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Overview
Comment:General configration section of dIMU class and Multisenor example working.
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SHA3-256:cbe12efdf436b24712cb2aa020765abb3245506b4f67529c73d03f508d5c8c4a
User & Date: gwlester 2018-02-09 22:38:06
Context
2018-02-09
22:39
Correction of wide spread typo. check-in: cecb467b84 user: gwlester tags: trunk
22:38
General configration section of dIMU class and Multisenor example working. check-in: cbe12efdf4 user: gwlester tags: trunk
2018-02-08
05:50
Correct several bugs. check-in: a2782097ce user: gwlester tags: trunk
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Changes to examples/Multisensor_Example.tcl. 

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array set MagValues {
    range 2000dps
    digits 5
    decimals 1
    minChange 0.1
    formatStr {%7.1}
}








array set Configuration {
    i2cbus 1
    dIMUaddress 0x28
}

array set UI {

    operation,map,label {
        configmode      "Configuration Mode"
        acconly         "Accelerometer Only"
        magonly         "Magnetometer Only"
        gyroonly        "Gyroscope Only"
        accmag          "Accelerometer and Magnetometer Only"
        accgyro         "Accelerometer and Gyroscope Only"
................................................................................
        ndof            "9 Degrees of Freedom -- Fast Magnetometer Calibration On"
    }
    power,map,label     {
        normal          "Normal"
        low             "Low"
        suspend         "Suspend"
    }

























































}

foreach key [array names UI "*,map,label"] {
    lassign [split $key ","] option
    set maxLabelSize -1
    foreach {symbol label} $UI($key) {
        dict set UI($option,map,symbol) $label $symbol
................................................................................
##
## Begin procedure definition section
##
proc ChangeOperationMode {varName index op} {
    global UI
    global Configuration

    set mode [dict get $UI(operation,map,symbol) $Configuration(operation]

    if {$mode ne "configmode"} {
        DisableConfigurationWidgets
        EnableTabs $mode
    } else {
        EnableConfigurationWidgets
        DisableTabs













    }
}

proc ConfigurationChange {varName index op} {
    global UI
    global CurrentValue
    upvar #0 $varName configuration




    set value $configuration($index)
    if  {$index eq refreshRate} {
        return
    } elseif {[info exists UI($index,map,symbol)]} {
        set value [dict get $UI($index,map,symbol) $value]
    }
    $CurrentValue(handle) configure -$index $value
}
































proc DisableTabs {} {
    global UI

    set notebook $UI(mainNotebook)
    foreach {tab widget} [array get UI {main,*}] {
        $nodebook tab $widget -state disabled
    }

    $nodebook tab $UI(main,configuration) -state normal
    $nodebook select $UI(main,configuration)
}

proc EnableTags {mode} {
    global UI

    DisableTabs

    set notebook $UI(mainNotebook)
    switch -exact -- $mode {
        configmode -
................................................................................
        }
        imu -
        compass -
        m4g -
        ndof_fmc_off -
        ndof {
            foreach {tab widget} [array get UI {main,*}] {
                $nodebook tab $widget -state normal
            }
        }
    }
}

proc ReadGyro {} {
    global CurrentValue
    global GryoValues

    ##
    ## Read the gyroscope
    ##
    set currentReadings [$CurrentValue(handle) readGyro]
    set formatStr $GryoValues(formatStr)
    set x [format $formatStr [dict get $currentReadings x]]
    set y [format $formatStr [dict get $currentReadings z]]
    set z [format $formatStr [dict get $currentReadings z]]
    set minChange $GryoValues(minChange
    if {abs($x - $CurrentValue(gyroscope,x)) > $minChange ||
        abs($y - $CurrentValue(gyroscope,y)) > $minChange ||
        abs($z - $CurrentValue(gyroscope,z)) > $minChange
    } {
        LogValues $x $y $z
        
        ##
................................................................................
        set CurrentValue(gyroscope,x) $x
        set CurrentValue(gyroscope,y) $y
        set CurrentValue(gyroscope,z) $z
    }

    return
}









proc LogValues {type} {
    variable WidgetData
    variable CurrentValue

    #if {[info exists CurrentValue(logId)]} {
    #    after cancel $CurrentValue(logId)
................................................................................
    set x $CurrentValue($type,x)
    set y $CurrentValue($type,y)
    set z $CurrentValue($type,z)
    $WidgetData($type,history) insert {} end -values [list $timeStamp $x $y $z]
}

proc StartReading {} {
    global i2cbus dIMUaddress range CurrentValue

    if {$dIMUaddress eq {}} {
        return
    }

    .main.controls.buttons.start configure -state disabled
    .main.controls.buttons.stop configure -state normal
    StartGyro $CurrentValue(handle) $range
    ReadGyro

}
................................................................................
    if {[info exists CurrentValue(logId)]} {
        after cancel $CurrentValue(logId)
    }
    
    .main.controls.buttons.start configure -state normal 
    .main.controls.buttons.stop configure -state disabled
}







































































































proc CreateGui {} {
    global UI
    
    wm title . "dIMU Gyroscope Example"


















    set UI(mainNotebook) [ttk::notebook .main]
    grid configure .main -sticky nsew
    grid columnconfigure . .main -weight 1
    grid rowconfigure . .main -weight 1
    
    set UI(main,configuration) [ttk::frame .main.configuration]
    .main add .main.configuration -text {Configuration}
................................................................................
proc CreateGeneralConfigFrame {general} {
    ##
    ## General Configuration group
    ##
    ttk::label $general.busLbl \
        -text {I2C Bus:}
    ttk::combobox $general.busCMB \
        -textvariable ::Configuration(i2cbus) \
        -values [list 1] \
        -state readonly
    ttk::label $general.addrLbl \
        -text {iDMU Address:}
    ttk::entry $general.addrEnt \
        -width 5 \
        -textvariable ::Configuration(dIMUaddress) \
        -state readonly















    ttk::label $general.rateLbl1 \
        -text {Refresh Rate:}
    ttk::spinbox $general.rateEnt \
        -from 50.0 \
        -to 500.0 \
        -increment 10.0 \
        -format {%3.0f} \
        -wrap no \
        -command [format {set ::Configuration(refreshRate) [expr {entier([%1$s get])}]}  $general.rateEnt]
    ttk::label $general.rateLbl2 \
        -text { in microseconds}
    ttk::label $general.operLbl1 \
        -text {Operational Mode}
    # change values to be human readable
    ttk::combobox $general.operCMB \
        -textvariable ::Configuration(operation) \
        -values [dict keys $::UI(operation,map,symbol)] \
        -width $::UI(operation,maxLabelSize) \
        -state readonly
    ttk::label $general.pwrLbl1 \
        -text {Power Mode}
    ttk::combobox $general.pwrCMB \
        -textvariable ::Configuration(power) \
        -values [dict keys $::UI(power,map,symbol)] \
        -width $::UI(power,maxLabelSize) \
        -state readonly

    # Add axis remap and axis sign
    # Add self test results
    # Add clock select if sys_clk_status is true
    # Reset interupt
    # Reset system
    # Add self test trigger
    # Fusion Unit Type (Andriod vs Windows)
    # System Calibration status
    # Unique ID
    # Add temp source
    # Add Temp units
    # Add Temp reading
    # Add EUL units















    # Add System Status




    # Add System Error Code























































































    grid configure $general.busLbl $general.busCMB x x -padx 2 -pady 2 -sticky ew
    grid configure $general.addrLbl $general.addrEnt x x -padx 2 -pady 2 -sticky ew






    grid configure $general.rateLbl1 $general.rateEnt $general.rateLbl2 x -padx 2 -pady 2 -sticky ew
    grid configure $general.operLbl1 $general.operCMB x x -padx 2 -pady 2 -sticky ew
    grid configure $general.pwrLbl1 $general.pwrCMB x x -padx 2 -pady 2 -sticky ew





    grid columnconfigure $general $general.addrEnt -uniform entry















    grid columnconfigure $general 3 -weight 1


    $general.rateEnt set 50.0

}

proc CreateAccelConfigFrame {accel} {
    ##
    ## Accelerometer group
    ##
    ttk::label $accel.rangeLbl \
        -text {Range:}
    ttk::combobox $accel.rangeCMB \
        -textvariable ::range \
        -values [list 250dps 500dps 2000dps] \
        -state readonly

    ttk::label $accel.numDigitsLbl \
        -text {Digits before decimal}
    ttk::combobox $accel.numDigitsCMB \
        -textvariable ::AccelValues(digits) \
        -values [list 3 4] \
        -state readonly
    ttk::label $accel.numDecimalsLbl \
................................................................................
        -to 200.0 \
        -increment 0.1 \
        -format {%5.1f} \
        -wrap no \
        -textvariable ::AccelValues(minChange)
    ttk::label $accel.minChangeLbl2 \
        -text {dps change}


    # Add ACC units
    # Add Self Test status
    # Add Calibration status
    # Add Unit Select
    # Add offsets
    # Add radius
    # Add Acc No Motion Interrupt Status
................................................................................
proc CreateGyroConfigFrame {gyro} {
    ##
    ## Gyrometer
    ##
    ttk::label $gyro.rangeLbl \
        -text {Range:}
    ttk::combobox $gyro.rangeCMB \
        -textvariable ::range \
        -values [list 250dps 500dps 2000dps] \
        -state readonly

    ttk::label $gyro.numDigitsLbl \
        -text {Digits before decimal}
    ttk::combobox $gyro.numDigitsCMB \
        -textvariable ::GryoValues(digits) \
        -values [list 3 4] \
        -state readonly
    ttk::label $gyro.numDecimalsLbl \
        -text {Digits after decimal}
    ttk::combobox $gyro.numDecimalsCMB \
        -textvariable ::GryoValues(decimals) \
        -values [list 1 2 3 4] \
        -state readonly
    ttk::label $gyro.minChangeLbl1 \
        -text {Ignore less than}
    ttk::spinbox $gyro.minChangeEnt \
        -from 0.1 \
        -to 200.0 \
        -increment 0.1 \
        -format {%5.1f} \
        -wrap no \
        -textvariable ::GryoValues(minChange)
    ttk::label $gyro.minChangeLbl2 \
        -text {dps change}


    # Add Self Test status
    # Add Calibration status
    # Add Unit Select
    # Add offsets
    # Add Gyro High Rate Interrupt Status
    # Add Gyro Any Motion Interrupt Status
    # Add Gyro Any Motion Threashold
................................................................................
proc CreateMagConfigFrame {mag} {
    ##
    ## Magnetometer group
    ##
    ttk::label $mag.rangeLbl \
        -text {Range:}
    ttk::combobox $mag.rangeCMB \
        -textvariable ::range \
        -values [list 250dps 500dps 2000dps] \
        -state readonly

    ttk::label $mag.numDigitsLbl \
        -text {Digits before decimal}
    ttk::combobox $mag.numDigitsCMB \
        -textvariable ::MagValues(digits) \
        -values [list 3 4] \
        -state readonly
    ttk::label $mag.numDecimalsLbl \
................................................................................
        -to 200.0 \
        -increment 0.1 \
        -format {%5.1f} \
        -wrap no \
        -textvariable ::MagValues(minChange)
    ttk::label $mag.minChangeLbl2 \
        -text {dps change}


    # Add Self Test status
    # Add Calibration status
    # Add Unit Select
    # Add offsets
    # Add radius
    # Add Mag Power Mode
    # Add Mag Operation Mode
................................................................................
        -command StopReading
    grid configure x $control.start x  $control.stop x  -sticky ew
    grid columnconfigure $control {0 2 4} -weight 1

}

proc CreateConfigurationFrame {w} {


    set general $w.gen
    set accel $w.acc
    set gyro $w.gyro
    set mag $w.mag
    set control $w.controls



    ttk::labelframe $general \

        -text "General"
    ttk::labelframe $accel \

        -text "Accelerometer"
    ttk::labelframe $gyro \

        -text "Gyrometer"
    ttk::labelframe $mag \

        -text "Magnetometer"
    ttk::frame $control
    grid configure $general -sticky nsew -pady 2 -padx 4 -ipady 4
    grid configure $accel -sticky nsew -pady 2 -padx 4 -ipady 4
    grid configure $gyro -sticky nsew -pady 2 -padx 4 -ipady 4


    grid configure $mag -sticky nsew -pady 2 -padx 4 -ipady 4
    grid configure $control -sticky nsew -pady 4
    grid columnconfigure $w $mag -weight 1
    grid rowconfigure $w 5 -weight 1

    CreateGeneralConfigFrame $general
    CreateAccelConfigFrame $accel
    CreateGyroConfigFrame $gyro
    CreateMagConfigFrame $mag
    CreateControlConfigFrame $control
        
................................................................................
        -textvariable ::CurrentValue($type,$z) \
        -state readonly
    grid configure $w.xLabel $w.xValue $w.yLabel $w.yValue $w.zLabel $w.zValue x -sticky ew -padx 2 -pady 1
    grid columnconfigure $w [list $w.xLabel $w.yLabel $w.zLabel] -uniform labels -weight 0
    grid columnconfigure $w [list $w.xValue $w.yValue $w.zValue] -uniform values -weight 0
}

proc LoadCurrentConfiguration {} {
    global UI
    global Configuration
    global CurrentValue
    
    foreach optionValue [$CurrentValue(handle) configure] {
        lassign $optionValue option default value
        ##
        ## Remove the leading -
        ##
        set index [string range $option 1 end]
        if {[info exists UI($index,map,label)]} {
            try {
                set value [dict get $UI($index,map,label) $value]
            } on error {errMsg errInfo} {
                puts "Error: $errMsg"
                puts "Error on $index for '$value'"
            }
        }
        set Configuration($index) $value
    }
}

##
## Main Body
##
set CurrentValue(handle) [dimu new]
LoadCurrentConfiguration

CreateGui
trace add variable Configuration write ConfigurationChange
trace add variable ::Configuration(operation) write ChangeMode














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array set MagValues {
    range 2000dps
    digits 5
    decimals 1
    minChange 0.1
    formatStr {%7.1}
}

array set GyroValues {
    digits 5
    decimals 1
    minChange 0.1
    formatStr {%7.1}
}

array set Configuration {
    bus 1
    dIMUaddress 0x28
}

array set UI {
    InLoadCurrentConfiguration false
    operation,map,label {
        configmode      "Configuration Mode"
        acconly         "Accelerometer Only"
        magonly         "Magnetometer Only"
        gyroonly        "Gyroscope Only"
        accmag          "Accelerometer and Magnetometer Only"
        accgyro         "Accelerometer and Gyroscope Only"
................................................................................
        ndof            "9 Degrees of Freedom -- Fast Magnetometer Calibration On"
    }
    power,map,label     {
        normal          "Normal"
        low             "Low"
        suspend         "Suspend"
    }

    gyrorange,map,label {
        2000dps         "2,000 dps"
        1000dps         "1,000 dps"
        500dps          "500 dps"
        250dps          "250 dps"
        125dps          "125 dps"
    }
    configurationWidgets {
    }
    clocksource,map,label {
        internal        "Internal"
        external        "External"
    }
    temperaturesource,map,label {
        acc     "Accelerometer"
        gyro    "Gyroscope"
    }
    temperatureunits,map,label {
        c   "C"
        f   "F"
    }
    fusionunits,map,label {
        windows   "Windows"
        android   "Android"
    }
    eulunits,map,label {
        deg   "Degrees"
        rad   "Radians"
    }
    remap_x_sign,map,label {
        pos   "Unchanged"
        neg   "Inverse"
    }
    remap_y_sign,map,label {
        pos   "Unchanged"
        neg   "Inverse"
    }
    remap_z_sign,map,label {
        pos   "Unchanged"
        neg   "Inverse"
    }
    remap_x_axis,map,label {
        x   "Unchanged"
        y   "To Y"
        z   "To Z"
    }
    remap_y_axis,map,label {
        x   "To X"
        y   "Unchanged"
        z   "To Z"
    }
    remap_z_axis,map,label {
        x   "To X"
        y   "To Y"
        z   "Unchanged"
    }
}

foreach key [array names UI "*,map,label"] {
    lassign [split $key ","] option
    set maxLabelSize -1
    foreach {symbol label} $UI($key) {
        dict set UI($option,map,symbol) $label $symbol
................................................................................
##
## Begin procedure definition section
##
proc ChangeOperationMode {varName index op} {
    global UI
    global Configuration

    set mode [dict get $UI(operation,map,symbol) $Configuration(operation)]

    if {$mode ne "Configuration Mode"} {
        DisableConfigurationWidgets
        EnableTabs $mode
    } else {
        EnableConfigurationWidgets
        DisableTabs
        LoadCurrentConfiguration
    }
}

proc ClockSourceMode {widget varName index op} {
    global Configuration
    global UI

    set mode [dict get $UI(operation,map,symbol) $Configuration(operation)]
    if {$mode eq "Configuration Mode" && $Configuration($index)} {
        $widget configure -state normal
    } else {
        $widget configure -state disabled
    }
}

proc ConfigurationChange {varName index op} {
    global UI
    global CurrentValue
    upvar #0 $varName configuration

    if {$UI(InLoadCurrentConfiguration)} {
        return
    }
    set value $configuration($index)
    if  {$index eq "refreshRate"} {
        return
    } elseif {[info exists UI($index,map,symbol)]} {
        set value [dict get $UI($index,map,symbol) $value]
    }
    $CurrentValue(handle) configure -$index $value
}

proc DisableConfigurationWidgets {} {
    global UI

    foreach widget $UI(configurationWidgets) {
        $widget configure -state disabled
    }
}

proc EnableConfigurationWidgets {} {
    global UI
    
    foreach widget $UI(configurationWidgets) {
        if {[winfo class $widget eq "TCombobox"]} {
             $widget configure -state readonly
        } else {
             $widget configure -state normal
        }

    }
}

proc ChangeFormat {varName index op} {
    upvar #0 $varName configuration

    set digits $configuration(digits)
    set decimals $configuration(decimals)
    incr digits 1
    incr digits $decimals
    set configuration(fmtStr) "%${digits}.${decimals}f"
}

proc DisableTabs {} {
    global UI

    set notebook $UI(mainNotebook)
    foreach {tab widget} [array get UI {main,*}] {
        $notebook tab $widget -state disabled
    }

    $notebook tab $UI(main,configuration) -state normal
    $notebook select $UI(main,configuration)
}

proc EnableTabs {mode} {
    global UI

    DisableTabs

    set notebook $UI(mainNotebook)
    switch -exact -- $mode {
        configmode -
................................................................................
        }
        imu -
        compass -
        m4g -
        ndof_fmc_off -
        ndof {
            foreach {tab widget} [array get UI {main,*}] {
                $notebook tab $widget -state normal
            }
        }
    }
}

proc ReadGyro {} {
    global CurrentValue
    global GyroValues

    ##
    ## Read the gyroscope
    ##
    set currentReadings [$CurrentValue(handle) readGyro]
    set formatStr $GyroValues(formatStr)
    set x [format $formatStr [dict get $currentReadings x]]
    set y [format $formatStr [dict get $currentReadings z]]
    set z [format $formatStr [dict get $currentReadings z]]
    set minChange $GyroValues(minChange
    if {abs($x - $CurrentValue(gyroscope,x)) > $minChange ||
        abs($y - $CurrentValue(gyroscope,y)) > $minChange ||
        abs($z - $CurrentValue(gyroscope,z)) > $minChange
    } {
        LogValues $x $y $z
        
        ##
................................................................................
        set CurrentValue(gyroscope,x) $x
        set CurrentValue(gyroscope,y) $y
        set CurrentValue(gyroscope,z) $z
    }

    return
}
proc ReadTemperature {} {
    set ::GeneralValues(temperature) [format {%5.1f} [dict get [$::CurrentValue(handle) readTemperature] temperature]]
    return
}

proc RunSelfTest {} {
    $::CurrentValue(handle) runSelfTest
}

proc LogValues {type} {
    variable WidgetData
    variable CurrentValue

    #if {[info exists CurrentValue(logId)]} {
    #    after cancel $CurrentValue(logId)
................................................................................
    set x $CurrentValue($type,x)
    set y $CurrentValue($type,y)
    set z $CurrentValue($type,z)
    $WidgetData($type,history) insert {} end -values [list $timeStamp $x $y $z]
}

proc StartReading {} {
    global CurrentValue





    .main.controls.buttons.start configure -state disabled
    .main.controls.buttons.stop configure -state normal
    StartGyro $CurrentValue(handle) $range
    ReadGyro

}
................................................................................
    if {[info exists CurrentValue(logId)]} {
        after cancel $CurrentValue(logId)
    }
    
    .main.controls.buttons.start configure -state normal 
    .main.controls.buttons.stop configure -state disabled
}
proc LoadCurrentConfiguration {} {
    global UI
    global Configuration
    global CurrentValue
    
    set UI(InLoadCurrentConfiguration) true
    foreach optionValue [$CurrentValue(handle) configure] {
        lassign $optionValue option default value
        ##
        ## Remove the leading -
        ##
        set index [string range $option 1 end]
        if {[info exists UI($index,map,label)]} {
            try {
                set value [dict get $UI($index,map,label) $value]
            } on error {errMsg errInfo} {
                puts "Error: $errMsg"
                puts "Error on $index for '$value'"
            }
        }
        set Configuration($index) $value
    }
    set UI(InLoadCurrentConfiguration) false
}

proc SaveConfigurationToFile {} {
    global Configuration

    set fn [tk_getSaveFile \
                -confirmoverwrite yes \
                -defaultextension .cfg \
                -initialdir [file normalize ~] \
                -parent . \
                -title "Save Configuration" \
    ]
    if {$fn ne {}} {
        set ofd [open $fn w]
        try {
            puts $ofd [array get Configuration]
        } finally {
            close $ofd
        }
    }
    
}

proc LoadConfigurationFromFile {} {
    global Configuration
    global UI

    set fn [tk_getOpenFile \
                -defaultextension .cfg \
                -initialdir [file normalize ~] \
                -multiple no \
                -parent . \
                -title "Restore Configuration" \
    ]

    set ifd [open $fn r]
    set tempDict [read $ifd]
    close $ifd

    ##
    ## Save desired operation mode
    ##
    set newMode [dict get $tempDict operation]
    
    ##
    ## Remove readonly options
    ##
    foreach option {bus dIMUaddress operation
                    uniqueID softwareRev bootloaderRev
                    mcuSelfTest gyroSelfTest magSelfTest accelSelfTest
                    sysCalStatus accCalStatus gyrCalStatus magCalStatus
                    sysStatus sysError clockStatus} {
        dict unset tempDict $option
    }
    
    ##
    ## Load the new configuration
    ##
    set Configuration(operation) "Configuration Mode"
    array set Configuration $tempDict
    set Configuration(operation) $newMode
    
}

proc ResetInterrupts {} {
    $::CurrentValue(handle) reset interrupts
}

proc ResetSystem {} {
    $::CurrentValue(handle) reset system
}


##
## GUI Creation Routines
##
proc RemoveClassBindings {widget} {
    bindtags $widget [lreplace [bindtags $widget] 1 1]
    return;
}
proc CreateGui {} {
    global UI

    wm title . "dIMU Gyroscope Example"

    menu .menuBar
    . configure -menu .menuBar
    menu .menuBar.configuration
    .menuBar add cascade \
        -menu .menuBar.configuration \
        -label "Configuration"
    .menuBar.configuration add command \
        -command SaveConfigurationToFile \
        -label "Save Configuration..."
    .menuBar.configuration add command \
        -command LoadConfigurationFromFile \
        -label "Restore Configuration..."
    .menuBar.configuration add separator
    .menuBar.configuration add command \
        -command LoadCurrentConfiguration \
        -label "Load from Device"

    set UI(mainNotebook) [ttk::notebook .main]
    grid configure .main -sticky nsew
    grid columnconfigure . .main -weight 1
    grid rowconfigure . .main -weight 1
    
    set UI(main,configuration) [ttk::frame .main.configuration]
    .main add .main.configuration -text {Configuration}
................................................................................
proc CreateGeneralConfigFrame {general} {
    ##
    ## General Configuration group
    ##
    ttk::label $general.busLbl \
        -text {I2C Bus:}
    ttk::combobox $general.busCMB \
        -textvariable ::Configuration(bus) \
        -values [list 1] \
        -state disabled
    ttk::label $general.addrLbl \
        -text {iDMU Address:}
    ttk::entry $general.addrEnt \
        -width 5 \
        -textvariable ::Configuration(dIMUaddress) \
        -state readonly
    ttk::label $general.uuidLbl \
        -text {Unique ID:}
    ttk::entry $general.uuidEnt \
        -textvariable ::Configuration(uniqueID) \
        -state readonly
    ttk::label $general.softwareRevLbl \
        -text {Software Rev.:}
    ttk::entry $general.softwareRevEnt \
        -textvariable ::Configuration(softwareRev) \
        -state readonly
    ttk::label $general.bootloaderRevLbl \
        -text {Bootloader Rev.:}
    ttk::entry $general.bootloaderRevEnt \
        -textvariable ::Configuration(bootloaderRev) \
        -state readonly
    ttk::label $general.rateLbl1 \
        -text {Refresh Rate:}
    ttk::spinbox $general.rateEnt \
        -from 50.0 \
        -to 500.0 \
        -increment 10.0 \
        -format {%3.0f} \
        -wrap no \
        -command [format {set ::Configuration(refreshRate) [expr {entier([%1$s get])}]}  $general.rateEnt]
    ttk::label $general.rateLbl2 \
        -text { in microseconds}
    ttk::label $general.operLbl1 \
        -text {Operational Mode}

    ttk::combobox $general.operCMB \
        -textvariable ::Configuration(operation) \
        -values [dict keys $::UI(operation,map,symbol)] \
        -width $::UI(operation,maxLabelSize) \
        -state readonly
    ttk::label $general.pwrLbl1 \
        -text {Power Mode}
    ttk::combobox $general.pwrCMB \
        -textvariable ::Configuration(power) \
        -values [dict keys $::UI(power,map,symbol)] \
        -width $::UI(power,maxLabelSize) \
        -state readonly
    lappend UI(configurationWidgets) $general.pwrCMB
    ttk::labelframe $general.selfTest \
        -text {Self Test Results}
    ttk::checkbutton $general.selfTest.mcuVal \
        -text {Microcontroler} \
        -variable ::Configuration(mcuSelfTest)
    ttk::checkbutton $general.selfTest.accVal \
        -text {Accelerometer} \
        -variable ::Configuration(accelSelfTest)
    ttk::checkbutton $general.selfTest.gyroVal \
        -text {Gyroscope} \
        -variable ::Configuration(gyroSelfTest)
    ttk::checkbutton $general.selfTest.magVal \
        -text {Magnetometer} \
        -variable ::Configuration(magSelfTest)
    foreach widget {mcuVal accVal gyroVal magVal} {
        RemoveClassBindings $general.selfTest.$widget
    }
    ttk::frame $general.selfTest.btn
    ttk::button $general.selfTest.btn.runSelfTest \
        -text {Run Self Tests} \
        -command RunSelfTest
    lappend UI(configurationWidgets) $general.selfTest.runSelfTest
    ttk::label $general.calibrationLbl \
        -text {Calibration Status:}
    ttk::entry $general.calibrationVal \
        -textvariable ::Configuration(sysCalStatus) \
        -state readonly
    ttk::label $general.sysStatusLbl \
        -text {System Status:}
    ttk::entry $general.sysStatusVal \
        -textvariable ::Configuration(sysStatus) \
        -state readonly
    ttk::label $general.sysErrorLbl \
        -text {System Error:}
    ttk::entry $general.sysErrorVal \
        -textvariable ::Configuration(sysError) \
        -state readonly
    ttk::checkbutton $general.clockStatusVal \
        -text {Clock Configurable} \
        -variable ::Configuration(clockStatus)
    RemoveClassBindings $general.clockStatusVal 
    ttk::label $general.clockSourceLbl \
        -text {Clock Source}
    ttk::combobox $general.clockSourceVal \
        -textvariable ::Configuration(clocksource) \
        -values [dict keys $::UI(clocksource,map,symbol)] \
        -width $::UI(clocksource,maxLabelSize) 
    trace add variable ::Configuration(clockStatus) write [list ClockSourceMode $general.clockSourceVal]
    after 1 [list ClockSourceMode $general.clockSourceVal Configuration clockStatus write]
    ttk::labelframe $general.temp \
        -text {Temperature}
    ttk::entry $general.temp.value \
        -justify right \
        -width 6 \
        -textvariable ::GeneralValues(temperature) \
        -state readonly
    bind $general.temp.value <Double-Button-1> ReadTemperature
    ttk::combobox $general.temp.unitsCMB \
        -textvariable :::Configuration(temperatureunits) \
        -values [dict keys $::UI(temperatureunits,map,symbol)] \
        -width $::UI(temperatureunits,maxLabelSize)
    ttk::label $general.temp.sourceLbl \
        -text {from}
    ttk::combobox $general.temp.sourceCMB \
        -textvariable :::Configuration(temperaturesource) \
        -values [dict keys $::UI(temperaturesource,map,symbol)] \
        -width $::UI(temperaturesource,maxLabelSize) 
    lappend UI(configurationWidgets)  $general.temp.unitsCMB  $general.temp.sourceCMB
    ttk::label $general.fusionLbl \
        -text {Fusion Unit Type:}
    ttk::combobox $general.fusionCMB \
        -textvariable :::Configuration(fusionunits) \
        -values [dict keys $::UI(fusionunits,map,symbol)] \
        -width $::UI(fusionunits,maxLabelSize) 
    ttk::label $general.eulUnitsLbl \
        -text {Fusion Unit Type:}
    ttk::combobox $general.eulUnitsCMB \
        -textvariable :::Configuration(eulunits) \
        -values [dict keys $::UI(eulunits,map,symbol)] \
        -width $::UI(eulunits,maxLabelSize)
    lappend UI(configurationWidgets) $general.fusionCMB $general.eulUnitsCMB
    ttk::frame $general.remap
    ttk::label $general.remap.xLbl -text {X} -anchor c
    ttk::label $general.remap.yLbl -text {Y} -anchor c
    ttk::label $general.remap.zLbl -text {Z} -anchor c
    ttk::label $general.remap.signLbl -text {Remap Sign}
    ttk::label $general.remap.axisLbl -text {Remap Axis}
    ttk::combobox $general.remap.xSignCMB \
        -textvariable :::Configuration(remap_x_sign) \
        -values [dict keys $::UI(remap_x_sign,map,symbol)] \
        -width $::UI(remap_x_sign,maxLabelSize)
    ttk::combobox $general.remap.ySignCMB \
        -textvariable :::Configuration(remap_y_sign) \
        -values [dict keys $::UI(remap_y_sign,map,symbol)] \
        -width $::UI(remap_y_sign,maxLabelSize)
    ttk::combobox $general.remap.zSignCMB \
        -textvariable :::Configuration(remap_x_sign) \
        -values [dict keys $::UI(remap_z_sign,map,symbol)] \
        -width $::UI(remap_z_sign,maxLabelSize)
    ttk::combobox $general.remap.xAxisCMB \
        -textvariable :::Configuration(remap_x_axis) \
        -values [dict keys $::UI(remap_x_axis,map,symbol)] \
        -width $::UI(remap_x_axis,maxLabelSize)
    ttk::combobox $general.remap.yAxisCMB \
        -textvariable :::Configuration(remap_y_axis) \
        -values [dict keys $::UI(remap_y_axis,map,symbol)] \
        -width $::UI(remap_y_axis,maxLabelSize)
    ttk::combobox $general.remap.zAxisCMB \
        -textvariable :::Configuration(remap_x_axis) \
        -values [dict keys $::UI(remap_z_axis,map,symbol)] \
        -width $::UI(remap_z_axis,maxLabelSize)
    lappend UI(configurationWidgets) $general.remap.xSignCMB $general.remap.ySignCMB $general.remap.zSignCMB
    lappend UI(configurationWidgets) $general.remap.xAxisCMB $general.remap.yAxisCMB $general.remap.zAxisCMB
    ttk::frame $general.buttons
    ttk::button $general.buttons.resetInterrupt \
        -text "Reset Interrupts" \
        -command ResetInterrupts
    ttk::button $general.buttons.resetSystem\
        -text "Reset System" \
        -command ResetSystem

    grid configure $general.busLbl $general.busCMB $general.addrLbl $general.addrEnt -padx 2 -pady 2 -sticky ew

    grid configure $general.uuidLbl $general.uuidEnt - - -padx 2 -pady 2 -sticky ew
    grid configure $general.softwareRevLbl $general.softwareRevEnt $general.bootloaderRevLbl $general.bootloaderRevEnt -padx 2 -pady 2 -sticky ew
    grid configure $general.sysStatusLbl $general.sysStatusVal $general.sysErrorLbl $general.sysErrorVal -padx 2 -pady 2 -sticky ew
    grid configure $general.calibrationLbl $general.calibrationVal x x -padx 2 -pady 2 -sticky ew
    grid configure $general.clockStatusVal - $general.clockSourceLbl $general.clockSourceVal -padx 2 -pady 2 -sticky ew
    grid configure $general.selfTest - - - -padx 2 -pady 2 -sticky ew
    grid configure $general.rateLbl1 $general.rateEnt $general.rateLbl2 x -padx 2 -pady 2 -sticky ew
    grid configure $general.operLbl1 $general.operCMB $general.pwrLbl1 $general.pwrCMB  -padx 2 -pady 2 -sticky ew

    grid configure $general.temp - - - -padx 2 -pady 2 -sticky ew
    grid configure $general.fusionLbl $general.fusionCMB $general.eulUnitsLbl $general.eulUnitsCMB -padx 2 -pady 2 -sticky ew
    grid configure $general.remap - - - -padx 2 -pady 2 -sticky ew
    grid configure $general.buttons - - - -padx 2 -pady 2 -sticky ew

    grid columnconfigure $general {1 3} -weight 1

    grid configure x $general.selfTest.mcuVal x $general.selfTest.accVal x $general.selfTest.gyroVal x $general.selfTest.magVal x -padx 2 -pady 2 -sticky ew
    grid configure $general.selfTest.btn -columnspan 9 -sticky nsew
    grid configure x $general.selfTest.btn.runSelfTest x -sticky ew
    grid columnconfigure $general.selfTest.btn {0 3} -weight 1
    grid columnconfigure $general.selfTest {0 2 4 6 8} -weight 1
    grid columnconfigure $general.selfTest {1 3 5 7} -uniform selftests
    
    grid configure $general.temp.value $general.temp.unitsCMB $general.temp.sourceLbl $general.temp.sourceCMB -padx 2 -pady 2
    
    grid configure x $general.remap.xLbl $general.remap.yLbl $general.remap.zLbl -padx 2 -pady 2 -sticky ew    
    grid configure $general.remap.signLbl $general.remap.xSignCMB $general.remap.ySignCMB $general.remap.zSignCMB -padx 2 -pady 2 -sticky ew     
    grid configure $general.remap.axisLbl $general.remap.xAxisCMB $general.remap.yAxisCMB $general.remap.zAxisCMB -padx 2 -pady 2 -sticky ew
    
    grid configure x $general.buttons.resetInterrupt x $general.buttons.resetSystem x -sticky ew
    grid columnconfigure $general.buttons {0 2 4} -weight 1
    grid columnconfigure $general.buttons {1 3} -uniform buttons

    $general.rateEnt set 50.0

}

proc CreateAccelConfigFrame {accel} {
    ##
    ## Accelerometer group
    ##
    ttk::label $accel.rangeLbl \
        -text {Range:}
    ttk::combobox $accel.rangeCMB \
        -textvariable ::Configuration(accelrange) \
        -values [list 250dps 500dps 2000dps] \
        -state readonly
    lappend UI(configurationWidgets) $accel.rangeCMB
    ttk::label $accel.numDigitsLbl \
        -text {Digits before decimal}
    ttk::combobox $accel.numDigitsCMB \
        -textvariable ::AccelValues(digits) \
        -values [list 3 4] \
        -state readonly
    ttk::label $accel.numDecimalsLbl \
................................................................................
        -to 200.0 \
        -increment 0.1 \
        -format {%5.1f} \
        -wrap no \
        -textvariable ::AccelValues(minChange)
    ttk::label $accel.minChangeLbl2 \
        -text {dps change}
    trace add variable ::AccelValues(digits) write ChangeFormat
    trace add variable ::AccelValues(decimals) write ChangeFormat
    # Add ACC units
    # Add Self Test status
    # Add Calibration status
    # Add Unit Select
    # Add offsets
    # Add radius
    # Add Acc No Motion Interrupt Status
................................................................................
proc CreateGyroConfigFrame {gyro} {
    ##
    ## Gyrometer
    ##
    ttk::label $gyro.rangeLbl \
        -text {Range:}
    ttk::combobox $gyro.rangeCMB \
        -textvariable ::Configuration(gyrorange) \
        -values [list 250dps 500dps 2000dps] \
        -state readonly
    lappend UI(configurationWidgets) $gyro.rangeCMB
    ttk::label $gyro.numDigitsLbl \
        -text {Digits before decimal}
    ttk::combobox $gyro.numDigitsCMB \
        -textvariable ::GyroValues(digits) \
        -values [list 3 4] \
        -state readonly
    ttk::label $gyro.numDecimalsLbl \
        -text {Digits after decimal}
    ttk::combobox $gyro.numDecimalsCMB \
        -textvariable ::GyroValues(decimals) \
        -values [list 1 2 3 4] \
        -state readonly
    ttk::label $gyro.minChangeLbl1 \
        -text {Ignore less than}
    ttk::spinbox $gyro.minChangeEnt \
        -from 0.1 \
        -to 200.0 \
        -increment 0.1 \
        -format {%5.1f} \
        -wrap no \
        -textvariable ::GyroValues(minChange)
    ttk::label $gyro.minChangeLbl2 \
        -text {dps change}
    trace add variable ::GyroValues(digits) write ChangeFormat
    trace add variable ::GyroValues(decimals) write ChangeFormat
    # Add Self Test status
    # Add Calibration status
    # Add Unit Select
    # Add offsets
    # Add Gyro High Rate Interrupt Status
    # Add Gyro Any Motion Interrupt Status
    # Add Gyro Any Motion Threashold
................................................................................
proc CreateMagConfigFrame {mag} {
    ##
    ## Magnetometer group
    ##
    ttk::label $mag.rangeLbl \
        -text {Range:}
    ttk::combobox $mag.rangeCMB \
        -textvariable ::Configuration(magrange) \
        -values [list 250dps 500dps 2000dps] \
        -state readonly
    lappend UI(configurationWidgets) $mag.rangeCMB
    ttk::label $mag.numDigitsLbl \
        -text {Digits before decimal}
    ttk::combobox $mag.numDigitsCMB \
        -textvariable ::MagValues(digits) \
        -values [list 3 4] \
        -state readonly
    ttk::label $mag.numDecimalsLbl \
................................................................................
        -to 200.0 \
        -increment 0.1 \
        -format {%5.1f} \
        -wrap no \
        -textvariable ::MagValues(minChange)
    ttk::label $mag.minChangeLbl2 \
        -text {dps change}
    trace add variable ::MagValues(digits) write ChangeFormat
    trace add variable ::MagValues(decimals) write ChangeFormat
    # Add Self Test status
    # Add Calibration status
    # Add Unit Select
    # Add offsets
    # Add radius
    # Add Mag Power Mode
    # Add Mag Operation Mode
................................................................................
        -command StopReading
    grid configure x $control.start x  $control.stop x  -sticky ew
    grid columnconfigure $control {0 2 4} -weight 1

}

proc CreateConfigurationFrame {w} {

    set nb $w.nb
    set general $w.nb.gen
    set accel $w.nb.acc
    set gyro $w.nb.gyro
    set mag $w.nb.mag
    set control $w.controls

    ttk::notebook $nb

    ttk::frame $general
    $nb add $general \
        -text "General"
    ttk::frame $accel
    $nb add $accel \
        -text "Accelerometer"
    ttk::frame $gyro
    $nb add $gyro \
        -text "Gyrometer"
    ttk::frame $mag
    $nb add $mag \
        -text "Magnetometer"
    ttk::frame $control





    grid configure $nb -sticky nsew -pady 2 -padx 4 -ipady 4
    grid configure $control -sticky ew -pady 4
    grid columnconfigure $w $nb -weight 1
    grid rowconfigure $w $nb -weight 1

    CreateGeneralConfigFrame $general
    CreateAccelConfigFrame $accel
    CreateGyroConfigFrame $gyro
    CreateMagConfigFrame $mag
    CreateControlConfigFrame $control
        
................................................................................
        -textvariable ::CurrentValue($type,$z) \
        -state readonly
    grid configure $w.xLabel $w.xValue $w.yLabel $w.yValue $w.zLabel $w.zValue x -sticky ew -padx 2 -pady 1
    grid columnconfigure $w [list $w.xLabel $w.yLabel $w.zLabel] -uniform labels -weight 0
    grid columnconfigure $w [list $w.xValue $w.yValue $w.zValue] -uniform values -weight 0
}
























##
## Main Body
##
set CurrentValue(handle) [dimu new]
LoadCurrentConfiguration
ReadTemperature
CreateGui
trace add variable Configuration write ConfigurationChange
trace add variable Configuration(operation) write ChangeOperationMode
ChangeOperationMode Configuration operation write

##
## Go into the event loop
##

Changes to src/bno055/bno055.tcl. 

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    ## NOTE -- in the Data Sheet, PAGE_ID is colored as read only but the textual
    ##         description in section 4.2 explicitly states it is used to switch
    ##         between pages.
    ##
    array set Registers {
        main,chipId     {0 0x00 b}
        acc,chipId      {0 0x01 b}
        mag,chipId      {0 0x02 b}
        gyro,chipId     {0 0x03 b}
        sw,rev          {0 0x04 w}
        bl,rev          {0 0x06 b}
        page            {0 0x07 b}
        acc,data,x      {0 0x08 W}
        acc,data,y      {0 0x0a W}
        acc,data,z      {0 0x0c W}
        mag,data,x      {0 0x0e W}
................................................................................
        gyr,am,thresh   {1 0x1f b 6:0}
        gyr,am,slope    {1 0x1f b 1:0}
        gyr,am,durr     {1 0x1f b 3:2}
        
        uniqueId        {1 0x50 m 16}
    }

    array set Constants {
        CALIB_STAT,0    false
        CALIB_STAT,1    unknown
        CALIB_STAT,2    unknown
        CALIB_STAT,3    true
        SYS_STATUS,1    {System Error}
        SYS_STATUS,2    {Initializing peripherals}
        SYS_STATUS,3    {System Initialization}
        SYS_STATUS,4    {Executing selftest}
        SYS_STATUS,5    {Sensor fusion algorithm running}
        SYS_STATUS,6    {System running without fusion algorithm}
        SYS_ERROR,0     {No error}
        SYS_ERROR,1     {Peripheral initialization error}
        SYS_ERROR,2     {System initialization error}
        SYS_ERROR,3     {Self test result failed}
        SYS_ERROR,4     {Register map value out of range}
        SYS_ERROR,5     {Register map address out of range}
        SYS_ERROR,6     {Register map write error}
        SYS_ERROR,7     {BNO low power mode not available for selected operation mode}
        SYS_ERROR,8     {Accelerometer power mode not available}
        SYS_ERROR,9     {Fusion algorithm configuration error}
        SYS_ERROR,10    {Sensor configuration error}
    }

    proc SymDef {type symbolic value} {
        variable Constants

        set binaryValue [format %b $value]

        set Constants($type,$binaryValue) ${type}_${symbolic}
        set Constants(CONST,${type}_${symbolic}) $value
    }
























    SymDef ORI_MODE WINDOWS 0
    SymDef ORI_MODE ANDROID 1
    SymDef TEMP_UNIT C 0
    SymDef TEMP_UNIT F 1
    SymDef EUL_UNIT DEG 0
    SymDef EUL_UNIT RAD 1
    SymDef GRY_UNIT DPS 0
................................................................................
    SymDef OPER_MODE M4G 0b1010
    SymDef OPER_MODE NDOF_FMC_OFF 0b1011
    SymDef OPER_MODE NDOF 0b1100
    SymDef PWR_MODE NORMAL 0b00
    SymDef PWR_MODE LOW 0b01
    SymDef PWR_MODE SUSPEND 0b10
    SymDef TEMP_SRC ACC 0
    SymDef TEMP_SRC GRY 1
    SymDef REMAP_TO X 0b00
    SymDef REMAP_TO Y 0b01
    SymDef REMAP_TO Z 0b10
    SymDef REMAP_SIGN POS 0
    SymDef REMAP_SIGN NEG 1


    SymDef ACC_RANGE 2G 0b00
    SymDef ACC_RANGE 4G 0b01
    SymDef ACC_RANGE 8G 0b10
    SymDef ACC_RANGE 16G 0b11
    SymDef ACC_BANDWIDTH 7.81HZ 0b000
    SymDef ACC_BANDWIDTH 15.63HZ 0b001
    SymDef ACC_BANDWIDTH 31.25HZ 0b010
................................................................................
        set ucSymbol [string toupper $symbolic]
        return $Constants(CONST,$ucSymbol)
    }

    proc getValue2 {type symbol} {
        variable Constants

        set ucType [string toupper $type]
        return $Constants(CONST,${ucType}_${symbol})
    }

    proc getSymbol {type value} {
        variable Constants

        set binaryValue [format %b $value]
        set ucType [string toupper $type]








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    ## NOTE -- in the Data Sheet, PAGE_ID is colored as read only but the textual
    ##         description in section 4.2 explicitly states it is used to switch
    ##         between pages.
    ##
    array set Registers {
        main,chipId     {0 0x00 b}
        acc,chipId      {0 0x01 b}
        mag,chipId      {0 0x02 b 6:0}
        gyro,chipId     {0 0x03 b 6:0}
        sw,rev          {0 0x04 w}
        bl,rev          {0 0x06 b}
        page            {0 0x07 b}
        acc,data,x      {0 0x08 W}
        acc,data,y      {0 0x0a W}
        acc,data,z      {0 0x0c W}
        mag,data,x      {0 0x0e W}
................................................................................
        gyr,am,thresh   {1 0x1f b 6:0}
        gyr,am,slope    {1 0x1f b 1:0}
        gyr,am,durr     {1 0x1f b 3:2}
        
        uniqueId        {1 0x50 m 16}
    }

























    proc SymDef {type symbolic value} {
        variable Constants

        set binaryValue [format %b $value]
        set ucSymbol [string toupper ${type}_${symbolic}]
        set Constants($type,$binaryValue) ${type}_${symbolic}
        set Constants(CONST,$ucSymbol) $value
    }

    SymDef    CALIB_STAT    {Not Calibrated} 0
    SymDef    CALIB_STAT    {In progress} 1
    SymDef    CALIB_STAT    {In progress} 2
    SymDef    CALIB_STAT    {Calibration Complete} 3
    SymDef    SYS_STATUS    {System Idle} 0
    SymDef    SYS_STATUS    {System Error} 1
    SymDef    SYS_STATUS    {Initializing peripherals} 2
    SymDef    SYS_STATUS    {System Initialization} 3
    SymDef    SYS_STATUS    {Executing selftest} 4
    SymDef    SYS_STATUS    {Sensor fusion algorithm running} 5
    SymDef    SYS_STATUS    {System running without fusion algorithm} 6
    SymDef    SYS_ERROR     {No error} 0
    SymDef    SYS_ERROR     {Peripheral initialization error} 1
    SymDef    SYS_ERROR     {System initialization error} 2
    SymDef    SYS_ERROR     {Self test result failed} 3
    SymDef    SYS_ERROR     {Register map value out of range} 4
    SymDef    SYS_ERROR     {Register map address out of range} 5
    SymDef    SYS_ERROR     {Register map write error} 6
    SymDef    SYS_ERROR     {BNO low power mode not available for selected operation mode} 7
    SymDef    SYS_ERROR     {Accelerometer power mode not available} 8
    SymDef    SYS_ERROR     {Fusion algorithm configuration error} 9
    SymDef    SYS_ERROR     {Sensor configuration error} 10

    SymDef ORI_MODE WINDOWS 0
    SymDef ORI_MODE ANDROID 1
    SymDef TEMP_UNIT C 0
    SymDef TEMP_UNIT F 1
    SymDef EUL_UNIT DEG 0
    SymDef EUL_UNIT RAD 1
    SymDef GRY_UNIT DPS 0
................................................................................
    SymDef OPER_MODE M4G 0b1010
    SymDef OPER_MODE NDOF_FMC_OFF 0b1011
    SymDef OPER_MODE NDOF 0b1100
    SymDef PWR_MODE NORMAL 0b00
    SymDef PWR_MODE LOW 0b01
    SymDef PWR_MODE SUSPEND 0b10
    SymDef TEMP_SRC ACC 0
    SymDef TEMP_SRC GYRO 1
    SymDef REMAP_TO X 0b00
    SymDef REMAP_TO Y 0b01
    SymDef REMAP_TO Z 0b10
    SymDef REMAP_SIGN POS 0
    SymDef REMAP_SIGN NEG 1
    SymDef CLOCK_SOURCE INTERNAL 0
    SymDef CLOCK_SOURCE EXTERNAL 1
    SymDef ACC_RANGE 2G 0b00
    SymDef ACC_RANGE 4G 0b01
    SymDef ACC_RANGE 8G 0b10
    SymDef ACC_RANGE 16G 0b11
    SymDef ACC_BANDWIDTH 7.81HZ 0b000
    SymDef ACC_BANDWIDTH 15.63HZ 0b001
    SymDef ACC_BANDWIDTH 31.25HZ 0b010
................................................................................
        set ucSymbol [string toupper $symbolic]
        return $Constants(CONST,$ucSymbol)
    }

    proc getValue2 {type symbol} {
        variable Constants

        set ucSymbol [string toupper ${type}_${symbol}]
        return $Constants(CONST,$ucSymbol)
    }

    proc getSymbol {type value} {
        variable Constants

        set binaryValue [format %b $value]
        set ucType [string toupper $type]

Changes to src/dimu/dimu.tcl. 

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::ooutil::singleton create dimu {
    #self mixin singleton

	self method init {} {
		variable HardwiredSettings
		variable ConfigurationRegisters
		variable OptionDef


		set OptionDef {
            -bus        	{-default 1}
			-power          {-register powerMode -allowed {normal low suspend} -type PWR_MODE}
			-operation		{-register operMode -immediate yes -allowed {configmode acconly magonly gyroonly accmag accgyro maggyro amg imu compass m4g ndof_fmc_off ndof} -type OPER_MODE}
            -gryorange		{-register gyr,range -allowed {2000dps 1000dps 500dps 250dps 125dps} -type GRY_RANGE}
            -gryobandwidth	{-register gyr,bandwidth -allowed {523hz 230hz 116hz 64hz 47hz 32hz 23hz 12hz} -type GRY_BANDWIDTH}
            -gyropowermode	{-register gyr,pwrMode -allowed {normal fast_up deep_suspend suspend advanced_powersave} -type GRY_POWER_MODE}
			-gyrounits		{-register gyr,units -allowed {dps rps} -type GRY_UNIT}
			-gryoautosleep	{-register gyr,autoSlpDur -allowed {4MS 5MS 8MS 10MS 15MS 20MS 40MS} -type GRY_AUTOSLP_DURR}
			-gryosleep		{-register gyr,sleepDur -allowed {4MS 5MS 8MS 10MS 15MS 18MS 20MS} -type GRY_SLEEP_DURR}
			-gryoawake		{-register gyr,am,durr -allowed {8samples 16samples 32samples 64samples} -type GYR_AWAKE_DURR}
			-gryoslope		{-register gyr,am,slope}
			-gryoxoffset	{-register gyr,x,offset}
			-gryoyoffset	{-register gyr,y,offset}
			-gryozoffset	{-register gyr,z,offset}




























		}

		set HardwiredSettings {
			address 0x28
		}

        set ConfigurationRegisters {
................................................................................
        }

		::oo::objdefine [self] deletemethod init
		

	}




    method ProcessArgs {inputArgs classArgsDict} {
        variable instanceInfo

        set unprocessedArgs {}
        array set missingRequiredArr {}
        if {![info exists instanceInfo]} {
            set instanceInfo {}
................................................................................
    
    method ReadCurrentConfiguration {} {
		variable instanceInfo
        variable currentConfiguration
		classvariable ConfigurationRegisters
        
        set currentConfiguration [bno055 readMultipleRegisters [dict get $instanceInfo handle] $ConfigurationRegisters]

    }





    constructor {args} {
		variable instanceInfo
		classvariable OptionDef
        classvariable HardwiredSettings
        variable currentConfiguration

        set remainingArgs [my ProcessArgs $args $OptionDef]
................................................................................
		##
		## Close the handle to the device
		##
        close [dict get $instanceInfo handle]
    }





    method cget {option} {
        variable instanceInfo
		classvariable OptionDef

        variable currentConfiguration

        if {[dict exists $instanceInfo options $option]} {
            return [dict get $instanceInfo options $option]
        } elseif {[dict exists $instanceInfo legalOption $option]} {
			set optionDict [dict get $OptionDef $option]
			set register [dict get $optionDict -register]
			set value [dict get $currentConfiguration $register]
			if {[dict exists $optionDict -type]} {
				set type [dict get $optionDict -type]
				set value [string tolower [bno055 getShortSymbol $type $value]]
			}
			return $value
        } else {
            set legalOptions [dict keys [dict get $instanceInfo legalOption]]
            throw [list TK LOOKUP OPTION $option] "unknown option \"$option\" -- legal options are: [join $legalOptions {,}]"
        }












    }

    method configure {args} {
        variable instanceInfo
		classvariable OptionDef

        variable currentConfiguration

        set argLen [llength $args]
        if {$argLen == 0} {
			set returnList {}
			foreach option [lsort -dictionary [dict keys [dict get $instanceInfo legalOption]]] {
				##
................................................................................
				} else {
					set optionDict [dict get $OptionDef $option]
					set register [dict get $optionDict -register]
					set value [dict get $currentConfiguration $register]
					if {[dict exists $optionDict -type]} {
						set type [dict get $optionDict -type]
						set value [string tolower [bno055 getShortSymbol $type $value]]





					}
					set itemList [list $option {} $value]
				}















				lappend returnList $itemList
			}

            return $returnList
        } elseif {$argLen == 1} {
            set option [lindex $args 0]
            return [my cget $option]
        } elseif {($argLen % 2) == 0} {
			set configureList {}
			set immediateList {}
			foreach {option value} $args {
                if {[dict exists $instanceInfo options $option]} {
                    dict set instanceInfo options $option $value



				} elseif {[dict exists $OptionDef $option -register]} {
					if {![string is entier $value]} {
						set value [bno055 getValue2 [dict get $OptionDef $option -type] $value]
					}
					set register [dict get $OptionDef $option -register]
					dict set currentConfiguration $register $value
					if {[dict exists $OptionDef $option -immediate] && [dict get $OptionDef $option -immediate]} {
						lappend immediateList [list $register $value]
					} else {
						lappend configureList $register $value
					}
                } else {
                    set legalOptions [dict keys [dict get $instanceInfo options]]
                    throw [list LOOKUP OPTION $option] "unknown option \"$option\" -- legal options are: [join $legalOptions {,}]"
                }
            }
			set handle [dict get $instanceInfo handle]
			if {[llength $configureList]} {
				bno055 writeRegister $handle operMode [bno055 getValue2 OPER_MODE CONFIGMODE]
				foreach item $configureList {
					bno055 writeRegister $handle {*}$item
				}
				bno055 writeRegister $handle operMode [dict get $currentConfiguration operMode]
			}
			if {[llength $immediateList]} {
				foreach item $immediateList {
					bno055 writeRegister $handle {*}$item
				}
			}
        }
            
        return;

    }
	
	method readGyro {} {
        variable instanceInfo
        variable currentConfiguration
		
		set operMode [string range [bno055 getSymbol OPER_MODE [dict get $currentConfiguration operMode]] 9 end]
		if {$operMode in {CONFIGMODE ACCONLY MAGONLY COMPASS M4G}} {
			throw [list DIMU SENDIS $operMode] "Gryoscope reading are not availble when dIMU is in '$operMode' mode."
		}
		
		set results {}
		set readings [bno055 readMultipleRegisters [dict get $instanceInfo handle] {gyr,data,x gyr,data,y gyr,data,z}]
		set range [bno055 getSymbol GRY_RANGE [dict get $currentConfiguration gyr,range]]
		switch -exact -- $range {
			GRY_RANGE_125DPS {
................................................................................
			dict set results units rps
			set divisor [expr {$divsor * 900 / 16}]
		}
		dict set results x [expr {[dict get $readings gyr,data,x] / $divisor}]
		dict set results y [expr {[dict get $readings gyr,data,y] / $divisor}]
		dict set results z [expr {[dict get $readings gyr,data,z] / $divisor}]
	}




}















































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::ooutil::singleton create dimu {
    #self mixin singleton

	self method init {} {
		variable HardwiredSettings
		variable ConfigurationRegisters
		variable OptionDef
		variable ReadOnly

		set OptionDef {
            -bus        	{-default 1}
			-power          {-register powerMode -allowed {normal low suspend} -type PWR_MODE}
			-operation		{-register operMode -immediate yes -allowed {configmode acconly magonly gyroonly accmag accgyro maggyro amg imu compass m4g ndof_fmc_off ndof} -type OPER_MODE}
            -gyrorange		{-register gyr,range -allowed {2000dps 1000dps 500dps 250dps 125dps} -type GRY_RANGE}
            -gyrobandwidth	{-register gyr,bandwidth -allowed {523hz 230hz 116hz 64hz 47hz 32hz 23hz 12hz} -type GRY_BANDWIDTH}
            -gyropowermode	{-register gyr,pwrMode -allowed {normal fast_up deep_suspend suspend advanced_powersave} -type GRY_POWER_MODE}
			-gyrounits		{-register gyr,units -allowed {dps rps} -type GRY_UNIT}
			-gyroautosleep	{-register gyr,autoSlpDur -allowed {4MS 5MS 8MS 10MS 15MS 20MS 40MS} -type GRY_AUTOSLP_DURR}
			-gyrosleep		{-register gyr,sleepDur -allowed {4MS 5MS 8MS 10MS 15MS 18MS 20MS} -type GRY_SLEEP_DURR}
			-gyroawake		{-register gyr,am,durr -allowed {8samples 16samples 32samples 64samples} -type GYR_AWAKE_DURR}
			-gyroslope		{-register gyr,am,slope}
			-gyroxoffset	{-register gyr,x,offset}
			-gyroyoffset	{-register gyr,y,offset}
			-gyrozoffset	{-register gyr,z,offset}
			-clocksource	{-register clockSource -type CLOCK_SOURCE}
			-temperaturesource	{-register tempSource -type TEMP_SRC}
			-temperatureunits	{-register temp,units -type TEMP_UNIT}
			-fusionunits	{-register format,opt -type ORI_MODE}
			-eulunits		{-register eul,units -type EUL_UNIT}
			-remap_x_sign	{-register remap,x,sign -type REMAP_SIGN}
			-remap_y_sign	{-register remap,y,sign -type REMAP_SIGN}
			-remap_z_sign	{-register remap,z,sign -type REMAP_SIGN}
			-remap_x_axis	{-register remap,x,value -type REMAP_TO}
			-remap_y_axis	{-register remap,y,value -type REMAP_TO}
			-remap_z_axis	{-register remap,z,value -type REMAP_TO}
		}
		
		set ReadOnly		{
			-uniqueID		{-register uniqueId}
			-softwareRev	{-register sw,rev -format "0x%1$x"}
			-bootloaderRev	{-register bl,rev -format "0x%1$x"}
			-mcuSelfTest	{-register mcu,selftest}
			-gyroSelfTest	{-register gyr,selftest}
			-magSelfTest	{-register mag,selftest}
			-accelSelfTest	{-register acc,selftest}
			-sysCalStatus	{-register sys,cab,status -msg CALIB_STAT}
			-accCalStatus	{-register acc,cab,status -msg CALIB_STAT}
			-gyrCalStatus	{-register gyr,cab,status -msg CALIB_STAT}
			-magCalStatus	{-register mag,cab,status -msg CALIB_STAT}
			-sysStatus		{-register sys,status -msg SYS_STATUS}
			-sysError		{-register sys,error -msg SYS_ERROR}
			-clockStatus	{-register sys,clk,status}
		}

		set HardwiredSettings {
			address 0x28
		}

        set ConfigurationRegisters {
................................................................................
        }

		::oo::objdefine [self] deletemethod init
		

	}

	##
	## Private Methods
	##
    method ProcessArgs {inputArgs classArgsDict} {
        variable instanceInfo

        set unprocessedArgs {}
        array set missingRequiredArr {}
        if {![info exists instanceInfo]} {
            set instanceInfo {}
................................................................................
    
    method ReadCurrentConfiguration {} {
		variable instanceInfo
        variable currentConfiguration
		classvariable ConfigurationRegisters
        
        set currentConfiguration [bno055 readMultipleRegisters [dict get $instanceInfo handle] $ConfigurationRegisters]
		return $currentConfiguration
    }


	##
	## Special Methods
	##
    constructor {args} {
		variable instanceInfo
		classvariable OptionDef
        classvariable HardwiredSettings
        variable currentConfiguration

        set remainingArgs [my ProcessArgs $args $OptionDef]
................................................................................
		##
		## Close the handle to the device
		##
        close [dict get $instanceInfo handle]
    }


	##
	## Public Methods
	##
    method cget {option} {
        variable instanceInfo
		classvariable OptionDef
		classvariable ReadOnly
        variable currentConfiguration

        if {[dict exists $instanceInfo options $option]} {
            return [dict get $instanceInfo options $option]
        } elseif {[dict exists $instanceInfo legalOption $option]} {
			set optionDict [dict get $OptionDef $option]
			set register [dict get $optionDict -register]
			set value [dict get $currentConfiguration $register]
        } elseif {[dict exists $ReadOnly $option]} {
			set optionDict [dict get $ReadOnly $option]
			set register [dict get $optionDict -register]
			set value [bno055 readRegister [dict get $instanceInfo handle] $register]
		} else {

            set legalOptions [dict keys [dict get $instanceInfo legalOption]]
            throw [list TK LOOKUP OPTION $option] "unknown option \"$option\" -- legal options are: [join $legalOptions {,}]"
        }
		
		if {[dict exists $optionDict -type]} {
			set type [dict get $optionDict -type]
			set value [string tolower [bno055 getShortSymbol $type $value]]
		} elseif {[dict exists $optionDict -msg]} {
			set type [dict get $optionDict -msg]
			set value [string tolower [bno055 getSymbol $type $value]]
		} elseif {[dict exists $optionDict -format]} {
			set value [format [dict get $optionDict -format] $value]
		}
		
		return $value
    }

    method configure {args} {
        variable instanceInfo
		classvariable OptionDef
		classvariable ReadOnly
        variable currentConfiguration

        set argLen [llength $args]
        if {$argLen == 0} {
			set returnList {}
			foreach option [lsort -dictionary [dict keys [dict get $instanceInfo legalOption]]] {
				##
................................................................................
				} else {
					set optionDict [dict get $OptionDef $option]
					set register [dict get $optionDict -register]
					set value [dict get $currentConfiguration $register]
					if {[dict exists $optionDict -type]} {
						set type [dict get $optionDict -type]
						set value [string tolower [bno055 getShortSymbol $type $value]]
					} elseif {[dict exists $optionDict -msg]} {
						set type [dict get $optionDict -msg]
						set value [string tolower [bno055 getSymbol $type $value]]
					} elseif {[dict exists $optionDict -format]} {
						set value [format [dict get $optionDict -format] $value]
					}
					set itemList [list $option {} $value]
				}
				lappend returnList $itemList
			}
			foreach option [lsort -dictionary [dict keys $ReadOnly]] {
				set optionDict [dict get $ReadOnly $option]
				set register [dict get $optionDict -register]
				set value [bno055 readRegister [dict get $instanceInfo handle] $register]
				if {[dict exists $optionDict -type]} {
					set type [dict get $optionDict -type]
					set value [string tolower [bno055 getShortSymbol $type $value]]
				}  elseif {[dict exists $optionDict -msg]} {
					set type [dict get $optionDict -msg]
					set value [string tolower [bno055 getSymbol $type $value]]
				} elseif {[dict exists $optionDict -format]} {
					set value [format [dict get $optionDict -format] $value]
				}
				lappend returnList [list $option {} $value]
			}
			
            return $returnList
        } elseif {$argLen == 1} {
            set option [lindex $args 0]
            return [my cget $option]
        } elseif {($argLen % 2) == 0} {
			set configureList {}
			set immediateList {}
			foreach {option value} $args {
                if {![dict exists $OptionDef $option] || $option eq "-bus"} {
                    set legalOptions [dict keys $OptionDef]
					set index [lsearch -exact $legalOptions "-bus"]
					set legalOptions [lreplace $legalOptions $index $index]
                    throw [list LOOKUP OPTION $option] "unknown option \"$option\" -- legal options are: [join $legalOptions {,}]"
				} elseif {[dict exists $OptionDef $option -register]} {
					if {![string is entier $value]} {
						set value [bno055 getValue2 [dict get $OptionDef $option -type] $value]
					}
					set register [dict get $OptionDef $option -register]
					dict set currentConfiguration $register $value
					if {[dict exists $OptionDef $option -immediate] && [dict get $OptionDef $option -immediate]} {
						lappend immediateList $register $value
					} else {
						lappend configureList $register $value
					}
                } else {


                }
            }
			set handle [dict get $instanceInfo handle]
			if {[llength $configureList]} {
				bno055 writeRegister $handle operMode [bno055 getValue2 OPER_MODE CONFIGMODE]
				foreach {register value} $configureList {
					bno055 writeRegister $handle $register $value
				}
				bno055 writeRegister $handle operMode [dict get $currentConfiguration operMode]
			}
			if {[llength $immediateList]} {
				foreach {register value} $immediateList {
					bno055 writeRegister $handle $register $value
				}
			}
        }
            
        return;

    }

	method readGyro {} {
        variable instanceInfo
        variable currentConfiguration
		
		set operMode [bno055 getShortSymbol OPER_MODE [dict get $currentConfiguration operMode]]
		if {$operMode in {CONFIGMODE ACCONLY MAGONLY COMPASS M4G}} {
			throw [list DIMU SENDIS $operMode] "Gyroscope reading are not availble when dIMU is in '$operMode' mode."
		}
		
		set results {}
		set readings [bno055 readMultipleRegisters [dict get $instanceInfo handle] {gyr,data,x gyr,data,y gyr,data,z}]
		set range [bno055 getSymbol GRY_RANGE [dict get $currentConfiguration gyr,range]]
		switch -exact -- $range {
			GRY_RANGE_125DPS {
................................................................................
			dict set results units rps
			set divisor [expr {$divsor * 900 / 16}]
		}
		dict set results x [expr {[dict get $readings gyr,data,x] / $divisor}]
		dict set results y [expr {[dict get $readings gyr,data,y] / $divisor}]
		dict set results z [expr {[dict get $readings gyr,data,z] / $divisor}]
	}

	method readTemperature {} {
        variable instanceInfo
        variable currentConfiguration

		set results {}
		set readings [bno055 readRegister [dict get $instanceInfo handle] temp,data]
		set units [bno055 getSymbol GRY_UNIT [dict get $currentConfiguration temp,units]]
		if {$units in {C c}} {
			dict set results units C
			set divisor 1.0
		} else {
			dict set results units V
			set divisor 2.0
		}
		dict set results temperature [expr {$readings / $divisor}]
	}
	
	method reset {what} {
        variable instanceInfo

		set handle [dict get $instanceInfo handle]

		switch -exact $what {
			interrupts {
				bno055 writeRegister $handle resetInt 1
			}
			system {
				bno055 writeRegister $handle systemReset 1
			}
			default {
				throw [list  DMIU UNKACT $what] "unkown action '$what', must be either intterupts or system."
			}
		}

	}

	method runSelfTest {} {
        variable instanceInfo
        variable currentConfiguration

		set operMode [bno055 getShortSymbol OPER_MODE [dict get $currentConfiguration operMode]]
		if {$operMode ni {CONFIGMODE}} {
			throw [list DIMU SENDIS $operMode] "Running Self Test is not availble when dIMU is in '$operMode' mode."
		}
		bno055 writeRegister [dict get $instanceInfo handle] runSelfTest 1

		return
	}

}

dimu init

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