bno055_sim.py 文件源码

def transactionI2C(self, port, device_address, data_to_send, send_size, data_received, receive_size):
        '''
            To give data back use ``data_received``::

                data_received[:] = [1,2,3...]

            :returns: number of bytes returned
        '''

        if data_to_send[0] == BNO055.BNO055_EULER_H_LSB_ADDR:
            struct.pack_into('<h', data_received, 0, int(self.heading * 900.0))
        if data_to_send[0] == BNO055.BNO055_EULER_P_LSB_ADDR:
            struct.pack_into('<h', data_received, 0, int(self.pitch * 900.0))
        if data_to_send[0] == BNO055.BNO055_EULER_R_LSB_ADDR:
            struct.pack_into('<h', data_received, 0, int(self.roll * 900.0))

        return receive_size