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Merged
merged 2 commits into from
Jan 27, 2023
Merged

Add Missing Type Annotations #36

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54bfcc7
Add Missing Type Annotations
tcfranks Jan 23, 2023
a6534db
change return type per reviewer comments
tcfranks Jan 24, 2023
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80 changes: 47 additions & 33 deletions adafruit_lsm9ds1.py
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Original file line number Diff line number Diff line change
Expand Up @@ -42,6 +42,14 @@
from adafruit_bus_device import spi_device
from micropython import const

try:
from typing import Tuple
from circuitpython_typing import WriteableBuffer
from digitalio import DigitalInOut
from busio import I2C, SPI
except ImportError:
pass

# Internal constants and register values:
_LSM9DS1_ADDRESS_ACCELGYRO = const(0x6B)
_LSM9DS1_ADDRESS_MAG = const(0x1E)
Expand Down Expand Up @@ -119,7 +127,7 @@
GYROSCALE_2000DPS = 0b11 << 3 # +/- 2000 degrees/s rotation


def _twos_comp(val, bits):
def _twos_comp(val: int, bits: int) -> int:
# Convert an unsigned integer in 2's compliment form of the specified bit
# length to its signed integer value and return it.
if val & (1 << (bits - 1)) != 0:
Expand All @@ -135,7 +143,7 @@ class LSM9DS1:
# thread safe!
_BUFFER = bytearray(6)

def __init__(self):
def __init__(self) -> None:
# soft reset & reboot accel/gyro
self._write_u8(_XGTYPE, _LSM9DS1_REGISTER_CTRL_REG8, 0x05)
# soft reset & reboot magnetometer
Expand Down Expand Up @@ -163,7 +171,7 @@ def __init__(self):
self.gyro_scale = GYROSCALE_245DPS

@property
def accel_range(self):
def accel_range(self) -> int:
"""The accelerometer range. Must be a value of:

- ACCELRANGE_2G
Expand All @@ -176,7 +184,7 @@ def accel_range(self):
return (reg & 0b00011000) & 0xFF

@accel_range.setter
def accel_range(self, val):
def accel_range(self, val: int) -> None:
assert val in (ACCELRANGE_2G, ACCELRANGE_4G, ACCELRANGE_8G, ACCELRANGE_16G)
reg = self._read_u8(_XGTYPE, _LSM9DS1_REGISTER_CTRL_REG6_XL)
reg = (reg & ~(0b00011000)) & 0xFF
Expand All @@ -192,7 +200,7 @@ def accel_range(self, val):
self._accel_mg_lsb = _LSM9DS1_ACCEL_MG_LSB_16G

@property
def mag_gain(self):
def mag_gain(self) -> int:
"""The magnetometer gain. Must be a value of:

- MAGGAIN_4GAUSS
Expand All @@ -205,7 +213,7 @@ def mag_gain(self):
return (reg & 0b01100000) & 0xFF

@mag_gain.setter
def mag_gain(self, val):
def mag_gain(self, val: int) -> None:
assert val in (MAGGAIN_4GAUSS, MAGGAIN_8GAUSS, MAGGAIN_12GAUSS, MAGGAIN_16GAUSS)
reg = self._read_u8(_MAGTYPE, _LSM9DS1_REGISTER_CTRL_REG2_M)
reg = (reg & ~(0b01100000)) & 0xFF
Expand All @@ -221,7 +229,7 @@ def mag_gain(self, val):
self._mag_mgauss_lsb = _LSM9DS1_MAG_MGAUSS_16GAUSS

@property
def gyro_scale(self):
def gyro_scale(self) -> int:
"""The gyroscope scale. Must be a value of:

* GYROSCALE_245DPS
Expand All @@ -233,7 +241,7 @@ def gyro_scale(self):
return (reg & 0b00011000) & 0xFF

@gyro_scale.setter
def gyro_scale(self, val):
def gyro_scale(self, val: int) -> None:
assert val in (GYROSCALE_245DPS, GYROSCALE_500DPS, GYROSCALE_2000DPS)
reg = self._read_u8(_XGTYPE, _LSM9DS1_REGISTER_CTRL_REG1_G)
reg = (reg & ~(0b00011000)) & 0xFF
Expand All @@ -246,19 +254,19 @@ def gyro_scale(self, val):
elif val == GYROSCALE_2000DPS:
self._gyro_dps_digit = _LSM9DS1_GYRO_DPS_DIGIT_2000DPS

def read_accel_raw(self):
def read_accel_raw(self) -> Tuple[int, int, int]:
"""Read the raw accelerometer sensor values and return it as a
3-tuple of X, Y, Z axis values that are 16-bit unsigned values. If you
want the acceleration in nice units you probably want to use the
accelerometer property!
acceleration property!
"""
# Read the accelerometer
self._read_bytes(_XGTYPE, 0x80 | _LSM9DS1_REGISTER_OUT_X_L_XL, 6, self._BUFFER)
raw_x, raw_y, raw_z = struct.unpack_from("<hhh", self._BUFFER[0:6])
return (raw_x, raw_y, raw_z)

@property
def acceleration(self):
def acceleration(self) -> Tuple[float, float, float]:
"""The accelerometer X, Y, Z axis values as a 3-tuple of
:math:`m/s^2` values.
"""
Expand All @@ -267,45 +275,45 @@ def acceleration(self):
lambda x: x * self._accel_mg_lsb / 1000.0 * _SENSORS_GRAVITY_STANDARD, raw
)

def read_mag_raw(self):
def read_mag_raw(self) -> Tuple[int, int, int]:
"""Read the raw magnetometer sensor values and return it as a
3-tuple of X, Y, Z axis values that are 16-bit unsigned values. If you
want the magnetometer in nice units you probably want to use the
magnetometer property!
magnetic property!
"""
# Read the magnetometer
self._read_bytes(_MAGTYPE, 0x80 | _LSM9DS1_REGISTER_OUT_X_L_M, 6, self._BUFFER)
raw_x, raw_y, raw_z = struct.unpack_from("<hhh", self._BUFFER[0:6])
return (raw_x, raw_y, raw_z)

@property
def magnetic(self):
def magnetic(self) -> Tuple[float, float, float]:
"""The magnetometer X, Y, Z axis values as a 3-tuple of
gauss values.
"""
raw = self.read_mag_raw()
return map(lambda x: x * self._mag_mgauss_lsb / 1000.0, raw)

def read_gyro_raw(self):
def read_gyro_raw(self) -> Tuple[int, int, int]:
"""Read the raw gyroscope sensor values and return it as a
3-tuple of X, Y, Z axis values that are 16-bit unsigned values. If you
want the gyroscope in nice units you probably want to use the
gyroscope property!
gyro property!
"""
# Read the gyroscope
self._read_bytes(_XGTYPE, 0x80 | _LSM9DS1_REGISTER_OUT_X_L_G, 6, self._BUFFER)
raw_x, raw_y, raw_z = struct.unpack_from("<hhh", self._BUFFER[0:6])
return (raw_x, raw_y, raw_z)

@property
def gyro(self):
def gyro(self) -> Tuple[float, float, float]:
"""The gyroscope X, Y, Z axis values as a 3-tuple of
rad/s values.
"""
raw = self.read_gyro_raw()
return map(lambda x: radians(x * self._gyro_dps_digit), raw)

def read_temp_raw(self):
def read_temp_raw(self) -> int:
"""Read the raw temperature sensor value and return it as a 12-bit
signed value. If you want the temperature in nice units you probably
want to use the temperature property!
Expand All @@ -316,7 +324,7 @@ def read_temp_raw(self):
return _twos_comp(temp, 12)

@property
def temperature(self):
def temperature(self) -> float:
"""The temperature of the sensor in degrees Celsius."""
# This is just a guess since the starting point (21C here) isn't documented :(
# See discussion from:
Expand All @@ -325,21 +333,23 @@ def temperature(self):
temp = 27.5 + temp / 16
return temp

def _read_u8(self, sensor_type, address):
def _read_u8(self, sensor_type: bool, address: int) -> int:
# Read an 8-bit unsigned value from the specified 8-bit address.
# The sensor_type boolean should be _MAGTYPE when talking to the
# magnetometer, or _XGTYPE when talking to the accel or gyro.
# MUST be implemented by subclasses!
raise NotImplementedError()

def _read_bytes(self, sensor_type, address, count, buf):
def _read_bytes(
self, sensor_type: bool, address: int, count: int, buf: WriteableBuffer
) -> None:
# Read a count number of bytes into buffer from the provided 8-bit
# register address. The sensor_type boolean should be _MAGTYPE when
# talking to the magnetometer, or _XGTYPE when talking to the accel or
# gyro. MUST be implemented by subclasses!
raise NotImplementedError()

def _write_u8(self, sensor_type, address, val):
def _write_u8(self, sensor_type: bool, address: int, val: int) -> None:
# Write an 8-bit unsigned value to the specified 8-bit address.
# The sensor_type boolean should be _MAGTYPE when talking to the
# magnetometer, or _XGTYPE when talking to the accel or gyro.
Expand Down Expand Up @@ -393,10 +403,10 @@ class LSM9DS1_I2C(LSM9DS1):

def __init__(
self,
i2c,
mag_address=_LSM9DS1_ADDRESS_MAG,
xg_address=_LSM9DS1_ADDRESS_ACCELGYRO,
):
i2c: I2C,
mag_address: int = _LSM9DS1_ADDRESS_MAG,
xg_address: int = _LSM9DS1_ADDRESS_ACCELGYRO,
) -> None:
if mag_address in (0x1C, 0x1E) and xg_address in (0x6A, 0x6B):
self._mag_device = i2c_device.I2CDevice(i2c, mag_address)
self._xg_device = i2c_device.I2CDevice(i2c, xg_address)
Expand All @@ -408,7 +418,7 @@ def __init__(
"/api.html#adafruit_lsm9ds1.LSM9DS1_I2C"
)

def _read_u8(self, sensor_type, address):
def _read_u8(self, sensor_type: bool, address: int) -> int:
if sensor_type == _MAGTYPE:
device = self._mag_device
else:
Expand All @@ -420,7 +430,9 @@ def _read_u8(self, sensor_type, address):
)
return self._BUFFER[1]

def _read_bytes(self, sensor_type, address, count, buf):
def _read_bytes(
self, sensor_type: bool, address: int, count: int, buf: WriteableBuffer
) -> None:
if sensor_type == _MAGTYPE:
device = self._mag_device
else:
Expand All @@ -429,7 +441,7 @@ def _read_bytes(self, sensor_type, address, count, buf):
buf[0] = address & 0xFF
i2c.write_then_readinto(buf, buf, out_end=1, in_end=count)

def _write_u8(self, sensor_type, address, val):
def _write_u8(self, sensor_type: bool, address: int, val: int) -> None:
if sensor_type == _MAGTYPE:
device = self._mag_device
else:
Expand Down Expand Up @@ -482,7 +494,7 @@ class LSM9DS1_SPI(LSM9DS1):
"""

# pylint: disable=no-member
def __init__(self, spi, xgcs, mcs):
def __init__(self, spi: SPI, xgcs: DigitalInOut, mcs: DigitalInOut) -> None:
self._mag_device = spi_device.SPIDevice(
spi, mcs, baudrate=200000, phase=1, polarity=1
)
Expand All @@ -491,7 +503,7 @@ def __init__(self, spi, xgcs, mcs):
)
super().__init__()

def _read_u8(self, sensor_type, address):
def _read_u8(self, sensor_type: bool, address: int) -> int:
if sensor_type == _MAGTYPE:
device = self._mag_device
else:
Expand All @@ -502,7 +514,9 @@ def _read_u8(self, sensor_type, address):
spi.readinto(self._BUFFER, end=1)
return self._BUFFER[0]

def _read_bytes(self, sensor_type, address, count, buf):
def _read_bytes(
self, sensor_type: bool, address: int, count: int, buf: WriteableBuffer
) -> None:
if sensor_type == _MAGTYPE:
device = self._mag_device
address |= _SPI_AUTO_INCR
Expand All @@ -513,7 +527,7 @@ def _read_bytes(self, sensor_type, address, count, buf):
spi.write(buf, end=1)
spi.readinto(buf, end=count)

def _write_u8(self, sensor_type, address, val):
def _write_u8(self, sensor_type: bool, address: int, val: int) -> None:
if sensor_type == _MAGTYPE:
device = self._mag_device
else:
Expand Down
1 change: 1 addition & 0 deletions requirements.txt
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -4,3 +4,4 @@

Adafruit-Blinka
adafruit-circuitpython-busdevice
adafruit-circuitpython-typing