Merge pull request #15 from davidskeck/patch-1

Fix for #11

Author: caternuson

adafruit_bno055.py

@@ -61,6 +61,7 @@
 
 _MODE_REGISTER = const(0x3d)
 _PAGE_REGISTER = const(0x07)
+_CALIBRATION_REGISTER = const(0x35)
 _TRIGGER_REGISTER = const(0x3f)
 _POWER_REGISTER = const(0x3e)
 _ID_REGISTER = const(0x00)
@@ -196,6 +197,22 @@ def mode(self):
         """
         return self._read_register(_MODE_REGISTER)
 
+    @property
+    def calibration_status(self):
+        """Tuple containing sys, gyro, accel, and mag calibration data."""
+        calibration_data = self._read_register(_CALIBRATION_REGISTER)
+        sys = (calibration_data >> 6) & 0x03
+        gyro = (calibration_data >> 4) & 0x03
+        accel = (calibration_data >> 2) & 0x03
+        mag = calibration_data & 0x03
+        return sys, gyro, accel, mag
+
+    @property
+    def calibrated(self):
+        """Boolean indicating calibration status."""
+        sys, gyro, accel, mag = self.calibration_status
+        return sys == gyro == accel == mag == 0x03
+
     @mode.setter
     def mode(self, new_mode):
         self._write_register(_MODE_REGISTER, new_mode)