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Update: Flexible setting sample rate #58

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Update: Flexible setting sample rate #58

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556721e
Option set report interval manually
RenMurakami Jul 3, 2025
0ec3b32
Fix readme to apply the change
RenMurakami Jul 3, 2025
865c222
Fix white space issue
RenMurakami Jul 3, 2025
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3 changes: 2 additions & 1 deletion README.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -66,9 +66,10 @@ Usage Example
from adafruit_bno08x.i2c import BNO08X_I2C
from adafruit_bno08x import BNO_REPORT_ACCELEROMETER

REPORT_INTERVAL = const(100000) # 100 Hz
i2c = busio.I2C(board.SCL, board.SDA)
bno = BNO08X_I2C(i2c)
bno.enable_feature(BNO_REPORT_ACCELEROMETER)
bno.enable_feature(BNO_REPORT_ACCELEROMETER, REPORT_INTERVAL)

while True:
accel_x, accel_y, accel_z = bno.acceleration
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12 changes: 8 additions & 4 deletions adafruit_bno08x/__init__.py
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Expand Up @@ -933,7 +933,7 @@ def _process_report(self, report_id: int, report_bytes: bytearray) -> None:
@staticmethod
def _get_feature_enable_report(
feature_id: int,
report_interval: int = _DEFAULT_REPORT_INTERVAL,
report_interval: int,
sensor_specific_config: int = 0,
) -> bytearray:
set_feature_report = bytearray(17)
Expand All @@ -947,16 +947,20 @@ def _get_feature_enable_report(
# TODO: add docs for available features
# TODO2: I think this should call an fn that imports all the bits for the given feature
# so we're not carrying around stuff for extra features
def enable_feature(self, feature_id: int) -> None:
def enable_feature(
self,
feature_id: int,
report_interval: int = _DEFAULT_REPORT_INTERVAL,
) -> None:
"""Used to enable a given feature of the BNO08x"""
self._dbg("\n********** Enabling feature id:", feature_id, "**********")

if feature_id == BNO_REPORT_ACTIVITY_CLASSIFIER:
set_feature_report = self._get_feature_enable_report(
feature_id, sensor_specific_config=_ENABLED_ACTIVITIES
feature_id, report_interval, _ENABLED_ACTIVITIES
)
else:
set_feature_report = self._get_feature_enable_report(feature_id)
set_feature_report = self._get_feature_enable_report(feature_id, report_interval)

feature_dependency = _RAW_REPORTS.get(feature_id, None)
# if the feature was enabled it will have a key in the readings dict
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