diff --git a/.gitattributes b/.gitattributes new file mode 100644 index 0000000..21c125c --- /dev/null +++ b/.gitattributes @@ -0,0 +1,11 @@ +# SPDX-FileCopyrightText: 2024 Justin Myers for Adafruit Industries +# +# SPDX-License-Identifier: Unlicense + +.py text eol=lf +.rst text eol=lf +.txt text eol=lf +.yaml text eol=lf +.toml text eol=lf +.license text eol=lf +.md text eol=lf diff --git a/.github/workflows/release_gh.yml b/.github/workflows/release_gh.yml index b8aa8d6..9acec60 100644 --- a/.github/workflows/release_gh.yml +++ b/.github/workflows/release_gh.yml @@ -16,3 +16,4 @@ jobs: uses: adafruit/workflows-circuitpython-libs/release-gh@main with: github-token: ${{ secrets.GITHUB_TOKEN }} + upload-url: ${{ github.event.release.upload_url }} diff --git a/.gitignore b/.gitignore index 544ec4a..db3d538 100644 --- a/.gitignore +++ b/.gitignore @@ -37,6 +37,7 @@ _build # Virtual environment-specific files .env +.venv # MacOS-specific files *.DS_Store diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 0e5fccc..ff19dde 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -1,42 +1,21 @@ -# SPDX-FileCopyrightText: 2020 Diego Elio Pettenò +# SPDX-FileCopyrightText: 2024 Justin Myers for Adafruit Industries # # SPDX-License-Identifier: Unlicense repos: - - repo: https://github.com/python/black - rev: 22.3.0 - hooks: - - id: black - - repo: https://github.com/fsfe/reuse-tool - rev: v0.14.0 - hooks: - - id: reuse - repo: https://github.com/pre-commit/pre-commit-hooks - rev: v4.2.0 + rev: v4.5.0 hooks: - id: check-yaml - id: end-of-file-fixer - id: trailing-whitespace - - repo: https://github.com/pycqa/pylint - rev: v2.15.5 + - repo: https://github.com/astral-sh/ruff-pre-commit + rev: v0.3.4 hooks: - - id: pylint - name: pylint (library code) - types: [python] - args: - - --disable=consider-using-f-string - exclude: "^(docs/|examples/|tests/|setup.py$)" - - id: pylint - name: pylint (example code) - description: Run pylint rules on "examples/*.py" files - types: [python] - files: "^examples/" - args: - - --disable=missing-docstring,invalid-name,consider-using-f-string,duplicate-code - - id: pylint - name: pylint (test code) - description: Run pylint rules on "tests/*.py" files - types: [python] - files: "^tests/" - args: - - --disable=missing-docstring,consider-using-f-string,duplicate-code + - id: ruff-format + - id: ruff + args: ["--fix"] + - repo: https://github.com/fsfe/reuse-tool + rev: v3.0.1 + hooks: + - id: reuse diff --git a/.pylintrc b/.pylintrc deleted file mode 100644 index 40208c3..0000000 --- a/.pylintrc +++ /dev/null @@ -1,399 +0,0 @@ -# SPDX-FileCopyrightText: 2017 Scott Shawcroft, written for Adafruit Industries -# -# SPDX-License-Identifier: Unlicense - -[MASTER] - -# A comma-separated list of package or module names from where C extensions may -# be loaded. Extensions are loading into the active Python interpreter and may -# run arbitrary code -extension-pkg-whitelist= - -# Add files or directories to the ignore-list. They should be base names, not -# paths. -ignore=CVS - -# Add files or directories matching the regex patterns to the ignore-list. The -# regex matches against base names, not paths. -ignore-patterns= - -# Python code to execute, usually for sys.path manipulation such as -# pygtk.require(). -#init-hook= - -# Use multiple processes to speed up Pylint. -jobs=1 - -# List of plugins (as comma separated values of python modules names) to load, -# usually to register additional checkers. -load-plugins=pylint.extensions.no_self_use - -# Pickle collected data for later comparisons. -persistent=yes - -# Specify a configuration file. -#rcfile= - -# Allow loading of arbitrary C extensions. Extensions are imported into the -# active Python interpreter and may run arbitrary code. -unsafe-load-any-extension=no - - -[MESSAGES CONTROL] - -# Only show warnings with the listed confidence levels. Leave empty to show -# all. Valid levels: HIGH, INFERENCE, INFERENCE_FAILURE, UNDEFINED -confidence= - -# Disable the message, report, category or checker with the given id(s). You -# can either give multiple identifiers separated by comma (,) or put this -# option multiple times (only on the command line, not in the configuration -# file where it should appear only once).You can also use "--disable=all" to -# disable everything first and then reenable specific checks. For example, if -# you want to run only the similarities checker, you can use "--disable=all -# --enable=similarities". If you want to run only the classes checker, but have -# no Warning level messages displayed, use"--disable=all --enable=classes -# --disable=W" -# disable=import-error,raw-checker-failed,bad-inline-option,locally-disabled,file-ignored,suppressed-message,useless-suppression,deprecated-pragma,deprecated-str-translate-call -disable=raw-checker-failed,bad-inline-option,locally-disabled,file-ignored,suppressed-message,useless-suppression,deprecated-pragma,import-error,pointless-string-statement,unspecified-encoding - -# Enable the message, report, category or checker with the given id(s). You can -# either give multiple identifier separated by comma (,) or put this option -# multiple time (only on the command line, not in the configuration file where -# it should appear only once). See also the "--disable" option for examples. -enable= - - -[REPORTS] - -# Python expression which should return a note less than 10 (10 is the highest -# note). You have access to the variables errors warning, statement which -# respectively contain the number of errors / warnings messages and the total -# number of statements analyzed. This is used by the global evaluation report -# (RP0004). -evaluation=10.0 - ((float(5 * error + warning + refactor + convention) / statement) * 10) - -# Template used to display messages. This is a python new-style format string -# used to format the message information. See doc for all details -#msg-template= - -# Set the output format. Available formats are text, parseable, colorized, json -# and msvs (visual studio).You can also give a reporter class, eg -# mypackage.mymodule.MyReporterClass. -output-format=text - -# Tells whether to display a full report or only the messages -reports=no - -# Activate the evaluation score. -score=yes - - -[REFACTORING] - -# Maximum number of nested blocks for function / method body -max-nested-blocks=5 - - -[LOGGING] - -# Logging modules to check that the string format arguments are in logging -# function parameter format -logging-modules=logging - - -[SPELLING] - -# Spelling dictionary name. Available dictionaries: none. To make it working -# install python-enchant package. -spelling-dict= - -# List of comma separated words that should not be checked. -spelling-ignore-words= - -# A path to a file that contains private dictionary; one word per line. -spelling-private-dict-file= - -# Tells whether to store unknown words to indicated private dictionary in -# --spelling-private-dict-file option instead of raising a message. -spelling-store-unknown-words=no - - -[MISCELLANEOUS] - -# List of note tags to take in consideration, separated by a comma. -# notes=FIXME,XXX,TODO -notes=FIXME,XXX - - -[TYPECHECK] - -# List of decorators that produce context managers, such as -# contextlib.contextmanager. Add to this list to register other decorators that -# produce valid context managers. -contextmanager-decorators=contextlib.contextmanager - -# List of members which are set dynamically and missed by pylint inference -# system, and so shouldn't trigger E1101 when accessed. Python regular -# expressions are accepted. -generated-members= - -# Tells whether missing members accessed in mixin class should be ignored. A -# mixin class is detected if its name ends with "mixin" (case insensitive). -ignore-mixin-members=yes - -# This flag controls whether pylint should warn about no-member and similar -# checks whenever an opaque object is returned when inferring. The inference -# can return multiple potential results while evaluating a Python object, but -# some branches might not be evaluated, which results in partial inference. In -# that case, it might be useful to still emit no-member and other checks for -# the rest of the inferred objects. -ignore-on-opaque-inference=yes - -# List of class names for which member attributes should not be checked (useful -# for classes with dynamically set attributes). This supports the use of -# qualified names. -ignored-classes=optparse.Values,thread._local,_thread._local - -# List of module names for which member attributes should not be checked -# (useful for modules/projects where namespaces are manipulated during runtime -# and thus existing member attributes cannot be deduced by static analysis. It -# supports qualified module names, as well as Unix pattern matching. -ignored-modules=board - -# Show a hint with possible names when a member name was not found. The aspect -# of finding the hint is based on edit distance. -missing-member-hint=yes - -# The minimum edit distance a name should have in order to be considered a -# similar match for a missing member name. -missing-member-hint-distance=1 - -# The total number of similar names that should be taken in consideration when -# showing a hint for a missing member. -missing-member-max-choices=1 - - -[VARIABLES] - -# List of additional names supposed to be defined in builtins. Remember that -# you should avoid to define new builtins when possible. -additional-builtins= - -# Tells whether unused global variables should be treated as a violation. -allow-global-unused-variables=yes - -# List of strings which can identify a callback function by name. A callback -# name must start or end with one of those strings. -callbacks=cb_,_cb - -# A regular expression matching the name of dummy variables (i.e. expectedly -# not used). -dummy-variables-rgx=_+$|(_[a-zA-Z0-9_]*[a-zA-Z0-9]+?$)|dummy|^ignored_|^unused_ - -# Argument names that match this expression will be ignored. Default to name -# with leading underscore -ignored-argument-names=_.*|^ignored_|^unused_ - -# Tells whether we should check for unused import in __init__ files. -init-import=no - -# List of qualified module names which can have objects that can redefine -# builtins. -redefining-builtins-modules=six.moves,future.builtins - - -[FORMAT] - -# Expected format of line ending, e.g. empty (any line ending), LF or CRLF. -# expected-line-ending-format= -expected-line-ending-format=LF - -# Regexp for a line that is allowed to be longer than the limit. -ignore-long-lines=^\s*(# )??$ - -# Number of spaces of indent required inside a hanging or continued line. -indent-after-paren=4 - -# String used as indentation unit. This is usually " " (4 spaces) or "\t" (1 -# tab). -indent-string=' ' - -# Maximum number of characters on a single line. -max-line-length=100 - -# Maximum number of lines in a module -max-module-lines=1000 - -# Allow the body of a class to be on the same line as the declaration if body -# contains single statement. -single-line-class-stmt=no - -# Allow the body of an if to be on the same line as the test if there is no -# else. -single-line-if-stmt=no - - -[SIMILARITIES] - -# Ignore comments when computing similarities. -ignore-comments=yes - -# Ignore docstrings when computing similarities. -ignore-docstrings=yes - -# Ignore imports when computing similarities. -ignore-imports=yes - -# Minimum lines number of a similarity. -min-similarity-lines=12 - - -[BASIC] - -# Regular expression matching correct argument names -argument-rgx=(([a-z][a-z0-9_]{2,30})|(_[a-z0-9_]*))$ - -# Regular expression matching correct attribute names -attr-rgx=(([a-z][a-z0-9_]{2,30})|(_[a-z0-9_]*))$ - -# Bad variable names which should always be refused, separated by a comma -bad-names=foo,bar,baz,toto,tutu,tata - -# Regular expression matching correct class attribute names -class-attribute-rgx=([A-Za-z_][A-Za-z0-9_]{2,30}|(__.*__))$ - -# Regular expression matching correct class names -# class-rgx=[A-Z_][a-zA-Z0-9]+$ -class-rgx=[A-Z_][a-zA-Z0-9_]+$ - -# Regular expression matching correct constant names -const-rgx=(([A-Z_][A-Z0-9_]*)|(__.*__))$ - -# Minimum line length for functions/classes that require docstrings, shorter -# ones are exempt. -docstring-min-length=-1 - -# Regular expression matching correct function names -function-rgx=(([a-z][a-z0-9_]{2,30})|(_[a-z0-9_]*))$ - -# Good variable names which should always be accepted, separated by a comma -# good-names=i,j,k,ex,Run,_ -good-names=r,g,b,w,i,j,k,n,x,y,z,ex,ok,Run,_ - -# Include a hint for the correct naming format with invalid-name -include-naming-hint=no - -# Regular expression matching correct inline iteration names -inlinevar-rgx=[A-Za-z_][A-Za-z0-9_]*$ - -# Regular expression matching correct method names -method-rgx=(([a-z][a-z0-9_]{2,30})|(_[a-z0-9_]*))$ - -# Regular expression matching correct module names -module-rgx=(([a-z_][a-z0-9_]*)|([A-Z][a-zA-Z0-9]+))$ - -# Colon-delimited sets of names that determine each other's naming style when -# the name regexes allow several styles. -name-group= - -# Regular expression which should only match function or class names that do -# not require a docstring. -no-docstring-rgx=^_ - -# List of decorators that produce properties, such as abc.abstractproperty. Add -# to this list to register other decorators that produce valid properties. -property-classes=abc.abstractproperty - -# Regular expression matching correct variable names -variable-rgx=(([a-z][a-z0-9_]{2,30})|(_[a-z0-9_]*))$ - - -[IMPORTS] - -# Allow wildcard imports from modules that define __all__. -allow-wildcard-with-all=no - -# Analyse import fallback blocks. This can be used to support both Python 2 and -# 3 compatible code, which means that the block might have code that exists -# only in one or another interpreter, leading to false positives when analysed. -analyse-fallback-blocks=no - -# Deprecated modules which should not be used, separated by a comma -deprecated-modules=optparse,tkinter.tix - -# Create a graph of external dependencies in the given file (report RP0402 must -# not be disabled) -ext-import-graph= - -# Create a graph of every (i.e. internal and external) dependencies in the -# given file (report RP0402 must not be disabled) -import-graph= - -# Create a graph of internal dependencies in the given file (report RP0402 must -# not be disabled) -int-import-graph= - -# Force import order to recognize a module as part of the standard -# compatibility libraries. -known-standard-library= - -# Force import order to recognize a module as part of a third party library. -known-third-party=enchant - - -[CLASSES] - -# List of method names used to declare (i.e. assign) instance attributes. -defining-attr-methods=__init__,__new__,setUp - -# List of member names, which should be excluded from the protected access -# warning. -exclude-protected=_asdict,_fields,_replace,_source,_make - -# List of valid names for the first argument in a class method. -valid-classmethod-first-arg=cls - -# List of valid names for the first argument in a metaclass class method. -valid-metaclass-classmethod-first-arg=mcs - - -[DESIGN] - -# Maximum number of arguments for function / method -max-args=5 - -# Maximum number of attributes for a class (see R0902). -# max-attributes=7 -max-attributes=11 - -# Maximum number of boolean expressions in a if statement -max-bool-expr=5 - -# Maximum number of branch for function / method body -max-branches=12 - -# Maximum number of locals for function / method body -max-locals=15 - -# Maximum number of parents for a class (see R0901). -max-parents=7 - -# Maximum number of public methods for a class (see R0904). -max-public-methods=20 - -# Maximum number of return / yield for function / method body -max-returns=6 - -# Maximum number of statements in function / method body -max-statements=50 - -# Minimum number of public methods for a class (see R0903). -min-public-methods=1 - - -[EXCEPTIONS] - -# Exceptions that will emit a warning when being caught. Defaults to -# "Exception" -overgeneral-exceptions=Exception diff --git a/.readthedocs.yaml b/.readthedocs.yaml index 33c2a61..88bca9f 100644 --- a/.readthedocs.yaml +++ b/.readthedocs.yaml @@ -8,6 +8,9 @@ # Required version: 2 +sphinx: + configuration: docs/conf.py + build: os: ubuntu-20.04 tools: diff --git a/README.rst b/README.rst index 659eea8..fc8d5ba 100644 --- a/README.rst +++ b/README.rst @@ -14,9 +14,9 @@ Introduction :target: https://github.com/adafruit/Adafruit_CircuitPython_LSM6DS/actions :alt: Build Status -.. image:: https://img.shields.io/badge/code%20style-black-000000.svg - :target: https://github.com/psf/black - :alt: Code Style: Black +.. image:: https://img.shields.io/endpoint?url=https://raw.githubusercontent.com/astral-sh/ruff/main/assets/badge/v2.json + :target: https://github.com/astral-sh/ruff + :alt: Code Style: Ruff CircuitPython helper library for the LSM6DS family of motion sensors from ST diff --git a/adafruit_lsm6ds/__init__.py b/adafruit_lsm6ds/__init__.py index a70e1a9..f2d7ee5 100644 --- a/adafruit_lsm6ds/__init__.py +++ b/adafruit_lsm6ds/__init__.py @@ -56,17 +56,18 @@ __repo__ = "https://github.com/adafruit/Adafruit_CircuitPython_LSM6DS.git" import struct -from time import sleep from math import radians -from micropython import const -from adafruit_bus_device import i2c_device +from time import sleep -from adafruit_register.i2c_struct import ROUnaryStruct, Struct +from adafruit_bus_device import i2c_device +from adafruit_register.i2c_bit import ROBit, RWBit from adafruit_register.i2c_bits import RWBits -from adafruit_register.i2c_bit import RWBit, ROBit +from adafruit_register.i2c_struct import ROUnaryStruct, Struct +from micropython import const try: - from typing import Tuple, Optional + from typing import Optional, Tuple + from busio import I2C except ImportError: pass @@ -115,9 +116,9 @@ class Rate(CV): ("RATE_208_HZ", 5, 208.0, None), ("RATE_416_HZ", 6, 416.0, None), ("RATE_833_HZ", 7, 833.0, None), - ("RATE_1_66K_HZ", 8, 1066.0, None), - ("RATE_3_33K_HZ", 9, 3033.0, None), - ("RATE_6_66K_HZ", 10, 6066.0, None), + ("RATE_1_66K_HZ", 8, 1666.0, None), + ("RATE_3_33K_HZ", 9, 3332.0, None), + ("RATE_6_66K_HZ", 10, 6664.0, None), ("RATE_1_6_HZ", 11, 1.6, None), ) ) @@ -169,8 +170,7 @@ class AccelHPF(CV): _LSM6DS_FUNC_CFG_BANK_EMBED = const(2) -class LSM6DS: # pylint: disable=too-many-instance-attributes - +class LSM6DS: """Driver for the LSM6DSOX 6-axis accelerometer and gyroscope. :param ~busio.I2C i2c_bus: The I2C bus the LSM6DSOX is connected to. @@ -226,20 +226,18 @@ def __init__( if self.CHIP_ID is None: raise AttributeError("LSM6DS Parent Class cannot be directly instantiated") if self._chip_id != self.CHIP_ID: - raise RuntimeError( - "Failed to find %s - check your wiring!" % self.__class__.__name__ - ) + raise RuntimeError("Failed to find %s - check your wiring!" % self.__class__.__name__) self.reset() if not hasattr(GyroRange, "string"): self._add_gyro_ranges() self._bdu = True self._add_accel_ranges() - self.accelerometer_data_rate = Rate.RATE_104_HZ # pylint: disable=no-member - self.gyro_data_rate = Rate.RATE_104_HZ # pylint: disable=no-member + self.accelerometer_data_rate = Rate.RATE_104_HZ + self.gyro_data_rate = Rate.RATE_104_HZ - self.accelerometer_range = AccelRange.RANGE_4G # pylint: disable=no-member - self.gyro_range = GyroRange.RANGE_250_DPS # pylint: disable=no-member + self.accelerometer_range = AccelRange.RANGE_4G + self.gyro_range = GyroRange.RANGE_250_DPS # Load and configure MLC if UCF file is provided if ucf is not None: self.load_mlc(ucf) @@ -288,15 +286,11 @@ def acceleration(self) -> Tuple[float, float, float]: def gyro(self) -> Tuple[float, float, float]: """The x, y, z angular velocity values returned in a 3-tuple and are in radians / second""" raw_gyro_data = self._raw_gyro_data - x, y, z = [radians(self._scale_gyro_data(i)) for i in raw_gyro_data] + x, y, z = (radians(self._scale_gyro_data(i)) for i in raw_gyro_data) return (x, y, z) def _scale_xl_data(self, raw_measurement: int) -> float: - return ( - raw_measurement - * AccelRange.lsb[self._cached_accel_range] - * _MILLI_G_TO_ACCEL - ) + return raw_measurement * AccelRange.lsb[self._cached_accel_range] * _MILLI_G_TO_ACCEL def _scale_gyro_data(self, raw_measurement: int) -> float: return raw_measurement * GyroRange.lsb[self._cached_gyro_range] / 1000 @@ -307,7 +301,6 @@ def accelerometer_range(self) -> int: Note that larger ranges will be less accurate. Must be an ``AccelRange``""" return self._cached_accel_range - # pylint: disable=no-member @accelerometer_range.setter def accelerometer_range(self, value: int) -> None: if not AccelRange.is_valid(value): @@ -319,7 +312,8 @@ def accelerometer_range(self, value: int) -> None: @property def gyro_range(self) -> int: """Adjusts the range of values that the sensor can measure, from 125 Degrees/s to 2000 - degrees/s. Note that larger ranges will be less accurate. Must be a ``GyroRange``.""" + degrees/s. Note that larger ranges will be less accurate. Must be a ``GyroRange``. + """ return self._cached_gyro_range @gyro_range.setter @@ -332,11 +326,11 @@ def _set_gyro_range(self, value: int) -> None: raise AttributeError("range must be a `GyroRange`") # range uses `FS_G` enum - if value <= GyroRange.RANGE_2000_DPS: # pylint: disable=no-member + if value <= GyroRange.RANGE_2000_DPS: self._gyro_range_125dps = False self._gyro_range = value # range uses the `FS_125` bit - if value is GyroRange.RANGE_125_DPS: # pylint: disable=no-member + if value is GyroRange.RANGE_125_DPS: self._gyro_range_125dps = True self._cached_gyro_range = value # needed to let new range settle @@ -348,7 +342,6 @@ def accelerometer_data_rate(self) -> int: @accelerometer_data_rate.setter def accelerometer_data_rate(self, value: int) -> None: - if not Rate.is_valid(value): raise AttributeError("accelerometer_data_rate must be a `Rate`") @@ -423,7 +416,7 @@ def load_mlc(self, ucf): buf = bytearray(2) with self.i2c_device as i2c: # Load MLC config from file - with open(ucf, "r") as ucf_file: + with open(ucf) as ucf_file: for line in ucf_file: if line.startswith("Ac"): command = [int(v, 16) for v in line.strip().split(" ")[1:3]] diff --git a/adafruit_lsm6ds/ism330dhcx.py b/adafruit_lsm6ds/ism330dhcx.py index e1d54f4..4e33f7f 100644 --- a/adafruit_lsm6ds/ism330dhcx.py +++ b/adafruit_lsm6ds/ism330dhcx.py @@ -5,11 +5,14 @@ This module provides the `adafruit_lsm6ds.ism330dhcx` subclass of LSM6DS sensors ================================================================================== """ + from time import sleep + from . import LSM6DS, LSM6DS_DEFAULT_ADDRESS, GyroRange, RWBit, const try: - import typing # pylint: disable=unused-import + import typing + from busio import I2C except ImportError: pass @@ -17,8 +20,7 @@ _LSM6DS_CTRL2_G = const(0x11) -class ISM330DHCX(LSM6DS): # pylint: disable=too-many-instance-attributes - +class ISM330DHCX(LSM6DS): """Driver for the ISM330DHCX 6-axis accelerometer and gyroscope. :param ~busio.I2C i2c_bus: The I2C bus the device is connected to. @@ -83,7 +85,7 @@ def gyro_range(self, value: int) -> None: super()._set_gyro_range(value) # range uses the `FS_4000` bit - if value is GyroRange.RANGE_4000_DPS: # pylint: disable=no-member + if value is GyroRange.RANGE_4000_DPS: self._gyro_range_125dps = False self._gyro_range_4000dps = True else: diff --git a/adafruit_lsm6ds/lsm6ds3.py b/adafruit_lsm6ds/lsm6ds3.py index 98d6525..84c07c8 100644 --- a/adafruit_lsm6ds/lsm6ds3.py +++ b/adafruit_lsm6ds/lsm6ds3.py @@ -5,11 +5,11 @@ This module provides the `adafruit_lsm6ds.lsm6ds33` subclass of LSM6DS sensors =============================================================================== """ -from . import LSM6DS +from . import LSM6DS -class LSM6DS3(LSM6DS): # pylint: disable=too-many-instance-attributes +class LSM6DS3(LSM6DS): """Driver for the LSM6DS3 6-axis accelerometer and gyroscope. :param ~busio.I2C i2c_bus: The I2C bus the LSM6DS3 is connected to. diff --git a/adafruit_lsm6ds/lsm6ds33.py b/adafruit_lsm6ds/lsm6ds33.py index 0253708..fae5604 100644 --- a/adafruit_lsm6ds/lsm6ds33.py +++ b/adafruit_lsm6ds/lsm6ds33.py @@ -5,11 +5,11 @@ This module provides the `adafruit_lsm6ds.lsm6ds33` subclass of LSM6DS sensors =============================================================================== """ -from . import LSM6DS +from . import LSM6DS -class LSM6DS33(LSM6DS): # pylint: disable=too-many-instance-attributes +class LSM6DS33(LSM6DS): """Driver for the LSM6DS33 6-axis accelerometer and gyroscope. :param ~busio.I2C i2c_bus: The I2C bus the LSM6DS33 is connected to. diff --git a/adafruit_lsm6ds/lsm6ds3trc.py b/adafruit_lsm6ds/lsm6ds3trc.py index a918b60..1c893a9 100644 --- a/adafruit_lsm6ds/lsm6ds3trc.py +++ b/adafruit_lsm6ds/lsm6ds3trc.py @@ -5,13 +5,13 @@ This module provides the `adafruit_lsm6ds.lsm6ds3trc` subclass of LSM6DS sensors =============================================================================== """ + from . import LSM6DS, RWBit, const _LSM6DS_CTRL10_C = const(0x19) -class LSM6DS3TRC(LSM6DS): # pylint: disable=too-many-instance-attributes - +class LSM6DS3TRC(LSM6DS): """Driver for the LSM6DS3TR-C 6-axis accelerometer and gyroscope. :param ~busio.I2C i2c_bus: The I2C bus the LSM6DS3TR-C is connected to. diff --git a/adafruit_lsm6ds/lsm6dso32.py b/adafruit_lsm6ds/lsm6dso32.py index 236893b..e0921b7 100644 --- a/adafruit_lsm6ds/lsm6dso32.py +++ b/adafruit_lsm6ds/lsm6dso32.py @@ -5,17 +5,18 @@ This module provides the `adafruit_lsm6ds.lsm6dso32` subclass of LSM6DS sensors ================================================================================= """ + from . import LSM6DS, LSM6DS_CHIP_ID, LSM6DS_DEFAULT_ADDRESS, AccelRange try: - import typing # pylint: disable=unused-import + import typing + from busio import I2C except ImportError: pass -class LSM6DSO32(LSM6DS): # pylint: disable=too-many-instance-attributes - +class LSM6DSO32(LSM6DS): """Driver for the LSM6DSO32 6-axis accelerometer and gyroscope. :param ~busio.I2C i2c_bus: The I2C bus the LSM6DSO32 is connected to. diff --git a/adafruit_lsm6ds/lsm6dsox.py b/adafruit_lsm6ds/lsm6dsox.py index 215b5e6..a7248d5 100644 --- a/adafruit_lsm6ds/lsm6dsox.py +++ b/adafruit_lsm6ds/lsm6dsox.py @@ -5,17 +5,18 @@ This module provides the `adafruit_lsm6ds.lsm6dsox` subclass of LSM6DS sensors ============================================================================== """ -from . import LSM6DS, LSM6DS_DEFAULT_ADDRESS, LSM6DS_CHIP_ID + +from . import LSM6DS, LSM6DS_CHIP_ID, LSM6DS_DEFAULT_ADDRESS try: - import typing # pylint: disable=unused-import + import typing + from busio import I2C except ImportError: pass -class LSM6DSOX(LSM6DS): # pylint: disable=too-many-instance-attributes - +class LSM6DSOX(LSM6DS): """Driver for the LSM6DSOX 6-axis accelerometer and gyroscope. :param ~busio.I2C i2c_bus: The I2C bus the LSM6DSOX is connected to. diff --git a/docs/api.rst b/docs/api.rst index 9c9d798..3b6c479 100644 --- a/docs/api.rst +++ b/docs/api.rst @@ -4,6 +4,9 @@ .. If your library file(s) are nested in a directory (e.g. /adafruit_foo/foo.py) .. use this format as the module name: "adafruit_foo.foo" +API Reference +############# + .. automodule:: adafruit_lsm6ds :members: :exclude-members: CV, AccelRange, GyroRange, AccelHPF, Rate diff --git a/docs/conf.py b/docs/conf.py index 97e6a88..cbcf28a 100644 --- a/docs/conf.py +++ b/docs/conf.py @@ -1,12 +1,10 @@ -# -*- coding: utf-8 -*- - # SPDX-FileCopyrightText: 2017 Scott Shawcroft, written for Adafruit Industries # # SPDX-License-Identifier: MIT +import datetime import os import sys -import datetime sys.path.insert(0, os.path.abspath("..")) @@ -17,6 +15,7 @@ # ones. extensions = [ "sphinx.ext.autodoc", + "sphinxcontrib.jquery", "sphinx.ext.intersphinx", "sphinx.ext.napoleon", "sphinx.ext.todo", @@ -55,9 +54,7 @@ creation_year = "2019" current_year = str(datetime.datetime.now().year) year_duration = ( - current_year - if current_year == creation_year - else creation_year + " - " + current_year + current_year if current_year == creation_year else creation_year + " - " + current_year ) copyright = year_duration + " Bryan Siepert" author = "Bryan Siepert" @@ -108,19 +105,9 @@ # The theme to use for HTML and HTML Help pages. See the documentation for # a list of builtin themes. # -on_rtd = os.environ.get("READTHEDOCS", None) == "True" - -if not on_rtd: # only import and set the theme if we're building docs locally - try: - import sphinx_rtd_theme - - html_theme = "sphinx_rtd_theme" - html_theme_path = [sphinx_rtd_theme.get_html_theme_path(), "."] - except: - html_theme = "default" - html_theme_path = ["."] -else: - html_theme_path = ["."] +import sphinx_rtd_theme + +html_theme = "sphinx_rtd_theme" # Add any paths that contain custom static files (such as style sheets) here, # relative to this directory. They are copied after the builtin static files, diff --git a/docs/requirements.txt b/docs/requirements.txt index 88e6733..979f568 100644 --- a/docs/requirements.txt +++ b/docs/requirements.txt @@ -2,4 +2,6 @@ # # SPDX-License-Identifier: Unlicense -sphinx>=4.0.0 +sphinx +sphinxcontrib-jquery +sphinx-rtd-theme diff --git a/examples/lsm6ds_full_test.py b/examples/lsm6ds_full_test.py index 74aea53..50e0594 100644 --- a/examples/lsm6ds_full_test.py +++ b/examples/lsm6ds_full_test.py @@ -2,11 +2,11 @@ # # SPDX-License-Identifier: MIT import time + import board # pylint:disable=no-member -from adafruit_lsm6ds import Rate, AccelRange, GyroRange - +from adafruit_lsm6ds import AccelRange, GyroRange, Rate from adafruit_lsm6ds.lsm6dsox import LSM6DSOX as LSM6DS # from adafruit_lsm6ds.lsm6ds33 import LSM6DS33 as LSM6DS @@ -14,12 +14,11 @@ # from adafruit_lsm6ds.ism330dhcx import ISM330DHCX as LSM6DS i2c = board.I2C() # uses board.SCL and board.SDA +# i2c = board.STEMMA_I2C() # For using the built-in STEMMA QT connector on a microcontroller sensor = LSM6DS(i2c) sensor.accelerometer_range = AccelRange.RANGE_8G -print( - "Accelerometer range set to: %d G" % AccelRange.string[sensor.accelerometer_range] -) +print("Accelerometer range set to: %d G" % AccelRange.string[sensor.accelerometer_range]) sensor.gyro_range = GyroRange.RANGE_2000_DPS print("Gyro range set to: %d DPS" % GyroRange.string[sensor.gyro_range]) diff --git a/examples/lsm6ds_ism330dhcx_simpletest.py b/examples/lsm6ds_ism330dhcx_simpletest.py index 1682d63..9dda013 100644 --- a/examples/lsm6ds_ism330dhcx_simpletest.py +++ b/examples/lsm6ds_ism330dhcx_simpletest.py @@ -2,14 +2,19 @@ # # SPDX-License-Identifier: MIT import time + import board + from adafruit_lsm6ds.ism330dhcx import ISM330DHCX i2c = board.I2C() # uses board.SCL and board.SDA +# i2c = board.STEMMA_I2C() # For using the built-in STEMMA QT connector on a microcontroller sensor = ISM330DHCX(i2c) while True: - print("Acceleration: X:%.2f, Y: %.2f, Z: %.2f m/s^2" % (sensor.acceleration)) - print("Gyro X:%.2f, Y: %.2f, Z: %.2f radians/s" % (sensor.gyro)) + accel_x, accel_y, accel_z = sensor.acceleration + print(f"Acceleration: X:{accel_x:.2f}, Y: {accel_y:.2f}, Z: {accel_z:.2f} m/s^2") + gyro_x, gyro_y, gyro_z = sensor.gyro + print(f"Gyro X:{gyro_x:.2f}, Y: {gyro_y:.2f}, Z: {gyro_z:.2f} radians/s") print("") time.sleep(0.5) diff --git a/examples/lsm6ds_lsm6ds33_simpletest.py b/examples/lsm6ds_lsm6ds33_simpletest.py index 109baf7..5d92fbc 100644 --- a/examples/lsm6ds_lsm6ds33_simpletest.py +++ b/examples/lsm6ds_lsm6ds33_simpletest.py @@ -2,14 +2,19 @@ # # SPDX-License-Identifier: MIT import time + import board + from adafruit_lsm6ds.lsm6ds33 import LSM6DS33 i2c = board.I2C() # uses board.SCL and board.SDA +# i2c = board.STEMMA_I2C() # For using the built-in STEMMA QT connector on a microcontroller sensor = LSM6DS33(i2c) while True: - print("Acceleration: X:%.2f, Y: %.2f, Z: %.2f m/s^2" % (sensor.acceleration)) - print("Gyro X:%.2f, Y: %.2f, Z: %.2f radians/s" % (sensor.gyro)) + accel_x, accel_y, accel_z = sensor.acceleration + print(f"Acceleration: X:{accel_x:.2f}, Y: {accel_y:.2f}, Z: {accel_z:.2f} m/s^2") + gyro_x, gyro_y, gyro_z = sensor.gyro + print(f"Gyro X:{gyro_x:.2f}, Y: {gyro_y:.2f}, Z: {gyro_z:.2f} radians/s") print("") time.sleep(0.5) diff --git a/examples/lsm6ds_lsm6ds3_simpletest.py b/examples/lsm6ds_lsm6ds3_simpletest.py index 331daf7..069f65c 100644 --- a/examples/lsm6ds_lsm6ds3_simpletest.py +++ b/examples/lsm6ds_lsm6ds3_simpletest.py @@ -2,14 +2,19 @@ # # SPDX-License-Identifier: MIT import time + import board + from adafruit_lsm6ds.lsm6ds3 import LSM6DS3 i2c = board.I2C() # uses board.SCL and board.SDA +# i2c = board.STEMMA_I2C() # For using the built-in STEMMA QT connector on a microcontroller sensor = LSM6DS3(i2c) while True: - print("Acceleration: X:%.2f, Y: %.2f, Z: %.2f m/s^2" % (sensor.acceleration)) - print("Gyro X:%.2f, Y: %.2f, Z: %.2f radians/s" % (sensor.gyro)) + accel_x, accel_y, accel_z = sensor.acceleration + print(f"Acceleration: X:{accel_x:.2f}, Y: {accel_y:.2f}, Z: {accel_z:.2f} m/s^2") + gyro_x, gyro_y, gyro_z = sensor.gyro + print(f"Gyro X:{gyro_x:.2f}, Y: {gyro_y:.2f}, Z: {gyro_z:.2f} radians/s") print("") time.sleep(0.5) diff --git a/examples/lsm6ds_lsm6ds3trc_simpletest.py b/examples/lsm6ds_lsm6ds3trc_simpletest.py index 2ecc710..103e751 100644 --- a/examples/lsm6ds_lsm6ds3trc_simpletest.py +++ b/examples/lsm6ds_lsm6ds3trc_simpletest.py @@ -2,9 +2,11 @@ # # SPDX-License-Identifier: MIT import time + import board -import digitalio import busio +import digitalio + from adafruit_lsm6ds.lsm6ds3trc import LSM6DS3TRC # On the Seeed XIAO nRF52840 Sense the LSM6DS3TR-C IMU is connected on a separate @@ -18,7 +20,9 @@ sensor = LSM6DS3TRC(imu_i2c) while True: - print("Acceleration: X:%.2f, Y: %.2f, Z: %.2f m/s^2" % (sensor.acceleration)) - print("Gyro X:%.2f, Y: %.2f, Z: %.2f radians/s" % (sensor.gyro)) + accel_x, accel_y, accel_z = sensor.acceleration + print(f"Acceleration: X:{accel_x:.2f}, Y: {accel_y:.2f}, Z: {accel_z:.2f} m/s^2") + gyro_x, gyro_y, gyro_z = sensor.gyro + print(f"Gyro X:{gyro_x:.2f}, Y: {gyro_y:.2f}, Z: {gyro_z:.2f} radians/s") print("") time.sleep(0.5) diff --git a/examples/lsm6ds_lsm6dso32_simpletest.py b/examples/lsm6ds_lsm6dso32_simpletest.py index 359db79..fe5d161 100644 --- a/examples/lsm6ds_lsm6dso32_simpletest.py +++ b/examples/lsm6ds_lsm6dso32_simpletest.py @@ -2,14 +2,19 @@ # # SPDX-License-Identifier: MIT import time + import board + from adafruit_lsm6ds.lsm6dso32 import LSM6DSO32 i2c = board.I2C() # uses board.SCL and board.SDA +# i2c = board.STEMMA_I2C() # For using the built-in STEMMA QT connector on a microcontroller sensor = LSM6DSO32(i2c) while True: - print("Acceleration: X:%.2f, Y: %.2f, Z: %.2f m/s^2" % (sensor.acceleration)) - print("Gyro X:%.2f, Y: %.2f, Z: %.2f radians/s" % (sensor.gyro)) + accel_x, accel_y, accel_z = sensor.acceleration + print(f"Acceleration: X:{accel_x:.2f}, Y: {accel_y:.2f}, Z: {accel_z:.2f} m/s^2") + gyro_x, gyro_y, gyro_z = sensor.gyro + print(f"Gyro X:{gyro_x:.2f}, Y: {gyro_y:.2f}, Z: {gyro_z:.2f} radians/s") print("") time.sleep(0.5) diff --git a/examples/lsm6ds_lsm6dsox_mlc_test.py b/examples/lsm6ds_lsm6dsox_mlc_test.py index 16c8d30..9f57ca8 100644 --- a/examples/lsm6ds_lsm6dsox_mlc_test.py +++ b/examples/lsm6ds_lsm6dsox_mlc_test.py @@ -8,9 +8,11 @@ # https://github.com/STMicroelectronics/STMems_Machine_Learning_Core/tree/master/application_examples/lsm6dsox import time + import board + +from adafruit_lsm6ds import AccelRange, GyroRange, Rate from adafruit_lsm6ds.lsm6dsox import LSM6DSOX -from adafruit_lsm6ds import Rate, AccelRange, GyroRange i2c = board.STEMMA_I2C() # uses board.SCL and board.SDA diff --git a/examples/lsm6ds_lsm6dsox_simpletest.py b/examples/lsm6ds_lsm6dsox_simpletest.py index db887dd..f2f7037 100644 --- a/examples/lsm6ds_lsm6dsox_simpletest.py +++ b/examples/lsm6ds_lsm6dsox_simpletest.py @@ -2,14 +2,19 @@ # # SPDX-License-Identifier: MIT import time + import board + from adafruit_lsm6ds.lsm6dsox import LSM6DSOX i2c = board.I2C() # uses board.SCL and board.SDA +# i2c = board.STEMMA_I2C() # For using the built-in STEMMA QT connector on a microcontroller sensor = LSM6DSOX(i2c) while True: - print("Acceleration: X:%.2f, Y: %.2f, Z: %.2f m/s^2" % (sensor.acceleration)) - print("Gyro X:%.2f, Y: %.2f, Z: %.2f radians/s" % (sensor.gyro)) + accel_x, accel_y, accel_z = sensor.acceleration + print(f"Acceleration: X:{accel_x:.2f}, Y: {accel_y:.2f}, Z: {accel_z:.2f} m/s^2") + gyro_x, gyro_y, gyro_z = sensor.gyro + print(f"Gyro X:{gyro_x:.2f}, Y: {gyro_y:.2f}, Z: {gyro_z:.2f} radians/s") print("") time.sleep(0.5) diff --git a/examples/lsm6ds_pedometer.py b/examples/lsm6ds_pedometer.py index 7ed3972..da8d2af 100644 --- a/examples/lsm6ds_pedometer.py +++ b/examples/lsm6ds_pedometer.py @@ -1,18 +1,21 @@ # SPDX-FileCopyrightText: Copyright (c) 2020 Bryan Siepert for Adafruit Industries # # SPDX-License-Identifier: MIT -""" This example shows off how to use the step counter built +"""This example shows off how to use the step counter built into the ST LSM6DS series IMUs. The steps are calculated in the chip so you don't have to do any calculations!""" import time + import board +from adafruit_lsm6ds import AccelRange, Rate + # pylint:disable=no-member from adafruit_lsm6ds.lsm6ds33 import LSM6DS33 -from adafruit_lsm6ds import Rate, AccelRange i2c = board.I2C() # uses board.SCL and board.SDA +# i2c = board.STEMMA_I2C() # For using the built-in STEMMA QT connector on a microcontroller sensor = LSM6DS33(i2c) # enable accelerometer sensor @ 2G and 26 Hz diff --git a/examples/lsm6ds_rate_test.py b/examples/lsm6ds_rate_test.py index 3f4edbb..6ff7365 100644 --- a/examples/lsm6ds_rate_test.py +++ b/examples/lsm6ds_rate_test.py @@ -12,29 +12,24 @@ # from adafruit_lsm6ds.ism330dhcx import ISM330DHCX as LSM6DS i2c = board.I2C() # uses board.SCL and board.SDA +# i2c = board.STEMMA_I2C() # For using the built-in STEMMA QT connector on a microcontroller sensor = LSM6DS(i2c) while True: sensor.accelerometer_data_rate = Rate.RATE_12_5_HZ sensor.gyro_data_rate = Rate.RATE_12_5_HZ for i in range(100): - print( - "(%.2f, %.2f, %.2f, %.2f, %.2f, %.2f" % (sensor.acceleration + sensor.gyro) - ) + print("(%.2f, %.2f, %.2f, %.2f, %.2f, %.2f" % (sensor.acceleration + sensor.gyro)) print() sensor.accelerometer_data_rate = Rate.RATE_52_HZ sensor.gyro_data_rate = Rate.RATE_52_HZ for i in range(100): - print( - "(%.2f, %.2f, %.2f, %.2f, %.2f, %.2f" % (sensor.acceleration + sensor.gyro) - ) + print("(%.2f, %.2f, %.2f, %.2f, %.2f, %.2f" % (sensor.acceleration + sensor.gyro)) print() sensor.accelerometer_data_rate = Rate.RATE_416_HZ sensor.gyro_data_rate = Rate.RATE_416_HZ for i in range(100): - print( - "(%.2f, %.2f, %.2f, %.2f, %.2f, %.2f" % (sensor.acceleration + sensor.gyro) - ) + print("(%.2f, %.2f, %.2f, %.2f, %.2f, %.2f" % (sensor.acceleration + sensor.gyro)) print() diff --git a/ruff.toml b/ruff.toml new file mode 100644 index 0000000..36332ff --- /dev/null +++ b/ruff.toml @@ -0,0 +1,105 @@ +# SPDX-FileCopyrightText: 2024 Tim Cocks for Adafruit Industries +# +# SPDX-License-Identifier: MIT + +target-version = "py38" +line-length = 100 + +[lint] +preview = true +select = ["I", "PL", "UP"] + +extend-select = [ + "D419", # empty-docstring + "E501", # line-too-long + "W291", # trailing-whitespace + "PLC0414", # useless-import-alias + "PLC2401", # non-ascii-name + "PLC2801", # unnecessary-dunder-call + "PLC3002", # unnecessary-direct-lambda-call + "E999", # syntax-error + "PLE0101", # return-in-init + "F706", # return-outside-function + "F704", # yield-outside-function + "PLE0116", # continue-in-finally + "PLE0117", # nonlocal-without-binding + "PLE0241", # duplicate-bases + "PLE0302", # unexpected-special-method-signature + "PLE0604", # invalid-all-object + "PLE0605", # invalid-all-format + "PLE0643", # potential-index-error + "PLE0704", # misplaced-bare-raise + "PLE1141", # dict-iter-missing-items + "PLE1142", # await-outside-async + "PLE1205", # logging-too-many-args + "PLE1206", # logging-too-few-args + "PLE1307", # bad-string-format-type + "PLE1310", # bad-str-strip-call + "PLE1507", # invalid-envvar-value + "PLE2502", # bidirectional-unicode + "PLE2510", # invalid-character-backspace + "PLE2512", # invalid-character-sub + "PLE2513", # invalid-character-esc + "PLE2514", # invalid-character-nul + "PLE2515", # invalid-character-zero-width-space + "PLR0124", # comparison-with-itself + "PLR0202", # no-classmethod-decorator + "PLR0203", # no-staticmethod-decorator + "UP004", # useless-object-inheritance + "PLR0206", # property-with-parameters + "PLR0904", # too-many-public-methods + "PLR0911", # too-many-return-statements + "PLR0912", # too-many-branches + "PLR0913", # too-many-arguments + "PLR0914", # too-many-locals + "PLR0915", # too-many-statements + "PLR0916", # too-many-boolean-expressions + "PLR1702", # too-many-nested-blocks + "PLR1704", # redefined-argument-from-local + "PLR1711", # useless-return + "C416", # unnecessary-comprehension + "PLR1733", # unnecessary-dict-index-lookup + "PLR1736", # unnecessary-list-index-lookup + + # ruff reports this rule is unstable + #"PLR6301", # no-self-use + + "PLW0108", # unnecessary-lambda + "PLW0120", # useless-else-on-loop + "PLW0127", # self-assigning-variable + "PLW0129", # assert-on-string-literal + "B033", # duplicate-value + "PLW0131", # named-expr-without-context + "PLW0245", # super-without-brackets + "PLW0406", # import-self + "PLW0602", # global-variable-not-assigned + "PLW0603", # global-statement + "PLW0604", # global-at-module-level + + # fails on the try: import typing used by libraries + #"F401", # unused-import + + "F841", # unused-variable + "E722", # bare-except + "PLW0711", # binary-op-exception + "PLW1501", # bad-open-mode + "PLW1508", # invalid-envvar-default + "PLW1509", # subprocess-popen-preexec-fn + "PLW2101", # useless-with-lock + "PLW3301", # nested-min-max +] + +ignore = [ + "PLR2004", # magic-value-comparison + "UP030", # format literals + "PLW1514", # unspecified-encoding + "PLR0913", # too-many-arguments + "PLR0915", # too-many-statements + "PLR0917", # too-many-positional-arguments + "PLR0904", # too-many-public-methods + "PLR0912", # too-many-branches + "PLR0916", # too-many-boolean-expressions +] + +[format] +line-ending = "lf"