, body
+size, disability, ethnicity, gender identity and expression, level of experience,
+nationality, personal appearance, race, religion, or sexual identity and
+orientation.
+
+## Our Standards
+
+Examples of behavior that contributes to creating a positive environment
+include:
+
+* Using welcoming and inclusive language
+* Being respectful of differing viewpoints and experiences
+* Gracefully accepting constructive criticism
+* Focusing on what is best for the community
+* Showing empathy towards other community members
+
+Examples of unacceptable behavior by participants include:
+
+* The use of sexualized language or imagery and unwelcome sexual attention or
+advances
+* Trolling, insulting/derogatory comments, and personal or political attacks
+* Public or private harassment
+* Publishing others' private information, such as a physical or electronic
+  address, without explicit permission
+* Other conduct which could reasonably be considered inappropriate in a
+  professional setting
+
+## Our Responsibilities
+
+Project maintainers are responsible for clarifying the standards of acceptable
+behavior and are expected to take appropriate and fair corrective action in
+response to any instances of unacceptable behavior.
+
+Project maintainers have the right and responsibility to remove, edit, or
+reject comments, commits, code, wiki edits, issues, and other contributions
+that are not aligned to this Code of Conduct, or to ban temporarily or
+permanently any contributor for other behaviors that they deem inappropriate,
+threatening, offensive, or harmful.
+
+## Scope
+
+This Code of Conduct applies both within project spaces and in public spaces
+when an individual is representing the project or its community. Examples of
+representing a project or community include using an official project e-mail
+address, posting via an official social media account, or acting as an appointed
+representative at an online or offline event. Representation of a project may be
+further defined and clarified by project maintainers.
+
+## Enforcement
+
+Instances of abusive, harassing, or otherwise unacceptable behavior may be
+reported by contacting the project team at [email protected]. All
+complaints will be reviewed and investigated and will result in a response that
+is deemed necessary and appropriate to the circumstances. The project team is
+obligated to maintain confidentiality with regard to the reporter of an incident.
+Further details of specific enforcement policies may be posted separately.
+
+Project maintainers who do not follow or enforce the Code of Conduct in good
+faith may face temporary or permanent repercussions as determined by other
+members of the project's leadership.
+
+## Attribution
+
+This Code of Conduct is adapted from the [Contributor Covenant][homepage], version 1.4,
+available at [http://contributor-covenant.org/version/1/4][version]
+
+[homepage]: http://contributor-covenant.org
+[version]: http://contributor-covenant.org/version/1/4/

LICENSE

@@ -0,0 +1,21 @@
+The MIT License (MIT)
+
+Copyright (c) 2017 Tony DiCola for Adafruit Industries
+
+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.

README.rst

@@ -0,0 +1,44 @@
+
+Introduction
+============
+
+.. image:: https://readthedocs.org/projects/adafruit-circuitpython-fxas21002c/badge/?version=latest
+    :target: https://circuitpython.readthedocs.io/projects/fxas21002c/en/latest/
+    :alt: Documentation Status
+
+.. image :: https://img.shields.io/discord/327254708534116352.svg
+    :target: https://discord.gg/nBQh6qu
+    :alt: Discord
+
+CircuitPython module for the NXP FXAS21002C gyroscope.
+
+Dependencies
+=============
+This driver depends on:
+
+* `Adafruit CircuitPython <https://github.com/adafruit/circuitpython>`_
+* `Bus Device <https://github.com/adafruit/Adafruit_CircuitPython_BusDevice>`_
+
+Please ensure all dependencies are available on the CircuitPython filesystem.
+This is easily achieved by downloading
+`the Adafruit library and driver bundle <https://github.com/adafruit/Adafruit_CircuitPython_Bundle>`_.
+
+Usage Example
+=============
+
+See examples/simpletest.py for an example of the usage.
+
+Contributing
+============
+
+Contributions are welcome! Please read our `Code of Conduct
+<https://github.com/adafruit/Adafruit_CircuitPython_fxas21002c/blob/master/CODE_OF_CONDUCT.md>`_
+before contributing to help this project stay welcoming.
+
+API Reference
+=============
+
+.. toctree::
+   :maxdepth: 2
+
+   api

adafruit_fxas21002c.py

@@ -0,0 +1,149 @@
+# The MIT License (MIT)
+#
+# Copyright (c) 2017 Tony DiCola for Adafruit Industries
+#
+# 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.
+"""
+`adafruit_fxas21002c`
+====================================================
+
+CircuitPython module for the NXP FXAS21002C gyroscope.  Based on the driver
+from:
+  https://github.com/adafruit/Adafruit_FXAS21002C
+
+See examples/simpletest.py for a demo of the usage.
+
+* Author(s): Tony DiCola
+"""
+import time
+
+import adafruit_bus_device.i2c_device as i2c_device
+
+
+# Internal constants and register values:
+_FXAS21002C_ADDRESS       = const(0x21)  # 0100001
+_FXAS21002C_ID            = const(0xD7)  # 1101 0111
+_GYRO_REGISTER_STATUS     = const(0x00)
+_GYRO_REGISTER_OUT_X_MSB  = const(0x01)
+_GYRO_REGISTER_OUT_X_LSB  = const(0x02)
+_GYRO_REGISTER_OUT_Y_MSB  = const(0x03)
+_GYRO_REGISTER_OUT_Y_LSB  = const(0x04)
+_GYRO_REGISTER_OUT_Z_MSB  = const(0x05)
+_GYRO_REGISTER_OUT_Z_LSB  = const(0x06)
+_GYRO_REGISTER_WHO_AM_I   = const(0x0C)  # 11010111   r
+_GYRO_REGISTER_CTRL_REG0  = const(0x0D)  # 00000000   r/w
+_GYRO_REGISTER_CTRL_REG1  = const(0x13)  # 00000000   r/w
+_GYRO_REGISTER_CTRL_REG2  = const(0x14)  # 00000000   r/w
+_GYRO_SENSITIVITY_250DPS  = 0.0078125    # Table 35 of datasheet
+_GYRO_SENSITIVITY_500DPS  = 0.015625     # ..
+_GYRO_SENSITIVITY_1000DPS = 0.03125      # ..
+_GYRO_SENSITIVITY_2000DPS = 0.0625       # ..
+
+# User facing constants/module globals:
+GYRO_RANGE_250DPS  = 250
+GYRO_RANGE_500DPS  = 500
+GYRO_RANGE_1000DPS = 1000
+GYRO_RANGE_2000DPS = 2000
+
+class FXAS21002C:
+
+    # Class-level buffer for reading and writing data with the sensor.
+    # This reduces memory allocations but means the code is not re-entrant or
+    # thread safe!
+    _BUFFER = bytearray(7)
+
+    def __init__(self, i2c, address=_FXAS21002C_ADDRESS,
+                 gyro_range=GYRO_RANGE_250DPS):
+        assert gyro_range in (GYRO_RANGE_250DPS, GYRO_RANGE_500DPS,
+                              GYRO_RANGE_100DPS, GYRO_RANGE_2000DPS)
+        self._gyro_range = gyro_range
+        self._device = i2c_device.I2CDevice(i2c, address)
+        # Check for chip ID value.
+        if self._read_u8(_GYRO_REGISTER_WHO_AM_I) != _FXAS21002C_ID:
+            raise RuntimeError('Failed to find FXAS21002C, check wiring!')
+        ctrlReg0 = 0x00
+        if gyro_range == GYRO_RANGE_250DPS:
+            ctrlReg0 = 0x03
+        elif gyro_range == GYRO_RANGE_500DPS:
+            ctrlReg0 = 0x02
+        elif gyro_range == GYRO_RANGE_1000DPS:
+            ctrlReg0 = 0x01
+        elif gyro_range == GYRO_RANGE_2000DPS:
+            ctrlReg0 = 0x00
+        # Reset then switch to active mode with 100Hz output
+        self._write_u8(_GYRO_REGISTER_CTRL_REG1, 0x00)     # Standby
+        self._write_u8(_GYRO_REGISTER_CTRL_REG1, (1<<6))   # Reset
+        self._write_u8(_GYRO_REGISTER_CTRL_REG0, ctrlReg0) # Set sensitivity
+        self._write_u8(_GYRO_REGISTER_CTRL_REG1, 0x0E)     # Active
+        time.sleep(0.1) # 60 ms + 1/ODR
+
+    def _read_u8(self, address):
+        # Read an 8-bit unsigned value from the specified 8-bit address.
+        with self._device:
+            self._BUFFER[0] = address & 0xFF
+            self._device.write(self._BUFFER, end=1)
+            self._device.readinto(self._BUFFER, end=1)
+        return self._BUFFER[0]
+
+    def _write_u8(self, address, val):
+        # Write an 8-bit unsigned value to the specified 8-bit address.
+        with self._device:
+            self._BUFFER[0] = address & 0xFF
+            self._BUFFER[1] = val & 0xFF
+            self._device.write(self._BUFFER, end=2)
+
+    def read_raw(self):
+        """Read the raw gyroscope readings.  Returns a 3-tuple of X, Y, Z axis
+        16-bit unsigned values.  If you want the gyroscope values in friendly
+        units consider using the gyroscope property!
+        """
+        # Read 7 bytes from the sensor.
+        with self._device:
+            self._BUFFER[0] = GYRO_REGISTER_STATUS | 0x80
+            self._device.write(self._BUFFER, end=1)
+            self._device.readinto(self._BUFFER)
+        # Parse out the gyroscope data.
+        status = self._BUFFER[0]
+        xhi    = self._BUFFER[1]
+        xlo    = self._BUFFER[2]
+        yhi    = self._BUFFER[3]
+        ylo    = self._BUFFER[4]
+        zhi    = self._BUFFER[5]
+        zlo    = self._BUFFER[6]
+        # Shift values to create properly formed integers
+        raw_x = ((xhi << 8) | xlo) & 0xFFFF
+        raw_y = ((yhi << 8) | ylo) & 0xFFFF
+        raw_z = ((zhi << 8) | zlo) & 0xFFFF
+        return (raw_x, raw_y, raw_z)
+
+    @property
+    def gyroscope(self):
+        """Read the gyroscope value and return its X, Y, Z axis values as a
+        3-tuple in radians/second.
+        """
+        raw = self.read_raw()
+        # Compensate values depending on the resolution
+        if self._gyro_range == GYRO_RANGE_250DPS:
+            return map(lambda x: x * _GYRO_SENSITIVITY_250DPS, raw)
+        elif self._gyro_range == GYRO_RANGE_500DPS:
+            return map(lambda x: x * _GYRO_SENSITIVITY_500DPS, raw)
+        elif self._gyro_range == GYRO_RANGE_1000DPS:
+            return map(lambda x: x * _GYRO_SENSITIVITY_1000DPS, raw)
+        elif self._gyro_range == GYRO_RANGE_2000DPS:
+            return map(lambda x: x * _GYRO_SENSITIVITY_2000DPS, raw)

api.rst

@@ -0,0 +1,5 @@
+
+.. If you created a package, create one automodule per module in the package.
+
+.. automodule:: adafruit_fxas21002c
+   :members: