linted and doc'd

Author: siddacious

.travis.yml

@@ -11,11 +11,8 @@ python:
 cache:
   pip: true
 
-# TODO: if deployment to PyPi is desired, change 'DEPLOY_PYPI' to "true",
-#       or remove the env block entirely and remove the condition in the
-#       deploy block.
 env:
-  - DEPLOY_PYPI="false"
+  - DEPLOY_PYPI="true"
 
 deploy:
   - provider: releases
@@ -26,12 +23,11 @@ deploy:
     overwrite: true
     on:
       tags: true
-  # TODO: Use 'travis encrypt --com -r adafruit/<repo slug>' to generate
-  #       the encrypted password for adafruit-travis. Paste result below.
+
   - provider: pypi
     user: adafruit-travis
     password:
-      secure: #-- PASTE ENCRYPTED PASSWORD HERE --#
+      secure: bcUJefESH9Tfvr57A8uXh1//Cv97BfAEE81OM61dZmr33Sce27yxdVBbq4vugezP/G9xP9zlXyJemC/w3BCHO28/jNTCjJl5HiZKLGypuQa8TVcBp6gyMUf+MRcYpMSaSXqc6DHdjQvwoKYheMeRifk2bOzIRo9EaDMuiE44PpcJLAVuFm1Q3n3T9kAQkfC9ObYwn0HE1xAnfKgIRIyDUutMI+fry+ZhDYgV+Gj4xJbMQrmDhtZBQXBpNbu4ZgE0oSPzU2NWdvgeXH0sH4qGD/H9CDMaA0OSeGTk9NHAi2El7H6qY0IA3eEsJJELx+g2jbtZ0WmpY5ti19WC+vYFDD8gkCN5pBldIlaaIpaIqf5vDIFXGmIGFoCTt03gV/dMKXDRYhvEbTEsZmiikdGYFyfdXeXfEn4odHvSXtnAQ8Xgoo0N6uJI6AOpu7GBrZSvQkO3ThLR/f1brTeYGoulu35i6IZ/7Gp3nvXGT9XTKa8+u1pF7y2kr1QhidTC23PQ+W7rTPQdYklf+yYBAMfcLadbrZiDSMTR18s3uraO3vGH71VpCcu35pb/kKJ33k7Z6A74avjc3hvaAoW/eNpIdu6qezVeU2l6d2JwK4b4U0FtcpqzGSUGP9YGKe0TaM52HtkqanpxJpYTWLHl2cWq9fLSd8O5LY4Nz9+QWe3Jd40=
     on:
       tags: true
       condition: $DEPLOY_PYPI = "true"

README.rst

@@ -30,12 +30,6 @@ This is easily achieved by downloading
 
 Installing from PyPI
 =====================
-.. note:: This library is not available on PyPI yet. Install documentation is included
-   as a standard element. Stay tuned for PyPI availability!
-
-.. todo:: Remove the above note if PyPI version is/will be available at time of release.
-   If the library is not planned for PyPI, remove the entire 'Installing from PyPI' section.
-
 On supported GNU/Linux systems like the Raspberry Pi, you can install the driver locally `from
 PyPI <https://pypi.org/project/adafruit-circuitpython-mpu6050/>`_. To install for current user:
 
@@ -61,7 +55,22 @@ To install in a virtual environment in your current project:
 Usage Example
 =============
 
-.. todo:: Add a quick, simple example. It and other examples should live in the examples folder and be included in docs/examples.rst.
+.. code-block:: python
+
+    import time
+    import board
+    import busio
+    import adafruit_mpu6050
+
+    i2c = busio.I2C(board.SCL, board.SDA)
+    mpu = adafruit_mpu6050.MPU6050(i2c)
+
+    while True:
+        print("Acceleration: X:%.2f, Y: %.2f, Z: %.2f m/s^2"%(mpu.acceleration))
+        print("Gyro X:%.2f, Y: %.2f, Z: %.2f degrees/s"%(mpu.gyro))
+        print("Temperature: %.2f C"%mpu.temperature)
+        print("")
+        time.sleep(1)
 
 Contributing
 ============

adafruit_mpu6050.py

@@ -32,19 +32,15 @@
 --------------------
 
 **Hardware:**
-
-.. todo:: Add links to any specific hardware product page(s), or category page(s). Use unordered list & hyperlink rST
-   inline format: "* `Link Text <url>`_"
+* Adafruit's MPU6050 Breakout: https://adafruit.com/products/3886
 
 **Software and Dependencies:**
 
 * Adafruit CircuitPython firmware for the supported boards:
   https://github.com/adafruit/circuitpython/releases
 
-.. todo:: Uncomment or remove the Bus Device and/or the Register library dependencies based on the library's use of either.
-
-# * Adafruit's Bus Device library: https://github.com/adafruit/Adafruit_CircuitPython_BusDevice
-# * Adafruit's Register library: https://github.com/adafruit/Adafruit_CircuitPython_Register
+* Adafruit's Bus Device library: https://github.com/adafruit/Adafruit_CircuitPython_BusDevice
+* Adafruit's Register library: https://github.com/adafruit/Adafruit_CircuitPython_Register
 """
 
 # imports
@@ -58,8 +54,7 @@
 from adafruit_register.i2c_bit import RWBit
 from adafruit_register.i2c_bits import RWBits
 import adafruit_bus_device.i2c_device as i2c_device
-
-# TODO: Trust but verify
+# pylint: disable=bad-whitespace
 _MPU6050_DEFAULT_ADDRESS  = 0x69  # MPU6050 default i2c address w/ AD0 high
 _MPU6050_DEVICE_ID        = 0x68 # The correct MPU6050_WHO_AM_I value
 
@@ -81,75 +76,44 @@
 _MPU6050_WHO_AM_I         = 0x75 # Divice ID register
 
 STANDARD_GRAVITY = 9.80665
+# pylint: enable=bad-whitespace
+
+class Range: # pylint: disable=too-few-public-methods
+    """Allowed values for `accelerometer_range`."""
+    RANGE_2_G = 0  # +/- 2g (default value)
+    RANGE_4_G = 1  # +/- 4g
+    RANGE_8_G = 2  # +/- 8g
+    RANGE_16_G = 3 # +/- 16g
+
+class GyroRange: # pylint: disable=too-few-public-methods
+    """Allowed values for `gyro_range`."""
+    RANGE_250_DEG = 0  # +/- 250 deg/s (default value)
+    RANGE_500_DEG = 1  # +/- 500 deg/s
+    RANGE_1000_DEG = 2 # +/- 1000 deg/s
+    RANGE_2000_DEG = 3 # +/- 2000 deg/s
+
+class Bandwidth: # pylint: disable=too-few-public-methods
+    """Allowed values for `filter_bandwidth`."""
+    BAND_260_HZ = 0 # Docs imply this disables the filter
+    BAND_184_HZ = 1 # 184 Hz
+    BAND_94_HZ = 2  # 94 Hz
+    BAND_44_HZ = 3  # 44 Hz
+    BAND_21_HZ = 4  # 21 Hz
+    BAND_10_HZ = 5  # 10 Hz
+    BAND_5_HZ = 6   # 5 Hz
+
+class Rate: # pylint: disable=too-few-public-methods
+    """Allowed values for `cycle_rate`"""
+    CYCLE_1_25_HZ = 0 # 1.25 Hz
+    CYCLE_5_HZ = 1    # 5 Hz
+    CYCLE_20_HZ = 2   # 20 Hz
+    CYCLE_40_HZ = 3   # 40 Hz
 
-
-# /**
-#  * @brief Clock source options
-#  *
-#  * Allowed values for `setClock`.
-#  */
-# typedef enum clock_select {
-#   MPU6050_INTR_8MHz,
-#   MPU6050_PLL_GYROX,
-#   MPU6050_PLL_GYROY,
-#   MPU6050_PLL_GYROZ,
-#   MPU6050_PLL_EXT_32K,
-#   MPU6050_PLL_EXT_19MHz,
-#   MPU6050_STOP = 7,
-# } mpu6050_clock_select_t;
-
-# /**
-#  * @brief Accelerometer range options
-#  *
-#  * Allowed values for `setAccelerometerRange`.
-#  */
-# typedef enum gyro_range {
-MPU6050_RANGE_2_G = 0b00  # +/- 2g (default value)
-MPU6050_RANGE_4_G = 0b01  # +/- 4g
-MPU6050_RANGE_8_G = 0b10  # +/- 8g
-MPU6050_RANGE_16_G = 0b11 # +/- 16g
-# } mpu6050_accel_range_t;
-
-# /**
-#  * @brief Gyroscope range options
-#  *
-#  * Allowed values for `setGyroRange`.
-#  */
-# typedef enum gyro_range {
-MPU6050_RANGE_250_DEG = 0  # +/- 250 deg/s (default value)
-MPU6050_RANGE_500_DEG = 1  # +/- 500 deg/s
-MPU6050_RANGE_1000_DEG = 2 # +/- 1000 deg/s
-MPU6050_RANGE_2000_DEG = 3 # +/- 2000 deg/s
-# } mpu6050_gyro_range_t;
-
-# /**
-#  * @brief Digital low pass filter bandthwidth options
-#  *
-#  * Allowed values for `setFilterBandwidth`.
-#  */
-# typedef enum bandwidth {
-#   MPU6050_BAND_260_HZ, # Docs imply this disables the filter
-#   MPU6050_BAND_184_HZ, # 184 Hz
-#   MPU6050_BAND_94_HZ,  # 94 Hz
-#   MPU6050_BAND_44_HZ,  # 44 Hz
-#   MPU6050_BAND_21_HZ,  # 21 Hz
-#   MPU6050_BAND_10_HZ,  # 10 Hz
-#   MPU6050_BAND_5_HZ,   # 5 Hz
-# } mpu6050_bandwidth_t;
-
-# /**
-#  * @brief Periodic measurement options
-#  *
-#  * Allowed values for `setCycleRate`.
-#  */
-# typedef enum cycle_rate {
-MPU6050_CYCLE_1_25_HZ = 0 # 1.25 Hz
-MPU6050_CYCLE_5_HZ = 1    # 5 Hz
-MPU6050_CYCLE_20_HZ = 2   # 20 Hz
-MPU6050_CYCLE_40_HZ = 3   # 40 Hz
-# } mpu6050_cycle_rate_t;
 class MPU6050:
-
+    """Driver for the MPU6050 6-axis accelerometer and gyroscope.
+        :param ~busio.I2C i2c_bus: The I2C bus the MSA is connected to.
+        :param address: The I2C slave address of the sensor
+    """
     def __init__(self, i2c_bus, address=_MPU6050_DEFAULT_ADDRESS):
         self.i2c_device = i2c_device.I2CDevice(i2c_bus, address)
 
@@ -159,33 +123,38 @@ def __init__(self, i2c_bus, address=_MPU6050_DEFAULT_ADDRESS):
         self.reset()
 
     def reset(self):
+        """Reinitialize the sensor"""
         self._reset = True
         while self._reset is True:
             sleep(0.10)
 
-        self.sample_rate_divisor = 0
-        self._gyro_range = 2
-        # self._accel_range = MPU6050_RANGE_8_G
-        self._filter_bandwidth = 0
-        self._clock_source = 1
+        self._sample_rate_divisor = 0
+        self._gyro_range = GyroRange.RANGE_1000_DEG
+        self._accel_range = Range.RANGE_8_G
+        sleep(0.1)
+        self._filter_bandwidth = Bandwidth.BAND_260_HZ
+        self._clock_source = 1 # set to use gyro x-axis as reference
         sleep(0.1)
         self.sleep = False
 
-
-    _device_id = UnaryStruct(_MPU6050_WHO_AM_I, ">B")
+    _device_id = ROUnaryStruct(_MPU6050_WHO_AM_I, ">B")
     _reset = RWBit(_MPU6050_PWR_MGMT_1, 7, 1)
-    sample_rate_divisor = UnaryStruct(_MPU6050_SMPLRT_DIV, ">B")
+    _sample_rate_divisor = UnaryStruct(_MPU6050_SMPLRT_DIV, ">B")
     _gyro_range = RWBits(2, _MPU6050_GYRO_CONFIG, 3)
-    _accel_range = RWBits(2,_MPU6050_ACCEL_CONFIG, 3)
+    _accel_range = RWBits(2, _MPU6050_ACCEL_CONFIG, 3)
     _filter_bandwidth = RWBits(2, _MPU6050_CONFIG, 3)
     _clock_source = RWBits(3, _MPU6050_PWR_MGMT_1, 0)
-    sleep = RWBit(_MPU6050_PWR_MGMT_1, 6, 1)
     _raw_accel_data = StructArray(_MPU6050_ACCEL_OUT, ">h", 3)
     _raw_gyro_data = StructArray(_MPU6050_GYRO_OUT, ">h", 3)
-    _raw_temp_data = UnaryStruct(_MPU6050_TEMP_OUT, ">h")
+    _raw_temp_data = ROUnaryStruct(_MPU6050_TEMP_OUT, ">h")
     _cycle = RWBit(_MPU6050_PWR_MGMT_1, 5)
     _cycle_rate = RWBits(2, _MPU6050_PWR_MGMT_2, 6, 1)
 
+    sleep = RWBit(_MPU6050_PWR_MGMT_1, 6, 1)
+    """Shuts down the accelerometers and gyroscopes, saving power. No new data will
+    be recorded until the sensor is taken out of sleep by setting to `False`"""
+
+
     @property
     def temperature(self):
         """The current temperature in  º C"""
@@ -203,13 +172,13 @@ def acceleration(self):
 
         accel_range = self._accel_range
         accel_scale = 1
-        if accel_range == MPU6050_RANGE_16_G:
+        if accel_range == Range.RANGE_16_G:
             accel_scale = 2048
-        if accel_range == MPU6050_RANGE_8_G:
+        if accel_range == Range.RANGE_8_G:
             accel_scale = 4096
-        if accel_range == MPU6050_RANGE_4_G:
+        if accel_range == Range.RANGE_4_G:
             accel_scale = 8192
-        if accel_range == MPU6050_RANGE_2_G:
+        if accel_range == Range.RANGE_2_G:
             accel_scale = 16384
 
         # setup range dependant scaling
@@ -229,13 +198,13 @@ def gyro(self):
 
         gyro_scale = 1
         gyro_range = self._gyro_range
-        if gyro_range == MPU6050_RANGE_250_DEG:
+        if gyro_range == GyroRange.RANGE_250_DEG:
             gyro_scale = 131
-        if gyro_range == MPU6050_RANGE_500_DEG:
+        if gyro_range == GyroRange.RANGE_500_DEG:
             gyro_scale = 65.5
-        if gyro_range == MPU6050_RANGE_1000_DEG:
+        if gyro_range == GyroRange.RANGE_1000_DEG:
             gyro_scale = 32.8
-        if gyro_range == MPU6050_RANGE_2000_DEG:
+        if gyro_range == GyroRange.RANGE_2000_DEG:
             gyro_scale = 16.4
 
         # setup range dependant scaling
@@ -256,3 +225,50 @@ def cycle(self, value):
         self.sleep = not value
         self._cycle = value
 
+    @property
+    def gyro_range(self):
+        """The measurement range of all gyroscope axes. Must be a `GyroRange`"""
+        return self._gyro_range
+
+    @gyro_range.setter
+    def gyro_range(self, value):
+        if (value < 0) or (value > 3):
+            raise ValueError("gyro_range must be a GyroRange")
+        self._gyro_range = value
+        sleep(0.01)
+
+    @property
+    def accelerometer_range(self):
+        """The measurement range of all accelerometer axes. Must be a `Range`"""
+        return self._accel_range
+
+    @accelerometer_range.setter
+    def accelerometer_range(self, value):
+        if (value < 0) or (value > 3):
+            raise ValueError("accelerometer_range must be a Range")
+        self._accel_range = value
+        sleep(0.01)
+
+    @property
+    def filter_bandwidth(self):
+        """The bandwidth of the gyroscope Digital Low Pass Filter. Must be a `GyroRange`"""
+        return self._filter_bandwidth
+
+    @filter_bandwidth.setter
+    def filter_bandwidth(self, value):
+        if (value < 0) or (value > 6):
+            raise ValueError("filter_bandwidth must be a Bandwidth")
+        self._filter_bandwidth = value
+        sleep(0.01)
+
+    @property
+    def cycle_rate(self):
+        """The rate that measurements are taken while in `cycle` mode. Must be a `Rate`"""
+        return self._cycle_rate
+
+    @cycle_rate.setter
+    def cycle_rate(self, value):
+        if (value < 0) or (value > 3):
+            raise ValueError("cycle_rate must be a Rate")
+        self._cycle_rate = value
+        sleep(0.01)

docs/conf.py

@@ -20,7 +20,7 @@
 # Uncomment the below if you use native CircuitPython modules such as
 # digitalio, micropython and busio. List the modules you use. Without it, the
 # autodoc module docs will fail to generate with a warning.
-# autodoc_mock_imports = ["digitalio", "busio"]
+autodoc_mock_imports = ["adafruit_register", "adafruit_bus_device"]
 
 
 intersphinx_mapping = {'python': ('https://docs.python.org/3.4', None),'BusDevice': ('https://circuitpython.readthedocs.io/projects/busdevice/en/latest/', None),'Register': ('https://circuitpython.readthedocs.io/projects/register/en/latest/', None),'CircuitPython': ('https://circuitpython.readthedocs.io/en/latest/', None)}

docs/index.rst

@@ -23,14 +23,14 @@ Table of Contents
 .. toctree::
     :caption: Tutorials
 
-.. todo:: Add any Learn guide links here. If there are none, then simply delete this todo and leave
-    the toctree above for use later.
+
 
 .. toctree::
     :caption: Related Products
 
-.. todo:: Add any product links here. If there are none, then simply delete this todo and leave
-    the toctree above for use later.
+* Adafruit's MPU6050 Breakout: https://adafruit.com/products/3886
+
+
 
 .. toctree::
     :caption: Other Links

examples/mpu6050_simpletest.py

@@ -0,0 +1,14 @@
+import time
+import board
+import busio
+import adafruit_mpu6050
+
+i2c = busio.I2C(board.SCL, board.SDA)
+mpu = adafruit_mpu6050.MPU6050(i2c)
+
+while True:
+    print("Acceleration: X:%.2f, Y: %.2f, Z: %.2f m/s^2"%(mpu.acceleration))
+    print("Gyro X:%.2f, Y: %.2f, Z: %.2f degrees/s"%(mpu.gyro))
+    print("Temperature: %.2f C"%mpu.temperature)
+    print("")
+    time.sleep(1)