/*
*
****************************************************************************
-* Copyright (C) 2013 - 2014 Bosch Sensortec GmbH
+* Copyright (C) 2015 - 2016 Bosch Sensortec GmbH
*
* File : bno055.c
*
-* Date : 2014/12/12
+* Date : 2016/03/14
*
-* Revision : 2.0.2 $
+* Revision : 2.0.3 $
*
* Usage: Sensor Driver file for BNO055 sensor
*
/* LOCAL FUNCTIONS */
/*!
* @brief
- * This function is used for initialize
+ * This API is used for initialize
* bus read, bus write function pointers,device
* address,accel revision id, gyro revision id
* mag revision id, software revision id, boot loader
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note While changing the parameter of the bno055_t
* consider the following point:
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8 = BNO055_ZERO_U8X;
- u8 v_page_zero_u8 = PAGE_ZERO;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8 = BNO055_INIT_VALUE;
+ u8 bno055_page_zero_u8 = BNO055_PAGE_ZERO;
/* Array holding the Software revision id
*/
- u8 a_SW_ID_u8[ARRAY_SIZE_TWO] = {
- BNO055_ZERO_U8X, BNO055_ZERO_U8X};
+ u8 a_SW_ID_u8[BNO055_REV_ID_SIZE] = {
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE};
/* stuct parameters are assign to bno055*/
p_bno055 = bno055;
/* Write the default page as zero*/
com_rslt = p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_PAGE_ID__REG, &v_page_zero_u8, BNO055_ONE_U8X);
+ BNO055_PAGE_ID_REG, &bno055_page_zero_u8, BNO055_GEN_READ_WRITE_LENGTH);
/* Read the chip id of the sensor from page
zero 0x00 register*/
com_rslt += p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_CHIP_ID__REG, &v_data_u8, BNO055_ONE_U8X);
- p_bno055->chip_id = v_data_u8;
+ BNO055_CHIP_ID_REG, &data_u8, BNO055_GEN_READ_WRITE_LENGTH);
+ p_bno055->chip_id = data_u8;
/* Read the accel revision id from page
zero 0x01 register*/
com_rslt += p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_REV_ID__REG, &v_data_u8, BNO055_ONE_U8X);
- p_bno055->accel_rev_id = v_data_u8;
+ BNO055_ACCEL_REV_ID_REG, &data_u8, BNO055_GEN_READ_WRITE_LENGTH);
+ p_bno055->accel_rev_id = data_u8;
/* Read the mag revision id from page
zero 0x02 register*/
com_rslt += p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_MAG_REV_ID__REG, &v_data_u8, BNO055_ONE_U8X);
- p_bno055->mag_rev_id = v_data_u8;
+ BNO055_MAG_REV_ID_REG, &data_u8, BNO055_GEN_READ_WRITE_LENGTH);
+ p_bno055->mag_rev_id = data_u8;
/* Read the gyro revision id from page
zero 0x02 register*/
com_rslt += p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_REV_ID__REG, &v_data_u8, BNO055_ONE_U8X);
- p_bno055->gyro_rev_id = v_data_u8;
+ BNO055_GYRO_REV_ID_REG, &data_u8, BNO055_GEN_READ_WRITE_LENGTH);
+ p_bno055->gyro_rev_id = data_u8;
/* Read the boot loader revision from page
zero 0x06 register*/
com_rslt += p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_BL_REV_ID__REG, &v_data_u8, BNO055_ONE_U8X);
- p_bno055->bl_rev_id = v_data_u8;
+ BNO055_BL_REV_ID_REG, &data_u8, BNO055_GEN_READ_WRITE_LENGTH);
+ p_bno055->bl_rev_id = data_u8;
/* Read the software revision id from page
zero 0x04 and 0x05 register( 2 bytes of data)*/
com_rslt += p_bno055->BNO055_BUS_READ_FUNC(p_bno055->dev_addr,
- BNO055_SW_REV_ID_LSB__REG,
- a_SW_ID_u8, BNO055_TWO_U8X);
- a_SW_ID_u8[INDEX_ZERO] = BNO055_GET_BITSLICE(
- a_SW_ID_u8[INDEX_ZERO],
+ BNO055_SW_REV_ID_LSB_REG,
+ a_SW_ID_u8, BNO055_LSB_MSB_READ_LENGTH);
+ a_SW_ID_u8[BNO055_SW_ID_LSB] = BNO055_GET_BITSLICE(
+ a_SW_ID_u8[BNO055_SW_ID_LSB],
BNO055_SW_REV_ID_LSB);
p_bno055->sw_rev_id = (u16)
- ((((u32)((u8)a_SW_ID_u8[INDEX_ONE])) <<
- BNO055_SHIFT_8_POSITION) | (a_SW_ID_u8[INDEX_ZERO]));
+ ((((u32)((u8)a_SW_ID_u8[BNO055_SW_ID_MSB])) <<
+ BNO055_SHIFT_EIGHT_BITS) | (a_SW_ID_u8[BNO055_SW_ID_LSB]));
/* Read the page id from the register 0x07*/
com_rslt += p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_PAGE_ID__REG, &v_data_u8, BNO055_ONE_U8X);
- p_bno055->page_id = v_data_u8;
+ BNO055_PAGE_ID_REG, &data_u8, BNO055_GEN_READ_WRITE_LENGTH);
+ p_bno055->page_id = data_u8;
return com_rslt;
}
* This API gives data to the given register and
* the data is written in the corresponding register address
*
- * @param v_addr_u8 : Address of the register
- * @param p_data_u8 : Data to be written to the register
- * @param v_len_u8 : Length of the Data
+ * @param addr_u8 : Address of the register
+ * @param data_u8 : Data to be written to the register
+ * @param len_u8 : Length of the Data
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_write_register(u8 v_addr_u8,
-u8 *p_data_u8, u8 v_len_u8)
+BNO055_RETURN_FUNCTION_TYPE bno055_write_register(u8 addr_u8,
+u8 *data_u8, u8 len_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* Write the values of respective given register */
com_rslt = p_bno055->BNO055_BUS_WRITE_FUNC
- (p_bno055->dev_addr, v_addr_u8, p_data_u8, v_len_u8);
+ (p_bno055->dev_addr, addr_u8, data_u8, len_u8);
}
return com_rslt;
}
* @brief This API reads the data from
* the given register address
*
- * @param v_addr_u8 : Address of the register
- * @param p_data_u8 : address of the variable,
+ * @param addr_u8 : Address of the register
+ * @param data_u8 : address of the variable,
* read value will be kept
- * @param v_len_u8 : Length of the data
+ * @param len_u8 : Length of the data
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_read_register(u8 v_addr_u8,
-u8 *p_data_u8, u8 v_len_u8)
+BNO055_RETURN_FUNCTION_TYPE bno055_read_register(u8 addr_u8,
+u8 *data_u8, u8 len_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* Read the value from given register*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
- (p_bno055->dev_addr, v_addr_u8, p_data_u8, v_len_u8);
+ (p_bno055->dev_addr, addr_u8, data_u8, len_u8);
}
return com_rslt;
}
* from register 0x00 it is a byte of data
*
*
- * @param v_chip_id_u8 : The chip id value 0xA0
+ * @param chip_id_u8 : The chip id value 0xA0
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_read_chip_id(u8 *v_chip_id_u8)
+BNO055_RETURN_FUNCTION_TYPE bno055_read_chip_id(u8 *chip_id_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8 = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8 = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the chip id*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_CHIP_ID__REG, &v_data_u8, BNO055_ONE_U8X);
- *v_chip_id_u8 = v_data_u8;
+ BNO055_CHIP_ID_REG, &data_u8,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ *chip_id_u8 = data_u8;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API reads software revision id
* from register 0x04 and 0x05 it is a two byte of data
*
- * @param v_sw_id_u8 : The SW revision id
+ * @param sw_id_u8 : The SW revision id
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_read_sw_rev_id(u16 *v_sw_id_u8)
+BNO055_RETURN_FUNCTION_TYPE bno055_read_sw_rev_id(u16 *sw_id_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* array having the software revision id
- v_data_u8[0] - LSB
- v_data_u8[1] - MSB*/
- u8 v_data_u8[ARRAY_SIZE_TWO] = {BNO055_ZERO_U8X, BNO055_ZERO_U8X};
- s8 v_stat_s8 = ERROR;
+ data_u8[0] - LSB
+ data_u8[1] - MSB*/
+ u8 data_u8[BNO055_REV_ID_SIZE] = {BNO055_INIT_VALUE,
+ BNO055_INIT_VALUE};
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty*/
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the two byte value of software
revision id*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_SW_REV_ID_LSB__REG,
- v_data_u8, BNO055_TWO_U8X);
- v_data_u8[INDEX_ZERO] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ZERO],
+ BNO055_SW_REV_ID_LSB_REG,
+ data_u8, BNO055_LSB_MSB_READ_LENGTH);
+ data_u8[BNO055_SW_ID_LSB] =
+ BNO055_GET_BITSLICE(data_u8[BNO055_SW_ID_LSB],
BNO055_SW_REV_ID_LSB);
- *v_sw_id_u8 = (u16)
- ((((u32)((u8)v_data_u8[INDEX_ONE])) <<
- BNO055_SHIFT_8_POSITION)
- | (v_data_u8[INDEX_ZERO]));
+ *sw_id_u8 = (u16)
+ ((((u32)((u8)data_u8[BNO055_SW_ID_MSB])) <<
+ BNO055_SHIFT_EIGHT_BITS)
+ | (data_u8[BNO055_SW_ID_LSB]));
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* from register 0x07 it is a byte of data
*
*
- * @param v_page_id_u8 : The value of page id
+ * @param page_id_u8 : The value of page id
*
- * PAGE_ZERO -> 0x00
- * PAGE_ONE -> 0x01
+ * BNO055_PAGE_ZERO -> 0x00
+ * BNO055_PAGE_ONE -> 0x01
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_read_page_id(u8 *v_page_id_u8)
+BNO055_RETURN_FUNCTION_TYPE bno055_read_page_id(u8 *page_id_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8 = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8 = BNO055_INIT_VALUE;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* Read the page id form 0x07*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_PAGE_ID__REG, &v_data_u8, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8 = BNO055_GET_BITSLICE(v_data_u8,
+ BNO055_PAGE_ID_REG, &data_u8, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8 = BNO055_GET_BITSLICE(data_u8,
BNO055_PAGE_ID);
- *v_page_id_u8 = v_data_u8;
- p_bno055->page_id = v_data_u8;
+ *page_id_u8 = data_u8;
+ p_bno055->page_id = data_u8;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write
* the page id register 0x07
*
- * @param v_page_id_u8 : The value of page id
+ * @param page_id_u8 : The value of page id
*
- * PAGE_ZERO -> 0x00
- * PAGE_ONE -> 0x01
+ * BNO055_PAGE_ZERO -> 0x00
+ * BNO055_PAGE_ONE -> 0x01
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_write_page_id(u8 v_page_id_u8)
+BNO055_RETURN_FUNCTION_TYPE bno055_write_page_id(u8 page_id_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* Read the current page*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_PAGE_ID__REG, &v_data_u8r, BNO055_ONE_U8X);
- /* Check condition for communication success*/
- if (com_rslt == SUCCESS) {
- v_data_u8r = BNO055_SET_BITSLICE(v_data_u8r,
- BNO055_PAGE_ID, v_page_id_u8);
+ BNO055_PAGE_ID_REG, &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ /* Check condition for communication BNO055_SUCCESS*/
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r = BNO055_SET_BITSLICE(data_u8r,
+ BNO055_PAGE_ID, page_id_u8);
/* Write the page id*/
com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_PAGE_ID__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS)
- p_bno055->page_id = v_page_id_u8;
+ BNO055_PAGE_ID_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS)
+ p_bno055->page_id = page_id_u8;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API reads accel revision id
* from register 0x01 it is a byte of value
*
- * @param v_accel_rev_id_u8 : The accel revision id 0xFB
+ * @param accel_rev_id_u8 : The accel revision id 0xFB
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_rev_id(
-u8 *v_accel_rev_id_u8)
+u8 *accel_rev_id_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8 = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8 = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the accel revision id */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_REV_ID__REG,
- &v_data_u8, BNO055_ONE_U8X);
- *v_accel_rev_id_u8 = v_data_u8;
+ BNO055_ACCEL_REV_ID_REG,
+ &data_u8, BNO055_GEN_READ_WRITE_LENGTH);
+ *accel_rev_id_u8 = data_u8;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API reads mag revision id
* from register 0x02 it is a byte of value
*
- * @param v_mag_rev_id_u8 : The mag revision id 0x32
+ * @param mag_rev_id_u8 : The mag revision id 0x32
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_rev_id(
-u8 *v_mag_rev_id_u8)
+u8 *mag_rev_id_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8 = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8 = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the mag revision id */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_MAG_REV_ID__REG,
- &v_data_u8, BNO055_ONE_U8X);
- *v_mag_rev_id_u8 = v_data_u8;
+ BNO055_MAG_REV_ID_REG,
+ &data_u8, BNO055_GEN_READ_WRITE_LENGTH);
+ *mag_rev_id_u8 = data_u8;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API reads gyro revision id
* from register 0x03 it is a byte of value
*
- * @param v_gyro_rev_id_u8 : The gyro revision id 0xF0
+ * @param gyro_rev_id_u8 : The gyro revision id 0xF0
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_rev_id(
-u8 *v_gyro_rev_id_u8)
+u8 *gyro_rev_id_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8 = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8 = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the gyro revision id */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_REV_ID__REG,
- &v_data_u8, BNO055_ONE_U8X);
- *v_gyro_rev_id_u8 = v_data_u8;
+ BNO055_GYRO_REV_ID_REG,
+ &data_u8, BNO055_GEN_READ_WRITE_LENGTH);
+ *gyro_rev_id_u8 = data_u8;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to read boot loader revision id
* from register 0x06 it is a byte of value
*
- * @param v_bl_rev_id_u8 : The boot loader revision id
+ * @param bl_rev_id_u8 : The boot loader revision id
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_bl_rev_id(
-u8 *v_bl_rev_id_u8)
+u8 *bl_rev_id_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8 = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8 = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the boot loader revision id */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_BL_REV_ID__REG,
- &v_data_u8, BNO055_ONE_U8X);
- *v_bl_rev_id_u8 = v_data_u8;
+ BNO055_BL_REV_ID_REG,
+ &data_u8, BNO055_GEN_READ_WRITE_LENGTH);
+ *bl_rev_id_u8 = data_u8;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
*
*
*
- * @param v_accel_x_s16 : The X raw data
+ * @param accel_x_s16 : The X raw data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_x(s16 *v_accel_x_s16)
+BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_x(s16 *accel_x_s16)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the accel x value
- v_data_u8[INDEX_ZERO] - LSB
- v_data_u8[INDEX_ONE] - MSB
+ data_u8[BNO055_SENSOR_DATA_LSB] - x-LSB
+ data_u8[BNO055_SENSOR_DATA_MSB] - x-MSB
*/
- u8 v_data_u8[ARRAY_SIZE_TWO] = {BNO055_ZERO_U8X, BNO055_ZERO_U8X};
- s8 v_stat_s8 = ERROR;
+ u8 data_u8[BNO055_ACCEL_DATA_SIZE] = {BNO055_INIT_VALUE,
+ BNO055_INIT_VALUE};
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the accel x axis two byte value*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_DATA_X_LSB_VALUEX__REG,
- v_data_u8, BNO055_TWO_U8X);
- v_data_u8[INDEX_ZERO] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ZERO],
+ BNO055_ACCEL_DATA_X_LSB_VALUEX_REG,
+ data_u8, BNO055_LSB_MSB_READ_LENGTH);
+ data_u8[BNO055_SENSOR_DATA_LSB] =
+ BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB],
BNO055_ACCEL_DATA_X_LSB_VALUEX);
- v_data_u8[INDEX_ONE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ data_u8[BNO055_SENSOR_DATA_MSB] =
+ BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB],
BNO055_ACCEL_DATA_X_MSB_VALUEX);
- *v_accel_x_s16 = (s16)((((s32)
- (s8)(v_data_u8[INDEX_ONE])) <<
- (BNO055_SHIFT_8_POSITION))
- | (v_data_u8[INDEX_ZERO]));
+ *accel_x_s16 = (s16)((((s32)
+ (s8)(data_u8[BNO055_SENSOR_DATA_MSB])) <<
+ (BNO055_SHIFT_EIGHT_BITS))
+ | (data_u8[BNO055_SENSOR_DATA_LSB]));
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
*
*
*
- * @param v_accel_y_s16 : The Y raw data
+ * @param accel_y_s16 : The Y raw data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_y(s16 *v_accel_y_s16)
+BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_y(s16 *accel_y_s16)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the accel y value
- v_data_u8[INDEX_ZERO] - LSB
- v_data_u8[INDEX_ONE] - MSB
+ data_u8[BNO055_SENSOR_DATA_LSB] - y-LSB
+ data_u8[BNO055_SENSOR_DATA_MSB] - y-MSB
*/
- u8 v_data_u8[ARRAY_SIZE_TWO] = {BNO055_ZERO_U8X, BNO055_ZERO_U8X};
- s8 v_stat_s8 = ERROR;
+ u8 data_u8[BNO055_ACCEL_DATA_SIZE] = {BNO055_INIT_VALUE,
+ BNO055_INIT_VALUE};
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the accel y axis two byte value*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_DATA_Y_LSB_VALUEY__REG,
- v_data_u8, BNO055_TWO_U8X);
- v_data_u8[INDEX_ZERO] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ZERO],
+ BNO055_ACCEL_DATA_Y_LSB_VALUEY_REG,
+ data_u8, BNO055_LSB_MSB_READ_LENGTH);
+ data_u8[BNO055_SENSOR_DATA_LSB] =
+ BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB],
BNO055_ACCEL_DATA_Y_LSB_VALUEY);
- v_data_u8[INDEX_ONE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ data_u8[BNO055_SENSOR_DATA_MSB] =
+ BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB],
BNO055_ACCEL_DATA_Y_MSB_VALUEY);
- *v_accel_y_s16 = (s16)((((s32)
- ((s8)v_data_u8[INDEX_ONE])) <<
- BNO055_SHIFT_8_POSITION) |
- (v_data_u8[INDEX_ZERO]));
+ *accel_y_s16 = (s16)((((s32)
+ ((s8)data_u8[BNO055_SENSOR_DATA_MSB])) <<
+ BNO055_SHIFT_EIGHT_BITS) |
+ (data_u8[BNO055_SENSOR_DATA_LSB]));
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
*
*
*
- * @param v_accel_z_s16 : The z raw data
+ * @param accel_z_s16 : The z raw data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_z(s16 *v_accel_z_s16)
+BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_z(s16 *accel_z_s16)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the accel z value
- v_data_u8[INDEX_ZERO] - LSB
- v_data_u8[INDEX_ONE] - MSB
+ data_u8[BNO055_SENSOR_DATA_LSB] - z-LSB
+ data_u8[BNO055_SENSOR_DATA_MSB] - z-MSB
*/
- u8 v_data_u8[ARRAY_SIZE_TWO] = {BNO055_ZERO_U8X, BNO055_ZERO_U8X};
- s8 v_stat_s8 = ERROR;
+ u8 data_u8[BNO055_ACCEL_DATA_SIZE] = {BNO055_INIT_VALUE,
+ BNO055_INIT_VALUE};
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the accel z axis two byte value*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_DATA_Z_LSB_VALUEZ__REG,
- v_data_u8, BNO055_TWO_U8X);
- v_data_u8[INDEX_ZERO] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ZERO],
+ BNO055_ACCEL_DATA_Z_LSB_VALUEZ_REG,
+ data_u8, BNO055_LSB_MSB_READ_LENGTH);
+ data_u8[BNO055_SENSOR_DATA_LSB] =
+ BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB],
BNO055_ACCEL_DATA_Z_LSB_VALUEZ);
- v_data_u8[INDEX_ONE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ data_u8[BNO055_SENSOR_DATA_MSB] =
+ BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB],
BNO055_ACCEL_DATA_Z_MSB_VALUEZ);
- *v_accel_z_s16 = (s16)((((s32)
- ((s8)v_data_u8[INDEX_ONE])) <<
- BNO055_SHIFT_8_POSITION) |
- (v_data_u8[INDEX_ZERO]));
+ *accel_z_s16 = (s16)((((s32)
+ ((s8)data_u8[BNO055_SENSOR_DATA_MSB])) <<
+ BNO055_SHIFT_EIGHT_BITS) |
+ (data_u8[BNO055_SENSOR_DATA_LSB]));
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_xyz(
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the accel xyz value
- v_data_u8[INDEX_ZERO] - x->LSB
- v_data_u8[INDEX_ONE] - x->MSB
- v_data_u8[2] - y->MSB
- v_data_u8[3] - y->MSB
- v_data_u8[4] - z->MSB
- v_data_u8[5] - z->MSB
+ data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB] - x->LSB
+ data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB] - x->MSB
+ data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB] - y->MSB
+ data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB] - y->MSB
+ data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB] - z->MSB
+ data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB] - z->MSB
*/
- u8 v_data_u8[ARRAY_SIZE_SIX] = {
- BNO055_ZERO_U8X, BNO055_ZERO_U8X,
- BNO055_ZERO_U8X, BNO055_ZERO_U8X,
- BNO055_ZERO_U8X, BNO055_ZERO_U8X};
- s8 v_stat_s8 = ERROR;
+ u8 data_u8[BNO055_ACCEL_XYZ_DATA_SIZE] = {
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE};
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_DATA_X_LSB_VALUEX__REG,
- v_data_u8, BNO055_SIX_U8X);
+ BNO055_ACCEL_DATA_X_LSB_VALUEX_REG,
+ data_u8, BNO055_ACCEL_XYZ_DATA_SIZE);
/* Data X*/
- v_data_u8[INDEX_ZERO] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ZERO],
+ data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB],
BNO055_ACCEL_DATA_X_LSB_VALUEX);
- v_data_u8[INDEX_ONE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB],
BNO055_ACCEL_DATA_X_MSB_VALUEX);
accel->x = (s16)((((s32)
- ((s8)v_data_u8[INDEX_ONE])) <<
- BNO055_SHIFT_8_POSITION)
- | (v_data_u8[INDEX_ZERO]));
+ ((s8)data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB])) <<
+ BNO055_SHIFT_EIGHT_BITS)
+ | (data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB]));
/* Data Y*/
- v_data_u8[INDEX_TWO] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_TWO],
+ data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB],
BNO055_ACCEL_DATA_Y_LSB_VALUEY);
- v_data_u8[INDEX_THREE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_THREE],
+ data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB],
BNO055_ACCEL_DATA_Y_MSB_VALUEY);
accel->y = (s16)((((s32)
- ((s8)v_data_u8[INDEX_THREE])) <<
- BNO055_SHIFT_8_POSITION)
- | (v_data_u8[INDEX_TWO]));
+ ((s8)data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB])) <<
+ BNO055_SHIFT_EIGHT_BITS)
+ | (data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB]));
/* Data Z*/
- v_data_u8[INDEX_FOUR] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_FOUR],
+ data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB],
BNO055_ACCEL_DATA_Z_LSB_VALUEZ);
- v_data_u8[INDEX_FIVE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_FIVE],
+ data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB],
BNO055_ACCEL_DATA_Z_MSB_VALUEZ);
accel->z = (s16)((((s32)
- ((s8)v_data_u8[INDEX_FIVE])) <<
- BNO055_SHIFT_8_POSITION)
- | (v_data_u8[INDEX_FOUR]));
+ ((s8)data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB])) <<
+ BNO055_SHIFT_EIGHT_BITS)
+ | (data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB]));
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
*
*
*
- * @param v_mag_x_s16 : The x raw data
+ * @param mag_x_s16 : The x raw data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_x(s16 *v_mag_x_s16)
+BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_x(s16 *mag_x_s16)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the mag x value
- v_data_u8[INDEX_ZERO] - x->LSB
- v_data_u8[INDEX_ONE] - x->MSB
+ data_u8[BNO055_SENSOR_DATA_LSB] - x->LSB
+ data_u8[BNO055_SENSOR_DATA_MSB] - x->MSB
*/
- u8 v_data_u8[ARRAY_SIZE_TWO] = {BNO055_ZERO_U8X, BNO055_ZERO_U8X};
- s8 v_stat_s8 = ERROR;
+ u8 data_u8[BNO055_MAG_DATA_SIZE] = {BNO055_INIT_VALUE,
+ BNO055_INIT_VALUE};
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/*Read the mag x two bytes of data */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_MAG_DATA_X_LSB_VALUEX__REG,
- v_data_u8, BNO055_TWO_U8X);
- v_data_u8[INDEX_ZERO] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ZERO],
+ BNO055_MAG_DATA_X_LSB_VALUEX_REG,
+ data_u8, BNO055_LSB_MSB_READ_LENGTH);
+ data_u8[BNO055_SENSOR_DATA_LSB] =
+ BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB],
BNO055_MAG_DATA_X_LSB_VALUEX);
- v_data_u8[INDEX_ONE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ data_u8[BNO055_SENSOR_DATA_MSB] =
+ BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB],
BNO055_MAG_DATA_X_MSB_VALUEX);
- *v_mag_x_s16 = (s16)((((s32)
- ((s8)v_data_u8[INDEX_ONE])) <<
- BNO055_SHIFT_8_POSITION) | (v_data_u8[INDEX_ZERO]));
+ *mag_x_s16 = (s16)((((s32)
+ ((s8)data_u8[BNO055_SENSOR_DATA_MSB])) <<
+ BNO055_SHIFT_EIGHT_BITS) | (
+ data_u8[BNO055_SENSOR_DATA_LSB]));
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
*
*
*
- * @param v_mag_y_s16 : The y raw data
+ * @param mag_y_s16 : The y raw data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_y(s16 *v_mag_y_s16)
+BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_y(s16 *mag_y_s16)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- /* Array holding the mag x value
- v_data_u8[INDEX_ZERO] - y->LSB
- v_data_u8[INDEX_ONE] - y->MSB
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ /* Array holding the mag y value
+ data_u8[BNO055_SENSOR_DATA_LSB] - y->LSB
+ data_u8[BNO055_SENSOR_DATA_MSB] - y->MSB
*/
- u8 v_data_u8[ARRAY_SIZE_TWO] = {
- BNO055_ZERO_U8X, BNO055_ZERO_U8X};
- s8 v_stat_s8 = ERROR;
+ u8 data_u8[BNO055_MAG_DATA_SIZE] = {
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE};
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/*Read the mag y two bytes of data */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_MAG_DATA_Y_LSB_VALUEY__REG,
- v_data_u8, BNO055_TWO_U8X);
- v_data_u8[INDEX_ZERO] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ZERO],
+ BNO055_MAG_DATA_Y_LSB_VALUEY_REG,
+ data_u8, BNO055_LSB_MSB_READ_LENGTH);
+ data_u8[BNO055_SENSOR_DATA_LSB] =
+ BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB],
BNO055_MAG_DATA_Y_LSB_VALUEY);
- v_data_u8[INDEX_ONE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ data_u8[BNO055_SENSOR_DATA_MSB] =
+ BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB],
BNO055_MAG_DATA_Y_MSB_VALUEY);
- *v_mag_y_s16 = (s16)((((s32)
- ((s8)v_data_u8[INDEX_ONE])) <<
- BNO055_SHIFT_8_POSITION) |
- (v_data_u8[INDEX_ZERO]));
+ *mag_y_s16 = (s16)((((s32)
+ ((s8)data_u8[BNO055_SENSOR_DATA_MSB])) <<
+ BNO055_SHIFT_EIGHT_BITS) |
+ (data_u8[BNO055_SENSOR_DATA_LSB]));
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
*
*
*
- * @param v_mag_z_s16 : The z raw data
+ * @param mag_z_s16 : The z raw data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_z(s16 *v_mag_z_s16)
+BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_z(s16 *mag_z_s16)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- /* Array holding the mag x value
- v_data_u8[INDEX_ZERO] - z->LSB
- v_data_u8[INDEX_ONE] - z->MSB
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ /* Array holding the mag z value
+ data_u8[BNO055_SENSOR_DATA_LSB] - z->LSB
+ data_u8[BNO055_SENSOR_DATA_MSB] - z->MSB
*/
- u8 v_data_u8[ARRAY_SIZE_TWO] = {
- BNO055_ZERO_U8X, BNO055_ZERO_U8X};
- s8 v_stat_s8 = ERROR;
+ u8 data_u8[BNO055_MAG_DATA_SIZE] = {
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE};
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_MAG_DATA_Z_LSB_VALUEZ__REG,
- v_data_u8, BNO055_TWO_U8X);
+ BNO055_MAG_DATA_Z_LSB_VALUEZ_REG,
+ data_u8, BNO055_LSB_MSB_READ_LENGTH);
/*Read the mag z two bytes of data */
- v_data_u8[INDEX_ZERO] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ZERO],
+ data_u8[BNO055_SENSOR_DATA_LSB] =
+ BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB],
BNO055_MAG_DATA_Z_LSB_VALUEZ);
- v_data_u8[INDEX_ONE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ data_u8[BNO055_SENSOR_DATA_MSB] =
+ BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB],
BNO055_MAG_DATA_Z_MSB_VALUEZ);
- *v_mag_z_s16 = (s16)((((s32)
- ((s8)v_data_u8[INDEX_ONE])) <<
- BNO055_SHIFT_8_POSITION)
- | (v_data_u8[INDEX_ZERO]));
+ *mag_z_s16 = (s16)((((s32)
+ ((s8)data_u8[BNO055_SENSOR_DATA_MSB])) <<
+ BNO055_SHIFT_EIGHT_BITS)
+ | (data_u8[BNO055_SENSOR_DATA_LSB]));
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_xyz(struct bno055_mag_t *mag)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the mag xyz value
- v_data_u8[INDEX_ZERO] - x->LSB
- v_data_u8[INDEX_ONE] - x->MSB
- v_data_u8[INDEX_TWO] - y->MSB
- v_data_u8[INDEX_THREE] - y->MSB
- v_data_u8[INDEX_FOUR] - z->MSB
- v_data_u8[INDEX_FIVE] - z->MSB
+ data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB] - x->LSB
+ data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB] - x->MSB
+ data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB] - y->MSB
+ data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB] - y->MSB
+ data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB] - z->MSB
+ data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB] - z->MSB
*/
- u8 v_data_u8[ARRAY_SIZE_SIX] = {
- BNO055_ZERO_U8X, BNO055_ZERO_U8X,
- BNO055_ZERO_U8X, BNO055_ZERO_U8X,
- BNO055_ZERO_U8X, BNO055_ZERO_U8X};
- s8 v_stat_s8 = ERROR;
+ u8 data_u8[BNO055_MAG_XYZ_DATA_SIZE] = {
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE};
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/*Read the six byte value of mag xyz*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_MAG_DATA_X_LSB_VALUEX__REG,
- v_data_u8, BNO055_SIX_U8X);
+ BNO055_MAG_DATA_X_LSB_VALUEX_REG,
+ data_u8, BNO055_MAG_XYZ_DATA_SIZE);
/* Data X*/
- v_data_u8[INDEX_ZERO] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ZERO],
+ data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB],
BNO055_MAG_DATA_X_LSB_VALUEX);
- v_data_u8[INDEX_ONE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB],
BNO055_MAG_DATA_X_MSB_VALUEX);
mag->x = (s16)((((s32)
- ((s8)v_data_u8[INDEX_ONE])) <<
- BNO055_SHIFT_8_POSITION) |
- (v_data_u8[INDEX_ZERO]));
+ ((s8)data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB])) <<
+ BNO055_SHIFT_EIGHT_BITS) |
+ (data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB]));
/* Data Y*/
- v_data_u8[INDEX_TWO] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_TWO],
+ data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB],
BNO055_MAG_DATA_Y_LSB_VALUEY);
- v_data_u8[INDEX_THREE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_THREE],
+ data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB],
BNO055_MAG_DATA_Y_MSB_VALUEY);
mag->y = (s16)((((s32)
- ((s8)v_data_u8[INDEX_THREE])) <<
- BNO055_SHIFT_8_POSITION) |
- (v_data_u8[INDEX_TWO]));
+ ((s8)data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB])) <<
+ BNO055_SHIFT_EIGHT_BITS) |
+ (data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB]));
/* Data Z*/
- v_data_u8[INDEX_FOUR] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_FOUR],
+ data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB],
BNO055_MAG_DATA_Z_LSB_VALUEZ);
- v_data_u8[INDEX_FIVE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_FIVE],
+ data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB],
BNO055_MAG_DATA_Z_MSB_VALUEZ);
mag->z = (s16)((((s32)
- ((s8)v_data_u8[INDEX_FIVE])) <<
- BNO055_SHIFT_8_POSITION)
- | (v_data_u8[INDEX_FOUR]));
+ ((s8)data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB])) <<
+ BNO055_SHIFT_EIGHT_BITS)
+ | (data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB]));
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
*
*
*
- * @param v_gyro_x_s16 : The x raw data
+ * @param gyro_x_s16 : The x raw data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_x(s16 *v_gyro_x_s16)
+BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_x(s16 *gyro_x_s16)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8[ARRAY_SIZE_TWO] = {
- BNO055_ZERO_U8X, BNO055_ZERO_U8X};
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8[BNO055_GYRO_DATA_SIZE] = {
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE};
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the gyro 16 bit x value*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_DATA_X_LSB_VALUEX__REG,
- v_data_u8, BNO055_TWO_U8X);
- v_data_u8[INDEX_ZERO] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ZERO],
+ BNO055_GYRO_DATA_X_LSB_VALUEX_REG,
+ data_u8, BNO055_LSB_MSB_READ_LENGTH);
+ data_u8[BNO055_SENSOR_DATA_LSB] =
+ BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB],
BNO055_GYRO_DATA_X_LSB_VALUEX);
- v_data_u8[INDEX_ONE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ data_u8[BNO055_SENSOR_DATA_MSB] =
+ BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB],
BNO055_GYRO_DATA_X_MSB_VALUEX);
- *v_gyro_x_s16 = (s16)((((s32)
- ((s8)v_data_u8[INDEX_ONE])) <<
- BNO055_SHIFT_8_POSITION) |
- (v_data_u8[INDEX_ZERO]));
+ *gyro_x_s16 = (s16)((((s32)
+ ((s8)data_u8[BNO055_SENSOR_DATA_MSB])) <<
+ BNO055_SHIFT_EIGHT_BITS) |
+ (data_u8[BNO055_SENSOR_DATA_LSB]));
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
*
*
*
- * @param v_gyro_y_s16 : The y raw data
+ * @param gyro_y_s16 : The y raw data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_y(s16 *v_gyro_y_s16)
+BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_y(s16 *gyro_y_s16)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8[ARRAY_SIZE_TWO] = {
- BNO055_ZERO_U8X, BNO055_ZERO_U8X};
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8[BNO055_GYRO_DATA_SIZE] = {
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE};
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the value of gyro y */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_DATA_Y_LSB_VALUEY__REG,
- v_data_u8, BNO055_TWO_U8X);
- v_data_u8[INDEX_ZERO] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ZERO],
+ BNO055_GYRO_DATA_Y_LSB_VALUEY_REG,
+ data_u8, BNO055_LSB_MSB_READ_LENGTH);
+ data_u8[BNO055_SENSOR_DATA_LSB] =
+ BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB],
BNO055_GYRO_DATA_Y_LSB_VALUEY);
- v_data_u8[INDEX_ONE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ data_u8[BNO055_SENSOR_DATA_MSB] =
+ BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB],
BNO055_GYRO_DATA_Y_MSB_VALUEY);
- *v_gyro_y_s16 = (s16)((((s32)
- ((s8)v_data_u8[INDEX_ONE])) <<
- BNO055_SHIFT_8_POSITION)
- | (v_data_u8[INDEX_ZERO]));
+ *gyro_y_s16 = (s16)((((s32)
+ ((s8)data_u8[BNO055_SENSOR_DATA_MSB])) <<
+ BNO055_SHIFT_EIGHT_BITS)
+ | (data_u8[BNO055_SENSOR_DATA_LSB]));
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API reads gyro data z values
* from register 0x18 and 0x19 it is a two byte data
*
- * @param v_gyro_z_s16 : The z raw data
+ * @param gyro_z_s16 : The z raw data
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_z(s16 *v_gyro_z_s16)
+BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_z(s16 *gyro_z_s16)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8[ARRAY_SIZE_TWO] = {
- BNO055_ZERO_U8X, BNO055_ZERO_U8X};
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8[BNO055_GYRO_DATA_SIZE] = {
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE};
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the gyro z 16 bit value*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_DATA_Z_LSB_VALUEZ__REG,
- v_data_u8, BNO055_TWO_U8X);
- v_data_u8[INDEX_ZERO] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ZERO],
+ BNO055_GYRO_DATA_Z_LSB_VALUEZ_REG,
+ data_u8, BNO055_LSB_MSB_READ_LENGTH);
+ data_u8[BNO055_SENSOR_DATA_LSB] =
+ BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB],
BNO055_GYRO_DATA_Z_LSB_VALUEZ);
- v_data_u8[INDEX_ONE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ data_u8[BNO055_SENSOR_DATA_MSB] =
+ BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB],
BNO055_GYRO_DATA_Z_MSB_VALUEZ);
- *v_gyro_z_s16 = (s16)((((s32)
- ((s8)v_data_u8[INDEX_ONE])) <<
- BNO055_SHIFT_8_POSITION)
- | (v_data_u8[INDEX_ZERO]));
+ *gyro_z_s16 = (s16)((((s32)
+ ((s8)data_u8[BNO055_SENSOR_DATA_MSB])) <<
+ BNO055_SHIFT_EIGHT_BITS)
+ | (data_u8[BNO055_SENSOR_DATA_LSB]));
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_xyz(struct bno055_gyro_t *gyro)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- /* Array holding the accel xyz value
- v_data_u8[INDEX_ZERO] - x->LSB
- v_data_u8[INDEX_ONE] - x->MSB
- v_data_u8[INDEX_TWO] - y->MSB
- v_data_u8[INDEX_THREE] - y->MSB
- v_data_u8[INDEX_FOUR] - z->MSB
- v_data_u8[INDEX_FIVE] - z->MSB
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ /* Array holding the gyro xyz value
+ data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB] - x->LSB
+ data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB] - x->MSB
+ data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB] - y->MSB
+ data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB] - y->MSB
+ data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB] - z->MSB
+ data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB] - z->MSB
*/
- u8 v_data_u8[ARRAY_SIZE_SIX] = {
- BNO055_ZERO_U8X, BNO055_ZERO_U8X,
- BNO055_ZERO_U8X, BNO055_ZERO_U8X,
- BNO055_ZERO_U8X, BNO055_ZERO_U8X};
- s8 v_stat_s8 = ERROR;
+ u8 data_u8[BNO055_GYRO_XYZ_DATA_SIZE] = {
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE};
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the six bytes data of gyro xyz*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_DATA_X_LSB_VALUEX__REG,
- v_data_u8, BNO055_SIX_U8X);
+ BNO055_GYRO_DATA_X_LSB_VALUEX_REG,
+ data_u8, BNO055_GYRO_XYZ_DATA_SIZE);
/* Data x*/
- v_data_u8[INDEX_ZERO] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ZERO],
+ data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB],
BNO055_GYRO_DATA_X_LSB_VALUEX);
- v_data_u8[INDEX_ONE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB],
BNO055_GYRO_DATA_X_MSB_VALUEX);
gyro->x = (s16)((((s32)
- ((s8)v_data_u8[INDEX_ONE])) <<
- BNO055_SHIFT_8_POSITION) |
- (v_data_u8[INDEX_ZERO]));
+ ((s8)data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB])) <<
+ BNO055_SHIFT_EIGHT_BITS) |
+ (data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB]));
/* Data y*/
- v_data_u8[INDEX_TWO] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_TWO],
+ data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB],
BNO055_GYRO_DATA_Y_LSB_VALUEY);
- v_data_u8[INDEX_THREE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_THREE],
+ data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB],
BNO055_GYRO_DATA_Y_MSB_VALUEY);
gyro->y = (s16)((((s32)
- ((s8)v_data_u8[INDEX_THREE])) <<
- BNO055_SHIFT_8_POSITION)
- | (v_data_u8[INDEX_TWO]));
+ ((s8)data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB])) <<
+ BNO055_SHIFT_EIGHT_BITS)
+ | (data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB]));
/* Data z*/
- v_data_u8[INDEX_FOUR] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_FOUR],
+ data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB],
BNO055_GYRO_DATA_Z_LSB_VALUEZ);
- v_data_u8[INDEX_FIVE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_FIVE],
+ data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB],
BNO055_GYRO_DATA_Z_MSB_VALUEZ);
gyro->z = (s16)((((s32)
- ((s8)v_data_u8[INDEX_FIVE])) <<
- BNO055_SHIFT_8_POSITION)
- | (v_data_u8[INDEX_FOUR]));
+ ((s8)data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB])) <<
+ BNO055_SHIFT_EIGHT_BITS)
+ | (data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB]));
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API reads gyro data z values
* from register 0x1A and 0x1B it is a two byte data
*
- * @param v_euler_h_s16 : The raw h data
+ * @param euler_h_s16 : The raw h data
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_h(s16 *v_euler_h_s16)
+BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_h(s16 *euler_h_s16)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the Euler h value
- v_data_u8[INDEX_ZERO] - h->LSB
- v_data_u8[INDEX_ONE] - h->MSB
+ data_u8[BNO055_SENSOR_DATA_EULER_LSB] - h->LSB
+ data_u8[BNO055_SENSOR_DATA_EULER_MSB] - h->MSB
*/
- u8 v_data_u8[ARRAY_SIZE_TWO] = {
- BNO055_ZERO_U8X, BNO055_ZERO_U8X};
- s8 v_stat_s8 = ERROR;
+ u8 data_u8[BNO055_EULER_DATA_SIZE] = {
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE};
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the eulre heading data*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_EULER_H_LSB_VALUEH__REG,
- v_data_u8, BNO055_TWO_U8X);
- v_data_u8[INDEX_ZERO] = BNO055_GET_BITSLICE
- (v_data_u8[INDEX_ZERO],
+ BNO055_EULER_H_LSB_VALUEH_REG,
+ data_u8, BNO055_LSB_MSB_READ_LENGTH);
+ data_u8[BNO055_SENSOR_DATA_EULER_LSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_EULER_LSB],
BNO055_EULER_H_LSB_VALUEH);
- v_data_u8[INDEX_ONE] = BNO055_GET_BITSLICE
- (v_data_u8[INDEX_ONE],
+ data_u8[BNO055_SENSOR_DATA_EULER_MSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_EULER_MSB],
BNO055_EULER_H_MSB_VALUEH);
- *v_euler_h_s16 = (s16)((((s32)
- ((s8)v_data_u8[INDEX_ONE])) <<
- BNO055_SHIFT_8_POSITION) |
- (v_data_u8[INDEX_ZERO]));
+ *euler_h_s16 = (s16)((((s32)
+ ((s8)data_u8[BNO055_SENSOR_DATA_EULER_MSB])) <<
+ BNO055_SHIFT_EIGHT_BITS) |
+ (data_u8[BNO055_SENSOR_DATA_EULER_LSB]));
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API reads Euler data r values
* from register 0x1C and 0x1D it is a two byte data
*
- * @param v_euler_r_s16 : The raw r data
+ * @param euler_r_s16 : The raw r data
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_r(s16 *v_euler_r_s16)
+BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_r(s16 *euler_r_s16)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- /* Array holding the Euler h value
- v_data_u8[INDEX_ZERO] - r->LSB
- v_data_u8[INDEX_ONE] - r->MSB
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ /* Array holding the Euler r value
+ data_u8[BNO055_SENSOR_DATA_EULER_LSB] - r->LSB
+ data_u8[BNO055_SENSOR_DATA_EULER_MSB] - r->MSB
*/
- u8 v_data_u8[ARRAY_SIZE_TWO] = {
- BNO055_ZERO_U8X, BNO055_ZERO_U8X};
- s8 v_stat_s8 = ERROR;
+ u8 data_u8[BNO055_EULER_DATA_SIZE] = {
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE};
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the Euler roll data*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_EULER_R_LSB_VALUER__REG,
- v_data_u8, BNO055_TWO_U8X);
- v_data_u8[INDEX_ZERO] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ZERO],
+ BNO055_EULER_R_LSB_VALUER_REG,
+ data_u8, BNO055_LSB_MSB_READ_LENGTH);
+ data_u8[BNO055_SENSOR_DATA_EULER_LSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_EULER_LSB],
BNO055_EULER_R_LSB_VALUER);
- v_data_u8[INDEX_ONE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ data_u8[BNO055_SENSOR_DATA_EULER_MSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_EULER_MSB],
BNO055_EULER_R_MSB_VALUER);
- *v_euler_r_s16 = (s16)((((s32)
- ((s8)v_data_u8[INDEX_ONE])) <<
- BNO055_SHIFT_8_POSITION)
- | (v_data_u8[INDEX_ZERO]));
+ *euler_r_s16 = (s16)((((s32)
+ ((s8)data_u8[BNO055_SENSOR_DATA_EULER_MSB])) <<
+ BNO055_SHIFT_EIGHT_BITS)
+ | (data_u8[BNO055_SENSOR_DATA_EULER_LSB]));
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API reads Euler data p values
* from register 0x1E and 0x1F it is a two byte data
*
- * @param v_euler_p_s16 : The raw p data
+ * @param euler_p_s16 : The raw p data
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_p(s16 *v_euler_p_s16)
+BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_p(s16 *euler_p_s16)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the Euler p value
- v_data_u8[INDEX_ZERO] - p->LSB
- v_data_u8[INDEX_ONE] - p->MSB
+ data_u8[BNO055_SENSOR_DATA_EULER_LSB] - p->LSB
+ data_u8[BNO055_SENSOR_DATA_EULER_MSB] - p->MSB
*/
- u8 v_data_u8[ARRAY_SIZE_TWO] = {
- BNO055_ZERO_U8X, BNO055_ZERO_U8X};
- s8 v_stat_s8 = ERROR;
+ u8 data_u8[BNO055_EULER_DATA_SIZE] = {
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE};
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the Euler p data*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_EULER_P_LSB_VALUEP__REG,
- v_data_u8, BNO055_TWO_U8X);
- v_data_u8[INDEX_ZERO] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ZERO],
+ BNO055_EULER_P_LSB_VALUEP_REG,
+ data_u8, BNO055_LSB_MSB_READ_LENGTH);
+ data_u8[BNO055_SENSOR_DATA_EULER_LSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_EULER_LSB],
BNO055_EULER_P_LSB_VALUEP);
- v_data_u8[INDEX_ONE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ data_u8[BNO055_SENSOR_DATA_EULER_MSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_EULER_MSB],
BNO055_EULER_P_MSB_VALUEP);
- *v_euler_p_s16 = (s16)((((s32)
- ((s8)v_data_u8[INDEX_ONE])) <<
- BNO055_SHIFT_8_POSITION)
- | (v_data_u8[INDEX_ZERO]));
+ *euler_p_s16 = (s16)((((s32)
+ ((s8)data_u8[BNO055_SENSOR_DATA_EULER_MSB])) <<
+ BNO055_SHIFT_EIGHT_BITS)
+ | (data_u8[BNO055_SENSOR_DATA_EULER_LSB]));
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_hrp(
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the Euler hrp value
- v_data_u8[INDEX_ZERO] - h->LSB
- v_data_u8[INDEX_ONE] - h->MSB
- v_data_u8[INDEX_TWO] - r->MSB
- v_data_u8[INDEX_THREE] - r->MSB
- v_data_u8[INDEX_FOUR] - p->MSB
- v_data_u8[INDEX_FIVE] - p->MSB
+ data_u8[BNO055_SENSOR_DATA_EULER_HRP_H_LSB] - h->LSB
+ data_u8[BNO055_SENSOR_DATA_EULER_HRP_H_MSB] - h->MSB
+ data_u8[BNO055_SENSOR_DATA_EULER_HRP_R_LSB] - r->MSB
+ data_u8[BNO055_SENSOR_DATA_EULER_HRP_R_MSB] - r->MSB
+ data_u8[BNO055_SENSOR_DATA_EULER_HRP_P_LSB] - p->MSB
+ data_u8[BNO055_SENSOR_DATA_EULER_HRP_P_MSB] - p->MSB
*/
- u8 v_data_u8[ARRAY_SIZE_SIX] = {
- BNO055_ZERO_U8X, BNO055_ZERO_U8X,
- BNO055_ZERO_U8X, BNO055_ZERO_U8X,
- BNO055_ZERO_U8X, BNO055_ZERO_U8X};
- s8 v_stat_s8 = ERROR;
+ u8 data_u8[BNO055_EULER_HRP_DATA_SIZE] = {
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE};
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the six byte of Euler hrp data*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_EULER_H_LSB_VALUEH__REG,
- v_data_u8, BNO055_SIX_U8X);
+ BNO055_EULER_H_LSB_VALUEH_REG,
+ data_u8, BNO055_EULER_HRP_DATA_SIZE);
/* Data h*/
- v_data_u8[INDEX_ZERO] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ZERO],
+ data_u8[BNO055_SENSOR_DATA_EULER_HRP_H_LSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_EULER_HRP_H_LSB],
BNO055_EULER_H_LSB_VALUEH);
- v_data_u8[INDEX_ONE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ data_u8[BNO055_SENSOR_DATA_EULER_HRP_H_MSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_EULER_HRP_H_MSB],
BNO055_EULER_H_MSB_VALUEH);
euler->h = (s16)((((s32)
- ((s8)v_data_u8[INDEX_ONE])) <<
- BNO055_SHIFT_8_POSITION) |
- (v_data_u8[INDEX_ZERO]));
+ ((s8)data_u8[BNO055_SENSOR_DATA_EULER_HRP_H_MSB])) <<
+ BNO055_SHIFT_EIGHT_BITS) |
+ (data_u8[BNO055_SENSOR_DATA_EULER_HRP_H_LSB]));
/* Data r*/
- v_data_u8[INDEX_TWO] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_TWO],
+ data_u8[BNO055_SENSOR_DATA_EULER_HRP_R_LSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_EULER_HRP_R_LSB],
BNO055_EULER_R_LSB_VALUER);
- v_data_u8[INDEX_THREE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_THREE],
+ data_u8[BNO055_SENSOR_DATA_EULER_HRP_R_MSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_EULER_HRP_R_MSB],
BNO055_EULER_R_MSB_VALUER);
euler->r = (s16)((((s32)
- ((s8)v_data_u8[INDEX_THREE])) <<
- BNO055_SHIFT_8_POSITION)
- | (v_data_u8[INDEX_TWO]));
+ ((s8)data_u8[BNO055_SENSOR_DATA_EULER_HRP_R_MSB])) <<
+ BNO055_SHIFT_EIGHT_BITS)
+ | (data_u8[BNO055_SENSOR_DATA_EULER_HRP_R_LSB]));
/* Data p*/
- v_data_u8[INDEX_FOUR] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_FOUR],
+ data_u8[BNO055_SENSOR_DATA_EULER_HRP_P_LSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_EULER_HRP_P_LSB],
BNO055_EULER_P_LSB_VALUEP);
- v_data_u8[INDEX_FIVE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_FIVE],
+ data_u8[BNO055_SENSOR_DATA_EULER_HRP_P_MSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_EULER_HRP_P_MSB],
BNO055_EULER_P_MSB_VALUEP);
euler->p = (s16)((((s32)
- ((s8)v_data_u8[INDEX_FIVE])) <<
- BNO055_SHIFT_8_POSITION)
- | (v_data_u8[INDEX_FOUR]));
+ ((s8)data_u8[BNO055_SENSOR_DATA_EULER_HRP_P_MSB])) <<
+ BNO055_SHIFT_EIGHT_BITS)
+ | (data_u8[BNO055_SENSOR_DATA_EULER_HRP_P_LSB]));
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API reads quaternion data w values
* from register 0x20 and 0x21 it is a two byte data
*
- * @param v_quaternion_w_s16 : The raw w data
+ * @param quaternion_w_s16 : The raw w data
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_w(
-s16 *v_quaternion_w_s16)
+s16 *quaternion_w_s16)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the Quaternion w value
- v_data_u8[INDEX_ZERO] - w->LSB
- v_data_u8[INDEX_ONE] - w->MSB
+ data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB] - w->LSB
+ data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB] - w->MSB
*/
- u8 v_data_u8[ARRAY_SIZE_TWO] = {
- BNO055_ZERO_U8X, BNO055_ZERO_U8X};
- s8 v_stat_s8 = ERROR;
+ u8 data_u8[BNO055_QUATERNION_DATA_SIZE] = {
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE};
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the two byte value
of quaternion w data*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_QUATERNION_DATA_W_LSB_VALUEW__REG,
- v_data_u8, BNO055_TWO_U8X);
- v_data_u8[INDEX_ZERO] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ZERO],
+ BNO055_QUATERNION_DATA_W_LSB_VALUEW_REG,
+ data_u8, BNO055_LSB_MSB_READ_LENGTH);
+ data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB],
BNO055_QUATERNION_DATA_W_LSB_VALUEW);
- v_data_u8[INDEX_ONE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB],
BNO055_QUATERNION_DATA_W_MSB_VALUEW);
- *v_quaternion_w_s16 = (s16)((((s32)
- ((s8)v_data_u8[INDEX_ONE])) <<
- BNO055_SHIFT_8_POSITION)
- | (v_data_u8[INDEX_ZERO]));
+ *quaternion_w_s16 = (s16)((((s32)
+ ((s8)data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB])) <<
+ BNO055_SHIFT_EIGHT_BITS)
+ | (data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB]));
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API reads quaternion data x values
* from register 0x22 and 0x23 it is a two byte data
*
- * @param v_quaternion_x_s16 : The raw x data
+ * @param quaternion_x_s16 : The raw x data
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_x(
-s16 *v_quaternion_x_s16)
+s16 *quaternion_x_s16)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the quaternion x value
- v_data_u8[INDEX_ZERO] - x->LSB
- v_data_u8[INDEX_ONE] - x->MSB
+ data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB] - x->LSB
+ data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB] - x->MSB
*/
- u8 v_data_u8[ARRAY_SIZE_TWO] = {BNO055_ZERO_U8X, BNO055_ZERO_U8X};
- s8 v_stat_s8 = ERROR;
+ u8 data_u8[BNO055_QUATERNION_DATA_SIZE] = {BNO055_INIT_VALUE,
+ BNO055_INIT_VALUE};
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the two byte value
of quaternion x data*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_QUATERNION_DATA_X_LSB_VALUEX__REG,
- v_data_u8, BNO055_TWO_U8X);
- v_data_u8[INDEX_ZERO] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ZERO],
+ BNO055_QUATERNION_DATA_X_LSB_VALUEX_REG,
+ data_u8, BNO055_LSB_MSB_READ_LENGTH);
+ data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB],
BNO055_QUATERNION_DATA_X_LSB_VALUEX);
- v_data_u8[INDEX_ONE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB],
BNO055_QUATERNION_DATA_X_MSB_VALUEX);
- *v_quaternion_x_s16 = (s16)((((s32)
- ((s8)v_data_u8[INDEX_ONE])) <<
- BNO055_SHIFT_8_POSITION) | (v_data_u8[INDEX_ZERO]));
+ *quaternion_x_s16 = (s16)((((s32)
+ ((s8)data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB])) <<
+ BNO055_SHIFT_EIGHT_BITS) |
+ (data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB]));
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API reads quaternion data y values
* from register 0x24 and 0x25 it is a two byte data
*
- * @param v_quaternion_y_s16 : The raw y data
+ * @param quaternion_y_s16 : The raw y data
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_y(
-s16 *v_quaternion_y_s16)
+s16 *quaternion_y_s16)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the quaternion y value
- v_data_u8[INDEX_ZERO] - y->LSB
- v_data_u8[INDEX_ONE] - y->MSB
+ data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB] - y->LSB
+ data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB] - y->MSB
*/
- u8 v_data_u8[ARRAY_SIZE_TWO] = {BNO055_ZERO_U8X, BNO055_ZERO_U8X};
- s8 v_stat_s8 = ERROR;
+ u8 data_u8[BNO055_QUATERNION_DATA_SIZE] = {BNO055_INIT_VALUE,
+ BNO055_INIT_VALUE};
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the two byte value
of quaternion y data*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_QUATERNION_DATA_Y_LSB_VALUEY__REG,
- v_data_u8, BNO055_TWO_U8X);
- v_data_u8[INDEX_ZERO] = BNO055_GET_BITSLICE
- (v_data_u8[INDEX_ZERO],
+ BNO055_QUATERNION_DATA_Y_LSB_VALUEY_REG,
+ data_u8, BNO055_LSB_MSB_READ_LENGTH);
+ data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB],
BNO055_QUATERNION_DATA_Y_LSB_VALUEY);
- v_data_u8[INDEX_ONE] = BNO055_GET_BITSLICE
- (v_data_u8[INDEX_ONE],
+ data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB] =
+ BNO055_GET_BITSLICE
+ (data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB],
BNO055_QUATERNION_DATA_Y_MSB_VALUEY);
- *v_quaternion_y_s16 = (s16)((((s32)
- ((s8)v_data_u8[INDEX_ONE])) <<
- BNO055_SHIFT_8_POSITION)
- | (v_data_u8[INDEX_ZERO]));
+ *quaternion_y_s16 = (s16)((((s32)
+ ((s8)data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB])) <<
+ BNO055_SHIFT_EIGHT_BITS)
+ | (data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB]));
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API reads quaternion data z values
* from register 0x26 and 0x27 it is a two byte data
*
- * @param v_quaternion_z_s16 : The raw z data
+ * @param quaternion_z_s16 : The raw z data
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_z(
-s16 *v_quaternion_z_s16)
+s16 *quaternion_z_s16)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the quaternion z value
- v_data_u8[INDEX_ZERO] - z->LSB
- v_data_u8[INDEX_ONE] - z->MSB
+ data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB] - z->LSB
+ data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB] - z->MSB
*/
- u8 v_data_u8[ARRAY_SIZE_TWO] = {
- BNO055_ZERO_U8X, BNO055_ZERO_U8X};
- s8 v_stat_s8 = ERROR;
+ u8 data_u8[BNO055_QUATERNION_DATA_SIZE] = {
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE};
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the two byte value
of quaternion z data*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_QUATERNION_DATA_Z_LSB_VALUEZ__REG,
- v_data_u8, BNO055_TWO_U8X);
- v_data_u8[INDEX_ZERO] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ZERO],
+ BNO055_QUATERNION_DATA_Z_LSB_VALUEZ_REG,
+ data_u8, BNO055_LSB_MSB_READ_LENGTH);
+ data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB],
BNO055_QUATERNION_DATA_Z_LSB_VALUEZ);
- v_data_u8[INDEX_ONE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB],
BNO055_QUATERNION_DATA_Z_MSB_VALUEZ);
- *v_quaternion_z_s16 = (s16)((((s32)
- ((s8)v_data_u8[INDEX_ONE])) <<
- BNO055_SHIFT_8_POSITION)
- | (v_data_u8[INDEX_ZERO]));
+ *quaternion_z_s16 = (s16)((((s32)
+ ((s8)data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB])) <<
+ BNO055_SHIFT_EIGHT_BITS)
+ | (data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB]));
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_wxyz(
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the quaternion wxyz value
- v_data_u8[INDEX_ZERO] - w->LSB
- v_data_u8[INDEX_ONE] - w->MSB
- v_data_u8[INDEX_TWO] - x->LSB
- v_data_u8[INDEX_THREE] - x->MSB
- v_data_u8[INDEX_FOUR] - y->MSB
- v_data_u8[INDEX_FIVE] - y->MSB
- v_data_u8[6] - z->MSB
- v_data_u8[7] - z->MSB
+ data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_LSB] - w->LSB
+ data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_MSB] - w->MSB
+ data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_LSB] - x->LSB
+ data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_MSB] - x->MSB
+ data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_LSB] - y->MSB
+ data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_MSB] - y->MSB
+ data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_LSB] - z->MSB
+ data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_MSB] - z->MSB
*/
- u8 v_data_u8[ARRAY_SIZE_EIGHT] = {
- BNO055_ZERO_U8X, BNO055_ZERO_U8X,
- BNO055_ZERO_U8X, BNO055_ZERO_U8X,
- BNO055_ZERO_U8X, BNO055_ZERO_U8X,
- BNO055_ZERO_U8X, BNO055_ZERO_U8X};
- s8 v_stat_s8 = ERROR;
+ u8 data_u8[BNO055_QUATERNION_WXYZ_DATA_SIZE] = {
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE};
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the eight byte value
of quaternion wxyz data*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_QUATERNION_DATA_W_LSB_VALUEW__REG,
- v_data_u8, BNO055_EIGHT_U8X);
+ BNO055_QUATERNION_DATA_W_LSB_VALUEW_REG,
+ data_u8, BNO055_QUATERNION_WXYZ_DATA_SIZE);
/* Data W*/
- v_data_u8[INDEX_ZERO] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ZERO],
+ data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_LSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_LSB],
BNO055_QUATERNION_DATA_W_LSB_VALUEW);
- v_data_u8[INDEX_ONE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_MSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_MSB],
BNO055_QUATERNION_DATA_W_MSB_VALUEW);
- quaternion->w = (s16)((((s32)
- ((s8)v_data_u8[INDEX_ONE])) <<
- BNO055_SHIFT_8_POSITION) |
- (v_data_u8[INDEX_ZERO]));
+ quaternion->w = (s16)((((s32)((s8)
+ data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_MSB])) <<
+ BNO055_SHIFT_EIGHT_BITS) |
+ (data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_LSB]));
/* Data X*/
- v_data_u8[INDEX_TWO] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_TWO],
+ data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_LSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_LSB],
BNO055_QUATERNION_DATA_X_LSB_VALUEX);
- v_data_u8[INDEX_THREE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_THREE],
+ data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_MSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_MSB],
BNO055_QUATERNION_DATA_X_MSB_VALUEX);
- quaternion->x = (s16)((((s32)
- ((s8)v_data_u8[INDEX_THREE])) <<
- BNO055_SHIFT_8_POSITION) |
- (v_data_u8[INDEX_TWO]));
+ quaternion->x = (s16)((((s32)((s8)
+ data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_MSB])) <<
+ BNO055_SHIFT_EIGHT_BITS) |
+ (data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_LSB]));
/* Data Y*/
- v_data_u8[INDEX_FOUR] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_FOUR],
+ data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_LSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_LSB],
BNO055_QUATERNION_DATA_Y_LSB_VALUEY);
- v_data_u8[INDEX_FIVE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_FIVE],
+ data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_MSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_MSB],
BNO055_QUATERNION_DATA_Y_MSB_VALUEY);
- quaternion->y = (s16)((((s32)
- ((s8)v_data_u8[INDEX_FIVE])) <<
- BNO055_SHIFT_8_POSITION) |
- (v_data_u8[INDEX_FOUR]));
+ quaternion->y = (s16)((((s32)((s8)
+ data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_MSB])) <<
+ BNO055_SHIFT_EIGHT_BITS) |
+ (data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_LSB]));
/* Data Z*/
- v_data_u8[INDEX_SIX] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_SIX],
+ data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_LSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_LSB],
BNO055_QUATERNION_DATA_Z_LSB_VALUEZ);
- v_data_u8[INDEX_SEVEN] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_SEVEN],
+ data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_MSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_MSB],
BNO055_QUATERNION_DATA_Z_MSB_VALUEZ);
- quaternion->z = (s16)((((s32)
- ((s8)v_data_u8[INDEX_SEVEN])) <<
- BNO055_SHIFT_8_POSITION) |
- (v_data_u8[INDEX_SIX]));
+ quaternion->z = (s16)((((s32)((s8)
+ data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_MSB])) <<
+ BNO055_SHIFT_EIGHT_BITS) |
+ (data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_LSB]));
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API reads Linear accel data x values
* from register 0x29 and 0x2A it is a two byte data
*
- * @param v_linear_accel_x_s16 : The raw x data
+ * @param linear_accel_x_s16 : The raw x data
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_x(
-s16 *v_linear_accel_x_s16)
+s16 *linear_accel_x_s16)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the linear accel x value
- v_data_u8[INDEX_ZERO] - x->LSB
- v_data_u8[INDEX_ONE] - x->MSB
+ data_u8[BNO055_SENSOR_DATA_LSB] - x->LSB
+ data_u8[BNO055_SENSOR_DATA_MSB] - x->MSB
*/
- u8 v_data_u8[ARRAY_SIZE_TWO] = {
- BNO055_ZERO_U8X, BNO055_ZERO_U8X};
- s8 v_stat_s8 = ERROR;
+ u8 data_u8[BNO055_ACCEL_DATA_SIZE] = {
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE};
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the two byte value
of linear accel x data*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX__REG,
- v_data_u8, BNO055_TWO_U8X);
- v_data_u8[INDEX_ZERO] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ZERO],
+ BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX_REG,
+ data_u8, BNO055_LSB_MSB_READ_LENGTH);
+ data_u8[BNO055_SENSOR_DATA_LSB] =
+ BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB],
BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX);
- v_data_u8[INDEX_ONE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ data_u8[BNO055_SENSOR_DATA_MSB] =
+ BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB],
BNO055_LINEAR_ACCEL_DATA_X_MSB_VALUEX);
- *v_linear_accel_x_s16 = (s16)((((s32)
- ((s8)v_data_u8[INDEX_ONE])) <<
- BNO055_SHIFT_8_POSITION)
- | (v_data_u8[INDEX_ZERO]));
+ *linear_accel_x_s16 = (s16)((((s32)
+ ((s8)data_u8[BNO055_SENSOR_DATA_MSB])) <<
+ BNO055_SHIFT_EIGHT_BITS)
+ | (data_u8[BNO055_SENSOR_DATA_LSB]));
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API reads Linear accel data x values
* from register 0x2B and 0x2C it is a two byte data
*
- * @param v_linear_accel_y_s16 : The raw y data
+ * @param linear_accel_y_s16 : The raw y data
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_y(
-s16 *v_linear_accel_y_s16)
+s16 *linear_accel_y_s16)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the linear accel y value
- v_data_u8[INDEX_ZERO] - y->LSB
- v_data_u8[INDEX_ONE] - y->MSB
+ data_u8[BNO055_SENSOR_DATA_LSB] - y->LSB
+ data_u8[BNO055_SENSOR_DATA_MSB] - y->MSB
*/
- u8 v_data_u8[ARRAY_SIZE_TWO] = {
- BNO055_ZERO_U8X, BNO055_ZERO_U8X};
- s8 v_stat_s8 = ERROR;
+ u8 data_u8[BNO055_ACCEL_DATA_SIZE] = {
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE};
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the two byte value
of linear accel y data*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY__REG,
- v_data_u8, BNO055_TWO_U8X);
- v_data_u8[INDEX_ZERO] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ZERO],
+ BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY_REG,
+ data_u8, BNO055_LSB_MSB_READ_LENGTH);
+ data_u8[BNO055_SENSOR_DATA_LSB] =
+ BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB],
BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY);
- v_data_u8[INDEX_ONE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ data_u8[BNO055_SENSOR_DATA_MSB] =
+ BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB],
BNO055_LINEAR_ACCEL_DATA_Y_MSB_VALUEY);
- *v_linear_accel_y_s16 = (s16)((((s32)
- ((s8)v_data_u8[INDEX_ONE])) <<
- BNO055_SHIFT_8_POSITION) | (v_data_u8[INDEX_ZERO]));
+ *linear_accel_y_s16 = (s16)((((s32)
+ ((s8)data_u8[BNO055_SENSOR_DATA_MSB])) <<
+ BNO055_SHIFT_EIGHT_BITS) | (
+ data_u8[BNO055_SENSOR_DATA_LSB]));
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API reads Linear accel data x values
* from register 0x2C and 0x2D it is a two byte data
*
- * @param v_linear_accel_z_s16 : The raw z data
+ * @param linear_accel_z_s16 : The raw z data
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_z(
-s16 *v_linear_accel_z_s16)
+s16 *linear_accel_z_s16)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the linear accel z value
- v_data_u8[INDEX_ZERO] - z->LSB
- v_data_u8[INDEX_ONE] - z->MSB
+ data_u8[BNO055_SENSOR_DATA_LSB] - z->LSB
+ data_u8[BNO055_SENSOR_DATA_MSB] - z->MSB
*/
- u8 v_data_u8[ARRAY_SIZE_TWO] = {
- BNO055_ZERO_U8X, BNO055_ZERO_U8X};
- s8 v_stat_s8 = ERROR;
+ u8 data_u8[BNO055_ACCEL_DATA_SIZE] = {
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE};
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the two byte value
of linear accel z data*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ__REG,
- v_data_u8, BNO055_TWO_U8X);
- v_data_u8[INDEX_ZERO] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ZERO],
+ BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ_REG,
+ data_u8, BNO055_LSB_MSB_READ_LENGTH);
+ data_u8[BNO055_SENSOR_DATA_LSB] =
+ BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB],
BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ);
- v_data_u8[INDEX_ONE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ data_u8[BNO055_SENSOR_DATA_MSB] =
+ BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB],
BNO055_LINEAR_ACCEL_DATA_Z_MSB_VALUEZ);
- *v_linear_accel_z_s16 = (s16)((((s32)
- ((s8)v_data_u8[INDEX_ONE])) <<
- BNO055_SHIFT_8_POSITION) | (v_data_u8[INDEX_ZERO]));
+ *linear_accel_z_s16 = (s16)((((s32)
+ ((s8)data_u8[BNO055_SENSOR_DATA_MSB])) <<
+ BNO055_SHIFT_EIGHT_BITS) | (
+ data_u8[BNO055_SENSOR_DATA_LSB]));
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_xyz(
struct bno055_linear_accel_t *linear_accel)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the linear accel xyz value
- v_data_u8[INDEX_ZERO] - x->LSB
- v_data_u8[INDEX_ONE] - x->MSB
- v_data_u8[INDEX_TWO] - y->MSB
- v_data_u8[INDEX_THREE] - y->MSB
- v_data_u8[INDEX_FOUR] - z->MSB
- v_data_u8[INDEX_FIVE] - z->MSB
+ data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB] - x->LSB
+ data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB] - x->MSB
+ data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB] - y->MSB
+ data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB] - y->MSB
+ data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB] - z->MSB
+ data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB] - z->MSB
*/
- u8 v_data_u8[ARRAY_SIZE_SIX] = {
- BNO055_ZERO_U8X, BNO055_ZERO_U8X,
- BNO055_ZERO_U8X, BNO055_ZERO_U8X,
- BNO055_ZERO_U8X, BNO055_ZERO_U8X};
- s8 v_stat_s8 = ERROR;
+ u8 data_u8[BNO055_ACCEL_XYZ_DATA_SIZE] = {
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE};
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the six byte value
of linear accel xyz data*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX__REG,
- v_data_u8, BNO055_SIX_U8X);
+ BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX_REG,
+ data_u8, BNO055_ACCEL_XYZ_DATA_SIZE);
/* Data x*/
- v_data_u8[INDEX_ZERO] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ZERO],
+ data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB],
BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX);
- v_data_u8[INDEX_ONE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB],
BNO055_LINEAR_ACCEL_DATA_X_MSB_VALUEX);
linear_accel->x = (s16)((((s32)
- ((s8)v_data_u8[INDEX_ONE])) <<
- BNO055_SHIFT_8_POSITION)
- | (v_data_u8[INDEX_ZERO]));
+ ((s8)data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB])) <<
+ BNO055_SHIFT_EIGHT_BITS)
+ | (data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB]));
/* Data y*/
- v_data_u8[INDEX_TWO] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_TWO],
+ data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB],
BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY);
- v_data_u8[INDEX_THREE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_THREE],
+ data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB],
BNO055_LINEAR_ACCEL_DATA_Y_MSB_VALUEY);
linear_accel->y = (s16)((((s32)
- ((s8)v_data_u8[INDEX_THREE])) <<
- BNO055_SHIFT_8_POSITION)
- | (v_data_u8[INDEX_TWO]));
+ ((s8)data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB])) <<
+ BNO055_SHIFT_EIGHT_BITS)
+ | (data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB]));
/* Data z*/
- v_data_u8[INDEX_FOUR] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_FOUR],
+ data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB],
BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ);
- v_data_u8[INDEX_FIVE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_FIVE],
+ data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB],
BNO055_LINEAR_ACCEL_DATA_Z_MSB_VALUEZ);
linear_accel->z = (s16)((((s32)
- ((s8)v_data_u8[INDEX_FIVE])) <<
- BNO055_SHIFT_8_POSITION)
- | (v_data_u8[INDEX_FOUR]));
+ ((s8)data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB])) <<
+ BNO055_SHIFT_EIGHT_BITS)
+ | (data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB]));
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API reads gravity data x values
* from register 0x2E and 0x2F it is a two byte data
*
- * @param v_gravity_x_s16 : The raw x data
+ * @param gravity_x_s16 : The raw x data
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_x(
-s16 *v_gravity_x_s16)
+s16 *gravity_x_s16)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the gravity x value
- v_data_u8[INDEX_ZERO] - x->LSB
- v_data_u8[INDEX_ONE] - x->MSB
+ data_u8[BNO055_SENSOR_DATA_LSB] - x->LSB
+ data_u8[BNO055_SENSOR_DATA_MSB] - x->MSB
*/
- u8 v_data_u8[ARRAY_SIZE_TWO] = {
- BNO055_ZERO_U8X, BNO055_ZERO_U8X};
- s8 v_stat_s8 = ERROR;
+ u8 data_u8[BNO055_GRAVITY_DATA_SIZE] = {
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE};
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the two byte value
of gravity x data*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GRAVITY_DATA_X_LSB_VALUEX__REG,
- v_data_u8, BNO055_TWO_U8X);
- v_data_u8[INDEX_ZERO] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ZERO],
+ BNO055_GRAVITY_DATA_X_LSB_VALUEX_REG,
+ data_u8, BNO055_LSB_MSB_READ_LENGTH);
+ data_u8[BNO055_SENSOR_DATA_LSB] =
+ BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB],
BNO055_GRAVITY_DATA_X_LSB_VALUEX);
- v_data_u8[INDEX_ONE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ data_u8[BNO055_SENSOR_DATA_MSB] =
+ BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB],
BNO055_GRAVITY_DATA_X_MSB_VALUEX);
- *v_gravity_x_s16 = (s16)((((s32)
- ((s8)v_data_u8[INDEX_ONE])) <<
- BNO055_SHIFT_8_POSITION)
- | (v_data_u8[INDEX_ZERO]));
+ *gravity_x_s16 = (s16)((((s32)
+ ((s8)data_u8[BNO055_SENSOR_DATA_MSB])) <<
+ BNO055_SHIFT_EIGHT_BITS)
+ | (data_u8[BNO055_SENSOR_DATA_LSB]));
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API reads gravity data y values
* from register 0x30 and 0x31 it is a two byte data
*
- * @param v_gravity_y_s16 : The raw y data
+ * @param gravity_y_s16 : The raw y data
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_y(
-s16 *v_gravity_y_s16)
+s16 *gravity_y_s16)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the gravity y value
- v_data_u8[INDEX_ZERO] - y->LSB
- v_data_u8[INDEX_ONE] - y->MSB
+ data_u8[BNO055_SENSOR_DATA_LSB] - y->LSB
+ data_u8[BNO055_SENSOR_DATA_MSB] - y->MSB
*/
- u8 v_data_u8[ARRAY_SIZE_TWO] = {
- BNO055_ZERO_U8X, BNO055_ZERO_U8X};
- s8 v_stat_s8 = ERROR;
+ u8 data_u8[BNO055_GRAVITY_DATA_SIZE] = {
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE};
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the two byte value
of gravity y data*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GRAVITY_DATA_Y_LSB_VALUEY__REG,
- v_data_u8, BNO055_TWO_U8X);
- v_data_u8[INDEX_ZERO] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ZERO],
+ BNO055_GRAVITY_DATA_Y_LSB_VALUEY_REG,
+ data_u8, BNO055_LSB_MSB_READ_LENGTH);
+ data_u8[BNO055_SENSOR_DATA_LSB] =
+ BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB],
BNO055_GRAVITY_DATA_Y_LSB_VALUEY);
- v_data_u8[INDEX_ONE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ data_u8[BNO055_SENSOR_DATA_MSB] =
+ BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB],
BNO055_GRAVITY_DATA_Y_MSB_VALUEY);
- *v_gravity_y_s16 = (s16)((((s32)
- ((s8)v_data_u8[INDEX_ONE])) <<
- BNO055_SHIFT_8_POSITION)
- | (v_data_u8[INDEX_ZERO]));
+ *gravity_y_s16 = (s16)((((s32)
+ ((s8)data_u8[BNO055_SENSOR_DATA_MSB])) <<
+ BNO055_SHIFT_EIGHT_BITS)
+ | (data_u8[BNO055_SENSOR_DATA_LSB]));
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API reads gravity data z values
* from register 0x32 and 0x33 it is a two byte data
*
- * @param v_gravity_z_s16 : The raw z data
+ * @param gravity_z_s16 : The raw z data
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_z(
-s16 *v_gravity_z_s16)
+s16 *gravity_z_s16)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the gravity z value
- v_data_u8[INDEX_ZERO] - z->LSB
- v_data_u8[INDEX_ONE] - z->MSB
+ data_u8[BNO055_SENSOR_DATA_LSB] - z->LSB
+ data_u8[BNO055_SENSOR_DATA_MSB] - z->MSB
*/
- u8 v_data_u8[ARRAY_SIZE_TWO] = {
- BNO055_ZERO_U8X, BNO055_ZERO_U8X};
- s8 v_stat_s8 = ERROR;
+ u8 data_u8[BNO055_GRAVITY_DATA_SIZE] = {
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE};
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the two byte value
of gravity z data*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GRAVITY_DATA_Z_LSB_VALUEZ__REG,
- v_data_u8, BNO055_TWO_U8X);
- v_data_u8[INDEX_ZERO] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ZERO],
+ BNO055_GRAVITY_DATA_Z_LSB_VALUEZ_REG,
+ data_u8, BNO055_LSB_MSB_READ_LENGTH);
+ data_u8[BNO055_SENSOR_DATA_LSB] =
+ BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB],
BNO055_GRAVITY_DATA_Z_LSB_VALUEZ);
- v_data_u8[INDEX_ONE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ data_u8[BNO055_SENSOR_DATA_MSB] =
+ BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB],
BNO055_GRAVITY_DATA_Z_MSB_VALUEZ);
- *v_gravity_z_s16 = (s16)((((s32)
- ((s8)v_data_u8[INDEX_ONE])) <<
- BNO055_SHIFT_8_POSITION)
- | (v_data_u8[INDEX_ZERO]));
+ *gravity_z_s16 = (s16)((((s32)
+ ((s8)data_u8[BNO055_SENSOR_DATA_MSB])) <<
+ BNO055_SHIFT_EIGHT_BITS)
+ | (data_u8[BNO055_SENSOR_DATA_LSB]));
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_xyz(
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the gravity xyz value
- v_data_u8[INDEX_ZERO] - x->LSB
- v_data_u8[INDEX_ONE] - x->MSB
- v_data_u8[INDEX_TWO] - y->MSB
- v_data_u8[INDEX_THREE] - y->MSB
- v_data_u8[INDEX_FOUR] - z->MSB
- v_data_u8[INDEX_FIVE] - z->MSB
+ data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB] - x->LSB
+ data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB] - x->MSB
+ data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB] - y->MSB
+ data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB] - y->MSB
+ data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB] - z->MSB
+ data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB] - z->MSB
*/
- u8 v_data_u8[ARRAY_SIZE_SIX] = {
- BNO055_ZERO_U8X, BNO055_ZERO_U8X,
- BNO055_ZERO_U8X, BNO055_ZERO_U8X,
- BNO055_ZERO_U8X, BNO055_ZERO_U8X};
- s8 v_stat_s8 = ERROR;
+ u8 data_u8[BNO055_GRAVITY_XYZ_DATA_SIZE] = {
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE};
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the six byte value
of gravity xyz data*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GRAVITY_DATA_X_LSB_VALUEX__REG,
- v_data_u8, BNO055_SIX_U8X);
+ BNO055_GRAVITY_DATA_X_LSB_VALUEX_REG,
+ data_u8, BNO055_GRAVITY_XYZ_DATA_SIZE);
/* Data x*/
- v_data_u8[INDEX_ZERO] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ZERO],
+ data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB],
BNO055_GRAVITY_DATA_X_LSB_VALUEX);
- v_data_u8[INDEX_ONE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB],
BNO055_GRAVITY_DATA_X_MSB_VALUEX);
gravity->x = (s16)(((s32)
- ((s8)v_data_u8[INDEX_ONE]) <<
- BNO055_SHIFT_8_POSITION) |
- (v_data_u8[INDEX_ZERO]));
+ ((s8)data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB]) <<
+ BNO055_SHIFT_EIGHT_BITS) |
+ (data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB]));
/* Data y*/
- v_data_u8[INDEX_TWO] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_TWO],
+ data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB],
BNO055_GRAVITY_DATA_Y_LSB_VALUEY);
- v_data_u8[INDEX_THREE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_THREE],
+ data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB],
BNO055_GRAVITY_DATA_Y_MSB_VALUEY);
gravity->y = (s16)((((s32)
- ((s8)v_data_u8[INDEX_THREE])) <<
- BNO055_SHIFT_8_POSITION) | (v_data_u8[INDEX_TWO]));
+ ((s8)data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB])) <<
+ BNO055_SHIFT_EIGHT_BITS) | (
+ data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB]));
/* Data z*/
- v_data_u8[INDEX_FOUR] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_FOUR],
+ data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB],
BNO055_GRAVITY_DATA_Z_LSB_VALUEZ);
- v_data_u8[INDEX_FIVE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_FIVE],
+ data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB],
BNO055_GRAVITY_DATA_Z_MSB_VALUEZ);
gravity->z = (s16)((((s32)
- ((s8)v_data_u8[INDEX_FIVE])) <<
- BNO055_SHIFT_8_POSITION)
- | (v_data_u8[INDEX_FOUR]));
+ ((s8)data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB])) <<
+ BNO055_SHIFT_EIGHT_BITS)
+ | (data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB]));
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API reads temperature values
* from register 0x33 it is a byte data
*
- * @param v_temp_s8 : The raw temperature data
+ * @param temp_s8 : The raw temperature data
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_read_temp_data(s8 *v_temp_s8)
+BNO055_RETURN_FUNCTION_TYPE bno055_read_temp_data(s8 *temp_s8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8 = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8 = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the raw temperature data */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_TEMP__REG, &v_data_u8, BNO055_ONE_U8X);
- *v_temp_s8 = v_data_u8;
+ BNO055_TEMP_REG, &data_u8,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ *temp_s8 = data_u8;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API is used to convert the accel x raw data
* to meterpersecseq output as float
*
- * @param v_accel_x_f : The accel x meterpersecseq data
+ * @param accel_x_f : The accel x meterpersecseq data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_x_msq(
-float *v_accel_x_f)
+float *accel_x_f)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s16 v_reg_accel_x_s16 = BNO055_ZERO_U8X;
- float v_data_f = BNO055_ZERO_U8X;
- u8 v_accel_unit_u8 = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s16 reg_accel_x_s16 = BNO055_INIT_VALUE;
+ float data_f = BNO055_INIT_VALUE;
+ u8 accel_unit_u8 = BNO055_INIT_VALUE;
/* Read the current accel unit and set the
unit as m/s2 if the unit is in mg*/
- com_rslt = bno055_get_accel_unit(&v_accel_unit_u8);
- if (v_accel_unit_u8 != ACCEL_UNIT_MSQ)
- com_rslt += bno055_set_accel_unit(ACCEL_UNIT_MSQ);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_get_accel_unit(&accel_unit_u8);
+ if (accel_unit_u8 != BNO055_ACCEL_UNIT_MSQ)
+ com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MSQ);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read the accel raw x data*/
- com_rslt += bno055_read_accel_x(&v_reg_accel_x_s16);
- p_bno055->delay_msec(BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
+ com_rslt += bno055_read_accel_x(®_accel_x_s16);
+ p_bno055->delay_msec(BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw accel x to m/s2*/
- v_data_f =
- (float)(v_reg_accel_x_s16/ACCEL_DIV_MSQ);
- *v_accel_x_f = v_data_f;
+ data_f =
+ (float)(reg_accel_x_s16/BNO055_ACCEL_DIV_MSQ);
+ *accel_x_f = data_f;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the accel x raw data
* to millig output as float
*
- * @param v_accel_x_f : The accel x millig data
+ * @param accel_x_f : The accel x millig data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_x_mg(
-float *v_accel_x_f)
+float *accel_x_f)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s16 v_reg_accel_x_s16 = BNO055_ZERO_U8X;
- float v_data_f = BNO055_ZERO_U8X;
- u8 v_accel_unit_u8 = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s16 reg_accel_x_s16 = BNO055_INIT_VALUE;
+ float data_f = BNO055_INIT_VALUE;
+ u8 accel_unit_u8 = BNO055_INIT_VALUE;
/* Read the current accel unit and set the
unit as mg if the unit is in m/s2*/
- com_rslt = bno055_get_accel_unit(&v_accel_unit_u8);
- if (v_accel_unit_u8 != ACCEL_UNIT_MG)
- com_rslt += bno055_set_accel_unit(ACCEL_UNIT_MG);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_get_accel_unit(&accel_unit_u8);
+ if (accel_unit_u8 != BNO055_ACCEL_UNIT_MG)
+ com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MG);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read the accel raw x data*/
- com_rslt += bno055_read_accel_x(&v_reg_accel_x_s16);
- if (com_rslt == SUCCESS) {
+ com_rslt += bno055_read_accel_x(®_accel_x_s16);
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw accel x to m/s2*/
- v_data_f =
- (float)(v_reg_accel_x_s16/ACCEL_DIV_MG);
- *v_accel_x_f = v_data_f;
+ data_f =
+ (float)(reg_accel_x_s16/BNO055_ACCEL_DIV_MG);
+ *accel_x_f = data_f;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the accel x raw data
* to meterpersecseq output as float
*
- * @param v_accel_y_f : The accel y meterpersecseq data
+ * @param accel_y_f : The accel y meterpersecseq data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_y_msq(
-float *v_accel_y_f)
+float *accel_y_f)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s16 v_reg_accel_y_s16 = BNO055_ZERO_U8X;
- float v_data_f = BNO055_ZERO_U8X;
- u8 v_accel_unit_u8 = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s16 reg_accel_y_s16 = BNO055_INIT_VALUE;
+ float data_f = BNO055_INIT_VALUE;
+ u8 accel_unit_u8 = BNO055_INIT_VALUE;
/* Read the current accel unit and set the
unit as m/s2 if the unit is in mg*/
- com_rslt = bno055_get_accel_unit(&v_accel_unit_u8);
- if (v_accel_unit_u8 != ACCEL_UNIT_MSQ)
- com_rslt += bno055_set_accel_unit(ACCEL_UNIT_MSQ);
- if (com_rslt == SUCCESS) {
- com_rslt += bno055_read_accel_y(&v_reg_accel_y_s16);
- p_bno055->delay_msec(BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_get_accel_unit(&accel_unit_u8);
+ if (accel_unit_u8 != BNO055_ACCEL_UNIT_MSQ)
+ com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MSQ);
+ if (com_rslt == BNO055_SUCCESS) {
+ com_rslt += bno055_read_accel_y(®_accel_y_s16);
+ p_bno055->delay_msec(BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw accel y to m/s2*/
- v_data_f =
- (float)(v_reg_accel_y_s16/ACCEL_DIV_MSQ);
- *v_accel_y_f = v_data_f;
+ data_f =
+ (float)(reg_accel_y_s16/BNO055_ACCEL_DIV_MSQ);
+ *accel_y_f = data_f;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the accel y raw data
* to millig output as float
*
- * @param v_accel_y_f : The accel y millig data
+ * @param accel_y_f : The accel y millig data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_y_mg(
-float *v_accel_y_f)
+float *accel_y_f)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s16 v_reg_accel_y_s16 = BNO055_ZERO_U8X;
- float data = BNO055_ZERO_U8X;
- u8 v_accel_unit_u8 = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s16 reg_accel_y_s16 = BNO055_INIT_VALUE;
+ float data = BNO055_INIT_VALUE;
+ u8 accel_unit_u8 = BNO055_INIT_VALUE;
/* Read the current accel unit and set the
unit as mg if the unit is in m/s2*/
- com_rslt = bno055_get_accel_unit(&v_accel_unit_u8);
- if (v_accel_unit_u8 != ACCEL_UNIT_MG)
- com_rslt += bno055_set_accel_unit(ACCEL_UNIT_MG);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_get_accel_unit(&accel_unit_u8);
+ if (accel_unit_u8 != BNO055_ACCEL_UNIT_MG)
+ com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MG);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read the accel raw z data*/
- com_rslt += bno055_read_accel_y(&v_reg_accel_y_s16);
- if (com_rslt == SUCCESS) {
+ com_rslt += bno055_read_accel_y(®_accel_y_s16);
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw accel z to mg*/
- data = (float)(v_reg_accel_y_s16/ACCEL_DIV_MG);
- *v_accel_y_f = data;
+ data = (float)(
+ reg_accel_y_s16/BNO055_ACCEL_DIV_MG);
+ *accel_y_f = data;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the accel z raw data
* to meterpersecseq output as float
*
- * @param v_accel_z_f : The accel z meterpersecseq data
+ * @param accel_z_f : The accel z meterpersecseq data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_z_msq(
-float *v_accel_z_f)
+float *accel_z_f)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s16 v_reg_accel_z_s16 = BNO055_ZERO_U8X;
- float v_data_f = BNO055_ZERO_U8X;
- u8 v_accel_unit_u8 = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s16 reg_accel_z_s16 = BNO055_INIT_VALUE;
+ float data_f = BNO055_INIT_VALUE;
+ u8 accel_unit_u8 = BNO055_INIT_VALUE;
/* Read the current accel unit and set the
unit as m/s2 if the unit is in mg*/
- com_rslt = bno055_get_accel_unit(&v_accel_unit_u8);
- if (v_accel_unit_u8 != ACCEL_UNIT_MSQ)
- com_rslt += bno055_set_accel_unit(ACCEL_UNIT_MSQ);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_get_accel_unit(&accel_unit_u8);
+ if (accel_unit_u8 != BNO055_ACCEL_UNIT_MSQ)
+ com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MSQ);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read the accel raw z data*/
- com_rslt += bno055_read_accel_z(&v_reg_accel_z_s16);
- p_bno055->delay_msec(BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
+ com_rslt += bno055_read_accel_z(®_accel_z_s16);
+ p_bno055->delay_msec(BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw accel z to m/s2*/
- v_data_f =
- (float)(v_reg_accel_z_s16/ACCEL_DIV_MSQ);
- *v_accel_z_f = v_data_f;
+ data_f =
+ (float)(reg_accel_z_s16/BNO055_ACCEL_DIV_MSQ);
+ *accel_z_f = data_f;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the accel z raw data
* to millig output as float
*
- * @param v_accel_z_f : The accel z millig data
+ * @param accel_z_f : The accel z millig data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_z_mg(
-float *v_accel_z_f)
+float *accel_z_f)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s16 v_reg_accel_z_s16 = BNO055_ZERO_U8X;
- float v_data_f = BNO055_ZERO_U8X;
- u8 v_accel_unit_u8 = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s16 reg_accel_z_s16 = BNO055_INIT_VALUE;
+ float data_f = BNO055_INIT_VALUE;
+ u8 accel_unit_u8 = BNO055_INIT_VALUE;
/* Read the current accel unit and set the
unit as mg if the unit is in m/s2 */
- com_rslt = bno055_get_accel_unit(&v_accel_unit_u8);
- if (v_accel_unit_u8 != ACCEL_UNIT_MG)
- com_rslt += bno055_set_accel_unit(ACCEL_UNIT_MG);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_get_accel_unit(&accel_unit_u8);
+ if (accel_unit_u8 != BNO055_ACCEL_UNIT_MG)
+ com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MG);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read the accel raw z data*/
- com_rslt += bno055_read_accel_z(&v_reg_accel_z_s16);
- if (com_rslt == SUCCESS) {
+ com_rslt += bno055_read_accel_z(®_accel_z_s16);
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw accel x to mg*/
- v_data_f =
- (float)(v_reg_accel_z_s16/ACCEL_DIV_MG);
- *v_accel_z_f = v_data_f;
+ data_f =
+ (float)(reg_accel_z_s16/BNO055_ACCEL_DIV_MG);
+ *accel_z_f = data_f;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
* z | meterpersecseq data of accel
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
struct bno055_accel_t reg_accel_xyz = {
- BNO055_ZERO_U8X, BNO055_ZERO_U8X, BNO055_ZERO_U8X};
- u8 v_accel_unit_u8 = BNO055_ZERO_U8X;
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE};
+ u8 accel_unit_u8 = BNO055_INIT_VALUE;
/* Read the current accel unit and set the
unit as m/s2 if the unit is in mg*/
- com_rslt = bno055_get_accel_unit(&v_accel_unit_u8);
- if (v_accel_unit_u8 != ACCEL_UNIT_MSQ)
- com_rslt += bno055_set_accel_unit(ACCEL_UNIT_MSQ);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_get_accel_unit(&accel_unit_u8);
+ if (accel_unit_u8 != BNO055_ACCEL_UNIT_MSQ)
+ com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MSQ);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read the accel raw xyz data*/
com_rslt += bno055_read_accel_xyz(®_accel_xyz);
- if (com_rslt == SUCCESS) {
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert the accel raw xyz to meterpersecseq*/
accel_xyz->x =
- (float)(reg_accel_xyz.x/ACCEL_DIV_MSQ);
+ (float)(reg_accel_xyz.x/BNO055_ACCEL_DIV_MSQ);
accel_xyz->y =
- (float)(reg_accel_xyz.y/ACCEL_DIV_MSQ);
+ (float)(reg_accel_xyz.y/BNO055_ACCEL_DIV_MSQ);
accel_xyz->z =
- (float)(reg_accel_xyz.z/ACCEL_DIV_MSQ);
+ (float)(reg_accel_xyz.z/BNO055_ACCEL_DIV_MSQ);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
struct bno055_accel_t reg_accel_xyz = {
- BNO055_ZERO_U8X, BNO055_ZERO_U8X, BNO055_ZERO_U8X};
- u8 v_accel_unit_u8 = BNO055_ZERO_U8X;
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE};
+ u8 accel_unit_u8 = BNO055_INIT_VALUE;
/* Read the current accel unit and set the
unit as mg if the unit is in m/s2*/
- com_rslt = bno055_get_accel_unit(&v_accel_unit_u8);
- if (v_accel_unit_u8 != ACCEL_UNIT_MG)
- com_rslt += bno055_set_accel_unit(ACCEL_UNIT_MG);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_get_accel_unit(&accel_unit_u8);
+ if (accel_unit_u8 != BNO055_ACCEL_UNIT_MG)
+ com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MG);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read the accel raw y data*/
com_rslt += bno055_read_accel_xyz(®_accel_xyz);
- if (com_rslt == SUCCESS) {
+ if (com_rslt == BNO055_SUCCESS) {
/*Convert the accel raw xyz to millig */
accel_xyz->x =
- (float)(reg_accel_xyz.x/ACCEL_DIV_MG);
+ (float)(reg_accel_xyz.x/BNO055_ACCEL_DIV_MG);
accel_xyz->y =
- (float)(reg_accel_xyz.y/ACCEL_DIV_MG);
+ (float)(reg_accel_xyz.y/BNO055_ACCEL_DIV_MG);
accel_xyz->z =
- (float)(reg_accel_xyz.z/ACCEL_DIV_MG);
+ (float)(reg_accel_xyz.z/BNO055_ACCEL_DIV_MG);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the mag x raw data
* to microTesla output as float
*
- * @param v_mag_x_f : The mag x microTesla data
+ * @param mag_x_f : The mag x microTesla data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_x_uT(
-float *v_mag_x_f)
+float *mag_x_f)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s16 v_reg_mag_x_s16 = BNO055_ZERO_U8X;
- float v_data_f = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s16 reg_mag_x_s16 = BNO055_INIT_VALUE;
+ float data_f = BNO055_INIT_VALUE;
/* Read raw mag x data */
- com_rslt = bno055_read_mag_x(&v_reg_mag_x_s16);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_read_mag_x(®_mag_x_s16);
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw mag x to microTesla*/
- v_data_f = (float)(v_reg_mag_x_s16/MAG_DIV_UT);
- *v_mag_x_f = v_data_f;
+ data_f = (float)(reg_mag_x_s16/BNO055_MAG_DIV_UT);
+ *mag_x_f = data_f;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the mag y raw data
* to microTesla output as float
*
- * @param v_mag_y_f : The mag y microTesla data
+ * @param mag_y_f : The mag y microTesla data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_y_uT(
-float *v_mag_y_f)
+float *mag_y_f)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s16 v_reg_mag_y_s16 = BNO055_ZERO_U8X;
- float v_data_f = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s16 reg_mag_y_s16 = BNO055_INIT_VALUE;
+ float data_f = BNO055_INIT_VALUE;
/* Read raw mag y data */
- com_rslt = bno055_read_mag_y(&v_reg_mag_y_s16);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_read_mag_y(®_mag_y_s16);
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw mag y to microTesla*/
- v_data_f = (float)(v_reg_mag_y_s16/MAG_DIV_UT);
- *v_mag_y_f = v_data_f;
+ data_f = (float)(reg_mag_y_s16/BNO055_MAG_DIV_UT);
+ *mag_y_f = data_f;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the mag z raw data
* to microTesla output as float
*
- * @param v_mag_z_f : The mag z microTesla data
+ * @param mag_z_f : The mag z microTesla data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_z_uT(
-float *v_mag_z_f)
+float *mag_z_f)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s16 v_reg_mag_z_s16 = BNO055_ZERO_U8X;
- float v_data_f = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s16 reg_mag_z_s16 = BNO055_INIT_VALUE;
+ float data_f = BNO055_INIT_VALUE;
/* Read raw mag z data */
- com_rslt = bno055_read_mag_z(&v_reg_mag_z_s16);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_read_mag_z(®_mag_z_s16);
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw mag z to microTesla*/
- v_data_f = (float)(v_reg_mag_z_s16/MAG_DIV_UT);
- *v_mag_z_f = v_data_f;
+ data_f = (float)(reg_mag_z_s16/BNO055_MAG_DIV_UT);
+ *mag_z_f = data_f;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_xyz_uT(
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
struct bno055_mag_t mag_xyz = {
- BNO055_ZERO_U8X, BNO055_ZERO_U8X, BNO055_ZERO_U8X};
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE};
/* Read raw mag x data */
com_rslt = bno055_read_mag_xyz(&mag_xyz);
- if (com_rslt == SUCCESS) {
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert mag raw xyz to microTesla*/
- mag_xyz_data->x = (float)(mag_xyz.x/MAG_DIV_UT);
- mag_xyz_data->y = (float)(mag_xyz.y/MAG_DIV_UT);
- mag_xyz_data->z = (float)(mag_xyz.z/MAG_DIV_UT);
+ mag_xyz_data->x = (float)(mag_xyz.x/BNO055_MAG_DIV_UT);
+ mag_xyz_data->y = (float)(mag_xyz.y/BNO055_MAG_DIV_UT);
+ mag_xyz_data->z = (float)(mag_xyz.z/BNO055_MAG_DIV_UT);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
* @brief This API is used to convert the gyro x raw data
* to dps output as float
*
- * @param v_gyro_x_f : The gyro x dps float data
+ * @param gyro_x_f : The gyro x dps float data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_x_dps(
-float *v_gyro_x_f)
+float *gyro_x_f)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s16 v_reg_gyro_x_s16 = BNO055_ZERO_U8X;
- float v_data_f = BNO055_ZERO_U8X;
- u8 v_gyro_unit_u8 = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s16 reg_gyro_x_s16 = BNO055_INIT_VALUE;
+ float data_f = BNO055_INIT_VALUE;
+ u8 gyro_unit_u8 = BNO055_INIT_VALUE;
/* Read the current gyro unit and set the
unit as dps if the unit is in rps */
- com_rslt = bno055_get_gyro_unit(&v_gyro_unit_u8);
- if (v_gyro_unit_u8 != GYRO_UNIT_DPS)
- com_rslt += bno055_set_gyro_unit(GYRO_UNIT_DPS);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_get_gyro_unit(&gyro_unit_u8);
+ if (gyro_unit_u8 != BNO055_GYRO_UNIT_DPS)
+ com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_DPS);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read gyro raw x data */
- com_rslt += bno055_read_gyro_x(&v_reg_gyro_x_s16);
- if (com_rslt == SUCCESS) {
+ com_rslt += bno055_read_gyro_x(®_gyro_x_s16);
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw gyro x to dps*/
- v_data_f =
- (float)(v_reg_gyro_x_s16/GYRO_DIV_DPS);
- *v_gyro_x_f = v_data_f;
+ data_f =
+ (float)(reg_gyro_x_s16/BNO055_GYRO_DIV_DPS);
+ *gyro_x_f = data_f;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the gyro x raw data
* to rps output as float
*
- * @param v_gyro_x_f : The gyro x dps float data
+ * @param gyro_x_f : The gyro x dps float data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_x_rps(
-float *v_gyro_x_f)
+float *gyro_x_f)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s16 v_reg_gyro_x_s16 = BNO055_ZERO_U8X;
- float v_data_f = BNO055_ZERO_U8X;
- u8 v_gyro_unit_u8 = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s16 reg_gyro_x_s16 = BNO055_INIT_VALUE;
+ float data_f = BNO055_INIT_VALUE;
+ u8 gyro_unit_u8 = BNO055_INIT_VALUE;
/* Read the current gyro unit and set the
unit as rps if the unit is in dps */
- com_rslt = bno055_get_gyro_unit(&v_gyro_unit_u8);
- if (v_gyro_unit_u8 != GYRO_UNIT_RPS)
- com_rslt += bno055_set_gyro_unit(GYRO_UNIT_RPS);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_get_gyro_unit(&gyro_unit_u8);
+ if (gyro_unit_u8 != BNO055_GYRO_UNIT_RPS)
+ com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_RPS);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read gyro raw x data */
- com_rslt += bno055_read_gyro_x(&v_reg_gyro_x_s16);
- if (com_rslt == SUCCESS) {
+ com_rslt += bno055_read_gyro_x(®_gyro_x_s16);
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw gyro x to rps*/
- v_data_f =
- (float)(v_reg_gyro_x_s16/GYRO_DIV_RPS);
- *v_gyro_x_f = v_data_f;
+ data_f =
+ (float)(reg_gyro_x_s16/BNO055_GYRO_DIV_RPS);
+ *gyro_x_f = data_f;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the gyro y raw data
* to dps output as float
*
- * @param v_gyro_y_f : The gyro y dps float data
+ * @param gyro_y_f : The gyro y dps float data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_y_dps(
-float *v_gyro_y_f)
+float *gyro_y_f)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s16 v_reg_gyro_y_s16 = BNO055_ZERO_U8X;
- float v_data_f = BNO055_ZERO_U8X;
- u8 v_gyro_unit_u8 = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s16 reg_gyro_y_s16 = BNO055_INIT_VALUE;
+ float data_f = BNO055_INIT_VALUE;
+ u8 gyro_unit_u8 = BNO055_INIT_VALUE;
/* Read the current gyro unit and set the
unit as dps if the unit is in rps */
- com_rslt = bno055_get_gyro_unit(&v_gyro_unit_u8);
- if (v_gyro_unit_u8 != GYRO_UNIT_DPS)
- com_rslt += bno055_set_gyro_unit(GYRO_UNIT_DPS);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_get_gyro_unit(&gyro_unit_u8);
+ if (gyro_unit_u8 != BNO055_GYRO_UNIT_DPS)
+ com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_DPS);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read gyro raw y data */
- com_rslt += bno055_read_gyro_y(&v_reg_gyro_y_s16);
- if (com_rslt == SUCCESS) {
+ com_rslt += bno055_read_gyro_y(®_gyro_y_s16);
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw gyro x to dps*/
- v_data_f =
- (float)(v_reg_gyro_y_s16/GYRO_DIV_DPS);
- *v_gyro_y_f = v_data_f;
+ data_f =
+ (float)(reg_gyro_y_s16/BNO055_GYRO_DIV_DPS);
+ *gyro_y_f = data_f;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the gyro y raw data
* to rps output as float
*
- * @param v_gyro_y_f : The gyro y dps float data
+ * @param gyro_y_f : The gyro y dps float data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_y_rps(
-float *v_gyro_y_f)
+float *gyro_y_f)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s16 v_reg_gyro_y_s16 = BNO055_ZERO_U8X;
- float v_data_f = BNO055_ZERO_U8X;
- u8 v_gyro_unit_u8 = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s16 reg_gyro_y_s16 = BNO055_INIT_VALUE;
+ float data_f = BNO055_INIT_VALUE;
+ u8 gyro_unit_u8 = BNO055_INIT_VALUE;
/* Read the current gyro unit and set the
unit as rps if the unit is in dps */
- com_rslt = bno055_get_gyro_unit(&v_gyro_unit_u8);
- if (v_gyro_unit_u8 != GYRO_UNIT_RPS)
- com_rslt += bno055_set_gyro_unit(GYRO_UNIT_RPS);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_get_gyro_unit(&gyro_unit_u8);
+ if (gyro_unit_u8 != BNO055_GYRO_UNIT_RPS)
+ com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_RPS);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read gyro raw y data */
- com_rslt += bno055_read_gyro_y(&v_reg_gyro_y_s16);
- if (com_rslt == SUCCESS) {
+ com_rslt += bno055_read_gyro_y(®_gyro_y_s16);
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw gyro x to rps*/
- v_data_f =
- (float)(v_reg_gyro_y_s16/GYRO_DIV_RPS);
- *v_gyro_y_f = v_data_f;
+ data_f =
+ (float)(reg_gyro_y_s16/BNO055_GYRO_DIV_RPS);
+ *gyro_y_f = data_f;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the gyro z raw data
* to dps output as float
*
- * @param v_gyro_z_f : The gyro z dps float data
+ * @param gyro_z_f : The gyro z dps float data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_z_dps(
-float *v_gyro_z_f)
+float *gyro_z_f)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s16 v_reg_gyro_z_s16 = BNO055_ZERO_U8X;
- float v_data_f = BNO055_ZERO_U8X;
- u8 v_gyro_unit_u8 = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s16 reg_gyro_z_s16 = BNO055_INIT_VALUE;
+ float data_f = BNO055_INIT_VALUE;
+ u8 gyro_unit_u8 = BNO055_INIT_VALUE;
/* Read the current gyro unit and set the
unit as dps if the unit is in rps */
- com_rslt = bno055_get_gyro_unit(&v_gyro_unit_u8);
- if (v_gyro_unit_u8 != GYRO_UNIT_DPS)
- com_rslt += bno055_set_gyro_unit(GYRO_UNIT_DPS);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_get_gyro_unit(&gyro_unit_u8);
+ if (gyro_unit_u8 != BNO055_GYRO_UNIT_DPS)
+ com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_DPS);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read gyro raw z data */
- com_rslt += bno055_read_gyro_z(&v_reg_gyro_z_s16);
- if (com_rslt == SUCCESS) {
+ com_rslt += bno055_read_gyro_z(®_gyro_z_s16);
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw gyro x to dps*/
- v_data_f =
- (float)(v_reg_gyro_z_s16/GYRO_DIV_DPS);
- *v_gyro_z_f = v_data_f;
+ data_f =
+ (float)(reg_gyro_z_s16/BNO055_GYRO_DIV_DPS);
+ *gyro_z_f = data_f;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the gyro z raw data
* to rps output as float
*
- * @param v_gyro_z_f : The gyro z rps float data
+ * @param gyro_z_f : The gyro z rps float data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_z_rps(
-float *v_gyro_z_f)
+float *gyro_z_f)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s16 v_reg_gyro_z_s16 = BNO055_ZERO_U8X;
- float v_data_f = BNO055_ZERO_U8X;
- u8 v_gyro_unit_u8 = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s16 reg_gyro_z_s16 = BNO055_INIT_VALUE;
+ float data_f = BNO055_INIT_VALUE;
+ u8 gyro_unit_u8 = BNO055_INIT_VALUE;
/* Read the current gyro unit and set the
unit as rps if the unit is in dps */
- com_rslt = bno055_get_gyro_unit(&v_gyro_unit_u8);
- if (v_gyro_unit_u8 != GYRO_UNIT_RPS)
- com_rslt += bno055_set_gyro_unit(GYRO_UNIT_RPS);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_get_gyro_unit(&gyro_unit_u8);
+ if (gyro_unit_u8 != BNO055_GYRO_UNIT_RPS)
+ com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_RPS);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read gyro raw x data */
- com_rslt += bno055_read_gyro_z(&v_reg_gyro_z_s16);
- if (com_rslt == SUCCESS) {
+ com_rslt += bno055_read_gyro_z(®_gyro_z_s16);
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw gyro x to rps*/
- v_data_f =
- (float)(v_reg_gyro_z_s16/GYRO_DIV_RPS);
- *v_gyro_z_f = v_data_f;
+ data_f =
+ (float)(reg_gyro_z_s16/BNO055_GYRO_DIV_RPS);
+ *gyro_z_f = data_f;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
struct bno055_gyro_t gyro_xyz = {
- BNO055_ZERO_U8X, BNO055_ZERO_U8X, BNO055_ZERO_U8X};
- u8 v_gyro_unit_u8 = BNO055_ZERO_U8X;
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE};
+ u8 gyro_unit_u8 = BNO055_INIT_VALUE;
/* Read the current gyro unit and set the
unit as dps if the unit is in rps */
- com_rslt = bno055_get_gyro_unit(&v_gyro_unit_u8);
- if (v_gyro_unit_u8 != GYRO_UNIT_DPS)
- com_rslt += bno055_set_gyro_unit(GYRO_UNIT_DPS);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_get_gyro_unit(&gyro_unit_u8);
+ if (gyro_unit_u8 != BNO055_GYRO_UNIT_DPS)
+ com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_DPS);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read gyro raw xyz data */
com_rslt += bno055_read_gyro_xyz(&gyro_xyz);
- if (com_rslt == SUCCESS) {
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert gyro raw xyz to dps*/
gyro_xyz_data->x =
- (float)(gyro_xyz.x/GYRO_DIV_DPS);
+ (float)(gyro_xyz.x/BNO055_GYRO_DIV_DPS);
gyro_xyz_data->y =
- (float)(gyro_xyz.y/GYRO_DIV_DPS);
+ (float)(gyro_xyz.y/BNO055_GYRO_DIV_DPS);
gyro_xyz_data->z =
- (float)(gyro_xyz.z/GYRO_DIV_DPS);
+ (float)(gyro_xyz.z/BNO055_GYRO_DIV_DPS);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- struct bno055_gyro_t gyro_xyz = {BNO055_ZERO_U8X,
- BNO055_ZERO_U8X, BNO055_ZERO_U8X};
- u8 v_gyro_unit_u8 = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ struct bno055_gyro_t gyro_xyz = {BNO055_INIT_VALUE,
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE};
+ u8 gyro_unit_u8 = BNO055_INIT_VALUE;
/* Read the current gyro unit and set the
unit as rps if the unit is in dps */
- com_rslt = bno055_get_gyro_unit(&v_gyro_unit_u8);
- if (v_gyro_unit_u8 != GYRO_UNIT_RPS)
- com_rslt += bno055_set_gyro_unit(GYRO_UNIT_RPS);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_get_gyro_unit(&gyro_unit_u8);
+ if (gyro_unit_u8 != BNO055_GYRO_UNIT_RPS)
+ com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_RPS);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read gyro raw xyz data */
com_rslt += bno055_read_gyro_xyz(&gyro_xyz);
- if (com_rslt == SUCCESS) {
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert gyro raw xyz to rps*/
gyro_xyz_data->x =
- (float)(gyro_xyz.x/GYRO_DIV_RPS);
+ (float)(gyro_xyz.x/BNO055_GYRO_DIV_RPS);
gyro_xyz_data->y =
- (float)(gyro_xyz.y/GYRO_DIV_RPS);
+ (float)(gyro_xyz.y/BNO055_GYRO_DIV_RPS);
gyro_xyz_data->z =
- (float)(gyro_xyz.z/GYRO_DIV_RPS);
+ (float)(gyro_xyz.z/BNO055_GYRO_DIV_RPS);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the Euler h raw data
* to degree output as float
*
- * @param v_euler_h_f : The float value of Euler h degree
+ * @param euler_h_f : The float value of Euler h degree
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_h_deg(
-float *v_euler_h_f)
+float *euler_h_f)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s16 v_reg_euler_h_s16 = BNO055_ZERO_U8X;
- float v_data_f = BNO055_ZERO_U8X;
- u8 v_euler_unit_u8 = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s16 reg_euler_h_s16 = BNO055_INIT_VALUE;
+ float data_f = BNO055_INIT_VALUE;
+ u8 euler_unit_u8 = BNO055_INIT_VALUE;
/* Read the current Euler unit and set the
unit as degree if the unit is in radians */
- com_rslt = bno055_get_euler_unit(&v_euler_unit_u8);
- if (v_euler_unit_u8 != EULER_UNIT_DEG)
- com_rslt += bno055_set_euler_unit(EULER_UNIT_DEG);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_get_euler_unit(&euler_unit_u8);
+ if (euler_unit_u8 != BNO055_EULER_UNIT_DEG)
+ com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_DEG);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read Euler raw h data*/
- com_rslt += bno055_read_euler_h(&v_reg_euler_h_s16);
- if (com_rslt == SUCCESS) {
+ com_rslt += bno055_read_euler_h(®_euler_h_s16);
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert raw Euler h data to degree*/
- v_data_f =
- (float)(v_reg_euler_h_s16/EULER_DIV_DEG);
- *v_euler_h_f = v_data_f;
+ data_f =
+ (float)(reg_euler_h_s16/BNO055_EULER_DIV_DEG);
+ *euler_h_f = data_f;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the Euler h raw data
* to radians output as float
*
- * @param v_euler_h_f : The float value of Euler h radians
+ * @param euler_h_f : The float value of Euler h radians
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_h_rad(
-float *v_euler_h_f)
-{
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s16 v_reg_euler_h_s16 = BNO055_ZERO_U8X;
- float v_data_f = BNO055_ZERO_U8X;
- u8 v_euler_unit_u8 = BNO055_ZERO_U8X;
- com_rslt = bno055_get_euler_unit(&v_euler_unit_u8);
- if (v_euler_unit_u8 != EULER_UNIT_RAD)
+float *euler_h_f)
+{
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s16 reg_euler_h_s16 = BNO055_INIT_VALUE;
+ float data_f = BNO055_INIT_VALUE;
+ u8 euler_unit_u8 = BNO055_INIT_VALUE;
+
+ com_rslt = bno055_get_euler_unit(&euler_unit_u8);
+ if (euler_unit_u8 != BNO055_EULER_UNIT_RAD)
/* Read the current Euler unit and set the
unit as radians if the unit is in degree */
- com_rslt += bno055_set_euler_unit(EULER_UNIT_RAD);
- if (com_rslt == SUCCESS) {
+ com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_RAD);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read Euler raw h data*/
- com_rslt += bno055_read_euler_h(&v_reg_euler_h_s16);
- if (com_rslt == SUCCESS) {
+ com_rslt += bno055_read_euler_h(®_euler_h_s16);
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert raw Euler h data to degree*/
- v_data_f =
- (float)(v_reg_euler_h_s16/EULER_DIV_RAD);
- *v_euler_h_f = v_data_f;
+ data_f =
+ (float)(reg_euler_h_s16/BNO055_EULER_DIV_RAD);
+ *euler_h_f = data_f;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the Euler r raw data
* to degree output as float
*
- * @param v_euler_r_f : The float value of Euler r degree
+ * @param euler_r_f : The float value of Euler r degree
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_r_deg(
-float *v_euler_r_f)
+float *euler_r_f)
{
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s16 reg_euler_r = BNO055_ZERO_U8X;
- float v_data_f = BNO055_ZERO_U8X;
- u8 v_euler_unit_u8 = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s16 reg_euler_r = BNO055_INIT_VALUE;
+ float data_f = BNO055_INIT_VALUE;
+ u8 euler_unit_u8 = BNO055_INIT_VALUE;
/* Read the current Euler unit and set the
unit as degree if the unit is in radians */
- com_rslt = bno055_get_euler_unit(&v_euler_unit_u8);
- if (v_euler_unit_u8 != EULER_UNIT_DEG)
- com_rslt += bno055_set_euler_unit(EULER_UNIT_DEG);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_get_euler_unit(&euler_unit_u8);
+ if (euler_unit_u8 != BNO055_EULER_UNIT_DEG)
+ com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_DEG);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read Euler raw r data*/
com_rslt += bno055_read_euler_r(®_euler_r);
- if (com_rslt == SUCCESS) {
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert raw Euler r data to degree*/
- v_data_f = (float)(reg_euler_r/EULER_DIV_DEG);
- *v_euler_r_f = v_data_f;
+ data_f = (float)(
+ reg_euler_r/BNO055_EULER_DIV_DEG);
+ *euler_r_f = data_f;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the Euler r raw data
* to radians output as float
*
- * @param v_euler_r_f : The float value of Euler r radians
+ * @param euler_r_f : The float value of Euler r radians
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_r_rad(
-float *v_euler_r_f)
+float *euler_r_f)
{
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s16 reg_v_euler_r_f = BNO055_ZERO_U8X;
- float v_data_f = BNO055_ZERO_U8X;
- u8 v_euler_unit_u8 = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s16 reg_euler_r_f = BNO055_INIT_VALUE;
+ float data_f = BNO055_INIT_VALUE;
+ u8 euler_unit_u8 = BNO055_INIT_VALUE;
/* Read the current Euler unit and set the
unit as radians if the unit is in degree */
- com_rslt = bno055_get_euler_unit(&v_euler_unit_u8);
- if (v_euler_unit_u8 != EULER_UNIT_RAD)
- com_rslt += bno055_set_euler_unit(EULER_UNIT_RAD);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_get_euler_unit(&euler_unit_u8);
+ if (euler_unit_u8 != BNO055_EULER_UNIT_RAD)
+ com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_RAD);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read Euler raw r data*/
- com_rslt += bno055_read_euler_r(®_v_euler_r_f);
- if (com_rslt == SUCCESS) {
+ com_rslt += bno055_read_euler_r(®_euler_r_f);
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert raw Euler r data to radians*/
- v_data_f =
- (float)(reg_v_euler_r_f/EULER_DIV_RAD);
- *v_euler_r_f = v_data_f;
+ data_f =
+ (float)(reg_euler_r_f/BNO055_EULER_DIV_RAD);
+ *euler_r_f = data_f;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the Euler p raw data
* to degree output as float
*
- * @param v_euler_p_f : The float value of Euler p degree
+ * @param euler_p_f : The float value of Euler p degree
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_p_deg(
-float *v_euler_p_f)
+float *euler_p_f)
{
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s16 reg_v_euler_p_f = BNO055_ZERO_U8X;
- float v_data_f = BNO055_ZERO_U8X;
- u8 v_euler_unit_u8 = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s16 reg_euler_p_f = BNO055_INIT_VALUE;
+ float data_f = BNO055_INIT_VALUE;
+ u8 euler_unit_u8 = BNO055_INIT_VALUE;
/* Read the current Euler unit and set the
unit as degree if the unit is in radians */
- com_rslt = bno055_get_euler_unit(&v_euler_unit_u8);
- if (v_euler_unit_u8 != EULER_UNIT_DEG)
- com_rslt += bno055_set_euler_unit(EULER_UNIT_DEG);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_get_euler_unit(&euler_unit_u8);
+ if (euler_unit_u8 != BNO055_EULER_UNIT_DEG)
+ com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_DEG);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read Euler raw p data*/
- com_rslt += bno055_read_euler_p(®_v_euler_p_f);
- if (com_rslt == SUCCESS) {
+ com_rslt += bno055_read_euler_p(®_euler_p_f);
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert raw Euler p data to degree*/
- v_data_f =
- (float)(reg_v_euler_p_f/EULER_DIV_DEG);
- *v_euler_p_f = v_data_f;
+ data_f =
+ (float)(reg_euler_p_f/BNO055_EULER_DIV_DEG);
+ *euler_p_f = data_f;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the Euler p raw data
* to radians output as float
*
- * @param v_euler_p_f : The float value of Euler p radians
+ * @param euler_p_f : The float value of Euler p radians
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_p_rad(
-float *v_euler_p_f)
+float *euler_p_f)
{
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s16 reg_v_euler_p_f = BNO055_ZERO_U8X;
- float v_data_f = BNO055_ZERO_U8X;
- u8 v_euler_unit_u8 = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s16 reg_euler_p_f = BNO055_INIT_VALUE;
+ float data_f = BNO055_INIT_VALUE;
+ u8 euler_unit_u8 = BNO055_INIT_VALUE;
/* Read the current Euler unit and set the
unit as radians if the unit is in degree */
- com_rslt = bno055_get_euler_unit(&v_euler_unit_u8);
- if (v_euler_unit_u8 != EULER_UNIT_RAD)
- com_rslt += bno055_set_euler_unit(EULER_UNIT_RAD);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_get_euler_unit(&euler_unit_u8);
+ if (euler_unit_u8 != BNO055_EULER_UNIT_RAD)
+ com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_RAD);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read Euler raw r data*/
- com_rslt += bno055_read_euler_p(®_v_euler_p_f);
- if (com_rslt == SUCCESS) {
+ com_rslt += bno055_read_euler_p(®_euler_p_f);
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert raw Euler r data to radians*/
- v_data_f =
- (float)(reg_v_euler_p_f/EULER_DIV_RAD);
- *v_euler_p_f = v_data_f;
+ data_f =
+ (float)(reg_euler_p_f/BNO055_EULER_DIV_RAD);
+ *euler_p_f = data_f;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_hpr_deg(
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- struct bno055_euler_t reg_euler = {BNO055_ZERO_U8X,
- BNO055_ZERO_U8X, BNO055_ZERO_U8X};
- u8 v_euler_unit_u8 = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ struct bno055_euler_t reg_euler = {BNO055_INIT_VALUE,
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE};
+ u8 euler_unit_u8 = BNO055_INIT_VALUE;
/* Read the current Euler unit and set the
unit as degree if the unit is in radians */
- com_rslt = bno055_get_euler_unit(&v_euler_unit_u8);
- if (v_euler_unit_u8 != EULER_UNIT_DEG)
- com_rslt += bno055_set_euler_unit(EULER_UNIT_DEG);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_get_euler_unit(&euler_unit_u8);
+ if (euler_unit_u8 != BNO055_EULER_UNIT_DEG)
+ com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_DEG);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read Euler raw hrp data*/
com_rslt += bno055_read_euler_hrp(®_euler);
- if (com_rslt == SUCCESS) {
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert raw Euler hrp to degree*/
euler_hpr->h =
- (float)(reg_euler.h/EULER_DIV_DEG);
+ (float)(reg_euler.h/BNO055_EULER_DIV_DEG);
euler_hpr->p =
- (float)(reg_euler.p/EULER_DIV_DEG);
+ (float)(reg_euler.p/BNO055_EULER_DIV_DEG);
euler_hpr->r =
- (float)(reg_euler.r/EULER_DIV_DEG);
+ (float)(reg_euler.r/BNO055_EULER_DIV_DEG);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_hpr_rad(
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- struct bno055_euler_t reg_euler = {BNO055_ZERO_U8X,
- BNO055_ZERO_U8X, BNO055_ZERO_U8X};
- u8 v_euler_unit_u8 = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ struct bno055_euler_t reg_euler = {BNO055_INIT_VALUE,
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE};
+ u8 euler_unit_u8 = BNO055_INIT_VALUE;
/* Read the current Euler unit and set the
unit as radians if the unit is in degree */
- com_rslt = bno055_get_euler_unit(&v_euler_unit_u8);
- if (v_euler_unit_u8 != EULER_UNIT_RAD)
- com_rslt += bno055_set_euler_unit(EULER_UNIT_RAD);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_get_euler_unit(&euler_unit_u8);
+ if (euler_unit_u8 != BNO055_EULER_UNIT_RAD)
+ com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_RAD);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read Euler raw hrp data*/
com_rslt += bno055_read_euler_hrp(®_euler);
- if (com_rslt == SUCCESS) {
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert raw hrp to radians */
euler_hpr->h =
- (float)(reg_euler.h/EULER_DIV_RAD);
+ (float)(reg_euler.h/BNO055_EULER_DIV_RAD);
euler_hpr->p =
- (float)(reg_euler.p/EULER_DIV_RAD);
+ (float)(reg_euler.p/BNO055_EULER_DIV_RAD);
euler_hpr->r =
- (float)(reg_euler.r/EULER_DIV_RAD);
+ (float)(reg_euler.r/BNO055_EULER_DIV_RAD);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the linear
* accel x raw data to meterpersecseq output as float
*
- * @param v_linear_accel_x_f : The float value of linear accel x meterpersecseq
+ * @param linear_accel_x_f : The float value of linear accel x meterpersecseq
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_x_msq(
-float *v_linear_accel_x_f)
+float *linear_accel_x_f)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s16 v_reg_linear_accel_x_s16 = BNO055_ZERO_U8X;
- float v_data_f = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s16 reg_linear_accel_x_s16 = BNO055_INIT_VALUE;
+ float data_f = BNO055_INIT_VALUE;
/* Read the raw x of linear accel */
- com_rslt = bno055_read_linear_accel_x(&v_reg_linear_accel_x_s16);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_read_linear_accel_x(®_linear_accel_x_s16);
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw linear accel x to m/s2*/
- v_data_f =
- (float)(v_reg_linear_accel_x_s16/LINEAR_ACCEL_DIV_MSQ);
- *v_linear_accel_x_f = v_data_f;
+ data_f =
+ (float)(reg_linear_accel_x_s16/BNO055_LINEAR_ACCEL_DIV_MSQ);
+ *linear_accel_x_f = data_f;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the linear
* accel y raw data to meterpersecseq output as float
*
- * @param v_linear_accel_y_f : The float value of linear accel y meterpersecseq
+ * @param linear_accel_y_f : The float value of linear accel y meterpersecseq
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_y_msq(
-float *v_linear_accel_y_f)
+float *linear_accel_y_f)
{
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s16 reg_linear_accel_y = BNO055_ZERO_U8X;
- float v_data_f = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s16 reg_linear_accel_y = BNO055_INIT_VALUE;
+ float data_f = BNO055_INIT_VALUE;
/* Read the raw y of linear accel */
com_rslt = bno055_read_linear_accel_y(®_linear_accel_y);
- if (com_rslt == SUCCESS) {
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw linear accel x to m/s2*/
- v_data_f = (float)
- (reg_linear_accel_y/LINEAR_ACCEL_DIV_MSQ);
- *v_linear_accel_y_f = v_data_f;
+ data_f = (float)
+ (reg_linear_accel_y/BNO055_LINEAR_ACCEL_DIV_MSQ);
+ *linear_accel_y_f = data_f;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the linear
* accel z raw data to meterpersecseq output as float
*
- * @param v_linear_accel_z_f : The float value of linear accel z meterpersecseq
+ * @param linear_accel_z_f : The float value of linear accel z meterpersecseq
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_z_msq(
-float *v_linear_accel_z_f)
+float *linear_accel_z_f)
{
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s16 reg_linear_accel_z = BNO055_ZERO_U8X;
- float v_data_f = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s16 reg_linear_accel_z = BNO055_INIT_VALUE;
+ float data_f = BNO055_INIT_VALUE;
/* Read the raw x of linear accel */
com_rslt = bno055_read_linear_accel_z(®_linear_accel_z);
- if (com_rslt == SUCCESS) {
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw linear accel z to m/s2*/
- v_data_f = (float)
- (reg_linear_accel_z/LINEAR_ACCEL_DIV_MSQ);
- *v_linear_accel_z_f = v_data_f;
+ data_f = (float)
+ (reg_linear_accel_z/BNO055_LINEAR_ACCEL_DIV_MSQ);
+ *linear_accel_z_f = data_f;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
struct bno055_linear_accel_t reg_linear_accel = {
- BNO055_ZERO_U8X, BNO055_ZERO_U8X, BNO055_ZERO_U8X};
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE};
/* Read the raw x of linear accel */
com_rslt = bno055_read_linear_accel_xyz(®_linear_accel);
- if (com_rslt == SUCCESS) {
+ if (com_rslt == BNO055_SUCCESS) {
linear_accel_xyz->x =
- (float)(reg_linear_accel.x/LINEAR_ACCEL_DIV_MSQ);
+ (float)(reg_linear_accel.x/BNO055_LINEAR_ACCEL_DIV_MSQ);
linear_accel_xyz->y =
- (float)(reg_linear_accel.y/LINEAR_ACCEL_DIV_MSQ);
+ (float)(reg_linear_accel.y/BNO055_LINEAR_ACCEL_DIV_MSQ);
linear_accel_xyz->z =
- (float)(reg_linear_accel.z/LINEAR_ACCEL_DIV_MSQ);
+ (float)(reg_linear_accel.z/BNO055_LINEAR_ACCEL_DIV_MSQ);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the gravity
* x raw data to meterpersecseq output as float
*
- * @param v_gravity_x_f : The float value of gravity x meterpersecseq
+ * @param gravity_x_f : The float value of gravity x meterpersecseq
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_x_msq(
-float *v_gravity_x_f)
+float *gravity_x_f)
{
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s16 v_reg_gravity_x_s16 = BNO055_ZERO_U8X;
- float v_data_f = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s16 reg_gravity_x_s16 = BNO055_INIT_VALUE;
+ float data_f = BNO055_INIT_VALUE;
/* Read raw gravity of x*/
- com_rslt = bno055_read_gravity_x(&v_reg_gravity_x_s16);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_read_gravity_x(®_gravity_x_s16);
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw gravity x to m/s2*/
- v_data_f = (float)(v_reg_gravity_x_s16/GRAVITY_DIV_MSQ);
- *v_gravity_x_f = v_data_f;
+ data_f = (float)(reg_gravity_x_s16/BNO055_GRAVITY_DIV_MSQ);
+ *gravity_x_f = data_f;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the gravity
* y raw data to meterpersecseq output as float
*
- * @param v_gravity_y_f : The float value of gravity y meterpersecseq
+ * @param gravity_y_f : The float value of gravity y meterpersecseq
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_y_msq(
-float *v_gravity_y_f)
+float *gravity_y_f)
{
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s16 v_reg_gravity_y_s16 = BNO055_ZERO_U8X;
- float v_data_f = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s16 reg_gravity_y_s16 = BNO055_INIT_VALUE;
+ float data_f = BNO055_INIT_VALUE;
/* Read raw gravity of y*/
- com_rslt = bno055_read_gravity_y(&v_reg_gravity_y_s16);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_read_gravity_y(®_gravity_y_s16);
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw gravity y to m/s2*/
- v_data_f = (float)(v_reg_gravity_y_s16/GRAVITY_DIV_MSQ);
- *v_gravity_y_f = v_data_f;
+ data_f = (float)(reg_gravity_y_s16/BNO055_GRAVITY_DIV_MSQ);
+ *gravity_y_f = data_f;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the gravity
* z raw data to meterpersecseq output as float
*
- * @param v_gravity_z_f : The float value of gravity z meterpersecseq
+ * @param gravity_z_f : The float value of gravity z meterpersecseq
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_z_msq(
-float *v_gravity_z_f)
+float *gravity_z_f)
{
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s16 v_reg_gravity_z_s16 = BNO055_ZERO_U8X;
- float v_data_f = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s16 reg_gravity_z_s16 = BNO055_INIT_VALUE;
+ float data_f = BNO055_INIT_VALUE;
/* Read raw gravity of z */
- com_rslt = bno055_read_gravity_z(&v_reg_gravity_z_s16);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_read_gravity_z(®_gravity_z_s16);
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw gravity z to m/s2*/
- v_data_f = (float)(v_reg_gravity_z_s16/GRAVITY_DIV_MSQ);
- *v_gravity_z_f = v_data_f;
+ data_f = (float)(reg_gravity_z_s16/BNO055_GRAVITY_DIV_MSQ);
+ *gravity_z_f = data_f;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
struct bno055_gravity_t reg_gravity_xyz = {
- BNO055_ZERO_U8X, BNO055_ZERO_U8X, BNO055_ZERO_U8X};
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE};
/* Read raw gravity of xyz */
com_rslt = bno055_read_gravity_xyz(®_gravity_xyz);
- if (com_rslt == SUCCESS) {
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert raw gravity xyz to meterpersecseq */
gravity_xyz->x =
- (float)(reg_gravity_xyz.x/GRAVITY_DIV_MSQ);
+ (float)(reg_gravity_xyz.x/BNO055_GRAVITY_DIV_MSQ);
gravity_xyz->y =
- (float)(reg_gravity_xyz.y/GRAVITY_DIV_MSQ);
+ (float)(reg_gravity_xyz.y/BNO055_GRAVITY_DIV_MSQ);
gravity_xyz->z =
- (float)(reg_gravity_xyz.z/GRAVITY_DIV_MSQ);
+ (float)(reg_gravity_xyz.z/BNO055_GRAVITY_DIV_MSQ);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the temperature
* data to Fahrenheit output as float
*
- * @param v_temp_f : The float value of temperature Fahrenheit
+ * @param temp_f : The float value of temperature Fahrenheit
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_temp_fahrenheit(
-float *v_temp_f)
+float *temp_f)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s8 v_reg_temp_s8 = BNO055_ZERO_U8X;
- float v_data_f = BNO055_ZERO_U8X;
- u8 v_temp_unit_u8 = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s8 reg_temp_s8 = BNO055_INIT_VALUE;
+ float data_f = BNO055_INIT_VALUE;
+ u8 temp_unit_u8 = BNO055_INIT_VALUE;
/* Read the current temperature unit and set the
unit as Fahrenheit if the unit is in Celsius */
- com_rslt = bno055_get_temp_unit(&v_temp_unit_u8);
- if (v_temp_unit_u8 != TEMP_UNIT_FAHRENHEIT)
- com_rslt += bno055_set_temp_unit(TEMP_UNIT_FAHRENHEIT);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_get_temp_unit(&temp_unit_u8);
+ if (temp_unit_u8 != BNO055_TEMP_UNIT_FAHRENHEIT)
+ com_rslt += bno055_set_temp_unit(BNO055_TEMP_UNIT_FAHRENHEIT);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read the raw temperature data */
- com_rslt += bno055_read_temp_data(&v_reg_temp_s8);
- if (com_rslt == SUCCESS) {
+ com_rslt += bno055_read_temp_data(®_temp_s8);
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert raw temperature data to Fahrenheit*/
- v_data_f = (float)
- (v_reg_temp_s8/TEMP_DIV_FAHRENHEIT);
- *v_temp_f = v_data_f;
+ data_f = (float)
+ (reg_temp_s8/BNO055_TEMP_DIV_FAHRENHEIT);
+ *temp_f = data_f;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the temperature
* data to Celsius output as float
*
- * @param v_temp_f : The float value of temperature Celsius
+ * @param temp_f : The float value of temperature Celsius
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_temp_celsius(
-float *v_temp_f)
+float *temp_f)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s8 v_reg_temp_s8 = BNO055_ZERO_U8X;
- float v_data_f = BNO055_ZERO_U8X;
- u8 v_temp_unit_u8 = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s8 reg_temp_s8 = BNO055_INIT_VALUE;
+ float data_f = BNO055_INIT_VALUE;
+ u8 temp_unit_u8 = BNO055_INIT_VALUE;
/* Read the current temperature unit and set the
unit as Fahrenheit if the unit is in Celsius */
- com_rslt = bno055_get_temp_unit(&v_temp_unit_u8);
- if (v_temp_unit_u8 != TEMP_UNIT_CELSIUS)
- com_rslt += bno055_set_temp_unit(TEMP_UNIT_CELSIUS);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_get_temp_unit(&temp_unit_u8);
+ if (temp_unit_u8 != BNO055_TEMP_UNIT_CELSIUS)
+ com_rslt += bno055_set_temp_unit(BNO055_TEMP_UNIT_CELSIUS);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read the raw temperature data */
- com_rslt += bno055_read_temp_data(&v_reg_temp_s8);
- if (com_rslt == SUCCESS) {
+ com_rslt += bno055_read_temp_data(®_temp_s8);
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert raw temperature data to Fahrenheit*/
- v_data_f =
- (float)(v_reg_temp_s8/TEMP_DIV_CELSIUS);
- *v_temp_f = v_data_f;
+ data_f =
+ (float)(reg_temp_s8/BNO055_TEMP_DIV_CELSIUS);
+ *temp_f = data_f;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the accel x raw data
* to meterpersecseq output as double
*
- * @param v_accel_x_d : The accel x meterpersecseq data
+ * @param accel_x_d : The accel x meterpersecseq data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_x_msq(
-double *v_accel_x_d)
+double *accel_x_d)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s16 v_reg_accel_x_s16 = BNO055_ZERO_U8X;
- double v_data_f = BNO055_ZERO_U8X;
- u8 v_accel_unit_u8 = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s16 reg_accel_x_s16 = BNO055_INIT_VALUE;
+ double data_f = BNO055_INIT_VALUE;
+ u8 accel_unit_u8 = BNO055_INIT_VALUE;
/* Read the current accel unit and set the
unit as m/s2 if the unit is in mg*/
- com_rslt = bno055_get_accel_unit(&v_accel_unit_u8);
- if (v_accel_unit_u8 != ACCEL_UNIT_MSQ)
- com_rslt += bno055_set_accel_unit(ACCEL_UNIT_MSQ);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_get_accel_unit(&accel_unit_u8);
+ if (accel_unit_u8 != BNO055_ACCEL_UNIT_MSQ)
+ com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MSQ);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read the accel raw y data*/
- com_rslt += bno055_read_accel_x(&v_reg_accel_x_s16);
- if (com_rslt == SUCCESS) {
+ com_rslt += bno055_read_accel_x(®_accel_x_s16);
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw x to m/s2 */
- v_data_f =
- (double)(v_reg_accel_x_s16/ACCEL_DIV_MSQ);
- *v_accel_x_d = v_data_f;
+ data_f =
+ (double)(reg_accel_x_s16/BNO055_ACCEL_DIV_MSQ);
+ *accel_x_d = data_f;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the accel x raw data
* to millig output as double
*
- * @param v_accel_x_d : The accel x millig data
+ * @param accel_x_d : The accel x millig data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_x_mg(
-double *v_accel_x_d)
+double *accel_x_d)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s16 v_reg_accel_x_s16 = BNO055_ZERO_U8X;
- double v_data_f = BNO055_ZERO_U8X;
- u8 v_accel_unit_u8 = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s16 reg_accel_x_s16 = BNO055_INIT_VALUE;
+ double data_f = BNO055_INIT_VALUE;
+ u8 accel_unit_u8 = BNO055_INIT_VALUE;
/* Read the current accel unit and set the
unit as mg if the unit is in m/s2*/
- com_rslt = bno055_get_accel_unit(&v_accel_unit_u8);
- if (v_accel_unit_u8 != ACCEL_UNIT_MG)
- com_rslt += bno055_set_accel_unit(ACCEL_UNIT_MG);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_get_accel_unit(&accel_unit_u8);
+ if (accel_unit_u8 != BNO055_ACCEL_UNIT_MG)
+ com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MG);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read the accel raw y data*/
- com_rslt += bno055_read_accel_x(&v_reg_accel_x_s16);
- if (com_rslt == SUCCESS) {
+ com_rslt += bno055_read_accel_x(®_accel_x_s16);
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw x to mg */
- v_data_f =
- (double)(v_reg_accel_x_s16/ACCEL_DIV_MG);
- *v_accel_x_d = v_data_f;
+ data_f =
+ (double)(reg_accel_x_s16/BNO055_ACCEL_DIV_MG);
+ *accel_x_d = data_f;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the accel y raw data
* to meterpersecseq output as double
*
- * @param v_accel_y_d : The accel y meterpersecseq data
+ * @param accel_y_d : The accel y meterpersecseq data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_y_msq(
-double *v_accel_y_d)
+double *accel_y_d)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s16 v_reg_accel_y_s16 = BNO055_ZERO_U8X;
- double v_data_f = BNO055_ZERO_U8X;
- u8 v_accel_unit_u8 = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s16 reg_accel_y_s16 = BNO055_INIT_VALUE;
+ double data_f = BNO055_INIT_VALUE;
+ u8 accel_unit_u8 = BNO055_INIT_VALUE;
/* Read the current accel unit and set the
unit as m/s2 if the unit is in mg*/
- com_rslt = bno055_get_accel_unit(&v_accel_unit_u8);
- if (v_accel_unit_u8 != ACCEL_UNIT_MSQ)
- com_rslt += bno055_set_accel_unit(ACCEL_UNIT_MSQ);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_get_accel_unit(&accel_unit_u8);
+ if (accel_unit_u8 != BNO055_ACCEL_UNIT_MSQ)
+ com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MSQ);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read the accel raw y data*/
- com_rslt += bno055_read_accel_y(&v_reg_accel_y_s16);
- if (com_rslt == SUCCESS) {
+ com_rslt += bno055_read_accel_y(®_accel_y_s16);
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw x to m/s2 */
- v_data_f =
- (double)(v_reg_accel_y_s16/ACCEL_DIV_MSQ);
- *v_accel_y_d = v_data_f;
+ data_f =
+ (double)(reg_accel_y_s16/BNO055_ACCEL_DIV_MSQ);
+ *accel_y_d = data_f;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the accel y raw data
* to millig output as double
*
- * @param v_accel_y_d : The accel y millig data
+ * @param accel_y_d : The accel y millig data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_y_mg(
-double *v_accel_y_d)
+double *accel_y_d)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s16 v_reg_accel_y_s16 = BNO055_ZERO_U8X;
- double v_data_d = BNO055_ZERO_U8X;
- u8 v_accel_unit_u8 = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s16 reg_accel_y_s16 = BNO055_INIT_VALUE;
+ double data_d = BNO055_INIT_VALUE;
+ u8 accel_unit_u8 = BNO055_INIT_VALUE;
/* Read the current accel unit and set the
unit as mg if the unit is in m/s2*/
- com_rslt = bno055_get_accel_unit(&v_accel_unit_u8);
- if (v_accel_unit_u8 != ACCEL_UNIT_MG)
- com_rslt += bno055_set_accel_unit(ACCEL_UNIT_MG);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_get_accel_unit(&accel_unit_u8);
+ if (accel_unit_u8 != BNO055_ACCEL_UNIT_MG)
+ com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MG);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read the accel raw y data*/
- com_rslt += bno055_read_accel_y(&v_reg_accel_y_s16);
- if (com_rslt == SUCCESS) {
+ com_rslt += bno055_read_accel_y(®_accel_y_s16);
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw y to mg */
- v_data_d =
- (double)(v_reg_accel_y_s16/ACCEL_DIV_MG);
- *v_accel_y_d = v_data_d;
+ data_d =
+ (double)(reg_accel_y_s16/BNO055_ACCEL_DIV_MG);
+ *accel_y_d = data_d;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the accel z raw data
* to meterpersecseq output as double
*
- * @param v_accel_z_d : The accel z meterpersecseq data
+ * @param accel_z_d : The accel z meterpersecseq data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_z_msq(
-double *v_accel_z_d)
+double *accel_z_d)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s16 v_reg_accel_z_s16 = BNO055_ZERO_U8X;
- double v_data_d = BNO055_ZERO_U8X;
- u8 v_accel_unit_u8 = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s16 reg_accel_z_s16 = BNO055_INIT_VALUE;
+ double data_d = BNO055_INIT_VALUE;
+ u8 accel_unit_u8 = BNO055_INIT_VALUE;
/* Read the current accel unit and set the
unit as m/s2 if the unit is in mg*/
- com_rslt = bno055_get_accel_unit(&v_accel_unit_u8);
- if (v_accel_unit_u8 != ACCEL_UNIT_MSQ)
- com_rslt += bno055_set_accel_unit(ACCEL_UNIT_MSQ);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_get_accel_unit(&accel_unit_u8);
+ if (accel_unit_u8 != BNO055_ACCEL_UNIT_MSQ)
+ com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MSQ);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read the accel raw z data*/
- com_rslt += bno055_read_accel_z(&v_reg_accel_z_s16);
- if (com_rslt == SUCCESS) {
+ com_rslt += bno055_read_accel_z(®_accel_z_s16);
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw z to m/s2 */
- v_data_d =
- (double)(v_reg_accel_z_s16/ACCEL_DIV_MSQ);
- *v_accel_z_d = v_data_d;
+ data_d =
+ (double)(reg_accel_z_s16/BNO055_ACCEL_DIV_MSQ);
+ *accel_z_d = data_d;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the accel z raw data
* to millig output as double
*
- * @param v_accel_z_d : The accel z millig data
+ * @param accel_z_d : The accel z millig data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_z_mg(
-double *v_accel_z_d)
+double *accel_z_d)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s16 v_reg_accel_z_s16 = BNO055_ZERO_U8X;
- double v_data_d = BNO055_ZERO_U8X;
- u8 v_accel_unit_u8 = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s16 reg_accel_z_s16 = BNO055_INIT_VALUE;
+ double data_d = BNO055_INIT_VALUE;
+ u8 accel_unit_u8 = BNO055_INIT_VALUE;
/* Read the current accel unit and set the
unit as mg if the unit is in m/s2*/
- com_rslt = bno055_get_accel_unit(&v_accel_unit_u8);
- if (v_accel_unit_u8 != ACCEL_UNIT_MG)
- com_rslt += bno055_set_accel_unit(ACCEL_UNIT_MG);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_get_accel_unit(&accel_unit_u8);
+ if (accel_unit_u8 != BNO055_ACCEL_UNIT_MG)
+ com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MG);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read the accel raw z data*/
- com_rslt += bno055_read_accel_z(&v_reg_accel_z_s16);
- if (com_rslt == SUCCESS) {
+ com_rslt += bno055_read_accel_z(®_accel_z_s16);
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw z to mg */
- v_data_d =
- (double)(v_reg_accel_z_s16/ACCEL_DIV_MG);
- *v_accel_z_d = v_data_d;
+ data_d =
+ (double)(reg_accel_z_s16/BNO055_ACCEL_DIV_MG);
+ *accel_z_d = data_d;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
struct bno055_accel_t reg_accel_xyz = {
- BNO055_ZERO_U8X, BNO055_ZERO_U8X, BNO055_ZERO_U8X};
- u8 v_accel_unit_u8 = BNO055_ZERO_U8X;
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE};
+ u8 accel_unit_u8 = BNO055_INIT_VALUE;
/* Read the current accel unit and set the
unit as m/s2 if the unit is in mg*/
- com_rslt = bno055_get_accel_unit(&v_accel_unit_u8);
- if (v_accel_unit_u8 != ACCEL_UNIT_MSQ)
- com_rslt += bno055_set_accel_unit(ACCEL_UNIT_MSQ);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_get_accel_unit(&accel_unit_u8);
+ if (accel_unit_u8 != BNO055_ACCEL_UNIT_MSQ)
+ com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MSQ);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read the accel raw xyz data*/
com_rslt += bno055_read_accel_xyz(®_accel_xyz);
- if (com_rslt == SUCCESS) {
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert raw xyz to m/s2*/
accel_xyz->x =
- (double)(reg_accel_xyz.x/ACCEL_DIV_MSQ);
+ (double)(reg_accel_xyz.x/BNO055_ACCEL_DIV_MSQ);
accel_xyz->y =
- (double)(reg_accel_xyz.y/ACCEL_DIV_MSQ);
+ (double)(reg_accel_xyz.y/BNO055_ACCEL_DIV_MSQ);
accel_xyz->z =
- (double)(reg_accel_xyz.z/ACCEL_DIV_MSQ);
+ (double)(reg_accel_xyz.z/BNO055_ACCEL_DIV_MSQ);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_xyz_mg(
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
struct bno055_accel_t reg_accel_xyz = {
- BNO055_ZERO_U8X, BNO055_ZERO_U8X, BNO055_ZERO_U8X};
- u8 v_accel_unit_u8 = BNO055_ZERO_U8X;
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE};
+ u8 accel_unit_u8 = BNO055_INIT_VALUE;
/* Read the current accel unit and set the
unit as m/s2 if the unit is in mg*/
- com_rslt = bno055_get_accel_unit(&v_accel_unit_u8);
- if (v_accel_unit_u8 != ACCEL_UNIT_MG)
- com_rslt += bno055_set_accel_unit(ACCEL_UNIT_MG);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_get_accel_unit(&accel_unit_u8);
+ if (accel_unit_u8 != BNO055_ACCEL_UNIT_MG)
+ com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MG);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read the accel raw xyz data*/
com_rslt += bno055_read_accel_xyz(®_accel_xyz);
- if (com_rslt == SUCCESS) {
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert raw xyz to mg*/
accel_xyz->x =
- (double)(reg_accel_xyz.x/ACCEL_DIV_MG);
+ (double)(reg_accel_xyz.x/BNO055_ACCEL_DIV_MG);
accel_xyz->y =
- (double)(reg_accel_xyz.y/ACCEL_DIV_MG);
+ (double)(reg_accel_xyz.y/BNO055_ACCEL_DIV_MG);
accel_xyz->z =
- (double)(reg_accel_xyz.z/ACCEL_DIV_MG);
+ (double)(reg_accel_xyz.z/BNO055_ACCEL_DIV_MG);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the mag x raw data
* to microTesla output as double
*
- * @param v_mag_x_d : The mag x microTesla data
+ * @param mag_x_d : The mag x microTesla data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_x_uT(
-double *v_mag_x_d)
+double *mag_x_d)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s16 v_reg_v_mag_x_s16 = BNO055_ZERO_U8X;
- double v_data_d = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s16 reg_mag_x_s16 = BNO055_INIT_VALUE;
+ double data_d = BNO055_INIT_VALUE;
/* Read raw mag x data */
- com_rslt = bno055_read_mag_x(&v_reg_v_mag_x_s16);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_read_mag_x(®_mag_x_s16);
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert raw mag x to microTesla */
- v_data_d = (double)(v_reg_v_mag_x_s16/MAG_DIV_UT);
- *v_mag_x_d = v_data_d;
+ data_d = (double)(reg_mag_x_s16/BNO055_MAG_DIV_UT);
+ *mag_x_d = data_d;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the mag y raw data
* to microTesla output as double
*
- * @param v_mag_y_d : The mag y microTesla data
+ * @param mag_y_d : The mag y microTesla data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_y_uT(
-double *v_mag_y_d)
+double *mag_y_d)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s16 v_reg_mag_y_s16 = BNO055_ZERO_U8X;
- double v_data_d = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s16 reg_mag_y_s16 = BNO055_INIT_VALUE;
+ double data_d = BNO055_INIT_VALUE;
/* Read raw mag y data */
- com_rslt = bno055_read_mag_y(&v_reg_mag_y_s16);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_read_mag_y(®_mag_y_s16);
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert raw mag y to microTesla */
- v_data_d = (double)(v_reg_mag_y_s16/MAG_DIV_UT);
- *v_mag_y_d = v_data_d;
+ data_d = (double)(reg_mag_y_s16/BNO055_MAG_DIV_UT);
+ *mag_y_d = data_d;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the mag z raw data
* to microTesla output as double
*
- * @param v_mag_z_d : The mag z microTesla data
+ * @param mag_z_d : The mag z microTesla data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_z_uT(
-double *v_mag_z_d)
+double *mag_z_d)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s16 v_reg_mag_z_s16 = BNO055_ZERO_U8X;
- double v_data_d = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s16 reg_mag_z_s16 = BNO055_INIT_VALUE;
+ double data_d = BNO055_INIT_VALUE;
/* Read raw mag x */
- com_rslt = bno055_read_mag_z(&v_reg_mag_z_s16);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_read_mag_z(®_mag_z_s16);
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert raw mag x to microTesla */
- v_data_d = (double)(v_reg_mag_z_s16/MAG_DIV_UT);
- *v_mag_z_d = v_data_d;
+ data_d = (double)(reg_mag_z_s16/BNO055_MAG_DIV_UT);
+ *mag_z_d = data_d;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_xyz_uT(
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
struct bno055_mag_t reg_mag_xyz = {
- BNO055_ZERO_U8X, BNO055_ZERO_U8X, BNO055_ZERO_U8X};
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE};
/* Read raw mag xyz data */
com_rslt = bno055_read_mag_xyz(®_mag_xyz);
- if (com_rslt == SUCCESS) {
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert raw mag xyz to microTesla*/
mag_xyz->x =
- (double)(reg_mag_xyz.x/MAG_DIV_UT);
+ (double)(reg_mag_xyz.x/BNO055_MAG_DIV_UT);
mag_xyz->y =
- (double)(reg_mag_xyz.y/MAG_DIV_UT);
+ (double)(reg_mag_xyz.y/BNO055_MAG_DIV_UT);
mag_xyz->z =
- (double)(reg_mag_xyz.z/MAG_DIV_UT);
+ (double)(reg_mag_xyz.z/BNO055_MAG_DIV_UT);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
* @brief This API is used to convert the gyro x raw data
* to dps output as double
*
- * @param v_gyro_x_d : The gyro x dps double data
+ * @param gyro_x_d : The gyro x dps double data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_x_dps(
-double *v_gyro_x_d)
+double *gyro_x_d)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s16 v_reg_gyro_x_s16 = BNO055_ZERO_U8X;
- double v_data_d = BNO055_ZERO_U8X;
- u8 v_gyro_unit_u8 = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s16 reg_gyro_x_s16 = BNO055_INIT_VALUE;
+ double data_d = BNO055_INIT_VALUE;
+ u8 gyro_unit_u8 = BNO055_INIT_VALUE;
/* Read the current gyro unit and set the
unit as dps if the unit is in rps */
- com_rslt = bno055_get_gyro_unit(&v_gyro_unit_u8);
- if (v_gyro_unit_u8 != GYRO_UNIT_DPS)
- com_rslt += bno055_set_gyro_unit(GYRO_UNIT_DPS);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_get_gyro_unit(&gyro_unit_u8);
+ if (gyro_unit_u8 != BNO055_GYRO_UNIT_DPS)
+ com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_DPS);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read gyro raw x data */
- com_rslt += bno055_read_gyro_x(&v_reg_gyro_x_s16);
- if (com_rslt == SUCCESS) {
+ com_rslt += bno055_read_gyro_x(®_gyro_x_s16);
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert raw gyro x to dps */
- v_data_d =
- (double)(v_reg_gyro_x_s16/GYRO_DIV_DPS);
- *v_gyro_x_d = v_data_d;
+ data_d =
+ (double)(reg_gyro_x_s16/BNO055_GYRO_DIV_DPS);
+ *gyro_x_d = data_d;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the gyro x raw data
* to rps output as double
*
- * @param v_gyro_x_d : The gyro x dps double data
+ * @param gyro_x_d : The gyro x dps double data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_x_rps(
-double *v_gyro_x_d)
+double *gyro_x_d)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s16 v_reg_gyro_x_s16 = BNO055_ZERO_U8X;
- double v_data_d = BNO055_ZERO_U8X;
- u8 v_gyro_unit_u8 = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s16 reg_gyro_x_s16 = BNO055_INIT_VALUE;
+ double data_d = BNO055_INIT_VALUE;
+ u8 gyro_unit_u8 = BNO055_INIT_VALUE;
/* Read the current gyro unit and set the
unit as rps if the unit is in dps */
- com_rslt = bno055_get_gyro_unit(&v_gyro_unit_u8);
- if (v_gyro_unit_u8 != GYRO_UNIT_RPS)
- com_rslt += bno055_set_gyro_unit(GYRO_UNIT_RPS);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_get_gyro_unit(&gyro_unit_u8);
+ if (gyro_unit_u8 != BNO055_GYRO_UNIT_RPS)
+ com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_RPS);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read gyro raw x data */
- com_rslt += bno055_read_gyro_x(&v_reg_gyro_x_s16);
- if (com_rslt == SUCCESS) {
+ com_rslt += bno055_read_gyro_x(®_gyro_x_s16);
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert raw gyro x to rps */
- v_data_d =
- (double)(v_reg_gyro_x_s16/GYRO_DIV_RPS);
- *v_gyro_x_d = v_data_d;
+ data_d =
+ (double)(reg_gyro_x_s16/BNO055_GYRO_DIV_RPS);
+ *gyro_x_d = data_d;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the gyro y raw data
* to dps output as double
*
- * @param v_gyro_y_d : The gyro y dps double data
+ * @param gyro_y_d : The gyro y dps double data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_y_dps(
-double *v_gyro_y_d)
+double *gyro_y_d)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s16 v_reg_gyro_y_s16 = BNO055_ZERO_U8X;
- double v_data_d = BNO055_ZERO_U8X;
- u8 v_gyro_unit_u8 = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s16 reg_gyro_y_s16 = BNO055_INIT_VALUE;
+ double data_d = BNO055_INIT_VALUE;
+ u8 gyro_unit_u8 = BNO055_INIT_VALUE;
/* Read the current gyro unit and set the
unit as dps if the unit is in rps */
- com_rslt = bno055_get_gyro_unit(&v_gyro_unit_u8);
- if (v_gyro_unit_u8 != GYRO_UNIT_DPS)
- com_rslt += bno055_set_gyro_unit(GYRO_UNIT_DPS);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_get_gyro_unit(&gyro_unit_u8);
+ if (gyro_unit_u8 != BNO055_GYRO_UNIT_DPS)
+ com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_DPS);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read gyro raw y data */
- com_rslt += bno055_read_gyro_y(&v_reg_gyro_y_s16);
- if (com_rslt == SUCCESS) {
+ com_rslt += bno055_read_gyro_y(®_gyro_y_s16);
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert raw gyro y to dps */
- v_data_d =
- (double)(v_reg_gyro_y_s16/GYRO_DIV_DPS);
- *v_gyro_y_d = v_data_d;
+ data_d =
+ (double)(reg_gyro_y_s16/BNO055_GYRO_DIV_DPS);
+ *gyro_y_d = data_d;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the gyro y raw data
* to rps output as double
*
- * @param v_gyro_y_d : The gyro y dps double data
+ * @param gyro_y_d : The gyro y dps double data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_y_rps(
-double *v_gyro_y_d)
+double *gyro_y_d)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s16 v_reg_gyro_y_s16 = BNO055_ZERO_U8X;
- double v_data_d = BNO055_ZERO_U8X;
- u8 v_gyro_unit_u8 = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s16 reg_gyro_y_s16 = BNO055_INIT_VALUE;
+ double data_d = BNO055_INIT_VALUE;
+ u8 gyro_unit_u8 = BNO055_INIT_VALUE;
/* Read the current gyro unit and set the
unit as rps if the unit is in dps */
- com_rslt = bno055_get_gyro_unit(&v_gyro_unit_u8);
- if (v_gyro_unit_u8 != GYRO_UNIT_RPS)
- com_rslt += bno055_set_gyro_unit(GYRO_UNIT_RPS);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_get_gyro_unit(&gyro_unit_u8);
+ if (gyro_unit_u8 != BNO055_GYRO_UNIT_RPS)
+ com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_RPS);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read gyro raw y data */
- com_rslt += bno055_read_gyro_y(&v_reg_gyro_y_s16);
- if (com_rslt == SUCCESS) {
+ com_rslt += bno055_read_gyro_y(®_gyro_y_s16);
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert raw gyro y to rps */
- v_data_d =
- (double)(v_reg_gyro_y_s16/GYRO_DIV_RPS);
- *v_gyro_y_d = v_data_d;
+ data_d =
+ (double)(reg_gyro_y_s16/BNO055_GYRO_DIV_RPS);
+ *gyro_y_d = data_d;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the gyro z raw data
* to dps output as double
*
- * @param v_gyro_z_d : The gyro z dps double data
+ * @param gyro_z_d : The gyro z dps double data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_z_dps(
-double *v_gyro_z_d)
+double *gyro_z_d)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s16 v_reg_gyro_z_s16 = BNO055_ZERO_U8X;
- double v_data_d = BNO055_ZERO_U8X;
- u8 v_gyro_unit_u8 = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s16 reg_gyro_z_s16 = BNO055_INIT_VALUE;
+ double data_d = BNO055_INIT_VALUE;
+ u8 gyro_unit_u8 = BNO055_INIT_VALUE;
/* Read the current gyro unit and set the
unit as dps if the unit is in rps */
- com_rslt = bno055_get_gyro_unit(&v_gyro_unit_u8);
- if (v_gyro_unit_u8 != GYRO_UNIT_DPS)
- com_rslt += bno055_set_gyro_unit(GYRO_UNIT_DPS);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_get_gyro_unit(&gyro_unit_u8);
+ if (gyro_unit_u8 != BNO055_GYRO_UNIT_DPS)
+ com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_DPS);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read gyro raw z data */
- com_rslt += bno055_read_gyro_z(&v_reg_gyro_z_s16);
- if (com_rslt == SUCCESS) {
+ com_rslt += bno055_read_gyro_z(®_gyro_z_s16);
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert raw gyro z to dps */
- v_data_d =
- (double)(v_reg_gyro_z_s16/GYRO_DIV_DPS);
- *v_gyro_z_d = v_data_d;
+ data_d =
+ (double)(reg_gyro_z_s16/BNO055_GYRO_DIV_DPS);
+ *gyro_z_d = data_d;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the gyro z raw data
* to rps output as double
*
- * @param v_gyro_z_d : The gyro z rps double data
+ * @param gyro_z_d : The gyro z rps double data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_z_rps(
-double *v_gyro_z_d)
+double *gyro_z_d)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s16 v_reg_gyro_z_s16 = BNO055_ZERO_U8X;
- double v_data_d = BNO055_ZERO_U8X;
- u8 v_gyro_unit_u8 = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s16 reg_gyro_z_s16 = BNO055_INIT_VALUE;
+ double data_d = BNO055_INIT_VALUE;
+ u8 gyro_unit_u8 = BNO055_INIT_VALUE;
/* Read the current gyro unit and set the
unit as rps if the unit is in dps */
- com_rslt = bno055_get_gyro_unit(&v_gyro_unit_u8);
- if (v_gyro_unit_u8 != GYRO_UNIT_RPS)
- com_rslt += bno055_set_gyro_unit(GYRO_UNIT_RPS);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_get_gyro_unit(&gyro_unit_u8);
+ if (gyro_unit_u8 != BNO055_GYRO_UNIT_RPS)
+ com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_RPS);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read gyro raw x data */
- com_rslt += bno055_read_gyro_z(&v_reg_gyro_z_s16);
- if (com_rslt == SUCCESS) {
+ com_rslt += bno055_read_gyro_z(®_gyro_z_s16);
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert raw gyro x to rps */
- v_data_d =
- (double)(v_reg_gyro_z_s16/GYRO_DIV_RPS);
- *v_gyro_z_d = v_data_d;
+ data_d =
+ (double)(reg_gyro_z_s16/BNO055_GYRO_DIV_RPS);
+ *gyro_z_d = data_d;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_xyz_dps(
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
struct bno055_gyro_t reg_gyro_xyz = {
- BNO055_ZERO_U8X, BNO055_ZERO_U8X, BNO055_ZERO_U8X};
- u8 v_gyro_unit_u8 = BNO055_ZERO_U8X;
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE};
+ u8 gyro_unit_u8 = BNO055_INIT_VALUE;
/* Read the current gyro unit and set the
unit as dps if the unit is in rps */
- com_rslt = bno055_get_gyro_unit(&v_gyro_unit_u8);
- if (v_gyro_unit_u8 != GYRO_UNIT_DPS)
- com_rslt += bno055_set_gyro_unit(GYRO_UNIT_DPS);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_get_gyro_unit(&gyro_unit_u8);
+ if (gyro_unit_u8 != BNO055_GYRO_UNIT_DPS)
+ com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_DPS);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read gyro raw xyz data */
com_rslt += bno055_read_gyro_xyz(®_gyro_xyz);
- if (com_rslt == SUCCESS) {
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert gyro raw xyz to dps*/
gyro_xyz->x =
- (double)(reg_gyro_xyz.x/GYRO_DIV_DPS);
+ (double)(reg_gyro_xyz.x/BNO055_GYRO_DIV_DPS);
gyro_xyz->y =
- (double)(reg_gyro_xyz.y/GYRO_DIV_DPS);
+ (double)(reg_gyro_xyz.y/BNO055_GYRO_DIV_DPS);
gyro_xyz->z =
- (double)(reg_gyro_xyz.z/GYRO_DIV_DPS);
+ (double)(reg_gyro_xyz.z/BNO055_GYRO_DIV_DPS);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_xyz_rps(
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
struct bno055_gyro_t reg_gyro_xyz = {
- BNO055_ZERO_U8X, BNO055_ZERO_U8X, BNO055_ZERO_U8X};
- u8 v_gyro_unit_u8 = BNO055_ZERO_U8X;
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE};
+ u8 gyro_unit_u8 = BNO055_INIT_VALUE;
/* Read the current gyro unit and set the
unit as rps if the unit is in dps */
- com_rslt = bno055_get_gyro_unit(&v_gyro_unit_u8);
- if (v_gyro_unit_u8 != GYRO_UNIT_RPS)
- com_rslt += bno055_set_gyro_unit(GYRO_UNIT_RPS);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_get_gyro_unit(&gyro_unit_u8);
+ if (gyro_unit_u8 != BNO055_GYRO_UNIT_RPS)
+ com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_RPS);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read gyro raw x data */
com_rslt += bno055_read_gyro_xyz(®_gyro_xyz);
- if (com_rslt == SUCCESS) {
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw gyro xyz to rps*/
gyro_xyz->x =
- (double)(reg_gyro_xyz.x/GYRO_DIV_RPS);
+ (double)(reg_gyro_xyz.x/BNO055_GYRO_DIV_RPS);
gyro_xyz->y =
- (double)(reg_gyro_xyz.y/GYRO_DIV_RPS);
+ (double)(reg_gyro_xyz.y/BNO055_GYRO_DIV_RPS);
gyro_xyz->z =
- (double)(reg_gyro_xyz.z/GYRO_DIV_RPS);
+ (double)(reg_gyro_xyz.z/BNO055_GYRO_DIV_RPS);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the Euler h raw data
* to degree output as double
*
- * @param v_euler_h_d : The double value of Euler h degree
+ * @param euler_h_d : The double value of Euler h degree
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_h_deg(
-double *v_euler_h_d)
+double *euler_h_d)
{
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s16 v_reg_euler_h_s16 = BNO055_ZERO_U8X;
- double v_data_d = BNO055_ZERO_U8X;
- u8 v_euler_unit_u8 = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s16 reg_euler_h_s16 = BNO055_INIT_VALUE;
+ double data_d = BNO055_INIT_VALUE;
+ u8 euler_unit_u8 = BNO055_INIT_VALUE;
/* Read the current Euler unit and set the
unit as degree if the unit is in radians */
- com_rslt = bno055_get_euler_unit(&v_euler_unit_u8);
- if (v_euler_unit_u8 != EULER_UNIT_DEG)
- com_rslt += bno055_set_euler_unit(EULER_UNIT_DEG);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_get_euler_unit(&euler_unit_u8);
+ if (euler_unit_u8 != BNO055_EULER_UNIT_DEG)
+ com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_DEG);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read Euler raw h data*/
- com_rslt += bno055_read_euler_h(&v_reg_euler_h_s16);
- if (com_rslt == SUCCESS) {
+ com_rslt += bno055_read_euler_h(®_euler_h_s16);
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert raw Euler h to degree */
- v_data_d =
- (double)(v_reg_euler_h_s16/EULER_DIV_DEG);
- *v_euler_h_d = v_data_d;
+ data_d =
+ (double)(reg_euler_h_s16/BNO055_EULER_DIV_DEG);
+ *euler_h_d = data_d;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the Euler h raw data
* to radians output as double
*
- * @param v_euler_h_d : The double value of Euler h radians
+ * @param euler_h_d : The double value of Euler h radians
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_h_rad(
-double *v_euler_h_d)
+double *euler_h_d)
{
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s16 v_reg_euler_h_s16 = BNO055_ZERO_U8X;
- double v_data_d = BNO055_ZERO_U8X;
- u8 v_euler_unit_u8 = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s16 reg_euler_h_s16 = BNO055_INIT_VALUE;
+ double data_d = BNO055_INIT_VALUE;
+ u8 euler_unit_u8 = BNO055_INIT_VALUE;
/* Read the current Euler unit and set the
unit as radians if the unit is in degree */
- com_rslt = bno055_get_euler_unit(&v_euler_unit_u8);
- if (v_euler_unit_u8 != EULER_UNIT_RAD)
- com_rslt += bno055_set_euler_unit(EULER_UNIT_RAD);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_get_euler_unit(&euler_unit_u8);
+ if (euler_unit_u8 != BNO055_EULER_UNIT_RAD)
+ com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_RAD);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read Euler raw h data*/
- com_rslt += bno055_read_euler_h(&v_reg_euler_h_s16);
- if (com_rslt == SUCCESS) {
+ com_rslt += bno055_read_euler_h(®_euler_h_s16);
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert raw Euler h to radians */
- v_data_d =
- (double)(v_reg_euler_h_s16/EULER_DIV_RAD);
- *v_euler_h_d = v_data_d;
+ data_d =
+ (double)(reg_euler_h_s16/BNO055_EULER_DIV_RAD);
+ *euler_h_d = data_d;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the Euler r raw data
* to degree output as double
*
- * @param v_euler_r_d : The double value of Euler r degree
+ * @param euler_r_d : The double value of Euler r degree
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_r_deg(
-double *v_euler_r_d)
+double *euler_r_d)
{
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s16 v_reg_euler_r_s16 = BNO055_ZERO_U8X;
- double v_data_d = BNO055_ZERO_U8X;
- u8 v_euler_unit_u8 = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s16 reg_euler_r_s16 = BNO055_INIT_VALUE;
+ double data_d = BNO055_INIT_VALUE;
+ u8 euler_unit_u8 = BNO055_INIT_VALUE;
/* Read the current Euler unit and set the
unit as degree if the unit is in radians */
- com_rslt = bno055_get_euler_unit(&v_euler_unit_u8);
- if (v_euler_unit_u8 != EULER_UNIT_DEG)
- com_rslt += bno055_set_euler_unit(EULER_UNIT_DEG);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_get_euler_unit(&euler_unit_u8);
+ if (euler_unit_u8 != BNO055_EULER_UNIT_DEG)
+ com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_DEG);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read Euler raw r data*/
- com_rslt += bno055_read_euler_r(&v_reg_euler_r_s16);
- if (com_rslt == SUCCESS) {
+ com_rslt += bno055_read_euler_r(®_euler_r_s16);
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert raw Euler r to degree */
- v_data_d =
- (double)(v_reg_euler_r_s16/EULER_DIV_DEG);
- *v_euler_r_d = v_data_d;
+ data_d =
+ (double)(reg_euler_r_s16/BNO055_EULER_DIV_DEG);
+ *euler_r_d = data_d;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the Euler r raw data
* to radians output as double
*
- * @param v_euler_r_d : The double value of Euler r radians
+ * @param euler_r_d : The double value of Euler r radians
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_r_rad(
-double *v_euler_r_d)
+double *euler_r_d)
{
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s16 v_reg_euler_r_s16 = BNO055_ZERO_U8X;
- double v_data_d = BNO055_ZERO_U8X;
- u8 v_euler_unit_u8 = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s16 reg_euler_r_s16 = BNO055_INIT_VALUE;
+ double data_d = BNO055_INIT_VALUE;
+ u8 euler_unit_u8 = BNO055_INIT_VALUE;
/* Read the current Euler unit and set the
unit as radians if the unit is in degree */
- com_rslt = bno055_get_euler_unit(&v_euler_unit_u8);
- if (v_euler_unit_u8 != EULER_UNIT_RAD)
- com_rslt += bno055_set_euler_unit(EULER_UNIT_RAD);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_get_euler_unit(&euler_unit_u8);
+ if (euler_unit_u8 != BNO055_EULER_UNIT_RAD)
+ com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_RAD);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read Euler raw r data*/
- com_rslt += bno055_read_euler_r(&v_reg_euler_r_s16);
- if (com_rslt == SUCCESS) {
+ com_rslt += bno055_read_euler_r(®_euler_r_s16);
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert raw Euler r to radians */
- v_data_d =
- (double)(v_reg_euler_r_s16/EULER_DIV_RAD);
- *v_euler_r_d = v_data_d;
+ data_d =
+ (double)(reg_euler_r_s16/BNO055_EULER_DIV_RAD);
+ *euler_r_d = data_d;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the Euler p raw data
* to degree output as double
*
- * @param v_euler_p_d : The double value of Euler p degree
+ * @param euler_p_d : The double value of Euler p degree
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_p_deg(
-double *v_euler_p_d)
+double *euler_p_d)
{
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s16 v_reg_euler_p_s16 = BNO055_ZERO_U8X;
- double v_data_d = BNO055_ZERO_U8X;
- u8 v_euler_unit_u8 = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s16 reg_euler_p_s16 = BNO055_INIT_VALUE;
+ double data_d = BNO055_INIT_VALUE;
+ u8 euler_unit_u8 = BNO055_INIT_VALUE;
/* Read the current Euler unit and set the
unit as degree if the unit is in radians */
- com_rslt = bno055_get_euler_unit(&v_euler_unit_u8);
- if (v_euler_unit_u8 != EULER_UNIT_DEG)
- com_rslt += bno055_set_euler_unit(EULER_UNIT_DEG);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_get_euler_unit(&euler_unit_u8);
+ if (euler_unit_u8 != BNO055_EULER_UNIT_DEG)
+ com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_DEG);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read Euler raw p data*/
- com_rslt += bno055_read_euler_p(&v_reg_euler_p_s16);
- if (com_rslt == SUCCESS) {
+ com_rslt += bno055_read_euler_p(®_euler_p_s16);
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert raw Euler p to degree*/
- v_data_d =
- (double)(v_reg_euler_p_s16/EULER_DIV_DEG);
- *v_euler_p_d = v_data_d;
+ data_d =
+ (double)(reg_euler_p_s16/BNO055_EULER_DIV_DEG);
+ *euler_p_d = data_d;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the Euler p raw data
* to radians output as double
*
- * @param v_euler_p_d : The double value of Euler p radians
+ * @param euler_p_d : The double value of Euler p radians
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_p_rad(
-double *v_euler_p_d)
+double *euler_p_d)
{
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s16 v_reg_euler_p_s16 = BNO055_ZERO_U8X;
- double v_data_d = BNO055_ZERO_U8X;
- u8 v_euler_unit_u8 = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s16 reg_euler_p_s16 = BNO055_INIT_VALUE;
+ double data_d = BNO055_INIT_VALUE;
+ u8 euler_unit_u8 = BNO055_INIT_VALUE;
/* Read the current Euler unit and set the
unit as radians if the unit is in degree */
- com_rslt = bno055_get_euler_unit(&v_euler_unit_u8);
- if (v_euler_unit_u8 != EULER_UNIT_RAD)
- com_rslt += bno055_set_euler_unit(EULER_UNIT_RAD);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_get_euler_unit(&euler_unit_u8);
+ if (euler_unit_u8 != BNO055_EULER_UNIT_RAD)
+ com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_RAD);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read Euler raw p data*/
- com_rslt += bno055_read_euler_p(&v_reg_euler_p_s16);
- if (com_rslt == SUCCESS) {
+ com_rslt += bno055_read_euler_p(®_euler_p_s16);
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert raw p to radians*/
- v_data_d =
- (double)(v_reg_euler_p_s16/EULER_DIV_RAD);
- *v_euler_p_d = v_data_d;
+ data_d =
+ (double)(reg_euler_p_s16/BNO055_EULER_DIV_RAD);
+ *euler_p_d = data_d;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- struct bno055_euler_t reg_euler = {BNO055_ZERO_U8X,
- BNO055_ZERO_U8X, BNO055_ZERO_U8X};
- u8 v_euler_unit_u8 = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ struct bno055_euler_t reg_euler = {BNO055_INIT_VALUE,
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE};
+ u8 euler_unit_u8 = BNO055_INIT_VALUE;
/* Read the current Euler unit and set the
unit as degree if the unit is in radians */
- com_rslt = bno055_get_euler_unit(&v_euler_unit_u8);
- if (v_euler_unit_u8 != EULER_UNIT_DEG)
- com_rslt += bno055_set_euler_unit(EULER_UNIT_DEG);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_get_euler_unit(&euler_unit_u8);
+ if (euler_unit_u8 != BNO055_EULER_UNIT_DEG)
+ com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_DEG);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read Euler raw h data*/
com_rslt += bno055_read_euler_hrp(®_euler);
- if (com_rslt == SUCCESS) {
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert raw Euler hrp to degree*/
euler_hpr->h =
- (double)(reg_euler.h/EULER_DIV_DEG);
+ (double)(reg_euler.h/BNO055_EULER_DIV_DEG);
euler_hpr->p =
- (double)(reg_euler.p/EULER_DIV_DEG);
+ (double)(reg_euler.p/BNO055_EULER_DIV_DEG);
euler_hpr->r =
- (double)(reg_euler.r/EULER_DIV_DEG);
+ (double)(reg_euler.r/BNO055_EULER_DIV_DEG);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- struct bno055_euler_t reg_euler = {BNO055_ZERO_U8X,
- BNO055_ZERO_U8X, BNO055_ZERO_U8X};
- u8 v_euler_unit_u8 = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ struct bno055_euler_t reg_euler = {BNO055_INIT_VALUE,
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE};
+ u8 euler_unit_u8 = BNO055_INIT_VALUE;
/* Read the current Euler unit and set the
unit as radians if the unit is in degree */
- com_rslt = bno055_get_euler_unit(&v_euler_unit_u8);
- if (v_euler_unit_u8 != EULER_UNIT_RAD)
- com_rslt = bno055_set_euler_unit(EULER_UNIT_RAD);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_get_euler_unit(&euler_unit_u8);
+ if (euler_unit_u8 != BNO055_EULER_UNIT_RAD)
+ com_rslt = bno055_set_euler_unit(BNO055_EULER_UNIT_RAD);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read the raw hrp */
com_rslt = bno055_read_euler_hrp(®_euler);
- if (com_rslt == SUCCESS) {
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert raw Euler hrp to radians*/
euler_hpr->h =
- (double)(reg_euler.h/EULER_DIV_RAD);
+ (double)(reg_euler.h/BNO055_EULER_DIV_RAD);
euler_hpr->p =
- (double)(reg_euler.p/EULER_DIV_RAD);
+ (double)(reg_euler.p/BNO055_EULER_DIV_RAD);
euler_hpr->r =
- (double)(reg_euler.r/EULER_DIV_RAD);
+ (double)(reg_euler.r/BNO055_EULER_DIV_RAD);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the linear
* accel x raw data to meterpersecseq output as double
*
- * @param v_linear_accel_x_d : The double value of
+ * @param linear_accel_x_d : The double value of
* linear accel x meterpersecseq
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_x_msq(
-double *v_linear_accel_x_d)
+double *linear_accel_x_d)
{
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s16 v_reg_linear_accel_x_s16 = BNO055_ZERO_U8X;
- double v_data_d = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s16 reg_linear_accel_x_s16 = BNO055_INIT_VALUE;
+ double data_d = BNO055_INIT_VALUE;
/* Read the raw x of linear accel */
- com_rslt = bno055_read_linear_accel_x(&v_reg_linear_accel_x_s16);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_read_linear_accel_x(®_linear_accel_x_s16);
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw x to m/s2 */
- v_data_d = (double)
- (v_reg_linear_accel_x_s16/LINEAR_ACCEL_DIV_MSQ);
- *v_linear_accel_x_d = v_data_d;
+ data_d = (double)
+ (reg_linear_accel_x_s16/BNO055_LINEAR_ACCEL_DIV_MSQ);
+ *linear_accel_x_d = data_d;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the linear
* accel y raw data to meterpersecseq output as double
*
- * @param v_linear_accel_y_d : The double value of
+ * @param linear_accel_y_d : The double value of
* linear accel y meterpersecseq
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_y_msq(
-double *v_linear_accel_y_d)
+double *linear_accel_y_d)
{
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s16 v_reg_linear_accel_y_s16 = BNO055_ZERO_U8X;
- double v_data_d = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s16 reg_linear_accel_y_s16 = BNO055_INIT_VALUE;
+ double data_d = BNO055_INIT_VALUE;
/* Read the raw x of linear accel */
- com_rslt = bno055_read_linear_accel_y(&v_reg_linear_accel_y_s16);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_read_linear_accel_y(®_linear_accel_y_s16);
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw y to m/s2 */
- v_data_d = (double)
- (v_reg_linear_accel_y_s16/LINEAR_ACCEL_DIV_MSQ);
- *v_linear_accel_y_d = v_data_d;
+ data_d = (double)
+ (reg_linear_accel_y_s16/BNO055_LINEAR_ACCEL_DIV_MSQ);
+ *linear_accel_y_d = data_d;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the linear
* accel z raw data to meterpersecseq output as double
*
- * @param v_linear_accel_z_d : The double value of
+ * @param linear_accel_z_d : The double value of
* linear accel z meterpersecseq
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_z_msq(
-double *v_linear_accel_z_d)
+double *linear_accel_z_d)
{
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s16 v_reg_linear_accel_z_s16 = BNO055_ZERO_U8X;
- double v_data_d = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s16 reg_linear_accel_z_s16 = BNO055_INIT_VALUE;
+ double data_d = BNO055_INIT_VALUE;
/* Read the raw x of linear accel */
- com_rslt = bno055_read_linear_accel_z(&v_reg_linear_accel_z_s16);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_read_linear_accel_z(®_linear_accel_z_s16);
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw z to m/s2 */
- v_data_d =
- (double)(v_reg_linear_accel_z_s16/LINEAR_ACCEL_DIV_MSQ);
- *v_linear_accel_z_d = v_data_d;
+ data_d =
+ (double)(reg_linear_accel_z_s16/BNO055_LINEAR_ACCEL_DIV_MSQ);
+ *linear_accel_z_d = data_d;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
struct bno055_linear_accel_t reg_linear_accel_xyz = {
- BNO055_ZERO_U8X, BNO055_ZERO_U8X, BNO055_ZERO_U8X};
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE};
/* Read the raw xyz of linear accel */
com_rslt = bno055_read_linear_accel_xyz(®_linear_accel_xyz);
- if (com_rslt == SUCCESS) {
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw xyz of linear accel to m/s2 */
linear_accel_xyz->x =
- (double)(reg_linear_accel_xyz.x/LINEAR_ACCEL_DIV_MSQ);
+ (double)(reg_linear_accel_xyz.x/BNO055_LINEAR_ACCEL_DIV_MSQ);
linear_accel_xyz->y =
- (double)(reg_linear_accel_xyz.y/LINEAR_ACCEL_DIV_MSQ);
+ (double)(reg_linear_accel_xyz.y/BNO055_LINEAR_ACCEL_DIV_MSQ);
linear_accel_xyz->z =
- (double)(reg_linear_accel_xyz.z/LINEAR_ACCEL_DIV_MSQ);
+ (double)(reg_linear_accel_xyz.z/BNO055_LINEAR_ACCEL_DIV_MSQ);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the gravity
* x raw data to meterpersecseq output as double
*
- * @param v_gravity_x_d : The double value of gravity x meterpersecseq
+ * @param gravity_x_d : The double value of gravity x meterpersecseq
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_x_msq(
-double *v_gravity_x_d)
+double *gravity_x_d)
{
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s16 v_reg_gravity_x_s16 = BNO055_ZERO_U8X;
- double v_data_d = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s16 reg_gravity_x_s16 = BNO055_INIT_VALUE;
+ double data_d = BNO055_INIT_VALUE;
/* Read raw gravity of x*/
- com_rslt = bno055_read_gravity_x(&v_reg_gravity_x_s16);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_read_gravity_x(®_gravity_x_s16);
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert raw gravity of x to m/s2 */
- v_data_d =
- (double)(v_reg_gravity_x_s16/GRAVITY_DIV_MSQ);
- *v_gravity_x_d = v_data_d;
+ data_d =
+ (double)(reg_gravity_x_s16/BNO055_GRAVITY_DIV_MSQ);
+ *gravity_x_d = data_d;
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the gravity
* y raw data to meterpersecseq output as double
*
- * @param v_gravity_y_d : The double value of gravity y meterpersecseq
+ * @param gravity_y_d : The double value of gravity y meterpersecseq
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_y_msq(
-double *v_gravity_y_d)
+double *gravity_y_d)
{
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s16 v_reg_gravity_y_s16 = BNO055_ZERO_U8X;
- double v_data_d = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s16 reg_gravity_y_s16 = BNO055_INIT_VALUE;
+ double data_d = BNO055_INIT_VALUE;
/* Read raw gravity of y */
- com_rslt = bno055_read_gravity_y(&v_reg_gravity_y_s16);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_read_gravity_y(®_gravity_y_s16);
+ if (com_rslt == BNO055_SUCCESS) {
/* convert raw gravity of y to m/s2 */
- v_data_d =
- (double)(v_reg_gravity_y_s16/GRAVITY_DIV_MSQ);
- *v_gravity_y_d = v_data_d;
+ data_d =
+ (double)(reg_gravity_y_s16/BNO055_GRAVITY_DIV_MSQ);
+ *gravity_y_d = data_d;
} else {
- com_rslt += ERROR;
+ com_rslt += BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the gravity
* z raw data to meterpersecseq output as double
*
- * @param v_gravity_z_d : The double value of gravity z meterpersecseq
+ * @param gravity_z_d : The double value of gravity z meterpersecseq
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_z_msq(
-double *v_gravity_z_d)
+double *gravity_z_d)
{
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s16 v_reg_gravity_z_s16 = BNO055_ZERO_U8X;
- double v_data_d = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s16 reg_gravity_z_s16 = BNO055_INIT_VALUE;
+ double data_d = BNO055_INIT_VALUE;
/* Read raw gravity of z */
- com_rslt = bno055_read_gravity_z(&v_reg_gravity_z_s16);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_read_gravity_z(®_gravity_z_s16);
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert raw gravity of z to m/s2 */
- v_data_d =
- (double)(v_reg_gravity_z_s16/GRAVITY_DIV_MSQ);
- *v_gravity_z_d = v_data_d;
+ data_d =
+ (double)(reg_gravity_z_s16/BNO055_GRAVITY_DIV_MSQ);
+ *gravity_z_d = data_d;
} else {
- com_rslt += ERROR;
+ com_rslt += BNO055_ERROR;
}
return com_rslt;
}
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gravity_xyz_msq(
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
struct bno055_gravity_t reg_gravity_xyz = {
- BNO055_ZERO_U8X, BNO055_ZERO_U8X, BNO055_ZERO_U8X};
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE};
/* Read raw gravity of xyz */
com_rslt = bno055_read_gravity_xyz(®_gravity_xyz);
- if (com_rslt == SUCCESS) {
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert raw gravity of xyz to m/s2 */
gravity_xyz->x =
- (double)(reg_gravity_xyz.x/GRAVITY_DIV_MSQ);
+ (double)(reg_gravity_xyz.x/BNO055_GRAVITY_DIV_MSQ);
gravity_xyz->y =
- (double)(reg_gravity_xyz.y/GRAVITY_DIV_MSQ);
+ (double)(reg_gravity_xyz.y/BNO055_GRAVITY_DIV_MSQ);
gravity_xyz->z =
- (double)(reg_gravity_xyz.z/GRAVITY_DIV_MSQ);
+ (double)(reg_gravity_xyz.z/BNO055_GRAVITY_DIV_MSQ);
} else {
- com_rslt += ERROR;
+ com_rslt += BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the temperature
* data to Fahrenheit output as double
*
- * @param v_temp_d : The double value of temperature Fahrenheit
+ * @param temp_d : The double value of temperature Fahrenheit
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_temp_fahrenheit(
-double *v_temp_d)
+double *temp_d)
{
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s8 v_reg_temp_s8 = BNO055_ZERO_U8X;
- double v_data_d = BNO055_ZERO_U8X;
- u8 v_temp_unit_u8 = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s8 reg_temp_s8 = BNO055_INIT_VALUE;
+ double data_d = BNO055_INIT_VALUE;
+ u8 temp_unit_u8 = BNO055_INIT_VALUE;
/* Read the current temperature unit and set the
unit as Fahrenheit if the unit is in Celsius */
- com_rslt = bno055_get_temp_unit(&v_temp_unit_u8);
- if (v_temp_unit_u8 != TEMP_UNIT_FAHRENHEIT)
- com_rslt += bno055_set_temp_unit(TEMP_UNIT_FAHRENHEIT);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_get_temp_unit(&temp_unit_u8);
+ if (temp_unit_u8 != BNO055_TEMP_UNIT_FAHRENHEIT)
+ com_rslt += bno055_set_temp_unit(BNO055_TEMP_UNIT_FAHRENHEIT);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read the raw temperature data */
- com_rslt += bno055_read_temp_data(&v_reg_temp_s8);
- if (com_rslt == SUCCESS) {
+ com_rslt += bno055_read_temp_data(®_temp_s8);
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert raw temperature data to Fahrenheit*/
- v_data_d =
- (double)(v_reg_temp_s8/TEMP_DIV_FAHRENHEIT);
- *v_temp_d = v_data_d;
+ data_d = (double)(reg_temp_s8/
+ BNO055_TEMP_DIV_FAHRENHEIT);
+ *temp_d = data_d;
} else {
- com_rslt += ERROR;
+ com_rslt += BNO055_ERROR;
}
} else {
- com_rslt += ERROR;
+ com_rslt += BNO055_ERROR;
}
return com_rslt;
}
* @brief This API is used to convert the temperature
* data to Celsius output as double
*
- * @param v_temp_d : The double value of temperature Celsius
+ * @param temp_d : The double value of temperature Celsius
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_temp_celsius(
-double *v_temp_d)
+double *temp_d)
{
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- s8 v_reg_temp_s8 = BNO055_ZERO_U8X;
- double v_data_d = BNO055_ZERO_U8X;
- u8 v_temp_unit_u8 = BNO055_ZERO_U8X;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ s8 reg_temp_s8 = BNO055_INIT_VALUE;
+ double data_d = BNO055_INIT_VALUE;
+ u8 temp_unit_u8 = BNO055_INIT_VALUE;
/* Read the current temperature unit and set the
unit as Fahrenheit if the unit is in Celsius */
- com_rslt = bno055_get_temp_unit(&v_temp_unit_u8);
- if (v_temp_unit_u8 != TEMP_UNIT_CELSIUS)
- com_rslt += bno055_set_temp_unit(TEMP_UNIT_CELSIUS);
- if (com_rslt == SUCCESS) {
+ com_rslt = bno055_get_temp_unit(&temp_unit_u8);
+ if (temp_unit_u8 != BNO055_TEMP_UNIT_CELSIUS)
+ com_rslt += bno055_set_temp_unit(BNO055_TEMP_UNIT_CELSIUS);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read the raw temperature data */
- com_rslt += bno055_read_temp_data(&v_reg_temp_s8);
- if (com_rslt == SUCCESS) {
+ com_rslt += bno055_read_temp_data(®_temp_s8);
+ if (com_rslt == BNO055_SUCCESS) {
/* Convert raw temperature data to Fahrenheit*/
- v_data_d =
- (double)(v_reg_temp_s8/TEMP_DIV_CELSIUS);
- *v_temp_d = v_data_d;
+ data_d =
+ (double)(reg_temp_s8/BNO055_TEMP_DIV_CELSIUS);
+ *temp_d = data_d;
} else {
- com_rslt += ERROR;
+ com_rslt += BNO055_ERROR;
}
} else {
- com_rslt += ERROR;
+ com_rslt += BNO055_ERROR;
}
return com_rslt;
}
* @brief This API used to read
* mag calibration status from register from 0x35 bit 0 and 1
*
- * @param v_mag_calib_u8 : The value of mag calib status
+ * @param mag_calib_u8 : The value of mag calib status
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_calib_stat(
-u8 *v_mag_calib_u8)
+u8 *mag_calib_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, mag calib
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
- /* Read the mag calib v_stat_s8 */
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+ /* Read the mag calib stat_s8 */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_MAG_CALIB_STAT__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_mag_calib_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_MAG_CALIB_STAT_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *mag_calib_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_MAG_CALIB_STAT);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to read
* accel calibration status from register from 0x35 bit 2 and 3
*
- * @param v_accel_calib_u8 : The value of accel calib status
+ * @param accel_calib_u8 : The value of accel calib status
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_calib_stat(
-u8 *v_accel_calib_u8)
+u8 *accel_calib_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty*/
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel calib
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
- /* Read the accel calib v_stat_s8 */
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+ /* Read the accel calib stat_s8 */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_CALIB_STAT__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_accel_calib_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_ACCEL_CALIB_STAT_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *accel_calib_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_ACCEL_CALIB_STAT);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to read
* gyro calibration status from register from 0x35 bit 4 and 5
*
- * @param v_gyro_calib_u8 : The value of gyro calib status
+ * @param gyro_calib_u8 : The value of gyro calib status
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_calib_stat(
-u8 *v_gyro_calib_u8)
+u8 *gyro_calib_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro calib
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the gyro calib status */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_CALIB_STAT__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_gyro_calib_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_GYRO_CALIB_STAT_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *gyro_calib_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_CALIB_STAT);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to read
* system calibration status from register from 0x35 bit 6 and 7
*
- * @param v_sys_calib_u8 : The value of system calib status
+ * @param sys_calib_u8 : The value of system calib status
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_calib_stat(
-u8 *v_sys_calib_u8)
+u8 *sys_calib_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty*/
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page,system calib
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the system calib */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_SYS_CALIB_STAT__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_sys_calib_u8 =
- BNO055_GET_BITSLICE(v_data_u8r, BNO055_SYS_CALIB_STAT);
+ BNO055_SYS_CALIB_STAT_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *sys_calib_u8 =
+ BNO055_GET_BITSLICE(data_u8r, BNO055_SYS_CALIB_STAT);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to read
* self test of accel from register from 0x36 bit 0
*
- * @param v_selftest_accel_u8 : The value of self test of accel
+ * @param selftest_accel_u8 : The value of self test of accel
*
- * v_selftest_accel_u8 | result
+ * selftest_accel_u8 | result
* -------------------- | ---------------------
* 0x00 | indicates test failed
* 0x01 | indicated test passed
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_accel(
-u8 *v_selftest_accel_u8)
+u8 *selftest_accel_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel self test is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the accel self test */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_SELFTEST_ACCEL__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_selftest_accel_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_SELFTEST_ACCEL_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *selftest_accel_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_SELFTEST_ACCEL);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to read
* self test of mag from register from 0x36 bit 1
*
- * @param v_selftest_mag_u8 : The value of self test of mag
+ * @param selftest_mag_u8 : The value of self test of mag
*
- * v_selftest_mag_u8 | result
+ * selftest_mag_u8 | result
* -------------------- | ---------------------
* 0x00 | indicates test failed
* 0x01 | indicated test passed
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_mag(
-u8 *v_selftest_mag_u8)
+u8 *selftest_mag_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, self test of mag is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the mag self test */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_SELFTEST_MAG__REG, &v_data_u8r, BNO055_ONE_U8X);
- *v_selftest_mag_u8 =
- BNO055_GET_BITSLICE(v_data_u8r, BNO055_SELFTEST_MAG);
+ BNO055_SELFTEST_MAG_REG, &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ *selftest_mag_u8 =
+ BNO055_GET_BITSLICE(data_u8r, BNO055_SELFTEST_MAG);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to read
* self test of gyro from register from 0x36 bit 2
*
- * @param v_selftest_gyro_u8 : The value of self test of gyro
+ * @param selftest_gyro_u8 : The value of self test of gyro
*
- * v_selftest_gyro_u8 | result
+ * selftest_gyro_u8 | result
* -------------------- | ---------------------
* 0x00 | indicates test failed
* 0x01 | indicated test passed
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_gyro(
-u8 *v_selftest_gyro_u8)
+u8 *selftest_gyro_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page self test of gyro is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the gyro self test */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_SELFTEST_GYRO__REG, &v_data_u8r, BNO055_ONE_U8X);
- *v_selftest_gyro_u8 =
- BNO055_GET_BITSLICE(v_data_u8r, BNO055_SELFTEST_GYRO);
+ BNO055_SELFTEST_GYRO_REG, &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ *selftest_gyro_u8 =
+ BNO055_GET_BITSLICE(data_u8r, BNO055_SELFTEST_GYRO);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to read
* self test of micro controller from register from 0x36 bit 3
*
- * @param v_selftest_mcu_u8 : The value of self test of micro controller
+ * @param selftest_mcu_u8 : The value of self test of micro controller
*
- * v_selftest_mcu_u8 | result
+ * selftest_mcu_u8 | result
* -------------------- | ---------------------
* 0x00 | indicates test failed
* 0x01 | indicated test passed
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_mcu(
-u8 *v_selftest_mcu_u8)
+u8 *selftest_mcu_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page self test of micro controller
is available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the self test of micro controller*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_SELFTEST_MCU__REG, &v_data_u8r, BNO055_ONE_U8X);
- *v_selftest_mcu_u8 =
- BNO055_GET_BITSLICE(v_data_u8r, BNO055_SELFTEST_MCU);
+ BNO055_SELFTEST_MCU_REG, &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ *selftest_mcu_u8 =
+ BNO055_GET_BITSLICE(data_u8r, BNO055_SELFTEST_MCU);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
- * @brief This API used to read the v_stat_s8 of
+ * @brief This API used to read the stat_s8 of
* gyro anymotion interrupt from register from 0x37 bit 2
*
- * @param v_gyro_any_motion_u8 : The value of gyro anymotion interrupt
+ * @param gyro_any_motion_u8 : The value of gyro anymotion interrupt
*
- * v_gyro_any_motion_u8 | result
+ * gyro_any_motion_u8 | result
* -------------------- | ---------------------
* 0x00 | indicates no interrupt triggered
* 0x01 | indicates interrupt triggered
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
- * @note Gyro anymotion interrupt can be enabled
+ * @note Gyro anymotion interrupt can be BNO055_BIT_ENABLE
* by the following APIs
*
* bno055_set_intr_mask_gyro_any_motion()
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_gyro_any_motion(
-u8 *v_gyro_any_motion_u8)
+u8 *gyro_any_motion_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro anymotion interrupt
status is available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
- /* Read the gyro anymotion interrupt v_stat_s8*/
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+ /* Read the gyro anymotion interrupt stat_s8*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_INTR_STAT_GYRO_ANY_MOTION__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_gyro_any_motion_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_INTR_STAT_GYRO_ANY_MOTION_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *gyro_any_motion_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_INTR_STAT_GYRO_ANY_MOTION);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
- * @brief This API used to read the v_stat_s8 of
+ * @brief This API used to read the stat_s8 of
* gyro highrate interrupt from register from 0x37 bit 3
*
- * @param v_gyro_highrate_u8 : The value of gyro highrate interrupt
+ * @param gyro_highrate_u8 : The value of gyro highrate interrupt
*
- * v_gyro_highrate_u8 | result
+ * gyro_highrate_u8 | result
* ------------------- | ---------------------
* 0x00 | indicates no interrupt triggered
* 0x01 | indicates interrupt triggered
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Gyro highrate interrupt can be configured
* by the following APIs
* bno055_set_intr_gyro_highrate()
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_gyro_highrate(
-u8 *v_gyro_highrate_u8)
+u8 *gyro_highrate_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro highrate is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
- /* Read the gyro highrate interrupt v_stat_s8*/
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+ /* Read the gyro highrate interrupt stat_s8*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_INTR_STAT_GYRO_HIGHRATE__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_gyro_highrate_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_INTR_STAT_GYRO_HIGHRATE_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *gyro_highrate_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_INTR_STAT_GYRO_HIGHRATE);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
- * @brief This API used to read the v_stat_s8 of
+ * @brief This API used to read the stat_s8 of
* accel highg interrupt from register from 0x37 bit 5
*
- * @param v_accel_high_g_u8 : The value of accel highg interrupt
+ * @param accel_high_g_u8 : The value of accel highg interrupt
*
- * v_accel_high_g_u8 | result
+ * accel_high_g_u8 | result
* ------------------- | ---------------------
* 0x00 | indicates no interrupt triggered
* 0x01 | indicates interrupt triggered
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Accel highg interrupt can be configured
* by the following APIs
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_high_g(
-u8 *v_accel_high_g_u8)
+u8 *accel_high_g_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel highg is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
- /* Read the accel highg interrupt v_stat_s8 */
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+ /* Read the accel highg interrupt stat_s8 */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_INTR_STAT_ACCEL_HIGH_G__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_accel_high_g_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_INTR_STAT_ACCEL_HIGH_G_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *accel_high_g_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_INTR_STAT_ACCEL_HIGH_G);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
- * @brief This API used to read the v_stat_s8 of
+ * @brief This API used to read the stat_s8 of
* accel anymotion interrupt from register from 0x37 bit 6
*
- * @param v_accel_any_motion_u8 : The value of accel anymotion interrupt
+ * @param accel_any_motion_u8 : The value of accel anymotion interrupt
*
- * v_accel_any_motion_u8 | result
+ * accel_any_motion_u8 | result
* ------------------- | ---------------------
* 0x00 | indicates no interrupt triggered
* 0x01 | indicates interrupt triggered
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Accel anymotion interrupt can be configured
* by the following APIs
* bno055_set_intr_accel_any_motion()
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_any_motion(
-u8 *v_accel_any_motion_u8)
+u8 *accel_any_motion_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel anymotion is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
- /* Read the accel anymotion interrupt v_stat_s8 */
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+ /* Read the accel anymotion interrupt stat_s8 */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_INTR_STAT_ACCEL_ANY_MOTION__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_accel_any_motion_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_INTR_STAT_ACCEL_ANY_MOTION_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *accel_any_motion_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_INTR_STAT_ACCEL_ANY_MOTION);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
- * @brief This API used to read the v_stat_s8 of
+ * @brief This API used to read the stat_s8 of
* accel nomotion/slowmotion interrupt from register from 0x37 bit 6
*
- * @param v_accel_no_motion_u8 : The value of accel
+ * @param accel_no_motion_u8 : The value of accel
* nomotion/slowmotion interrupt
*
- * v_accel_no_motion_u8 | result
+ * accel_no_motion_u8 | result
* ------------------- | ---------------------
* 0x00 | indicates no interrupt triggered
* 0x01 | indicates interrupt triggered
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Accel nomotion/slowmotion interrupt can be configured
* by the following APIs
* bno055_set_intr_accel_nomotion()
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_no_motion(
-u8 *v_accel_no_motion_u8)
+u8 *accel_no_motion_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel
nomotion/slowmotion interrupt
is available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
- /* Read the v_stat_s8 of accel
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+ /* Read the stat_s8 of accel
nomotion/slowmotion interrupt*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_INTR_STAT_ACCEL_NO_MOTION__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_accel_no_motion_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_INTR_STAT_ACCEL_NO_MOTION_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *accel_no_motion_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_INTR_STAT_ACCEL_NO_MOTION);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API is used to read status of main clock
* from the register 0x38 bit 0
*
- * @param v_stat_main_clk_u8 : the status of main clock
+ * @param stat_main_clk_u8 : the status of main clock
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_stat_main_clk(
-u8 *v_stat_main_clk_u8)
+u8 *stat_main_clk_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, status of main clk is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the status of main clk */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_SYS_MAIN_CLK__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_stat_main_clk_u8 =
- BNO055_GET_BITSLICE(v_data_u8r, BNO055_SYS_MAIN_CLK);
+ BNO055_SYS_MAIN_CLK_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *stat_main_clk_u8 =
+ BNO055_GET_BITSLICE(data_u8r, BNO055_SYS_MAIN_CLK);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API is used to read system status
* code from the register 0x39 it is a byte of data
*
- * @param v_sys_stat_u8 : the status of system
+ * @param sys_stat_u8 : the status of system
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_stat_code(
-u8 *v_sys_stat_u8)
+u8 *sys_stat_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, the status of system is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the the status of system*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_SYS_STAT_CODE__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_sys_stat_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_SYS_STAT_CODE_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *sys_stat_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_SYS_STAT_CODE);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
- * @brief This API is used to read system error
+ * @brief This API is used to read system BNO055_ERROR
* code from the register 0x3A it is a byte of data
*
- * @param v_sys_error_u8 : The value of system error code
+ * @param sys_error_u8 : The value of system BNO055_ERROR code
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_error_code(
-u8 *v_sys_error_u8)
+u8 *sys_error_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
- /*condition check for page, system error code is
+ /*condition check for page, system BNO055_ERROR code is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
- /* Read the system error code*/
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
+ /* Read the system BNO055_ERROR code*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_SYS_ERROR_CODE__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_sys_error_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_SYS_ERROR_CODE_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *sys_error_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_SYS_ERROR_CODE);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to read the accel unit
* from register from 0x3B bit 0
*
- * @param v_accel_unit_u8 : The value of accel unit
+ * @param accel_unit_u8 : The value of accel unit
*
- * v_accel_unit_u8 | result
+ * accel_unit_u8 | result
* ------------- | ---------------
- * 0x00 | ACCEL_UNIT_MSQ
- * 0x01 | ACCEL_UNIT_MG
+ * 0x00 | BNO055_ACCEL_UNIT_MSQ
+ * 0x01 | BNO055_ACCEL_UNIT_MG
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_unit(
-u8 *v_accel_unit_u8)
+u8 *accel_unit_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel unit is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the accel unit */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_UNIT__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_accel_unit_u8 =
- BNO055_GET_BITSLICE(v_data_u8r, BNO055_ACCEL_UNIT);
+ BNO055_ACCEL_UNIT_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *accel_unit_u8 =
+ BNO055_GET_BITSLICE(data_u8r, BNO055_ACCEL_UNIT);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write the accel unit
* from register from 0x3B bit 0
*
- * @param v_accel_unit_u8 : The value of accel unit
+ * @param accel_unit_u8 : The value of accel unit
*
- * v_accel_unit_u8 | result
+ * accel_unit_u8 | result
* ------------- | ---------------
- * 0x00 | ACCEL_UNIT_MSQ
- * 0x01 | ACCEL_UNIT_MG
+ * 0x00 | BNO055_ACCEL_UNIT_MSQ
+ * 0x01 | BNO055_ACCEL_UNIT_MG
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_unit(
-u8 v_accel_unit_u8)
+u8 accel_unit_u8)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
-s8 v_stat_s8 = ERROR;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
- v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
- if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+ stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+ if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
+ if (stat_s8 == BNO055_SUCCESS) {
/* Write the accel unit */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_UNIT__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r =
- BNO055_SET_BITSLICE(v_data_u8r,
- BNO055_ACCEL_UNIT, v_accel_unit_u8);
+ BNO055_ACCEL_UNIT_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r =
+ BNO055_SET_BITSLICE(data_u8r,
+ BNO055_ACCEL_UNIT, accel_unit_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_UNIT__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_ACCEL_UNIT_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode
of previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the gyro unit
* from register from 0x3B bit 1
*
- * @param v_gyro_unit_u8 : The value of accel unit
+ * @param gyro_unit_u8 : The value of accel unit
*
- * v_gyro_unit_u8 | result
+ * gyro_unit_u8 | result
* ------------- | -----------
- * 0x00 | GYRO_UNIT_DPS
- * 0x01 | GYRO_UNIT_RPS
+ * 0x00 | BNO055_GYRO_UNIT_DPS
+ * 0x01 | BNO055_GYRO_UNIT_RPS
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_unit(
-u8 *v_gyro_unit_u8)
+u8 *gyro_unit_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro unit is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the gyro unit */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_UNIT__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_gyro_unit_u8 =
- BNO055_GET_BITSLICE(v_data_u8r, BNO055_GYRO_UNIT);
+ BNO055_GYRO_UNIT_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *gyro_unit_u8 =
+ BNO055_GET_BITSLICE(data_u8r, BNO055_GYRO_UNIT);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write the gyro unit
* from register from 0x3B bit 1
*
- * @param v_gyro_unit_u8 : The value of accel unit
+ * @param gyro_unit_u8 : The value of accel unit
*
- * v_gyro_unit_u8 | result
+ * gyro_unit_u8 | result
* ------------- | -----------
- * 0x00 | GYRO_UNIT_DPS
- * 0x01 | GYRO_UNIT_RPS
+ * 0x00 | BNO055_GYRO_UNIT_DPS
+ * 0x01 | BNO055_GYRO_UNIT_RPS
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_unit(u8 v_gyro_unit_u8)
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_unit(u8 gyro_unit_u8)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
-s8 v_stat_s8 = ERROR;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
- v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
- if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+ stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+ if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
+ if (stat_s8 == BNO055_SUCCESS) {
/* Write the gyro unit */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_UNIT__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r =
- BNO055_SET_BITSLICE(v_data_u8r,
- BNO055_GYRO_UNIT, v_gyro_unit_u8);
+ BNO055_GYRO_UNIT_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r =
+ BNO055_SET_BITSLICE(data_u8r,
+ BNO055_GYRO_UNIT, gyro_unit_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_UNIT__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_GYRO_UNIT_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode
of previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the Euler unit
* from register from 0x3B bit 2
*
- * @param v_euler_unit_u8 : The value of accel unit
+ * @param euler_unit_u8 : The value of accel unit
*
- * v_euler_unit_u8 | result
+ * euler_unit_u8 | result
* -------------- | -----------
- * 0x00 | EULER_UNIT_DEG
- * 0x01 | EULER_UNIT_RAD
+ * 0x00 | BNO055_EULER_UNIT_DEG
+ * 0x01 | BNO055_EULER_UNIT_RAD
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_euler_unit(
-u8 *v_euler_unit_u8)
+u8 *euler_unit_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, Euler unit is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the Euler unit */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_EULER_UNIT__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_euler_unit_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_EULER_UNIT_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *euler_unit_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_EULER_UNIT);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write the Euler unit
* from register from 0x3B bit 2
*
- * @param v_euler_unit_u8 : The value of Euler unit
+ * @param euler_unit_u8 : The value of Euler unit
*
- * v_euler_unit_u8 | result
+ * euler_unit_u8 | result
* -------------- | -----------
- * 0x00 | EULER_UNIT_DEG
- * 0x01 | EULER_UNIT_RAD
+ * 0x00 | BNO055_EULER_UNIT_DEG
+ * 0x01 | BNO055_EULER_UNIT_RAD
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_set_euler_unit(u8 v_euler_unit_u8)
+BNO055_RETURN_FUNCTION_TYPE bno055_set_euler_unit(u8 euler_unit_u8)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
-s8 v_stat_s8 = ERROR;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
- v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
- if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+ stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+ if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
+ if (stat_s8 == BNO055_SUCCESS) {
/* Write the Euler unit*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_EULER_UNIT__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r =
- BNO055_SET_BITSLICE(v_data_u8r,
- BNO055_EULER_UNIT, v_euler_unit_u8);
+ BNO055_EULER_UNIT_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r =
+ BNO055_SET_BITSLICE(data_u8r,
+ BNO055_EULER_UNIT, euler_unit_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_EULER_UNIT__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_EULER_UNIT_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode
of previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to write the tilt unit
* from register from 0x3B bit 3
*
- * @param v_tilt_unit_u8 : The value of tilt unit
+ * @param tilt_unit_u8 : The value of tilt unit
*
- * v_tilt_unit_u8 | result
+ * tilt_unit_u8 | result
* --------------- | ---------
* 0x00 | degrees
* 0x01 | radians
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_tilt_unit(
-u8 *v_tilt_unit_u8)
+u8 *tilt_unit_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_TILT_UNIT__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_tilt_unit_u8 =
- BNO055_GET_BITSLICE(v_data_u8r, BNO055_TILT_UNIT);
+ BNO055_TILT_UNIT_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *tilt_unit_u8 =
+ BNO055_GET_BITSLICE(data_u8r, BNO055_TILT_UNIT);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write the tilt unit
* from register from 0x3B bit 3
*
- * @param v_tilt_unit_u8 : The value of tilt unit
+ * @param tilt_unit_u8 : The value of tilt unit
*
- * v_tilt_unit_u8 | result
+ * tilt_unit_u8 | result
* --------------- | ---------
* 0x00 | degrees
* 0x01 | radians
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*
*
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_set_tilt_unit(u8 v_tilt_unit_u8)
+BNO055_RETURN_FUNCTION_TYPE bno055_set_tilt_unit(u8 tilt_unit_u8)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
-s8 v_stat_s8 = ERROR;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
- v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
- if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+ stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+ if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
+ if (stat_s8 == BNO055_SUCCESS) {
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_TILT_UNIT__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r =
- BNO055_SET_BITSLICE(v_data_u8r,
- BNO055_TILT_UNIT, v_tilt_unit_u8);
+ BNO055_TILT_UNIT_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r =
+ BNO055_SET_BITSLICE(data_u8r,
+ BNO055_TILT_UNIT, tilt_unit_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_TILT_UNIT__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_TILT_UNIT_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode
of previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the temperature unit
* from register from 0x3B bit 4
*
- * @param v_temp_unit_u8 : The value of temperature unit
+ * @param temp_unit_u8 : The value of temperature unit
*
- * v_temp_unit_u8 | result
+ * temp_unit_u8 | result
* ----------- | --------------
- * 0x00 | TEMP_UNIT_CELCIUS
- * 0x01 | TEMP_UNIT_FAHRENHEIT
+ * 0x00 | BNO055_TEMP_UNIT_CELSIUS
+ * 0x01 | BNO055_TEMP_UNIT_FAHRENHEIT
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_temp_unit(
-u8 *v_temp_unit_u8)
+u8 *temp_unit_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, temperature unit is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the temperature unit */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_TEMP_UNIT__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_temp_unit_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_TEMP_UNIT_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *temp_unit_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_TEMP_UNIT);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write the temperature unit
* from register from 0x3B bit 4
*
- * @param v_temp_unit_u8 : The value of temperature unit
+ * @param temp_unit_u8 : The value of temperature unit
*
- * v_temp_unit_u8 | result
+ * temp_unit_u8 | result
* ----------- | --------------
- * 0x00 | TEMP_UNIT_CELCIUS
- * 0x01 | TEMP_UNIT_FAHRENHEIT
+ * 0x00 | BNO055_TEMP_UNIT_CELSIUS
+ * 0x01 | BNO055_TEMP_UNIT_FAHRENHEIT
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_temp_unit(
-u8 v_temp_unit_u8)
+u8 temp_unit_u8)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
-s8 v_stat_s8 = ERROR;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
- v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
- if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+ stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+ if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
+ if (stat_s8 == BNO055_SUCCESS) {
/* Write the temperature unit */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_TEMP_UNIT__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r =
- BNO055_SET_BITSLICE(v_data_u8r,
+ BNO055_TEMP_UNIT_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r =
+ BNO055_SET_BITSLICE(data_u8r,
BNO055_TEMP_UNIT,
- v_temp_unit_u8);
+ temp_unit_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_TEMP_UNIT__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_TEMP_UNIT_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode
of previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the current selected orientation mode
* from register from 0x3B bit 7
*
- * @param v_data_output_format_u8 : The value of data output format
+ * @param data_output_format_u8 : The value of data output format
*
- * v_data_output_format_u8 | result
+ * data_output_format_u8 | result
* -------------------- | --------
* 0x00 | Windows
* 0x01 | Android
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_data_output_format(
-u8 *v_data_output_format_u8)
+u8 *data_output_format_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, data output format is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the data output format */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_DATA_OUTPUT_FORMAT__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_data_output_format_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_DATA_OUTPUT_FORMAT_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *data_output_format_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_DATA_OUTPUT_FORMAT);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write the current selected orientation mode
* from register from 0x3B bit 7
*
- * @param v_data_output_format_u8 : The value of data output format
+ * @param data_output_format_u8 : The value of data output format
*
- * v_data_output_format_u8 | result
+ * data_output_format_u8 | result
* -------------------- | --------
* 0x00 | Windows
* 0x01 | Android
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_data_output_format(
-u8 v_data_output_format_u8)
+u8 data_output_format_u8)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
-s8 v_stat_s8 = ERROR;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
- v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
- if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+ stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+ if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
+ if (stat_s8 == BNO055_SUCCESS) {
/* Write the data output format */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_DATA_OUTPUT_FORMAT__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r =
- BNO055_SET_BITSLICE(v_data_u8r,
+ BNO055_DATA_OUTPUT_FORMAT_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r =
+ BNO055_SET_BITSLICE(data_u8r,
BNO055_DATA_OUTPUT_FORMAT,
- v_data_output_format_u8);
+ data_output_format_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_DATA_OUTPUT_FORMAT__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_DATA_OUTPUT_FORMAT_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode
of previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/*! @brief This API used to read the operation mode
* from register from 0x3D bit 0 to 3
*
- * @param v_operation_mode_u8 : The value of operation mode
+ * @param operation_mode_u8 : The value of operation mode
*
- * v_operation_mode_u8 | result | comments
+ * operation_mode_u8 | result | comments
* ----------|----------------------------|----------------------------
- * 0x00 | OPERATION_MODE_CONFIG | Configuration mode
- * 0x01 | OPERATION_MODE_ACCONLY | Reads accel data alone
- * 0x02 | OPERATION_MODE_MAGONLY | Reads mag data alone
- * 0x03 | OPERATION_MODE_GYRONLY | Reads gyro data alone
- * 0x04 | OPERATION_MODE_ACCMAG | Reads accel and mag data
- * 0x05 | OPERATION_MODE_ACCGYRO | Reads accel and gyro data
- * 0x06 | OPERATION_MODE_MAGGYRO | Reads accel and mag data
+ * 0x00 | BNO055_OPERATION_MODE_CONFIG | Configuration mode
+ * 0x01 | BNO055_OPERATION_MODE_ACCONLY | Reads accel data alone
+ * 0x02 | BNO055_OPERATION_MODE_MAGONLY | Reads mag data alone
+ * 0x03 | BNO055_OPERATION_MODE_GYRONLY | Reads gyro data alone
+ * 0x04 | BNO055_OPERATION_MODE_ACCMAG | Reads accel and mag data
+ * 0x05 | BNO055_OPERATION_MODE_ACCGYRO | Reads accel and gyro data
+ * 0x06 | BNO055_OPERATION_MODE_MAGGYRO | Reads accel and mag data
* 0x07 | OPERATION_MODE_ANY_MOTION | Reads accel mag and gyro data
- * 0x08 | OPERATION_MODE_IMUPLUS | Inertial measurement unit
+ * 0x08 | BNO055_OPERATION_MODE_IMUPLUS | Inertial measurement unit
* - | - | Reads accel,gyro and fusion data
- * 0x09 | OPERATION_MODE_COMPASS | Reads accel, mag data
+ * 0x09 | BNO055_OPERATION_MODE_COMPASS | Reads accel, mag data
* - | - | and fusion data
- * 0x0A | OPERATION_MODE_M4G | Reads accel, mag data
+ * 0x0A | BNO055_OPERATION_MODE_M4G | Reads accel, mag data
* - | - | and fusion data
- * 0x0B | OPERATION_MODE_NDOF_FMC_OFF| Nine degrees of freedom with
+ * 0x0B | BNO055_OPERATION_MODE_NDOF_FMC_OFF| Nine degrees of freedom with
* - | - | fast magnetic calibration
* - | - | Reads accel,mag, gyro
* - | - | and fusion data
- * 0x0C | OPERATION_MODE_NDOF | Nine degrees of freedom
+ * 0x0C | BNO055_OPERATION_MODE_NDOF | Nine degrees of freedom
* - | - | Reads accel,mag, gyro
* - | - | and fusion data
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note In the config mode, all sensor and fusion data
* becomes zero and it is mainly derived
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_operation_mode(
-u8 *v_operation_mode_u8)
+u8 *operation_mode_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, operation mode is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the value of operation mode*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_OPERATION_MODE__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_operation_mode_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_OPERATION_MODE_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *operation_mode_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_OPERATION_MODE);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
/*! @brief This API used to write the operation mode
* from register from 0x3D bit 0 to 3
*
- * @param v_operation_mode_u8 : The value of operation mode
- *
- * v_operation_mode_u8 | result | comments
- * ----------|----------------------------|----------------------------
- * 0x00 | OPERATION_MODE_CONFIG | Configuration mode
- * 0x01 | OPERATION_MODE_ACCONLY | Reads accel data alone
- * 0x02 | OPERATION_MODE_MAGONLY | Reads mag data alone
- * 0x03 | OPERATION_MODE_GYRONLY | Reads gyro data alone
- * 0x04 | OPERATION_MODE_ACCMAG | Reads accel and mag data
- * 0x05 | OPERATION_MODE_ACCGYRO | Reads accel and gyro data
- * 0x06 | OPERATION_MODE_MAGGYRO | Reads accel and mag data
- * 0x07 | OPERATION_MODE_ANY_MOTION | Reads accel mag and gyro data
- * 0x08 | OPERATION_MODE_IMUPLUS | Inertial measurement unit
- * - | - | Reads accel,gyro and fusion data
- * 0x09 | OPERATION_MODE_COMPASS | Reads accel, mag data
- * - | - | and fusion data
- * 0x0A | OPERATION_MODE_M4G | Reads accel, mag data
- * - | - | and fusion data
- * 0x0B | OPERATION_MODE_NDOF_FMC_OFF| Nine degrees of freedom with
- * - | - | fast magnetic calibration
- * - | - | Reads accel,mag, gyro
- * - | - | and fusion data
- * 0x0C | OPERATION_MODE_NDOF | Nine degrees of freedom
- * - | - | Reads accel,mag, gyro
- * - | - | and fusion data
- *
- * @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @param operation_mode_u8 : The value of operation mode
+ *
+ * operation_mode_u8 | result | comments
+ * ---------|-----------------------------------|--------------------------
+ * 0x00 | BNO055_OPERATION_MODE_CONFIG | Configuration mode
+ * 0x01 | BNO055_OPERATION_MODE_ACCONLY | Reads accel data alone
+ * 0x02 | BNO055_OPERATION_MODE_MAGONLY | Reads mag data alone
+ * 0x03 | BNO055_OPERATION_MODE_GYRONLY | Reads gyro data alone
+ * 0x04 | BNO055_OPERATION_MODE_ACCMAG | Reads accel and mag data
+ * 0x05 | BNO055_OPERATION_MODE_ACCGYRO | Reads accel and gyro data
+ * 0x06 | BNO055_OPERATION_MODE_MAGGYRO | Reads accel and mag data
+ * 0x07 | OPERATION_MODE_ANY_MOTION | Reads accel mag and
+ * | - | gyro data
+ * 0x08 | BNO055_OPERATION_MODE_IMUPLUS | Inertial measurement unit
+ * - | | Reads accel,gyro and
+ * | - | fusion data
+ * 0x09 | BNO055_OPERATION_MODE_COMPASS | Reads accel, mag data
+ * - | - | and fusion data
+ * 0x0A | BNO055_OPERATION_MODE_M4G | Reads accel, mag data
+ * - | - | and fusion data
+ * 0x0B | BNO055_OPERATION_MODE_NDOF_FMC_OFF| Nine degrees of freedom with
+ * - | - | fast magnetic calibration
+ * - | - | Reads accel,mag, gyro
+ * - | - | and fusion data
+ * 0x0C | BNO055_OPERATION_MODE_NDOF | Nine degrees of freedom
+ * - | - | Reads accel,mag, gyro
+ * - | - | and fusion data
+ *
+ * @return results of bus communication function
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note In the config mode, all sensor and fusion data
* becomes zero and it is mainly derived
* to configure the various settings of the BNO
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_set_operation_mode(u8 v_operation_mode_u8)
+BNO055_RETURN_FUNCTION_TYPE bno055_set_operation_mode(u8 operation_mode_u8)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
-s8 v_stat_s8 = ERROR;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
- v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
- if (v_stat_s8 == SUCCESS) {
+ stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+ if (stat_s8 == BNO055_SUCCESS) {
/* If the previous operation mode is config it is
directly write the operation mode */
- if (v_prev_opmode_u8 == OPERATION_MODE_CONFIG) {
+ if (prev_opmode_u8 == BNO055_OPERATION_MODE_CONFIG) {
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_OPERATION_MODE__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r =
- BNO055_SET_BITSLICE(v_data_u8r,
+ BNO055_OPERATION_MODE_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r =
+ BNO055_SET_BITSLICE(data_u8r,
BNO055_OPERATION_MODE,
- v_operation_mode_u8);
+ operation_mode_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_OPERATION_MODE__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_OPERATION_MODE_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
/* Config mode to other
operation mode switching
required delay of 600ms*/
p_bno055->delay_msec(
- BNO055_SIX_HUNDRES_U8X);
+ BNO055_MODE_SWITCHING_DELAY);
}
} else {
/* If the previous operation
write the config mode */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_OPERATION_MODE__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r =
- BNO055_SET_BITSLICE(v_data_u8r,
+ BNO055_OPERATION_MODE_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r =
+ BNO055_SET_BITSLICE(data_u8r,
BNO055_OPERATION_MODE,
- OPERATION_MODE_CONFIG);
+ BNO055_OPERATION_MODE_CONFIG);
com_rslt += bno055_write_register(
- BNO055_OPERATION_MODE__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_OPERATION_MODE_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
/* other mode to config mode switching
required delay of 20ms*/
- p_bno055->delay_msec(BNO055_TWENTY_U8X);
+ p_bno055->delay_msec(
+ BNO055_CONFIG_MODE_SWITCHING_DELAY);
}
/* Write the operation mode */
- if (v_operation_mode_u8 !=
- OPERATION_MODE_CONFIG) {
+ if (operation_mode_u8 !=
+ BNO055_OPERATION_MODE_CONFIG) {
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_OPERATION_MODE__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r = BNO055_SET_BITSLICE
- (v_data_u8r,
+ BNO055_OPERATION_MODE_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r = BNO055_SET_BITSLICE
+ (data_u8r,
BNO055_OPERATION_MODE,
- v_operation_mode_u8);
+ operation_mode_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_OPERATION_MODE__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_OPERATION_MODE_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
/* Config mode to other
operation mode switching
required delay of 600ms*/
p_bno055->delay_msec(
- BNO055_SIX_HUNDRES_U8X);
+ BNO055_MODE_SWITCHING_DELAY);
}
}
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
/*! @brief This API used to read the power mode
* from register from 0x3E bit 0 to 1
*
- * @param v_power_mode_u8 : The value of power mode
+ * @param power_mode_u8 : The value of power mode
*
- * v_power_mode_u8| result | comments
- * ----------|---------------------|-------------------------------------
- * 0x00 | POWER_MODE_NORMAL | In the NORMAL mode the register
- * - | - | map and the internal peripherals
- * - | - | of the MCU are always
- * - | - | operative in this mode
- * 0x01 | POWER_MODE_LOWPOWER | This is first level of power saving mode
- * 0x02 | POWER_MODE_SUSPEND | In suspend mode the system is
- * - | - | paused and all the sensors and
- * - | - | the micro controller are
- * - | - | put into sleep mode.
+ * power_mode_u8| result | comments
+ * ---------|---------------------------|-------------------------------------
+ * 0x00 |BNO055_POWER_MODE_NORMAL | In the NORMAL mode the register
+ * - | - | map and the internal peripherals
+ * - | - | of the MCU are always
+ * - | - | operative in this mode
+ * 0x01 |BNO055_POWER_MODE_LOWPOWER | This is first level of power
+ * | - | saving mode
+ * 0x02 |BNO055_POWER_MODE_SUSPEND | In suspend mode the system is
+ * - | - | paused and all the sensors and
+ * - | - | the micro controller are
+ * - | - | put into sleep mode.
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note For detailed about LOWPOWER mode
* refer data sheet 3.4.2
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_power_mode(
-u8 *v_power_mode_u8)
+u8 *power_mode_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, power mode is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the value of power mode */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_POWER_MODE__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_power_mode_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_POWER_MODE_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *power_mode_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_POWER_MODE);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
/*! @brief This API used to write the power mode
* from register from 0x3E bit 0 to 1
*
- * @param v_power_mode_u8 : The value of power mode
+ * @param power_mode_u8 : The value of power mode
+ *
*
- * v_power_mode_u8 | result | comments
- * ----------|---------------------|-------------------------------------
- * 0x00 | POWER_MODE_NORMAL | In the NORMAL mode the register
- * - | - | map and the internal peripherals
- * - | - | of the MCU are always
- * - | - | operative in this mode
- * 0x01 | POWER_MODE_LOWPOWER | This is first level of power saving mode
- * 0x02 | POWER_MODE_SUSPEND | In suspend mode the system is
- * - | - | paused and all the sensors and
- * - | - | the micro controller are
- * - | - | put into sleep mode.
+ * power_mode_u8| result | comments
+ * -------|----------------------------|---------------------------------
+ * 0x00 | BNO055_POWER_MODE_NORMAL | In the NORMAL mode the register
+ * - | - | map and the internal peripherals
+ * - | - | of the MCU are always
+ * - | - | operative in this mode
+ * 0x01 | BNO055_POWER_MODE_LOWPOWER | This is first level of power
+ * | - | saving mode
+ * 0x02 | BNO055_POWER_MODE_SUSPEND | In suspend mode the system is
+ * - | - | paused and all the sensors and
+ * - | - | the micro controller are
+ * - | - | put into sleep mode.
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note For detailed about LOWPOWER mode
* refer data sheet 3.4.2
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_set_power_mode(u8 v_power_mode_u8)
+BNO055_RETURN_FUNCTION_TYPE bno055_set_power_mode(u8 power_mode_u8)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
-s8 v_stat_s8 = ERROR;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
- v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
- if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+ stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+ if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
+ if (stat_s8 == BNO055_SUCCESS) {
/* Write the value of power mode */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_POWER_MODE__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r =
- BNO055_SET_BITSLICE(v_data_u8r,
- BNO055_POWER_MODE, v_power_mode_u8);
+ BNO055_POWER_MODE_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r =
+ BNO055_SET_BITSLICE(data_u8r,
+ BNO055_POWER_MODE, power_mode_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_POWER_MODE__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_POWER_MODE_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode
of previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/*!
* from register from 0x3F bit 6
* It resets all the interrupt bit and interrupt output
*
- * @param v_intr_rst_u8 : The value of reset interrupt
+ * @param intr_rst_u8 : The value of reset interrupt
*
- * v_intr_rst_u8 | result
- * -------------- |----------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * intr_rst_u8 | result
+ * ------------ |----------
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_rst(
-u8 *v_intr_rst_u8)
+u8 *intr_rst_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, reset interrupt is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the value of reset interrupt*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_INTR_RST__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_intr_rst_u8 =
- BNO055_GET_BITSLICE(v_data_u8r, BNO055_INTR_RST);
+ BNO055_INTR_RST_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *intr_rst_u8 =
+ BNO055_GET_BITSLICE(data_u8r, BNO055_INTR_RST);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* from register from 0x3F bit 6
* It resets all the interrupt bit and interrupt output
*
- * @param v_intr_rst_u8 : The value of reset interrupt
+ * @param intr_rst_u8 : The value of reset interrupt
*
- * v_intr_rst_u8 | result
+ * intr_rst_u8 | result
* -------------- |----------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_rst(u8 v_intr_rst_u8)
+BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_rst(u8 intr_rst_u8)
{
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, reset interrupt
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Write the value of reset interrupt */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_INTR_RST__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r =
- BNO055_SET_BITSLICE(v_data_u8r,
- BNO055_INTR_RST, v_intr_rst_u8);
+ BNO055_INTR_RST_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r =
+ BNO055_SET_BITSLICE(data_u8r,
+ BNO055_INTR_RST, intr_rst_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_INTR_RST__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_INTR_RST_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to read the clk source
* from register from 0x3F bit 7
*
- * @param v_clk_src_u8 : The value of clk source
+ * @param clk_src_u8 : The value of clk source
*
- * v_clk_src_u8 | result
+ * clk_src_u8 | result
* -------------- |----------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_clk_src(
-u8 *v_clk_src_u8)
+u8 *clk_src_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, clk source is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the value of clk source */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_CLK_SRC__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_clk_src_u8 =
- BNO055_GET_BITSLICE(v_data_u8r, BNO055_CLK_SRC);
+ BNO055_CLK_SRC_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *clk_src_u8 =
+ BNO055_GET_BITSLICE(data_u8r, BNO055_CLK_SRC);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write the clk source
* from register from 0x3F bit 7
*
- * @param v_clk_src_u8 : The value of clk source
+ * @param clk_src_u8 : The value of clk source
*
- * v_clk_src_u8 | result
+ * clk_src_u8 | result
* -------------- |----------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_set_clk_src(u8 v_clk_src_u8)
+BNO055_RETURN_FUNCTION_TYPE bno055_set_clk_src(u8 clk_src_u8)
{
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, clk source is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Write the value of clk source */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_CLK_SRC__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r =
- BNO055_SET_BITSLICE(v_data_u8r,
- BNO055_CLK_SRC, v_clk_src_u8);
+ BNO055_CLK_SRC_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r =
+ BNO055_SET_BITSLICE(data_u8r,
+ BNO055_CLK_SRC, clk_src_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_CLK_SRC__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_CLK_SRC_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to read the reset system
* from register from 0x3F bit 5
*
- * @param v_sys_rst_u8 : The value of reset system
+ * @param sys_rst_u8 : The value of reset system
*
- * v_sys_rst_u8 | result
+ * sys_rst_u8 | result
* -------------- |----------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note It resets the whole system
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_rst(
-u8 *v_sys_rst_u8)
+u8 *sys_rst_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, reset system is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the value of reset system */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_SYS_RST__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_sys_rst_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_SYS_RST_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *sys_rst_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_SYS_RST);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write the reset system
* from register from 0x3F bit 5
*
- * @param v_sys_rst_u8 : The value of reset system
+ * @param sys_rst_u8 : The value of reset system
*
- * v_sys_rst_u8 | result
+ * sys_rst_u8 | result
* -------------- |----------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note It resets the whole system
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_set_sys_rst(u8 v_sys_rst_u8)
+BNO055_RETURN_FUNCTION_TYPE bno055_set_sys_rst(u8 sys_rst_u8)
{
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, reset system is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Write the value of reset system */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_SYS_RST__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r =
- BNO055_SET_BITSLICE(v_data_u8r,
- BNO055_SYS_RST, v_sys_rst_u8);
+ BNO055_SYS_RST_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r =
+ BNO055_SET_BITSLICE(data_u8r,
+ BNO055_SYS_RST, sys_rst_u8);
com_rslt =
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_SYS_RST__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_SYS_RST_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to read the self test
* from register from 0x3F bit 0
*
- * @param v_selftest_u8 : The value of self test
+ * @param selftest_u8 : The value of self test
*
- * v_selftest_u8 | result
+ * selftest_u8 | result
* -------------- |----------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note It triggers the self test
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest(
-u8 *v_selftest_u8)
+u8 *selftest_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, self test is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the value of self test */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_SELFTEST__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_selftest_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_SELFTEST_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *selftest_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_SELFTEST);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write the self test
* from register from 0x3F bit 0
*
- * @param v_selftest_u8 : The value of self test
+ * @param selftest_u8 : The value of self test
*
- * v_selftest_u8 | result
+ * selftest_u8 | result
* -------------- |----------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note It triggers the self test
*
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_set_selftest(u8 v_selftest_u8)
+BNO055_RETURN_FUNCTION_TYPE bno055_set_selftest(u8 selftest_u8)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
-s8 v_stat_s8 = ERROR;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
- v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
- if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+ stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+ if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
+ if (stat_s8 == BNO055_SUCCESS) {
/* Write the value of self test */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_SELFTEST__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r =
- BNO055_SET_BITSLICE(v_data_u8r,
+ BNO055_SELFTEST_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r =
+ BNO055_SET_BITSLICE(data_u8r,
BNO055_SELFTEST,
- v_selftest_u8);
+ selftest_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_SELFTEST__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_SELFTEST_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode
of previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the temperature source
* from register from 0x40 bit 0 and 1
*
- * @param v_temp_source_u8 : The value of selected temperature source
+ * @param temp_source_u8 : The value of selected temperature source
*
- * v_temp_source_u8 | result
+ * temp_source_u8 | result
* ---------------- |---------------
- * 0x00 | ACCEL_TEMP_EN
- * 0X01 | GYRO_TEMP_EN
- * 0X03 | MCU_TEMP_EN
+ * 0x00 | BNO055_ACCEL_TEMP_EN
+ * 0X01 | BNO055_GYRO_TEMP_EN
+ * 0X03 | BNO055_MCU_TEMP_EN
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_temp_source(
-u8 *v_temp_source_u8)
+u8 *temp_source_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, temperature source is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the value of temperature source */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_TEMP_SOURCE__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_temp_source_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_TEMP_SOURCE_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *temp_source_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_TEMP_SOURCE);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write the temperature source
* from register from 0x40 bit 0 and 1
*
- * @param v_temp_source_u8 : The value of selected temperature source
+ * @param temp_source_u8 : The value of selected temperature source
*
- * v_temp_source_u8 | result
+ * temp_source_u8 | result
* ---------------- |---------------
- * 0x00 | ACCEL_TEMP_EN
- * 0X01 | GYRO_TEMP_EN
- * 0X03 | MCU_TEMP_EN
+ * 0x00 | BNO055_ACCEL_TEMP_EN
+ * 0X01 | BNO055_GYRO_TEMP_EN
+ * 0X03 | BNO055_MCU_TEMP_EN
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_set_temp_source(u8 v_temp_source_u8)
+BNO055_RETURN_FUNCTION_TYPE bno055_set_temp_source(u8 temp_source_u8)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
-s8 v_stat_s8 = ERROR;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
- v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
- if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+ stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+ if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
+ if (stat_s8 == BNO055_SUCCESS) {
/* Write the value of temperature source*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_TEMP_SOURCE__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r =
- BNO055_SET_BITSLICE(v_data_u8r,
- BNO055_TEMP_SOURCE, v_temp_source_u8);
+ BNO055_TEMP_SOURCE_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r =
+ BNO055_SET_BITSLICE(data_u8r,
+ BNO055_TEMP_SOURCE, temp_source_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_TEMP_SOURCE__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_TEMP_SOURCE_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode
of previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the axis remap value
* from register from 0x41 bit 0 and 5
*
- * @param v_remap_axis_u8 : The value of axis remapping
+ * @param remap_axis_u8 : The value of axis remapping
*
- * v_remap_axis_u8 | result | comments
+ * remap_axis_u8 | result | comments
* ------------|-------------------|------------
- * 0X21 | REMAP_X_Y | Z=Z;X=Y;Y=X
- * 0X18 | REMAP_Y_Z | X=X;Y=Z;Z=Y
- * 0X06 | REMAP_Z_X | Y=Y;X=Z;Z=X
- * 0X12 | REMAP_X_Y_Z_TYPE0 | X=Z;Y=X;Z=Y
- * 0X09 | REMAP_X_Y_Z_TYPE1 | X=Y;Y=Z;Z=X
- * 0X24 | DEFAULT_AXIS | X=X;Y=Y;Z=Z
+ * 0X21 | BNO055_REMAP_X_Y | Z=Z;X=Y;Y=X
+ * 0X18 | BNO055_REMAP_Y_Z | X=X;Y=Z;Z=Y
+ * 0X06 | BNO055_REMAP_Z_X | Y=Y;X=Z;Z=X
+ * 0X12 | BNO055_REMAP_X_Y_Z_TYPE0 | X=Z;Y=X;Z=Y
+ * 0X09 | BNO055_REMAP_X_Y_Z_TYPE1 | X=Y;Y=Z;Z=X
+ * 0X24 | BNO055_DEFAULT_AXIS | X=X;Y=Y;Z=Z
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
- * @note : For axis sign remap refer the following functions
+ * @note : For axis sign remap refer the following APIs
* x-axis :
*
* bno055_set_x_remap_sign()
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_axis_remap_value(
-u8 *v_remap_axis_u8)
+u8 *remap_axis_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, axis remap is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the value of axis remap*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_REMAP_AXIS_VALUE__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_remap_axis_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_REMAP_AXIS_VALUE_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *remap_axis_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_REMAP_AXIS_VALUE);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write the axis remap value
* from register from 0x41 bit 0 and 5
*
- * @param v_remap_axis_u8 : The value of axis remapping
+ * @param remap_axis_u8 : The value of axis remapping
*
- * v_remap_axis_u8 | result | comments
+ * remap_axis_u8 | result | comments
* ------------|-------------------|------------
- * 0X21 | REMAP_X_Y | Z=Z;X=Y;Y=X
- * 0X18 | REMAP_Y_Z | X=X;Y=Z;Z=Y
- * 0X06 | REMAP_Z_X | Y=Y;X=Z;Z=X
- * 0X12 | REMAP_X_Y_Z_TYPE0 | X=Z;Y=X;Z=Y
- * 0X09 | REMAP_X_Y_Z_TYPE1 | X=Y;Y=Z;Z=X
- * 0X24 | DEFAULT_AXIS | X=X;Y=Y;Z=Z
+ * 0X21 | BNO055_REMAP_X_Y | Z=Z;X=Y;Y=X
+ * 0X18 | BNO055_REMAP_Y_Z | X=X;Y=Z;Z=Y
+ * 0X06 | BNO055_REMAP_Z_X | Y=Y;X=Z;Z=X
+ * 0X12 | BNO055_REMAP_X_Y_Z_TYPE0 | X=Z;Y=X;Z=Y
+ * 0X09 | BNO055_REMAP_X_Y_Z_TYPE1 | X=Y;Y=Z;Z=X
+ * 0X24 | BNO055_DEFAULT_AXIS | X=X;Y=Y;Z=Z
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
- * @note : For axis sign remap refer the following functions
+ * @note : For axis sign remap refer the following APIs
* x-axis :
*
* bno055_set_x_remap_sign()
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_axis_remap_value(
-u8 v_remap_axis_u8)
+u8 remap_axis_u8)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
-s8 v_stat_s8 = ERROR;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
- v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
- if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
+ stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+ if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
/* Write the value of axis remap */
- if (v_stat_s8 == SUCCESS) {
- switch (v_remap_axis_u8) {
- case REMAP_X_Y:
- case REMAP_Y_Z:
- case REMAP_Z_X:
- case REMAP_X_Y_Z_TYPE0:
- case REMAP_X_Y_Z_TYPE1:
- case DEFAULT_AXIS:
+ if (stat_s8 == BNO055_SUCCESS) {
+ switch (remap_axis_u8) {
+ case BNO055_REMAP_X_Y:
+ case BNO055_REMAP_Y_Z:
+ case BNO055_REMAP_Z_X:
+ case BNO055_REMAP_X_Y_Z_TYPE0:
+ case BNO055_REMAP_X_Y_Z_TYPE1:
+ case BNO055_DEFAULT_AXIS:
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_REMAP_AXIS_VALUE__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r = BNO055_SET_BITSLICE
- (v_data_u8r,
+ BNO055_REMAP_AXIS_VALUE_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r = BNO055_SET_BITSLICE
+ (data_u8r,
BNO055_REMAP_AXIS_VALUE,
- v_remap_axis_u8);
+ remap_axis_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_REMAP_AXIS_VALUE__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_REMAP_AXIS_VALUE_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
break;
default:
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_REMAP_AXIS_VALUE__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r = BNO055_SET_BITSLICE
- (v_data_u8r,
+ BNO055_REMAP_AXIS_VALUE_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r = BNO055_SET_BITSLICE
+ (data_u8r,
BNO055_REMAP_AXIS_VALUE,
- DEFAULT_AXIS);
+ BNO055_DEFAULT_AXIS);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_REMAP_AXIS_VALUE__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_REMAP_AXIS_VALUE_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
break;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
-if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode
of previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the x-axis remap
* sign from register from 0x42 bit 2
*
- * @param v_remap_x_sign_u8 : The value of x-axis remap sign
+ * @param remap_x_sign_u8 : The value of x-axis remap sign
*
- * v_remap_x_sign_u8 | result
+ * remap_x_sign_u8 | result
* ------------------- |--------------------
- * 0X00 | REMAP_AXIS_POSITIVE
- * 0X01 | REMAP_AXIS_NEGATIVE
+ * 0X00 | BNO055_REMAP_AXIS_POSITIVE
+ * 0X01 | BNO055_REMAP_AXIS_NEGATIVE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_x_sign(
-u8 *v_remap_x_sign_u8)
+u8 *remap_x_sign_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, x-axis remap sign is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the value of x-axis remap sign */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_REMAP_X_SIGN__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_remap_x_sign_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_REMAP_X_SIGN_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *remap_x_sign_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_REMAP_X_SIGN);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write the x-axis remap
* sign from register from 0x42 bit 2
*
- * @param v_remap_x_sign_u8 : The value of x-axis remap sign
+ * @param remap_x_sign_u8 : The value of x-axis remap sign
*
- * v_remap_x_sign_u8 | result
+ * remap_x_sign_u8 | result
* ------------------- |--------------------
- * 0X00 | REMAP_AXIS_POSITIVE
- * 0X01 | REMAP_AXIS_NEGATIVE
+ * 0X00 | BNO055_REMAP_AXIS_POSITIVE
+ * 0X01 | BNO055_REMAP_AXIS_NEGATIVE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_x_sign(
-u8 v_remap_x_sign_u8)
+u8 remap_x_sign_u8)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
-s8 v_stat_s8 = ERROR;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
- v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
- if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+ stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+ if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
+ if (stat_s8 == BNO055_SUCCESS) {
/* Write the value of x-axis remap */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_REMAP_X_SIGN__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r =
- BNO055_SET_BITSLICE(v_data_u8r,
+ BNO055_REMAP_X_SIGN_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r =
+ BNO055_SET_BITSLICE(data_u8r,
BNO055_REMAP_X_SIGN,
- v_remap_x_sign_u8);
+ remap_x_sign_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_REMAP_X_SIGN__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_REMAP_X_SIGN_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode
of previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the y-axis remap
* sign from register from 0x42 bit 1
*
- * @param v_remap_y_sign_u8 : The value of y-axis remap sign
+ * @param remap_y_sign_u8 : The value of y-axis remap sign
*
- * v_remap_y_sign_u8 | result
+ * remap_y_sign_u8 | result
* ------------------- |--------------------
- * 0X00 | REMAP_AXIS_POSITIVE
- * 0X01 | REMAP_AXIS_NEGATIVE
+ * 0X00 | BNO055_REMAP_AXIS_POSITIVE
+ * 0X01 | BNO055_REMAP_AXIS_NEGATIVE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_y_sign(
-u8 *v_remap_y_sign_u8)
+u8 *remap_y_sign_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, y-axis remap sign is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the value of y-axis remap sign*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_REMAP_Y_SIGN__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_remap_y_sign_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_REMAP_Y_SIGN_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *remap_y_sign_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_REMAP_Y_SIGN);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write the y-axis remap
* sign from register from 0x42 bit 1
*
- * @param v_remap_y_sign_u8 : The value of y-axis remap sign
+ * @param remap_y_sign_u8 : The value of y-axis remap sign
*
- * v_remap_y_sign_u8 | result
+ * remap_y_sign_u8 | result
* ------------------- |--------------------
- * 0X00 | REMAP_AXIS_POSITIVE
- * 0X01 | REMAP_AXIS_NEGATIVE
+ * 0X00 | BNO055_REMAP_AXIS_POSITIVE
+ * 0X01 | BNO055_REMAP_AXIS_NEGATIVE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_y_sign(
-u8 v_remap_y_sign_u8)
+u8 remap_y_sign_u8)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
-s8 v_stat_s8 = ERROR;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
- v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
- if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+ stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+ if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
+ if (stat_s8 == BNO055_SUCCESS) {
/* Write the value of y-axis remap sign*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_REMAP_Y_SIGN__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r =
- BNO055_SET_BITSLICE(v_data_u8r,
+ BNO055_REMAP_Y_SIGN_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r =
+ BNO055_SET_BITSLICE(data_u8r,
BNO055_REMAP_Y_SIGN,
- v_remap_y_sign_u8);
+ remap_y_sign_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_REMAP_Y_SIGN__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_REMAP_Y_SIGN_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode
of previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the z-axis remap
* sign from register from 0x42 bit 0
*
- * @param v_remap_z_sign_u8 : The value of z-axis remap sign
+ * @param remap_z_sign_u8 : The value of z-axis remap sign
*
- * v_remap_z_sign_u8 | result
+ * remap_z_sign_u8 | result
* ------------------- |--------------------
- * 0X00 | REMAP_AXIS_POSITIVE
- * 0X01 | REMAP_AXIS_NEGATIVE
+ * 0X00 | BNO055_REMAP_AXIS_POSITIVE
+ * 0X01 | BNO055_REMAP_AXIS_NEGATIVE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_z_sign(
-u8 *v_remap_z_sign_u8)
+u8 *remap_z_sign_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, z-axis remap sign is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the value of z-axis remap sign*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_REMAP_Z_SIGN__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_remap_z_sign_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_REMAP_Z_SIGN_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *remap_z_sign_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_REMAP_Z_SIGN);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write the z-axis remap
* sign from register from 0x42 bit 0
*
- * @param v_remap_z_sign_u8 : The value of z-axis remap sign
+ * @param remap_z_sign_u8 : The value of z-axis remap sign
*
- * v_remap_z_sign_u8 | result
+ * remap_z_sign_u8 | result
* ------------------- |--------------------
- * 0X00 | REMAP_AXIS_POSITIVE
- * 0X01 | REMAP_AXIS_NEGATIVE
+ * 0X00 | BNO055_REMAP_AXIS_POSITIVE
+ * 0X01 | BNO055_REMAP_AXIS_NEGATIVE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_z_sign(
-u8 v_remap_z_sign_u8)
+u8 remap_z_sign_u8)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
-s8 v_stat_s8 = ERROR;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
- v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
- if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+ stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+ if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
+ if (stat_s8 == BNO055_SUCCESS) {
/* Write the value of z-axis remap sign*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_REMAP_Z_SIGN__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r =
- BNO055_SET_BITSLICE(v_data_u8r,
+ BNO055_REMAP_Z_SIGN_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r =
+ BNO055_SET_BITSLICE(data_u8r,
BNO055_REMAP_Z_SIGN,
- v_remap_z_sign_u8);
+ remap_z_sign_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_REMAP_Z_SIGN__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_REMAP_Z_SIGN_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode
of previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/*!
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note : Each soft iron calibration matrix range from -32768 to +32767
*/
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the soft iron calibration matrix values
- v_data_u8[INDEX_ZERO] - sic_0->LSB
- v_data_u8[INDEX_ONE] - sic_0->MSB
- v_data_u8[INDEX_TWO] - sic_1->LSB
- v_data_u8[INDEX_THREE] - sic_1->MSB
- v_data_u8[INDEX_FOUR] - sic_2->LSB
- v_data_u8[INDEX_FIVE] - sic_2->MSB
- v_data_u8[6] - sic_3->LSB
- v_data_u8[7] - sic_3->MSB
- v_data_u8[8] - sic_4->LSB
- v_data_u8[9] - sic_4->MSB
- v_data_u8[10] - sic_5->LSB
- v_data_u8[11] - sic_5->MSB
- v_data_u8[12] - sic_6->LSB
- v_data_u8[13] - sic_6->MSB
- v_data_u8[14] - sic_7->LSB
- v_data_u8[15] - sic_7->MSB
- v_data_u8[16] - sic_8->LSB
- v_data_u8[17] - sic_8->MSB
+ data_u8[BNO055_SOFT_IRON_CALIB_0_LSB] - sic_0->LSB
+ data_u8[BNO055_SOFT_IRON_CALIB_0_MSB] - sic_0->MSB
+ data_u8[BNO055_SOFT_IRON_CALIB_1_LSB] - sic_1->LSB
+ data_u8[BNO055_SOFT_IRON_CALIB_1_MSB] - sic_1->MSB
+ data_u8[BNO055_SOFT_IRON_CALIB_2_LSB] - sic_2->LSB
+ data_u8[BNO055_SOFT_IRON_CALIB_2_MSB] - sic_2->MSB
+ data_u8[BNO055_SOFT_IRON_CALIB_3_LSB] - sic_3->LSB
+ data_u8[BNO055_SOFT_IRON_CALIB_3_MSB] - sic_3->MSB
+ data_u8[BNO055_SOFT_IRON_CALIB_4_LSB] - sic_4->LSB
+ data_u8[BNO055_SOFT_IRON_CALIB_4_MSB] - sic_4->MSB
+ data_u8[BNO055_SOFT_IRON_CALIB_5_LSB] - sic_5->LSB
+ data_u8[BNO055_SOFT_IRON_CALIB_5_MSB] - sic_5->MSB
+ data_u8[BNO055_SOFT_IRON_CALIB_6_LSB] - sic_6->LSB
+ data_u8[BNO055_SOFT_IRON_CALIB_6_MSB] - sic_6->MSB
+ data_u8[BNO055_SOFT_IRON_CALIB_7_LSB] - sic_7->LSB
+ data_u8[BNO055_SOFT_IRON_CALIB_7_MSB] - sic_7->MSB
+ data_u8[BNO055_SOFT_IRON_CALIB_8_LSB] - sic_8->LSB
+ data_u8[BNO055_SOFT_IRON_CALIB_8_MSB] - sic_8->MSB
*/
- u8 v_data_u8[ARRAY_SIZE_EIGHTEEN] = {
- BNO055_ZERO_U8X, BNO055_ZERO_U8X,
- BNO055_ZERO_U8X, BNO055_ZERO_U8X,
- BNO055_ZERO_U8X, BNO055_ZERO_U8X,
- BNO055_ZERO_U8X, BNO055_ZERO_U8X,
- BNO055_ZERO_U8X, BNO055_ZERO_U8X,
- BNO055_ZERO_U8X, BNO055_ZERO_U8X,
- BNO055_ZERO_U8X, BNO055_ZERO_U8X,
- BNO055_ZERO_U8X, BNO055_ZERO_U8X,
- BNO055_ZERO_U8X, BNO055_ZERO_U8X};
- s8 v_stat_s8 = ERROR;
+ u8 data_u8[BNO055_SOFT_IRON_CALIBRATION_MATRIX_SIZE] = {
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE};
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, soft iron calibration matrix is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read soft iron calibration matrix value
it is eighteen bytes of data */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_SIC_MATRIX_0_LSB__REG,
- v_data_u8, BNO055_EIGHTEEN_U8X);
- if (com_rslt == SUCCESS) {
+ BNO055_SIC_MATRIX_0_LSB_REG,
+ data_u8, BNO055_SOFT_IRON_CALIBRATION_MATRIX_SIZE);
+ if (com_rslt == BNO055_SUCCESS) {
/*soft iron calibration matrix zero*/
- v_data_u8[INDEX_ZERO] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ZERO],
+ data_u8[BNO055_SOFT_IRON_CALIB_0_LSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SOFT_IRON_CALIB_0_LSB],
BNO055_SIC_MATRIX_0_LSB);
- v_data_u8[INDEX_ONE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ data_u8[BNO055_SOFT_IRON_CALIB_0_MSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SOFT_IRON_CALIB_0_MSB],
BNO055_SIC_MATRIX_0_MSB);
sic_matrix->sic_0 = (s16)((((s32)
- (s8)(v_data_u8[INDEX_ONE])) <<
- (BNO055_SHIFT_8_POSITION))
- | (v_data_u8[INDEX_ZERO]));
+ (s8)(data_u8[BNO055_SOFT_IRON_CALIB_0_MSB])) <<
+ (BNO055_SHIFT_EIGHT_BITS))
+ | (data_u8[BNO055_SOFT_IRON_CALIB_0_LSB]));
/*soft iron calibration matrix one*/
- v_data_u8[INDEX_TWO] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_TWO],
+ data_u8[BNO055_SOFT_IRON_CALIB_1_LSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SOFT_IRON_CALIB_1_LSB],
BNO055_SIC_MATRIX_1_LSB);
- v_data_u8[INDEX_THREE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_THREE],
+ data_u8[BNO055_SOFT_IRON_CALIB_1_MSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SOFT_IRON_CALIB_1_MSB],
BNO055_SIC_MATRIX_1_MSB);
sic_matrix->sic_1 = (s16)((((s32)
- (s8)(v_data_u8[INDEX_THREE])) <<
- (BNO055_SHIFT_8_POSITION))
- | (v_data_u8[INDEX_TWO]));
+ (s8)(data_u8[BNO055_SOFT_IRON_CALIB_1_MSB])) <<
+ (BNO055_SHIFT_EIGHT_BITS))
+ | (data_u8[BNO055_SOFT_IRON_CALIB_1_LSB]));
/*soft iron calibration matrix two*/
- v_data_u8[INDEX_FOUR] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_FOUR],
+ data_u8[BNO055_SOFT_IRON_CALIB_2_LSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SOFT_IRON_CALIB_2_LSB],
BNO055_SIC_MATRIX_2_LSB);
- v_data_u8[INDEX_FIVE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_FIVE],
+ data_u8[BNO055_SOFT_IRON_CALIB_2_MSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SOFT_IRON_CALIB_2_MSB],
BNO055_SIC_MATRIX_2_MSB);
sic_matrix->sic_2 = (s16)((((s32)
- (s8)(v_data_u8[INDEX_FIVE])) <<
- (BNO055_SHIFT_8_POSITION))
- | (v_data_u8[INDEX_FOUR]));
+ (s8)(data_u8[BNO055_SOFT_IRON_CALIB_2_MSB])) <<
+ (BNO055_SHIFT_EIGHT_BITS))
+ | (data_u8[BNO055_SOFT_IRON_CALIB_2_LSB]));
/*soft iron calibration matrix three*/
- v_data_u8[INDEX_SIX] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_SIX],
+ data_u8[BNO055_SOFT_IRON_CALIB_3_LSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SOFT_IRON_CALIB_3_LSB],
BNO055_SIC_MATRIX_3_LSB);
- v_data_u8[INDEX_SEVEN] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_SEVEN],
+ data_u8[BNO055_SOFT_IRON_CALIB_3_MSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SOFT_IRON_CALIB_3_MSB],
BNO055_SIC_MATRIX_3_LSB);
sic_matrix->sic_3 = (s16)((((s32)
- (s8)(v_data_u8[INDEX_SEVEN])) <<
- (BNO055_SHIFT_8_POSITION)) |
- (v_data_u8[INDEX_SIX]));
+ (s8)(data_u8[BNO055_SOFT_IRON_CALIB_3_MSB])) <<
+ (BNO055_SHIFT_EIGHT_BITS)) |
+ (data_u8[BNO055_SOFT_IRON_CALIB_3_LSB]));
/*soft iron calibration matrix four*/
- v_data_u8[INDEX_EIGHT] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_EIGHT],
+ data_u8[BNO055_SOFT_IRON_CALIB_4_LSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SOFT_IRON_CALIB_4_LSB],
BNO055_SIC_MATRIX_4_LSB);
- v_data_u8[INDEX_NINE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_NINE],
+ data_u8[BNO055_SOFT_IRON_CALIB_4_MSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SOFT_IRON_CALIB_4_MSB],
BNO055_SIC_MATRIX_4_LSB);
sic_matrix->sic_4 = (s16)((((s32)
- (s8)(v_data_u8[INDEX_NINE])) <<
- (BNO055_SHIFT_8_POSITION)) |
- (v_data_u8[INDEX_EIGHT]));
+ (s8)(data_u8[BNO055_SOFT_IRON_CALIB_4_MSB])) <<
+ (BNO055_SHIFT_EIGHT_BITS)) |
+ (data_u8[BNO055_SOFT_IRON_CALIB_4_LSB]));
/*soft iron calibration matrix five*/
- v_data_u8[INDEX_TEN] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_TEN],
+ data_u8[BNO055_SOFT_IRON_CALIB_5_LSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SOFT_IRON_CALIB_5_LSB],
BNO055_SIC_MATRIX_5_LSB);
- v_data_u8[INDEX_ELEVEN] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ELEVEN],
+ data_u8[BNO055_SOFT_IRON_CALIB_5_MSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SOFT_IRON_CALIB_5_MSB],
BNO055_SIC_MATRIX_5_LSB);
sic_matrix->sic_5 = (s16)((((s32)
- (s8)(v_data_u8[INDEX_ELEVEN])) <<
- (BNO055_SHIFT_8_POSITION)) |
- (v_data_u8[INDEX_TEN]));
+ (s8)(data_u8[BNO055_SOFT_IRON_CALIB_5_MSB])) <<
+ (BNO055_SHIFT_EIGHT_BITS)) |
+ (data_u8[BNO055_SOFT_IRON_CALIB_5_LSB]));
/*soft iron calibration matrix six*/
- v_data_u8[INDEX_TWELVE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_TWELVE],
+ data_u8[BNO055_SOFT_IRON_CALIB_6_LSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SOFT_IRON_CALIB_6_LSB],
BNO055_SIC_MATRIX_6_LSB);
- v_data_u8[INDEX_THIRTEEN] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_THIRTEEN],
+ data_u8[BNO055_SOFT_IRON_CALIB_6_MSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SOFT_IRON_CALIB_6_MSB],
BNO055_SIC_MATRIX_6_LSB);
sic_matrix->sic_6 = (s16)((((s32)
- (s8)(v_data_u8[INDEX_THIRTEEN])) <<
- (BNO055_SHIFT_8_POSITION)) |
- (v_data_u8[INDEX_TWELVE]));
+ (s8)(data_u8[BNO055_SOFT_IRON_CALIB_6_MSB])) <<
+ (BNO055_SHIFT_EIGHT_BITS)) |
+ (data_u8[BNO055_SOFT_IRON_CALIB_6_LSB]));
/*soft iron calibration matrix seven*/
- v_data_u8[INDEX_FOURTEEN] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_FOURTEEN],
+ data_u8[BNO055_SOFT_IRON_CALIB_7_LSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SOFT_IRON_CALIB_7_LSB],
BNO055_SIC_MATRIX_7_LSB);
- v_data_u8[INDEX_FIVETEEN] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_FIVETEEN],
+ data_u8[BNO055_SOFT_IRON_CALIB_7_MSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SOFT_IRON_CALIB_7_MSB],
BNO055_SIC_MATRIX_7_LSB);
sic_matrix->sic_7 = (s16)((((s32)
- (s8)(v_data_u8[INDEX_FIVETEEN])) <<
- (BNO055_SHIFT_8_POSITION)) |
- (v_data_u8[INDEX_FOURTEEN]));
+ (s8)(data_u8[BNO055_SOFT_IRON_CALIB_7_MSB])) <<
+ (BNO055_SHIFT_EIGHT_BITS)) |
+ (data_u8[BNO055_SOFT_IRON_CALIB_7_LSB]));
/*soft iron calibration matrix eight*/
- v_data_u8[INDEX_SIXTEEN] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_SIXTEEN],
+ data_u8[BNO055_SOFT_IRON_CALIB_8_LSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SOFT_IRON_CALIB_8_LSB],
BNO055_SIC_MATRIX_8_LSB);
- v_data_u8[INDEX_SEVENTEEN] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_SEVENTEEN],
+ data_u8[BNO055_SOFT_IRON_CALIB_8_MSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SOFT_IRON_CALIB_8_MSB],
BNO055_SIC_MATRIX_8_LSB);
sic_matrix->sic_8 = (s16)((((s32)
- (s8)(v_data_u8[INDEX_SEVENTEEN])) <<
- (BNO055_SHIFT_8_POSITION)) |
- (v_data_u8[INDEX_SIXTEEN]));
+ (s8)(data_u8[BNO055_SOFT_IRON_CALIB_8_MSB])) <<
+ (BNO055_SHIFT_EIGHT_BITS)) |
+ (data_u8[BNO055_SOFT_IRON_CALIB_8_LSB]));
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note : Each soft iron calibration matrix range from -32768 to +32767
*/
BNO055_RETURN_FUNCTION_TYPE bno055_write_sic_matrix(
struct bno055_sic_matrix_t *sic_matrix)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data1_u8r = BNO055_ZERO_U8X;
-u8 v_data2_u8r = BNO055_ZERO_U8X;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
-s8 v_stat_s8 = ERROR;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data1_u8r = BNO055_INIT_VALUE;
+u8 data2_u8r = BNO055_INIT_VALUE;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
- v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
- if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+ stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+ if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
+ if (stat_s8 == BNO055_SUCCESS) {
/* write soft iron calibration
matrix zero value*/
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_SIC_MATRIX_0_LSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data1_u8r = ((s8)
+ BNO055_SIC_MATRIX_0_LSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data1_u8r = ((s8)
(sic_matrix->sic_0
& BNO055_SIC_HEX_0_0_F_F_DATA));
- v_data2_u8r =
- BNO055_SET_BITSLICE(v_data2_u8r,
+ data2_u8r =
+ BNO055_SET_BITSLICE(data2_u8r,
BNO055_SIC_MATRIX_0_LSB,
- v_data1_u8r);
+ data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_SIC_MATRIX_0_LSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
+ BNO055_SIC_MATRIX_0_LSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_SIC_MATRIX_0_MSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data1_u8r = ((s8)
+ BNO055_SIC_MATRIX_0_MSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data1_u8r = ((s8)
(sic_matrix->sic_0 >>
- BNO055_SHIFT_8_POSITION)
+ BNO055_SHIFT_EIGHT_BITS)
& BNO055_SIC_HEX_0_0_F_F_DATA);
- v_data2_u8r =
- BNO055_SET_BITSLICE(v_data2_u8r,
+ data2_u8r =
+ BNO055_SET_BITSLICE(data2_u8r,
BNO055_SIC_MATRIX_0_MSB,
- v_data1_u8r);
+ data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_SIC_MATRIX_0_MSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
+ BNO055_SIC_MATRIX_0_MSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
/* write soft iron calibration
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_SIC_MATRIX_1_LSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data1_u8r = ((s8)
+ BNO055_SIC_MATRIX_1_LSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data1_u8r = ((s8)
(sic_matrix->sic_1
& BNO055_SIC_HEX_0_0_F_F_DATA));
- v_data2_u8r =
- BNO055_SET_BITSLICE(v_data2_u8r,
+ data2_u8r =
+ BNO055_SET_BITSLICE(data2_u8r,
BNO055_SIC_MATRIX_1_LSB,
- v_data1_u8r);
+ data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_SIC_MATRIX_1_LSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
+ BNO055_SIC_MATRIX_1_LSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_SIC_MATRIX_1_MSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data1_u8r = ((s8)
+ BNO055_SIC_MATRIX_1_MSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data1_u8r = ((s8)
(sic_matrix->sic_1 >>
- BNO055_SHIFT_8_POSITION)
+ BNO055_SHIFT_EIGHT_BITS)
& BNO055_SIC_HEX_0_0_F_F_DATA);
- v_data2_u8r =
- BNO055_SET_BITSLICE(v_data2_u8r,
+ data2_u8r =
+ BNO055_SET_BITSLICE(data2_u8r,
BNO055_SIC_MATRIX_1_MSB,
- v_data1_u8r);
+ data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_SIC_MATRIX_1_MSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
+ BNO055_SIC_MATRIX_1_MSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
/* write soft iron calibration
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_SIC_MATRIX_2_LSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data1_u8r = ((s8)
+ BNO055_SIC_MATRIX_2_LSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data1_u8r = ((s8)
(sic_matrix->sic_2
& BNO055_SIC_HEX_0_0_F_F_DATA));
- v_data2_u8r =
- BNO055_SET_BITSLICE(v_data2_u8r,
+ data2_u8r =
+ BNO055_SET_BITSLICE(data2_u8r,
BNO055_SIC_MATRIX_2_LSB,
- v_data1_u8r);
+ data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_SIC_MATRIX_2_LSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
+ BNO055_SIC_MATRIX_2_LSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_SIC_MATRIX_2_MSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data1_u8r = ((s8)
+ BNO055_SIC_MATRIX_2_MSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data1_u8r = ((s8)
(sic_matrix->sic_2 >>
- BNO055_SHIFT_8_POSITION)
+ BNO055_SHIFT_EIGHT_BITS)
& BNO055_SIC_HEX_0_0_F_F_DATA);
- v_data2_u8r =
- BNO055_SET_BITSLICE(v_data2_u8r,
+ data2_u8r =
+ BNO055_SET_BITSLICE(data2_u8r,
BNO055_SIC_MATRIX_2_MSB,
- v_data1_u8r);
+ data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_SIC_MATRIX_2_MSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
+ BNO055_SIC_MATRIX_2_MSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
/* write soft iron calibration
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_SIC_MATRIX_3_LSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data1_u8r = ((s8)
+ BNO055_SIC_MATRIX_3_LSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data1_u8r = ((s8)
(sic_matrix->sic_3
& BNO055_SIC_HEX_0_0_F_F_DATA));
- v_data2_u8r =
- BNO055_SET_BITSLICE(v_data2_u8r,
+ data2_u8r =
+ BNO055_SET_BITSLICE(data2_u8r,
BNO055_SIC_MATRIX_3_LSB,
- v_data1_u8r);
+ data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_SIC_MATRIX_3_LSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
+ BNO055_SIC_MATRIX_3_LSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_SIC_MATRIX_3_MSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data1_u8r = ((s8)
+ BNO055_SIC_MATRIX_3_MSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data1_u8r = ((s8)
(sic_matrix->sic_3 >>
- BNO055_SHIFT_8_POSITION)
+ BNO055_SHIFT_EIGHT_BITS)
& BNO055_SIC_HEX_0_0_F_F_DATA);
- v_data2_u8r =
- BNO055_SET_BITSLICE(v_data2_u8r,
+ data2_u8r =
+ BNO055_SET_BITSLICE(data2_u8r,
BNO055_SIC_MATRIX_3_MSB,
- v_data1_u8r);
+ data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_SIC_MATRIX_3_MSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
+ BNO055_SIC_MATRIX_3_MSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
/* write soft iron calibration
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_SIC_MATRIX_4_LSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data1_u8r = ((s8)
+ BNO055_SIC_MATRIX_4_LSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data1_u8r = ((s8)
(sic_matrix->sic_4
& BNO055_SIC_HEX_0_0_F_F_DATA));
- v_data2_u8r =
- BNO055_SET_BITSLICE(v_data2_u8r,
+ data2_u8r =
+ BNO055_SET_BITSLICE(data2_u8r,
BNO055_SIC_MATRIX_4_LSB,
- v_data1_u8r);
+ data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_SIC_MATRIX_4_LSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
+ BNO055_SIC_MATRIX_4_LSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_SIC_MATRIX_4_MSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data1_u8r = ((s8)
+ BNO055_SIC_MATRIX_4_MSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data1_u8r = ((s8)
(sic_matrix->sic_4 >>
- BNO055_SHIFT_8_POSITION)
+ BNO055_SHIFT_EIGHT_BITS)
& BNO055_SIC_HEX_0_0_F_F_DATA);
- v_data2_u8r =
- BNO055_SET_BITSLICE(v_data2_u8r,
+ data2_u8r =
+ BNO055_SET_BITSLICE(data2_u8r,
BNO055_SIC_MATRIX_4_MSB,
- v_data1_u8r);
+ data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_SIC_MATRIX_4_MSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
+ BNO055_SIC_MATRIX_4_MSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
/* write soft iron calibration
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_SIC_MATRIX_5_LSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data1_u8r = ((s8)
+ BNO055_SIC_MATRIX_5_LSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data1_u8r = ((s8)
(sic_matrix->sic_5
& BNO055_SIC_HEX_0_0_F_F_DATA));
- v_data2_u8r =
- BNO055_SET_BITSLICE(v_data2_u8r,
+ data2_u8r =
+ BNO055_SET_BITSLICE(data2_u8r,
BNO055_SIC_MATRIX_5_LSB,
- v_data1_u8r);
+ data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_SIC_MATRIX_5_LSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
+ BNO055_SIC_MATRIX_5_LSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_SIC_MATRIX_5_MSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data1_u8r = ((s8)
+ BNO055_SIC_MATRIX_5_MSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data1_u8r = ((s8)
(sic_matrix->sic_5 >>
- BNO055_SHIFT_8_POSITION)
+ BNO055_SHIFT_EIGHT_BITS)
& BNO055_SIC_HEX_0_0_F_F_DATA);
- v_data2_u8r =
- BNO055_SET_BITSLICE(v_data2_u8r,
+ data2_u8r =
+ BNO055_SET_BITSLICE(data2_u8r,
BNO055_SIC_MATRIX_5_MSB,
- v_data1_u8r);
+ data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_SIC_MATRIX_5_MSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
+ BNO055_SIC_MATRIX_5_MSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
/* write soft iron calibration
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_SIC_MATRIX_6_LSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data1_u8r = ((s8)
+ BNO055_SIC_MATRIX_6_LSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data1_u8r = ((s8)
(sic_matrix->sic_6
& BNO055_SIC_HEX_0_0_F_F_DATA));
- v_data2_u8r =
- BNO055_SET_BITSLICE(v_data2_u8r,
+ data2_u8r =
+ BNO055_SET_BITSLICE(data2_u8r,
BNO055_SIC_MATRIX_6_LSB,
- v_data1_u8r);
+ data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_SIC_MATRIX_6_LSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
+ BNO055_SIC_MATRIX_6_LSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_SIC_MATRIX_6_MSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data1_u8r = ((s8)
+ BNO055_SIC_MATRIX_6_MSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data1_u8r = ((s8)
(sic_matrix->sic_6 >>
- BNO055_SHIFT_8_POSITION)
+ BNO055_SHIFT_EIGHT_BITS)
& BNO055_SIC_HEX_0_0_F_F_DATA);
- v_data2_u8r =
- BNO055_SET_BITSLICE(v_data2_u8r,
+ data2_u8r =
+ BNO055_SET_BITSLICE(data2_u8r,
BNO055_SIC_MATRIX_6_MSB,
- v_data1_u8r);
+ data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_SIC_MATRIX_6_MSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
+ BNO055_SIC_MATRIX_6_MSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
/* write soft iron calibration
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_SIC_MATRIX_7_LSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data1_u8r = ((s8)
+ BNO055_SIC_MATRIX_7_LSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data1_u8r = ((s8)
(sic_matrix->sic_7
& BNO055_SIC_HEX_0_0_F_F_DATA));
- v_data2_u8r =
- BNO055_SET_BITSLICE(v_data2_u8r,
+ data2_u8r =
+ BNO055_SET_BITSLICE(data2_u8r,
BNO055_SIC_MATRIX_7_LSB,
- v_data1_u8r);
+ data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_SIC_MATRIX_7_LSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
+ BNO055_SIC_MATRIX_7_LSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_SIC_MATRIX_7_MSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data1_u8r = ((s8)
+ BNO055_SIC_MATRIX_7_MSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data1_u8r = ((s8)
(sic_matrix->sic_7 >>
- BNO055_SHIFT_8_POSITION)
+ BNO055_SHIFT_EIGHT_BITS)
& BNO055_SIC_HEX_0_0_F_F_DATA);
- v_data2_u8r =
- BNO055_SET_BITSLICE(v_data2_u8r,
+ data2_u8r =
+ BNO055_SET_BITSLICE(data2_u8r,
BNO055_SIC_MATRIX_7_MSB,
- v_data1_u8r);
+ data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_SIC_MATRIX_7_MSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
+ BNO055_SIC_MATRIX_7_MSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
/* write soft iron calibration
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_SIC_MATRIX_8_LSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data1_u8r = ((s8)
+ BNO055_SIC_MATRIX_8_LSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data1_u8r = ((s8)
(sic_matrix->sic_8
& BNO055_SIC_HEX_0_0_F_F_DATA));
- v_data2_u8r =
- BNO055_SET_BITSLICE(v_data2_u8r,
+ data2_u8r =
+ BNO055_SET_BITSLICE(data2_u8r,
BNO055_SIC_MATRIX_8_LSB,
- v_data1_u8r);
+ data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_SIC_MATRIX_8_LSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
+ BNO055_SIC_MATRIX_8_LSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_SIC_MATRIX_8_MSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data1_u8r = ((s8)
+ BNO055_SIC_MATRIX_8_MSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data1_u8r = ((s8)
(sic_matrix->sic_8 >>
- BNO055_SHIFT_8_POSITION)
+ BNO055_SHIFT_EIGHT_BITS)
& BNO055_SIC_HEX_0_0_F_F_DATA);
- v_data2_u8r =
- BNO055_SET_BITSLICE(v_data2_u8r,
+ data2_u8r =
+ BNO055_SET_BITSLICE(data2_u8r,
BNO055_SIC_MATRIX_8_MSB,
- v_data1_u8r);
+ data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_SIC_MATRIX_8_MSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
+ BNO055_SIC_MATRIX_8_MSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode
of previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/*!
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note The range of the accel offset varies based on
* the G-range of accel sensor.
*
* accel G range | offset range
* --------------- | --------------
- * ACCEL_RANGE_2G | +/-2000
- * ACCEL_RANGE_4G | +/-4000
- * ACCEL_RANGE_8G | +/-8000
- * ACCEL_RANGE_16G | +/-16000
+ * BNO055_ACCEL_RANGE_2G | +/-2000
+ * BNO055_ACCEL_RANGE_4G | +/-4000
+ * BNO055_ACCEL_RANGE_8G | +/-8000
+ * BNO055_ACCEL_RANGE_16G | +/-16000
*
* accel G range can be configured by using the
- * bno055_set_accel_range() function
+ * bno055_set_accel_range() API
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_offset(
struct bno055_accel_offset_t *accel_offset)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the accel offset values
- v_data_u8[INDEX_ZERO] - offset x->LSB
- v_data_u8[INDEX_ONE] - offset x->MSB
- v_data_u8[INDEX_TWO] - offset y->LSB
- v_data_u8[INDEX_THREE] - offset y->MSB
- v_data_u8[INDEX_FOUR] - offset z->LSB
- v_data_u8[INDEX_FIVE] - offset z->MSB
+ data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB] - offset x->LSB
+ data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB] - offset x->MSB
+ data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB] - offset y->LSB
+ data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB] - offset y->MSB
+ data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB] - offset z->LSB
+ data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB] - offset z->MSB
*/
- u8 v_data_u8[ARRAY_SIZE_SIX] = {
- BNO055_ZERO_U8X, BNO055_ZERO_U8X,
- BNO055_ZERO_U8X, BNO055_ZERO_U8X,
- BNO055_ZERO_U8X, BNO055_ZERO_U8X};
- s8 v_stat_s8 = ERROR;
+ u8 data_u8[BNO055_ACCEL_OFFSET_ARRAY] = {
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE};
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel offset is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read accel offset value it is six bytes of data*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_OFFSET_X_LSB__REG,
- v_data_u8, BNO055_SIX_U8X);
- if (com_rslt == SUCCESS) {
+ BNO055_ACCEL_OFFSET_X_LSB_REG,
+ data_u8, BNO055_ACCEL_OFFSET_ARRAY);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read accel x offset value*/
- v_data_u8[INDEX_ZERO] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ZERO],
+ data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB],
BNO055_ACCEL_OFFSET_X_LSB);
- v_data_u8[INDEX_ONE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB],
BNO055_ACCEL_OFFSET_X_MSB);
- accel_offset->x = (s16)((((s32)
- (s8)(v_data_u8[INDEX_ONE])) <<
- (BNO055_SHIFT_8_POSITION)) |
- (v_data_u8[INDEX_ZERO]));
+ accel_offset->x = (s16)((((s32)(s8)
+ (data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB])) <<
+ (BNO055_SHIFT_EIGHT_BITS)) |
+ (data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB]));
/* Read accel y offset value*/
- v_data_u8[INDEX_TWO] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_TWO],
+ data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB],
BNO055_ACCEL_OFFSET_Y_LSB);
- v_data_u8[INDEX_THREE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_THREE],
+ data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB],
BNO055_ACCEL_OFFSET_Y_MSB);
- accel_offset->y = (s16)((((s32)
- (s8)(v_data_u8[INDEX_THREE])) <<
- (BNO055_SHIFT_8_POSITION))
- | (v_data_u8[INDEX_TWO]));
+ accel_offset->y = (s16)((((s32)(s8)
+ (data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB])) <<
+ (BNO055_SHIFT_EIGHT_BITS))
+ | (data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB]));
/* Read accel z offset value*/
- v_data_u8[INDEX_FOUR] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_FOUR],
+ data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB],
BNO055_ACCEL_OFFSET_Z_LSB);
- v_data_u8[INDEX_FIVE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_FIVE],
+ data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB],
BNO055_ACCEL_OFFSET_Z_MSB);
- accel_offset->z = (s16)((((s32)
- (s8)(v_data_u8[INDEX_FIVE])) <<
- (BNO055_SHIFT_8_POSITION)) |
- (v_data_u8[INDEX_FOUR]));
+ accel_offset->z = (s16)((((s32)(s8)
+ (data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB])) <<
+ (BNO055_SHIFT_EIGHT_BITS)) |
+ (data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB]));
/* Read accel radius value
it is two bytes of data*/
com_rslt += p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_RADIUS_LSB__REG,
- v_data_u8, BNO055_TWO_U8X);
+ BNO055_ACCEL_RADIUS_LSB_REG,
+ data_u8,
+ BNO055_LSB_MSB_READ_LENGTH);
/* Array holding the accel radius values
- v_data_u8[INDEX_ZERO] - radius->LSB
- v_data_u8[INDEX_ONE] - radius->MSB
+ data_u8[BNO055_OFFSET_RADIUS_LSB] - radius->LSB
+ data_u8[BNO055_OFFSET_RADIUS_MSB] - radius->MSB
*/
- if (com_rslt == SUCCESS) {
- v_data_u8[INDEX_ZERO] =
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8[BNO055_OFFSET_RADIUS_LSB] =
BNO055_GET_BITSLICE(
- v_data_u8[INDEX_ZERO],
+ data_u8[BNO055_OFFSET_RADIUS_LSB],
BNO055_ACCEL_RADIUS_LSB);
- v_data_u8[INDEX_ONE] =
+ data_u8[BNO055_OFFSET_RADIUS_MSB] =
BNO055_GET_BITSLICE(
- v_data_u8[INDEX_ONE],
+ data_u8[BNO055_OFFSET_RADIUS_MSB],
BNO055_ACCEL_RADIUS_MSB);
- accel_offset->r = (s16)((((s32)
- (s8)(v_data_u8[INDEX_ONE])) <<
- (BNO055_SHIFT_8_POSITION)) |
- (v_data_u8[INDEX_ZERO]));
+ accel_offset->r = (s16)((((s32)(s8)
+ (data_u8[BNO055_OFFSET_RADIUS_MSB])) <<
+ (BNO055_SHIFT_EIGHT_BITS)) |
+ (data_u8[BNO055_OFFSET_RADIUS_LSB]));
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note The range of the accel offset varies based on
* the G-range of accel sensor.
*
* accel G range | offset range
* --------------- | --------------
- * ACCEL_RANGE_2G | +/-2000
- * ACCEL_RANGE_4G | +/-4000
- * ACCEL_RANGE_8G | +/-8000
- * ACCEL_RANGE_16G | +/-16000
+ * BNO055_ACCEL_RANGE_2G | +/-2000
+ * BNO055_ACCEL_RANGE_4G | +/-4000
+ * BNO055_ACCEL_RANGE_8G | +/-8000
+ * BNO055_ACCEL_RANGE_16G | +/-16000
*
* accel G range can be configured by using the
- * bno055_set_accel_range() function
+ * bno055_set_accel_range() API
*/
BNO055_RETURN_FUNCTION_TYPE bno055_write_accel_offset(
struct bno055_accel_offset_t *accel_offset)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data1_u8r = BNO055_ZERO_U8X;
-u8 v_data2_u8r = BNO055_ZERO_U8X;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
-s8 v_stat_s8 = ERROR;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data1_u8r = BNO055_INIT_VALUE;
+u8 data2_u8r = BNO055_INIT_VALUE;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
- v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
- if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+ stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+ if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
+ if (stat_s8 == BNO055_SUCCESS) {
/* write accel offset x value*/
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_OFFSET_X_LSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data1_u8r = ((s8)
+ BNO055_ACCEL_OFFSET_X_LSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data1_u8r = ((s8)
(accel_offset->x
& BNO055_SIC_HEX_0_0_F_F_DATA));
- v_data2_u8r =
- BNO055_SET_BITSLICE(v_data2_u8r,
+ data2_u8r =
+ BNO055_SET_BITSLICE(data2_u8r,
BNO055_ACCEL_OFFSET_X_LSB,
- v_data1_u8r);
+ data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_OFFSET_X_LSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
+ BNO055_ACCEL_OFFSET_X_LSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_OFFSET_X_MSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data1_u8r = ((s8)
+ BNO055_ACCEL_OFFSET_X_MSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data1_u8r = ((s8)
(accel_offset->x >>
- BNO055_SHIFT_8_POSITION)
+ BNO055_SHIFT_EIGHT_BITS)
& BNO055_SIC_HEX_0_0_F_F_DATA);
- v_data2_u8r =
- BNO055_SET_BITSLICE(v_data2_u8r,
+ data2_u8r =
+ BNO055_SET_BITSLICE(data2_u8r,
BNO055_ACCEL_OFFSET_X_MSB,
- v_data1_u8r);
+ data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_OFFSET_X_MSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
+ BNO055_ACCEL_OFFSET_X_MSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
/* write accel offset y value*/
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_OFFSET_Y_LSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data1_u8r = ((s8)
+ BNO055_ACCEL_OFFSET_Y_LSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data1_u8r = ((s8)
(accel_offset->y
& BNO055_SIC_HEX_0_0_F_F_DATA));
- v_data2_u8r =
- BNO055_SET_BITSLICE(v_data2_u8r,
+ data2_u8r =
+ BNO055_SET_BITSLICE(data2_u8r,
BNO055_ACCEL_OFFSET_Y_LSB,
- v_data1_u8r);
+ data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_OFFSET_Y_LSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
+ BNO055_ACCEL_OFFSET_Y_LSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_OFFSET_Y_MSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data1_u8r = ((s8)
+ BNO055_ACCEL_OFFSET_Y_MSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data1_u8r = ((s8)
(accel_offset->y >>
- BNO055_SHIFT_8_POSITION)
+ BNO055_SHIFT_EIGHT_BITS)
& BNO055_SIC_HEX_0_0_F_F_DATA);
- v_data2_u8r =
- BNO055_SET_BITSLICE(v_data2_u8r,
+ data2_u8r =
+ BNO055_SET_BITSLICE(data2_u8r,
BNO055_ACCEL_OFFSET_Y_MSB,
- v_data1_u8r);
+ data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_OFFSET_Y_MSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
+ BNO055_ACCEL_OFFSET_Y_MSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
/* write accel offset z value*/
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_OFFSET_Z_LSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data1_u8r = ((s8)
+ BNO055_ACCEL_OFFSET_Z_LSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data1_u8r = ((s8)
(accel_offset->z
& BNO055_SIC_HEX_0_0_F_F_DATA));
- v_data2_u8r =
- BNO055_SET_BITSLICE(v_data2_u8r,
+ data2_u8r =
+ BNO055_SET_BITSLICE(data2_u8r,
BNO055_ACCEL_OFFSET_Z_LSB,
- v_data1_u8r);
+ data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_OFFSET_Z_LSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
+ BNO055_ACCEL_OFFSET_Z_LSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_OFFSET_Z_MSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data1_u8r = ((s8)
+ BNO055_ACCEL_OFFSET_Z_MSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data1_u8r = ((s8)
(accel_offset->z >>
- BNO055_SHIFT_8_POSITION)
+ BNO055_SHIFT_EIGHT_BITS)
& BNO055_SIC_HEX_0_0_F_F_DATA);
- v_data2_u8r =
- BNO055_SET_BITSLICE(v_data2_u8r,
+ data2_u8r =
+ BNO055_SET_BITSLICE(data2_u8r,
BNO055_ACCEL_OFFSET_Z_MSB,
- v_data1_u8r);
+ data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_OFFSET_Z_MSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
+ BNO055_ACCEL_OFFSET_Z_MSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
/*write accel radius value*/
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_RADIUS_LSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data1_u8r = ((s8)
+ BNO055_ACCEL_RADIUS_LSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data1_u8r = ((s8)
(accel_offset->r
& BNO055_SIC_HEX_0_0_F_F_DATA));
- v_data2_u8r =
- BNO055_SET_BITSLICE(v_data2_u8r,
+ data2_u8r =
+ BNO055_SET_BITSLICE(data2_u8r,
BNO055_ACCEL_RADIUS_LSB,
- v_data1_u8r);
+ data1_u8r);
com_rslt =
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_RADIUS_LSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
+ BNO055_ACCEL_RADIUS_LSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_RADIUS_MSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data1_u8r = ((s8)
+ BNO055_ACCEL_RADIUS_MSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data1_u8r = ((s8)
(accel_offset->r >>
- BNO055_SHIFT_8_POSITION)
+ BNO055_SHIFT_EIGHT_BITS)
& BNO055_SIC_HEX_0_0_F_F_DATA);
- v_data2_u8r =
- BNO055_SET_BITSLICE(v_data2_u8r,
+ data2_u8r =
+ BNO055_SET_BITSLICE(data2_u8r,
BNO055_ACCEL_RADIUS_MSB,
- v_data1_u8r);
+ data1_u8r);
com_rslt =
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_RADIUS_MSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
+ BNO055_ACCEL_RADIUS_MSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode
of previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note The range of the magnetometer offset is +/-6400 in LSB
*/
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the mag offset values
- v_data_u8[INDEX_ZERO] - offset x->LSB
- v_data_u8[INDEX_ONE] - offset x->MSB
- v_data_u8[INDEX_TWO] - offset y->LSB
- v_data_u8[INDEX_THREE] - offset y->MSB
- v_data_u8[INDEX_FOUR] - offset z->LSB
- v_data_u8[INDEX_FIVE] - offset z->MSB
+ data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB] - offset x->LSB
+ data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB] - offset x->MSB
+ data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB] - offset y->LSB
+ data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB] - offset y->MSB
+ data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB] - offset z->LSB
+ data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB] - offset z->MSB
*/
- u8 v_data_u8[ARRAY_SIZE_SIX] = {
- BNO055_ZERO_U8X, BNO055_ZERO_U8X,
- BNO055_ZERO_U8X, BNO055_ZERO_U8X,
- BNO055_ZERO_U8X, BNO055_ZERO_U8X};
- s8 v_stat_s8 = ERROR;
+ u8 data_u8[BNO055_MAG_OFFSET_ARRAY] = {
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE};
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, mag offset is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read mag offset value it the six bytes of data */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_MAG_OFFSET_X_LSB__REG,
- v_data_u8, BNO055_SIX_U8X);
- if (com_rslt == SUCCESS) {
+ BNO055_MAG_OFFSET_X_LSB_REG,
+ data_u8, BNO055_MAG_OFFSET_ARRAY);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read mag x offset value*/
- v_data_u8[INDEX_ZERO] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ZERO],
+ data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB],
BNO055_MAG_OFFSET_X_LSB);
- v_data_u8[INDEX_ONE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB],
BNO055_MAG_OFFSET_X_MSB);
- mag_offset->x = (s16)((((s32)
- (s8)(v_data_u8[INDEX_ONE])) <<
- (BNO055_SHIFT_8_POSITION)) |
- (v_data_u8[INDEX_ZERO]));
+ mag_offset->x = (s16)((((s32)(s8)
+ (data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB])) <<
+ (BNO055_SHIFT_EIGHT_BITS)) |
+ (data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB]));
/* Read mag y offset value*/
- v_data_u8[INDEX_TWO] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_TWO],
+ data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB],
BNO055_MAG_OFFSET_Y_LSB);
- v_data_u8[INDEX_THREE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_THREE],
+ data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB],
BNO055_MAG_OFFSET_Y_MSB);
- mag_offset->y = (s16)((((s32)
- (s8)(v_data_u8[INDEX_THREE])) <<
- (BNO055_SHIFT_8_POSITION))
- | (v_data_u8[INDEX_TWO]));
+ mag_offset->y = (s16)((((s32)(s8)
+ (data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB])) <<
+ (BNO055_SHIFT_EIGHT_BITS))
+ | (data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB]));
/* Read mag z offset value*/
- v_data_u8[INDEX_FOUR] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_FOUR],
+ data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB],
BNO055_MAG_OFFSET_Z_LSB);
- v_data_u8[INDEX_FIVE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_FIVE],
+ data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB],
BNO055_MAG_OFFSET_Z_MSB);
- mag_offset->z = (s16)((((s32)
- (s8)(v_data_u8[INDEX_FIVE])) <<
- (BNO055_SHIFT_8_POSITION))
- | (v_data_u8[INDEX_FOUR]));
+ mag_offset->z = (s16)((((s32)(s8)
+ (data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB])) <<
+ (BNO055_SHIFT_EIGHT_BITS))
+ | (data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB]));
/* Read mag radius value
it the two bytes of data */
com_rslt += p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_MAG_RADIUS_LSB__REG,
- v_data_u8, BNO055_TWO_U8X);
- if (com_rslt == SUCCESS) {
+ BNO055_MAG_RADIUS_LSB_REG,
+ data_u8,
+ BNO055_LSB_MSB_READ_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
/* Array holding the mag radius values
- v_data_u8[INDEX_ZERO] - radius->LSB
- v_data_u8[INDEX_ONE] - radius->MSB
+ data_u8[BNO055_OFFSET_RADIUS_LSB] -
+ radius->LSB
+ data_u8[BNO055_OFFSET_RADIUS_MSB] -
+ radius->MSB
*/
- v_data_u8[INDEX_ZERO] =
+ data_u8[BNO055_OFFSET_RADIUS_LSB] =
BNO055_GET_BITSLICE(
- v_data_u8[INDEX_ZERO],
+ data_u8[BNO055_OFFSET_RADIUS_LSB],
BNO055_MAG_RADIUS_LSB);
- v_data_u8[INDEX_ONE] =
+ data_u8[BNO055_OFFSET_RADIUS_MSB] =
BNO055_GET_BITSLICE(
- v_data_u8[INDEX_ONE],
+ data_u8[BNO055_OFFSET_RADIUS_MSB],
BNO055_MAG_RADIUS_MSB);
- mag_offset->r = (s16)((((s32)
- (s8)(v_data_u8[INDEX_ONE])) <<
- (BNO055_SHIFT_8_POSITION)) |
- (v_data_u8[INDEX_ZERO]));
+ mag_offset->r = (s16)((((s32)(s8)
+ (data_u8[BNO055_OFFSET_RADIUS_MSB])) <<
+ (BNO055_SHIFT_EIGHT_BITS)) |
+ (data_u8[BNO055_OFFSET_RADIUS_LSB]));
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note The range of the magnetometer offset is +/-6400 in LSB
*/
BNO055_RETURN_FUNCTION_TYPE bno055_write_mag_offset(
struct bno055_mag_offset_t *mag_offset)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data1_u8r = BNO055_ZERO_U8X;
-u8 v_data2_u8r = BNO055_ZERO_U8X;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
-s8 v_stat_s8 = ERROR;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data1_u8r = BNO055_INIT_VALUE;
+u8 data2_u8r = BNO055_INIT_VALUE;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
- v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
- if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+ stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+ if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
+ if (stat_s8 == BNO055_SUCCESS) {
/* write Mag offset x value*/
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_MAG_OFFSET_X_LSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data1_u8r = ((s8)
+ BNO055_MAG_OFFSET_X_LSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data1_u8r = ((s8)
(mag_offset->x
& BNO055_SIC_HEX_0_0_F_F_DATA));
- v_data2_u8r =
- BNO055_SET_BITSLICE(v_data2_u8r,
+ data2_u8r =
+ BNO055_SET_BITSLICE(data2_u8r,
BNO055_MAG_OFFSET_X_LSB,
- v_data1_u8r);
+ data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_MAG_OFFSET_X_LSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
+ BNO055_MAG_OFFSET_X_LSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_MAG_OFFSET_X_MSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data1_u8r = ((s8)
+ BNO055_MAG_OFFSET_X_MSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data1_u8r = ((s8)
(mag_offset->x >>
- BNO055_SHIFT_8_POSITION)
+ BNO055_SHIFT_EIGHT_BITS)
& BNO055_SIC_HEX_0_0_F_F_DATA);
- v_data2_u8r =
- BNO055_SET_BITSLICE(v_data2_u8r,
+ data2_u8r =
+ BNO055_SET_BITSLICE(data2_u8r,
BNO055_MAG_OFFSET_X_MSB,
- v_data1_u8r);
+ data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_MAG_OFFSET_X_MSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
+ BNO055_MAG_OFFSET_X_MSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
/* write Mag offset y value*/
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_MAG_OFFSET_Y_LSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data1_u8r = ((s8)
+ BNO055_MAG_OFFSET_Y_LSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data1_u8r = ((s8)
(mag_offset->y &
BNO055_SIC_HEX_0_0_F_F_DATA));
- v_data2_u8r =
- BNO055_SET_BITSLICE(v_data2_u8r,
+ data2_u8r =
+ BNO055_SET_BITSLICE(data2_u8r,
BNO055_MAG_OFFSET_Y_LSB,
- v_data1_u8r);
+ data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_MAG_OFFSET_Y_LSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
+ BNO055_MAG_OFFSET_Y_LSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_MAG_OFFSET_Y_MSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data1_u8r = ((s8)
+ BNO055_MAG_OFFSET_Y_MSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data1_u8r = ((s8)
(mag_offset->y >>
- BNO055_SHIFT_8_POSITION)
+ BNO055_SHIFT_EIGHT_BITS)
& BNO055_SIC_HEX_0_0_F_F_DATA);
- v_data2_u8r =
- BNO055_SET_BITSLICE(v_data2_u8r,
+ data2_u8r =
+ BNO055_SET_BITSLICE(data2_u8r,
BNO055_MAG_OFFSET_Y_MSB,
- v_data1_u8r);
+ data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_MAG_OFFSET_Y_MSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
+ BNO055_MAG_OFFSET_Y_MSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
/* write Mag offset z value*/
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_MAG_OFFSET_Z_LSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data1_u8r = ((s8)
+ BNO055_MAG_OFFSET_Z_LSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data1_u8r = ((s8)
(mag_offset->z &
BNO055_SIC_HEX_0_0_F_F_DATA));
- v_data2_u8r =
- BNO055_SET_BITSLICE(v_data2_u8r,
+ data2_u8r =
+ BNO055_SET_BITSLICE(data2_u8r,
BNO055_MAG_OFFSET_Z_LSB,
- v_data1_u8r);
+ data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_MAG_OFFSET_Z_LSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
+ BNO055_MAG_OFFSET_Z_LSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_MAG_OFFSET_Z_MSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data1_u8r = ((s8)
+ BNO055_MAG_OFFSET_Z_MSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data1_u8r = ((s8)
(mag_offset->z >>
- BNO055_SHIFT_8_POSITION)
+ BNO055_SHIFT_EIGHT_BITS)
& BNO055_SIC_HEX_0_0_F_F_DATA);
- v_data2_u8r =
- BNO055_SET_BITSLICE(v_data2_u8r,
+ data2_u8r =
+ BNO055_SET_BITSLICE(data2_u8r,
BNO055_MAG_OFFSET_Z_MSB,
- v_data1_u8r);
+ data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_MAG_OFFSET_Z_MSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
+ BNO055_MAG_OFFSET_Z_MSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
/* write Mag radius value*/
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_MAG_RADIUS_LSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data1_u8r = ((s8)
+ BNO055_MAG_RADIUS_LSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data1_u8r = ((s8)
(mag_offset->r &
BNO055_SIC_HEX_0_0_F_F_DATA));
- v_data2_u8r =
- BNO055_SET_BITSLICE(v_data2_u8r,
+ data2_u8r =
+ BNO055_SET_BITSLICE(data2_u8r,
BNO055_MAG_RADIUS_LSB,
- v_data1_u8r);
+ data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_MAG_RADIUS_LSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
+ BNO055_MAG_RADIUS_LSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_MAG_RADIUS_MSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data1_u8r = ((s8)
+ BNO055_MAG_RADIUS_MSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data1_u8r = ((s8)
(mag_offset->r >>
- BNO055_SHIFT_8_POSITION)
+ BNO055_SHIFT_EIGHT_BITS)
& BNO055_SIC_HEX_0_0_F_F_DATA);
- v_data2_u8r =
- BNO055_SET_BITSLICE(v_data2_u8r,
+ data2_u8r =
+ BNO055_SET_BITSLICE(data2_u8r,
BNO055_MAG_RADIUS_MSB,
- v_data1_u8r);
+ data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_MAG_RADIUS_MSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
+ BNO055_MAG_RADIUS_MSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode
of previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/*!
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note The range of the gyro offset varies based on
* the range of gyro sensor
*
* gyro G range | offset range
* -------------------- | ------------
- * GYRO_RANGE_2000DPS | +/-32000
- * GYRO_RANGE_1000DPS | +/-16000
- * GYRO_RANGE_500DPS | +/-8000
- * GYRO_RANGE_250DPS | +/-4000
- * GYRO_RANGE_125DPS | +/-2000
+ * BNO055_GYRO_RANGE_2000DPS | +/-32000
+ * BNO055_GYRO_RANGE_1000DPS | +/-16000
+ * BNO055_GYRO_RANGE_500DPS | +/-8000
+ * BNO055_GYRO_RANGE_250DPS | +/-4000
+ * BNO055_GYRO_RANGE_125DPS | +/-2000
*
* Gyro range can be configured by using the
- * bno055_set_gyro_range() function
+ * bno055_set_gyro_range() API
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_offset(
struct bno055_gyro_offset_t *gyro_offset)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the gyro offset values
- v_data_u8[INDEX_ZERO] - offset x->LSB
- v_data_u8[INDEX_ONE] - offset x->MSB
- v_data_u8[INDEX_TWO] - offset y->LSB
- v_data_u8[INDEX_THREE] - offset y->MSB
- v_data_u8[INDEX_FOUR] - offset z->LSB
- v_data_u8[INDEX_FIVE] - offset z->MSB
+ data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB] - offset x->LSB
+ data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB] - offset x->MSB
+ data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB] - offset y->LSB
+ data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB] - offset y->MSB
+ data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB] - offset z->LSB
+ data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB] - offset z->MSB
*/
- u8 v_data_u8[ARRAY_SIZE_SIX] = {
- BNO055_ZERO_U8X, BNO055_ZERO_U8X,
- BNO055_ZERO_U8X, BNO055_ZERO_U8X,
- BNO055_ZERO_U8X, BNO055_ZERO_U8X};
- s8 v_stat_s8 = ERROR;
+ u8 data_u8[BNO055_GYRO_OFFSET_ARRAY] = {
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE,
+ BNO055_INIT_VALUE, BNO055_INIT_VALUE};
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro offset is
available in the page zero*/
- if (p_bno055->page_id != PAGE_ZERO)
+ if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
- v_stat_s8 = bno055_write_page_id(PAGE_ZERO);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ZERO)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read gyro offset value it the six bytes of data*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_OFFSET_X_LSB__REG,
- v_data_u8, BNO055_SIX_U8X);
- if (com_rslt == SUCCESS) {
+ BNO055_GYRO_OFFSET_X_LSB_REG,
+ data_u8, BNO055_GYRO_OFFSET_ARRAY);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read gyro x offset value*/
- v_data_u8[INDEX_ZERO] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ZERO],
+ data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB],
BNO055_GYRO_OFFSET_X_LSB);
- v_data_u8[INDEX_ONE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB],
BNO055_GYRO_OFFSET_X_MSB);
- gyro_offset->x = (s16)((((s32)
- (s8)(v_data_u8[INDEX_ONE])) <<
- (BNO055_SHIFT_8_POSITION)) |
- (v_data_u8[INDEX_ZERO]));
+ gyro_offset->x = (s16)((((s32)(s8)
+ (data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB])) <<
+ (BNO055_SHIFT_EIGHT_BITS)) |
+ (data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB]));
/* Read gyro y offset value*/
- v_data_u8[INDEX_TWO] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_TWO],
+ data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB],
BNO055_GYRO_OFFSET_Y_LSB);
- v_data_u8[INDEX_THREE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_THREE],
+ data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB],
BNO055_GYRO_OFFSET_Y_MSB);
- gyro_offset->y = (s16)((((s32)
- (s8)(v_data_u8[INDEX_THREE])) <<
- (BNO055_SHIFT_8_POSITION)) |
- (v_data_u8[INDEX_TWO]));
+ gyro_offset->y = (s16)((((s32)(s8)
+ (data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB])) <<
+ (BNO055_SHIFT_EIGHT_BITS)) |
+ (data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB]));
/* Read gyro z offset value*/
- v_data_u8[INDEX_FOUR] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_FOUR],
+ data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB],
BNO055_GYRO_OFFSET_Z_LSB);
- v_data_u8[INDEX_FIVE] =
- BNO055_GET_BITSLICE(v_data_u8[INDEX_FIVE],
+ data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB] =
+ BNO055_GET_BITSLICE(
+ data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB],
BNO055_GYRO_OFFSET_Z_MSB);
- gyro_offset->z = (s16)((((s32)
- (s8)(v_data_u8[INDEX_FIVE])) <<
- (BNO055_SHIFT_8_POSITION)) |
- (v_data_u8[INDEX_FOUR]));
+ gyro_offset->z = (s16)((((s32)(s8)
+ (data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB])) <<
+ (BNO055_SHIFT_EIGHT_BITS)) |
+ (data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB]));
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note The range of the gyro offset varies based on
* the range of gyro sensor
*
* gyro G range | offset range
* -------------------- | ------------
- * GYRO_RANGE_2000DPS | +/-32000
- * GYRO_RANGE_1000DPS | +/-16000
- * GYRO_RANGE_500DPS | +/-8000
- * GYRO_RANGE_250DPS | +/-4000
- * GYRO_RANGE_125DPS | +/-2000
+ * BNO055_GYRO_RANGE_2000DPS | +/-32000
+ * BNO055_GYRO_RANGE_1000DPS | +/-16000
+ * BNO055_GYRO_RANGE_500DPS | +/-8000
+ * BNO055_GYRO_RANGE_250DPS | +/-4000
+ * BNO055_GYRO_RANGE_125DPS | +/-2000
*
* Gyro range can be configured by using the
- * bno055_set_gyro_range() function
+ * bno055_set_gyro_range() API
*/
BNO055_RETURN_FUNCTION_TYPE bno055_write_gyro_offset(
struct bno055_gyro_offset_t *gyro_offset)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data1_u8r = BNO055_ZERO_U8X;
-u8 v_data2_u8r = BNO055_ZERO_U8X;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
-s8 v_stat_s8 = ERROR;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data1_u8r = BNO055_INIT_VALUE;
+u8 data2_u8r = BNO055_INIT_VALUE;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
- v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
- if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+ stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+ if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
+ if (stat_s8 == BNO055_SUCCESS) {
/* write gryo offset x value*/
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_OFFSET_X_LSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data1_u8r = ((s8)
+ BNO055_GYRO_OFFSET_X_LSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data1_u8r = ((s8)
(gyro_offset->x
& BNO055_SIC_HEX_0_0_F_F_DATA));
- v_data2_u8r =
- BNO055_SET_BITSLICE(v_data2_u8r,
+ data2_u8r =
+ BNO055_SET_BITSLICE(data2_u8r,
BNO055_GYRO_OFFSET_X_LSB,
- v_data1_u8r);
+ data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_OFFSET_X_LSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
+ BNO055_GYRO_OFFSET_X_LSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_OFFSET_X_MSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data1_u8r = ((s8)
+ BNO055_GYRO_OFFSET_X_MSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data1_u8r = ((s8)
(gyro_offset->x >>
- BNO055_SHIFT_8_POSITION)
+ BNO055_SHIFT_EIGHT_BITS)
& BNO055_SIC_HEX_0_0_F_F_DATA);
- v_data2_u8r =
- BNO055_SET_BITSLICE(v_data2_u8r,
+ data2_u8r =
+ BNO055_SET_BITSLICE(data2_u8r,
BNO055_GYRO_OFFSET_X_MSB,
- v_data1_u8r);
+ data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_OFFSET_X_MSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
+ BNO055_GYRO_OFFSET_X_MSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
/* write gryo offset y value*/
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_OFFSET_Y_LSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data1_u8r = ((s8)
+ BNO055_GYRO_OFFSET_Y_LSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data1_u8r = ((s8)
(gyro_offset->y
& BNO055_SIC_HEX_0_0_F_F_DATA));
- v_data2_u8r =
- BNO055_SET_BITSLICE(v_data2_u8r,
+ data2_u8r =
+ BNO055_SET_BITSLICE(data2_u8r,
BNO055_GYRO_OFFSET_Y_LSB,
- v_data1_u8r);
+ data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_OFFSET_Y_LSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
+ BNO055_GYRO_OFFSET_Y_LSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_OFFSET_Y_MSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data1_u8r = ((s8)
+ BNO055_GYRO_OFFSET_Y_MSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data1_u8r = ((s8)
(gyro_offset->y >>
- BNO055_SHIFT_8_POSITION)
+ BNO055_SHIFT_EIGHT_BITS)
& BNO055_SIC_HEX_0_0_F_F_DATA);
- v_data2_u8r =
- BNO055_SET_BITSLICE(v_data2_u8r,
+ data2_u8r =
+ BNO055_SET_BITSLICE(data2_u8r,
BNO055_GYRO_OFFSET_Y_MSB,
- v_data1_u8r);
+ data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_OFFSET_Y_MSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
+ BNO055_GYRO_OFFSET_Y_MSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
/* write gryo offset z value*/
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_OFFSET_Z_LSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data1_u8r = ((s8)
+ BNO055_GYRO_OFFSET_Z_LSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data1_u8r = ((s8)
(gyro_offset->z
& BNO055_SIC_HEX_0_0_F_F_DATA));
- v_data2_u8r =
- BNO055_SET_BITSLICE(v_data2_u8r,
+ data2_u8r =
+ BNO055_SET_BITSLICE(data2_u8r,
BNO055_GYRO_OFFSET_Z_LSB,
- v_data1_u8r);
+ data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_OFFSET_Z_LSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
+ BNO055_GYRO_OFFSET_Z_LSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_OFFSET_Z_MSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data1_u8r = ((s8)
+ BNO055_GYRO_OFFSET_Z_MSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data1_u8r = ((s8)
(gyro_offset->z >>
- BNO055_SHIFT_8_POSITION)
+ BNO055_SHIFT_EIGHT_BITS)
& BNO055_SIC_HEX_0_0_F_F_DATA);
- v_data2_u8r =
- BNO055_SET_BITSLICE(v_data2_u8r,
+ data2_u8r =
+ BNO055_SET_BITSLICE(data2_u8r,
BNO055_GYRO_OFFSET_Z_MSB,
- v_data1_u8r);
+ data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_OFFSET_Z_MSB__REG,
- &v_data2_u8r, BNO055_ONE_U8X);
+ BNO055_GYRO_OFFSET_Z_MSB_REG,
+ &data2_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode
of previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/********************************************************/
* @brief This API used to read the accel range
* from page one register from 0x08 bit 0 and 1
*
- * @param v_accel_range_u8 : The value of accel range
- * v_accel_range_u8 | result
+ * @param accel_range_u8 : The value of accel range
+ * accel_range_u8 | result
* ----------------- | --------------
- * 0x00 | ACCEL_RANGE_2G
- * 0x01 | ACCEL_RANGE_4G
- * 0x02 | ACCEL_RANGE_8G
- * 0x03 | ACCEL_RANGE_16G
+ * 0x00 | BNO055_ACCEL_RANGE_2G
+ * 0x01 | BNO055_ACCEL_RANGE_4G
+ * 0x02 | BNO055_ACCEL_RANGE_8G
+ * 0x03 | BNO055_ACCEL_RANGE_16G
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_range(
-u8 *v_accel_range_u8)
+u8 *accel_range_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel range is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of accel g range */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_RANGE__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_accel_range_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_ACCEL_RANGE_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *accel_range_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_ACCEL_RANGE);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write the accel range
* from page one register from 0x08 bit 0 and 1
*
- * @param v_accel_range_u8 : The value of accel range
+ * @param accel_range_u8 : The value of accel range
*
- * v_accel_range_u8 | result
+ * accel_range_u8 | result
* ----------------- | --------------
- * 0x00 | ACCEL_RANGE_2G
- * 0x01 | ACCEL_RANGE_4G
- * 0x02 | ACCEL_RANGE_8G
- * 0x03 | ACCEL_RANGE_16G
+ * 0x00 | BNO055_ACCEL_RANGE_2G
+ * 0x01 | BNO055_ACCEL_RANGE_4G
+ * 0x02 | BNO055_ACCEL_RANGE_8G
+ * 0x03 | BNO055_ACCEL_RANGE_16G
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_range(
-u8 v_accel_range_u8)
+u8 accel_range_u8)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-s8 v_stat_s8 = ERROR;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
-s8 v_pg_stat_s8 = ERROR;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+s8 stat_s8 = BNO055_ERROR;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+s8 pg_stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
-v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
-if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
+ if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
- v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if (v_pg_stat_s8 == SUCCESS) {
- if (v_accel_range_u8 < BNO055_FIVE_U8X) {
+ pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if (pg_stat_s8 == BNO055_SUCCESS) {
+ if (accel_range_u8 < BNO055_ACCEL_RANGE) {
/* Write the value of accel range*/
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_RANGE__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r = BNO055_SET_BITSLICE
- (v_data_u8r,
+ BNO055_ACCEL_RANGE_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r = BNO055_SET_BITSLICE
+ (data_u8r,
BNO055_ACCEL_RANGE,
- v_accel_range_u8);
+ accel_range_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_RANGE__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_ACCEL_RANGE_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = E_BNO055_OUT_OF_RANGE;
+ com_rslt = BNO055_OUT_OF_RANGE;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
-if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the accel bandwidth
* from page one register from 0x08 bit 2 to 4
*
- * @param v_accel_bw_u8 : The value of accel bandwidth
+ * @param accel_bw_u8 : The value of accel bandwidth
*
- * v_accel_bw_u8 | result
+ * accel_bw_u8 | result
* ----------------- | ---------------
- * 0x00 | ACCEL_BW_7_81HZ
- * 0x01 | ACCEL_BW_15_63HZ
- * 0x02 | ACCEL_BW_31_25HZ
- * 0x03 | ACCEL_BW_62_5HZ
- * 0x04 | ACCEL_BW_125HZ
- * 0x05 | ACCEL_BW_250HZ
- * 0x06 | ACCEL_BW_500HZ
- * 0x07 | ACCEL_BW_1000HZ
+ * 0x00 | BNO055_ACCEL_BW_7_81HZ
+ * 0x01 | BNO055_ACCEL_BW_15_63HZ
+ * 0x02 | BNO055_ACCEL_BW_31_25HZ
+ * 0x03 | BNO055_ACCEL_BW_62_5HZ
+ * 0x04 | BNO055_ACCEL_BW_125HZ
+ * 0x05 | BNO055_ACCEL_BW_250HZ
+ * 0x06 | BNO055_ACCEL_BW_500HZ
+ * 0x07 | BNO055_ACCEL_BW_1000HZ
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_bw(
-u8 *v_accel_bw_u8)
+u8 *accel_bw_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel bandwidth is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of accel bandwidth */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_BW__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_accel_bw_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_ACCEL_BW_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *accel_bw_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_ACCEL_BW);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write the accel bandwidth
* from page one register from 0x08 bit 2 to 4
*
- * @param v_accel_bw_u8 : The value of accel bandwidth
+ * @param accel_bw_u8 : The value of accel bandwidth
*
- * v_accel_bw_u8 | result
+ * accel_bw_u8 | result
* ----------------- | ---------------
- * 0x00 | ACCEL_BW_7_81HZ
- * 0x01 | ACCEL_BW_15_63HZ
- * 0x02 | ACCEL_BW_31_25HZ
- * 0x03 | ACCEL_BW_62_5HZ
- * 0x04 | ACCEL_BW_125HZ
- * 0x05 | ACCEL_BW_250HZ
- * 0x06 | ACCEL_BW_500HZ
- * 0x07 | ACCEL_BW_1000HZ
+ * 0x00 | BNO055_ACCEL_BW_7_81HZ
+ * 0x01 | BNO055_ACCEL_BW_15_63HZ
+ * 0x02 | BNO055_ACCEL_BW_31_25HZ
+ * 0x03 | BNO055_ACCEL_BW_62_5HZ
+ * 0x04 | BNO055_ACCEL_BW_125HZ
+ * 0x05 | BNO055_ACCEL_BW_250HZ
+ * 0x06 | BNO055_ACCEL_BW_500HZ
+ * 0x07 | BNO055_ACCEL_BW_1000HZ
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_bw(
-u8 v_accel_bw_u8)
+u8 accel_bw_u8)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-s8 v_stat_s8 = ERROR;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
-s8 v_pg_stat_s8 = ERROR;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+s8 stat_s8 = BNO055_ERROR;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+s8 pg_stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
-v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
-if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
+ if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
- v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if (v_pg_stat_s8 == SUCCESS) {
- if (v_accel_bw_u8 < BNO055_EIGHT_U8X) {
+ pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if (pg_stat_s8 == BNO055_SUCCESS) {
+ if (accel_bw_u8 <
+ BNO055_ACCEL_GYRO_BW_RANGE) {
/* Write the accel */
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_BW__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r = BNO055_SET_BITSLICE
- (v_data_u8r, BNO055_ACCEL_BW,
- v_accel_bw_u8);
+ BNO055_ACCEL_BW_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r = BNO055_SET_BITSLICE
+ (data_u8r, BNO055_ACCEL_BW,
+ accel_bw_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_BW__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_ACCEL_BW_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = E_BNO055_OUT_OF_RANGE;
+ com_rslt = BNO055_OUT_OF_RANGE;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
-if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the accel power mode
* from page one register from 0x08 bit 5 to 7
*
- * @param v_accel_power_mode_u8 : The value of accel power mode
- * v_accel_power_mode_u8 | result
+ * @param accel_power_mode_u8 : The value of accel power mode
+ * accel_power_mode_u8 | result
* ----------------- | -------------
- * 0x00 | ACCEL_NORMAL
- * 0x01 | ACCEL_SUSPEND
- * 0x02 | ACCEL_LOWPOWER_1
- * 0x03 | ACCEL_STANDBY
- * 0x04 | ACCEL_LOWPOWER_2
- * 0x05 | ACCEL_DEEPSUSPEND
+ * 0x00 | BNO055_ACCEL_NORMAL
+ * 0x01 | BNO055_ACCEL_SUSPEND
+ * 0x02 | BNO055_ACCEL_LOWPOWER_1
+ * 0x03 | BNO055_ACCEL_STANDBY
+ * 0x04 | BNO055_ACCEL_LOWPOWER_2
+ * 0x05 | BNO055_ACCEL_DEEPSUSPEND
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_power_mode(
-u8 *v_accel_power_mode_u8)
+u8 *accel_power_mode_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel power mode is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of accel bandwidth */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_POWER_MODE__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_accel_power_mode_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_ACCEL_POWER_MODE_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *accel_power_mode_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_ACCEL_POWER_MODE);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write the accel power mode
* from page one register from 0x08 bit 5 to 7
*
- * @param v_accel_power_mode_u8 : The value of accel power mode
- * v_accel_power_mode_u8 | result
+ * @param accel_power_mode_u8 : The value of accel power mode
+ * accel_power_mode_u8 | result
* ----------------- | -------------
- * 0x00 | ACCEL_NORMAL
- * 0x01 | ACCEL_SUSPEND
- * 0x02 | ACCEL_LOWPOWER_1
- * 0x03 | ACCEL_STANDBY
- * 0x04 | ACCEL_LOWPOWER_2
- * 0x05 | ACCEL_DEEPSUSPEND
+ * 0x00 | BNO055_ACCEL_NORMAL
+ * 0x01 | BNO055_ACCEL_SUSPEND
+ * 0x02 | BNO055_ACCEL_LOWPOWER_1
+ * 0x03 | BNO055_ACCEL_STANDBY
+ * 0x04 | BNO055_ACCEL_LOWPOWER_2
+ * 0x05 | BNO055_ACCEL_DEEPSUSPEND
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_power_mode(
-u8 v_accel_power_mode_u8)
+u8 accel_power_mode_u8)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-s8 v_stat_s8 = ERROR;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
-s8 v_pg_stat_s8 = ERROR;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+s8 stat_s8 = BNO055_ERROR;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+s8 pg_stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
-v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
-if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
+ if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
- v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if (v_pg_stat_s8 == SUCCESS) {
- if (v_accel_power_mode_u8 < BNO055_SIX_U8X) {
+ pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if (pg_stat_s8 == BNO055_SUCCESS) {
+ if (accel_power_mode_u8 <
+ BNO055_ACCEL_POWER_MODE_RANGE) {
/* Write the value of accel bandwidth*/
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_POWER_MODE__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r = BNO055_SET_BITSLICE
- (v_data_u8r,
+ BNO055_ACCEL_POWER_MODE_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r = BNO055_SET_BITSLICE
+ (data_u8r,
BNO055_ACCEL_POWER_MODE,
- v_accel_power_mode_u8);
+ accel_power_mode_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_POWER_MODE__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_ACCEL_POWER_MODE_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = E_BNO055_OUT_OF_RANGE;
+ com_rslt = BNO055_OUT_OF_RANGE;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
-if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the mag output data rate
* from page one register from 0x09 bit 0 to 2
*
- * @param v_mag_data_output_rate_u8 : The value of mag output data rate
+ * @param mag_data_output_rate_u8 : The value of mag output data rate
*
- * v_mag_data_output_rate_u8 | result
+ * mag_data_output_rate_u8 | result
* ---------------------- |----------------------
* 0x00 | MAG_DATA_OUTPUT_RATE_2HZ
* 0x01 | MAG_DATA_OUTPUT_RATE_6HZ
* 0x07 | MAG_DATA_OUTPUT_RATE_30HZ
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_data_output_rate(
-u8 *v_mag_data_output_rate_u8)
+u8 *mag_data_output_rate_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, output data rate
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the mag output data rate*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_MAG_DATA_OUTPUT_RATE__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_mag_data_output_rate_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_MAG_DATA_OUTPUT_RATE_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *mag_data_output_rate_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_MAG_DATA_OUTPUT_RATE);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write the mag output data rate
* from page one register from 0x09 bit 0 to 2
*
- * @param v_mag_data_output_rate_u8 : The value of mag output data rate
+ * @param mag_data_output_rate_u8 : The value of mag output data rate
*
- * v_mag_data_output_rate_u8 | result
+ * mag_data_output_rate_u8 | result
* ---------------------- |----------------------
* 0x00 | MAG_DATA_OUTPUT_RATE_2HZ
* 0x01 | MAG_DATA_OUTPUT_RATE_6HZ
* 0x07 | MAG_DATA_OUTPUT_RATE_30HZ
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_data_output_rate(
-u8 v_mag_data_output_rate_u8)
+u8 mag_data_output_rate_u8)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-s8 v_stat_s8 = ERROR;
-s8 v_pg_stat_s8 = ERROR;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+s8 stat_s8 = BNO055_ERROR;
+s8 pg_stat_s8 = BNO055_ERROR;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
-v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
-if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
+ if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
- v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if (v_pg_stat_s8 == SUCCESS) {
- if (v_mag_data_output_rate_u8
- < BNO055_EIGHT_U8X) {
+ pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if (pg_stat_s8 == BNO055_SUCCESS) {
+ if (mag_data_output_rate_u8
+ < BNO055_MAG_OUTPUT_RANGE) {
/* Write the value of
mag output data rate*/
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_MAG_DATA_OUTPUT_RATE__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r = BNO055_SET_BITSLICE
- (v_data_u8r,
+ BNO055_MAG_DATA_OUTPUT_RATE_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r = BNO055_SET_BITSLICE
+ (data_u8r,
BNO055_MAG_DATA_OUTPUT_RATE,
- v_mag_data_output_rate_u8);
+ mag_data_output_rate_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_MAG_DATA_OUTPUT_RATE__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_MAG_DATA_OUTPUT_RATE_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = E_BNO055_OUT_OF_RANGE;
+ com_rslt = BNO055_OUT_OF_RANGE;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
-com_rslt = ERROR;
+com_rslt = BNO055_ERROR;
}
}
-if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the mag operation mode
* from page one register from 0x09 bit 3 to 4
*
- * @param v_mag_operation_mode_u8 : The value of mag operation mode
+ * @param mag_operation_mode_u8 : The value of mag operation mode
*
- * v_mag_operation_mode_u8 | result
+ * mag_operation_mode_u8 | result
* ------------------------- |--------------------------
* 0x00 | MAG_OPR_MODE_LOWPOWER
* 0x01 | MAG_OPR_MODE_REGULAR
* 0x03 | MAG_OPR_MODE_HIGH_ACCURACY
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_operation_mode(
-u8 *v_mag_operation_mode_u8)
+u8 *mag_operation_mode_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, mag operation mode is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of mag operation mode*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_MAG_OPERATION_MODE__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_mag_operation_mode_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_MAG_OPERATION_MODE_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *mag_operation_mode_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_MAG_OPERATION_MODE);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write the mag operation mode
* from page one register from 0x09 bit 3 to 4
*
- * @param v_mag_operation_mode_u8 : The value of mag operation mode
+ * @param mag_operation_mode_u8 : The value of mag operation mode
*
- * v_mag_operation_mode_u8 | result
+ * mag_operation_mode_u8 | result
* ------------------------- |--------------------------
* 0x00 | MAG_OPR_MODE_LOWPOWER
* 0x01 | MAG_OPR_MODE_REGULAR
* 0x03 | MAG_OPR_MODE_HIGH_ACCURACY
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_operation_mode(
-u8 v_mag_operation_mode_u8)
+u8 mag_operation_mode_u8)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-s8 v_stat_s8 = ERROR;
-s8 v_pg_stat_s8 = ERROR;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+s8 stat_s8 = BNO055_ERROR;
+s8 pg_stat_s8 = BNO055_ERROR;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
-v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
-if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
+ if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
- v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if (v_pg_stat_s8 == SUCCESS) {
- if (v_mag_operation_mode_u8
- < BNO055_FIVE_U8X) {
+ pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if (pg_stat_s8 == BNO055_SUCCESS) {
+ if (mag_operation_mode_u8
+ < BNO055_MAG_OPR_MODE_RANGE) {
/* Write the value
of mag operation mode*/
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_MAG_OPERATION_MODE__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r = BNO055_SET_BITSLICE
- (v_data_u8r,
+ BNO055_MAG_OPERATION_MODE_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r = BNO055_SET_BITSLICE
+ (data_u8r,
BNO055_MAG_OPERATION_MODE,
- v_mag_operation_mode_u8);
+ mag_operation_mode_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_MAG_OPERATION_MODE__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_MAG_OPERATION_MODE_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = E_BNO055_OUT_OF_RANGE;
+ com_rslt = BNO055_OUT_OF_RANGE;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
-if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the mag power mode
* from page one register from 0x09 bit 4 to 6
*
- * @param v_mag_power_mode_u8 : The value of mag power mode
+ * @param mag_power_mode_u8 : The value of mag power mode
*
- * v_mag_power_mode_u8 | result
+ * mag_power_mode_u8 | result
* --------------------|-----------------
- * 0x00 | MAG_POWER_MODE_NORMAL
- * 0x01 | MAG_POWER_MODE_SLEEP
- * 0x02 | MAG_POWER_MODE_SUSPEND
- * 0x03 | MAG_POWER_MODE_FORCE_MODE
+ * 0x00 | BNO055_MAG_POWER_MODE_NORMAL
+ * 0x01 | BNO055_MAG_POWER_MODE_SLEEP
+ * 0x02 | BNO055_MAG_POWER_MODE_SUSPEND
+ * 0x03 | BNO055_MAG_POWER_MODE_FORCE_MODE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_power_mode(
-u8 *v_mag_power_mode_u8)
+u8 *mag_power_mode_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, mag power mode is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of mag power mode */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_MAG_POWER_MODE__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_mag_power_mode_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_MAG_POWER_MODE_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *mag_power_mode_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_MAG_POWER_MODE);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write the mag power mode
* from page one register from 0x09 bit 4 to 6
*
- * @param v_mag_power_mode_u8 : The value of mag power mode
+ * @param mag_power_mode_u8 : The value of mag power mode
*
- * v_mag_power_mode_u8 | result
+ * mag_power_mode_u8 | result
* --------------------|-----------------
- * 0x00 | MAG_POWER_MODE_NORMAL
- * 0x01 | MAG_POWER_MODE_SLEEP
- * 0x02 | MAG_POWER_MODE_SUSPEND
- * 0x03 | MAG_POWER_MODE_FORCE_MODE
+ * 0x00 | BNO055_MAG_POWER_MODE_NORMAL
+ * 0x01 | BNO055_MAG_POWER_MODE_SLEEP
+ * 0x02 | BNO055_MAG_POWER_MODE_SUSPEND
+ * 0x03 | BNO055_MAG_POWER_MODE_FORCE_MODE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_power_mode(
-u8 v_mag_power_mode_u8)
+u8 mag_power_mode_u8)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-s8 v_stat_s8 = ERROR;
-s8 v_pg_stat_s8 = ERROR;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+s8 stat_s8 = BNO055_ERROR;
+s8 pg_stat_s8 = BNO055_ERROR;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
-v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
-if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode(
- OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode(
+ BNO055_OPERATION_MODE_CONFIG);
+ if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
- v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if (v_pg_stat_s8 == SUCCESS) {
- if (v_mag_power_mode_u8 < BNO055_FOUR_U8X) {
+ pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if (pg_stat_s8 == BNO055_SUCCESS) {
+ if (mag_power_mode_u8 <
+ BNO055_MAG_POWER_MODE_RANGE) {
/* Write the value of mag power mode*/
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_MAG_POWER_MODE__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r = BNO055_SET_BITSLICE
- (v_data_u8r,
+ BNO055_MAG_POWER_MODE_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r = BNO055_SET_BITSLICE
+ (data_u8r,
BNO055_MAG_POWER_MODE,
- v_mag_power_mode_u8);
+ mag_power_mode_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_MAG_POWER_MODE__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_MAG_POWER_MODE_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = E_BNO055_OUT_OF_RANGE;
+ com_rslt = BNO055_OUT_OF_RANGE;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
-if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the gyro range
* from page one register from 0x0A bit 0 to 3
*
- * @param v_gyro_range_u8 : The value of gyro range
+ * @param gyro_range_u8 : The value of gyro range
*
- * v_gyro_range_u8 | result
+ * gyro_range_u8 | result
* --------------------|-----------------
- * 0x00 | GYRO_RANGE_2000DPS
- * 0x01 | GYRO_RANGE_1000DPS
- * 0x02 | GYRO_RANGE_500DPS
- * 0x03 | GYRO_RANGE_250DPS
- * 0x04 | GYRO_RANGE_125DPS
+ * 0x00 | BNO055_GYRO_RANGE_2000DPS
+ * 0x01 | BNO055_GYRO_RANGE_1000DPS
+ * 0x02 | BNO055_GYRO_RANGE_500DPS
+ * 0x03 | BNO055_GYRO_RANGE_250DPS
+ * 0x04 | BNO055_GYRO_RANGE_125DPS
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_range(
-u8 *v_gyro_range_u8)
+u8 *gyro_range_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro range is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of gyro range */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_RANGE__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_gyro_range_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_GYRO_RANGE_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *gyro_range_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_RANGE);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write the gyro range
* from page one register from 0x0A bit 0 to 3
*
- * @param v_gyro_range_u8 : The value of gyro range
+ * @param gyro_range_u8 : The value of gyro range
*
- * v_gyro_range_u8 | result
+ * gyro_range_u8 | result
* --------------------|-----------------
- * 0x00 | GYRO_RANGE_2000DPS
- * 0x01 | GYRO_RANGE_1000DPS
- * 0x02 | GYRO_RANGE_500DPS
- * 0x03 | GYRO_RANGE_250DPS
- * 0x04 | GYRO_RANGE_125DPS
+ * 0x00 | BNO055_GYRO_RANGE_2000DPS
+ * 0x01 | BNO055_GYRO_RANGE_1000DPS
+ * 0x02 | BNO055_GYRO_RANGE_500DPS
+ * 0x03 | BNO055_GYRO_RANGE_250DPS
+ * 0x04 | BNO055_GYRO_RANGE_125DPS
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_range(
-u8 v_gyro_range_u8)
+u8 gyro_range_u8)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-s8 v_stat_s8 = ERROR;
-s8 v_pg_stat_s8 = ERROR;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+s8 stat_s8 = BNO055_ERROR;
+s8 pg_stat_s8 = BNO055_ERROR;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
-v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
-if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
+ if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
- v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if (v_pg_stat_s8 == SUCCESS) {
- if (v_gyro_range_u8 < BNO055_FIVE_U8X) {
+ pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if (pg_stat_s8 == BNO055_SUCCESS) {
+ if (gyro_range_u8 < BNO055_GYRO_RANGE) {
/* Write the value of gyro range*/
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_RANGE__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r = BNO055_SET_BITSLICE
- (v_data_u8r,
+ BNO055_GYRO_RANGE_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r = BNO055_SET_BITSLICE
+ (data_u8r,
BNO055_GYRO_RANGE,
- v_gyro_range_u8);
+ gyro_range_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_RANGE__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_GYRO_RANGE_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = E_BNO055_OUT_OF_RANGE;
+ com_rslt = BNO055_OUT_OF_RANGE;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
-if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the gyro bandwidth
* from page one register from 0x0A bit 3 to 5
*
- * @param v_gyro_bw_u8 : The value of gyro bandwidth
+ * @param gyro_bw_u8 : The value of gyro bandwidth
*
- * v_gyro_bw_u8 | result
+ * gyro_bw_u8 | result
* --------------------|-----------------
- * 0x00 | GYRO_BW_523HZ
- * 0x01 | GYRO_BW_230HZ
- * 0x02 | GYRO_BW_116HZ
- * 0x03 | GYRO_BW_47HZ
- * 0x04 | GYRO_BW_23HZ
- * 0x05 | GYRO_BW_12HZ
- * 0x06 | GYRO_BW_64HZ
- * 0x07 | GYRO_BW_32HZ
+ * 0x00 | BNO055_GYRO_BW_523HZ
+ * 0x01 | BNO055_GYRO_BW_230HZ
+ * 0x02 | BNO055_GYRO_BW_116HZ
+ * 0x03 | BNO055_GYRO_BW_47HZ
+ * 0x04 | BNO055_GYRO_BW_23HZ
+ * 0x05 | BNO055_GYRO_BW_12HZ
+ * 0x06 | BNO055_GYRO_BW_64HZ
+ * 0x07 | BNO055_GYRO_BW_32HZ
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_bw(
-u8 *v_gyro_bw_u8)
+u8 *gyro_bw_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro bandwidth is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_BW__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_gyro_bw_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_GYRO_BW_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *gyro_bw_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_BW);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write the gyro bandwidth
* from page one register from 0x0A bit 3 to 5
*
- * @param v_gyro_bw_u8 : The value of gyro bandwidth
+ * @param gyro_bw_u8 : The value of gyro bandwidth
*
- * v_gyro_bw_u8 | result
+ * gyro_bw_u8 | result
* --------------------|-----------------
- * 0x00 | GYRO_BW_523HZ
- * 0x01 | GYRO_BW_230HZ
- * 0x02 | GYRO_BW_116HZ
- * 0x03 | GYRO_BW_47HZ
- * 0x04 | GYRO_BW_23HZ
- * 0x05 | GYRO_BW_12HZ
- * 0x06 | GYRO_BW_64HZ
- * 0x07 | GYRO_BW_32HZ
+ * 0x00 | BNO055_GYRO_BW_523HZ
+ * 0x01 | BNO055_GYRO_BW_230HZ
+ * 0x02 | BNO055_GYRO_BW_116HZ
+ * 0x03 | BNO055_GYRO_BW_47HZ
+ * 0x04 | BNO055_GYRO_BW_23HZ
+ * 0x05 | BNO055_GYRO_BW_12HZ
+ * 0x06 | BNO055_GYRO_BW_64HZ
+ * 0x07 | BNO055_GYRO_BW_32HZ
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_bw(
-u8 v_gyro_bw_u8)
-{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-s8 v_stat_s8 = ERROR;
-u8 gyro_opmode = BNO055_ZERO_U8X;
-u8 gyro_auto_sleep_durn = BNO055_ZERO_U8X;
-s8 v_pg_stat_s8 = ERROR;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
+u8 gyro_bw_u8)
+{
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+s8 stat_s8 = BNO055_ERROR;
+u8 gyro_opmode = BNO055_INIT_VALUE;
+u8 gyro_auto_sleep_durn = BNO055_INIT_VALUE;
+s8 pg_stat_s8 = BNO055_ERROR;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
-v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
-if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
+ if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
- v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if (v_pg_stat_s8 == SUCCESS) {
+ pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if (pg_stat_s8 == BNO055_SUCCESS) {
/* Write the value of gyro bandwidth */
- if ((v_gyro_bw_u8 == BNO055_ZERO_U8X ||
- v_gyro_bw_u8 > BNO055_ZERO_U8X) &&
- v_gyro_bw_u8 < BNO055_EIGHT_U8X) {
- switch (v_gyro_bw_u8) {
- case GYRO_BW_523HZ:
- v_gyro_bw_u8 = GYRO_BW_523HZ;
+ if ((gyro_bw_u8 == BNO055_INIT_VALUE ||
+ gyro_bw_u8 > BNO055_INIT_VALUE) &&
+ gyro_bw_u8 < BNO055_ACCEL_GYRO_BW_RANGE) {
+ switch (gyro_bw_u8) {
+ case BNO055_GYRO_BW_523HZ:
+ gyro_bw_u8 = BNO055_GYRO_BW_523HZ;
break;
- case GYRO_BW_230HZ:
- v_gyro_bw_u8 = GYRO_BW_230HZ;
+ case BNO055_GYRO_BW_230HZ:
+ gyro_bw_u8 = BNO055_GYRO_BW_230HZ;
break;
- case GYRO_BW_116HZ:
- v_gyro_bw_u8 = GYRO_BW_116HZ;
+ case BNO055_GYRO_BW_116HZ:
+ gyro_bw_u8 = BNO055_GYRO_BW_116HZ;
break;
- case GYRO_BW_47HZ:
- v_gyro_bw_u8 = GYRO_BW_47HZ;
+ case BNO055_GYRO_BW_47HZ:
+ gyro_bw_u8 = BNO055_GYRO_BW_47HZ;
break;
- case GYRO_BW_23HZ:
- v_gyro_bw_u8 = GYRO_BW_23HZ;
+ case BNO055_GYRO_BW_23HZ:
+ gyro_bw_u8 = BNO055_GYRO_BW_23HZ;
break;
- case GYRO_BW_12HZ:
- v_gyro_bw_u8 = GYRO_BW_12HZ;
+ case BNO055_GYRO_BW_12HZ:
+ gyro_bw_u8 = BNO055_GYRO_BW_12HZ;
break;
- case GYRO_BW_64HZ:
- v_gyro_bw_u8 = GYRO_BW_64HZ;
+ case BNO055_GYRO_BW_64HZ:
+ gyro_bw_u8 = BNO055_GYRO_BW_64HZ;
break;
- case GYRO_BW_32HZ:
- v_gyro_bw_u8 = GYRO_BW_32HZ;
+ case BNO055_GYRO_BW_32HZ:
+ gyro_bw_u8 = BNO055_GYRO_BW_32HZ;
break;
default:
break;
}
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_BW__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r = BNO055_SET_BITSLICE
- (v_data_u8r,
+ BNO055_GYRO_BW_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r = BNO055_SET_BITSLICE
+ (data_u8r,
BNO055_GYRO_BW,
- v_gyro_bw_u8);
+ gyro_bw_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_BW__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_GYRO_BW_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
}
com_rslt = bno055_get_gyro_power_mode
(&gyro_opmode);
- if (com_rslt == SUCCESS) {
+ if (com_rslt == BNO055_SUCCESS) {
if (gyro_opmode ==
- GYRO_POWER_MODE_ADVANCE_POWERSAVE) {
+ BNO055_GYRO_POWER_MODE_ADVANCE_POWERSAVE) {
com_rslt +=
bno055_get_gyro_auto_sleep_durn
(&gyro_auto_sleep_durn);
- if (com_rslt == SUCCESS) {
+ if (com_rslt == BNO055_SUCCESS) {
com_rslt +=
bno055_gyro_set_auto_sleep_durn
(gyro_auto_sleep_durn,
- v_gyro_bw_u8);
+ gyro_bw_u8);
}
}
}
} else {
- com_rslt = E_BNO055_OUT_OF_RANGE;
+ com_rslt = BNO055_OUT_OF_RANGE;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
-com_rslt = ERROR;
+com_rslt = BNO055_ERROR;
}
} else {
-com_rslt = ERROR;
+com_rslt = BNO055_ERROR;
}
}
-if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the gyro power mode
* from page one register from 0x0B bit 0 to 2
*
- * @param v_gyro_power_mode_u8 : The value of gyro power mode
+ * @param gyro_power_mode_u8 : The value of gyro power mode
*
- * v_gyro_power_mode_u8 | result
+ * gyro_power_mode_u8 | result
* ----------------------|----------------------------
* 0x00 | GYRO_OPR_MODE_NORMAL
* 0x01 | GYRO_OPR_MODE_FASTPOWERUP
* 0x04 | GYRO_OPR_MODE_ADVANCE_POWERSAVE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_power_mode(
-u8 *v_gyro_power_mode_u8)
+u8 *gyro_power_mode_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro power mode is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Write the value of gyro power mode*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_POWER_MODE__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_gyro_power_mode_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_GYRO_POWER_MODE_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *gyro_power_mode_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_POWER_MODE);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write the gyro power mode
* from page one register from 0x0B bit 0 to 2
*
- * @param v_gyro_power_mode_u8 : The value of gyro power mode
+ * @param gyro_power_mode_u8 : The value of gyro power mode
*
- * v_gyro_power_mode_u8 | result
+ * gyro_power_mode_u8 | result
* ----------------------|----------------------------
* 0x00 | GYRO_OPR_MODE_NORMAL
* 0x01 | GYRO_OPR_MODE_FASTPOWERUP
* 0x04 | GYRO_OPR_MODE_ADVANCE_POWERSAVE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_power_mode(
-u8 v_gyro_power_mode_u8)
-{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-s8 v_stat_s8 = ERROR;
-u8 gyro_auto_sleep_durn = BNO055_ZERO_U8X;
-u8 v_gyro_bw_u8 = BNO055_ZERO_U8X;
-s8 v_pg_stat_s8 = ERROR;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
+u8 gyro_power_mode_u8)
+{
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+s8 stat_s8 = BNO055_ERROR;
+u8 gyro_auto_sleep_durn = BNO055_INIT_VALUE;
+u8 gyro_bw_u8 = BNO055_INIT_VALUE;
+s8 pg_stat_s8 = BNO055_ERROR;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
-v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
-if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
+ if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
- v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if (v_pg_stat_s8 == SUCCESS) {
+ pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if (pg_stat_s8 == BNO055_SUCCESS) {
/* Write the value of power mode*/
- if ((v_gyro_power_mode_u8 == BNO055_ZERO_U8X ||
- v_gyro_power_mode_u8 > BNO055_ZERO_U8X) &&
- v_gyro_power_mode_u8 < BNO055_FIVE_U8X) {
- switch (v_gyro_power_mode_u8) {
- case GYRO_POWER_MODE_NORMAL:
- v_gyro_power_mode_u8 =
- GYRO_POWER_MODE_NORMAL;
+ if ((gyro_power_mode_u8 == BNO055_INIT_VALUE ||
+ gyro_power_mode_u8 > BNO055_INIT_VALUE) &&
+ gyro_power_mode_u8 < BNO055_GYRO_RANGE) {
+ switch (gyro_power_mode_u8) {
+ case BNO055_GYRO_POWER_MODE_NORMAL:
+ gyro_power_mode_u8 =
+ BNO055_GYRO_POWER_MODE_NORMAL;
break;
- case GYRO_POWER_MODE_FASTPOWERUP:
- v_gyro_power_mode_u8 =
- GYRO_POWER_MODE_FASTPOWERUP;
+ case BNO055_GYRO_POWER_MODE_FASTPOWERUP:
+ gyro_power_mode_u8 =
+ BNO055_GYRO_POWER_MODE_FASTPOWERUP;
break;
- case GYRO_POWER_MODE_DEEPSUSPEND:
- v_gyro_power_mode_u8 =
- GYRO_POWER_MODE_DEEPSUSPEND;
+ case BNO055_GYRO_POWER_MODE_DEEPSUSPEND:
+ gyro_power_mode_u8 =
+ BNO055_GYRO_POWER_MODE_DEEPSUSPEND;
break;
- case GYRO_POWER_MODE_SUSPEND:
- v_gyro_power_mode_u8 =
- GYRO_POWER_MODE_SUSPEND;
+ case BNO055_GYRO_POWER_MODE_SUSPEND:
+ gyro_power_mode_u8 =
+ BNO055_GYRO_POWER_MODE_SUSPEND;
break;
- case GYRO_POWER_MODE_ADVANCE_POWERSAVE:
+ case BNO055_GYRO_POWER_MODE_ADVANCE_POWERSAVE:
com_rslt = bno055_get_gyro_bw
- (&v_gyro_bw_u8);
+ (&gyro_bw_u8);
com_rslt += bno055_get_gyro_auto_sleep_durn
(&gyro_auto_sleep_durn);
- if (com_rslt == SUCCESS)
+ if (com_rslt == BNO055_SUCCESS)
bno055_gyro_set_auto_sleep_durn
(gyro_auto_sleep_durn,
- v_gyro_bw_u8);
- com_rslt +=
- bno055_write_page_id(PAGE_ONE);
- v_gyro_power_mode_u8 =
- GYRO_POWER_MODE_ADVANCE_POWERSAVE;
+ gyro_bw_u8);
+ com_rslt +=
+ bno055_write_page_id(BNO055_PAGE_ONE);
+ gyro_power_mode_u8 =
+ BNO055_GYRO_POWER_MODE_ADVANCE_POWERSAVE;
break;
default:
break;
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_POWER_MODE__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r = BNO055_SET_BITSLICE
- (v_data_u8r,
+ BNO055_GYRO_POWER_MODE_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r = BNO055_SET_BITSLICE
+ (data_u8r,
BNO055_GYRO_POWER_MODE,
- v_gyro_power_mode_u8);
+ gyro_power_mode_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_POWER_MODE__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_GYRO_POWER_MODE_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = E_BNO055_OUT_OF_RANGE;
+ com_rslt = BNO055_OUT_OF_RANGE;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
-if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the accel sleep mode
* from page one register from 0x0C bit 0
*
- * @param v_sleep_tmr_u8 : The value of accel sleep mode
+ * @param sleep_tmr_u8 : The value of accel sleep mode
*
- * v_sleep_tmr_u8 | result
+ * sleep_tmr_u8 | result
* ----------------- |------------------------------------
* 0x00 | enable EventDrivenSampling(EDT)
* 0x01 | enable Equidistant sampling mode(EST)
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_sleep_tmr_mode(
-u8 *v_sleep_tmr_u8)
+u8 *sleep_tmr_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel sleep mode is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
/* read the value of accel sleep mode */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_SLEEP_MODE__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_sleep_tmr_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_ACCEL_SLEEP_MODE_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *sleep_tmr_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_ACCEL_SLEEP_MODE);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write the accel sleep mode
* from page one register from 0x0C bit 0
*
- * @param v_sleep_tmr_u8 : The value of accel sleep mode
+ * @param sleep_tmr_u8 : The value of accel sleep mode
*
- * v_sleep_tmr_u8 | result
+ * sleep_tmr_u8 | result
* ----------------- |------------------------------------
* 0x00 | enable EventDrivenSampling(EDT)
* 0x01 | enable Equidistant sampling mode(EST)
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_sleep_tmr_mode(
-u8 v_sleep_tmr_u8)
+u8 sleep_tmr_u8)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-s8 v_stat_s8 = ERROR;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
-s8 v_pg_stat_s8 = ERROR;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+s8 stat_s8 = BNO055_ERROR;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+s8 pg_stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
- v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
- if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+ stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+ if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
+ if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
- v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if (v_pg_stat_s8 == SUCCESS) {
- if (v_sleep_tmr_u8 < BNO055_TWO_U8X) {
+ pg_stat_s8 = bno055_write_page_id(
+ BNO055_PAGE_ONE);
+ if (pg_stat_s8 == BNO055_SUCCESS) {
+ if (sleep_tmr_u8 <
+ BNO055_ACCEL_SLEEP_MODE_RANGE) {
/*Write the value
of accel sleep mode*/
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_SLEEP_MODE__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r = BNO055_SET_BITSLICE
- (v_data_u8r,
+ BNO055_ACCEL_SLEEP_MODE_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r = BNO055_SET_BITSLICE
+ (data_u8r,
BNO055_ACCEL_SLEEP_MODE,
- v_sleep_tmr_u8);
+ sleep_tmr_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_SLEEP_MODE__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_ACCEL_SLEEP_MODE_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = E_BNO055_OUT_OF_RANGE;
+ com_rslt = BNO055_OUT_OF_RANGE;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
-if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the accel sleep duration
* from page one register from 0x0C bit 1 to 4
*
- * @param v_sleep_durn_u8 : The value of accel sleep duration
+ * @param sleep_durn_u8 : The value of accel sleep duration
*
- * v_sleep_durn_u8 | result
+ * sleep_durn_u8 | result
* ---------------- |-----------------------------
* 0x05 | BNO055_ACCEL_SLEEP_DURN_0_5MS
* 0x06 | BNO055_ACCEL_SLEEP_DURN_1MS
* 0x0F | BNO055_ACCEL_SLEEP_DURN_1S
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_sleep_durn(
-u8 *v_sleep_durn_u8)
+u8 *sleep_durn_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel sleep duration
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of accel sleep duration */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_SLEEP_DURN__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_sleep_durn_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_ACCEL_SLEEP_DURN_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *sleep_durn_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_ACCEL_SLEEP_DURN);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write the accel sleep duration
* from page one register from 0x0C bit 1 to 4
*
- * @param v_sleep_durn_u8 : The value of accel sleep duration
+ * @param sleep_durn_u8 : The value of accel sleep duration
*
- * v_sleep_durn_u8 | result
- * ---------------- |-----------------------------
- * 0x05 | BNO055_ACCEL_SLEEP_DURN_0_5MS
- * 0x06 | BNO055_ACCEL_SLEEP_DURN_1MS
- * 0x07 | BNO055_ACCEL_SLEEP_DURN_2MS
- * 0x08 | BNO055_ACCEL_SLEEP_DURN_4MS
- * 0x09 | BNO055_ACCEL_SLEEP_DURN_6MS
- * 0x0A | BNO055_ACCEL_SLEEP_DURN_10MS
- * 0x0B | BNO055_ACCEL_SLEEP_DURN_25MS
- * 0x0C | BNO055_ACCEL_SLEEP_DURN_50MS
- * 0x0D | BNO055_ACCEL_SLEEP_DURN_100MS
- * 0x0E | BNO055_ACCEL_SLEEP_DURN_500MS
- * 0x0F | BNO055_ACCEL_SLEEP_DURN_1S
+ * sleep_durn_u8 | result
+ * ---------------|-----------------------------
+ * 0x05 | BNO055_ACCEL_SLEEP_DURN_0_5MS
+ * 0x06 | BNO055_ACCEL_SLEEP_DURN_1MS
+ * 0x07 | BNO055_ACCEL_SLEEP_DURN_2MS
+ * 0x08 | BNO055_ACCEL_SLEEP_DURN_4MS
+ * 0x09 | BNO055_ACCEL_SLEEP_DURN_6MS
+ * 0x0A | BNO055_ACCEL_SLEEP_DURN_10MS
+ * 0x0B | BNO055_ACCEL_SLEEP_DURN_25MS
+ * 0x0C | BNO055_ACCEL_SLEEP_DURN_50MS
+ * 0x0D | BNO055_ACCEL_SLEEP_DURN_100MS
+ * 0x0E | BNO055_ACCEL_SLEEP_DURN_500MS
+ * 0x0F | BNO055_ACCEL_SLEEP_DURN_1S
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_sleep_durn(
-u8 v_sleep_durn_u8)
+u8 sleep_durn_u8)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-s8 v_stat_s8 = ERROR;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
-s8 v_pg_stat_s8 = ERROR;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+s8 stat_s8 = BNO055_ERROR;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+s8 pg_stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
- v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
- if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+ stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+ if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
+ if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
- v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if (v_pg_stat_s8 == SUCCESS) {
- if (v_sleep_durn_u8 <
- BNO055_SIXTEEN_U8X) {
+ pg_stat_s8 = bno055_write_page_id(
+ BNO055_PAGE_ONE);
+ if (pg_stat_s8 == BNO055_SUCCESS) {
+ if (sleep_durn_u8 <
+ BNO055_ACCEL_SLEEP_DURATION_RANGE) {
/* Write the accel
sleep duration*/
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_SLEEP_DURN__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r = BNO055_SET_BITSLICE
- (v_data_u8r,
+ BNO055_ACCEL_SLEEP_DURN_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r = BNO055_SET_BITSLICE
+ (data_u8r,
BNO055_ACCEL_SLEEP_DURN,
- v_sleep_durn_u8);
+ sleep_durn_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_SLEEP_DURN__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_ACCEL_SLEEP_DURN_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = E_BNO055_OUT_OF_RANGE;
+ com_rslt = BNO055_OUT_OF_RANGE;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to write the gyro sleep duration
* from page one register from 0x0D bit 0 to 2
*
- * @param v_sleep_durn_u8 : The value of gyro sleep duration
+ * @param sleep_durn_u8 : The value of gyro sleep duration
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_sleep_durn(u8 *v_sleep_durn_u8)
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_sleep_durn(u8 *sleep_durn_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel range is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the gyro sleep duration */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_SLEEP_DURN__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_sleep_durn_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_GYRO_SLEEP_DURN_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *sleep_durn_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_SLEEP_DURN);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write the gyro sleep duration
* from page one register from 0x0D bit 0 to 2
*
- * @param v_sleep_durn_u8 : The value of gyro sleep duration
+ * @param sleep_durn_u8 : The value of gyro sleep duration
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_sleep_durn(u8 v_sleep_durn_u8)
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_sleep_durn(u8 sleep_durn_u8)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-s8 v_stat_s8 = ERROR;
-s8 v_pg_stat_s8 = ERROR;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+s8 stat_s8 = BNO055_ERROR;
+s8 pg_stat_s8 = BNO055_ERROR;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
-v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
-if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
+ if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
- v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if (v_pg_stat_s8 == SUCCESS) {
- if (v_sleep_durn_u8 < BNO055_EIGHT_U8X) {
+ pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if (pg_stat_s8 == BNO055_SUCCESS) {
+ if (sleep_durn_u8 <
+ BNO055_GYRO_AUTO_SLEEP_DURATION_RANGE) {
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_SLEEP_DURN__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
+ BNO055_GYRO_SLEEP_DURN_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
/* Write the gyro
sleep duration */
- v_data_u8r = BNO055_SET_BITSLICE
- (v_data_u8r,
+ data_u8r = BNO055_SET_BITSLICE
+ (data_u8r,
BNO055_GYRO_SLEEP_DURN,
- v_sleep_durn_u8);
+ sleep_durn_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_SLEEP_DURN__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_GYRO_SLEEP_DURN_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = E_BNO055_OUT_OF_RANGE;
+ com_rslt = BNO055_OUT_OF_RANGE;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
-if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the gyro auto sleep duration
* from page one register from 0x0D bit 3 to 5
*
- * @param v_auto_sleep_durn_u8 : The value of gyro auto sleep duration
+ * @param auto_sleep_durn_u8 : The value of gyro auto sleep duration
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_auto_sleep_durn(
-u8 *v_auto_sleep_durn_u8)
+u8 *auto_sleep_durn_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel range is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of gyro auto sleep duration */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_AUTO_SLEEP_DURN__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_auto_sleep_durn_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_GYRO_AUTO_SLEEP_DURN_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *auto_sleep_durn_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_AUTO_SLEEP_DURN);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write the gyro auto sleep duration
* from page one register from 0x0D bit 3 to 5
*
- * @param v_auto_sleep_durn_u8 : The value of gyro auto sleep duration
+ * @param auto_sleep_durn_u8 : The value of gyro auto sleep duration
* @param bw : The value of gyro bandwidth
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_gyro_set_auto_sleep_durn(
-u8 v_auto_sleep_durn_u8, u8 bw)
-{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-s8 v_stat_s8 = ERROR;
-u8 v_auto_sleep_durn_u8r;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
-s8 v_pg_stat_s8 = ERROR;
+u8 auto_sleep_durn_u8, u8 bw)
+{
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+s8 stat_s8 = BNO055_ERROR;
+u8 auto_sleep_durn_u8r;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+s8 pg_stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
-v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
-if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
+ if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
- v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if (v_pg_stat_s8 == SUCCESS) {
+ pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if (pg_stat_s8 == BNO055_SUCCESS) {
/* Write the value of gyro sleep duration */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_AUTO_SLEEP_DURN__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (v_auto_sleep_durn_u8 < BNO055_EIGHT_U8X) {
+ BNO055_GYRO_AUTO_SLEEP_DURN_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (auto_sleep_durn_u8 <
+ BNO055_GYRO_AUTO_SLEEP_DURATION_RANGE) {
switch (bw) {
- case GYRO_BW_523HZ:
- if (v_auto_sleep_durn_u8 >
+ case BNO055_GYRO_BW_523HZ:
+ if (auto_sleep_durn_u8 >
BNO055_GYRO_4MS_AUTOSLPDUR)
- v_auto_sleep_durn_u8r =
- v_auto_sleep_durn_u8;
+ auto_sleep_durn_u8r =
+ auto_sleep_durn_u8;
else
- v_auto_sleep_durn_u8r =
+ auto_sleep_durn_u8r =
BNO055_GYRO_4MS_AUTOSLPDUR;
break;
- case GYRO_BW_230HZ:
- if (v_auto_sleep_durn_u8 >
+ case BNO055_GYRO_BW_230HZ:
+ if (auto_sleep_durn_u8 >
BNO055_GYRO_4MS_AUTOSLPDUR)
- v_auto_sleep_durn_u8r =
- v_auto_sleep_durn_u8;
+ auto_sleep_durn_u8r =
+ auto_sleep_durn_u8;
else
- v_auto_sleep_durn_u8r =
+ auto_sleep_durn_u8r =
BNO055_GYRO_4MS_AUTOSLPDUR;
break;
- case GYRO_BW_116HZ:
- if (v_auto_sleep_durn_u8 >
+ case BNO055_GYRO_BW_116HZ:
+ if (auto_sleep_durn_u8 >
BNO055_GYRO_4MS_AUTOSLPDUR)
- v_auto_sleep_durn_u8r =
- v_auto_sleep_durn_u8;
+ auto_sleep_durn_u8r =
+ auto_sleep_durn_u8;
else
- v_auto_sleep_durn_u8r =
+ auto_sleep_durn_u8r =
BNO055_GYRO_4MS_AUTOSLPDUR;
break;
- case GYRO_BW_47HZ:
- if (v_auto_sleep_durn_u8 >
+ case BNO055_GYRO_BW_47HZ:
+ if (auto_sleep_durn_u8 >
BNO055_GYRO_5MS_AUTOSLPDUR)
- v_auto_sleep_durn_u8r =
- v_auto_sleep_durn_u8;
+ auto_sleep_durn_u8r =
+ auto_sleep_durn_u8;
else
- v_auto_sleep_durn_u8r =
+ auto_sleep_durn_u8r =
BNO055_GYRO_5MS_AUTOSLPDUR;
break;
- case GYRO_BW_23HZ:
- if (v_auto_sleep_durn_u8 >
+ case BNO055_GYRO_BW_23HZ:
+ if (auto_sleep_durn_u8 >
BNO055_GYRO_10MS_AUTOSLPDUR)
- v_auto_sleep_durn_u8r =
- v_auto_sleep_durn_u8;
+ auto_sleep_durn_u8r =
+ auto_sleep_durn_u8;
else
- v_auto_sleep_durn_u8r =
+ auto_sleep_durn_u8r =
BNO055_GYRO_10MS_AUTOSLPDUR;
break;
- case GYRO_BW_12HZ:
- if (v_auto_sleep_durn_u8 >
+ case BNO055_GYRO_BW_12HZ:
+ if (auto_sleep_durn_u8 >
BNO055_GYRO_20MS_AUTOSLPDUR)
- v_auto_sleep_durn_u8r =
- v_auto_sleep_durn_u8;
+ auto_sleep_durn_u8r =
+ auto_sleep_durn_u8;
else
- v_auto_sleep_durn_u8r =
+ auto_sleep_durn_u8r =
BNO055_GYRO_20MS_AUTOSLPDUR;
break;
- case GYRO_BW_64HZ:
- if (v_auto_sleep_durn_u8 >
+ case BNO055_GYRO_BW_64HZ:
+ if (auto_sleep_durn_u8 >
BNO055_GYRO_10MS_AUTOSLPDUR)
- v_auto_sleep_durn_u8r =
- v_auto_sleep_durn_u8;
+ auto_sleep_durn_u8r =
+ auto_sleep_durn_u8;
else
- v_auto_sleep_durn_u8r =
+ auto_sleep_durn_u8r =
BNO055_GYRO_10MS_AUTOSLPDUR;
break;
- case GYRO_BW_32HZ:
- if (v_auto_sleep_durn_u8 >
+ case BNO055_GYRO_BW_32HZ:
+ if (auto_sleep_durn_u8 >
BNO055_GYRO_20MS_AUTOSLPDUR)
- v_auto_sleep_durn_u8r =
- v_auto_sleep_durn_u8;
+ auto_sleep_durn_u8r =
+ auto_sleep_durn_u8;
else
- v_auto_sleep_durn_u8r =
+ auto_sleep_durn_u8r =
BNO055_GYRO_20MS_AUTOSLPDUR;
break;
default:
- if (v_auto_sleep_durn_u8 >
+ if (auto_sleep_durn_u8 >
BNO055_GYRO_4MS_AUTOSLPDUR)
- v_auto_sleep_durn_u8r =
- v_auto_sleep_durn_u8;
+ auto_sleep_durn_u8r =
+ auto_sleep_durn_u8;
else
- v_auto_sleep_durn_u8r =
+ auto_sleep_durn_u8r =
BNO055_GYRO_4MS_AUTOSLPDUR;
break;
}
- if (com_rslt == SUCCESS) {
- v_data_u8r = BNO055_SET_BITSLICE
- (v_data_u8r,
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r = BNO055_SET_BITSLICE
+ (data_u8r,
BNO055_GYRO_AUTO_SLEEP_DURN,
- v_auto_sleep_durn_u8r);
+ auto_sleep_durn_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_AUTO_SLEEP_DURN__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_GYRO_AUTO_SLEEP_DURN_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = E_BNO055_OUT_OF_RANGE;
+ com_rslt = BNO055_OUT_OF_RANGE;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
-com_rslt = ERROR;
+com_rslt = BNO055_ERROR;
}
}
-if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the mag sleep mode
* from page one register from 0x0E bit 0
*
- * @param v_sleep_mode_u8 : The value of mag sleep mode
+ * @param sleep_mode_u8 : The value of mag sleep mode
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_sleep_mode(
-u8 *v_sleep_mode_u8)
+u8 *sleep_mode_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page,mag sleep mode is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of mag sleep mode*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_MAG_SLEEP_MODE__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_sleep_mode_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_MAG_SLEEP_MODE_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ *sleep_mode_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_MAG_SLEEP_MODE);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write the mag sleep mode
* from page one register from 0x0E bit 0
*
- * @param v_sleep_mode_u8 : The value of mag sleep mode
+ * @param sleep_mode_u8 : The value of mag sleep mode
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_sleep_mode(
-u8 v_sleep_mode_u8)
+u8 sleep_mode_u8)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-s8 v_stat_s8 = ERROR;
-s8 v_pg_stat_s8 = ERROR;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+s8 stat_s8 = BNO055_ERROR;
+s8 pg_stat_s8 = BNO055_ERROR;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
- v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
- if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+ stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+ if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
+ if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
- v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if (v_pg_stat_s8 == SUCCESS) {
+ pg_stat_s8 = bno055_write_page_id(
+ BNO055_PAGE_ONE);
+ if (pg_stat_s8 == BNO055_SUCCESS) {
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_MAG_SLEEP_MODE__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
+ BNO055_MAG_SLEEP_MODE_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
/* Write the value
of mag sleep mode*/
- v_data_u8r =
- BNO055_SET_BITSLICE(v_data_u8r,
+ data_u8r =
+ BNO055_SET_BITSLICE(data_u8r,
BNO055_MAG_SLEEP_MODE,
- v_sleep_mode_u8);
+ sleep_mode_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_MAG_SLEEP_MODE__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_MAG_SLEEP_MODE_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the mag sleep duration
* from page one register from 0x0E bit 1 to 4
*
- * @param v_sleep_durn_u8 : The value of mag sleep duration
+ * @param sleep_durn_u8 : The value of mag sleep duration
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_sleep_durn(
-u8 *v_sleep_durn_u8)
+u8 *sleep_durn_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page,mag sleep duration is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of mag sleep duration*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_MAG_SLEEP_DURN__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_sleep_durn_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_MAG_SLEEP_DURN_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *sleep_durn_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_MAG_SLEEP_DURN);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write the mag sleep duration
* from page one register from 0x0E bit 1 to 4
*
- * @param v_sleep_durn_u8 : The value of mag sleep duration
+ * @param sleep_durn_u8 : The value of mag sleep duration
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_sleep_durn(
-u8 v_sleep_durn_u8)
+u8 sleep_durn_u8)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-s8 v_stat_s8 = ERROR;
-s8 v_pg_stat_s8 = ERROR;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+s8 stat_s8 = BNO055_ERROR;
+s8 pg_stat_s8 = BNO055_ERROR;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
- v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
- if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+ stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+ if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
+ if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
- v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if (v_pg_stat_s8 == SUCCESS) {
+ pg_stat_s8 = bno055_write_page_id(
+ BNO055_PAGE_ONE);
+ if (pg_stat_s8 == BNO055_SUCCESS) {
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_MAG_SLEEP_DURN__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
+ BNO055_MAG_SLEEP_DURN_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
/* Write the value of
mag sleep duration */
- v_data_u8r =
- BNO055_SET_BITSLICE(v_data_u8r,
+ data_u8r =
+ BNO055_SET_BITSLICE(data_u8r,
BNO055_MAG_SLEEP_DURN,
- v_sleep_durn_u8);
+ sleep_durn_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_MAG_SLEEP_DURN__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_MAG_SLEEP_DURN_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the gyro anymotion interrupt mask
* from page one register from 0x0F bit 2
*
- * @param v_gyro_any_motion_u8 : The value of gyro anymotion interrupt mask
- * v_gyro_any_motion_u8 | result
+ * @param gyro_any_motion_u8 : The value of gyro anymotion interrupt mask
+ * gyro_any_motion_u8 | result
* -------------------- |------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note While enabling the gyro anymotion interrupt
* configure the following settings
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_gyro_any_motion(
-u8 *v_gyro_any_motion_u8)
+u8 *gyro_any_motion_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro anymotion interrupt mask is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of gyro anymotion interrupt mask*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_ANY_MOTION_INTR_MASK__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_gyro_any_motion_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_GYRO_ANY_MOTION_INTR_MASK_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *gyro_any_motion_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_ANY_MOTION_INTR_MASK);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write the gyro anymotion interrupt mask
* from page one register from 0x0F bit 2
*
- * @param v_gyro_any_motion_u8 : The value of gyro anymotion interrupt mask
- * v_gyro_any_motion_u8 | result
+ * @param gyro_any_motion_u8 : The value of gyro anymotion interrupt mask
+ * gyro_any_motion_u8 | result
* -------------------- |------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note While enabling the gyro anymotion interrupt
* configure the following settings
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_gyro_any_motion(
-u8 v_gyro_any_motion_u8)
+u8 gyro_any_motion_u8)
{
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel range is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Write the value of gyro anymotion interrupt mask*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_ANY_MOTION_INTR_MASK__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r =
- BNO055_SET_BITSLICE(v_data_u8r,
+ BNO055_GYRO_ANY_MOTION_INTR_MASK_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r =
+ BNO055_SET_BITSLICE(data_u8r,
BNO055_GYRO_ANY_MOTION_INTR_MASK,
- v_gyro_any_motion_u8);
+ gyro_any_motion_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_ANY_MOTION_INTR_MASK__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_GYRO_ANY_MOTION_INTR_MASK_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to read the gyro highrate interrupt mask
* from page one register from 0x0F bit 3
*
- * @param v_gyro_highrate_u8 : The value of gyro highrate interrupt mask
- * v_gyro_highrate_u8 | result
+ * @param gyro_highrate_u8 : The value of gyro highrate interrupt mask
+ * gyro_highrate_u8 | result
* -------------------- |------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note While enabling the gyro highrate interrupt
* configure the below settings by using
- * the following functions
+ * the following API
*
* Axis :
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_gyro_highrate(
-u8 *v_gyro_highrate_u8)
+u8 *gyro_highrate_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro highrate interrupt mask is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of gyro highrate interrupt mask*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_HIGHRATE_INTR_MASK__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_gyro_highrate_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_GYRO_HIGHRATE_INTR_MASK_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *gyro_highrate_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_HIGHRATE_INTR_MASK);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write the gyro highrate interrupt mask
* from page one register from 0x0F bit 3
*
- * @param v_gyro_highrate_u8 : The value of gyro highrate interrupt mask
- * v_gyro_highrate_u8 | result
+ * @param gyro_highrate_u8 : The value of gyro highrate interrupt mask
+ * gyro_highrate_u8 | result
* -------------------- |------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note While enabling the gyro highrate interrupt
* configure the below settings by using
- * the following functions
+ * the following APIs
*
* Axis :
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_gyro_highrate(
-u8 v_gyro_highrate_u8)
+u8 gyro_highrate_u8)
{
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro highrate interrupt mask is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_HIGHRATE_INTR_MASK__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
+ BNO055_GYRO_HIGHRATE_INTR_MASK_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
/* Write the value of gyro
highrate interrupt mask*/
- v_data_u8r =
- BNO055_SET_BITSLICE(v_data_u8r,
+ data_u8r =
+ BNO055_SET_BITSLICE(data_u8r,
BNO055_GYRO_HIGHRATE_INTR_MASK,
- v_gyro_highrate_u8);
+ gyro_highrate_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_HIGHRATE_INTR_MASK__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_GYRO_HIGHRATE_INTR_MASK_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to read the accel highg interrupt mask
* from page one register from 0x0F bit 5
*
- * @param v_accel_high_g_u8 : The value of accel highg interrupt mask
- * v_accel_high_g_u8 | result
+ * @param accel_high_g_u8 : The value of accel highg interrupt mask
+ * accel_high_g_u8 | result
* -------------------- |------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note While enabling the accel highg interrupt
* configure the below settings by using
- * the following functions
+ * the following APIs
*
* Axis :
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_high_g(
-u8 *v_accel_high_g_u8)
+u8 *accel_high_g_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel highg interrupt mask is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of accel highg interrupt mask*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_HIGH_G_INTR_MASK__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_accel_high_g_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_ACCEL_HIGH_G_INTR_MASK_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *accel_high_g_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_ACCEL_HIGH_G_INTR_MASK);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write the accel highg interrupt mask
* from page one register from 0x0F bit 5
*
- * @param v_accel_high_g_u8 : The value of accel highg interrupt mask
- * v_accel_high_g_u8 | result
+ * @param accel_high_g_u8 : The value of accel highg interrupt mask
+ * accel_high_g_u8 | result
* -------------------- |------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note While enabling the accel highg interrupt
* configure the below settings by using
- * the following functions
+ * the following APIs
*
* Axis :
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_high_g(
-u8 v_accel_high_g_u8)
+u8 accel_high_g_u8)
{
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel highg interrupt mask is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_HIGH_G_INTR_MASK__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
+ BNO055_ACCEL_HIGH_G_INTR_MASK_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
/* Write the value of accel
highg interrupt mask*/
- v_data_u8r =
- BNO055_SET_BITSLICE(v_data_u8r,
+ data_u8r =
+ BNO055_SET_BITSLICE(data_u8r,
BNO055_ACCEL_HIGH_G_INTR_MASK,
- v_accel_high_g_u8);
+ accel_high_g_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_HIGH_G_INTR_MASK__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_ACCEL_HIGH_G_INTR_MASK_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to read the accel anymotion interrupt mask
* from page one register from 0x0F bit 6
*
- * @param v_accel_any_motion_u8 : The value of accel anymotion interrupt mask
- * v_accel_any_motion_u8 | result
+ * @param accel_any_motion_u8 : The value of accel anymotion interrupt mask
+ * accel_any_motion_u8 | result
* -------------------- |------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note While enabling the accel highg interrupt
* configure the below settings by using
- * the following functions
+ * the following APIs
*
* Axis :
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_any_motion(
-u8 *v_accel_any_motion_u8)
+u8 *accel_any_motion_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel anymotion interrupt mask is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
/* The value of accel anymotion interrupt mask*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_ANY_MOTION_INTR_MASK__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_accel_any_motion_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_ACCEL_ANY_MOTION_INTR_MASK_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *accel_any_motion_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_ACCEL_ANY_MOTION_INTR_MASK);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write the accel anymotion interrupt mask
* from page one register from 0x0F bit 6
*
- * @param v_accel_any_motion_u8 : The value of accel anymotion interrupt mask
- * v_accel_any_motion_u8 | result
+ * @param accel_any_motion_u8 : The value of accel anymotion interrupt mask
+ * accel_any_motion_u8 | result
* -------------------- |------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note While enabling the accel anymotion interrupt
* configure the following settings
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_any_motion(
-u8 v_accel_any_motion_u8)
+u8 accel_any_motion_u8)
{
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel anymotion interrupt mask is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Write the value of accel anymotion interrupt mask*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_ANY_MOTION_INTR_MASK__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r =
- BNO055_SET_BITSLICE(v_data_u8r,
+ BNO055_ACCEL_ANY_MOTION_INTR_MASK_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r =
+ BNO055_SET_BITSLICE(data_u8r,
BNO055_ACCEL_ANY_MOTION_INTR_MASK,
- v_accel_any_motion_u8);
+ accel_any_motion_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_ANY_MOTION_INTR_MASK__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_ACCEL_ANY_MOTION_INTR_MASK_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to read the accel nomotion interrupt mask
* from page one register from 0x0F bit 7
*
- * @param v_accel_nomotion_u8 : The value of accel nomotion interrupt mask
- * v_accel_nomotion_u8 | result
+ * @param accel_nomotion_u8 : The value of accel nomotion interrupt mask
+ * accel_nomotion_u8 | result
* -------------------- |------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
+ * @retval 0 -> BNO055_SUCCESS
*
* @note While enabling the accel anymotion interrupt
* configure the following settings
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_no_motion(
-u8 *v_accel_nomotion_u8)
+u8 *accel_nomotion_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel nomotion interrupt mask is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of accel nomotion interrupt mask*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_NO_MOTION_INTR_MASK__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_accel_nomotion_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_ACCEL_NO_MOTION_INTR_MASK_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *accel_nomotion_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_ACCEL_NO_MOTION_INTR_MASK);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write the accel nomotion interrupt mask
* from page one register from 0x0F bit 7
*
- * @param v_accel_nomotion_u8 : The value of accel nomotion interrupt mask
- * v_accel_nomotion_u8 | result
+ * @param accel_nomotion_u8 : The value of accel nomotion interrupt mask
+ * accel_nomotion_u8 | result
* -------------------- |------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note While enabling the accel nomotion interrupt
* configure the following settings
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_no_motion(
-u8 v_accel_nomotion_u8)
+u8 accel_nomotion_u8)
{
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel
nomotion interrupt mask is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_NO_MOTION_INTR_MASK__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
+ BNO055_ACCEL_NO_MOTION_INTR_MASK_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
/* Write the value of accel
nomotion interrupt mask*/
- v_data_u8r =
- BNO055_SET_BITSLICE(v_data_u8r,
+ data_u8r =
+ BNO055_SET_BITSLICE(data_u8r,
BNO055_ACCEL_NO_MOTION_INTR_MASK,
- v_accel_nomotion_u8);
+ accel_nomotion_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_NO_MOTION_INTR_MASK__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_ACCEL_NO_MOTION_INTR_MASK_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to read the gyro anymotion interrupt
* from page one register from 0x10 bit 2
*
- * @param v_gyro_any_motion_u8 : The value of gyro anymotion interrupt
- * v_gyro_any_motion_u8 | result
+ * @param gyro_any_motion_u8 : The value of gyro anymotion interrupt
+ * gyro_any_motion_u8 | result
* -------------------- |------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note While enabling the gyro anymotion interrupt
* configure the following settings
* bno055_set_gyro_any_motion_awake_durn()
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_gyro_any_motion(
-u8 *v_gyro_any_motion_u8)
+u8 *gyro_any_motion_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro anymotion interrupt is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of gyro anymotion interrupt */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_ANY_MOTION_INTR__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_gyro_any_motion_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_GYRO_ANY_MOTION_INTR_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *gyro_any_motion_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_ANY_MOTION_INTR);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write the gyro anymotion interrupt
* from page one register from 0x10 bit 2
*
- * @param v_gyro_any_motion_u8 : The value of gyro anymotion interrupt
- * v_gyro_any_motion_u8 | result
+ * @param gyro_any_motion_u8 : The value of gyro anymotion interrupt
+ * gyro_any_motion_u8 | result
* -------------------- |------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note While enabling the gyro anymotion interrupt
* configure the following settings
* bno055_set_gyro_any_motion_awake_durn()
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_gyro_any_motion(
-u8 v_gyro_any_motion_u8)
+u8 gyro_any_motion_u8)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-s8 v_stat_s8 = ERROR;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro anymotion interrupt is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Write the value of gyro anymotion interrupt */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_ANY_MOTION_INTR__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r =
- BNO055_SET_BITSLICE(v_data_u8r,
+ BNO055_GYRO_ANY_MOTION_INTR_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r =
+ BNO055_SET_BITSLICE(data_u8r,
BNO055_GYRO_ANY_MOTION_INTR,
- v_gyro_any_motion_u8);
+ gyro_any_motion_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_ANY_MOTION_INTR__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_GYRO_ANY_MOTION_INTR_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to read the gyro highrate interrupt
* from page one register from 0x10 bit 3
*
- * @param v_gyro_highrate_u8 : The value of gyro highrate interrupt
- * v_gyro_highrate_u8 | result
+ * @param gyro_highrate_u8 : The value of gyro highrate interrupt
+ * gyro_highrate_u8 | result
* -------------------- |------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note While enabling the gyro highrate interrupt
* configure the below settings by using
- * the following functions
+ * the following APIs
*
* Axis :
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_gyro_highrate(
-u8 *v_gyro_highrate_u8)
+u8 *gyro_highrate_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro highrate interrupt is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of gyro highrate interrupt */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_HIGHRATE_INTR__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_gyro_highrate_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_GYRO_HIGHRATE_INTR_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *gyro_highrate_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_HIGHRATE_INTR);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write the gyro highrate interrupt
* from page one register from 0x10 bit 3
*
- * @param v_gyro_highrate_u8 : The value of gyro highrate interrupt
- * v_gyro_highrate_u8 | result
+ * @param gyro_highrate_u8 : The value of gyro highrate interrupt
+ * gyro_highrate_u8 | result
* -------------------- |------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note While enabling the gyro highrate interrupt
* configure the below settings by using
- * the following functions
+ * the following APIs
*
* Axis :
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_gyro_highrate(
-u8 v_gyro_highrate_u8)
+u8 gyro_highrate_u8)
{
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro highrate interrupt is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_HIGHRATE_INTR__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
+ BNO055_GYRO_HIGHRATE_INTR_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
/* Write the value of gyro highrate interrupt */
- v_data_u8r =
- BNO055_SET_BITSLICE(v_data_u8r,
- BNO055_GYRO_HIGHRATE_INTR, v_gyro_highrate_u8);
+ data_u8r =
+ BNO055_SET_BITSLICE(data_u8r,
+ BNO055_GYRO_HIGHRATE_INTR, gyro_highrate_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_HIGHRATE_INTR__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_GYRO_HIGHRATE_INTR_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to read the accel highg interrupt
* from page one register from 0x10 bit 5
*
- * @param v_accel_high_g_u8 : The value of accel highg interrupt
- * v_accel_high_g_u8 | result
+ * @param accel_high_g_u8 : The value of accel highg interrupt
+ * accel_high_g_u8 | result
* -------------------- |------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note While enabling the accel highg interrupt
* configure the below settings by using
- * the following functions
+ * the following APIs
*
* Axis :
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_high_g(
-u8 *v_accel_high_g_u8)
+u8 *accel_high_g_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel highg interrupt is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of accel highg interrupt*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_HIGH_G_INTR__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_accel_high_g_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_ACCEL_HIGH_G_INTR_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *accel_high_g_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_ACCEL_HIGH_G_INTR);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write the accel highg interrupt
* from page one register from 0x10 bit 5
*
- * @param v_accel_high_g_u8 : The value of accel highg interrupt
- * v_accel_high_g_u8 | result
+ * @param accel_high_g_u8 : The value of accel highg interrupt
+ * accel_high_g_u8 | result
* -------------------- |------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note While enabling the accel highg interrupt
* configure the below settings by using
- * the following functions
+ * the following APIs
*
* Axis :
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_high_g(
-u8 v_accel_high_g_u8)
+u8 accel_high_g_u8)
{
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel highg interrupt is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_HIGH_G_INTR__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
+ BNO055_ACCEL_HIGH_G_INTR_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
/* Write the value of accel highg interrupt*/
- v_data_u8r =
- BNO055_SET_BITSLICE(v_data_u8r,
+ data_u8r =
+ BNO055_SET_BITSLICE(data_u8r,
BNO055_ACCEL_HIGH_G_INTR,
- v_accel_high_g_u8);
+ accel_high_g_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_HIGH_G_INTR__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_ACCEL_HIGH_G_INTR_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to read the accel anymotion interrupt
* from page one register from 0x10 bit 6
*
- * @param v_accel_any_motion_u8 : The value of accel anymotion interrupt
- * v_accel_any_motion_u8 | result
+ * @param accel_any_motion_u8 : The value of accel anymotion interrupt
+ * accel_any_motion_u8 | result
* -------------------- |------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note While enabling the accel anymotion interrupt
* configure the following settings
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_any_motion(
-u8 *v_accel_any_motion_u8)
+u8 *accel_any_motion_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel anymotion interrupt is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of accel anymotion interrupt */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_ANY_MOTION_INTR__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_accel_any_motion_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_ACCEL_ANY_MOTION_INTR_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *accel_any_motion_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_ACCEL_ANY_MOTION_INTR);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write the accel anymotion interrupt
* from page one register from 0x10 bit 6
*
- * @param v_accel_any_motion_u8 : The value of accel anymotion interrupt
- * v_accel_any_motion_u8 | result
+ * @param accel_any_motion_u8 : The value of accel anymotion interrupt
+ * accel_any_motion_u8 | result
* -------------------- |------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note While enabling the accel anymotion interrupt
* configure the following settings
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_any_motion(
-u8 v_accel_any_motion_u8)
+u8 accel_any_motion_u8)
{
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel range is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Write the value of accel anymotion interrupt */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_ANY_MOTION_INTR__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r =
- BNO055_SET_BITSLICE(v_data_u8r,
+ BNO055_ACCEL_ANY_MOTION_INTR_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r =
+ BNO055_SET_BITSLICE(data_u8r,
BNO055_ACCEL_ANY_MOTION_INTR,
- v_accel_any_motion_u8);
+ accel_any_motion_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_ANY_MOTION_INTR__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_ACCEL_ANY_MOTION_INTR_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to read the accel nomotion interrupt
* from page one register from 0x10 bit 6
*
- * @param v_accel_nomotion_u8 : The value of accel nomotion interrupt
- * v_accel_nomotion_u8 | result
+ * @param accel_nomotion_u8 : The value of accel nomotion interrupt
+ * accel_nomotion_u8 | result
* -------------------- |------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note While enabling the accel nomotion interrupt
* configure the following settings
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_no_motion(
-u8 *v_accel_nomotion_u8)
+u8 *accel_nomotion_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel nomotion interrupt is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of accel nomotion interrupt*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_NO_MOTION_INTR__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_accel_nomotion_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_ACCEL_NO_MOTION_INTR_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *accel_nomotion_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_ACCEL_NO_MOTION_INTR);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write the accel nomotion interrupt
* from page one register from 0x10 bit 6
*
- * @param v_accel_nomotion_u8 : The value of accel nomotion interrupt
- * v_accel_nomotion_u8 | result
+ * @param accel_nomotion_u8 : The value of accel nomotion interrupt
+ * accel_nomotion_u8 | result
* -------------------- |------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note While enabling the accel nomotion interrupt
* configure the following settings
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_no_motion(
-u8 v_accel_nomotion_u8)
+u8 accel_nomotion_u8)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-s8 v_stat_s8 = ERROR;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page,
accel nomotion interrupt is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_NO_MOTION_INTR__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
+ BNO055_ACCEL_NO_MOTION_INTR_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
/* Write the value of
accel nomotion interrupt */
- v_data_u8r = BNO055_SET_BITSLICE(v_data_u8r,
+ data_u8r = BNO055_SET_BITSLICE(data_u8r,
BNO055_ACCEL_NO_MOTION_INTR,
- v_accel_nomotion_u8);
+ accel_nomotion_u8);
com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_NO_MOTION_INTR__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_ACCEL_NO_MOTION_INTR_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to read the accel any motion threshold
* from page one register from 0x11 bit 0 to 7
*
- * @param v_accel_any_motion_thres_u8 : The value of any motion threshold
- * v_accel_any_motion_thres_u8 | result
+ * @param accel_any_motion_thres_u8 : The value of any motion threshold
+ * accel_any_motion_thres_u8 | result
* ------------------------ | -------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Accel anymotion threshold dependent on the
* range values
*
- * v_accel_range_u8 | threshold | LSB
+ * accel_range_u8 | threshold | LSB
* ------------- | ------------- | ---------
* 2g | 3.19mg | 1LSB
* 4g | 7.81mg | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_thres(
-u8 *v_accel_any_motion_thres_u8)
+u8 *accel_any_motion_thres_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel any motion threshold is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of accel any motion threshold */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_ANY_MOTION_THRES__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_accel_any_motion_thres_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_ACCEL_ANY_MOTION_THRES_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ *accel_any_motion_thres_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_ACCEL_ANY_MOTION_THRES);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write the accel any motion threshold
* from page one register from 0x11 bit 0 to 7
*
- * @param v_accel_any_motion_thres_u8 : The value of any motion threshold
- * v_accel_any_motion_thres_u8 | result
+ * @param accel_any_motion_thres_u8 : The value of any motion threshold
+ * accel_any_motion_thres_u8 | result
* ------------------------ | -------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Accel anymotion threshold dependent on the
* range values
*
- * v_accel_range_u8 | threshold | LSB
+ * accel_range_u8 | threshold | LSB
* ------------- | ------------- | ---------
* 2g | 3.19mg | 1LSB
* 4g | 7.81mg | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_thres(
-u8 v_accel_any_motion_thres_u8)
+u8 accel_any_motion_thres_u8)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-s8 v_stat_s8 = ERROR;
-s8 v_pg_stat_s8 = ERROR;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+s8 stat_s8 = BNO055_ERROR;
+s8 pg_stat_s8 = BNO055_ERROR;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
-v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
-if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
+ if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
- v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if (v_pg_stat_s8 == SUCCESS) {
+ pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if (pg_stat_s8 == BNO055_SUCCESS) {
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_ANY_MOTION_THRES__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
+ BNO055_ACCEL_ANY_MOTION_THRES_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
/* Write the value of
accel any motion threshold*/
- v_data_u8r =
- BNO055_SET_BITSLICE(v_data_u8r,
+ data_u8r =
+ BNO055_SET_BITSLICE(data_u8r,
BNO055_ACCEL_ANY_MOTION_THRES,
- v_accel_any_motion_thres_u8);
+ accel_any_motion_thres_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_ANY_MOTION_THRES__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_ACCEL_ANY_MOTION_THRES_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
-if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the accel anymotion duration
* from page one register from 0x12 bit 0 to 1
*
- * @param v_accel_any_motion_durn_u8 : The value of accel anymotion duration
- * v_accel_any_motion_durn_u8 | result
+ * @param accel_any_motion_durn_u8 : The value of accel anymotion duration
+ * accel_any_motion_durn_u8 | result
* ------------------------- | -------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_durn(
-u8 *v_accel_any_motion_durn_u8)
+u8 *accel_any_motion_durn_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel anymotion duration is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of accel anymotion duration */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_ANY_MOTION_DURN_SET__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_accel_any_motion_durn_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_ACCEL_ANY_MOTION_DURN_SET_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *accel_any_motion_durn_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_ACCEL_ANY_MOTION_DURN_SET);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write the accel anymotion duration
* from page one register from 0x12 bit 0 to 1
*
- * @param v_accel_any_motion_durn_u8 : The value of accel anymotion duration
+ * @param accel_any_motion_durn_u8 : The value of accel anymotion duration
*
- * v_accel_any_motion_durn_u8 | result
+ * accel_any_motion_durn_u8 | result
* ------------------------- | -------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_durn(
-u8 v_accel_any_motion_durn_u8)
+u8 accel_any_motion_durn_u8)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-s8 v_stat_s8 = ERROR;
-s8 v_pg_stat_s8 = ERROR;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+s8 stat_s8 = BNO055_ERROR;
+s8 pg_stat_s8 = BNO055_ERROR;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
-v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
-if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
+ if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
- v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if (v_pg_stat_s8 == SUCCESS) {
+ pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if (pg_stat_s8 == BNO055_SUCCESS) {
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_ANY_MOTION_DURN_SET__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
+ BNO055_ACCEL_ANY_MOTION_DURN_SET_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
/* Write the value of
accel anymotion duration*/
- v_data_u8r =
- BNO055_SET_BITSLICE(v_data_u8r,
+ data_u8r =
+ BNO055_SET_BITSLICE(data_u8r,
BNO055_ACCEL_ANY_MOTION_DURN_SET,
- v_accel_any_motion_durn_u8);
+ accel_any_motion_durn_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_ANY_MOTION_DURN_SET__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_ACCEL_ANY_MOTION_DURN_SET_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
-if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the accel anymotion enable
* from page one register from 0x12 bit 2 to 4
*
- * @param v_data_u8 : The value of accel anymotion enable
- * v_data_u8 | result
+ * @param data_u8 : The value of accel anymotion enable
+ * data_u8 | result
* ------------ | -------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
- * @param v_channel_u8 : The value of accel anymotion axis selection
- * v_channel_u8 | value
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
+ * @param channel_u8 : The value of accel anymotion axis selection
+ * channel_u8 | value
* -------------------------- | ----------
* BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS | 0
* BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS | 1
* BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS | 2
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_no_motion_axis_enable(
-u8 v_channel_u8, u8 *v_data_u8)
+u8 channel_u8, u8 *data_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel anymotion enable is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
- switch (v_channel_u8) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
+ switch (channel_u8) {
case BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS:
/* Read the value of accel anymotion x enable*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_ANY_MOTION_X_AXIS__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_data_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_ACCEL_ANY_MOTION_X_AXIS_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *data_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_ACCEL_ANY_MOTION_X_AXIS);
break;
case BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS:
/* Read the value of accel anymotion y enable*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_ANY_MOTION_Y_AXIS__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_data_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_ACCEL_ANY_MOTION_Y_AXIS_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *data_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_ACCEL_ANY_MOTION_Y_AXIS);
break;
case BNO055_ACCEL_ANY_MOTION_NO_MOTION_Z_AXIS:
/* Read the value of accel anymotion z enable*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_ANY_MOTION_Z_AXIS__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_data_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_ACCEL_ANY_MOTION_Z_AXIS_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *data_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_ACCEL_ANY_MOTION_Z_AXIS);
break;
default:
- com_rslt = E_BNO055_OUT_OF_RANGE;
+ com_rslt = BNO055_OUT_OF_RANGE;
break;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write the accel anymotion enable
* from page one register from 0x12 bit 2 to 4
*
- * @param v_data_u8 : The value of accel anymotion enable
- * v_data_u8 | result
+ * @param data_u8 : The value of accel anymotion enable
+ * data_u8 | result
* ------------ | -------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
- * @param v_channel_u8 : The value of accel anymotion axis selection
- * v_channel_u8 | value
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
+ * @param channel_u8 : The value of accel anymotion axis selection
+ * channel_u8 | value
* -------------------------- | ----------
* BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS | 0
* BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS | 1
* BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS | 2
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_no_motion_axis_enable(
-u8 v_channel_u8, u8 v_data_u8)
+u8 channel_u8, u8 data_u8)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-s8 v_stat_s8 = ERROR;
-s8 v_pg_stat_s8 = ERROR;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+s8 stat_s8 = BNO055_ERROR;
+s8 pg_stat_s8 = BNO055_ERROR;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
-v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
-if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
+ if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
- v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if (v_pg_stat_s8 == SUCCESS) {
- switch (v_channel_u8) {
+ pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if (pg_stat_s8 == BNO055_SUCCESS) {
+ switch (channel_u8) {
case BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS:
/* Write the value of
accel anymotion x enable*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_ANY_MOTION_X_AXIS__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r = BNO055_SET_BITSLICE
- (v_data_u8r,
+ BNO055_ACCEL_ANY_MOTION_X_AXIS_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r = BNO055_SET_BITSLICE
+ (data_u8r,
BNO055_ACCEL_ANY_MOTION_X_AXIS,
- v_data_u8);
+ data_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_ANY_MOTION_X_AXIS__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_ACCEL_ANY_MOTION_X_AXIS_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
break;
case BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS:
accel anymotion y enable*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_ANY_MOTION_Y_AXIS__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r = BNO055_SET_BITSLICE
- (v_data_u8r,
+ BNO055_ACCEL_ANY_MOTION_Y_AXIS_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r = BNO055_SET_BITSLICE
+ (data_u8r,
BNO055_ACCEL_ANY_MOTION_Y_AXIS,
- v_data_u8);
+ data_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_ANY_MOTION_Y_AXIS__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_ACCEL_ANY_MOTION_Y_AXIS_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
break;
case BNO055_ACCEL_ANY_MOTION_NO_MOTION_Z_AXIS:
accel anymotion z enable*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_ANY_MOTION_Z_AXIS__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r = BNO055_SET_BITSLICE
- (v_data_u8r,
+ BNO055_ACCEL_ANY_MOTION_Z_AXIS_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r = BNO055_SET_BITSLICE
+ (data_u8r,
BNO055_ACCEL_ANY_MOTION_Z_AXIS,
- v_data_u8);
+ data_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_ANY_MOTION_Z_AXIS__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_ACCEL_ANY_MOTION_Z_AXIS_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
break;
default:
- com_rslt = E_BNO055_OUT_OF_RANGE;
+ com_rslt = BNO055_OUT_OF_RANGE;
break;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
-if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the accel highg enable
* from page one register from 0x12 bit 5 to 7
*
- * @param v_data_u8 : The value of accel highg enable
- * v_data_u8| result
+ * @param data_u8 : The value of accel highg enable
+ * data_u8| result
* ------------ | -------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
- * @param v_channel_u8 : The value of accel highg axis selection
- * v_channel_u8 | value
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
+ * @param channel_u8 : The value of accel highg axis selection
+ * channel_u8 | value
* -------------------------- | ----------
* BNO055_ACCEL_HIGH_G_X_AXIS | 0
* BNO055_ACCEL_HIGH_G_Y_AXIS | 1
* BNO055_ACCEL_HIGH_G_Z_AXIS | 2
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_axis_enable(
-u8 v_channel_u8, u8 *v_data_u8)
+u8 channel_u8, u8 *data_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel highg enable is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
- switch (v_channel_u8) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
+ switch (channel_u8) {
case BNO055_ACCEL_HIGH_G_X_AXIS:
/* Read the value of accel x highg enable*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_HIGH_G_X_AXIS__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_data_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_ACCEL_HIGH_G_X_AXIS_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *data_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_ACCEL_HIGH_G_X_AXIS);
break;
case BNO055_ACCEL_HIGH_G_Y_AXIS:
/* Read the value of accel y highg enable*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_HIGH_G_Y_AXIS__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_data_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_ACCEL_HIGH_G_Y_AXIS_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *data_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_ACCEL_HIGH_G_Y_AXIS);
break;
case BNO055_ACCEL_HIGH_G_Z_AXIS:
/* Read the value of accel z highg enable*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_HIGH_G_Z_AXIS__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_data_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_ACCEL_HIGH_G_Z_AXIS_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *data_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_ACCEL_HIGH_G_Z_AXIS);
break;
default:
- com_rslt = E_BNO055_OUT_OF_RANGE;
+ com_rslt = BNO055_OUT_OF_RANGE;
break;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write the accel highg enable
* from page one register from 0x12 bit 5 to 7
*
- * @param v_data_u8 : The value of accel highg enable
- * v_data_u8| result
+ * @param data_u8 : The value of accel highg enable
+ * data_u8| result
* ------------ | -------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
- * @param v_channel_u8 : The value of accel highg axis selection
- * v_channel_u8 | value
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
+ * @param channel_u8 : The value of accel highg axis selection
+ * channel_u8 | value
* -------------------------- | ----------
* BNO055_ACCEL_HIGH_G_X_AXIS | 0
* BNO055_ACCEL_HIGH_G_Y_AXIS | 1
* BNO055_ACCEL_HIGH_G_Z_AXIS | 2
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_axis_enable(
-u8 v_channel_u8, u8 v_data_u8)
+u8 channel_u8, u8 data_u8)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-s8 v_stat_s8 = ERROR;
-s8 v_pg_stat_s8 = ERROR;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+s8 stat_s8 = BNO055_ERROR;
+s8 pg_stat_s8 = BNO055_ERROR;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
-v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
-if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
+ if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
- v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if (v_pg_stat_s8 == SUCCESS) {
- switch (v_channel_u8) {
+ pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if (pg_stat_s8 == BNO055_SUCCESS) {
+ switch (channel_u8) {
case BNO055_ACCEL_HIGH_G_X_AXIS:
/* Write the value of
accel x highg enable*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_HIGH_G_X_AXIS__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r =
- BNO055_SET_BITSLICE(v_data_u8r,
- BNO055_ACCEL_HIGH_G_X_AXIS, v_data_u8);
+ BNO055_ACCEL_HIGH_G_X_AXIS_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r =
+ BNO055_SET_BITSLICE(data_u8r,
+ BNO055_ACCEL_HIGH_G_X_AXIS, data_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_HIGH_G_X_AXIS__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_ACCEL_HIGH_G_X_AXIS_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
break;
case BNO055_ACCEL_HIGH_G_Y_AXIS:
accel y highg enable*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_HIGH_G_Y_AXIS__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r =
- BNO055_SET_BITSLICE(v_data_u8r,
+ BNO055_ACCEL_HIGH_G_Y_AXIS_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r =
+ BNO055_SET_BITSLICE(data_u8r,
BNO055_ACCEL_HIGH_G_Y_AXIS,
- v_data_u8);
+ data_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_HIGH_G_Y_AXIS__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_ACCEL_HIGH_G_Y_AXIS_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
break;
case BNO055_ACCEL_HIGH_G_Z_AXIS:
accel z highg enable*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_HIGH_G_Z_AXIS__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r =
- BNO055_SET_BITSLICE(v_data_u8r,
- BNO055_ACCEL_HIGH_G_Z_AXIS, v_data_u8);
+ BNO055_ACCEL_HIGH_G_Z_AXIS_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r =
+ BNO055_SET_BITSLICE(data_u8r,
+ BNO055_ACCEL_HIGH_G_Z_AXIS, data_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_HIGH_G_Z_AXIS__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_ACCEL_HIGH_G_Z_AXIS_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
break;
default:
- com_rslt = E_BNO055_OUT_OF_RANGE;
+ com_rslt = BNO055_OUT_OF_RANGE;
break;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
-if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the accel highg duration
* from page one register from 0x13 bit 0 to 7
*
- * @param v_accel_high_g_durn_u8 : The value of accel highg duration
+ * @param accel_high_g_durn_u8 : The value of accel highg duration
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note The high-g interrupt trigger delay according
* to [highg duration + 1] * 2 ms
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_durn(
-u8 *v_accel_high_g_durn_u8)
+u8 *accel_high_g_durn_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel highg duration is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of accel highg duration*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_HIGH_G_DURN__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_accel_high_g_durn_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_ACCEL_HIGH_G_DURN_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *accel_high_g_durn_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_ACCEL_HIGH_G_DURN);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write the accel highg duration
* from page one register from 0x13 bit 0 to 7
*
- * @param v_accel_high_g_durn_u8 : The value of accel highg duration
+ * @param accel_high_g_durn_u8 : The value of accel highg duration
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note The high-g interrupt trigger delay according
* to [highg duration + 1] * 2 ms
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_durn(
-u8 v_accel_high_g_durn_u8)
+u8 accel_high_g_durn_u8)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-s8 v_stat_s8 = ERROR;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
-s8 v_pg_stat_s8 = ERROR;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+s8 stat_s8 = BNO055_ERROR;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+s8 pg_stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
- v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
- if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
+ stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+ if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+ if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
- v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if (v_pg_stat_s8 == SUCCESS) {
+ pg_stat_s8 = bno055_write_page_id(
+ BNO055_PAGE_ONE);
+ if (pg_stat_s8 == BNO055_SUCCESS) {
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_HIGH_G_DURN__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
+ BNO055_ACCEL_HIGH_G_DURN_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
/* Write the value of
accel highg duration*/
- v_data_u8r =
- BNO055_SET_BITSLICE(v_data_u8r,
+ data_u8r =
+ BNO055_SET_BITSLICE(data_u8r,
BNO055_ACCEL_HIGH_G_DURN,
- v_accel_high_g_durn_u8);
+ accel_high_g_durn_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_HIGH_G_DURN__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_ACCEL_HIGH_G_DURN_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the accel highg threshold
* from page one register from 0x14 bit 0 to 7
*
- * @param v_accel_high_g_thres_u8 : The value of accel highg threshold
+ * @param accel_high_g_thres_u8 : The value of accel highg threshold
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Accel highg interrupt threshold dependent
* for accel g range
*
- * v_accel_range_u8 | threshold | LSB
+ * accel_range_u8 | threshold | LSB
* ------------- | ------------- | ---------
* 2g | 7.81mg | 1LSB
* 4g | 15.63mg | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_thres(
-u8 *v_accel_high_g_thres_u8)
+u8 *accel_high_g_thres_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, highg threshold is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of highg threshold */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_HIGH_G_THRES__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_accel_high_g_thres_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_ACCEL_HIGH_G_THRES_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *accel_high_g_thres_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_ACCEL_HIGH_G_THRES);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write the accel highg threshold
* from page one register from 0x14 bit 0 to 7
*
- * @param v_accel_high_g_thres_u8 : The value of accel highg threshold
+ * @param accel_high_g_thres_u8 : The value of accel highg threshold
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Accel highg interrupt threshold dependent
* for accel g range
*
- * v_accel_range_u8 | threshold | LSB
+ * accel_range_u8 | threshold | LSB
* ------------- | ------------- | ---------
* 2g | 7.81mg | 1LSB
* 4g | 15.63mg | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_thres(
-u8 v_accel_high_g_thres_u8)
+u8 accel_high_g_thres_u8)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-s8 v_stat_s8 = ERROR;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
-s8 v_pg_stat_s8 = ERROR;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+s8 stat_s8 = BNO055_ERROR;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+s8 pg_stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
- v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
- if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+ stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+ if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
+ if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
- v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if (v_pg_stat_s8 == SUCCESS) {
+ pg_stat_s8 = bno055_write_page_id(
+ BNO055_PAGE_ONE);
+ if (pg_stat_s8 == BNO055_SUCCESS) {
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_HIGH_G_THRES__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
+ BNO055_ACCEL_HIGH_G_THRES_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
/* Write the value of
accel highg threshold */
- v_data_u8r =
- BNO055_SET_BITSLICE(v_data_u8r,
+ data_u8r =
+ BNO055_SET_BITSLICE(data_u8r,
BNO055_ACCEL_HIGH_G_THRES,
- v_accel_high_g_thres_u8);
+ accel_high_g_thres_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_HIGH_G_THRES__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_ACCEL_HIGH_G_THRES_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the accel slownomotion threshold
* from page one register from 0x15 bit 0 to 7
*
- * @param v_accel_slow_no_motion_thres_u8 :
+ * @param accel_slow_no_motion_thres_u8 :
* The value of accel slownomotion threshold
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Accel slow no motion interrupt threshold dependent
* for accel g range
*
- * v_accel_range_u8 | threshold | LSB
+ * accel_range_u8 | threshold | LSB
* ------------- | ------------- | ---------
* 2g | 3.19mg | 1LSB
* 4g | 7.81mg | 1LSB
* 16g | 31.25mg | 1LSB
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_thres(
-u8 *v_accel_slow_no_motion_thres_u8)
+u8 *accel_slow_no_motion_thres_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel slownomotion threshold is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of slownomotion threshold */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_SLOW_NO_MOTION_THRES__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_accel_slow_no_motion_thres_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_ACCEL_SLOW_NO_MOTION_THRES_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *accel_slow_no_motion_thres_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_ACCEL_SLOW_NO_MOTION_THRES);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write the accel slownomotion threshold
* from page one register from 0x15 bit 0 to 7
*
- * @param v_accel_slow_no_motion_thres_u8 :
+ * @param accel_slow_no_motion_thres_u8 :
* The value of accel slownomotion threshold
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Accel slow no motion interrupt threshold dependent
* for accel g range
*
- * v_accel_range_u8 | threshold | LSB
+ * accel_range_u8 | threshold | LSB
* ------------- | ------------- | ---------
* 2g | 3.19mg | 1LSB
* 4g | 7.81mg | 1LSB
* 16g | 31.25mg | 1LSB
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_thres(
-u8 v_accel_slow_no_motion_thres_u8)
+u8 accel_slow_no_motion_thres_u8)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-s8 v_stat_s8 = ERROR;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
-s8 v_pg_stat_s8 = ERROR;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+s8 stat_s8 = BNO055_ERROR;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+s8 pg_stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
-v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
-if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
+ if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
- v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if (v_pg_stat_s8 == SUCCESS) {
+ pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if (pg_stat_s8 == BNO055_SUCCESS) {
/* Write the value of
slownomotion threshold */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_SLOW_NO_MOTION_THRES__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r =
- BNO055_SET_BITSLICE(v_data_u8r,
+ BNO055_ACCEL_SLOW_NO_MOTION_THRES_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r =
+ BNO055_SET_BITSLICE(data_u8r,
BNO055_ACCEL_SLOW_NO_MOTION_THRES,
- v_accel_slow_no_motion_thres_u8);
+ accel_slow_no_motion_thres_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_SLOW_NO_MOTION_THRES__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_ACCEL_SLOW_NO_MOTION_THRES_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
-if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read accel slownomotion enable
* from page one register from 0x16 bit 0
*
- * @param v_accel_slow_no_motion_en_u8 : The value of accel slownomotion enable
- * v_accel_slow_no_motion_en_u8 | result
+ * @param accel_slow_no_motion_en_u8 : The value of accel slownomotion enable
+ * accel_slow_no_motion_en_u8 | result
* ------------------------ | --------
* 0x01 | Slow motion
* 0x00 | No motion
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_enable(
-u8 *v_accel_slow_no_motion_en_u8)
+u8 *accel_slow_no_motion_en_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel slownomotion enable is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of accel slownomotion enable */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_SLOW_NO_MOTION_ENABLE__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_accel_slow_no_motion_en_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_ACCEL_SLOW_NO_MOTION_ENABLE_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *accel_slow_no_motion_en_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_ACCEL_SLOW_NO_MOTION_ENABLE);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write accel slownomotion enable
* from page one register from 0x16 bit 0
*
- * @param v_accel_slow_no_motion_en_u8 : The value of accel slownomotion enable
- * v_accel_slow_no_motion_en_u8 | result
+ * @param accel_slow_no_motion_en_u8 : The value of accel slownomotion enable
+ * accel_slow_no_motion_en_u8 | result
* ------------------------ | --------
* 0x01 | Slow motion
* 0x00 | No motion
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_enable(
-u8 v_accel_slow_no_motion_en_u8)
+u8 accel_slow_no_motion_en_u8)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-s8 v_stat_s8 = ERROR;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
-s8 v_pg_stat_s8 = ERROR;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+s8 stat_s8 = BNO055_ERROR;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+s8 pg_stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
-v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
-if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
+ if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
- v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if (v_pg_stat_s8 == SUCCESS) {
+ pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if (pg_stat_s8 == BNO055_SUCCESS) {
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_SLOW_NO_MOTION_ENABLE__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
+ BNO055_ACCEL_SLOW_NO_MOTION_ENABLE_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
/* Read the value of
accel slownomotion enable */
- v_data_u8r =
- BNO055_SET_BITSLICE(v_data_u8r,
+ data_u8r =
+ BNO055_SET_BITSLICE(data_u8r,
BNO055_ACCEL_SLOW_NO_MOTION_ENABLE,
- v_accel_slow_no_motion_en_u8);
+ accel_slow_no_motion_en_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_SLOW_NO_MOTION_ENABLE__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_ACCEL_SLOW_NO_MOTION_ENABLE_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
-if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read accel slownomotion duration
* from page one register from 0x16 bit 1 to 6
*
- * @param v_accel_slow_no_motion_durn_u8 :
+ * @param accel_slow_no_motion_durn_u8 :
* The value of accel slownomotion duration
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_durn(
-u8 *v_accel_slow_no_motion_durn_u8)
+u8 *accel_slow_no_motion_durn_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel slownomotion duration is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
/*read value of accel slownomotion duration*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_SLOW_NO_MOTION_DURN__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_accel_slow_no_motion_durn_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_ACCEL_SLOW_NO_MOTION_DURN_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *accel_slow_no_motion_durn_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_ACCEL_SLOW_NO_MOTION_DURN);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write accel slownomotion duration
* from page one register from 0x16 bit 1 to 6
*
- * @param v_accel_slow_no_motion_durn_u8 :
+ * @param accel_slow_no_motion_durn_u8 :
* The value of accel slownomotion duration
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_durn(
-u8 v_accel_slow_no_motion_durn_u8)
+u8 accel_slow_no_motion_durn_u8)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-s8 v_stat_s8 = ERROR;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
-s8 v_pg_stat_s8 = ERROR;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+s8 stat_s8 = BNO055_ERROR;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+s8 pg_stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
-v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
-if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
+ if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
- v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if (v_pg_stat_s8 == SUCCESS) {
+ pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if (pg_stat_s8 == BNO055_SUCCESS) {
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_SLOW_NO_MOTION_DURN__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
+ BNO055_ACCEL_SLOW_NO_MOTION_DURN_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
/*Write the value of accel
slownomotion duration*/
- v_data_u8r =
- BNO055_SET_BITSLICE(v_data_u8r,
+ data_u8r =
+ BNO055_SET_BITSLICE(data_u8r,
BNO055_ACCEL_SLOW_NO_MOTION_DURN,
- v_accel_slow_no_motion_durn_u8);
+ accel_slow_no_motion_durn_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_ACCEL_SLOW_NO_MOTION_DURN__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_ACCEL_SLOW_NO_MOTION_DURN_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
-if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the gyro anymotion enable
* from page one register from 0x17 bit 0 to 2
*
- * @param v_data_u8 : The value of gyro anymotion enable
- * v_data_u8 | result
+ * @param data_u8 : The value of gyro anymotion enable
+ * data_u8 | result
* ----------------- |-------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
- * @param v_channel_u8 : The value of gyro anymotion axis selection
- * v_channel_u8 | value
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
+ * @param channel_u8 : The value of gyro anymotion axis selection
+ * channel_u8 | value
* --------------------------- | ----------
* BNO055_GYRO_ANY_MOTIONX_AXIS | 0
* BNO055_GYRO_ANY_MOTIONY_AXIS | 1
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_axis_enable(
-u8 v_channel_u8, u8 *v_data_u8)
+u8 channel_u8, u8 *data_u8)
{
/* Variable used to return value of
communication routine*/
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-s8 v_stat_s8 = ERROR;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro anymotion axis is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
- switch (v_channel_u8) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
+ switch (channel_u8) {
case BNO055_GYRO_ANY_MOTION_X_AXIS:
/* Read the gyro anymotion x enable*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_ANY_MOTION_X_AXIS__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_data_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_GYRO_ANY_MOTION_X_AXIS_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *data_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_ANY_MOTION_X_AXIS);
break;
case BNO055_GYRO_ANY_MOTION_Y_AXIS:
/* Read the gyro anymotion y enable*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_ANY_MOTION_Y_AXIS__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_data_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_GYRO_ANY_MOTION_Y_AXIS_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *data_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_ANY_MOTION_Y_AXIS);
break;
case BNO055_GYRO_ANY_MOTION_Z_AXIS:
/* Read the gyro anymotion z enable*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_ANY_MOTION_Z_AXIS__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_data_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_GYRO_ANY_MOTION_Z_AXIS_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *data_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_ANY_MOTION_Z_AXIS);
break;
default:
- com_rslt = E_BNO055_OUT_OF_RANGE;
+ com_rslt = BNO055_OUT_OF_RANGE;
break;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write the gyro anymotion enable
* from page one register from 0x17 bit 0 to 2
*
- * @param v_data_u8 : The value of gyro anymotion enable
- * v_data_u8 | result
+ * @param data_u8 : The value of gyro anymotion enable
+ * data_u8 | result
* ----------------- |-------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
- * @param v_channel_u8 : The value of gyro anymotion axis selection
- * v_channel_u8 | value
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
+ * @param channel_u8 : The value of gyro anymotion axis selection
+ * channel_u8 | value
* --------------------------- | ----------
* BNO055_GYRO_ANY_MOTIONX_AXIS | 0
* BNO055_GYRO_ANY_MOTIONY_AXIS | 1
* BNO055_GYRO_ANY_MOTIONZ_AXIS | 2
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_axis_enable(
-u8 v_channel_u8, u8 v_data_u8)
+u8 channel_u8, u8 data_u8)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-s8 v_stat_s8 = ERROR;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
-s8 v_pg_stat_s8 = ERROR;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+s8 stat_s8 = BNO055_ERROR;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+s8 pg_stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
-v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
-if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
+ if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
- v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if (v_pg_stat_s8 == SUCCESS) {
- switch (v_channel_u8) {
+ pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if (pg_stat_s8 == BNO055_SUCCESS) {
+ switch (channel_u8) {
case BNO055_GYRO_ANY_MOTION_X_AXIS:
/* Write the gyro
anymotion x enable*/
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_ANY_MOTION_X_AXIS__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r = BNO055_SET_BITSLICE
- (v_data_u8r,
+ BNO055_GYRO_ANY_MOTION_X_AXIS_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r = BNO055_SET_BITSLICE
+ (data_u8r,
BNO055_GYRO_ANY_MOTION_X_AXIS,
- v_data_u8);
+ data_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_ANY_MOTION_X_AXIS__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_GYRO_ANY_MOTION_X_AXIS_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
}
break;
case BNO055_GYRO_ANY_MOTION_Y_AXIS:
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_ANY_MOTION_Y_AXIS__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r = BNO055_SET_BITSLICE
- (v_data_u8r,
- BNO055_GYRO_ANY_MOTION_Y_AXIS, v_data_u8);
+ BNO055_GYRO_ANY_MOTION_Y_AXIS_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r = BNO055_SET_BITSLICE
+ (data_u8r,
+ BNO055_GYRO_ANY_MOTION_Y_AXIS, data_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_ANY_MOTION_Y_AXIS__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_GYRO_ANY_MOTION_Y_AXIS_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
}
break;
case BNO055_GYRO_ANY_MOTION_Z_AXIS:
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_ANY_MOTION_Z_AXIS__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r = BNO055_SET_BITSLICE
- (v_data_u8r,
+ BNO055_GYRO_ANY_MOTION_Z_AXIS_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r = BNO055_SET_BITSLICE
+ (data_u8r,
BNO055_GYRO_ANY_MOTION_Z_AXIS,
- v_data_u8);
+ data_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_ANY_MOTION_Z_AXIS__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_GYRO_ANY_MOTION_Z_AXIS_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
}
break;
default:
- com_rslt = E_BNO055_OUT_OF_RANGE;
+ com_rslt = BNO055_OUT_OF_RANGE;
break;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
-com_rslt = ERROR;
+com_rslt = BNO055_ERROR;
}
}
-if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the gyro highrate enable
* from page one register from 0x17 bit 3 to 5
*
- * @param v_data_u8 : The value of gyro highrate enable
- * v_data_u8 | result
+ * @param data_u8 : The value of gyro highrate enable
+ * data_u8 | result
* ---------------- |-------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
- * @param v_channel_u8 : The value of gyro highrate axis selection
- * v_channel_u8 | value
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
+ * @param channel_u8 : The value of gyro highrate axis selection
+ * channel_u8 | value
* ------------------------ | ----------
* BNO055_GYRO_HIGHRATE_X_AXIS | 0
* BNO055_GYRO_HIGHRATE_Y_AXIS | 1
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_axis_enable(
-u8 v_channel_u8, u8 *v_data_u8)
+u8 channel_u8, u8 *data_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro highrate enable is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
- switch (v_channel_u8) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
+ switch (channel_u8) {
case BNO055_GYRO_HIGHRATE_X_AXIS:
/* Read the gyro highrate x enable */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_HIGHRATE_X_AXIS__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_data_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_GYRO_HIGHRATE_X_AXIS_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *data_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_HIGHRATE_X_AXIS);
break;
case BNO055_GYRO_HIGHRATE_Y_AXIS:
/* Read the gyro highrate y enable */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_HIGHRATE_Y_AXIS__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_data_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_GYRO_HIGHRATE_Y_AXIS_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *data_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_HIGHRATE_Y_AXIS);
break;
case BNO055_GYRO_HIGHRATE_Z_AXIS:
/* Read the gyro highrate z enable */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_HIGHRATE_Z_AXIS__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_data_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_GYRO_HIGHRATE_Z_AXIS_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *data_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_HIGHRATE_Z_AXIS);
break;
default:
- com_rslt = E_BNO055_OUT_OF_RANGE;
+ com_rslt = BNO055_OUT_OF_RANGE;
break;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write the gyro highrate enable
* from page one register from 0x17 bit 3 to 5
*
- * @param v_data_u8 : The value of gyro highrate enable
- * v_data_u8 | result
+ * @param data_u8 : The value of gyro highrate enable
+ * data_u8 | result
* ---------------- |-------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
- * @param v_channel_u8 : The value of gyro highrate axis selection
- * v_channel_u8 | value
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
+ * @param channel_u8 : The value of gyro highrate axis selection
+ * channel_u8 | value
* ------------------------ | ----------
* BNO055_GYRO_HIGHRATE_X_AXIS | 0
* BNO055_GYRO_HIGHRATE_Y_AXIS | 1
* BNO055_GYRO_HIGHRATE_Z_AXIS | 2
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_axis_enable(
-u8 v_channel_u8, u8 v_data_u8)
+u8 channel_u8, u8 data_u8)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-s8 v_stat_s8 = ERROR;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
-s8 v_pg_stat_s8 = ERROR;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+s8 stat_s8 = BNO055_ERROR;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+s8 pg_stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
-v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
-if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
+ if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
- v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if (v_pg_stat_s8 == SUCCESS) {
- switch (v_channel_u8) {
+ pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if (pg_stat_s8 == BNO055_SUCCESS) {
+ switch (channel_u8) {
case BNO055_GYRO_HIGHRATE_X_AXIS:
/* Write the value of
gyro highrate x enable*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_HIGHRATE_X_AXIS__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r = BNO055_SET_BITSLICE
- (v_data_u8r,
- BNO055_GYRO_HIGHRATE_X_AXIS, v_data_u8);
+ BNO055_GYRO_HIGHRATE_X_AXIS_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r = BNO055_SET_BITSLICE
+ (data_u8r,
+ BNO055_GYRO_HIGHRATE_X_AXIS, data_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_HIGHRATE_X_AXIS__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_GYRO_HIGHRATE_X_AXIS_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
break;
case BNO055_GYRO_HIGHRATE_Y_AXIS:
gyro highrate y enable*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_HIGHRATE_Y_AXIS__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r =
+ BNO055_GYRO_HIGHRATE_Y_AXIS_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r =
BNO055_SET_BITSLICE(
- v_data_u8r,
- BNO055_GYRO_HIGHRATE_Y_AXIS, v_data_u8);
+ data_u8r,
+ BNO055_GYRO_HIGHRATE_Y_AXIS, data_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_HIGHRATE_Y_AXIS__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_GYRO_HIGHRATE_Y_AXIS_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
break;
case BNO055_GYRO_HIGHRATE_Z_AXIS:
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_HIGHRATE_Z_AXIS__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r = BNO055_SET_BITSLICE
- (v_data_u8r,
- BNO055_GYRO_HIGHRATE_Z_AXIS, v_data_u8);
+ BNO055_GYRO_HIGHRATE_Z_AXIS_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r = BNO055_SET_BITSLICE
+ (data_u8r,
+ BNO055_GYRO_HIGHRATE_Z_AXIS, data_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_HIGHRATE_Z_AXIS__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_GYRO_HIGHRATE_Z_AXIS_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
break;
default:
- com_rslt = E_BNO055_OUT_OF_RANGE;
+ com_rslt = BNO055_OUT_OF_RANGE;
break;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
-if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read gyro anymotion filter
* from page one register from 0x17 bit 6
*
- * @param v_gyro_any_motion_filter_u8 : The value of gyro anymotion filter
- * v_gyro_any_motion_filter_u8 | result
+ * @param gyro_any_motion_filter_u8 : The value of gyro anymotion filter
+ * gyro_any_motion_filter_u8 | result
* --------------------------- |------------
- * 0x00 | FILTERED
- * 0x01 | UNFILTERED
+ * 0x00 | BNO055_GYRO_FILTERED_CONFIG
+ * 0x01 | BNO055_GYRO_UNFILTERED_CONFIG
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_filter(
-u8 *v_gyro_any_motion_filter_u8)
+u8 *gyro_any_motion_filter_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro anymotion filter is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of gyro anymotion filter*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_ANY_MOTION_FILTER__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_gyro_any_motion_filter_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_GYRO_ANY_MOTION_FILTER_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *gyro_any_motion_filter_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_ANY_MOTION_FILTER);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write gyro anymotion filter
* from page one register from 0x17 bit 6
*
- * @param v_gyro_any_motion_filter_u8 : The value of gyro anymotion filter
- * v_gyro_any_motion_filter_u8 | result
+ * @param gyro_any_motion_filter_u8 : The value of gyro anymotion filter
+ * gyro_any_motion_filter_u8 | result
* --------------------------- |------------
- * 0x00 | FILTERED
- * 0x01 | UNFILTERED
+ * 0x00 | BNO055_GYRO_FILTERED_CONFIG
+ * 0x01 | BNO055_GYRO_UNFILTERED_CONFIG
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_filter(
-u8 v_gyro_any_motion_filter_u8)
+u8 gyro_any_motion_filter_u8)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-s8 v_stat_s8 = ERROR;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
-s8 v_pg_stat_s8 = ERROR;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+s8 stat_s8 = BNO055_ERROR;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+s8 pg_stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
-v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
-if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
+ if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
- v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if (v_pg_stat_s8 == SUCCESS) {
+ pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if (pg_stat_s8 == BNO055_SUCCESS) {
/* Write the value of
gyro anymotion filter*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_ANY_MOTION_FILTER__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r =
- BNO055_SET_BITSLICE(v_data_u8r,
+ BNO055_GYRO_ANY_MOTION_FILTER_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r =
+ BNO055_SET_BITSLICE(data_u8r,
BNO055_GYRO_ANY_MOTION_FILTER,
- v_gyro_any_motion_filter_u8);
+ gyro_any_motion_filter_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_ANY_MOTION_FILTER__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_GYRO_ANY_MOTION_FILTER_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
-if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read gyro highrate filter
* from page one register from 0x17 bit 7
*
- * @param v_gyro_highrate_filter_u8 : The value of gyro highrate filter
- * v_gyro_highrate_filter_u8 | result
+ * @param gyro_highrate_filter_u8 : The value of gyro highrate filter
+ * gyro_highrate_filter_u8 | result
* --------------------------- |------------
- * 0x00 | FILTERED
- * 0x01 | UNFILTERED
+ * 0x00 | BNO055_GYRO_FILTERED_CONFIG
+ * 0x01 | BNO055_GYRO_UNFILTERED_CONFIG
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_filter(
-u8 *v_gyro_highrate_filter_u8)
+u8 *gyro_highrate_filter_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro highrate filter is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of gyro highrate filter */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_HIGHRATE_FILTER__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_gyro_highrate_filter_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_GYRO_HIGHRATE_FILTER_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *gyro_highrate_filter_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_HIGHRATE_FILTER);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write gyro highrate filter
* from page one register from 0x17 bit 7
*
- * @param v_gyro_highrate_filter_u8 : The value of gyro highrate filter
- * v_gyro_highrate_filter_u8 | result
+ * @param gyro_highrate_filter_u8 : The value of gyro highrate filter
+ * gyro_highrate_filter_u8 | result
* --------------------------- |------------
- * 0x00 | FILTERED
- * 0x01 | UNFILTERED
+ * 0x00 | BNO055_GYRO_FILTERED_CONFIG
+ * 0x01 | BNO055_GYRO_UNFILTERED_CONFIG
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_filter(
-u8 v_gyro_highrate_filter_u8)
+u8 gyro_highrate_filter_u8)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-s8 v_stat_s8 = ERROR;
-s8 v_pg_stat_s8 = ERROR;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+s8 stat_s8 = BNO055_ERROR;
+s8 pg_stat_s8 = BNO055_ERROR;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
-v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
-if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
+ if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
- v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if (v_pg_stat_s8 == SUCCESS) {
+ pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if (pg_stat_s8 == BNO055_SUCCESS) {
/* Write the value of
gyro highrate filter*/
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_HIGHRATE_FILTER__REG,
- &v_data_u8r,
- BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r =
- BNO055_SET_BITSLICE(v_data_u8r,
+ BNO055_GYRO_HIGHRATE_FILTER_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r =
+ BNO055_SET_BITSLICE(data_u8r,
BNO055_GYRO_HIGHRATE_FILTER,
- v_gyro_highrate_filter_u8);
+ gyro_highrate_filter_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_HIGHRATE_FILTER__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_GYRO_HIGHRATE_FILTER_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
-if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read gyro highrate x threshold
* from page one register from 0x18 bit 0 to 4
*
- * @param v_gyro_highrate_x_thres_u8 : The value of gyro x highrate threshold
+ * @param gyro_highrate_x_thres_u8 : The value of gyro x highrate threshold
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Gyro highrate threshold dependent on the
* selection of gyro range
*
- * v_gyro_range_u8 | threshold | LSB
+ * gyro_range_u8 | threshold | LSB
* ----------------- | ------------- | ---------
* 2000 | 62.5dps | 1LSB
* 1000 | 31.25dps | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_thres(
-u8 *v_gyro_highrate_x_thres_u8)
+u8 *gyro_highrate_x_thres_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro highrate x threshold is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of gyro highrate threshold*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_HIGHRATE_X_THRES__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_gyro_highrate_x_thres_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_GYRO_HIGHRATE_X_THRES_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *gyro_highrate_x_thres_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_HIGHRATE_X_THRES);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write gyro highrate x threshold
* from page one register from 0x18 bit 0 to 4
*
- * @param v_gyro_highrate_x_thres_u8 : The value of gyro x highrate threshold
+ * @param gyro_highrate_x_thres_u8 : The value of gyro x highrate threshold
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Gyro highrate threshold dependent on the
* selection of gyro range
*
- * v_gyro_range_u8 | threshold | LSB
+ * gyro_range_u8 | threshold | LSB
* ----------------- | ------------- | ---------
* 2000 | 62.5dps | 1LSB
* 1000 | 31.25dps | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_thres(
-u8 v_gyro_highrate_x_thres_u8)
+u8 gyro_highrate_x_thres_u8)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-s8 v_stat_s8 = ERROR;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
-s8 v_pg_stat_s8 = ERROR;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+s8 stat_s8 = BNO055_ERROR;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+s8 pg_stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
-v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
-if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
+ if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
- v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if (v_pg_stat_s8 == SUCCESS) {
+ pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if (pg_stat_s8 == BNO055_SUCCESS) {
/* Write the value of
gyro highrate x threshold*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_HIGHRATE_X_THRES__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r =
- BNO055_SET_BITSLICE(v_data_u8r,
+ BNO055_GYRO_HIGHRATE_X_THRES_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r =
+ BNO055_SET_BITSLICE(data_u8r,
BNO055_GYRO_HIGHRATE_X_THRES,
- v_gyro_highrate_x_thres_u8);
+ gyro_highrate_x_thres_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_HIGHRATE_X_THRES__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_GYRO_HIGHRATE_X_THRES_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
-if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read gyro highrate x hysteresis
* from page one register from 0x18 bit 5 to 6
*
- * @param v_gyro_highrate_x_hyst_u8 : The value of gyro highrate x hysteresis
+ * @param gyro_highrate_x_hyst_u8 : The value of gyro highrate x hysteresis
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Gyro high rate hysteresis calculated by
*
- * using this (255 + 256 * v_gyro_highrate_x_hyst_u8) *4 LSB
+ * using this (255 + 256 * gyro_highrate_x_hyst_u8) *4 LSB
*
* The high rate value scales with the range setting
*
- * v_gyro_range_u8 | hysteresis | LSB
+ * gyro_range_u8 | hysteresis | LSB
* ----------------- | ------------- | ---------
* 2000 | 62.26dps | 1LSB
* 1000 | 31.13dps | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_hyst(
-u8 *v_gyro_highrate_x_hyst_u8)
+u8 *gyro_highrate_x_hyst_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page,gyro highrate x hysteresis is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of gyro highrate x hysteresis*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_HIGHRATE_X_HYST__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_gyro_highrate_x_hyst_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_GYRO_HIGHRATE_X_HYST_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *gyro_highrate_x_hyst_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_HIGHRATE_X_HYST);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write gyro highrate x hysteresis
* from page one register from 0x18 bit 5 to 6
*
- * @param v_gyro_highrate_x_hyst_u8 : The value of gyro highrate x hysteresis
+ * @param gyro_highrate_x_hyst_u8 : The value of gyro highrate x hysteresis
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Gyro high rate hysteresis calculated by
*
- * using this (255 + 256 * v_gyro_highrate_x_hyst_u8) *4 LSB
+ * using this (255 + 256 * gyro_highrate_x_hyst_u8) *4 LSB
*
* The high rate value scales with the range setting
*
- * v_gyro_range_u8 | hysteresis | LSB
+ * gyro_range_u8 | hysteresis | LSB
* ----------------- | ------------- | ---------
* 2000 | 62.26dps | 1LSB
* 1000 | 31.13dps | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_hyst(
-u8 v_gyro_highrate_x_hyst_u8)
+u8 gyro_highrate_x_hyst_u8)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-s8 v_stat_s8 = ERROR;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
-s8 v_pg_stat_s8 = ERROR;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+s8 stat_s8 = BNO055_ERROR;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+s8 pg_stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
-v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
-if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
+ if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
- v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if (v_pg_stat_s8 == SUCCESS) {
+ pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if (pg_stat_s8 == BNO055_SUCCESS) {
/*Write the value of
gyro highrate x hysteresis*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_HIGHRATE_X_HYST__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r =
- BNO055_SET_BITSLICE(v_data_u8r,
+ BNO055_GYRO_HIGHRATE_X_HYST_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r =
+ BNO055_SET_BITSLICE(data_u8r,
BNO055_GYRO_HIGHRATE_X_HYST,
- v_gyro_highrate_x_hyst_u8);
+ gyro_highrate_x_hyst_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_HIGHRATE_X_HYST__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_GYRO_HIGHRATE_X_HYST_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
-if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read gyro highrate x duration
* from page one register from 0x19 bit 0 to 7
*
- * @param v_gyro_highrate_x_durn_u8 : The value of gyro highrate x duration
+ * @param gyro_highrate_x_durn_u8 : The value of gyro highrate x duration
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Gyro highrate duration calculate by using the formula
*
- * (1 + v_gyro_highrate_x_durn_u8)*2.5ms
+ * (1 + gyro_highrate_x_durn_u8)*2.5ms
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_durn(
-u8 *v_gyro_highrate_x_durn_u8)
+u8 *gyro_highrate_x_durn_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro highrate x duration is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of gyro highrate x duration*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_HIGHRATE_X_DURN__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_gyro_highrate_x_durn_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_GYRO_HIGHRATE_X_DURN_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *gyro_highrate_x_durn_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_HIGHRATE_X_DURN);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write gyro highrate x duration
* from page one register from 0x19 bit 0 to 7
*
- * @param v_gyro_highrate_x_durn_u8 : The value of gyro highrate x duration
+ * @param gyro_highrate_x_durn_u8 : The value of gyro highrate x duration
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Gyro highrate duration calculate by using the formula
*
- * (1 + v_gyro_highrate_x_durn_u8)*2.5ms
+ * (1 + gyro_highrate_x_durn_u8)*2.5ms
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_durn(
-u8 v_gyro_highrate_x_durn_u8)
+u8 gyro_highrate_x_durn_u8)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-s8 v_stat_s8 = ERROR;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
-s8 v_pg_stat_s8 = ERROR;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+s8 stat_s8 = BNO055_ERROR;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+s8 pg_stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
-v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
-if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
+ if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
- v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if (v_pg_stat_s8 == SUCCESS) {
+ pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if (pg_stat_s8 == BNO055_SUCCESS) {
/* Write the value
of gyro highrate x duration*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_HIGHRATE_X_DURN__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r =
- BNO055_SET_BITSLICE(v_data_u8r,
+ BNO055_GYRO_HIGHRATE_X_DURN_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r =
+ BNO055_SET_BITSLICE(data_u8r,
BNO055_GYRO_HIGHRATE_X_DURN,
- v_gyro_highrate_x_durn_u8);
+ gyro_highrate_x_durn_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_HIGHRATE_X_DURN__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_GYRO_HIGHRATE_X_DURN_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read gyro highrate y threshold
* from page one register from 0x1A bit 0 to 4
*
- * @param v_gyro_highrate_y_thres_u8 : The value of gyro highrate y threshold
+ * @param gyro_highrate_y_thres_u8 : The value of gyro highrate y threshold
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Gyro highrate threshold dependent on the
* selection of gyro range
*
- * v_gyro_range_u8 | threshold | LSB
+ * gyro_range_u8 | threshold | LSB
* ----------------- | ------------- | ---------
* 2000 | 62.5dps | 1LSB
* 1000 | 31.25dps | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_thres(
-u8 *v_gyro_highrate_y_thres_u8)
+u8 *gyro_highrate_y_thres_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro highrate y threshold is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of gyro highrate y threshold*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_HIGHRATE_Y_THRES__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_gyro_highrate_y_thres_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_GYRO_HIGHRATE_Y_THRES_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *gyro_highrate_y_thres_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_HIGHRATE_Y_THRES);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write gyro highrate y threshold
* from page one register from 0x1A bit 0 to 4
*
- * @param v_gyro_highrate_y_thres_u8 : The value of gyro highrate y threshold
+ * @param gyro_highrate_y_thres_u8 : The value of gyro highrate y threshold
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Gyro highrate threshold dependent on the
* selection of gyro range
*
- * v_gyro_range_u8 | threshold | LSB
+ * gyro_range_u8 | threshold | LSB
* ----------------- | ------------- | ---------
* 2000 | 62.5dps | 1LSB
* 1000 | 31.25dps | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_thres(
-u8 v_gyro_highrate_y_thres_u8)
+u8 gyro_highrate_y_thres_u8)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-s8 v_stat_s8 = ERROR;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
-s8 v_pg_stat_s8 = ERROR;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+s8 stat_s8 = BNO055_ERROR;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+s8 pg_stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
-v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
-if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
+ if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
- v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if (v_pg_stat_s8 == SUCCESS) {
+ pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if (pg_stat_s8 == BNO055_SUCCESS) {
/* Write the value
of gyro highrate y threshold*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_HIGHRATE_Y_THRES__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r =
- BNO055_SET_BITSLICE(v_data_u8r,
+ BNO055_GYRO_HIGHRATE_Y_THRES_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r =
+ BNO055_SET_BITSLICE(data_u8r,
BNO055_GYRO_HIGHRATE_Y_THRES,
- v_gyro_highrate_y_thres_u8);
+ gyro_highrate_y_thres_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_HIGHRATE_Y_THRES__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_GYRO_HIGHRATE_Y_THRES_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
-if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read gyro highrate y hysteresis
* from page one register from 0x1A bit 5 to 6
*
- * @param v_gyro_highrate_y_hyst_u8 : The value of gyro highrate y hysteresis
+ * @param gyro_highrate_y_hyst_u8 : The value of gyro highrate y hysteresis
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Gyro high rate hysteresis calculated by
*
- * using this (255 + 256 * v_gyro_highrate_y_hyst_u8) *4 LSB
+ * using this (255 + 256 * gyro_highrate_y_hyst_u8) *4 LSB
*
* The high rate value scales with the range setting
*
- * v_gyro_range_u8 | hysteresis | LSB
+ * gyro_range_u8 | hysteresis | LSB
* ----------------- | ------------- | ---------
* 2000 | 62.26dps | 1LSB
* 1000 | 31.13dps | 1LSB
* 500 | 15.56dps | 1LSB
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_hyst(
-u8 *v_gyro_highrate_y_hyst_u8)
+u8 *gyro_highrate_y_hyst_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro highrate y hysteresis is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of gyro highrate y hysteresis*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_HIGHRATE_Y_HYST__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_gyro_highrate_y_hyst_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_GYRO_HIGHRATE_Y_HYST_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *gyro_highrate_y_hyst_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_HIGHRATE_Y_HYST);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write gyro highrate y hysteresis
* from page one register from 0x1A bit 5 to 6
*
- * @param v_gyro_highrate_y_hyst_u8 : The value of gyro highrate y hysteresis
+ * @param gyro_highrate_y_hyst_u8 : The value of gyro highrate y hysteresis
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Gyro high rate hysteresis calculated by
*
- * using this (255 + 256 * v_gyro_highrate_y_hyst_u8) *4 LSB
+ * using this (255 + 256 * gyro_highrate_y_hyst_u8) *4 LSB
*
* The high rate value scales with the range setting
*
- * v_gyro_range_u8 | hysteresis | LSB
+ * gyro_range_u8 | hysteresis | LSB
* ----------------- | ------------- | ---------
* 2000 | 62.26dps | 1LSB
* 1000 | 31.13dps | 1LSB
* 500 | 15.56dps | 1LSB
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_hyst(
-u8 v_gyro_highrate_y_hyst_u8)
+u8 gyro_highrate_y_hyst_u8)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-s8 v_stat_s8 = ERROR;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
-s8 v_pg_stat_s8 = ERROR;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+s8 stat_s8 = BNO055_ERROR;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+s8 pg_stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
-v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
-if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
+ if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
- v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if (v_pg_stat_s8 == SUCCESS) {
+ pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if (pg_stat_s8 == BNO055_SUCCESS) {
/* Write the value of
gyro highrate y hysteresis*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_HIGHRATE_Y_HYST__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r =
- BNO055_SET_BITSLICE(v_data_u8r,
+ BNO055_GYRO_HIGHRATE_Y_HYST_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r =
+ BNO055_SET_BITSLICE(data_u8r,
BNO055_GYRO_HIGHRATE_Y_HYST,
- v_gyro_highrate_y_hyst_u8);
+ gyro_highrate_y_hyst_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_HIGHRATE_Y_HYST__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_GYRO_HIGHRATE_Y_HYST_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
-if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read gyro highrate y duration
* from page one register from 0x1B bit 0 to 7
*
- * @param v_gyro_highrate_y_durn_u8 : The value of gyro highrate y duration
+ * @param gyro_highrate_y_durn_u8 : The value of gyro highrate y duration
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Gyro highrate duration calculate by using the formula
*
- * (1 + v_gyro_highrate_y_durn_u8)*2.5ms
+ * (1 + gyro_highrate_y_durn_u8)*2.5ms
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_durn(
-u8 *v_gyro_highrate_y_durn_u8)
+u8 *gyro_highrate_y_durn_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro highrate y duration is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of gyro highrate y duration*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_HIGHRATE_Y_DURN__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_gyro_highrate_y_durn_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_GYRO_HIGHRATE_Y_DURN_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *gyro_highrate_y_durn_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_HIGHRATE_Y_DURN);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write gyro highrate y duration
* from page one register from 0x1B bit 0 to 7
*
- * @param v_gyro_highrate_y_durn_u8 : The value of gyro highrate y duration
+ * @param gyro_highrate_y_durn_u8 : The value of gyro highrate y duration
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Gyro highrate duration calculate by using the formula
*
- * (1 + v_gyro_highrate_y_durn_u8)*2.5ms
+ * (1 + gyro_highrate_y_durn_u8)*2.5ms
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_durn(
-u8 v_gyro_highrate_y_durn_u8)
+u8 gyro_highrate_y_durn_u8)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-s8 v_stat_s8 = ERROR;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
-s8 v_pg_stat_s8 = ERROR;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+s8 stat_s8 = BNO055_ERROR;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+s8 pg_stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
-v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
-if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
+stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+ if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
- v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if (v_pg_stat_s8 == SUCCESS) {
+ pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if (pg_stat_s8 == BNO055_SUCCESS) {
/* Write the value
of gyro highrate y duration*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_HIGHRATE_Y_DURN__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r =
- BNO055_SET_BITSLICE(v_data_u8r,
+ BNO055_GYRO_HIGHRATE_Y_DURN_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r =
+ BNO055_SET_BITSLICE(data_u8r,
BNO055_GYRO_HIGHRATE_Y_DURN,
- v_gyro_highrate_y_durn_u8);
+ gyro_highrate_y_durn_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_HIGHRATE_Y_DURN__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_GYRO_HIGHRATE_Y_DURN_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read gyro highrate z threshold
* from page one register from 0x1C bit 0 to 4
*
- * @param v_gyro_highrate_z_thres_u8 : The value of gyro highrate z threshold
+ * @param gyro_highrate_z_thres_u8 : The value of gyro highrate z threshold
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Gyro highrate threshold dependent on the
* selection of gyro range
*
- * v_gyro_range_u8 | threshold | LSB
+ * gyro_range_u8 | threshold | LSB
* ----------------- | ------------- | ---------
* 2000 | 62.5dps | 1LSB
* 1000 | 31.25dps | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_thres(
-u8 *v_gyro_highrate_z_thres_u8)
+u8 *gyro_highrate_z_thres_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro highrate z threshold is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of gyro highrate z threshold*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_HIGHRATE_Z_THRES__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_gyro_highrate_z_thres_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_GYRO_HIGHRATE_Z_THRES_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *gyro_highrate_z_thres_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_HIGHRATE_Z_THRES);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write gyro highrate z threshold
* from page one register from 0x1C bit 0 to 4
*
- * @param v_gyro_highrate_z_thres_u8 : The value of gyro highrate z threshold
+ * @param gyro_highrate_z_thres_u8 : The value of gyro highrate z threshold
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Gyro highrate threshold dependent on the
* selection of gyro range
*
- * v_gyro_range_u8 | threshold | LSB
+ * gyro_range_u8 | threshold | LSB
* ----------------- | ------------- | ---------
* 2000 | 62.5dps | 1LSB
* 1000 | 31.25dps | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_thres(
-u8 v_gyro_highrate_z_thres_u8)
+u8 gyro_highrate_z_thres_u8)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-s8 v_stat_s8 = ERROR;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
-s8 v_pg_stat_s8 = ERROR;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+s8 stat_s8 = BNO055_ERROR;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+s8 pg_stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
-v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
-if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
+ if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
- v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if (v_pg_stat_s8 == SUCCESS) {
+ pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if (pg_stat_s8 == BNO055_SUCCESS) {
/* Write the value
of gyro highrate z threshold*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_HIGHRATE_Z_THRES__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r =
- BNO055_SET_BITSLICE(v_data_u8r,
+ BNO055_GYRO_HIGHRATE_Z_THRES_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r =
+ BNO055_SET_BITSLICE(data_u8r,
BNO055_GYRO_HIGHRATE_Z_THRES,
- v_gyro_highrate_z_thres_u8);
+ gyro_highrate_z_thres_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_HIGHRATE_Z_THRES__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_GYRO_HIGHRATE_Z_THRES_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
-if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read gyro highrate z hysteresis
* from page one register from 0x1C bit 5 to 6
*
- * @param v_gyro_highrate_z_hyst_u8 : The value of gyro highrate z hysteresis
+ * @param gyro_highrate_z_hyst_u8 : The value of gyro highrate z hysteresis
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Gyro high rate hysteresis calculated by
*
- * using this (255 + 256 * v_gyro_highrate_z_hyst_u8) *4 LSB
+ * using this (255 + 256 * gyro_highrate_z_hyst_u8) *4 LSB
*
* The high rate value scales with the range setting
*
- * v_gyro_range_u8 | hysteresis | LSB
+ * gyro_range_u8 | hysteresis | LSB
* ----------------- | ------------- | ---------
* 2000 | 62.26dps | 1LSB
* 1000 | 31.13dps | 1LSB
* 500 | 15.56dps | 1LSB
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_hyst(
-u8 *v_gyro_highrate_z_hyst_u8)
+u8 *gyro_highrate_z_hyst_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro highrate z hysteresis is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of gyro highrate z hysteresis*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_HIGHRATE_Z_HYST__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_gyro_highrate_z_hyst_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_GYRO_HIGHRATE_Z_HYST_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ *gyro_highrate_z_hyst_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_HIGHRATE_Z_HYST);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write gyro highrate z hysteresis
* from page one register from 0x1C bit 5 to 6
*
- * @param v_gyro_highrate_z_hyst_u8 : The value of gyro highrate z hysteresis
+ * @param gyro_highrate_z_hyst_u8 : The value of gyro highrate z hysteresis
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Gyro high rate hysteresis calculated by
*
- * using this (255 + 256 * v_gyro_highrate_z_hyst_u8) *4 LSB
+ * using this (255 + 256 * gyro_highrate_z_hyst_u8) *4 LSB
*
* The high rate value scales with the range setting
*
- * v_gyro_range_u8 | hysteresis | LSB
+ * gyro_range_u8 | hysteresis | LSB
* ----------------- | ------------- | ---------
* 2000 | 62.26dps | 1LSB
* 1000 | 31.13dps | 1LSB
* 500 | 15.56dps | 1LSB
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_hyst(
-u8 v_gyro_highrate_z_hyst_u8)
+u8 gyro_highrate_z_hyst_u8)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-s8 v_stat_s8 = ERROR;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
-s8 v_pg_stat_s8 = ERROR;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+s8 stat_s8 = BNO055_ERROR;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+s8 pg_stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
-v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
-if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
+ if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
- v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if (v_pg_stat_s8 == SUCCESS) {
+ pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if (pg_stat_s8 == BNO055_SUCCESS) {
/* Write the value
of gyro highrate z hysteresis*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_HIGHRATE_Z_HYST__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r =
- BNO055_SET_BITSLICE(v_data_u8r,
+ BNO055_GYRO_HIGHRATE_Z_HYST_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r =
+ BNO055_SET_BITSLICE(data_u8r,
BNO055_GYRO_HIGHRATE_Z_HYST,
- v_gyro_highrate_z_hyst_u8);
+ gyro_highrate_z_hyst_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_HIGHRATE_Z_HYST__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_GYRO_HIGHRATE_Z_HYST_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
-if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read gyro highrate z duration
* from page one register from 0x1D bit 0 to 7
*
- * @param v_gyro_highrate_z_durn_u8 : The value of gyro highrate z duration
+ * @param gyro_highrate_z_durn_u8 : The value of gyro highrate z duration
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Gyro highrate duration calculate by using the formula
*
- * (1 + v_gyro_highrate_z_durn_u8)*2.5ms
+ * (1 + gyro_highrate_z_durn_u8)*2.5ms
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_durn(
-u8 *v_gyro_highrate_z_durn_u8)
+u8 *gyro_highrate_z_durn_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro highrate z duration is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of gyro highrate z duration*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_HIGHRATE_Z_DURN__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_gyro_highrate_z_durn_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_GYRO_HIGHRATE_Z_DURN_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *gyro_highrate_z_durn_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_HIGHRATE_Z_DURN);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write gyro highrate z duration
* from page one register from 0x1D bit 0 to 7
*
- * @param v_gyro_highrate_z_durn_u8 : The value of gyro highrate z duration
+ * @param gyro_highrate_z_durn_u8 : The value of gyro highrate z duration
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Gyro highrate duration calculate by using the formula
*
- * (1 + v_gyro_highrate_z_durn_u8)*2.5ms
+ * (1 + gyro_highrate_z_durn_u8)*2.5ms
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_durn(
-u8 v_gyro_highrate_z_durn_u8)
+u8 gyro_highrate_z_durn_u8)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-s8 v_stat_s8 = ERROR;
-s8 v_pg_stat_s8 = ERROR;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+s8 stat_s8 = BNO055_ERROR;
+s8 pg_stat_s8 = BNO055_ERROR;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
-v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
-if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
+ if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
- v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if (v_pg_stat_s8 == SUCCESS) {
+ pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if (pg_stat_s8 == BNO055_SUCCESS) {
/* Write the value of
gyro highrate z duration*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_HIGHRATE_Z_DURN__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r =
- BNO055_SET_BITSLICE(v_data_u8r,
+ BNO055_GYRO_HIGHRATE_Z_DURN_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r =
+ BNO055_SET_BITSLICE(data_u8r,
BNO055_GYRO_HIGHRATE_Z_DURN,
- v_gyro_highrate_z_durn_u8);
+ gyro_highrate_z_durn_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_HIGHRATE_Z_DURN__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_GYRO_HIGHRATE_Z_DURN_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read gyro anymotion threshold
* from page one register from 0x1E bit 0 to 6
*
- * @param v_gyro_any_motion_thres_u8 : The value of gyro anymotion threshold
+ * @param gyro_any_motion_thres_u8 : The value of gyro anymotion threshold
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Gyro anymotion interrupt threshold dependent
* on the selection of gyro range
*
- * v_gyro_range_u8 | threshold | LSB
+ * gyro_range_u8 | threshold | LSB
* ----------------- | ------------- | ---------
* 2000 | 1dps | 1LSB
* 1000 | 0.5dps | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_thres(
-u8 *v_gyro_any_motion_thres_u8)
+u8 *gyro_any_motion_thres_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page,gyro anymotion threshold is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of gyro anymotion threshold*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_ANY_MOTION_THRES__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_gyro_any_motion_thres_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_GYRO_ANY_MOTION_THRES_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *gyro_any_motion_thres_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_ANY_MOTION_THRES);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write gyro anymotion threshold
* from page one register from 0x1E bit 0 to 6
*
- * @param v_gyro_any_motion_thres_u8 : The value of gyro anymotion threshold
+ * @param gyro_any_motion_thres_u8 : The value of gyro anymotion threshold
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Gyro anymotion interrupt threshold dependent
* on the selection of gyro range
*
- * v_gyro_range_u8 | threshold | LSB
+ * gyro_range_u8 | threshold | LSB
* ----------------- | ------------- | ---------
* 2000 | 1dps | 1LSB
* 1000 | 0.5dps | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_thres(
-u8 v_gyro_any_motion_thres_u8)
+u8 gyro_any_motion_thres_u8)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-s8 v_stat_s8 = ERROR;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
-s8 v_pg_stat_s8 = ERROR;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+s8 stat_s8 = BNO055_ERROR;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
+s8 pg_stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
-v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
-if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
+ if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
- v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if (v_pg_stat_s8 == SUCCESS) {
+ pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if (pg_stat_s8 == BNO055_SUCCESS) {
/* Write the value
of gyro anymotion threshold*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_ANY_MOTION_THRES__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r =
- BNO055_SET_BITSLICE(v_data_u8r,
+ BNO055_GYRO_ANY_MOTION_THRES_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r =
+ BNO055_SET_BITSLICE(data_u8r,
BNO055_GYRO_ANY_MOTION_THRES,
- v_gyro_any_motion_thres_u8);
+ gyro_any_motion_thres_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_ANY_MOTION_THRES__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_GYRO_ANY_MOTION_THRES_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
-if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read gyro anymotion slope samples
* from page one register from 0x1F bit 0 to 1
*
- * @param v_gyro_any_motion_slope_samples_u8 :
+ * @param gyro_any_motion_slope_samples_u8 :
* The value of gyro anymotion slope samples
- * v_gyro_any_motion_slope_samples_u8 | result
+ * gyro_any_motion_slope_samples_u8 | result
* ---------------------------------- | -----------
* 0 | 8 samples
* 1 | 16 samples
* 3 | 64 samples
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_slope_samples(
-u8 *v_gyro_any_motion_slope_samples_u8)
+u8 *gyro_any_motion_slope_samples_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro anymotion slope samples is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
/*Read the value of gyro anymotion slope samples*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_SLOPE_SAMPLES__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_gyro_any_motion_slope_samples_u8 =
- BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_GYRO_SLOPE_SAMPLES_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *gyro_any_motion_slope_samples_u8 =
+ BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_SLOPE_SAMPLES);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write gyro anymotion slope samples
* from page one register from 0x1F bit 0 to 1
*
- * @param v_gyro_any_motion_slope_samples_u8 :
+ * @param gyro_any_motion_slope_samples_u8 :
* The value of gyro anymotion slope samples
- * v_gyro_any_motion_slope_samples_u8 | result
+ * gyro_any_motion_slope_samples_u8 | result
* ---------------------------------- | -----------
* 0 | 8 samples
* 1 | 16 samples
* 3 | 64 samples
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_slope_samples(
-u8 v_gyro_any_motion_slope_samples_u8)
+u8 gyro_any_motion_slope_samples_u8)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-s8 v_stat_s8 = ERROR;
-s8 v_pg_stat_s8 = ERROR;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+s8 stat_s8 = BNO055_ERROR;
+s8 pg_stat_s8 = BNO055_ERROR;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
-v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
-if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
+ if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
- v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if (v_pg_stat_s8 == SUCCESS) {
+ pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if (pg_stat_s8 == BNO055_SUCCESS) {
/* Write the value of
gyro anymotion slope samples*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_SLOPE_SAMPLES__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r =
- BNO055_SET_BITSLICE(v_data_u8r,
+ BNO055_GYRO_SLOPE_SAMPLES_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r =
+ BNO055_SET_BITSLICE(data_u8r,
BNO055_GYRO_SLOPE_SAMPLES,
- v_gyro_any_motion_slope_samples_u8);
+ gyro_any_motion_slope_samples_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_SLOPE_SAMPLES__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_GYRO_SLOPE_SAMPLES_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read gyro anymotion awake duration
* from page one register from 0x1F bit 2 to 3
*
- * @param v_gyro_awake_durn_u8 : The value of gyro anymotion awake duration
+ * @param gyro_awake_durn_u8 : The value of gyro anymotion awake duration
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_awake_durn(
-u8 *v_gyro_awake_durn_u8)
+u8 *gyro_awake_durn_u8)
{
/* Variable used to return value of
communication routine*/
- BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
- u8 v_data_u8r = BNO055_ZERO_U8X;
- s8 v_stat_s8 = ERROR;
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+ u8 data_u8r = BNO055_INIT_VALUE;
+ s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
- if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+ if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro anymotion awake duration is
available in the page one*/
- if (p_bno055->page_id != PAGE_ONE)
+ if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
- v_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if ((v_stat_s8 == SUCCESS) ||
- (p_bno055->page_id == PAGE_ONE)) {
+ stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
+ if ((stat_s8 == BNO055_SUCCESS) ||
+ (p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of gyro anymotion awake duration*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_AWAKE_DURN__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- *v_gyro_awake_durn_u8 = BNO055_GET_BITSLICE(v_data_u8r,
+ BNO055_GYRO_AWAKE_DURN_REG,
+ &data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
+ *gyro_awake_durn_u8 = BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_AWAKE_DURN);
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
return com_rslt;
* @brief This API used to write gyro anymotion awake duration
* from page one register from 0x1F bit 2 to 3
*
- * @param v_gyro_awake_durn_u8 : The value of gyro anymotion awake duration
+ * @param gyro_awake_durn_u8 : The value of gyro anymotion awake duration
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_awake_durn(
-u8 v_gyro_awake_durn_u8)
+u8 gyro_awake_durn_u8)
{
-BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
-u8 v_data_u8r = BNO055_ZERO_U8X;
-s8 v_stat_s8 = ERROR;
-s8 v_pg_stat_s8 = ERROR;
-u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
+BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
+u8 data_u8r = BNO055_INIT_VALUE;
+s8 stat_s8 = BNO055_ERROR;
+s8 pg_stat_s8 = BNO055_ERROR;
+u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
/* Check the struct p_bno055 is empty */
-if (p_bno055 == BNO055_ZERO_U8X) {
- return E_NULL_PTR;
+if (p_bno055 == BNO055_INIT_VALUE) {
+ return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
- v_stat_s8 = bno055_get_operation_mode(&v_prev_opmode_u8);
- if (v_stat_s8 == SUCCESS) {
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
- v_stat_s8 += bno055_set_operation_mode
- (OPERATION_MODE_CONFIG);
- if (v_stat_s8 == SUCCESS) {
+ stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
+ if (stat_s8 == BNO055_SUCCESS) {
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
+ stat_s8 += bno055_set_operation_mode
+ (BNO055_OPERATION_MODE_CONFIG);
+ if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
- v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
- if (v_pg_stat_s8 == SUCCESS) {
+ pg_stat_s8 = bno055_write_page_id(
+ BNO055_PAGE_ONE);
+ if (pg_stat_s8 == BNO055_SUCCESS) {
/* Write the value of gyro
anymotion awake duration*/
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_AWAKE_DURN__REG,
- &v_data_u8r, BNO055_ONE_U8X);
- if (com_rslt == SUCCESS) {
- v_data_u8r =
- BNO055_SET_BITSLICE(v_data_u8r,
+ BNO055_GYRO_AWAKE_DURN_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
+ if (com_rslt == BNO055_SUCCESS) {
+ data_u8r =
+ BNO055_SET_BITSLICE(data_u8r,
BNO055_GYRO_AWAKE_DURN,
- v_gyro_awake_durn_u8);
+ gyro_awake_durn_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
- BNO055_GYRO_AWAKE_DURN__REG,
- &v_data_u8r, BNO055_ONE_U8X);
+ BNO055_GYRO_AWAKE_DURN_REG,
+ &data_u8r,
+ BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
} else {
- com_rslt = ERROR;
+ com_rslt = BNO055_ERROR;
}
}
- if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode
of previous operation mode*/
com_rslt += bno055_set_operation_mode
- (v_prev_opmode_u8);
+ (prev_opmode_u8);
return com_rslt;
}
/** \mainpage
*
****************************************************************************
-* Copyright (C) 2013 - 2014 Bosch Sensortec GmbH
+* Copyright (C) 2015 - 2016 Bosch Sensortec GmbH
*
* File : bno055.h
*
-* Date : 2014/12/12
+* Date : 2016/03/14
*
-* Revision : 2.0.2 $
+* Revision : 2.0.3 $
*
* Usage: Sensor Driver file for BNO055 sensor
*
/**\name BUS READ AND WRITE FUNCTIONS */
/***************************************************************/
#define BNO055_WR_FUNC_PTR s8 (*bus_write)\
-(u8, u8 , u8 *, u8)
+(u8, u8, u8 *, u8)
#define BNO055_BUS_WRITE_FUNC(dev_addr, reg_addr, reg_data, wr_len)\
bus_write(dev_addr, reg_addr, reg_data, wr_len)
#define BNO055_RD_FUNC_PTR s8 \
-(*bus_read)(u8, u8 , u8 *, u8)
+(*bus_read)(u8, u8, u8 *, u8)
#define BNO055_BUS_READ_FUNC(dev_addr, reg_addr, reg_data, r_len)\
bus_read(dev_addr, reg_addr, reg_data, r_len)
/**\name I2C ADDRESS DEFINITION FOR BNO055 */
/********************************************************/
/* bno055 I2C Address */
-#define BNO055_I2C_ADDR1 0x28
-#define BNO055_I2C_ADDR2 0x29
+#define BNO055_I2C_ADDR1 (0x28)
+#define BNO055_I2C_ADDR2 (0x29)
/***************************************************/
/**\name REGISTER ADDRESS DEFINITION */
/***************************************************/
/* Page id register definition*/
-#define BNO055_PAGE_ID_ADDR 0X07
+#define BNO055_PAGE_ID_ADDR (0X07)
/* PAGE0 REGISTER DEFINITION START*/
-#define BNO055_CHIP_ID_ADDR 0x00
-#define BNO055_ACCEL_REV_ID_ADDR 0x01
-#define BNO055_MAG_REV_ID_ADDR 0x02
-#define BNO055_GYRO_REV_ID_ADDR 0x03
-#define BNO055_SW_REV_ID_LSB_ADDR 0x04
-#define BNO055_SW_REV_ID_MSB_ADDR 0x05
-#define BNO055_BL_REV_ID_ADDR 0X06
+#define BNO055_CHIP_ID_ADDR (0x00)
+#define BNO055_ACCEL_REV_ID_ADDR (0x01)
+#define BNO055_MAG_REV_ID_ADDR (0x02)
+#define BNO055_GYRO_REV_ID_ADDR (0x03)
+#define BNO055_SW_REV_ID_LSB_ADDR (0x04)
+#define BNO055_SW_REV_ID_MSB_ADDR (0x05)
+#define BNO055_BL_REV_ID_ADDR (0X06)
/* Accel data register*/
-#define BNO055_ACCEL_DATA_X_LSB_ADDR 0X08
-#define BNO055_ACCEL_DATA_X_MSB_ADDR 0X09
-#define BNO055_ACCEL_DATA_Y_LSB_ADDR 0X0A
-#define BNO055_ACCEL_DATA_Y_MSB_ADDR 0X0B
-#define BNO055_ACCEL_DATA_Z_LSB_ADDR 0X0C
-#define BNO055_ACCEL_DATA_Z_MSB_ADDR 0X0D
+#define BNO055_ACCEL_DATA_X_LSB_ADDR (0X08)
+#define BNO055_ACCEL_DATA_X_MSB_ADDR (0X09)
+#define BNO055_ACCEL_DATA_Y_LSB_ADDR (0X0A)
+#define BNO055_ACCEL_DATA_Y_MSB_ADDR (0X0B)
+#define BNO055_ACCEL_DATA_Z_LSB_ADDR (0X0C)
+#define BNO055_ACCEL_DATA_Z_MSB_ADDR (0X0D)
/*Mag data register*/
-#define BNO055_MAG_DATA_X_LSB_ADDR 0X0E
-#define BNO055_MAG_DATA_X_MSB_ADDR 0X0F
-#define BNO055_MAG_DATA_Y_LSB_ADDR 0X10
-#define BNO055_MAG_DATA_Y_MSB_ADDR 0X11
-#define BNO055_MAG_DATA_Z_LSB_ADDR 0X12
-#define BNO055_MAG_DATA_Z_MSB_ADDR 0X13
+#define BNO055_MAG_DATA_X_LSB_ADDR (0X0E)
+#define BNO055_MAG_DATA_X_MSB_ADDR (0X0F)
+#define BNO055_MAG_DATA_Y_LSB_ADDR (0X10)
+#define BNO055_MAG_DATA_Y_MSB_ADDR (0X11)
+#define BNO055_MAG_DATA_Z_LSB_ADDR (0X12)
+#define BNO055_MAG_DATA_Z_MSB_ADDR (0X13)
/*Gyro data registers*/
-#define BNO055_GYRO_DATA_X_LSB_ADDR 0X14
-#define BNO055_GYRO_DATA_X_MSB_ADDR 0X15
-#define BNO055_GYRO_DATA_Y_LSB_ADDR 0X16
-#define BNO055_GYRO_DATA_Y_MSB_ADDR 0X17
-#define BNO055_GYRO_DATA_Z_LSB_ADDR 0X18
-#define BNO055_GYRO_DATA_Z_MSB_ADDR 0X19
+#define BNO055_GYRO_DATA_X_LSB_ADDR (0X14)
+#define BNO055_GYRO_DATA_X_MSB_ADDR (0X15)
+#define BNO055_GYRO_DATA_Y_LSB_ADDR (0X16)
+#define BNO055_GYRO_DATA_Y_MSB_ADDR (0X17)
+#define BNO055_GYRO_DATA_Z_LSB_ADDR (0X18)
+#define BNO055_GYRO_DATA_Z_MSB_ADDR (0X19)
/*Euler data registers*/
-#define BNO055_EULER_H_LSB_ADDR 0X1A
-#define BNO055_EULER_H_MSB_ADDR 0X1B
+#define BNO055_EULER_H_LSB_ADDR (0X1A)
+#define BNO055_EULER_H_MSB_ADDR (0X1B)
-#define BNO055_EULER_R_LSB_ADDR 0X1C
-#define BNO055_EULER_R_MSB_ADDR 0X1D
+#define BNO055_EULER_R_LSB_ADDR (0X1C)
+#define BNO055_EULER_R_MSB_ADDR (0X1D)
-#define BNO055_EULER_P_LSB_ADDR 0X1E
-#define BNO055_EULER_P_MSB_ADDR 0X1F
+#define BNO055_EULER_P_LSB_ADDR (0X1E)
+#define BNO055_EULER_P_MSB_ADDR (0X1F)
/*Quaternion data registers*/
-#define BNO055_QUATERNION_DATA_W_LSB_ADDR 0X20
-#define BNO055_QUATERNION_DATA_W_MSB_ADDR 0X21
-#define BNO055_QUATERNION_DATA_X_LSB_ADDR 0X22
-#define BNO055_QUATERNION_DATA_X_MSB_ADDR 0X23
-#define BNO055_QUATERNION_DATA_Y_LSB_ADDR 0X24
-#define BNO055_QUATERNION_DATA_Y_MSB_ADDR 0X25
-#define BNO055_QUATERNION_DATA_Z_LSB_ADDR 0X26
-#define BNO055_QUATERNION_DATA_Z_MSB_ADDR 0X27
+#define BNO055_QUATERNION_DATA_W_LSB_ADDR (0X20)
+#define BNO055_QUATERNION_DATA_W_MSB_ADDR (0X21)
+#define BNO055_QUATERNION_DATA_X_LSB_ADDR (0X22)
+#define BNO055_QUATERNION_DATA_X_MSB_ADDR (0X23)
+#define BNO055_QUATERNION_DATA_Y_LSB_ADDR (0X24)
+#define BNO055_QUATERNION_DATA_Y_MSB_ADDR (0X25)
+#define BNO055_QUATERNION_DATA_Z_LSB_ADDR (0X26)
+#define BNO055_QUATERNION_DATA_Z_MSB_ADDR (0X27)
/* Linear acceleration data registers*/
-#define BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR 0X28
-#define BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR 0X29
-#define BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR 0X2A
-#define BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR 0X2B
-#define BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR 0X2C
-#define BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR 0X2D
+#define BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR (0X28)
+#define BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR (0X29)
+#define BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR (0X2A)
+#define BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR (0X2B)
+#define BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR (0X2C)
+#define BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR (0X2D)
/*Gravity data registers*/
-#define BNO055_GRAVITY_DATA_X_LSB_ADDR 0X2E
-#define BNO055_GRAVITY_DATA_X_MSB_ADDR 0X2F
-#define BNO055_GRAVITY_DATA_Y_LSB_ADDR 0X30
-#define BNO055_GRAVITY_DATA_Y_MSB_ADDR 0X31
-#define BNO055_GRAVITY_DATA_Z_LSB_ADDR 0X32
-#define BNO055_GRAVITY_DATA_Z_MSB_ADDR 0X33
+#define BNO055_GRAVITY_DATA_X_LSB_ADDR (0X2E)
+#define BNO055_GRAVITY_DATA_X_MSB_ADDR (0X2F)
+#define BNO055_GRAVITY_DATA_Y_LSB_ADDR (0X30)
+#define BNO055_GRAVITY_DATA_Y_MSB_ADDR (0X31)
+#define BNO055_GRAVITY_DATA_Z_LSB_ADDR (0X32)
+#define BNO055_GRAVITY_DATA_Z_MSB_ADDR (0X33)
/* Temperature data register*/
-#define BNO055_TEMP_ADDR 0X34
+#define BNO055_TEMP_ADDR (0X34)
/* Status registers*/
-#define BNO055_CALIB_STAT_ADDR 0X35
-#define BNO055_SELFTEST_RESULT_ADDR 0X36
-#define BNO055_INTR_STAT_ADDR 0X37
-#define BNO055_SYS_CLK_STAT_ADDR 0X38
-#define BNO055_SYS_STAT_ADDR 0X39
-#define BNO055_SYS_ERR_ADDR 0X3A
+#define BNO055_CALIB_STAT_ADDR (0X35)
+#define BNO055_SELFTEST_RESULT_ADDR (0X36)
+#define BNO055_INTR_STAT_ADDR (0X37)
+#define BNO055_SYS_CLK_STAT_ADDR (0X38)
+#define BNO055_SYS_STAT_ADDR (0X39)
+#define BNO055_SYS_ERR_ADDR (0X3A)
/* Unit selection register*/
-#define BNO055_UNIT_SEL_ADDR 0X3B
-#define BNO055_DATA_SELECT_ADDR 0X3C
+#define BNO055_UNIT_SEL_ADDR (0X3B)
+#define BNO055_DATA_SELECT_ADDR (0X3C)
/* Mode registers*/
-#define BNO055_OPR_MODE_ADDR 0X3D
-#define BNO055_PWR_MODE_ADDR 0X3E
+#define BNO055_OPR_MODE_ADDR (0X3D)
+#define BNO055_PWR_MODE_ADDR (0X3E)
-#define BNO055_SYS_TRIGGER_ADDR 0X3F
-#define BNO055_TEMP_SOURCE_ADDR 0X40
+#define BNO055_SYS_TRIGGER_ADDR (0X3F)
+#define BNO055_TEMP_SOURCE_ADDR (0X40)
/* Axis remap registers*/
-#define BNO055_AXIS_MAP_CONFIG_ADDR 0X41
-#define BNO055_AXIS_MAP_SIGN_ADDR 0X42
+#define BNO055_AXIS_MAP_CONFIG_ADDR (0X41)
+#define BNO055_AXIS_MAP_SIGN_ADDR (0X42)
/* SIC registers*/
-#define BNO055_SIC_MATRIX_0_LSB_ADDR 0X43
-#define BNO055_SIC_MATRIX_0_MSB_ADDR 0X44
-#define BNO055_SIC_MATRIX_1_LSB_ADDR 0X45
-#define BNO055_SIC_MATRIX_1_MSB_ADDR 0X46
-#define BNO055_SIC_MATRIX_2_LSB_ADDR 0X47
-#define BNO055_SIC_MATRIX_2_MSB_ADDR 0X48
-#define BNO055_SIC_MATRIX_3_LSB_ADDR 0X49
-#define BNO055_SIC_MATRIX_3_MSB_ADDR 0X4A
-#define BNO055_SIC_MATRIX_4_LSB_ADDR 0X4B
-#define BNO055_SIC_MATRIX_4_MSB_ADDR 0X4C
-#define BNO055_SIC_MATRIX_5_LSB_ADDR 0X4D
-#define BNO055_SIC_MATRIX_5_MSB_ADDR 0X4E
-#define BNO055_SIC_MATRIX_6_LSB_ADDR 0X4F
-#define BNO055_SIC_MATRIX_6_MSB_ADDR 0X50
-#define BNO055_SIC_MATRIX_7_LSB_ADDR 0X51
-#define BNO055_SIC_MATRIX_7_MSB_ADDR 0X52
-#define BNO055_SIC_MATRIX_8_LSB_ADDR 0X53
-#define BNO055_SIC_MATRIX_8_MSB_ADDR 0X54
+#define BNO055_SIC_MATRIX_0_LSB_ADDR (0X43)
+#define BNO055_SIC_MATRIX_0_MSB_ADDR (0X44)
+#define BNO055_SIC_MATRIX_1_LSB_ADDR (0X45)
+#define BNO055_SIC_MATRIX_1_MSB_ADDR (0X46)
+#define BNO055_SIC_MATRIX_2_LSB_ADDR (0X47)
+#define BNO055_SIC_MATRIX_2_MSB_ADDR (0X48)
+#define BNO055_SIC_MATRIX_3_LSB_ADDR (0X49)
+#define BNO055_SIC_MATRIX_3_MSB_ADDR (0X4A)
+#define BNO055_SIC_MATRIX_4_LSB_ADDR (0X4B)
+#define BNO055_SIC_MATRIX_4_MSB_ADDR (0X4C)
+#define BNO055_SIC_MATRIX_5_LSB_ADDR (0X4D)
+#define BNO055_SIC_MATRIX_5_MSB_ADDR (0X4E)
+#define BNO055_SIC_MATRIX_6_LSB_ADDR (0X4F)
+#define BNO055_SIC_MATRIX_6_MSB_ADDR (0X50)
+#define BNO055_SIC_MATRIX_7_LSB_ADDR (0X51)
+#define BNO055_SIC_MATRIX_7_MSB_ADDR (0X52)
+#define BNO055_SIC_MATRIX_8_LSB_ADDR (0X53)
+#define BNO055_SIC_MATRIX_8_MSB_ADDR (0X54)
/* Accelerometer Offset registers*/
-#define ACCEL_OFFSET_X_LSB_ADDR 0X55
-#define ACCEL_OFFSET_X_MSB_ADDR 0X56
-#define ACCEL_OFFSET_Y_LSB_ADDR 0X57
-#define ACCEL_OFFSET_Y_MSB_ADDR 0X58
-#define ACCEL_OFFSET_Z_LSB_ADDR 0X59
-#define ACCEL_OFFSET_Z_MSB_ADDR 0X5A
+#define BNO055_ACCEL_OFFSET_X_LSB_ADDR (0X55)
+#define BNO055_ACCEL_OFFSET_X_MSB_ADDR (0X56)
+#define BNO055_ACCEL_OFFSET_Y_LSB_ADDR (0X57)
+#define BNO055_ACCEL_OFFSET_Y_MSB_ADDR (0X58)
+#define BNO055_ACCEL_OFFSET_Z_LSB_ADDR (0X59)
+#define BNO055_ACCEL_OFFSET_Z_MSB_ADDR (0X5A)
/* Magnetometer Offset registers*/
-#define MAG_OFFSET_X_LSB_ADDR 0X5B
-#define MAG_OFFSET_X_MSB_ADDR 0X5C
-#define MAG_OFFSET_Y_LSB_ADDR 0X5D
-#define MAG_OFFSET_Y_MSB_ADDR 0X5E
-#define MAG_OFFSET_Z_LSB_ADDR 0X5F
-#define MAG_OFFSET_Z_MSB_ADDR 0X60
+#define BNO055_MAG_OFFSET_X_LSB_ADDR (0X5B)
+#define BNO055_MAG_OFFSET_X_MSB_ADDR (0X5C)
+#define BNO055_MAG_OFFSET_Y_LSB_ADDR (0X5D)
+#define BNO055_MAG_OFFSET_Y_MSB_ADDR (0X5E)
+#define BNO055_MAG_OFFSET_Z_LSB_ADDR (0X5F)
+#define BNO055_MAG_OFFSET_Z_MSB_ADDR (0X60)
/* Gyroscope Offset registers*/
-#define GYRO_OFFSET_X_LSB_ADDR 0X61
-#define GYRO_OFFSET_X_MSB_ADDR 0X62
-#define GYRO_OFFSET_Y_LSB_ADDR 0X63
-#define GYRO_OFFSET_Y_MSB_ADDR 0X64
-#define GYRO_OFFSET_Z_LSB_ADDR 0X65
-#define GYRO_OFFSET_Z_MSB_ADDR 0X66
+#define BNO055_GYRO_OFFSET_X_LSB_ADDR (0X61)
+#define BNO055_GYRO_OFFSET_X_MSB_ADDR (0X62)
+#define BNO055_GYRO_OFFSET_Y_LSB_ADDR (0X63)
+#define BNO055_GYRO_OFFSET_Y_MSB_ADDR (0X64)
+#define BNO055_GYRO_OFFSET_Z_LSB_ADDR (0X65)
+#define BNO055_GYRO_OFFSET_Z_MSB_ADDR (0X66)
/* Radius registers*/
-#define ACCEL_RADIUS_LSB_ADDR 0X67
-#define ACCEL_RADIUS_MSB_ADDR 0X68
-#define MAG_RADIUS_LSB_ADDR 0X69
-#define MAG_RADIUS_MSB_ADDR 0X6A
+#define BNO055_ACCEL_RADIUS_LSB_ADDR (0X67)
+#define BNO055_ACCEL_RADIUS_MSB_ADDR (0X68)
+#define BNO055_MAG_RADIUS_LSB_ADDR (0X69)
+#define BNO055_MAG_RADIUS_MSB_ADDR (0X6A)
/* PAGE0 REGISTERS DEFINITION END*/
/* PAGE1 REGISTERS DEFINITION START*/
/* Configuration registers*/
-#define ACCEL_CONFIG_ADDR 0X08
-#define MAG_CONFIG_ADDR 0X09
-#define GYRO_CONFIG_ADDR 0X0A
-#define GYRO_MODE_CONFIG_ADDR 0X0B
-#define ACCEL_SLEEP_CONFIG_ADDR 0X0C
-#define GYRO_SLEEP_CONFIG_ADDR 0X0D
-#define MAG_SLEEP_CONFIG_ADDR 0x0E
+#define BNO055_ACCEL_CONFIG_ADDR (0X08)
+#define BNO055_MAG_CONFIG_ADDR (0X09)
+#define BNO055_GYRO_CONFIG_ADDR (0X0A)
+#define BNO055_GYRO_MODE_CONFIG_ADDR (0X0B)
+#define BNO055_ACCEL_SLEEP_CONFIG_ADDR (0X0C)
+#define BNO055_GYRO_SLEEP_CONFIG_ADDR (0X0D)
+#define BNO055_MAG_SLEEP_CONFIG_ADDR (0x0E)
/* Interrupt registers*/
-#define INT_MASK_ADDR 0X0F
-#define INT_ADDR 0X10
-#define ACCEL_ANY_MOTION_THRES_ADDR 0X11
-#define ACCEL_INTR_SETTINGS_ADDR 0X12
-#define ACCEL_HIGH_G_DURN_ADDR 0X13
-#define ACCEL_HIGH_G_THRES_ADDR 0X14
-#define ACCEL_NO_MOTION_THRES_ADDR 0X15
-#define ACCEL_NO_MOTION_SET_ADDR 0X16
-#define GYRO_INTR_SETING_ADDR 0X17
-#define GYRO_HIGHRATE_X_SET_ADDR 0X18
-#define GYRO_DURN_X_ADDR 0X19
-#define GYRO_HIGHRATE_Y_SET_ADDR 0X1A
-#define GYRO_DURN_Y_ADDR 0X1B
-#define GYRO_HIGHRATE_Z_SET_ADDR 0X1C
-#define GYRO_DURN_Z_ADDR 0X1D
-#define GYRO_ANY_MOTION_THRES_ADDR 0X1E
-#define GYRO_ANY_MOTION_SET_ADDR 0X1F
+#define BNO055_INT_MASK_ADDR (0X0F)
+#define BNO055_INT_ADDR (0X10)
+#define BNO055_ACCEL_ANY_MOTION_THRES_ADDR (0X11)
+#define BNO055_ACCEL_INTR_SETTINGS_ADDR (0X12)
+#define BNO055_ACCEL_HIGH_G_DURN_ADDR (0X13)
+#define BNO055_ACCEL_HIGH_G_THRES_ADDR (0X14)
+#define BNO055_ACCEL_NO_MOTION_THRES_ADDR (0X15)
+#define BNO055_ACCEL_NO_MOTION_SET_ADDR (0X16)
+#define BNO055_GYRO_INTR_SETING_ADDR (0X17)
+#define BNO055_GYRO_HIGHRATE_X_SET_ADDR (0X18)
+#define BNO055_GYRO_DURN_X_ADDR (0X19)
+#define BNO055_GYRO_HIGHRATE_Y_SET_ADDR (0X1A)
+#define BNO055_GYRO_DURN_Y_ADDR (0X1B)
+#define BNO055_GYRO_HIGHRATE_Z_SET_ADDR (0X1C)
+#define BNO055_GYRO_DURN_Z_ADDR (0X1D)
+#define BNO055_GYRO_ANY_MOTION_THRES_ADDR (0X1E)
+#define BNO055_GYRO_ANY_MOTION_SET_ADDR (0X1F)
/* PAGE1 REGISTERS DEFINITION END*/
-#define BNO055_MDELAY_DATA_TYPE u32
+#define BNO055_MDELAY_DATA_TYPE u32
/*< This refers BNO055 return type as s8 */
-#define BNO055_RETURN_FUNCTION_TYPE s8
+#define BNO055_RETURN_FUNCTION_TYPE s8
/* Compile switch definition for Float and double*/
#define BNO055_FLOAT_ENABLE
/***************************************************/
/**\name CONSTANT DEFINITIONS */
/***************************************************/
-#define BNO055_ZERO_U8X ((u8)0)
-#define BNO055_ONE_U8X ((u8)1)
-#define BNO055_TWO_U8X ((u8)2)
-#define BNO055_FOUR_U8X ((u8)4)
-#define BNO055_FIVE_U8X ((u8)5)
-#define BNO055_SIX_U8X ((u8)6)
-#define BNO055_SEVEN_U8X ((u8)7)
-#define BNO055_ELEVEN_U8X ((u8)11)
-#define BNO055_SIXTEEN_U8X ((u8)16)
-#define BNO055_EIGHT_U8X ((u8)8)
-#define BNO055_TWENTY_U8X ((u8)20)
-#define BNO055_EIGHTEEN_U8X ((u8)18)
-
-
-#define BNO055_SHIFT_8_POSITION ((u8)8)
-
-
-/* BNO055 API error codes */
-#define E_NULL_PTR ((s8)-127)
-#define E_BNO055_OUT_OF_RANGE ((s8)-2)
-#define SUCCESS ((u8)0)
-#define ERROR ((s8)-1)
+#define BNO055_INIT_VALUE ((u8)0)
+#define BNO055_GEN_READ_WRITE_LENGTH ((u8)1)
+#define BNO055_LSB_MSB_READ_LENGTH ((u8)2)
+#define BNO055_MAG_POWER_MODE_RANGE ((u8)4)
+#define BNO055_MAG_OPR_MODE_RANGE ((u8)5)
+#define BNO055_ACCEL_POWER_MODE_RANGE ((u8)6)
+#define BNO055_ACCEL_SLEEP_DURATION_RANGE ((u8)16)
+#define BNO055_GYRO_AUTO_SLEEP_DURATION_RANGE ((u8)8)
+#define BNO055_ACCEL_GYRO_BW_RANGE ((u8)8)
+#define BNO055_MAG_OUTPUT_RANGE ((u8)8)
+#define BNO055_ACCEL_RANGE ((u8)5)
+#define BNO055_SHIFT_EIGHT_BITS ((u8)8)
+#define BNO055_GYRO_RANGE ((u8)5)
+#define BNO055_ACCEL_SLEEP_MODE_RANGE ((u8)2)
+/* BNO055 API BNO055_ERROR codes */
+#define BNO055_E_NULL_PTR ((s8)-127)
+#define BNO055_OUT_OF_RANGE ((s8)-2)
+#define BNO055_SUCCESS ((u8)0)
+#define BNO055_ERROR ((s8)-1)
/* Selection for bit enable and disable */
-#define ENABLED 0x01
-#define DISABLED 0x00
+#define BNO055_BIT_ENABLE (0x01)
+#define BNO055_BIT_DISABLE (0x00)
/* Page ID */
-#define PAGE_ZERO 0X00
-#define PAGE_ONE 0X01
+#define BNO055_PAGE_ZERO (0X00)
+#define BNO055_PAGE_ONE (0X01)
/* Enable the temperature source */
-#define ACCEL_TEMP_EN 0x00
-#define GYRO_TEMP_EN 0x01
-#define MCU_TEMP_EN 0x03
+#define BNO055_ACCEL_TEMP_EN (0x00)
+#define BNO055_GYRO_TEMP_EN (0x01)
+#define BNO055_MCU_TEMP_EN (0x03)
/*Accel unit*/
-#define ACCEL_UNIT_MSQ 0x00
-#define ACCEL_UNIT_MG 0x01
+#define BNO055_ACCEL_UNIT_MSQ (0x00)
+#define BNO055_ACCEL_UNIT_MG (0x01)
/*Gyro unit*/
-#define GYRO_UNIT_DPS 0x00
-#define GYRO_UNIT_RPS 0x01
+#define BNO055_GYRO_UNIT_DPS (0x00)
+#define BNO055_GYRO_UNIT_RPS (0x01)
/* Euler unit*/
-#define EULER_UNIT_DEG 0x00
-#define EULER_UNIT_RAD 0x01
+#define BNO055_EULER_UNIT_DEG (0x00)
+#define BNO055_EULER_UNIT_RAD (0x01)
/*Temperature unit*/
-#define TEMP_UNIT_CELSIUS 0x00
-#define TEMP_UNIT_FAHRENHEIT 0x01
+#define BNO055_TEMP_UNIT_CELSIUS (0x00)
+#define BNO055_TEMP_UNIT_FAHRENHEIT (0x01)
/*Accel division factor*/
-#define ACCEL_DIV_MSQ 100.0
-#define ACCEL_DIV_MG 1
+#define BNO055_ACCEL_DIV_MSQ (100.0)
+#define BNO055_ACCEL_DIV_MG (1)
/*Mag division factor*/
-#define MAG_DIV_UT 16.0
+#define BNO055_MAG_DIV_UT (16.0)
/*Gyro division factor*/
-#define GYRO_DIV_DPS 16.0
-#define GYRO_DIV_RPS 900.0
+#define BNO055_GYRO_DIV_DPS (16.0)
+#define BNO055_GYRO_DIV_RPS (900.0)
/*Euler division factor*/
-#define EULER_DIV_DEG 16.0
-#define EULER_DIV_RAD 900.0
+#define BNO055_EULER_DIV_DEG (16.0)
+#define BNO055_EULER_DIV_RAD (900.0)
/*Linear accel division factor*/
-#define LINEAR_ACCEL_DIV_MSQ 100.0
+#define BNO055_LINEAR_ACCEL_DIV_MSQ (100.0)
/*Gravity accel division factor*/
-#define GRAVITY_DIV_MSQ 100.0
+#define BNO055_GRAVITY_DIV_MSQ (100.0)
/* Temperature division factor*/
-#define TEMP_DIV_FAHRENHEIT 0.5
-#define TEMP_DIV_CELSIUS 1
+#define BNO055_TEMP_DIV_FAHRENHEIT (0.5)
+#define BNO055_TEMP_DIV_CELSIUS (1)
-#define BNO055_SIX_HUNDRES_U8X 600
+#define BNO055_MODE_SWITCHING_DELAY (600)
+#define BNO055_CONFIG_MODE_SWITCHING_DELAY ((u8)20)
/* Operation mode settings*/
-#define OPERATION_MODE_CONFIG 0X00
-#define OPERATION_MODE_ACCONLY 0X01
-#define OPERATION_MODE_MAGONLY 0X02
-#define OPERATION_MODE_GYRONLY 0X03
-#define OPERATION_MODE_ACCMAG 0X04
-#define OPERATION_MODE_ACCGYRO 0X05
-#define OPERATION_MODE_MAGGYRO 0X06
-#define OPERATION_MODE_AMG 0X07
-#define OPERATION_MODE_IMUPLUS 0X08
-#define OPERATION_MODE_COMPASS 0X09
-#define OPERATION_MODE_M4G 0X0A
-#define OPERATION_MODE_NDOF_FMC_OFF 0X0B
-#define OPERATION_MODE_NDOF 0X0C
+#define BNO055_OPERATION_MODE_CONFIG (0X00)
+#define BNO055_OPERATION_MODE_ACCONLY (0X01)
+#define BNO055_OPERATION_MODE_MAGONLY (0X02)
+#define BNO055_OPERATION_MODE_GYRONLY (0X03)
+#define BNO055_OPERATION_MODE_ACCMAG (0X04)
+#define BNO055_OPERATION_MODE_ACCGYRO (0X05)
+#define BNO055_OPERATION_MODE_MAGGYRO (0X06)
+#define BNO055_OPERATION_MODE_AMG (0X07)
+#define BNO055_OPERATION_MODE_IMUPLUS (0X08)
+#define BNO055_OPERATION_MODE_COMPASS (0X09)
+#define BNO055_OPERATION_MODE_M4G (0X0A)
+#define BNO055_OPERATION_MODE_NDOF_FMC_OFF (0X0B)
+#define BNO055_OPERATION_MODE_NDOF (0X0C)
/* Power mode*/
-#define POWER_MODE_NORMAL 0X00
-#define POWER_MODE_LOWPOWER 0X01
-#define POWER_MODE_SUSPEND 0X02
+#define BNO055_POWER_MODE_NORMAL (0X00)
+#define BNO055_POWER_MODE_LOWPOWER (0X01)
+#define BNO055_POWER_MODE_SUSPEND (0X02)
/* PAGE-1 definitions*/
/* Accel Range */
-#define ACCEL_RANGE_2G 0X00
-#define ACCEL_RANGE_4G 0X01
-#define ACCEL_RANGE_8G 0X02
-#define ACCEL_RANGE_16G 0X03
+#define BNO055_ACCEL_RANGE_2G (0X00)
+#define BNO055_ACCEL_RANGE_4G (0X01)
+#define BNO055_ACCEL_RANGE_8G (0X02)
+#define BNO055_ACCEL_RANGE_16G (0X03)
/* Accel Bandwidth*/
-#define ACCEL_BW_7_81HZ 0x00
-#define ACCEL_BW_15_63HZ 0x01
-#define ACCEL_BW_31_25HZ 0x02
-#define ACCEL_BW_62_5HZ 0X03
-#define ACCEL_BW_125HZ 0X04
-#define ACCEL_BW_250HZ 0X05
-#define ACCEL_BW_500HZ 0X06
-#define ACCEL_BW_1000HZ 0X07
+#define BNO055_ACCEL_BW_7_81HZ (0x00)
+#define BNO055_ACCEL_BW_15_63HZ (0x01)
+#define BNO055_ACCEL_BW_31_25HZ (0x02)
+#define BNO055_ACCEL_BW_62_5HZ (0X03)
+#define BNO055_ACCEL_BW_125HZ (0X04)
+#define BNO055_ACCEL_BW_250HZ (0X05)
+#define BNO055_ACCEL_BW_500HZ (0X06)
+#define BNO055_ACCEL_BW_1000HZ (0X07)
/* Accel Power mode*/
-#define ACCEL_NORMAL 0X00
-#define ACCEL_SUSPEND 0X01
-#define ACCEL_LOWPOWER_1 0X02
-#define ACCEL_STANDBY 0X03
-#define ACCEL_LOWPOWER_2 0X04
-#define ACCEL_DEEPSUSPEND 0X05
+#define BNO055_ACCEL_NORMAL (0X00)
+#define BNO055_ACCEL_SUSPEND (0X01)
+#define BNO055_ACCEL_LOWPOWER_1 (0X02)
+#define BNO055_ACCEL_STANDBY (0X03)
+#define BNO055_ACCEL_LOWPOWER_2 (0X04)
+#define BNO055_ACCEL_DEEPSUSPEND (0X05)
/* Mag data output rate*/
-#define MAG_DATA_OUTRATE_2HZ 0X00
-#define MAG_DATA_OUTRATE_6HZ 0X01
-#define MAG_DATA_OUTRATE_8HZ 0X02
-#define MAG_DATA_OUTRATE_10HZ 0X03
-#define MAG_DATA_OUTRATE_15HZ 0X04
-#define MAG_DATA_OUTRATE_20HZ 0X05
-#define MAG_DATA_OUTRATE_25HZ 0X06
-#define MAG_DATA_OUTRATE_30HZ 0X07
+#define BNO055_MAG_DATA_OUTRATE_2HZ (0X00)
+#define BNO055_MAG_DATA_OUTRATE_6HZ (0X01)
+#define BNO055_MAG_DATA_OUTRATE_8HZ (0X02)
+#define BNO055_MAG_DATA_OUTRATE_10HZ (0X03)
+#define BNO055_MAG_DATA_OUTRATE_15HZ (0X04)
+#define BNO055_MAG_DATA_OUTRATE_20HZ (0X05)
+#define BNO055_MAG_DATA_OUTRATE_25HZ (0X06)
+#define BNO055_MAG_DATA_OUTRATE_30HZ (0X07)
/* Mag Operation mode*/
-#define MAG_OPERATION_MODE_LOWPOWER 0X00
-#define MAG_OPERATION_MODE_REGULAR 0X01
-#define MAG_OPERATION_MODE_ENHANCED_REGULAR 0X02
-#define MAG_OPERATION_MODE_HIGH_ACCURACY 0X03
+#define BNO055_MAG_OPERATION_MODE_LOWPOWER (0X00)
+#define BNO055_MAG_OPERATION_MODE_REGULAR (0X01)
+#define BNO055_MAG_OPERATION_MODE_ENHANCED_REGULAR (0X02)
+#define BNO055_MAG_OPERATION_MODE_HIGH_ACCURACY (0X03)
/* Mag power mode*/
-#define MAG_POWER_MODE_NORMAL 0X00
-#define MAG_POWER_MODE_SLEEP 0X01
-#define MAG_POWER_MODE_SUSPEND 0X02
-#define MAG_POWER_MODE_FORCE_MODE 0X03
+#define BNO055_MAG_POWER_MODE_NORMAL (0X00)
+#define BNO055_MAG_POWER_MODE_SLEEP (0X01)
+#define BNO055_MAG_POWER_MODE_SUSPEND (0X02)
+#define BNO055_MAG_POWER_MODE_FORCE_MODE (0X03)
/* Gyro range*/
-#define GYRO_RANGE_2000DPS 0x00
-#define GYRO_RANGE_1000DPS 0x01
-#define GYRO_RANGE_500DPS 0x02
-#define GYRO_RANGE_250DPS 0x03
-#define GYRO_RANGE_125DPS 0x04
+#define BNO055_GYRO_RANGE_2000DPS (0x00)
+#define BNO055_GYRO_RANGE_1000DPS (0x01)
+#define BNO055_GYRO_RANGE_500DPS (0x02)
+#define BNO055_GYRO_RANGE_250DPS (0x03)
+#define BNO055_GYRO_RANGE_125DPS (0x04)
/* Gyro Bandwidth*/
-#define GYRO_BW_523HZ 0x00
-#define GYRO_BW_230HZ 0x01
-#define GYRO_BW_116HZ 0x02
-#define GYRO_BW_47HZ 0x03
-#define GYRO_BW_23HZ 0x04
-#define GYRO_BW_12HZ 0x05
-#define GYRO_BW_64HZ 0x06
-#define GYRO_BW_32HZ 0x07
+#define BNO055_GYRO_BW_523HZ (0x00)
+#define BNO055_GYRO_BW_230HZ (0x01)
+#define BNO055_GYRO_BW_116HZ (0x02)
+#define BNO055_GYRO_BW_47HZ (0x03)
+#define BNO055_GYRO_BW_23HZ (0x04)
+#define BNO055_GYRO_BW_12HZ (0x05)
+#define BNO055_GYRO_BW_64HZ (0x06)
+#define BNO055_GYRO_BW_32HZ (0x07)
/* Gyro power mode*/
-#define GYRO_POWER_MODE_NORMAL 0X00
-#define GYRO_POWER_MODE_FASTPOWERUP 0X01
-#define GYRO_POWER_MODE_DEEPSUSPEND 0X02
-#define GYRO_POWER_MODE_SUSPEND 0X03
-#define GYRO_POWER_MODE_ADVANCE_POWERSAVE 0X04
+#define BNO055_GYRO_POWER_MODE_NORMAL (0X00)
+#define BNO055_GYRO_POWER_MODE_FASTPOWERUP (0X01)
+#define BNO055_GYRO_POWER_MODE_DEEPSUSPEND (0X02)
+#define BNO055_GYRO_POWER_MODE_SUSPEND (0X03)
+#define BNO055_GYRO_POWER_MODE_ADVANCE_POWERSAVE (0X04)
/* Accel Sleep Duration */
-#define BNO055_ACCEL_SLEEP_DURN_0_5MS 0x05
+#define BNO055_ACCEL_SLEEP_DURN_0_5MS (0x05)
/* sets sleep duration to 0.5 ms */
-#define BNO055_ACCEL_SLEEP_DURN_1MS 0x06
+#define BNO055_ACCEL_SLEEP_DURN_1MS (0x06)
/* sets sleep duration to 1 ms */
-#define BNO055_ACCEL_SLEEP_DURN_2MS 0x07
+#define BNO055_ACCEL_SLEEP_DURN_2MS (0x07)
/* sets sleep duration to 2 ms */
-#define BNO055_ACCEL_SLEEP_DURN_4MS 0x08
+#define BNO055_ACCEL_SLEEP_DURN_4MS (0x08)
/* sets sleep duration to 4 ms */
-#define BNO055_ACCEL_SLEEP_DURN_6MS 0x09
+#define BNO055_ACCEL_SLEEP_DURN_6MS (0x09)
/* sets sleep duration to 6 ms*/
-#define BNO055_ACCEL_SLEEP_DURN_10MS 0x0A
+#define BNO055_ACCEL_SLEEP_DURN_10MS (0x0A)
/* sets sleep duration to 10 ms */
-#define BNO055_ACCEL_SLEEP_DURN_25MS 0x0B
+#define BNO055_ACCEL_SLEEP_DURN_25MS (0x0B)
/* sets sleep duration to 25 ms */
-#define BNO055_ACCEL_SLEEP_DURN_50MS 0x0C
+#define BNO055_ACCEL_SLEEP_DURN_50MS (0x0C)
/* sets sleep duration to 50 ms */
-#define BNO055_ACCEL_SLEEP_DURN_100MS 0x0D
+#define BNO055_ACCEL_SLEEP_DURN_100MS (0x0D)
/* sets sleep duration to 100 ms */
-#define BNO055_ACCEL_SLEEP_DURN_500MS 0x0E
+#define BNO055_ACCEL_SLEEP_DURN_500MS (0x0E)
/* sets sleep duration to 500 ms */
-#define BNO055_ACCEL_SLEEP_DURN_1S 0x0F
+#define BNO055_ACCEL_SLEEP_DURN_1S (0x0F)
/* sets sleep duration to 1 s */
/* Gyro Auto sleep duration*/
-#define BNO055_GYRO_No_AUTOSLPDUR 0x00
-#define BNO055_GYRO_4MS_AUTOSLPDUR 0x01
-#define BNO055_GYRO_5MS_AUTOSLPDUR 0x02
-#define BNO055_GYRO_8MS_AUTOSLPDUR 0x03
-#define BNO055_GYRO_10MS_AUTOSLPDUR 0x04
-#define BNO055_GYRO_15MS_AUTOSLPDUR 0x05
-#define BNO055_GYRO_20MS_AUTOSLPDUR 0x06
-#define BNO055_GYRO_40MS_AUTOSLPDUR 0x07
+#define BNO055_GYRO_No_AUTOSLPDUR (0x00)
+#define BNO055_GYRO_4MS_AUTOSLPDUR (0x01)
+#define BNO055_GYRO_5MS_AUTOSLPDUR (0x02)
+#define BNO055_GYRO_8MS_AUTOSLPDUR (0x03)
+#define BNO055_GYRO_10MS_AUTOSLPDUR (0x04)
+#define BNO055_GYRO_15MS_AUTOSLPDUR (0x05)
+#define BNO055_GYRO_20MS_AUTOSLPDUR (0x06)
+#define BNO055_GYRO_40MS_AUTOSLPDUR (0x07)
/* Accel Any/No motion axis selection*/
-#define BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS 0
-#define BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS 1
-#define BNO055_ACCEL_ANY_MOTION_NO_MOTION_Z_AXIS 2
+#define BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS (0)
+#define BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS (1)
+#define BNO055_ACCEL_ANY_MOTION_NO_MOTION_Z_AXIS (2)
/* Accel High g axis selection*/
-#define BNO055_ACCEL_HIGH_G_X_AXIS 0
-#define BNO055_ACCEL_HIGH_G_Y_AXIS 1
-#define BNO055_ACCEL_HIGH_G_Z_AXIS 2
+#define BNO055_ACCEL_HIGH_G_X_AXIS (0)
+#define BNO055_ACCEL_HIGH_G_Y_AXIS (1)
+#define BNO055_ACCEL_HIGH_G_Z_AXIS (2)
/* Gyro Any motion axis selection*/
-#define BNO055_GYRO_ANY_MOTION_X_AXIS 0
-#define BNO055_GYRO_ANY_MOTION_Y_AXIS 1
-#define BNO055_GYRO_ANY_MOTION_Z_AXIS 2
+#define BNO055_GYRO_ANY_MOTION_X_AXIS (0)
+#define BNO055_GYRO_ANY_MOTION_Y_AXIS (1)
+#define BNO055_GYRO_ANY_MOTION_Z_AXIS (2)
/* Gyro High rate axis selection*/
-#define BNO055_GYRO_HIGHRATE_X_AXIS 0
-#define BNO055_GYRO_HIGHRATE_Y_AXIS 1
-#define BNO055_GYRO_HIGHRATE_Z_AXIS 2
+#define BNO055_GYRO_HIGHRATE_X_AXIS (0)
+#define BNO055_GYRO_HIGHRATE_Y_AXIS (1)
+#define BNO055_GYRO_HIGHRATE_Z_AXIS (2)
/* Axis remap values*/
-#define REMAP_X_Y 0X21
-#define REMAP_Y_Z 0X18
-#define REMAP_Z_X 0X06
-#define REMAP_X_Y_Z_TYPE0 0X12
-#define REMAP_X_Y_Z_TYPE1 0X09
-#define DEFAULT_AXIS 0X24
+#define BNO055_REMAP_X_Y (0X21)
+#define BNO055_REMAP_Y_Z (0X18)
+#define BNO055_REMAP_Z_X (0X06)
+#define BNO055_REMAP_X_Y_Z_TYPE0 (0X12)
+#define BNO055_REMAP_X_Y_Z_TYPE1 (0X09)
+#define BNO055_DEFAULT_AXIS (0X24)
/* Axis remap sign */
-#define REMAP_AXIS_POSITIVE 0X00
-#define REMAP_AXIS_NEGATIVE 0X01
+#define BNO055_REMAP_AXIS_POSITIVE (0X00)
+#define BNO055_REMAP_AXIS_NEGATIVE (0X01)
/* Gyro anymotion and high rate filter configuration */
-#define FILTERED 0x00
-#define UNFILTERED 0x01
+#define BNO055_GYRO_FILTERED_CONFIG (0x00)
+#define BNO055_GYRO_UNFILTERED_CONFIG (0x01)
/* mask definitions*/
-#define BNO055_SIC_HEX_0_0_F_F_DATA 0x00FF
+#define BNO055_SIC_HEX_0_0_F_F_DATA (0x00FF)
/****************************************************/
/**\name ARRAY SIZE DEFINITIONS */
/***************************************************/
-#define ARRAY_SIZE_TWO 2
-#define ARRAY_SIZE_THREE 3
-#define ARRAY_SIZE_SIX 6
-#define ARRAY_SIZE_FIVE 5
-#define ARRAY_SIZE_EIGHT 8
-#define ARRAY_SIZE_TWELVE 12
-#define ARRAY_SIZE_FOURTEEN 14
-#define ARRAY_SIZE_EIGHTEEN 18
-#define ARRAY_SIZE_TWENTY_SIX 26
-
-#define INDEX_ZERO 0
-#define INDEX_ONE 1
-#define INDEX_TWO 2
-#define INDEX_THREE 3
-#define INDEX_FOUR 4
-#define INDEX_FIVE 5
-#define INDEX_SIX 6
-#define INDEX_SEVEN 7
-#define INDEX_EIGHT 8
-#define INDEX_NINE 9
-#define INDEX_TEN 10
-#define INDEX_ELEVEN 11
-#define INDEX_TWELVE 12
-#define INDEX_THIRTEEN 13
-#define INDEX_FOURTEEN 14
-#define INDEX_FIVETEEN 15
-#define INDEX_SIXTEEN 16
-#define INDEX_SEVENTEEN 17
-#define INDEX_EIGHTEEN 18
-#define INDEX_NINETEEN 19
-#define INDEX_TWENTY 20
-#define INDEX_TWENTY_ONE 21
-#define INDEX_TWENTY_TWO 22
-#define INDEX_TWENTY_THREE 23
-#define INDEX_TWENTY_FIVE 25
-/****************************************************/
-/**\name ARRAY PARAMETERS */
-/***************************************************/
-#define LSB_ZERO 0
-#define MSB_ONE 1
-#define LSB_TWO 2
-#define MSB_THREE 3
-#define LSB_FOUR 4
-#define MSB_FIVE 5
-#define LSB_SIX 6
-#define MSB_SEVEN 7
+#define BNO055_REV_ID_SIZE (2)
+#define BNO055_ACCEL_DATA_SIZE (2)
+#define BNO055_ACCEL_XYZ_DATA_SIZE (6)
+#define BNO055_MAG_DATA_SIZE (2)
+#define BNO055_MAG_XYZ_DATA_SIZE (6)
+#define BNO055_GYRO_DATA_SIZE (2)
+#define BNO055_GYRO_XYZ_DATA_SIZE (6)
+#define BNO055_EULER_DATA_SIZE (2)
+#define BNO055_EULER_HRP_DATA_SIZE (6)
+#define BNO055_QUATERNION_DATA_SIZE (2)
+#define BNO055_QUATERNION_WXYZ_DATA_SIZE (8)
+#define BNO055_GRAVITY_DATA_SIZE (2)
+#define BNO055_GRAVITY_XYZ_DATA_SIZE (6)
+#define BNO055_ACCEL_OFFSET_ARRAY (6)
+#define BNO055_MAG_OFFSET_ARRAY (6)
+#define BNO055_GYRO_OFFSET_ARRAY (6)
+#define BNO055_SOFT_IRON_CALIBRATION_MATRIX_SIZE (18)
+
+
+/*ARRAY INDEX DEFINITIONS*/
+#define BNO055_SW_ID_LSB (0)
+#define BNO055_SW_ID_MSB (1)
+#define BNO055_SENSOR_DATA_LSB (0)
+#define BNO055_SENSOR_DATA_MSB (1)
+#define BNO055_SENSOR_DATA_EULER_LSB (0)
+#define BNO055_SENSOR_DATA_EULER_MSB (1)
+#define BNO055_SENSOR_DATA_QUATERNION_LSB (0)
+#define BNO055_SENSOR_DATA_QUATERNION_MSB (1)
+
+#define BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_LSB (0)
+#define BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_MSB (1)
+#define BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_LSB (2)
+#define BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_MSB (3)
+#define BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_LSB (4)
+#define BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_MSB (5)
+#define BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_LSB (6)
+#define BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_MSB (7)
+
+#define BNO055_SENSOR_DATA_XYZ_X_LSB (0)
+#define BNO055_SENSOR_DATA_XYZ_X_MSB (1)
+#define BNO055_SENSOR_DATA_XYZ_Y_LSB (2)
+#define BNO055_SENSOR_DATA_XYZ_Y_MSB (3)
+#define BNO055_SENSOR_DATA_XYZ_Z_LSB (4)
+#define BNO055_SENSOR_DATA_XYZ_Z_MSB (5)
+
+
+#define BNO055_SENSOR_DATA_EULER_HRP_H_LSB (0)
+#define BNO055_SENSOR_DATA_EULER_HRP_H_MSB (1)
+#define BNO055_SENSOR_DATA_EULER_HRP_R_LSB (2)
+#define BNO055_SENSOR_DATA_EULER_HRP_R_MSB (3)
+#define BNO055_SENSOR_DATA_EULER_HRP_P_LSB (4)
+#define BNO055_SENSOR_DATA_EULER_HRP_P_MSB (5)
+
+#define BNO055_SOFT_IRON_CALIB_0_LSB (0)
+#define BNO055_SOFT_IRON_CALIB_0_MSB (1)
+#define BNO055_SOFT_IRON_CALIB_1_LSB (2)
+#define BNO055_SOFT_IRON_CALIB_1_MSB (3)
+#define BNO055_SOFT_IRON_CALIB_2_LSB (4)
+#define BNO055_SOFT_IRON_CALIB_2_MSB (5)
+#define BNO055_SOFT_IRON_CALIB_3_LSB (6)
+#define BNO055_SOFT_IRON_CALIB_3_MSB (7)
+#define BNO055_SOFT_IRON_CALIB_4_LSB (8)
+#define BNO055_SOFT_IRON_CALIB_4_MSB (9)
+#define BNO055_SOFT_IRON_CALIB_5_LSB (10)
+#define BNO055_SOFT_IRON_CALIB_5_MSB (11)
+#define BNO055_SOFT_IRON_CALIB_6_LSB (12)
+#define BNO055_SOFT_IRON_CALIB_6_MSB (13)
+#define BNO055_SOFT_IRON_CALIB_7_LSB (14)
+#define BNO055_SOFT_IRON_CALIB_7_MSB (15)
+#define BNO055_SOFT_IRON_CALIB_8_LSB (16)
+#define BNO055_SOFT_IRON_CALIB_8_MSB (17)
+
+#define BNO055_SENSOR_OFFSET_DATA_X_LSB (0)
+#define BNO055_SENSOR_OFFSET_DATA_X_MSB (1)
+#define BNO055_SENSOR_OFFSET_DATA_Y_LSB (2)
+#define BNO055_SENSOR_OFFSET_DATA_Y_MSB (3)
+#define BNO055_SENSOR_OFFSET_DATA_Z_LSB (4)
+#define BNO055_SENSOR_OFFSET_DATA_Z_MSB (5)
+
+#define BNO055_OFFSET_RADIUS_LSB (0)
+#define BNO055_OFFSET_RADIUS_MSB (1)
/*********************************************************/
/**\name PAGE0 DATA REGISTERS DEFINITION */
/*********************************************************/
/* Chip ID */
-#define BNO055_CHIP_ID__POS 0
-#define BNO055_CHIP_ID__MSK 0xFF
-#define BNO055_CHIP_ID__LEN 8
-#define BNO055_CHIP_ID__REG BNO055_CHIP_ID_ADDR
+#define BNO055_CHIP_ID_POS (0)
+#define BNO055_CHIP_ID_MSK (0xFF)
+#define BNO055_CHIP_ID_LEN (8)
+#define BNO055_CHIP_ID_REG BNO055_CHIP_ID_ADDR
/* Accel revision id*/
-#define BNO055_ACCEL_REV_ID__POS 0
-#define BNO055_ACCEL_REV_ID__MSK 0xFF
-#define BNO055_ACCEL_REV_ID__LEN 8
-#define BNO055_ACCEL_REV_ID__REG BNO055_ACCEL_REV_ID_ADDR
+#define BNO055_ACCEL_REV_ID_POS (0)
+#define BNO055_ACCEL_REV_ID_MSK (0xFF)
+#define BNO055_ACCEL_REV_ID_LEN (8)
+#define BNO055_ACCEL_REV_ID_REG BNO055_ACCEL_REV_ID_ADDR
/* Mag revision id*/
-#define BNO055_MAG_REV_ID__POS 0
-#define BNO055_MAG_REV_ID__MSK 0xFF
-#define BNO055_MAG_REV_ID__LEN 8
-#define BNO055_MAG_REV_ID__REG BNO055_MAG_REV_ID_ADDR
+#define BNO055_MAG_REV_ID_POS (0)
+#define BNO055_MAG_REV_ID_MSK (0xFF)
+#define BNO055_MAG_REV_ID_LEN (8)
+#define BNO055_MAG_REV_ID_REG BNO055_MAG_REV_ID_ADDR
/* Gyro revision id*/
-#define BNO055_GYRO_REV_ID__POS 0
-#define BNO055_GYRO_REV_ID__MSK 0xFF
-#define BNO055_GYRO_REV_ID__LEN 8
-#define BNO055_GYRO_REV_ID__REG BNO055_GYRO_REV_ID_ADDR
+#define BNO055_GYRO_REV_ID_POS (0)
+#define BNO055_GYRO_REV_ID_MSK (0xFF)
+#define BNO055_GYRO_REV_ID_LEN (8)
+#define BNO055_GYRO_REV_ID_REG BNO055_GYRO_REV_ID_ADDR
/*Software revision id LSB*/
-#define BNO055_SW_REV_ID_LSB__POS 0
-#define BNO055_SW_REV_ID_LSB__MSK 0xFF
-#define BNO055_SW_REV_ID_LSB__LEN 8
-#define BNO055_SW_REV_ID_LSB__REG BNO055_SW_REV_ID_LSB_ADDR
+#define BNO055_SW_REV_ID_LSB_POS (0)
+#define BNO055_SW_REV_ID_LSB_MSK (0xFF)
+#define BNO055_SW_REV_ID_LSB_LEN (8)
+#define BNO055_SW_REV_ID_LSB_REG BNO055_SW_REV_ID_LSB_ADDR
/*Software revision id MSB*/
-#define BNO055_SW_REV_ID_MSB__POS 0
-#define BNO055_SW_REV_ID_MSB__MSK 0xFF
-#define BNO055_SW_REV_ID_MSB__LEN 8
-#define BNO055_SW_REV_ID_MSB__REG BNO055_SW_REV_ID_MSB_ADDR
+#define BNO055_SW_REV_ID_MSB_POS (0)
+#define BNO055_SW_REV_ID_MSB_MSK (0xFF)
+#define BNO055_SW_REV_ID_MSB_LEN (8)
+#define BNO055_SW_REV_ID_MSB_REG BNO055_SW_REV_ID_MSB_ADDR
/* BOOTLODER revision id*/
-#define BNO055_BL_REV_ID__POS 0
-#define BNO055_BL_REV_ID__MSK 0xFF
-#define BNO055_BL_REV_ID__LEN 8
-#define BNO055_BL_REV_ID__REG BNO055_BL_REV_ID_ADDR
+#define BNO055_BL_REV_ID_POS (0)
+#define BNO055_BL_REV_ID_MSK (0xFF)
+#define BNO055_BL_REV_ID_LEN (8)
+#define BNO055_BL_REV_ID_REG BNO055_BL_REV_ID_ADDR
/*Page id*/
-#define BNO055_PAGE_ID__POS 0
-#define BNO055_PAGE_ID__MSK 0xFF
-#define BNO055_PAGE_ID__LEN 8
-#define BNO055_PAGE_ID__REG BNO055_PAGE_ID_ADDR
+#define BNO055_PAGE_ID_POS (0)
+#define BNO055_PAGE_ID_MSK (0xFF)
+#define BNO055_PAGE_ID_LEN (8)
+#define BNO055_PAGE_ID_REG BNO055_PAGE_ID_ADDR
/* Accel data X-LSB register*/
-#define BNO055_ACCEL_DATA_X_LSB_VALUEX__POS 0
-#define BNO055_ACCEL_DATA_X_LSB_VALUEX__MSK 0xFF
-#define BNO055_ACCEL_DATA_X_LSB_VALUEX__LEN 8
-#define BNO055_ACCEL_DATA_X_LSB_VALUEX__REG \
+#define BNO055_ACCEL_DATA_X_LSB_VALUEX_POS (0)
+#define BNO055_ACCEL_DATA_X_LSB_VALUEX_MSK (0xFF)
+#define BNO055_ACCEL_DATA_X_LSB_VALUEX_LEN (8)
+#define BNO055_ACCEL_DATA_X_LSB_VALUEX_REG \
BNO055_ACCEL_DATA_X_LSB_ADDR
/* Accel data X-MSB register*/
-#define BNO055_ACCEL_DATA_X_MSB_VALUEX__POS 0
-#define BNO055_ACCEL_DATA_X_MSB_VALUEX__MSK 0xFF
-#define BNO055_ACCEL_DATA_X_MSB_VALUEX__LEN 8
-#define BNO055_ACCEL_DATA_X_MSB_VALUEX__REG \
+#define BNO055_ACCEL_DATA_X_MSB_VALUEX_POS (0)
+#define BNO055_ACCEL_DATA_X_MSB_VALUEX_MSK (0xFF)
+#define BNO055_ACCEL_DATA_X_MSB_VALUEX_LEN (8)
+#define BNO055_ACCEL_DATA_X_MSB_VALUEX_REG \
BNO055_ACCEL_DATA_X_MSB_ADDR
/* Accel data Y-LSB register*/
-#define BNO055_ACCEL_DATA_Y_LSB_VALUEY__POS 0
-#define BNO055_ACCEL_DATA_Y_LSB_VALUEY__MSK 0xFF
-#define BNO055_ACCEL_DATA_Y_LSB_VALUEY__LEN 8
-#define BNO055_ACCEL_DATA_Y_LSB_VALUEY__REG \
+#define BNO055_ACCEL_DATA_Y_LSB_VALUEY_POS (0)
+#define BNO055_ACCEL_DATA_Y_LSB_VALUEY_MSK (0xFF)
+#define BNO055_ACCEL_DATA_Y_LSB_VALUEY_LEN (8)
+#define BNO055_ACCEL_DATA_Y_LSB_VALUEY_REG \
BNO055_ACCEL_DATA_Y_LSB_ADDR
/* Accel data Y-MSB register*/
-#define BNO055_ACCEL_DATA_Y_MSB_VALUEY__POS 0
-#define BNO055_ACCEL_DATA_Y_MSB_VALUEY__MSK 0xFF
-#define BNO055_ACCEL_DATA_Y_MSB_VALUEY__LEN 8
-#define BNO055_ACCEL_DATA_Y_MSB_VALUEY__REG \
+#define BNO055_ACCEL_DATA_Y_MSB_VALUEY_POS (0)
+#define BNO055_ACCEL_DATA_Y_MSB_VALUEY_MSK (0xFF)
+#define BNO055_ACCEL_DATA_Y_MSB_VALUEY_LEN (8)
+#define BNO055_ACCEL_DATA_Y_MSB_VALUEY_REG \
BNO055_ACCEL_DATA_Y_MSB_ADDR
/* Accel data Z-LSB register*/
-#define BNO055_ACCEL_DATA_Z_LSB_VALUEZ__POS 0
-#define BNO055_ACCEL_DATA_Z_LSB_VALUEZ__MSK 0xFF
-#define BNO055_ACCEL_DATA_Z_LSB_VALUEZ__LEN 8
-#define BNO055_ACCEL_DATA_Z_LSB_VALUEZ__REG \
+#define BNO055_ACCEL_DATA_Z_LSB_VALUEZ_POS (0)
+#define BNO055_ACCEL_DATA_Z_LSB_VALUEZ_MSK (0xFF)
+#define BNO055_ACCEL_DATA_Z_LSB_VALUEZ_LEN (8)
+#define BNO055_ACCEL_DATA_Z_LSB_VALUEZ_REG \
BNO055_ACCEL_DATA_Z_LSB_ADDR
/* Accel data Z-MSB register*/
-#define BNO055_ACCEL_DATA_Z_MSB_VALUEZ__POS 0
-#define BNO055_ACCEL_DATA_Z_MSB_VALUEZ__MSK 0xFF
-#define BNO055_ACCEL_DATA_Z_MSB_VALUEZ__LEN 8
-#define BNO055_ACCEL_DATA_Z_MSB_VALUEZ__REG \
+#define BNO055_ACCEL_DATA_Z_MSB_VALUEZ_POS (0)
+#define BNO055_ACCEL_DATA_Z_MSB_VALUEZ_MSK (0xFF)
+#define BNO055_ACCEL_DATA_Z_MSB_VALUEZ_LEN (8)
+#define BNO055_ACCEL_DATA_Z_MSB_VALUEZ_REG \
BNO055_ACCEL_DATA_Z_MSB_ADDR
/* Mag data X-LSB register*/
-#define BNO055_MAG_DATA_X_LSB_VALUEX__POS 0
-#define BNO055_MAG_DATA_X_LSB_VALUEX__MSK 0xFF
-#define BNO055_MAG_DATA_X_LSB_VALUEX__LEN 8
-#define BNO055_MAG_DATA_X_LSB_VALUEX__REG \
+#define BNO055_MAG_DATA_X_LSB_VALUEX_POS (0)
+#define BNO055_MAG_DATA_X_LSB_VALUEX_MSK (0xFF)
+#define BNO055_MAG_DATA_X_LSB_VALUEX_LEN (8)
+#define BNO055_MAG_DATA_X_LSB_VALUEX_REG \
BNO055_MAG_DATA_X_LSB_ADDR
/* Mag data X-MSB register*/
-#define BNO055_MAG_DATA_X_MSB_VALUEX__POS 0
-#define BNO055_MAG_DATA_X_MSB_VALUEX__MSK 0xFF
-#define BNO055_MAG_DATA_X_MSB_VALUEX__LEN 8
-#define BNO055_MAG_DATA_X_MSB_VALUEX__REG BNO055_MAG_DATA_X_MSB_ADDR
+#define BNO055_MAG_DATA_X_MSB_VALUEX_POS (0)
+#define BNO055_MAG_DATA_X_MSB_VALUEX_MSK (0xFF)
+#define BNO055_MAG_DATA_X_MSB_VALUEX_LEN (8)
+#define BNO055_MAG_DATA_X_MSB_VALUEX_REG BNO055_MAG_DATA_X_MSB_ADDR
/* Mag data Y-LSB register*/
-#define BNO055_MAG_DATA_Y_LSB_VALUEY__POS 0
-#define BNO055_MAG_DATA_Y_LSB_VALUEY__MSK 0xFF
-#define BNO055_MAG_DATA_Y_LSB_VALUEY__LEN 8
-#define BNO055_MAG_DATA_Y_LSB_VALUEY__REG BNO055_MAG_DATA_Y_LSB_ADDR
+#define BNO055_MAG_DATA_Y_LSB_VALUEY_POS (0)
+#define BNO055_MAG_DATA_Y_LSB_VALUEY_MSK (0xFF)
+#define BNO055_MAG_DATA_Y_LSB_VALUEY_LEN (8)
+#define BNO055_MAG_DATA_Y_LSB_VALUEY_REG BNO055_MAG_DATA_Y_LSB_ADDR
/* Mag data Y-MSB register*/
-#define BNO055_MAG_DATA_Y_MSB_VALUEY__POS 0
-#define BNO055_MAG_DATA_Y_MSB_VALUEY__MSK 0xFF
-#define BNO055_MAG_DATA_Y_MSB_VALUEY__LEN 8
-#define BNO055_MAG_DATA_Y_MSB_VALUEY__REG BNO055_MAG_DATA_Y_MSB_ADDR
+#define BNO055_MAG_DATA_Y_MSB_VALUEY_POS (0)
+#define BNO055_MAG_DATA_Y_MSB_VALUEY_MSK (0xFF)
+#define BNO055_MAG_DATA_Y_MSB_VALUEY_LEN (8)
+#define BNO055_MAG_DATA_Y_MSB_VALUEY_REG BNO055_MAG_DATA_Y_MSB_ADDR
/* Mag data Z-LSB register*/
-#define BNO055_MAG_DATA_Z_LSB_VALUEZ__POS 0
-#define BNO055_MAG_DATA_Z_LSB_VALUEZ__MSK 0xFF
-#define BNO055_MAG_DATA_Z_LSB_VALUEZ__LEN 8
-#define BNO055_MAG_DATA_Z_LSB_VALUEZ__REG BNO055_MAG_DATA_Z_LSB_ADDR
+#define BNO055_MAG_DATA_Z_LSB_VALUEZ_POS (0)
+#define BNO055_MAG_DATA_Z_LSB_VALUEZ_MSK (0xFF)
+#define BNO055_MAG_DATA_Z_LSB_VALUEZ_LEN (8)
+#define BNO055_MAG_DATA_Z_LSB_VALUEZ_REG BNO055_MAG_DATA_Z_LSB_ADDR
/* Mag data Z-MSB register*/
-#define BNO055_MAG_DATA_Z_MSB_VALUEZ__POS 0
-#define BNO055_MAG_DATA_Z_MSB_VALUEZ__MSK 0xFF
-#define BNO055_MAG_DATA_Z_MSB_VALUEZ__LEN 8
-#define BNO055_MAG_DATA_Z_MSB_VALUEZ__REG BNO055_MAG_DATA_Z_MSB_ADDR
+#define BNO055_MAG_DATA_Z_MSB_VALUEZ_POS (0)
+#define BNO055_MAG_DATA_Z_MSB_VALUEZ_MSK (0xFF)
+#define BNO055_MAG_DATA_Z_MSB_VALUEZ_LEN (8)
+#define BNO055_MAG_DATA_Z_MSB_VALUEZ_REG BNO055_MAG_DATA_Z_MSB_ADDR
/* Gyro data X-LSB register*/
-#define BNO055_GYRO_DATA_X_LSB_VALUEX__POS 0
-#define BNO055_GYRO_DATA_X_LSB_VALUEX__MSK 0xFF
-#define BNO055_GYRO_DATA_X_LSB_VALUEX__LEN 8
-#define BNO055_GYRO_DATA_X_LSB_VALUEX__REG BNO055_GYRO_DATA_X_LSB_ADDR
+#define BNO055_GYRO_DATA_X_LSB_VALUEX_POS (0)
+#define BNO055_GYRO_DATA_X_LSB_VALUEX_MSK (0xFF)
+#define BNO055_GYRO_DATA_X_LSB_VALUEX_LEN (8)
+#define BNO055_GYRO_DATA_X_LSB_VALUEX_REG BNO055_GYRO_DATA_X_LSB_ADDR
/* Gyro data X-MSB register*/
-#define BNO055_GYRO_DATA_X_MSB_VALUEX__POS 0
-#define BNO055_GYRO_DATA_X_MSB_VALUEX__MSK 0xFF
-#define BNO055_GYRO_DATA_X_MSB_VALUEX__LEN 8
-#define BNO055_GYRO_DATA_X_MSB_VALUEX__REG BNO055_GYRO_DATA_X_MSB_ADDR
+#define BNO055_GYRO_DATA_X_MSB_VALUEX_POS (0)
+#define BNO055_GYRO_DATA_X_MSB_VALUEX_MSK (0xFF)
+#define BNO055_GYRO_DATA_X_MSB_VALUEX_LEN (8)
+#define BNO055_GYRO_DATA_X_MSB_VALUEX_REG BNO055_GYRO_DATA_X_MSB_ADDR
/* Gyro data Y-LSB register*/
-#define BNO055_GYRO_DATA_Y_LSB_VALUEY__POS 0
-#define BNO055_GYRO_DATA_Y_LSB_VALUEY__MSK 0xFF
-#define BNO055_GYRO_DATA_Y_LSB_VALUEY__LEN 8
-#define BNO055_GYRO_DATA_Y_LSB_VALUEY__REG BNO055_GYRO_DATA_Y_LSB_ADDR
+#define BNO055_GYRO_DATA_Y_LSB_VALUEY_POS (0)
+#define BNO055_GYRO_DATA_Y_LSB_VALUEY_MSK (0xFF)
+#define BNO055_GYRO_DATA_Y_LSB_VALUEY_LEN (8)
+#define BNO055_GYRO_DATA_Y_LSB_VALUEY_REG BNO055_GYRO_DATA_Y_LSB_ADDR
/* Gyro data Y-MSB register*/
-#define BNO055_GYRO_DATA_Y_MSB_VALUEY__POS 0
-#define BNO055_GYRO_DATA_Y_MSB_VALUEY__MSK 0xFF
-#define BNO055_GYRO_DATA_Y_MSB_VALUEY__LEN 8
-#define BNO055_GYRO_DATA_Y_MSB_VALUEY__REG BNO055_GYRO_DATA_Y_MSB_ADDR
+#define BNO055_GYRO_DATA_Y_MSB_VALUEY_POS (0)
+#define BNO055_GYRO_DATA_Y_MSB_VALUEY_MSK (0xFF)
+#define BNO055_GYRO_DATA_Y_MSB_VALUEY_LEN (8)
+#define BNO055_GYRO_DATA_Y_MSB_VALUEY_REG BNO055_GYRO_DATA_Y_MSB_ADDR
/* Gyro data Z-LSB register*/
-#define BNO055_GYRO_DATA_Z_LSB_VALUEZ__POS 0
-#define BNO055_GYRO_DATA_Z_LSB_VALUEZ__MSK 0xFF
-#define BNO055_GYRO_DATA_Z_LSB_VALUEZ__LEN 8
-#define BNO055_GYRO_DATA_Z_LSB_VALUEZ__REG BNO055_GYRO_DATA_Z_LSB_ADDR
+#define BNO055_GYRO_DATA_Z_LSB_VALUEZ_POS (0)
+#define BNO055_GYRO_DATA_Z_LSB_VALUEZ_MSK (0xFF)
+#define BNO055_GYRO_DATA_Z_LSB_VALUEZ_LEN (8)
+#define BNO055_GYRO_DATA_Z_LSB_VALUEZ_REG BNO055_GYRO_DATA_Z_LSB_ADDR
/* Gyro data Z-MSB register*/
-#define BNO055_GYRO_DATA_Z_MSB_VALUEZ__POS 0
-#define BNO055_GYRO_DATA_Z_MSB_VALUEZ__MSK 0xFF
-#define BNO055_GYRO_DATA_Z_MSB_VALUEZ__LEN 8
-#define BNO055_GYRO_DATA_Z_MSB_VALUEZ__REG BNO055_GYRO_DATA_Z_MSB_ADDR
+#define BNO055_GYRO_DATA_Z_MSB_VALUEZ_POS (0)
+#define BNO055_GYRO_DATA_Z_MSB_VALUEZ_MSK (0xFF)
+#define BNO055_GYRO_DATA_Z_MSB_VALUEZ_LEN (8)
+#define BNO055_GYRO_DATA_Z_MSB_VALUEZ_REG BNO055_GYRO_DATA_Z_MSB_ADDR
/* Euler data HEADING-LSB register*/
-#define BNO055_EULER_H_LSB_VALUEH__POS 0
-#define BNO055_EULER_H_LSB_VALUEH__MSK 0xFF
-#define BNO055_EULER_H_LSB_VALUEH__LEN 8
-#define BNO055_EULER_H_LSB_VALUEH__REG BNO055_EULER_H_LSB_ADDR
+#define BNO055_EULER_H_LSB_VALUEH_POS (0)
+#define BNO055_EULER_H_LSB_VALUEH_MSK (0xFF)
+#define BNO055_EULER_H_LSB_VALUEH_LEN (8)
+#define BNO055_EULER_H_LSB_VALUEH_REG BNO055_EULER_H_LSB_ADDR
/* Euler data HEADING-MSB register*/
-#define BNO055_EULER_H_MSB_VALUEH__POS 0
-#define BNO055_EULER_H_MSB_VALUEH__MSK 0xFF
-#define BNO055_EULER_H_MSB_VALUEH__LEN 8
-#define BNO055_EULER_H_MSB_VALUEH__REG BNO055_EULER_H_MSB_ADDR
+#define BNO055_EULER_H_MSB_VALUEH_POS (0)
+#define BNO055_EULER_H_MSB_VALUEH_MSK (0xFF)
+#define BNO055_EULER_H_MSB_VALUEH_LEN (8)
+#define BNO055_EULER_H_MSB_VALUEH_REG BNO055_EULER_H_MSB_ADDR
/* Euler data ROLL-LSB register*/
-#define BNO055_EULER_R_LSB_VALUER__POS 0
-#define BNO055_EULER_R_LSB_VALUER__MSK 0xFF
-#define BNO055_EULER_R_LSB_VALUER__LEN 8
-#define BNO055_EULER_R_LSB_VALUER__REG BNO055_EULER_R_LSB_ADDR
+#define BNO055_EULER_R_LSB_VALUER_POS (0)
+#define BNO055_EULER_R_LSB_VALUER_MSK (0xFF)
+#define BNO055_EULER_R_LSB_VALUER_LEN (8)
+#define BNO055_EULER_R_LSB_VALUER_REG BNO055_EULER_R_LSB_ADDR
/* Euler data ROLL-MSB register*/
-#define BNO055_EULER_R_MSB_VALUER__POS 0
-#define BNO055_EULER_R_MSB_VALUER__MSK 0xFF
-#define BNO055_EULER_R_MSB_VALUER__LEN 8
-#define BNO055_EULER_R_MSB_VALUER__REG BNO055_EULER_R_MSB_ADDR
+#define BNO055_EULER_R_MSB_VALUER_POS (0)
+#define BNO055_EULER_R_MSB_VALUER_MSK (0xFF)
+#define BNO055_EULER_R_MSB_VALUER_LEN (8)
+#define BNO055_EULER_R_MSB_VALUER_REG BNO055_EULER_R_MSB_ADDR
/* Euler data PITCH-LSB register*/
-#define BNO055_EULER_P_LSB_VALUEP__POS 0
-#define BNO055_EULER_P_LSB_VALUEP__MSK 0xFF
-#define BNO055_EULER_P_LSB_VALUEP__LEN 8
-#define BNO055_EULER_P_LSB_VALUEP__REG BNO055_EULER_P_LSB_ADDR
+#define BNO055_EULER_P_LSB_VALUEP_POS (0)
+#define BNO055_EULER_P_LSB_VALUEP_MSK (0xFF)
+#define BNO055_EULER_P_LSB_VALUEP_LEN (8)
+#define BNO055_EULER_P_LSB_VALUEP_REG BNO055_EULER_P_LSB_ADDR
/* Euler data HEADING-MSB register*/
-#define BNO055_EULER_P_MSB_VALUEP__POS 0
-#define BNO055_EULER_P_MSB_VALUEP__MSK 0xFF
-#define BNO055_EULER_P_MSB_VALUEP__LEN 8
-#define BNO055_EULER_P_MSB_VALUEP__REG BNO055_EULER_P_MSB_ADDR
+#define BNO055_EULER_P_MSB_VALUEP_POS (0)
+#define BNO055_EULER_P_MSB_VALUEP_MSK (0xFF)
+#define BNO055_EULER_P_MSB_VALUEP_LEN (8)
+#define BNO055_EULER_P_MSB_VALUEP_REG BNO055_EULER_P_MSB_ADDR
/* Quaternion data W-LSB register*/
-#define BNO055_QUATERNION_DATA_W_LSB_VALUEW__POS 0
-#define BNO055_QUATERNION_DATA_W_LSB_VALUEW__MSK 0xFF
-#define BNO055_QUATERNION_DATA_W_LSB_VALUEW__LEN 8
-#define BNO055_QUATERNION_DATA_W_LSB_VALUEW__REG \
+#define BNO055_QUATERNION_DATA_W_LSB_VALUEW_POS (0)
+#define BNO055_QUATERNION_DATA_W_LSB_VALUEW_MSK (0xFF)
+#define BNO055_QUATERNION_DATA_W_LSB_VALUEW_LEN (8)
+#define BNO055_QUATERNION_DATA_W_LSB_VALUEW_REG \
BNO055_QUATERNION_DATA_W_LSB_ADDR
/* Quaternion data W-MSB register*/
-#define BNO055_QUATERNION_DATA_W_MSB_VALUEW__POS 0
-#define BNO055_QUATERNION_DATA_W_MSB_VALUEW__MSK 0xFF
-#define BNO055_QUATERNION_DATA_W_MSB_VALUEW__LEN 8
-#define BNO055_QUATERNION_DATA_W_MSB_VALUEW__REG \
+#define BNO055_QUATERNION_DATA_W_MSB_VALUEW_POS (0)
+#define BNO055_QUATERNION_DATA_W_MSB_VALUEW_MSK (0xFF)
+#define BNO055_QUATERNION_DATA_W_MSB_VALUEW_LEN (8)
+#define BNO055_QUATERNION_DATA_W_MSB_VALUEW_REG \
BNO055_QUATERNION_DATA_W_MSB_ADDR
/* Quaternion data X-LSB register*/
-#define BNO055_QUATERNION_DATA_X_LSB_VALUEX__POS 0
-#define BNO055_QUATERNION_DATA_X_LSB_VALUEX__MSK 0xFF
-#define BNO055_QUATERNION_DATA_X_LSB_VALUEX__LEN 8
-#define BNO055_QUATERNION_DATA_X_LSB_VALUEX__REG \
+#define BNO055_QUATERNION_DATA_X_LSB_VALUEX_POS (0)
+#define BNO055_QUATERNION_DATA_X_LSB_VALUEX_MSK (0xFF)
+#define BNO055_QUATERNION_DATA_X_LSB_VALUEX_LEN (8)
+#define BNO055_QUATERNION_DATA_X_LSB_VALUEX_REG \
BNO055_QUATERNION_DATA_X_LSB_ADDR
/* Quaternion data X-MSB register*/
-#define BNO055_QUATERNION_DATA_X_MSB_VALUEX__POS 0
-#define BNO055_QUATERNION_DATA_X_MSB_VALUEX__MSK 0xFF
-#define BNO055_QUATERNION_DATA_X_MSB_VALUEX__LEN 8
-#define BNO055_QUATERNION_DATA_X_MSB_VALUEX__REG \
+#define BNO055_QUATERNION_DATA_X_MSB_VALUEX_POS (0)
+#define BNO055_QUATERNION_DATA_X_MSB_VALUEX_MSK (0xFF)
+#define BNO055_QUATERNION_DATA_X_MSB_VALUEX_LEN (8)
+#define BNO055_QUATERNION_DATA_X_MSB_VALUEX_REG \
BNO055_QUATERNION_DATA_X_MSB_ADDR
/* Quaternion data Y-LSB register*/
-#define BNO055_QUATERNION_DATA_Y_LSB_VALUEY__POS 0
-#define BNO055_QUATERNION_DATA_Y_LSB_VALUEY__MSK 0xFF
-#define BNO055_QUATERNION_DATA_Y_LSB_VALUEY__LEN 8
-#define BNO055_QUATERNION_DATA_Y_LSB_VALUEY__REG \
+#define BNO055_QUATERNION_DATA_Y_LSB_VALUEY_POS (0)
+#define BNO055_QUATERNION_DATA_Y_LSB_VALUEY_MSK (0xFF)
+#define BNO055_QUATERNION_DATA_Y_LSB_VALUEY_LEN (8)
+#define BNO055_QUATERNION_DATA_Y_LSB_VALUEY_REG \
BNO055_QUATERNION_DATA_Y_LSB_ADDR
/* Quaternion data Y-MSB register*/
-#define BNO055_QUATERNION_DATA_Y_MSB_VALUEY__POS 0
-#define BNO055_QUATERNION_DATA_Y_MSB_VALUEY__MSK 0xFF
-#define BNO055_QUATERNION_DATA_Y_MSB_VALUEY__LEN 8
-#define BNO055_QUATERNION_DATA_Y_MSB_VALUEY__REG \
-NO055_QUATERNION_DATA_Y_MSB_ADDR
+#define BNO055_QUATERNION_DATA_Y_MSB_VALUEY_POS (0)
+#define BNO055_QUATERNION_DATA_Y_MSB_VALUEY_MSK (0xFF)
+#define BNO055_QUATERNION_DATA_Y_MSB_VALUEY_LEN (8)
+#define BNO055_QUATERNION_DATA_Y_MSB_VALUEY_REG \
+BNO055_QUATERNION_DATA_Y_MSB_ADDR
/* Quaternion data Z-LSB register*/
-#define BNO055_QUATERNION_DATA_Z_LSB_VALUEZ__POS 0
-#define BNO055_QUATERNION_DATA_Z_LSB_VALUEZ__MSK 0xFF
-#define BNO055_QUATERNION_DATA_Z_LSB_VALUEZ__LEN 8
-#define BNO055_QUATERNION_DATA_Z_LSB_VALUEZ__REG \
+#define BNO055_QUATERNION_DATA_Z_LSB_VALUEZ_POS (0)
+#define BNO055_QUATERNION_DATA_Z_LSB_VALUEZ_MSK (0xFF)
+#define BNO055_QUATERNION_DATA_Z_LSB_VALUEZ_LEN (8)
+#define BNO055_QUATERNION_DATA_Z_LSB_VALUEZ_REG \
BNO055_QUATERNION_DATA_Z_LSB_ADDR
/* Quaternion data Z-MSB register*/
-#define BNO055_QUATERNION_DATA_Z_MSB_VALUEZ__POS 0
-#define BNO055_QUATERNION_DATA_Z_MSB_VALUEZ__MSK 0xFF
-#define BNO055_QUATERNION_DATA_Z_MSB_VALUEZ__LEN 8
-#define BNO055_QUATERNION_DATA_Z_MSB_VALUEZ__REG \
+#define BNO055_QUATERNION_DATA_Z_MSB_VALUEZ_POS (0)
+#define BNO055_QUATERNION_DATA_Z_MSB_VALUEZ_MSK (0xFF)
+#define BNO055_QUATERNION_DATA_Z_MSB_VALUEZ_LEN (8)
+#define BNO055_QUATERNION_DATA_Z_MSB_VALUEZ_REG \
BNO055_QUATERNION_DATA_Z_MSB_ADDR
/* Linear acceleration data X-LSB register*/
-#define BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX__POS 0
-#define BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX__MSK 0xFF
-#define BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX__LEN 8
-#define BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX__REG \
+#define BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX_POS (0)
+#define BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX_MSK (0xFF)
+#define BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX_LEN (8)
+#define BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX_REG \
BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR
/* Linear acceleration data X-MSB register*/
-#define BNO055_LINEAR_ACCEL_DATA_X_MSB_VALUEX__POS 0
-#define BNO055_LINEAR_ACCEL_DATA_X_MSB_VALUEX__MSK 0xFF
-#define BNO055_LINEAR_ACCEL_DATA_X_MSB_VALUEX__LEN 8
-#define BNO055_LINEAR_ACCEL_DATA_X_MSB_VALUEX__REG \
+#define BNO055_LINEAR_ACCEL_DATA_X_MSB_VALUEX_POS (0)
+#define BNO055_LINEAR_ACCEL_DATA_X_MSB_VALUEX_MSK (0xFF)
+#define BNO055_LINEAR_ACCEL_DATA_X_MSB_VALUEX_LEN (8)
+#define BNO055_LINEAR_ACCEL_DATA_X_MSB_VALUEX_REG \
BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR
/* Linear acceleration data Y-LSB register*/
-#define BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY__POS 0
-#define BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY__MSK 0xFF
-#define BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY__LEN 8
-#define BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY__REG \
+#define BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY_POS (0)
+#define BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY_MSK (0xFF)
+#define BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY_LEN (8)
+#define BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY_REG \
BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR
/* Linear acceleration data Y-MSB register*/
-#define BNO055_LINEAR_ACCEL_DATA_Y_MSB_VALUEY__POS 0
-#define BNO055_LINEAR_ACCEL_DATA_Y_MSB_VALUEY__MSK 0xFF
-#define BNO055_LINEAR_ACCEL_DATA_Y_MSB_VALUEY__LEN 8
-#define BNO055_LINEAR_ACCEL_DATA_Y_MSB_VALUEY__REG \
+#define BNO055_LINEAR_ACCEL_DATA_Y_MSB_VALUEY_POS (0)
+#define BNO055_LINEAR_ACCEL_DATA_Y_MSB_VALUEY_MSK (0xFF)
+#define BNO055_LINEAR_ACCEL_DATA_Y_MSB_VALUEY_LEN (8)
+#define BNO055_LINEAR_ACCEL_DATA_Y_MSB_VALUEY_REG \
BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR
/* Linear acceleration data Z-LSB register*/
-#define BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ__POS 0
-#define BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ__MSK 0xFF
-#define BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ__LEN 8
-#define BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ__REG \
+#define BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ_POS (0)
+#define BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ_MSK (0xFF)
+#define BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ_LEN (8)
+#define BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ_REG \
BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR
/* Linear acceleration data Z-MSB register*/
-#define BNO055_LINEAR_ACCEL_DATA_Z_MSB_VALUEZ__POS 0
-#define BNO055_LINEAR_ACCEL_DATA_Z_MSB_VALUEZ__MSK 0xFF
-#define BNO055_LINEAR_ACCEL_DATA_Z_MSB_VALUEZ__LEN 8
-#define BNO055_LINEAR_ACCEL_DATA_Z_MSB_VALUEZ__REG \
+#define BNO055_LINEAR_ACCEL_DATA_Z_MSB_VALUEZ_POS (0)
+#define BNO055_LINEAR_ACCEL_DATA_Z_MSB_VALUEZ_MSK (0xFF)
+#define BNO055_LINEAR_ACCEL_DATA_Z_MSB_VALUEZ_LEN (8)
+#define BNO055_LINEAR_ACCEL_DATA_Z_MSB_VALUEZ_REG \
BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR
/* Gravity data X-LSB register*/
-#define BNO055_GRAVITY_DATA_X_LSB_VALUEX__POS 0
-#define BNO055_GRAVITY_DATA_X_LSB_VALUEX__MSK 0xFF
-#define BNO055_GRAVITY_DATA_X_LSB_VALUEX__LEN 8
-#define BNO055_GRAVITY_DATA_X_LSB_VALUEX__REG \
+#define BNO055_GRAVITY_DATA_X_LSB_VALUEX_POS (0)
+#define BNO055_GRAVITY_DATA_X_LSB_VALUEX_MSK (0xFF)
+#define BNO055_GRAVITY_DATA_X_LSB_VALUEX_LEN (8)
+#define BNO055_GRAVITY_DATA_X_LSB_VALUEX_REG \
BNO055_GRAVITY_DATA_X_LSB_ADDR
/* Gravity data X-MSB register*/
-#define BNO055_GRAVITY_DATA_X_MSB_VALUEX__POS 0
-#define BNO055_GRAVITY_DATA_X_MSB_VALUEX__MSK 0xFF
-#define BNO055_GRAVITY_DATA_X_MSB_VALUEX__LEN 8
-#define BNO055_GRAVITY_DATA_X_MSB_VALUEX__REG \
+#define BNO055_GRAVITY_DATA_X_MSB_VALUEX_POS (0)
+#define BNO055_GRAVITY_DATA_X_MSB_VALUEX_MSK (0xFF)
+#define BNO055_GRAVITY_DATA_X_MSB_VALUEX_LEN (8)
+#define BNO055_GRAVITY_DATA_X_MSB_VALUEX_REG \
BNO055_GRAVITY_DATA_X_MSB_ADDR
/* Gravity data Y-LSB register*/
-#define BNO055_GRAVITY_DATA_Y_LSB_VALUEY__POS 0
-#define BNO055_GRAVITY_DATA_Y_LSB_VALUEY__MSK 0xFF
-#define BNO055_GRAVITY_DATA_Y_LSB_VALUEY__LEN 8
-#define BNO055_GRAVITY_DATA_Y_LSB_VALUEY__REG \
+#define BNO055_GRAVITY_DATA_Y_LSB_VALUEY_POS (0)
+#define BNO055_GRAVITY_DATA_Y_LSB_VALUEY_MSK (0xFF)
+#define BNO055_GRAVITY_DATA_Y_LSB_VALUEY_LEN (8)
+#define BNO055_GRAVITY_DATA_Y_LSB_VALUEY_REG \
BNO055_GRAVITY_DATA_Y_LSB_ADDR
/* Gravity data Y-MSB register*/
-#define BNO055_GRAVITY_DATA_Y_MSB_VALUEY__POS 0
-#define BNO055_GRAVITY_DATA_Y_MSB_VALUEY__MSK 0xFF
-#define BNO055_GRAVITY_DATA_Y_MSB_VALUEY__LEN 8
-#define BNO055_GRAVITY_DATA_Y_MSB_VALUEY__REG \
+#define BNO055_GRAVITY_DATA_Y_MSB_VALUEY_POS (0)
+#define BNO055_GRAVITY_DATA_Y_MSB_VALUEY_MSK (0xFF)
+#define BNO055_GRAVITY_DATA_Y_MSB_VALUEY_LEN (8)
+#define BNO055_GRAVITY_DATA_Y_MSB_VALUEY_REG \
BNO055_GRAVITY_DATA_Y_MSB_ADDR
/* Gravity data Z-LSB register*/
-#define BNO055_GRAVITY_DATA_Z_LSB_VALUEZ__POS 0
-#define BNO055_GRAVITY_DATA_Z_LSB_VALUEZ__MSK 0xFF
-#define BNO055_GRAVITY_DATA_Z_LSB_VALUEZ__LEN 8
-#define BNO055_GRAVITY_DATA_Z_LSB_VALUEZ__REG \
+#define BNO055_GRAVITY_DATA_Z_LSB_VALUEZ_POS (0)
+#define BNO055_GRAVITY_DATA_Z_LSB_VALUEZ_MSK (0xFF)
+#define BNO055_GRAVITY_DATA_Z_LSB_VALUEZ_LEN (8)
+#define BNO055_GRAVITY_DATA_Z_LSB_VALUEZ_REG \
BNO055_GRAVITY_DATA_Z_LSB_ADDR
/* Gravity data Z-MSB register*/
-#define BNO055_GRAVITY_DATA_Z_MSB_VALUEZ__POS 0
-#define BNO055_GRAVITY_DATA_Z_MSB_VALUEZ__MSK 0xFF
-#define BNO055_GRAVITY_DATA_Z_MSB_VALUEZ__LEN 8
-#define BNO055_GRAVITY_DATA_Z_MSB_VALUEZ__REG \
+#define BNO055_GRAVITY_DATA_Z_MSB_VALUEZ_POS (0)
+#define BNO055_GRAVITY_DATA_Z_MSB_VALUEZ_MSK (0xFF)
+#define BNO055_GRAVITY_DATA_Z_MSB_VALUEZ_LEN (8)
+#define BNO055_GRAVITY_DATA_Z_MSB_VALUEZ_REG \
BNO055_GRAVITY_DATA_Z_MSB_ADDR
/* Temperature register*/
-#define BNO055_TEMP__POS 0
-#define BNO055_TEMP__MSK 0xFF
-#define BNO055_TEMP__LEN 8
-#define BNO055_TEMP__REG BNO055_TEMP_ADDR
+#define BNO055_TEMP_POS (0)
+#define BNO055_TEMP_MSK (0xFF)
+#define BNO055_TEMP_LEN (8)
+#define BNO055_TEMP_REG BNO055_TEMP_ADDR
/*Mag_Calib status register*/
-#define BNO055_MAG_CALIB_STAT__POS 0
-#define BNO055_MAG_CALIB_STAT__MSK 0X03
-#define BNO055_MAG_CALIB_STAT__LEN 2
-#define BNO055_MAG_CALIB_STAT__REG BNO055_CALIB_STAT_ADDR
+#define BNO055_MAG_CALIB_STAT_POS (0)
+#define BNO055_MAG_CALIB_STAT_MSK (0X03)
+#define BNO055_MAG_CALIB_STAT_LEN (2)
+#define BNO055_MAG_CALIB_STAT_REG BNO055_CALIB_STAT_ADDR
/*Acc_Calib status register*/
-#define BNO055_ACCEL_CALIB_STAT__POS 2
-#define BNO055_ACCEL_CALIB_STAT__MSK 0X0C
-#define BNO055_ACCEL_CALIB_STAT__LEN 2
-#define BNO055_ACCEL_CALIB_STAT__REG BNO055_CALIB_STAT_ADDR
+#define BNO055_ACCEL_CALIB_STAT_POS (2)
+#define BNO055_ACCEL_CALIB_STAT_MSK (0X0C)
+#define BNO055_ACCEL_CALIB_STAT_LEN (2)
+#define BNO055_ACCEL_CALIB_STAT_REG BNO055_CALIB_STAT_ADDR
/*Gyro_Calib status register*/
-#define BNO055_GYRO_CALIB_STAT__POS 4
-#define BNO055_GYRO_CALIB_STAT__MSK 0X30
-#define BNO055_GYRO_CALIB_STAT__LEN 2
-#define BNO055_GYRO_CALIB_STAT__REG BNO055_CALIB_STAT_ADDR
+#define BNO055_GYRO_CALIB_STAT_POS (4)
+#define BNO055_GYRO_CALIB_STAT_MSK (0X30)
+#define BNO055_GYRO_CALIB_STAT_LEN (2)
+#define BNO055_GYRO_CALIB_STAT_REG BNO055_CALIB_STAT_ADDR
/*Sys_Calib status register*/
-#define BNO055_SYS_CALIB_STAT__POS 6
-#define BNO055_SYS_CALIB_STAT__MSK 0XC0
-#define BNO055_SYS_CALIB_STAT__LEN 2
-#define BNO055_SYS_CALIB_STAT__REG BNO055_CALIB_STAT_ADDR
+#define BNO055_SYS_CALIB_STAT_POS (6)
+#define BNO055_SYS_CALIB_STAT_MSK (0XC0)
+#define BNO055_SYS_CALIB_STAT_LEN (2)
+#define BNO055_SYS_CALIB_STAT_REG BNO055_CALIB_STAT_ADDR
/*ST_ACCEL register*/
-#define BNO055_SELFTEST_ACCEL__POS 0
-#define BNO055_SELFTEST_ACCEL__MSK 0X01
-#define BNO055_SELFTEST_ACCEL__LEN 1
-#define BNO055_SELFTEST_ACCEL__REG BNO055_SELFTEST_RESULT_ADDR
+#define BNO055_SELFTEST_ACCEL_POS (0)
+#define BNO055_SELFTEST_ACCEL_MSK (0X01)
+#define BNO055_SELFTEST_ACCEL_LEN (1)
+#define BNO055_SELFTEST_ACCEL_REG BNO055_SELFTEST_RESULT_ADDR
/*ST_MAG register*/
-#define BNO055_SELFTEST_MAG__POS 1
-#define BNO055_SELFTEST_MAG__MSK 0X02
-#define BNO055_SELFTEST_MAG__LEN 1
-#define BNO055_SELFTEST_MAG__REG BNO055_SELFTEST_RESULT_ADDR
+#define BNO055_SELFTEST_MAG_POS (1)
+#define BNO055_SELFTEST_MAG_MSK (0X02)
+#define BNO055_SELFTEST_MAG_LEN (1)
+#define BNO055_SELFTEST_MAG_REG BNO055_SELFTEST_RESULT_ADDR
/*ST_GYRO register*/
-#define BNO055_SELFTEST_GYRO__POS 2
-#define BNO055_SELFTEST_GYRO__MSK 0X04
-#define BNO055_SELFTEST_GYRO__LEN 1
-#define BNO055_SELFTEST_GYRO__REG BNO055_SELFTEST_RESULT_ADDR
+#define BNO055_SELFTEST_GYRO_POS (2)
+#define BNO055_SELFTEST_GYRO_MSK (0X04)
+#define BNO055_SELFTEST_GYRO_LEN (1)
+#define BNO055_SELFTEST_GYRO_REG BNO055_SELFTEST_RESULT_ADDR
/*ST_MCU register*/
-#define BNO055_SELFTEST_MCU__POS 3
-#define BNO055_SELFTEST_MCU__MSK 0X08
-#define BNO055_SELFTEST_MCU__LEN 1
-#define BNO055_SELFTEST_MCU__REG BNO055_SELFTEST_RESULT_ADDR
+#define BNO055_SELFTEST_MCU_POS (3)
+#define BNO055_SELFTEST_MCU_MSK (0X08)
+#define BNO055_SELFTEST_MCU_LEN (1)
+#define BNO055_SELFTEST_MCU_REG BNO055_SELFTEST_RESULT_ADDR
/*Interrupt status registers*/
-#define BNO055_INTR_STAT_GYRO_ANY_MOTION__POS 2
-#define BNO055_INTR_STAT_GYRO_ANY_MOTION__MSK 0X04
-#define BNO055_INTR_STAT_GYRO_ANY_MOTION__LEN 1
-#define BNO055_INTR_STAT_GYRO_ANY_MOTION__REG BNO055_INTR_STAT_ADDR
-
-#define BNO055_INTR_STAT_GYRO_HIGHRATE__POS 3
-#define BNO055_INTR_STAT_GYRO_HIGHRATE__MSK 0X08
-#define BNO055_INTR_STAT_GYRO_HIGHRATE__LEN 1
-#define BNO055_INTR_STAT_GYRO_HIGHRATE__REG BNO055_INTR_STAT_ADDR
-
-#define BNO055_INTR_STAT_ACCEL_HIGH_G__POS 5
-#define BNO055_INTR_STAT_ACCEL_HIGH_G__MSK 0X20
-#define BNO055_INTR_STAT_ACCEL_HIGH_G__LEN 1
-#define BNO055_INTR_STAT_ACCEL_HIGH_G__REG BNO055_INTR_STAT_ADDR
-
-#define BNO055_INTR_STAT_ACCEL_ANY_MOTION__POS 6
-#define BNO055_INTR_STAT_ACCEL_ANY_MOTION__MSK 0X40
-#define BNO055_INTR_STAT_ACCEL_ANY_MOTION__LEN 1
-#define BNO055_INTR_STAT_ACCEL_ANY_MOTION__REG BNO055_INTR_STAT_ADDR
-
-#define BNO055_INTR_STAT_ACCEL_NO_MOTION__POS 7
-#define BNO055_INTR_STAT_ACCEL_NO_MOTION__MSK 0X80
-#define BNO055_INTR_STAT_ACCEL_NO_MOTION__LEN 1
-#define BNO055_INTR_STAT_ACCEL_NO_MOTION__REG BNO055_INTR_STAT_ADDR
+#define BNO055_INTR_STAT_GYRO_ANY_MOTION_POS (2)
+#define BNO055_INTR_STAT_GYRO_ANY_MOTION_MSK (0X04)
+#define BNO055_INTR_STAT_GYRO_ANY_MOTION_LEN (1)
+#define BNO055_INTR_STAT_GYRO_ANY_MOTION_REG BNO055_INTR_STAT_ADDR
+
+#define BNO055_INTR_STAT_GYRO_HIGHRATE_POS (3)
+#define BNO055_INTR_STAT_GYRO_HIGHRATE_MSK (0X08)
+#define BNO055_INTR_STAT_GYRO_HIGHRATE_LEN (1)
+#define BNO055_INTR_STAT_GYRO_HIGHRATE_REG BNO055_INTR_STAT_ADDR
+
+#define BNO055_INTR_STAT_ACCEL_HIGH_G_POS (5)
+#define BNO055_INTR_STAT_ACCEL_HIGH_G_MSK (0X20)
+#define BNO055_INTR_STAT_ACCEL_HIGH_G_LEN (1)
+#define BNO055_INTR_STAT_ACCEL_HIGH_G_REG BNO055_INTR_STAT_ADDR
+
+#define BNO055_INTR_STAT_ACCEL_ANY_MOTION_POS (6)
+#define BNO055_INTR_STAT_ACCEL_ANY_MOTION_MSK (0X40)
+#define BNO055_INTR_STAT_ACCEL_ANY_MOTION_LEN (1)
+#define BNO055_INTR_STAT_ACCEL_ANY_MOTION_REG BNO055_INTR_STAT_ADDR
+
+#define BNO055_INTR_STAT_ACCEL_NO_MOTION_POS (7)
+#define BNO055_INTR_STAT_ACCEL_NO_MOTION_MSK (0X80)
+#define BNO055_INTR_STAT_ACCEL_NO_MOTION_LEN (1)
+#define BNO055_INTR_STAT_ACCEL_NO_MOTION_REG BNO055_INTR_STAT_ADDR
/* system clock status register*/
-#define BNO055_SYS_MAIN_CLK__POS 0
-#define BNO055_SYS_MAIN_CLK__MSK 0X10
-#define BNO055_SYS_MAIN_CLK__LEN 1
-#define BNO055_SYS_MAIN_CLK__REG BNO055_SYS_CLK_STAT_ADDR
+#define BNO055_SYS_MAIN_CLK_POS (0)
+#define BNO055_SYS_MAIN_CLK_MSK (0X10)
+#define BNO055_SYS_MAIN_CLK_LEN (1)
+#define BNO055_SYS_MAIN_CLK_REG BNO055_SYS_CLK_STAT_ADDR
/* System registers*/
-#define BNO055_SYS_STAT_CODE__POS 0
-#define BNO055_SYS_STAT_CODE__MSK 0XFF
-#define BNO055_SYS_STAT_CODE__LEN 8
-#define BNO055_SYS_STAT_CODE__REG BNO055_SYS_STAT_ADDR
+#define BNO055_SYS_STAT_CODE_POS (0)
+#define BNO055_SYS_STAT_CODE_MSK (0XFF)
+#define BNO055_SYS_STAT_CODE_LEN (8)
+#define BNO055_SYS_STAT_CODE_REG BNO055_SYS_STAT_ADDR
-#define BNO055_SYS_ERROR_CODE__POS 0
-#define BNO055_SYS_ERROR_CODE__MSK 0XFF
-#define BNO055_SYS_ERROR_CODE__LEN 8
-#define BNO055_SYS_ERROR_CODE__REG BNO055_SYS_ERR_ADDR
+#define BNO055_SYS_ERROR_CODE_POS (0)
+#define BNO055_SYS_ERROR_CODE_MSK (0XFF)
+#define BNO055_SYS_ERROR_CODE_LEN (8)
+#define BNO055_SYS_ERROR_CODE_REG BNO055_SYS_ERR_ADDR
/* Accel_Unit register*/
-#define BNO055_ACCEL_UNIT__POS 0
-#define BNO055_ACCEL_UNIT__MSK 0X01
-#define BNO055_ACCEL_UNIT__LEN 1
-#define BNO055_ACCEL_UNIT__REG BNO055_UNIT_SEL_ADDR
+#define BNO055_ACCEL_UNIT_POS (0)
+#define BNO055_ACCEL_UNIT_MSK (0X01)
+#define BNO055_ACCEL_UNIT_LEN (1)
+#define BNO055_ACCEL_UNIT_REG BNO055_UNIT_SEL_ADDR
/* Gyro_Unit register*/
-#define BNO055_GYRO_UNIT__POS 1
-#define BNO055_GYRO_UNIT__MSK 0X02
-#define BNO055_GYRO_UNIT__LEN 1
-#define BNO055_GYRO_UNIT__REG BNO055_UNIT_SEL_ADDR
+#define BNO055_GYRO_UNIT_POS (1)
+#define BNO055_GYRO_UNIT_MSK (0X02)
+#define BNO055_GYRO_UNIT_LEN (1)
+#define BNO055_GYRO_UNIT_REG BNO055_UNIT_SEL_ADDR
/* Euler_Unit register*/
-#define BNO055_EULER_UNIT__POS 2
-#define BNO055_EULER_UNIT__MSK 0X04
-#define BNO055_EULER_UNIT__LEN 1
-#define BNO055_EULER_UNIT__REG BNO055_UNIT_SEL_ADDR
+#define BNO055_EULER_UNIT_POS (2)
+#define BNO055_EULER_UNIT_MSK (0X04)
+#define BNO055_EULER_UNIT_LEN (1)
+#define BNO055_EULER_UNIT_REG BNO055_UNIT_SEL_ADDR
/* Tilt_Unit register*/
-#define BNO055_TILT_UNIT__POS 3
-#define BNO055_TILT_UNIT__MSK 0X08
-#define BNO055_TILT_UNIT__LEN 1
-#define BNO055_TILT_UNIT__REG BNO055_UNIT_SEL_ADDR
+#define BNO055_TILT_UNIT_POS (3)
+#define BNO055_TILT_UNIT_MSK (0X08)
+#define BNO055_TILT_UNIT_LEN (1)
+#define BNO055_TILT_UNIT_REG BNO055_UNIT_SEL_ADDR
/* Temperature_Unit register*/
-#define BNO055_TEMP_UNIT__POS 4
-#define BNO055_TEMP_UNIT__MSK 0X10
-#define BNO055_TEMP_UNIT__LEN 1
-#define BNO055_TEMP_UNIT__REG BNO055_UNIT_SEL_ADDR
+#define BNO055_TEMP_UNIT_POS (4)
+#define BNO055_TEMP_UNIT_MSK (0X10)
+#define BNO055_TEMP_UNIT_LEN (1)
+#define BNO055_TEMP_UNIT_REG BNO055_UNIT_SEL_ADDR
/* ORI android-windows register*/
-#define BNO055_DATA_OUTPUT_FORMAT__POS 7
-#define BNO055_DATA_OUTPUT_FORMAT__MSK 0X80
-#define BNO055_DATA_OUTPUT_FORMAT__LEN 1
-#define BNO055_DATA_OUTPUT_FORMAT__REG BNO055_UNIT_SEL_ADDR
+#define BNO055_DATA_OUTPUT_FORMAT_POS (7)
+#define BNO055_DATA_OUTPUT_FORMAT_MSK (0X80)
+#define BNO055_DATA_OUTPUT_FORMAT_LEN (1)
+#define BNO055_DATA_OUTPUT_FORMAT_REG BNO055_UNIT_SEL_ADDR
/*Operation Mode data register*/
-#define BNO055_OPERATION_MODE__POS 0
-#define BNO055_OPERATION_MODE__MSK 0X0F
-#define BNO055_OPERATION_MODE__LEN 4
-#define BNO055_OPERATION_MODE__REG BNO055_OPR_MODE_ADDR
+#define BNO055_OPERATION_MODE_POS (0)
+#define BNO055_OPERATION_MODE_MSK (0X0F)
+#define BNO055_OPERATION_MODE_LEN (4)
+#define BNO055_OPERATION_MODE_REG BNO055_OPR_MODE_ADDR
/* Power Mode register*/
-#define BNO055_POWER_MODE__POS 0
-#define BNO055_POWER_MODE__MSK 0X03
-#define BNO055_POWER_MODE__LEN 2
-#define BNO055_POWER_MODE__REG BNO055_PWR_MODE_ADDR
+#define BNO055_POWER_MODE_POS (0)
+#define BNO055_POWER_MODE_MSK (0X03)
+#define BNO055_POWER_MODE_LEN (2)
+#define BNO055_POWER_MODE_REG BNO055_PWR_MODE_ADDR
/*Self Test register*/
-#define BNO055_SELFTEST__POS 0
-#define BNO055_SELFTEST__MSK 0X01
-#define BNO055_SELFTEST__LEN 1
-#define BNO055_SELFTEST__REG BNO055_SYS_TRIGGER_ADDR
+#define BNO055_SELFTEST_POS (0)
+#define BNO055_SELFTEST_MSK (0X01)
+#define BNO055_SELFTEST_LEN (1)
+#define BNO055_SELFTEST_REG BNO055_SYS_TRIGGER_ADDR
/* RST_SYS register*/
-#define BNO055_SYS_RST__POS 5
-#define BNO055_SYS_RST__MSK 0X20
-#define BNO055_SYS_RST__LEN 1
-#define BNO055_SYS_RST__REG BNO055_SYS_TRIGGER_ADDR
+#define BNO055_SYS_RST_POS (5)
+#define BNO055_SYS_RST_MSK (0X20)
+#define BNO055_SYS_RST_LEN (1)
+#define BNO055_SYS_RST_REG BNO055_SYS_TRIGGER_ADDR
/* RST_INT register*/
-#define BNO055_INTR_RST__POS 6
-#define BNO055_INTR_RST__MSK 0X40
-#define BNO055_INTR_RST__LEN 1
-#define BNO055_INTR_RST__REG BNO055_SYS_TRIGGER_ADDR
+#define BNO055_INTR_RST_POS (6)
+#define BNO055_INTR_RST_MSK (0X40)
+#define BNO055_INTR_RST_LEN (1)
+#define BNO055_INTR_RST_REG BNO055_SYS_TRIGGER_ADDR
/* CLK_SRC register*/
-#define BNO055_CLK_SRC__POS 7
-#define BNO055_CLK_SRC__MSK 0X80
-#define BNO055_CLK_SRC__LEN 1
-#define BNO055_CLK_SRC__REG BNO055_SYS_TRIGGER_ADDR
+#define BNO055_CLK_SRC_POS (7)
+#define BNO055_CLK_SRC_MSK (0X80)
+#define BNO055_CLK_SRC_LEN (1)
+#define BNO055_CLK_SRC_REG BNO055_SYS_TRIGGER_ADDR
/* Temp source register*/
-#define BNO055_TEMP_SOURCE__POS 0
-#define BNO055_TEMP_SOURCE__MSK 0X03
-#define BNO055_TEMP_SOURCE__LEN 2
-#define BNO055_TEMP_SOURCE__REG BNO055_TEMP_SOURCE_ADDR
+#define BNO055_TEMP_SOURCE_POS (0)
+#define BNO055_TEMP_SOURCE_MSK (0X03)
+#define BNO055_TEMP_SOURCE_LEN (2)
+#define BNO055_TEMP_SOURCE_REG BNO055_TEMP_SOURCE_ADDR
/* Axis remap value register*/
-#define BNO055_REMAP_AXIS_VALUE__POS 0
-#define BNO055_REMAP_AXIS_VALUE__MSK 0X3F
-#define BNO055_REMAP_AXIS_VALUE__LEN 6
-#define BNO055_REMAP_AXIS_VALUE__REG BNO055_AXIS_MAP_CONFIG_ADDR
+#define BNO055_REMAP_AXIS_VALUE_POS (0)
+#define BNO055_REMAP_AXIS_VALUE_MSK (0X3F)
+#define BNO055_REMAP_AXIS_VALUE_LEN (6)
+#define BNO055_REMAP_AXIS_VALUE_REG BNO055_AXIS_MAP_CONFIG_ADDR
/* Axis sign value register*/
-#define BNO055_REMAP_Z_SIGN__POS 0
-#define BNO055_REMAP_Z_SIGN__MSK 0X01
-#define BNO055_REMAP_Z_SIGN__LEN 1
-#define BNO055_REMAP_Z_SIGN__REG BNO055_AXIS_MAP_SIGN_ADDR
+#define BNO055_REMAP_Z_SIGN_POS (0)
+#define BNO055_REMAP_Z_SIGN_MSK (0X01)
+#define BNO055_REMAP_Z_SIGN_LEN (1)
+#define BNO055_REMAP_Z_SIGN_REG BNO055_AXIS_MAP_SIGN_ADDR
-#define BNO055_REMAP_Y_SIGN__POS 1
-#define BNO055_REMAP_Y_SIGN__MSK 0X02
-#define BNO055_REMAP_Y_SIGN__LEN 1
-#define BNO055_REMAP_Y_SIGN__REG BNO055_AXIS_MAP_SIGN_ADDR
+#define BNO055_REMAP_Y_SIGN_POS (1)
+#define BNO055_REMAP_Y_SIGN_MSK (0X02)
+#define BNO055_REMAP_Y_SIGN_LEN (1)
+#define BNO055_REMAP_Y_SIGN_REG BNO055_AXIS_MAP_SIGN_ADDR
-#define BNO055_REMAP_X_SIGN__POS 2
-#define BNO055_REMAP_X_SIGN__MSK 0X04
-#define BNO055_REMAP_X_SIGN__LEN 1
-#define BNO055_REMAP_X_SIGN__REG BNO055_AXIS_MAP_SIGN_ADDR
+#define BNO055_REMAP_X_SIGN_POS (2)
+#define BNO055_REMAP_X_SIGN_MSK (0X04)
+#define BNO055_REMAP_X_SIGN_LEN (1)
+#define BNO055_REMAP_X_SIGN_REG BNO055_AXIS_MAP_SIGN_ADDR
/* Soft Iron Calibration matrix register*/
-#define BNO055_SIC_MATRIX_0_LSB__POS 0
-#define BNO055_SIC_MATRIX_0_LSB__MSK 0XFF
-#define BNO055_SIC_MATRIX_0_LSB__LEN 8
-#define BNO055_SIC_MATRIX_0_LSB__REG BNO055_SIC_MATRIX_0_LSB_ADDR
-
-#define BNO055_SIC_MATRIX_0_MSB__POS 0
-#define BNO055_SIC_MATRIX_0_MSB__MSK 0XFF
-#define BNO055_SIC_MATRIX_0_MSB__LEN 8
-#define BNO055_SIC_MATRIX_0_MSB__REG BNO055_SIC_MATRIX_0_MSB_ADDR
-
-#define BNO055_SIC_MATRIX_1_LSB__POS 0
-#define BNO055_SIC_MATRIX_1_LSB__MSK 0XFF
-#define BNO055_SIC_MATRIX_1_LSB__LEN 8
-#define BNO055_SIC_MATRIX_1_LSB__REG BNO055_SIC_MATRIX_1_LSB_ADDR
-
-#define BNO055_SIC_MATRIX_1_MSB__POS 0
-#define BNO055_SIC_MATRIX_1_MSB__MSK 0XFF
-#define BNO055_SIC_MATRIX_1_MSB__LEN 8
-#define BNO055_SIC_MATRIX_1_MSB__REG BNO055_SIC_MATRIX_1_MSB_ADDR
-
-#define BNO055_SIC_MATRIX_2_LSB__POS 0
-#define BNO055_SIC_MATRIX_2_LSB__MSK 0XFF
-#define BNO055_SIC_MATRIX_2_LSB__LEN 8
-#define BNO055_SIC_MATRIX_2_LSB__REG BNO055_SIC_MATRIX_2_LSB_ADDR
-
-#define BNO055_SIC_MATRIX_2_MSB__POS 0
-#define BNO055_SIC_MATRIX_2_MSB__MSK 0XFF
-#define BNO055_SIC_MATRIX_2_MSB__LEN 8
-#define BNO055_SIC_MATRIX_2_MSB__REG BNO055_SIC_MATRIX_2_MSB_ADDR
-
-#define BNO055_SIC_MATRIX_3_LSB__POS 0
-#define BNO055_SIC_MATRIX_3_LSB__MSK 0XFF
-#define BNO055_SIC_MATRIX_3_LSB__LEN 8
-#define BNO055_SIC_MATRIX_3_LSB__REG BNO055_SIC_MATRIX_3_LSB_ADDR
-
-#define BNO055_SIC_MATRIX_3_MSB__POS 0
-#define BNO055_SIC_MATRIX_3_MSB__MSK 0XFF
-#define BNO055_SIC_MATRIX_3_MSB__LEN 8
-#define BNO055_SIC_MATRIX_3_MSB__REG BNO055_SIC_MATRIX_3_MSB_ADDR
-
-#define BNO055_SIC_MATRIX_4_LSB__POS 0
-#define BNO055_SIC_MATRIX_4_LSB__MSK 0XFF
-#define BNO055_SIC_MATRIX_4_LSB__LEN 8
-#define BNO055_SIC_MATRIX_4_LSB__REG BNO055_SIC_MATRIX_4_LSB_ADDR
-
-#define BNO055_SIC_MATRIX_4_MSB__POS 0
-#define BNO055_SIC_MATRIX_4_MSB__MSK 0XFF
-#define BNO055_SIC_MATRIX_4_MSB__LEN 8
-#define BNO055_SIC_MATRIX_4_MSB__REG BNO055_SIC_MATRIX_4_MSB_ADDR
-
-#define BNO055_SIC_MATRIX_5_LSB__POS 0
-#define BNO055_SIC_MATRIX_5_LSB__MSK 0XFF
-#define BNO055_SIC_MATRIX_5_LSB__LEN 8
-#define BNO055_SIC_MATRIX_5_LSB__REG BNO055_SIC_MATRIX_5_LSB_ADDR
-
-#define BNO055_SIC_MATRIX_5_MSB__POS 0
-#define BNO055_SIC_MATRIX_5_MSB__MSK 0XFF
-#define BNO055_SIC_MATRIX_5_MSB__LEN 8
-#define BNO055_SIC_MATRIX_5_MSB__REG BNO055_SIC_MATRIX_5_MSB_ADDR
-
-#define BNO055_SIC_MATRIX_6_LSB__POS 0
-#define BNO055_SIC_MATRIX_6_LSB__MSK 0XFF
-#define BNO055_SIC_MATRIX_6_LSB__LEN 8
-#define BNO055_SIC_MATRIX_6_LSB__REG BNO055_SIC_MATRIX_6_LSB_ADDR
-
-#define BNO055_SIC_MATRIX_6_MSB__POS 0
-#define BNO055_SIC_MATRIX_6_MSB__MSK 0XFF
-#define BNO055_SIC_MATRIX_6_MSB__LEN 8
-#define BNO055_SIC_MATRIX_6_MSB__REG BNO055_SIC_MATRIX_6_MSB_ADDR
-
-#define BNO055_SIC_MATRIX_7_LSB__POS 0
-#define BNO055_SIC_MATRIX_7_LSB__MSK 0XFF
-#define BNO055_SIC_MATRIX_7_LSB__LEN 8
-#define BNO055_SIC_MATRIX_7_LSB__REG BNO055_SIC_MATRIX_7_LSB_ADDR
-
-#define BNO055_SIC_MATRIX_7_MSB__POS 0
-#define BNO055_SIC_MATRIX_7_MSB__MSK 0XFF
-#define BNO055_SIC_MATRIX_7_MSB__LEN 8
-#define BNO055_SIC_MATRIX_7_MSB__REG BNO055_SIC_MATRIX_7_MSB_ADDR
-
-#define BNO055_SIC_MATRIX_8_LSB__POS 0
-#define BNO055_SIC_MATRIX_8_LSB__MSK 0XFF
-#define BNO055_SIC_MATRIX_8_LSB__LEN 8
-#define BNO055_SIC_MATRIX_8_LSB__REG BNO055_SIC_MATRIX_8_LSB_ADDR
-
-#define BNO055_SIC_MATRIX_8_MSB__POS 0
-#define BNO055_SIC_MATRIX_8_MSB__MSK 0XFF
-#define BNO055_SIC_MATRIX_8_MSB__LEN 8
-#define BNO055_SIC_MATRIX_8_MSB__REG BNO055_SIC_MATRIX_8_MSB_ADDR
+#define BNO055_SIC_MATRIX_0_LSB_POS (0)
+#define BNO055_SIC_MATRIX_0_LSB_MSK (0XFF)
+#define BNO055_SIC_MATRIX_0_LSB_LEN (8)
+#define BNO055_SIC_MATRIX_0_LSB_REG BNO055_SIC_MATRIX_0_LSB_ADDR
+
+#define BNO055_SIC_MATRIX_0_MSB_POS (0)
+#define BNO055_SIC_MATRIX_0_MSB_MSK (0XFF)
+#define BNO055_SIC_MATRIX_0_MSB_LEN (8)
+#define BNO055_SIC_MATRIX_0_MSB_REG BNO055_SIC_MATRIX_0_MSB_ADDR
+
+#define BNO055_SIC_MATRIX_1_LSB_POS (0)
+#define BNO055_SIC_MATRIX_1_LSB_MSK (0XFF)
+#define BNO055_SIC_MATRIX_1_LSB_LEN (8)
+#define BNO055_SIC_MATRIX_1_LSB_REG BNO055_SIC_MATRIX_1_LSB_ADDR
+
+#define BNO055_SIC_MATRIX_1_MSB_POS (0)
+#define BNO055_SIC_MATRIX_1_MSB_MSK (0XFF)
+#define BNO055_SIC_MATRIX_1_MSB_LEN (8)
+#define BNO055_SIC_MATRIX_1_MSB_REG BNO055_SIC_MATRIX_1_MSB_ADDR
+
+#define BNO055_SIC_MATRIX_2_LSB_POS (0)
+#define BNO055_SIC_MATRIX_2_LSB_MSK (0XFF)
+#define BNO055_SIC_MATRIX_2_LSB_LEN (8)
+#define BNO055_SIC_MATRIX_2_LSB_REG BNO055_SIC_MATRIX_2_LSB_ADDR
+
+#define BNO055_SIC_MATRIX_2_MSB_POS (0)
+#define BNO055_SIC_MATRIX_2_MSB_MSK (0XFF)
+#define BNO055_SIC_MATRIX_2_MSB_LEN (8)
+#define BNO055_SIC_MATRIX_2_MSB_REG BNO055_SIC_MATRIX_2_MSB_ADDR
+
+#define BNO055_SIC_MATRIX_3_LSB_POS (0)
+#define BNO055_SIC_MATRIX_3_LSB_MSK (0XFF)
+#define BNO055_SIC_MATRIX_3_LSB_LEN (8)
+#define BNO055_SIC_MATRIX_3_LSB_REG BNO055_SIC_MATRIX_3_LSB_ADDR
+
+#define BNO055_SIC_MATRIX_3_MSB_POS (0)
+#define BNO055_SIC_MATRIX_3_MSB_MSK (0XFF)
+#define BNO055_SIC_MATRIX_3_MSB_LEN (8)
+#define BNO055_SIC_MATRIX_3_MSB_REG BNO055_SIC_MATRIX_3_MSB_ADDR
+
+#define BNO055_SIC_MATRIX_4_LSB_POS (0)
+#define BNO055_SIC_MATRIX_4_LSB_MSK (0XFF)
+#define BNO055_SIC_MATRIX_4_LSB_LEN (8)
+#define BNO055_SIC_MATRIX_4_LSB_REG BNO055_SIC_MATRIX_4_LSB_ADDR
+
+#define BNO055_SIC_MATRIX_4_MSB_POS (0)
+#define BNO055_SIC_MATRIX_4_MSB_MSK (0XFF)
+#define BNO055_SIC_MATRIX_4_MSB_LEN (8)
+#define BNO055_SIC_MATRIX_4_MSB_REG BNO055_SIC_MATRIX_4_MSB_ADDR
+
+#define BNO055_SIC_MATRIX_5_LSB_POS (0)
+#define BNO055_SIC_MATRIX_5_LSB_MSK (0XFF)
+#define BNO055_SIC_MATRIX_5_LSB_LEN (8)
+#define BNO055_SIC_MATRIX_5_LSB_REG BNO055_SIC_MATRIX_5_LSB_ADDR
+
+#define BNO055_SIC_MATRIX_5_MSB_POS (0)
+#define BNO055_SIC_MATRIX_5_MSB_MSK (0XFF)
+#define BNO055_SIC_MATRIX_5_MSB_LEN (8)
+#define BNO055_SIC_MATRIX_5_MSB_REG BNO055_SIC_MATRIX_5_MSB_ADDR
+
+#define BNO055_SIC_MATRIX_6_LSB_POS (0)
+#define BNO055_SIC_MATRIX_6_LSB_MSK (0XFF)
+#define BNO055_SIC_MATRIX_6_LSB_LEN (8)
+#define BNO055_SIC_MATRIX_6_LSB_REG BNO055_SIC_MATRIX_6_LSB_ADDR
+
+#define BNO055_SIC_MATRIX_6_MSB_POS (0)
+#define BNO055_SIC_MATRIX_6_MSB_MSK (0XFF)
+#define BNO055_SIC_MATRIX_6_MSB_LEN (8)
+#define BNO055_SIC_MATRIX_6_MSB_REG BNO055_SIC_MATRIX_6_MSB_ADDR
+
+#define BNO055_SIC_MATRIX_7_LSB_POS (0)
+#define BNO055_SIC_MATRIX_7_LSB_MSK (0XFF)
+#define BNO055_SIC_MATRIX_7_LSB_LEN (8)
+#define BNO055_SIC_MATRIX_7_LSB_REG BNO055_SIC_MATRIX_7_LSB_ADDR
+
+#define BNO055_SIC_MATRIX_7_MSB_POS (0)
+#define BNO055_SIC_MATRIX_7_MSB_MSK (0XFF)
+#define BNO055_SIC_MATRIX_7_MSB_LEN (8)
+#define BNO055_SIC_MATRIX_7_MSB_REG BNO055_SIC_MATRIX_7_MSB_ADDR
+
+#define BNO055_SIC_MATRIX_8_LSB_POS (0)
+#define BNO055_SIC_MATRIX_8_LSB_MSK (0XFF)
+#define BNO055_SIC_MATRIX_8_LSB_LEN (8)
+#define BNO055_SIC_MATRIX_8_LSB_REG BNO055_SIC_MATRIX_8_LSB_ADDR
+
+#define BNO055_SIC_MATRIX_8_MSB_POS (0)
+#define BNO055_SIC_MATRIX_8_MSB_MSK (0XFF)
+#define BNO055_SIC_MATRIX_8_MSB_LEN (8)
+#define BNO055_SIC_MATRIX_8_MSB_REG BNO055_SIC_MATRIX_8_MSB_ADDR
/*Accel Offset registers*/
-#define BNO055_ACCEL_OFFSET_X_LSB__POS 0
-#define BNO055_ACCEL_OFFSET_X_LSB__MSK 0XFF
-#define BNO055_ACCEL_OFFSET_X_LSB__LEN 8
-#define BNO055_ACCEL_OFFSET_X_LSB__REG ACCEL_OFFSET_X_LSB_ADDR
-
-#define BNO055_ACCEL_OFFSET_X_MSB__POS 0
-#define BNO055_ACCEL_OFFSET_X_MSB__MSK 0XFF
-#define BNO055_ACCEL_OFFSET_X_MSB__LEN 8
-#define BNO055_ACCEL_OFFSET_X_MSB__REG ACCEL_OFFSET_X_MSB_ADDR
-
-#define BNO055_ACCEL_OFFSET_Y_LSB__POS 0
-#define BNO055_ACCEL_OFFSET_Y_LSB__MSK 0XFF
-#define BNO055_ACCEL_OFFSET_Y_LSB__LEN 8
-#define BNO055_ACCEL_OFFSET_Y_LSB__REG ACCEL_OFFSET_Y_LSB_ADDR
-
-#define BNO055_ACCEL_OFFSET_Y_MSB__POS 0
-#define BNO055_ACCEL_OFFSET_Y_MSB__MSK 0XFF
-#define BNO055_ACCEL_OFFSET_Y_MSB__LEN 8
-#define BNO055_ACCEL_OFFSET_Y_MSB__REG ACCEL_OFFSET_Y_MSB_ADDR
-
-#define BNO055_ACCEL_OFFSET_Z_LSB__POS 0
-#define BNO055_ACCEL_OFFSET_Z_LSB__MSK 0XFF
-#define BNO055_ACCEL_OFFSET_Z_LSB__LEN 8
-#define BNO055_ACCEL_OFFSET_Z_LSB__REG ACCEL_OFFSET_Z_LSB_ADDR
-
-#define BNO055_ACCEL_OFFSET_Z_MSB__POS 0
-#define BNO055_ACCEL_OFFSET_Z_MSB__MSK 0XFF
-#define BNO055_ACCEL_OFFSET_Z_MSB__LEN 8
-#define BNO055_ACCEL_OFFSET_Z_MSB__REG ACCEL_OFFSET_Z_MSB_ADDR
+#define BNO055_ACCEL_OFFSET_X_LSB_POS (0)
+#define BNO055_ACCEL_OFFSET_X_LSB_MSK (0XFF)
+#define BNO055_ACCEL_OFFSET_X_LSB_LEN (8)
+#define BNO055_ACCEL_OFFSET_X_LSB_REG BNO055_ACCEL_OFFSET_X_LSB_ADDR
+
+#define BNO055_ACCEL_OFFSET_X_MSB_POS (0)
+#define BNO055_ACCEL_OFFSET_X_MSB_MSK (0XFF)
+#define BNO055_ACCEL_OFFSET_X_MSB_LEN (8)
+#define BNO055_ACCEL_OFFSET_X_MSB_REG BNO055_ACCEL_OFFSET_X_MSB_ADDR
+
+#define BNO055_ACCEL_OFFSET_Y_LSB_POS (0)
+#define BNO055_ACCEL_OFFSET_Y_LSB_MSK (0XFF)
+#define BNO055_ACCEL_OFFSET_Y_LSB_LEN (8)
+#define BNO055_ACCEL_OFFSET_Y_LSB_REG BNO055_ACCEL_OFFSET_Y_LSB_ADDR
+
+#define BNO055_ACCEL_OFFSET_Y_MSB_POS (0)
+#define BNO055_ACCEL_OFFSET_Y_MSB_MSK (0XFF)
+#define BNO055_ACCEL_OFFSET_Y_MSB_LEN (8)
+#define BNO055_ACCEL_OFFSET_Y_MSB_REG BNO055_ACCEL_OFFSET_Y_MSB_ADDR
+
+#define BNO055_ACCEL_OFFSET_Z_LSB_POS (0)
+#define BNO055_ACCEL_OFFSET_Z_LSB_MSK (0XFF)
+#define BNO055_ACCEL_OFFSET_Z_LSB_LEN (8)
+#define BNO055_ACCEL_OFFSET_Z_LSB_REG BNO055_ACCEL_OFFSET_Z_LSB_ADDR
+
+#define BNO055_ACCEL_OFFSET_Z_MSB_POS (0)
+#define BNO055_ACCEL_OFFSET_Z_MSB_MSK (0XFF)
+#define BNO055_ACCEL_OFFSET_Z_MSB_LEN (8)
+#define BNO055_ACCEL_OFFSET_Z_MSB_REG BNO055_ACCEL_OFFSET_Z_MSB_ADDR
/*Mag Offset registers*/
-#define BNO055_MAG_OFFSET_X_LSB__POS 0
-#define BNO055_MAG_OFFSET_X_LSB__MSK 0XFF
-#define BNO055_MAG_OFFSET_X_LSB__LEN 8
-#define BNO055_MAG_OFFSET_X_LSB__REG MAG_OFFSET_X_LSB_ADDR
-
-#define BNO055_MAG_OFFSET_X_MSB__POS 0
-#define BNO055_MAG_OFFSET_X_MSB__MSK 0XFF
-#define BNO055_MAG_OFFSET_X_MSB__LEN 8
-#define BNO055_MAG_OFFSET_X_MSB__REG MAG_OFFSET_X_MSB_ADDR
-
-#define BNO055_MAG_OFFSET_Y_LSB__POS 0
-#define BNO055_MAG_OFFSET_Y_LSB__MSK 0XFF
-#define BNO055_MAG_OFFSET_Y_LSB__LEN 8
-#define BNO055_MAG_OFFSET_Y_LSB__REG MAG_OFFSET_Y_LSB_ADDR
-
-#define BNO055_MAG_OFFSET_Y_MSB__POS 0
-#define BNO055_MAG_OFFSET_Y_MSB__MSK 0XFF
-#define BNO055_MAG_OFFSET_Y_MSB__LEN 8
-#define BNO055_MAG_OFFSET_Y_MSB__REG MAG_OFFSET_Y_MSB_ADDR
-
-#define BNO055_MAG_OFFSET_Z_LSB__POS 0
-#define BNO055_MAG_OFFSET_Z_LSB__MSK 0XFF
-#define BNO055_MAG_OFFSET_Z_LSB__LEN 8
-#define BNO055_MAG_OFFSET_Z_LSB__REG MAG_OFFSET_Z_LSB_ADDR
-
-#define BNO055_MAG_OFFSET_Z_MSB__POS 0
-#define BNO055_MAG_OFFSET_Z_MSB__MSK 0XFF
-#define BNO055_MAG_OFFSET_Z_MSB__LEN 8
-#define BNO055_MAG_OFFSET_Z_MSB__REG MAG_OFFSET_Z_MSB_ADDR
+#define BNO055_MAG_OFFSET_X_LSB_POS (0)
+#define BNO055_MAG_OFFSET_X_LSB_MSK (0XFF)
+#define BNO055_MAG_OFFSET_X_LSB_LEN (8)
+#define BNO055_MAG_OFFSET_X_LSB_REG BNO055_MAG_OFFSET_X_LSB_ADDR
+
+#define BNO055_MAG_OFFSET_X_MSB_POS (0)
+#define BNO055_MAG_OFFSET_X_MSB_MSK (0XFF)
+#define BNO055_MAG_OFFSET_X_MSB_LEN (8)
+#define BNO055_MAG_OFFSET_X_MSB_REG BNO055_MAG_OFFSET_X_MSB_ADDR
+
+#define BNO055_MAG_OFFSET_Y_LSB_POS (0)
+#define BNO055_MAG_OFFSET_Y_LSB_MSK (0XFF)
+#define BNO055_MAG_OFFSET_Y_LSB_LEN (8)
+#define BNO055_MAG_OFFSET_Y_LSB_REG BNO055_MAG_OFFSET_Y_LSB_ADDR
+
+#define BNO055_MAG_OFFSET_Y_MSB_POS (0)
+#define BNO055_MAG_OFFSET_Y_MSB_MSK (0XFF)
+#define BNO055_MAG_OFFSET_Y_MSB_LEN (8)
+#define BNO055_MAG_OFFSET_Y_MSB_REG BNO055_MAG_OFFSET_Y_MSB_ADDR
+
+#define BNO055_MAG_OFFSET_Z_LSB_POS (0)
+#define BNO055_MAG_OFFSET_Z_LSB_MSK (0XFF)
+#define BNO055_MAG_OFFSET_Z_LSB_LEN (8)
+#define BNO055_MAG_OFFSET_Z_LSB_REG BNO055_MAG_OFFSET_Z_LSB_ADDR
+
+#define BNO055_MAG_OFFSET_Z_MSB_POS (0)
+#define BNO055_MAG_OFFSET_Z_MSB_MSK (0XFF)
+#define BNO055_MAG_OFFSET_Z_MSB_LEN (8)
+#define BNO055_MAG_OFFSET_Z_MSB_REG BNO055_MAG_OFFSET_Z_MSB_ADDR
/* Gyro Offset registers*/
-#define BNO055_GYRO_OFFSET_X_LSB__POS 0
-#define BNO055_GYRO_OFFSET_X_LSB__MSK 0XFF
-#define BNO055_GYRO_OFFSET_X_LSB__LEN 8
-#define BNO055_GYRO_OFFSET_X_LSB__REG GYRO_OFFSET_X_LSB_ADDR
-
-#define BNO055_GYRO_OFFSET_X_MSB__POS 0
-#define BNO055_GYRO_OFFSET_X_MSB__MSK 0XFF
-#define BNO055_GYRO_OFFSET_X_MSB__LEN 8
-#define BNO055_GYRO_OFFSET_X_MSB__REG GYRO_OFFSET_X_MSB_ADDR
-
-#define BNO055_GYRO_OFFSET_Y_LSB__POS 0
-#define BNO055_GYRO_OFFSET_Y_LSB__MSK 0XFF
-#define BNO055_GYRO_OFFSET_Y_LSB__LEN 8
-#define BNO055_GYRO_OFFSET_Y_LSB__REG GYRO_OFFSET_Y_LSB_ADDR
-
-#define BNO055_GYRO_OFFSET_Y_MSB__POS 0
-#define BNO055_GYRO_OFFSET_Y_MSB__MSK 0XFF
-#define BNO055_GYRO_OFFSET_Y_MSB__LEN 8
-#define BNO055_GYRO_OFFSET_Y_MSB__REG GYRO_OFFSET_Y_MSB_ADDR
-
-#define BNO055_GYRO_OFFSET_Z_LSB__POS 0
-#define BNO055_GYRO_OFFSET_Z_LSB__MSK 0XFF
-#define BNO055_GYRO_OFFSET_Z_LSB__LEN 8
-#define BNO055_GYRO_OFFSET_Z_LSB__REG GYRO_OFFSET_Z_LSB_ADDR
-
-#define BNO055_GYRO_OFFSET_Z_MSB__POS 0
-#define BNO055_GYRO_OFFSET_Z_MSB__MSK 0XFF
-#define BNO055_GYRO_OFFSET_Z_MSB__LEN 8
-#define BNO055_GYRO_OFFSET_Z_MSB__REG GYRO_OFFSET_Z_MSB_ADDR
+#define BNO055_GYRO_OFFSET_X_LSB_POS (0)
+#define BNO055_GYRO_OFFSET_X_LSB_MSK (0XFF)
+#define BNO055_GYRO_OFFSET_X_LSB_LEN (8)
+#define BNO055_GYRO_OFFSET_X_LSB_REG BNO055_GYRO_OFFSET_X_LSB_ADDR
+
+#define BNO055_GYRO_OFFSET_X_MSB_POS (0)
+#define BNO055_GYRO_OFFSET_X_MSB_MSK (0XFF)
+#define BNO055_GYRO_OFFSET_X_MSB_LEN (8)
+#define BNO055_GYRO_OFFSET_X_MSB_REG BNO055_GYRO_OFFSET_X_MSB_ADDR
+
+#define BNO055_GYRO_OFFSET_Y_LSB_POS (0)
+#define BNO055_GYRO_OFFSET_Y_LSB_MSK (0XFF)
+#define BNO055_GYRO_OFFSET_Y_LSB_LEN (8)
+#define BNO055_GYRO_OFFSET_Y_LSB_REG BNO055_GYRO_OFFSET_Y_LSB_ADDR
+
+#define BNO055_GYRO_OFFSET_Y_MSB_POS (0)
+#define BNO055_GYRO_OFFSET_Y_MSB_MSK (0XFF)
+#define BNO055_GYRO_OFFSET_Y_MSB_LEN (8)
+#define BNO055_GYRO_OFFSET_Y_MSB_REG BNO055_GYRO_OFFSET_Y_MSB_ADDR
+
+#define BNO055_GYRO_OFFSET_Z_LSB_POS (0)
+#define BNO055_GYRO_OFFSET_Z_LSB_MSK (0XFF)
+#define BNO055_GYRO_OFFSET_Z_LSB_LEN (8)
+#define BNO055_GYRO_OFFSET_Z_LSB_REG BNO055_GYRO_OFFSET_Z_LSB_ADDR
+
+#define BNO055_GYRO_OFFSET_Z_MSB_POS (0)
+#define BNO055_GYRO_OFFSET_Z_MSB_MSK (0XFF)
+#define BNO055_GYRO_OFFSET_Z_MSB_LEN (8)
+#define BNO055_GYRO_OFFSET_Z_MSB_REG BNO055_GYRO_OFFSET_Z_MSB_ADDR
/* Radius register definition*/
-#define BNO055_ACCEL_RADIUS_LSB__POS 0
-#define BNO055_ACCEL_RADIUS_LSB__MSK 0XFF
-#define BNO055_ACCEL_RADIUS_LSB__LEN 8
-#define BNO055_ACCEL_RADIUS_LSB__REG ACCEL_RADIUS_LSB_ADDR
-
-#define BNO055_ACCEL_RADIUS_MSB__POS 0
-#define BNO055_ACCEL_RADIUS_MSB__MSK 0XFF
-#define BNO055_ACCEL_RADIUS_MSB__LEN 8
-#define BNO055_ACCEL_RADIUS_MSB__REG ACCEL_RADIUS_MSB_ADDR
-
-#define BNO055_MAG_RADIUS_LSB__POS 0
-#define BNO055_MAG_RADIUS_LSB__MSK 0XFF
-#define BNO055_MAG_RADIUS_LSB__LEN 8
-#define BNO055_MAG_RADIUS_LSB__REG MAG_RADIUS_LSB_ADDR
-
-#define BNO055_MAG_RADIUS_MSB__POS 0
-#define BNO055_MAG_RADIUS_MSB__MSK 0XFF
-#define BNO055_MAG_RADIUS_MSB__LEN 8
-#define BNO055_MAG_RADIUS_MSB__REG MAG_RADIUS_MSB_ADDR
+#define BNO055_ACCEL_RADIUS_LSB_POS (0)
+#define BNO055_ACCEL_RADIUS_LSB_MSK (0XFF)
+#define BNO055_ACCEL_RADIUS_LSB_LEN (8)
+#define BNO055_ACCEL_RADIUS_LSB_REG BNO055_ACCEL_RADIUS_LSB_ADDR
+
+#define BNO055_ACCEL_RADIUS_MSB_POS (0)
+#define BNO055_ACCEL_RADIUS_MSB_MSK (0XFF)
+#define BNO055_ACCEL_RADIUS_MSB_LEN (8)
+#define BNO055_ACCEL_RADIUS_MSB_REG BNO055_ACCEL_RADIUS_MSB_ADDR
+
+#define BNO055_MAG_RADIUS_LSB_POS (0)
+#define BNO055_MAG_RADIUS_LSB_MSK (0XFF)
+#define BNO055_MAG_RADIUS_LSB_LEN (8)
+#define BNO055_MAG_RADIUS_LSB_REG BNO055_MAG_RADIUS_LSB_ADDR
+
+#define BNO055_MAG_RADIUS_MSB_POS (0)
+#define BNO055_MAG_RADIUS_MSB_MSK (0XFF)
+#define BNO055_MAG_RADIUS_MSB_LEN (8)
+#define BNO055_MAG_RADIUS_MSB_REG BNO055_MAG_RADIUS_MSB_ADDR
/* PAGE0 DATA REGISTERS DEFINITION END*/
/*************************************************/
/*************************************************/
/* Configuration registers*/
/* Accel range configuration register*/
-#define BNO055_ACCEL_RANGE__POS 0
-#define BNO055_ACCEL_RANGE__MSK 0X03
-#define BNO055_ACCEL_RANGE__LEN 2
-#define BNO055_ACCEL_RANGE__REG ACCEL_CONFIG_ADDR
+#define BNO055_ACCEL_RANGE_POS (0)
+#define BNO055_ACCEL_RANGE_MSK (0X03)
+#define BNO055_ACCEL_RANGE_LEN (2)
+#define BNO055_ACCEL_RANGE_REG BNO055_ACCEL_CONFIG_ADDR
/* Accel bandwidth configuration register*/
-#define BNO055_ACCEL_BW__POS 2
-#define BNO055_ACCEL_BW__MSK 0X1C
-#define BNO055_ACCEL_BW__LEN 3
-#define BNO055_ACCEL_BW__REG ACCEL_CONFIG_ADDR
+#define BNO055_ACCEL_BW_POS (2)
+#define BNO055_ACCEL_BW_MSK (0X1C)
+#define BNO055_ACCEL_BW_LEN (3)
+#define BNO055_ACCEL_BW_REG BNO055_ACCEL_CONFIG_ADDR
/* Accel power mode configuration register*/
-#define BNO055_ACCEL_POWER_MODE__POS 5
-#define BNO055_ACCEL_POWER_MODE__MSK 0XE0
-#define BNO055_ACCEL_POWER_MODE__LEN 3
-#define BNO055_ACCEL_POWER_MODE__REG ACCEL_CONFIG_ADDR
+#define BNO055_ACCEL_POWER_MODE_POS (5)
+#define BNO055_ACCEL_POWER_MODE_MSK (0XE0)
+#define BNO055_ACCEL_POWER_MODE_LEN (3)
+#define BNO055_ACCEL_POWER_MODE_REG BNO055_ACCEL_CONFIG_ADDR
/* Mag data output rate configuration register*/
-#define BNO055_MAG_DATA_OUTPUT_RATE__POS 0
-#define BNO055_MAG_DATA_OUTPUT_RATE__MSK 0X07
-#define BNO055_MAG_DATA_OUTPUT_RATE__LEN 3
-#define BNO055_MAG_DATA_OUTPUT_RATE__REG MAG_CONFIG_ADDR
+#define BNO055_MAG_DATA_OUTPUT_RATE_POS (0)
+#define BNO055_MAG_DATA_OUTPUT_RATE_MSK (0X07)
+#define BNO055_MAG_DATA_OUTPUT_RATE_LEN (3)
+#define BNO055_MAG_DATA_OUTPUT_RATE_REG BNO055_MAG_CONFIG_ADDR
/* Mag operation mode configuration register*/
-#define BNO055_MAG_OPERATION_MODE__POS 3
-#define BNO055_MAG_OPERATION_MODE__MSK 0X18
-#define BNO055_MAG_OPERATION_MODE__LEN 2
-#define BNO055_MAG_OPERATION_MODE__REG MAG_CONFIG_ADDR
+#define BNO055_MAG_OPERATION_MODE_POS (3)
+#define BNO055_MAG_OPERATION_MODE_MSK (0X18)
+#define BNO055_MAG_OPERATION_MODE_LEN (2)
+#define BNO055_MAG_OPERATION_MODE_REG BNO055_MAG_CONFIG_ADDR
/* Mag power mode configuration register*/
-#define BNO055_MAG_POWER_MODE__POS 5
-#define BNO055_MAG_POWER_MODE__MSK 0X60
-#define BNO055_MAG_POWER_MODE__LEN 2
-#define BNO055_MAG_POWER_MODE__REG MAG_CONFIG_ADDR
+#define BNO055_MAG_POWER_MODE_POS (5)
+#define BNO055_MAG_POWER_MODE_MSK (0X60)
+#define BNO055_MAG_POWER_MODE_LEN (2)
+#define BNO055_MAG_POWER_MODE_REG BNO055_MAG_CONFIG_ADDR
/* Gyro range configuration register*/
-#define BNO055_GYRO_RANGE__POS 0
-#define BNO055_GYRO_RANGE__MSK 0X07
-#define BNO055_GYRO_RANGE__LEN 3
-#define BNO055_GYRO_RANGE__REG GYRO_CONFIG_ADDR
+#define BNO055_GYRO_RANGE_POS (0)
+#define BNO055_GYRO_RANGE_MSK (0X07)
+#define BNO055_GYRO_RANGE_LEN (3)
+#define BNO055_GYRO_RANGE_REG BNO055_GYRO_CONFIG_ADDR
/* Gyro bandwidth configuration register*/
-#define BNO055_GYRO_BW__POS 3
-#define BNO055_GYRO_BW__MSK 0X38
-#define BNO055_GYRO_BW__LEN 3
-#define BNO055_GYRO_BW__REG GYRO_CONFIG_ADDR
+#define BNO055_GYRO_BW_POS (3)
+#define BNO055_GYRO_BW_MSK (0X38)
+#define BNO055_GYRO_BW_LEN (3)
+#define BNO055_GYRO_BW_REG BNO055_GYRO_CONFIG_ADDR
/* Gyro power mode configuration register*/
-#define BNO055_GYRO_POWER_MODE__POS 0
-#define BNO055_GYRO_POWER_MODE__MSK 0X07
-#define BNO055_GYRO_POWER_MODE__LEN 3
-#define BNO055_GYRO_POWER_MODE__REG GYRO_MODE_CONFIG_ADDR
+#define BNO055_GYRO_POWER_MODE_POS (0)
+#define BNO055_GYRO_POWER_MODE_MSK (0X07)
+#define BNO055_GYRO_POWER_MODE_LEN (3)
+#define BNO055_GYRO_POWER_MODE_REG BNO055_GYRO_MODE_CONFIG_ADDR
/* Sleep configuration registers*/
/* Accel sleep mode configuration register*/
-#define BNO055_ACCEL_SLEEP_MODE__POS 0
-#define BNO055_ACCEL_SLEEP_MODE__MSK 0X01
-#define BNO055_ACCEL_SLEEP_MODE__LEN 1
-#define BNO055_ACCEL_SLEEP_MODE__REG ACCEL_SLEEP_CONFIG_ADDR
+#define BNO055_ACCEL_SLEEP_MODE_POS (0)
+#define BNO055_ACCEL_SLEEP_MODE_MSK (0X01)
+#define BNO055_ACCEL_SLEEP_MODE_LEN (1)
+#define BNO055_ACCEL_SLEEP_MODE_REG BNO055_ACCEL_SLEEP_CONFIG_ADDR
/* Accel sleep duration configuration register*/
-#define BNO055_ACCEL_SLEEP_DURN__POS 1
-#define BNO055_ACCEL_SLEEP_DURN__MSK 0X1E
-#define BNO055_ACCEL_SLEEP_DURN__LEN 4
-#define BNO055_ACCEL_SLEEP_DURN__REG ACCEL_SLEEP_CONFIG_ADDR
+#define BNO055_ACCEL_SLEEP_DURN_POS (1)
+#define BNO055_ACCEL_SLEEP_DURN_MSK (0X1E)
+#define BNO055_ACCEL_SLEEP_DURN_LEN (4)
+#define BNO055_ACCEL_SLEEP_DURN_REG BNO055_ACCEL_SLEEP_CONFIG_ADDR
/* Gyro sleep duration configuration register*/
-#define BNO055_GYRO_SLEEP_DURN__POS 0
-#define BNO055_GYRO_SLEEP_DURN__MSK 0X07
-#define BNO055_GYRO_SLEEP_DURN__LEN 3
-#define BNO055_GYRO_SLEEP_DURN__REG GYRO_SLEEP_CONFIG_ADDR
+#define BNO055_GYRO_SLEEP_DURN_POS (0)
+#define BNO055_GYRO_SLEEP_DURN_MSK (0X07)
+#define BNO055_GYRO_SLEEP_DURN_LEN (3)
+#define BNO055_GYRO_SLEEP_DURN_REG BNO055_GYRO_SLEEP_CONFIG_ADDR
/* Gyro auto sleep duration configuration register*/
-#define BNO055_GYRO_AUTO_SLEEP_DURN__POS 3
-#define BNO055_GYRO_AUTO_SLEEP_DURN__MSK 0X38
-#define BNO055_GYRO_AUTO_SLEEP_DURN__LEN 3
-#define BNO055_GYRO_AUTO_SLEEP_DURN__REG GYRO_SLEEP_CONFIG_ADDR
+#define BNO055_GYRO_AUTO_SLEEP_DURN_POS (3)
+#define BNO055_GYRO_AUTO_SLEEP_DURN_MSK (0X38)
+#define BNO055_GYRO_AUTO_SLEEP_DURN_LEN (3)
+#define BNO055_GYRO_AUTO_SLEEP_DURN_REG BNO055_GYRO_SLEEP_CONFIG_ADDR
/* Mag sleep mode configuration register*/
-#define BNO055_MAG_SLEEP_MODE__POS 0
-#define BNO055_MAG_SLEEP_MODE__MSK 0X01
-#define BNO055_MAG_SLEEP_MODE__LEN 1
-#define BNO055_MAG_SLEEP_MODE__REG MAG_SLEEP_CONFIG_ADDR
+#define BNO055_MAG_SLEEP_MODE_POS (0)
+#define BNO055_MAG_SLEEP_MODE_MSK (0X01)
+#define BNO055_MAG_SLEEP_MODE_LEN (1)
+#define BNO055_MAG_SLEEP_MODE_REG BNO055_MAG_SLEEP_CONFIG_ADDR
/* Mag sleep duration configuration register*/
-#define BNO055_MAG_SLEEP_DURN__POS 1
-#define BNO055_MAG_SLEEP_DURN__MSK 0X1E
-#define BNO055_MAG_SLEEP_DURN__LEN 4
-#define BNO055_MAG_SLEEP_DURN__REG MAG_SLEEP_CONFIG_ADDR
+#define BNO055_MAG_SLEEP_DURN_POS (1)
+#define BNO055_MAG_SLEEP_DURN_MSK (0X1E)
+#define BNO055_MAG_SLEEP_DURN_LEN (4)
+#define BNO055_MAG_SLEEP_DURN_REG BNO055_MAG_SLEEP_CONFIG_ADDR
/* Interrupt registers*/
/* Gyro any motion interrupt msk register*/
-#define BNO055_GYRO_ANY_MOTION_INTR_MASK__POS 2
-#define BNO055_GYRO_ANY_MOTION_INTR_MASK__MSK 0X04
-#define BNO055_GYRO_ANY_MOTION_INTR_MASK__LEN 1
-#define BNO055_GYRO_ANY_MOTION_INTR_MASK__REG INT_MASK_ADDR
+#define BNO055_GYRO_ANY_MOTION_INTR_MASK_POS (2)
+#define BNO055_GYRO_ANY_MOTION_INTR_MASK_MSK (0X04)
+#define BNO055_GYRO_ANY_MOTION_INTR_MASK_LEN (1)
+#define BNO055_GYRO_ANY_MOTION_INTR_MASK_REG BNO055_INT_MASK_ADDR
/* Gyro high rate interrupt msk register*/
-#define BNO055_GYRO_HIGHRATE_INTR_MASK__POS 3
-#define BNO055_GYRO_HIGHRATE_INTR_MASK__MSK 0X08
-#define BNO055_GYRO_HIGHRATE_INTR_MASK__LEN 1
-#define BNO055_GYRO_HIGHRATE_INTR_MASK__REG INT_MASK_ADDR
+#define BNO055_GYRO_HIGHRATE_INTR_MASK_POS (3)
+#define BNO055_GYRO_HIGHRATE_INTR_MASK_MSK (0X08)
+#define BNO055_GYRO_HIGHRATE_INTR_MASK_LEN (1)
+#define BNO055_GYRO_HIGHRATE_INTR_MASK_REG BNO055_INT_MASK_ADDR
/* Accel high g interrupt msk register*/
-#define BNO055_ACCEL_HIGH_G_INTR_MASK__POS 5
-#define BNO055_ACCEL_HIGH_G_INTR_MASK__MSK 0X20
-#define BNO055_ACCEL_HIGH_G_INTR_MASK__LEN 1
-#define BNO055_ACCEL_HIGH_G_INTR_MASK__REG INT_MASK_ADDR
+#define BNO055_ACCEL_HIGH_G_INTR_MASK_POS (5)
+#define BNO055_ACCEL_HIGH_G_INTR_MASK_MSK (0X20)
+#define BNO055_ACCEL_HIGH_G_INTR_MASK_LEN (1)
+#define BNO055_ACCEL_HIGH_G_INTR_MASK_REG BNO055_INT_MASK_ADDR
/* Accel any motion interrupt msk register*/
-#define BNO055_ACCEL_ANY_MOTION_INTR_MASK__POS 6
-#define BNO055_ACCEL_ANY_MOTION_INTR_MASK__MSK 0X40
-#define BNO055_ACCEL_ANY_MOTION_INTR_MASK__LEN 1
-#define BNO055_ACCEL_ANY_MOTION_INTR_MASK__REG INT_MASK_ADDR
+#define BNO055_ACCEL_ANY_MOTION_INTR_MASK_POS (6)
+#define BNO055_ACCEL_ANY_MOTION_INTR_MASK_MSK (0X40)
+#define BNO055_ACCEL_ANY_MOTION_INTR_MASK_LEN (1)
+#define BNO055_ACCEL_ANY_MOTION_INTR_MASK_REG BNO055_INT_MASK_ADDR
/* Accel any motion interrupt msk register*/
-#define BNO055_ACCEL_NO_MOTION_INTR_MASK__POS 7
-#define BNO055_ACCEL_NO_MOTION_INTR_MASK__MSK 0X80
-#define BNO055_ACCEL_NO_MOTION_INTR_MASK__LEN 1
-#define BNO055_ACCEL_NO_MOTION_INTR_MASK__REG INT_MASK_ADDR
+#define BNO055_ACCEL_NO_MOTION_INTR_MASK_POS (7)
+#define BNO055_ACCEL_NO_MOTION_INTR_MASK_MSK (0X80)
+#define BNO055_ACCEL_NO_MOTION_INTR_MASK_LEN (1)
+#define BNO055_ACCEL_NO_MOTION_INTR_MASK_REG BNO055_INT_MASK_ADDR
/* Gyro any motion interrupt register*/
-#define BNO055_GYRO_ANY_MOTION_INTR__POS 2
-#define BNO055_GYRO_ANY_MOTION_INTR__MSK 0X04
-#define BNO055_GYRO_ANY_MOTION_INTR__LEN 1
-#define BNO055_GYRO_ANY_MOTION_INTR__REG INT_ADDR
+#define BNO055_GYRO_ANY_MOTION_INTR_POS (2)
+#define BNO055_GYRO_ANY_MOTION_INTR_MSK (0X04)
+#define BNO055_GYRO_ANY_MOTION_INTR_LEN (1)
+#define BNO055_GYRO_ANY_MOTION_INTR_REG BNO055_INT_ADDR
/* Gyro high rate interrupt register*/
-#define BNO055_GYRO_HIGHRATE_INTR__POS 3
-#define BNO055_GYRO_HIGHRATE_INTR__MSK 0X08
-#define BNO055_GYRO_HIGHRATE_INTR__LEN 1
-#define BNO055_GYRO_HIGHRATE_INTR__REG INT_ADDR
+#define BNO055_GYRO_HIGHRATE_INTR_POS (3)
+#define BNO055_GYRO_HIGHRATE_INTR_MSK (0X08)
+#define BNO055_GYRO_HIGHRATE_INTR_LEN (1)
+#define BNO055_GYRO_HIGHRATE_INTR_REG BNO055_INT_ADDR
/* Accel high g interrupt register*/
-#define BNO055_ACCEL_HIGH_G_INTR__POS 5
-#define BNO055_ACCEL_HIGH_G_INTR__MSK 0X20
-#define BNO055_ACCEL_HIGH_G_INTR__LEN 1
-#define BNO055_ACCEL_HIGH_G_INTR__REG INT_ADDR
+#define BNO055_ACCEL_HIGH_G_INTR_POS (5)
+#define BNO055_ACCEL_HIGH_G_INTR_MSK (0X20)
+#define BNO055_ACCEL_HIGH_G_INTR_LEN (1)
+#define BNO055_ACCEL_HIGH_G_INTR_REG BNO055_INT_ADDR
/* Accel any motion interrupt register*/
-#define BNO055_ACCEL_ANY_MOTION_INTR__POS 6
-#define BNO055_ACCEL_ANY_MOTION_INTR__MSK 0X40
-#define BNO055_ACCEL_ANY_MOTION_INTR__LEN 1
-#define BNO055_ACCEL_ANY_MOTION_INTR__REG INT_ADDR
+#define BNO055_ACCEL_ANY_MOTION_INTR_POS (6)
+#define BNO055_ACCEL_ANY_MOTION_INTR_MSK (0X40)
+#define BNO055_ACCEL_ANY_MOTION_INTR_LEN (1)
+#define BNO055_ACCEL_ANY_MOTION_INTR_REG BNO055_INT_ADDR
/*Accel any motion interrupt register*/
-#define BNO055_ACCEL_NO_MOTION_INTR__POS 7
-#define BNO055_ACCEL_NO_MOTION_INTR__MSK 0X80
-#define BNO055_ACCEL_NO_MOTION_INTR__LEN 1
-#define BNO055_ACCEL_NO_MOTION_INTR__REG INT_ADDR
+#define BNO055_ACCEL_NO_MOTION_INTR_POS (7)
+#define BNO055_ACCEL_NO_MOTION_INTR_MSK (0X80)
+#define BNO055_ACCEL_NO_MOTION_INTR_LEN (1)
+#define BNO055_ACCEL_NO_MOTION_INTR_REG BNO055_INT_ADDR
/*Accel any motion threshold setting*/
-#define BNO055_ACCEL_ANY_MOTION_THRES__POS 0
-#define BNO055_ACCEL_ANY_MOTION_THRES__MSK 0XFF
-#define BNO055_ACCEL_ANY_MOTION_THRES__LEN 8
-#define BNO055_ACCEL_ANY_MOTION_THRES__REG ACCEL_ANY_MOTION_THRES_ADDR
+#define BNO055_ACCEL_ANY_MOTION_THRES_POS (0)
+#define BNO055_ACCEL_ANY_MOTION_THRES_MSK (0XFF)
+#define BNO055_ACCEL_ANY_MOTION_THRES_LEN (8)
+#define BNO055_ACCEL_ANY_MOTION_THRES_REG BNO055_ACCEL_ANY_MOTION_THRES_ADDR
/*Accel interrupt setting register*/
-#define BNO055_ACCEL_ANY_MOTION_DURN_SET__POS 0
-#define BNO055_ACCEL_ANY_MOTION_DURN_SET__MSK 0X03
-#define BNO055_ACCEL_ANY_MOTION_DURN_SET__LEN 2
-#define BNO055_ACCEL_ANY_MOTION_DURN_SET__REG ACCEL_INTR_SETTINGS_ADDR
+#define BNO055_ACCEL_ANY_MOTION_DURN_SET_POS (0)
+#define BNO055_ACCEL_ANY_MOTION_DURN_SET_MSK (0X03)
+#define BNO055_ACCEL_ANY_MOTION_DURN_SET_LEN (2)
+#define BNO055_ACCEL_ANY_MOTION_DURN_SET_REG BNO055_ACCEL_INTR_SETTINGS_ADDR
/* Accel AM/NM axis selection register*/
-#define BNO055_ACCEL_ANY_MOTION_X_AXIS__POS 2
-#define BNO055_ACCEL_ANY_MOTION_X_AXIS__MSK 0X04
-#define BNO055_ACCEL_ANY_MOTION_X_AXIS__LEN 1
-#define BNO055_ACCEL_ANY_MOTION_X_AXIS__REG ACCEL_INTR_SETTINGS_ADDR
+#define BNO055_ACCEL_ANY_MOTION_X_AXIS_POS (2)
+#define BNO055_ACCEL_ANY_MOTION_X_AXIS_MSK (0X04)
+#define BNO055_ACCEL_ANY_MOTION_X_AXIS_LEN (1)
+#define BNO055_ACCEL_ANY_MOTION_X_AXIS_REG BNO055_ACCEL_INTR_SETTINGS_ADDR
-#define BNO055_ACCEL_ANY_MOTION_Y_AXIS__POS 3
-#define BNO055_ACCEL_ANY_MOTION_Y_AXIS__MSK 0X08
-#define BNO055_ACCEL_ANY_MOTION_Y_AXIS__LEN 1
-#define BNO055_ACCEL_ANY_MOTION_Y_AXIS__REG ACCEL_INTR_SETTINGS_ADDR
+#define BNO055_ACCEL_ANY_MOTION_Y_AXIS_POS (3)
+#define BNO055_ACCEL_ANY_MOTION_Y_AXIS_MSK (0X08)
+#define BNO055_ACCEL_ANY_MOTION_Y_AXIS_LEN (1)
+#define BNO055_ACCEL_ANY_MOTION_Y_AXIS_REG BNO055_ACCEL_INTR_SETTINGS_ADDR
-#define BNO055_ACCEL_ANY_MOTION_Z_AXIS__POS 4
-#define BNO055_ACCEL_ANY_MOTION_Z_AXIS__MSK 0X10
-#define BNO055_ACCEL_ANY_MOTION_Z_AXIS__LEN 1
-#define BNO055_ACCEL_ANY_MOTION_Z_AXIS__REG ACCEL_INTR_SETTINGS_ADDR
+#define BNO055_ACCEL_ANY_MOTION_Z_AXIS_POS (4)
+#define BNO055_ACCEL_ANY_MOTION_Z_AXIS_MSK (0X10)
+#define BNO055_ACCEL_ANY_MOTION_Z_AXIS_LEN (1)
+#define BNO055_ACCEL_ANY_MOTION_Z_AXIS_REG BNO055_ACCEL_INTR_SETTINGS_ADDR
/* Accel high g axis selection register*/
-#define BNO055_ACCEL_HIGH_G_X_AXIS__POS 5
-#define BNO055_ACCEL_HIGH_G_X_AXIS__MSK 0X20
-#define BNO055_ACCEL_HIGH_G_X_AXIS__LEN 1
-#define BNO055_ACCEL_HIGH_G_X_AXIS__REG ACCEL_INTR_SETTINGS_ADDR
+#define BNO055_ACCEL_HIGH_G_X_AXIS_POS (5)
+#define BNO055_ACCEL_HIGH_G_X_AXIS_MSK (0X20)
+#define BNO055_ACCEL_HIGH_G_X_AXIS_LEN (1)
+#define BNO055_ACCEL_HIGH_G_X_AXIS_REG BNO055_ACCEL_INTR_SETTINGS_ADDR
-#define BNO055_ACCEL_HIGH_G_Y_AXIS__POS 6
-#define BNO055_ACCEL_HIGH_G_Y_AXIS__MSK 0X40
-#define BNO055_ACCEL_HIGH_G_Y_AXIS__LEN 1
-#define BNO055_ACCEL_HIGH_G_Y_AXIS__REG ACCEL_INTR_SETTINGS_ADDR
+#define BNO055_ACCEL_HIGH_G_Y_AXIS_POS (6)
+#define BNO055_ACCEL_HIGH_G_Y_AXIS_MSK (0X40)
+#define BNO055_ACCEL_HIGH_G_Y_AXIS_LEN (1)
+#define BNO055_ACCEL_HIGH_G_Y_AXIS_REG BNO055_ACCEL_INTR_SETTINGS_ADDR
-#define BNO055_ACCEL_HIGH_G_Z_AXIS__POS 7
-#define BNO055_ACCEL_HIGH_G_Z_AXIS__MSK 0X80
-#define BNO055_ACCEL_HIGH_G_Z_AXIS__LEN 1
-#define BNO055_ACCEL_HIGH_G_Z_AXIS__REG ACCEL_INTR_SETTINGS_ADDR
+#define BNO055_ACCEL_HIGH_G_Z_AXIS_POS (7)
+#define BNO055_ACCEL_HIGH_G_Z_AXIS_MSK (0X80)
+#define BNO055_ACCEL_HIGH_G_Z_AXIS_LEN (1)
+#define BNO055_ACCEL_HIGH_G_Z_AXIS_REG BNO055_ACCEL_INTR_SETTINGS_ADDR
/* Accel High g duration setting register*/
-#define BNO055_ACCEL_HIGH_G_DURN__POS 0
-#define BNO055_ACCEL_HIGH_G_DURN__MSK 0XFF
-#define BNO055_ACCEL_HIGH_G_DURN__LEN 8
-#define BNO055_ACCEL_HIGH_G_DURN__REG ACCEL_HIGH_G_DURN_ADDR
+#define BNO055_ACCEL_HIGH_G_DURN_POS (0)
+#define BNO055_ACCEL_HIGH_G_DURN_MSK (0XFF)
+#define BNO055_ACCEL_HIGH_G_DURN_LEN (8)
+#define BNO055_ACCEL_HIGH_G_DURN_REG BNO055_ACCEL_HIGH_G_DURN_ADDR
/* Accel High g threshold setting register*/
-#define BNO055_ACCEL_HIGH_G_THRES__POS 0
-#define BNO055_ACCEL_HIGH_G_THRES__MSK 0XFF
-#define BNO055_ACCEL_HIGH_G_THRES__LEN 8
-#define BNO055_ACCEL_HIGH_G_THRES__REG ACCEL_HIGH_G_THRES_ADDR
+#define BNO055_ACCEL_HIGH_G_THRES_POS (0)
+#define BNO055_ACCEL_HIGH_G_THRES_MSK (0XFF)
+#define BNO055_ACCEL_HIGH_G_THRES_LEN (8)
+#define BNO055_ACCEL_HIGH_G_THRES_REG BNO055_ACCEL_HIGH_G_THRES_ADDR
/* Accel no/slow motion threshold setting*/
-#define BNO055_ACCEL_SLOW_NO_MOTION_THRES__POS 0
-#define BNO055_ACCEL_SLOW_NO_MOTION_THRES__MSK 0XFF
-#define BNO055_ACCEL_SLOW_NO_MOTION_THRES__LEN 8
-#define BNO055_ACCEL_SLOW_NO_MOTION_THRES__REG \
-ACCEL_NO_MOTION_THRES_ADDR
+#define BNO055_ACCEL_SLOW_NO_MOTION_THRES_POS (0)
+#define BNO055_ACCEL_SLOW_NO_MOTION_THRES_MSK (0XFF)
+#define BNO055_ACCEL_SLOW_NO_MOTION_THRES_LEN (8)
+#define BNO055_ACCEL_SLOW_NO_MOTION_THRES_REG \
+BNO055_ACCEL_NO_MOTION_THRES_ADDR
/* Accel no/slow motion enable setting*/
-#define BNO055_ACCEL_SLOW_NO_MOTION_ENABLE__POS 0
-#define BNO055_ACCEL_SLOW_NO_MOTION_ENABLE__MSK 0X01
-#define BNO055_ACCEL_SLOW_NO_MOTION_ENABLE__LEN 1
-#define BNO055_ACCEL_SLOW_NO_MOTION_ENABLE__REG ACCEL_NO_MOTION_SET_ADDR
+#define BNO055_ACCEL_SLOW_NO_MOTION_ENABLE_POS (0)
+#define BNO055_ACCEL_SLOW_NO_MOTION_ENABLE_MSK (0X01)
+#define BNO055_ACCEL_SLOW_NO_MOTION_ENABLE_LEN (1)
+#define BNO055_ACCEL_SLOW_NO_MOTION_ENABLE_REG BNO055_ACCEL_NO_MOTION_SET_ADDR
/* Accel no/slow motion duration setting*/
-#define BNO055_ACCEL_SLOW_NO_MOTION_DURN__POS 1
-#define BNO055_ACCEL_SLOW_NO_MOTION_DURN__MSK 0X7E
-#define BNO055_ACCEL_SLOW_NO_MOTION_DURN__LEN 6
-#define BNO055_ACCEL_SLOW_NO_MOTION_DURN__REG ACCEL_NO_MOTION_SET_ADDR
+#define BNO055_ACCEL_SLOW_NO_MOTION_DURN_POS (1)
+#define BNO055_ACCEL_SLOW_NO_MOTION_DURN_MSK (0X7E)
+#define BNO055_ACCEL_SLOW_NO_MOTION_DURN_LEN (6)
+#define BNO055_ACCEL_SLOW_NO_MOTION_DURN_REG BNO055_ACCEL_NO_MOTION_SET_ADDR
/*Gyro interrupt setting register*/
/*Gyro any motion axis setting*/
-#define BNO055_GYRO_ANY_MOTION_X_AXIS__POS 0
-#define BNO055_GYRO_ANY_MOTION_X_AXIS__MSK 0X01
-#define BNO055_GYRO_ANY_MOTION_X_AXIS__LEN 1
-#define BNO055_GYRO_ANY_MOTION_X_AXIS__REG GYRO_INTR_SETING_ADDR
+#define BNO055_GYRO_ANY_MOTION_X_AXIS_POS (0)
+#define BNO055_GYRO_ANY_MOTION_X_AXIS_MSK (0X01)
+#define BNO055_GYRO_ANY_MOTION_X_AXIS_LEN (1)
+#define BNO055_GYRO_ANY_MOTION_X_AXIS_REG BNO055_GYRO_INTR_SETING_ADDR
-#define BNO055_GYRO_ANY_MOTION_Y_AXIS__POS 1
-#define BNO055_GYRO_ANY_MOTION_Y_AXIS__MSK 0X02
-#define BNO055_GYRO_ANY_MOTION_Y_AXIS__LEN 1
-#define BNO055_GYRO_ANY_MOTION_Y_AXIS__REG GYRO_INTR_SETING_ADDR
+#define BNO055_GYRO_ANY_MOTION_Y_AXIS_POS (1)
+#define BNO055_GYRO_ANY_MOTION_Y_AXIS_MSK (0X02)
+#define BNO055_GYRO_ANY_MOTION_Y_AXIS_LEN (1)
+#define BNO055_GYRO_ANY_MOTION_Y_AXIS_REG BNO055_GYRO_INTR_SETING_ADDR
-#define BNO055_GYRO_ANY_MOTION_Z_AXIS__POS 2
-#define BNO055_GYRO_ANY_MOTION_Z_AXIS__MSK 0X04
-#define BNO055_GYRO_ANY_MOTION_Z_AXIS__LEN 1
-#define BNO055_GYRO_ANY_MOTION_Z_AXIS__REG GYRO_INTR_SETING_ADDR
+#define BNO055_GYRO_ANY_MOTION_Z_AXIS_POS (2)
+#define BNO055_GYRO_ANY_MOTION_Z_AXIS_MSK (0X04)
+#define BNO055_GYRO_ANY_MOTION_Z_AXIS_LEN (1)
+#define BNO055_GYRO_ANY_MOTION_Z_AXIS_REG BNO055_GYRO_INTR_SETING_ADDR
/*Gyro high rate axis setting*/
-#define BNO055_GYRO_HIGHRATE_X_AXIS__POS 3
-#define BNO055_GYRO_HIGHRATE_X_AXIS__MSK 0X08
-#define BNO055_GYRO_HIGHRATE_X_AXIS__LEN 1
-#define BNO055_GYRO_HIGHRATE_X_AXIS__REG GYRO_INTR_SETING_ADDR
+#define BNO055_GYRO_HIGHRATE_X_AXIS_POS (3)
+#define BNO055_GYRO_HIGHRATE_X_AXIS_MSK (0X08)
+#define BNO055_GYRO_HIGHRATE_X_AXIS_LEN (1)
+#define BNO055_GYRO_HIGHRATE_X_AXIS_REG BNO055_GYRO_INTR_SETING_ADDR
-#define BNO055_GYRO_HIGHRATE_Y_AXIS__POS 4
-#define BNO055_GYRO_HIGHRATE_Y_AXIS__MSK 0X10
-#define BNO055_GYRO_HIGHRATE_Y_AXIS__LEN 1
-#define BNO055_GYRO_HIGHRATE_Y_AXIS__REG GYRO_INTR_SETING_ADDR
+#define BNO055_GYRO_HIGHRATE_Y_AXIS_POS (4)
+#define BNO055_GYRO_HIGHRATE_Y_AXIS_MSK (0X10)
+#define BNO055_GYRO_HIGHRATE_Y_AXIS_LEN (1)
+#define BNO055_GYRO_HIGHRATE_Y_AXIS_REG BNO055_GYRO_INTR_SETING_ADDR
-#define BNO055_GYRO_HIGHRATE_Z_AXIS__POS 5
-#define BNO055_GYRO_HIGHRATE_Z_AXIS__MSK 0X20
-#define BNO055_GYRO_HIGHRATE_Z_AXIS__LEN 1
-#define BNO055_GYRO_HIGHRATE_Z_AXIS__REG GYRO_INTR_SETING_ADDR
+#define BNO055_GYRO_HIGHRATE_Z_AXIS_POS (5)
+#define BNO055_GYRO_HIGHRATE_Z_AXIS_MSK (0X20)
+#define BNO055_GYRO_HIGHRATE_Z_AXIS_LEN (1)
+#define BNO055_GYRO_HIGHRATE_Z_AXIS_REG BNO055_GYRO_INTR_SETING_ADDR
/* Gyro filter setting*/
-#define BNO055_GYRO_ANY_MOTION_FILTER__POS 6
-#define BNO055_GYRO_ANY_MOTION_FILTER__MSK 0X40
-#define BNO055_GYRO_ANY_MOTION_FILTER__LEN 1
-#define BNO055_GYRO_ANY_MOTION_FILTER__REG GYRO_INTR_SETING_ADDR
+#define BNO055_GYRO_ANY_MOTION_FILTER_POS (6)
+#define BNO055_GYRO_ANY_MOTION_FILTER_MSK (0X40)
+#define BNO055_GYRO_ANY_MOTION_FILTER_LEN (1)
+#define BNO055_GYRO_ANY_MOTION_FILTER_REG BNO055_GYRO_INTR_SETING_ADDR
-#define BNO055_GYRO_HIGHRATE_FILTER__POS 7
-#define BNO055_GYRO_HIGHRATE_FILTER__MSK 0X80
-#define BNO055_GYRO_HIGHRATE_FILTER__LEN 1
-#define BNO055_GYRO_HIGHRATE_FILTER__REG GYRO_INTR_SETING_ADDR
+#define BNO055_GYRO_HIGHRATE_FILTER_POS (7)
+#define BNO055_GYRO_HIGHRATE_FILTER_MSK (0X80)
+#define BNO055_GYRO_HIGHRATE_FILTER_LEN (1)
+#define BNO055_GYRO_HIGHRATE_FILTER_REG BNO055_GYRO_INTR_SETING_ADDR
/* Gyro high rate X axis settings*/
-#define BNO055_GYRO_HIGHRATE_X_THRES__POS 0
-#define BNO055_GYRO_HIGHRATE_X_THRES__MSK 0X1F
-#define BNO055_GYRO_HIGHRATE_X_THRES__LEN 5
-#define BNO055_GYRO_HIGHRATE_X_THRES__REG GYRO_HIGHRATE_X_SET_ADDR
+#define BNO055_GYRO_HIGHRATE_X_THRES_POS (0)
+#define BNO055_GYRO_HIGHRATE_X_THRES_MSK (0X1F)
+#define BNO055_GYRO_HIGHRATE_X_THRES_LEN (5)
+#define BNO055_GYRO_HIGHRATE_X_THRES_REG BNO055_GYRO_HIGHRATE_X_SET_ADDR
-#define BNO055_GYRO_HIGHRATE_X_HYST__POS 5
-#define BNO055_GYRO_HIGHRATE_X_HYST__MSK 0X60
-#define BNO055_GYRO_HIGHRATE_X_HYST__LEN 2
-#define BNO055_GYRO_HIGHRATE_X_HYST__REG GYRO_HIGHRATE_X_SET_ADDR
+#define BNO055_GYRO_HIGHRATE_X_HYST_POS (5)
+#define BNO055_GYRO_HIGHRATE_X_HYST_MSK (0X60)
+#define BNO055_GYRO_HIGHRATE_X_HYST_LEN (2)
+#define BNO055_GYRO_HIGHRATE_X_HYST_REG BNO055_GYRO_HIGHRATE_X_SET_ADDR
-#define BNO055_GYRO_HIGHRATE_X_DURN__POS 0
-#define BNO055_GYRO_HIGHRATE_X_DURN__MSK 0XFF
-#define BNO055_GYRO_HIGHRATE_X_DURN__LEN 8
-#define BNO055_GYRO_HIGHRATE_X_DURN__REG GYRO_DURN_X_ADDR
+#define BNO055_GYRO_HIGHRATE_X_DURN_POS (0)
+#define BNO055_GYRO_HIGHRATE_X_DURN_MSK (0XFF)
+#define BNO055_GYRO_HIGHRATE_X_DURN_LEN (8)
+#define BNO055_GYRO_HIGHRATE_X_DURN_REG BNO055_GYRO_DURN_X_ADDR
/* Gyro high rate Y axis settings*/
-#define BNO055_GYRO_HIGHRATE_Y_THRES__POS 0
-#define BNO055_GYRO_HIGHRATE_Y_THRES__MSK 0X1F
-#define BNO055_GYRO_HIGHRATE_Y_THRES__LEN 5
-#define BNO055_GYRO_HIGHRATE_Y_THRES__REG GYRO_HIGHRATE_Y_SET_ADDR
+#define BNO055_GYRO_HIGHRATE_Y_THRES_POS (0)
+#define BNO055_GYRO_HIGHRATE_Y_THRES_MSK (0X1F)
+#define BNO055_GYRO_HIGHRATE_Y_THRES_LEN (5)
+#define BNO055_GYRO_HIGHRATE_Y_THRES_REG BNO055_GYRO_HIGHRATE_Y_SET_ADDR
-#define BNO055_GYRO_HIGHRATE_Y_HYST__POS 5
-#define BNO055_GYRO_HIGHRATE_Y_HYST__MSK 0X60
-#define BNO055_GYRO_HIGHRATE_Y_HYST__LEN 2
-#define BNO055_GYRO_HIGHRATE_Y_HYST__REG GYRO_HIGHRATE_Y_SET_ADDR
+#define BNO055_GYRO_HIGHRATE_Y_HYST_POS (5)
+#define BNO055_GYRO_HIGHRATE_Y_HYST_MSK (0X60)
+#define BNO055_GYRO_HIGHRATE_Y_HYST_LEN (2)
+#define BNO055_GYRO_HIGHRATE_Y_HYST_REG BNO055_GYRO_HIGHRATE_Y_SET_ADDR
-#define BNO055_GYRO_HIGHRATE_Y_DURN__POS 0
-#define BNO055_GYRO_HIGHRATE_Y_DURN__MSK 0XFF
-#define BNO055_GYRO_HIGHRATE_Y_DURN__LEN 8
-#define BNO055_GYRO_HIGHRATE_Y_DURN__REG GYRO_DURN_Y_ADDR
+#define BNO055_GYRO_HIGHRATE_Y_DURN_POS (0)
+#define BNO055_GYRO_HIGHRATE_Y_DURN_MSK (0XFF)
+#define BNO055_GYRO_HIGHRATE_Y_DURN_LEN (8)
+#define BNO055_GYRO_HIGHRATE_Y_DURN_REG BNO055_GYRO_DURN_Y_ADDR
/* Gyro high rate Z axis settings*/
-#define BNO055_GYRO_HIGHRATE_Z_THRES__POS 0
-#define BNO055_GYRO_HIGHRATE_Z_THRES__MSK 0X1F
-#define BNO055_GYRO_HIGHRATE_Z_THRES__LEN 5
-#define BNO055_GYRO_HIGHRATE_Z_THRES__REG GYRO_HIGHRATE_Z_SET_ADDR
+#define BNO055_GYRO_HIGHRATE_Z_THRES_POS (0)
+#define BNO055_GYRO_HIGHRATE_Z_THRES_MSK (0X1F)
+#define BNO055_GYRO_HIGHRATE_Z_THRES_LEN (5)
+#define BNO055_GYRO_HIGHRATE_Z_THRES_REG BNO055_GYRO_HIGHRATE_Z_SET_ADDR
-#define BNO055_GYRO_HIGHRATE_Z_HYST__POS 5
-#define BNO055_GYRO_HIGHRATE_Z_HYST__MSK 0X60
-#define BNO055_GYRO_HIGHRATE_Z_HYST__LEN 2
-#define BNO055_GYRO_HIGHRATE_Z_HYST__REG GYRO_HIGHRATE_Z_SET_ADDR
+#define BNO055_GYRO_HIGHRATE_Z_HYST_POS (5)
+#define BNO055_GYRO_HIGHRATE_Z_HYST_MSK (0X60)
+#define BNO055_GYRO_HIGHRATE_Z_HYST_LEN (2)
+#define BNO055_GYRO_HIGHRATE_Z_HYST_REG BNO055_GYRO_HIGHRATE_Z_SET_ADDR
-#define BNO055_GYRO_HIGHRATE_Z_DURN__POS 0
-#define BNO055_GYRO_HIGHRATE_Z_DURN__MSK 0XFF
-#define BNO055_GYRO_HIGHRATE_Z_DURN__LEN 8
-#define BNO055_GYRO_HIGHRATE_Z_DURN__REG GYRO_DURN_Z_ADDR
+#define BNO055_GYRO_HIGHRATE_Z_DURN_POS (0)
+#define BNO055_GYRO_HIGHRATE_Z_DURN_MSK (0XFF)
+#define BNO055_GYRO_HIGHRATE_Z_DURN_LEN (8)
+#define BNO055_GYRO_HIGHRATE_Z_DURN_REG (BNO055_GYRO_DURN_Z_ADDR)
/*Gyro any motion threshold setting*/
-#define BNO055_GYRO_ANY_MOTION_THRES__POS 0
-#define BNO055_GYRO_ANY_MOTION_THRES__MSK 0X7F
-#define BNO055_GYRO_ANY_MOTION_THRES__LEN 7
-#define BNO055_GYRO_ANY_MOTION_THRES__REG \
-GYRO_ANY_MOTION_THRES_ADDR
+#define BNO055_GYRO_ANY_MOTION_THRES_POS (0)
+#define BNO055_GYRO_ANY_MOTION_THRES_MSK (0X7F)
+#define BNO055_GYRO_ANY_MOTION_THRES_LEN (7)
+#define BNO055_GYRO_ANY_MOTION_THRES_REG \
+BNO055_GYRO_ANY_MOTION_THRES_ADDR
/* Gyro any motion slope sample setting*/
-#define BNO055_GYRO_SLOPE_SAMPLES__POS 0
-#define BNO055_GYRO_SLOPE_SAMPLES__MSK 0X03
-#define BNO055_GYRO_SLOPE_SAMPLES__LEN 2
-#define BNO055_GYRO_SLOPE_SAMPLES__REG GYRO_ANY_MOTION_SET_ADDR
+#define BNO055_GYRO_SLOPE_SAMPLES_POS (0)
+#define BNO055_GYRO_SLOPE_SAMPLES_MSK (0X03)
+#define BNO055_GYRO_SLOPE_SAMPLES_LEN (2)
+#define BNO055_GYRO_SLOPE_SAMPLES_REG BNO055_GYRO_ANY_MOTION_SET_ADDR
/* Gyro awake duration setting*/
-#define BNO055_GYRO_AWAKE_DURN__POS 2
-#define BNO055_GYRO_AWAKE_DURN__MSK 0X0C
-#define BNO055_GYRO_AWAKE_DURN__LEN 2
-#define BNO055_GYRO_AWAKE_DURN__REG GYRO_ANY_MOTION_SET_ADDR
+#define BNO055_GYRO_AWAKE_DURN_POS (2)
+#define BNO055_GYRO_AWAKE_DURN_MSK (0X0C)
+#define BNO055_GYRO_AWAKE_DURN_LEN (2)
+#define BNO055_GYRO_AWAKE_DURN_REG BNO055_GYRO_ANY_MOTION_SET_ADDR
/* PAGE1 DATA REGISTERS DEFINITION END*/
/*************************************************/
/**\name GET AND SET BITSLICE FUNCTIONS */
/*************************************************/
#define BNO055_GET_BITSLICE(regvar, bitname)\
-((regvar & bitname##__MSK) >> bitname##__POS)
+((regvar & bitname##_MSK) >> bitname##_POS)
#define BNO055_SET_BITSLICE(regvar, bitname, val)\
-((regvar & ~bitname##__MSK) | ((val<<bitname##__POS)&bitname##__MSK))
+((regvar & ~bitname##_MSK) | ((val<<bitname##_POS)&bitname##_MSK))
/*************************************************/
/**\name FUNCTION DECLARATION */
/*************************************************/
/**************************************************/
/*!
* @brief
- * This function is used for initialize
+ * This API is used for initialize
* bus read, bus write function pointers,device
* address,accel revision id, gyro revision id
* mag revision id, software revision id, boot loader
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note While changing the parameter of the bno055_t
* consider the following point:
* This API gives data to the given register and
* the data is written in the corresponding register address
*
- * @param v_addr_u8 : Address of the register
- * @param p_data_u8 : Data to be written to the register
- * @param v_len_u8 : Length of the Data
+ * @param addr_u8 : Address of the register
+ * @param data_u8 : Data to be written to the register
+ * @param len_u8 : Length of the Data
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_write_register(u8 v_addr_u8,
-u8 *p_data_u8, u8 v_len_u8);
+BNO055_RETURN_FUNCTION_TYPE bno055_write_register(u8 addr_u8,
+u8 *data_u8, u8 len_u8);
/*!
* @brief This API reads the data from
* the given register address
*
- * @param v_addr_u8 : Address of the register
- * @param p_data_u8 : address of the variable,
+ * @param addr_u8 : Address of the register
+ * @param data_u8 : address of the variable,
* read value will be kept
- * @param v_len_u8 : Length of the data
+ * @param len_u8 : Length of the data
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_read_register(u8 v_addr_u8,
-u8 *p_data_u8, u8 v_len_u8);
+BNO055_RETURN_FUNCTION_TYPE bno055_read_register(u8 addr_u8,
+u8 *data_u8, u8 len_u8);
/*!
* @brief This API reads chip id
* from register 0x00 it is a byte of data
*
*
- * @param v_chip_id_u8 : The chip id value 0xA0
+ * @param chip_id_u8 : The chip id value 0xA0
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_read_chip_id(u8 *v_chip_id_u8);
+BNO055_RETURN_FUNCTION_TYPE bno055_read_chip_id(u8 *chip_id_u8);
/*!
* @brief This API reads software revision id
* from register 0x04 and 0x05 it is a two byte of data
*
- * @param v_sw_id_u8 : The SW revision id
+ * @param sw_id_u8 : The SW revision id
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_read_sw_rev_id(u16 *v_sw_id_u8);
+BNO055_RETURN_FUNCTION_TYPE bno055_read_sw_rev_id(u16 *sw_id_u8);
/*!
* @brief This API reads page id
* from register 0x07 it is a byte of data
*
*
- * @param v_page_id_u8 : The value of page id
+ * @param page_id_u8 : The value of page id
*
- * PAGE_ZERO -> 0x00
- * PAGE_ONE -> 0x01
+ * BNO055_PAGE_ZERO -> 0x00
+ * BNO055_PAGE_ONE -> 0x01
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_read_page_id(u8 *v_page_id_u8);
+BNO055_RETURN_FUNCTION_TYPE bno055_read_page_id(u8 *page_id_u8);
/*!
* @brief This API used to write
* the page id register 0x07
*
- * @param v_page_id_u8 : The value of page id
+ * @param page_id_u8 : The value of page id
*
- * PAGE_ZERO -> 0x00
- * PAGE_ONE -> 0x01
+ * BNO055_PAGE_ZERO -> 0x00
+ * BNO055_PAGE_ONE -> 0x01
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_write_page_id(u8 v_page_id_u8);
+BNO055_RETURN_FUNCTION_TYPE bno055_write_page_id(u8 page_id_u8);
/*!
* @brief This API reads accel revision id
* from register 0x01 it is a byte of value
*
- * @param v_accel_rev_id_u8 : The accel revision id 0xFB
+ * @param accel_rev_id_u8 : The accel revision id 0xFB
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_rev_id(
-u8 *v_accel_rev_id_u8);
+u8 *accel_rev_id_u8);
/*!
* @brief This API reads mag revision id
* from register 0x02 it is a byte of value
*
- * @param v_mag_rev_id_u8 : The mag revision id 0x32
+ * @param mag_rev_id_u8 : The mag revision id 0x32
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_rev_id(
-u8 *v_mag_rev_id_u8);
+u8 *mag_rev_id_u8);
/*!
* @brief This API reads gyro revision id
* from register 0x03 it is a byte of value
*
- * @param v_gyro_rev_id_u8 : The gyro revision id 0xF0
+ * @param gyro_rev_id_u8 : The gyro revision id 0xF0
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_rev_id(
-u8 *v_gyro_rev_id_u8);
+u8 *gyro_rev_id_u8);
/*!
* @brief This API used to read boot loader revision id
* from register 0x06 it is a byte of value
*
- * @param v_bl_rev_id_u8 : The boot loader revision id
+ * @param bl_rev_id_u8 : The boot loader revision id
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_bl_rev_id(
-u8 *v_bl_rev_id_u8);
+u8 *bl_rev_id_u8);
/**************************************************/
/**\name ACCEL DATA READ FUNCTIONS */
/**************************************************/
*
*
*
- * @param v_accel_x_s16 : The X raw data
+ * @param accel_x_s16 : The X raw data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_x(s16 *v_accel_x_s16);
+BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_x(s16 *accel_x_s16);
/*!
* @brief This API reads acceleration data Y values
* from register 0x0A and 0x0B it is a two byte data
*
*
*
- * @param v_accel_y_s16 : The Y raw data
+ * @param accel_y_s16 : The Y raw data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_y(s16 *v_accel_y_s16);
+BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_y(s16 *accel_y_s16);
/*!
* @brief This API reads acceleration data z values
* from register 0x0C and 0x0D it is a two byte data
*
*
*
- * @param v_accel_z_s16 : The z raw data
+ * @param accel_z_s16 : The z raw data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_z(s16 *v_accel_z_s16);
+BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_z(s16 *accel_z_s16);
/*!
* @brief This API reads acceleration data xyz values
* from register 0x08 to 0x0D it is a six byte data
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_xyz(
*
*
*
- * @param v_mag_x_s16 : The x raw data
+ * @param mag_x_s16 : The x raw data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_x(s16 *v_mag_x_s16);
+BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_x(s16 *mag_x_s16);
/*!
* @brief This API reads mag data y values
* from register 0x10 and 0x11 it is a two byte data
*
*
*
- * @param v_mag_y_s16 : The y raw data
+ * @param mag_y_s16 : The y raw data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_y(s16 *v_mag_y_s16);
+BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_y(s16 *mag_y_s16);
/*!
* @brief This API reads mag data z values
* from register 0x12 and 0x13 it is a two byte data
*
*
*
- * @param v_mag_z_s16 : The z raw data
+ * @param mag_z_s16 : The z raw data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_z(s16 *v_mag_z_s16);
+BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_z(s16 *mag_z_s16);
/*!
* @brief This API reads mag data xyz values
* from register 0x0E to 0x13 it is a six byte data
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_xyz(struct bno055_mag_t *mag);
*
*
*
- * @param v_gyro_x_s16 : The x raw data
+ * @param gyro_x_s16 : The x raw data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_x(s16 *v_gyro_x_s16);
+BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_x(s16 *gyro_x_s16);
/*!
* @brief This API reads gyro data y values
* from register 0x16 and 0x17 it is a two byte data
*
*
*
- * @param v_gyro_y_s16 : The y raw data
+ * @param gyro_y_s16 : The y raw data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_y(s16 *v_gyro_y_s16);
+BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_y(s16 *gyro_y_s16);
/*!
* @brief This API reads gyro data z values
* from register 0x18 and 0x19 it is a two byte data
*
- * @param v_gyro_z_s16 : The z raw data
+ * @param gyro_z_s16 : The z raw data
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_z(s16 *v_gyro_z_s16);
+BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_z(s16 *gyro_z_s16);
/*!
* @brief This API reads gyro data xyz values
* from register 0x14 to 0x19 it is a six byte data
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_xyz(struct bno055_gyro_t *gyro);
* @brief This API reads gyro data z values
* from register 0x1A and 0x1B it is a two byte data
*
- * @param v_euler_h_s16 : The raw h data
+ * @param euler_h_s16 : The raw h data
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_h(s16 *v_euler_h_s16);
+BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_h(s16 *euler_h_s16);
/*!
* @brief This API reads Euler data r values
* from register 0x1C and 0x1D it is a two byte data
*
- * @param v_euler_r_s16 : The raw r data
+ * @param euler_r_s16 : The raw r data
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_r(s16 *v_euler_r_s16);
+BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_r(s16 *euler_r_s16);
/*!
* @brief This API reads Euler data p values
* from register 0x1E and 0x1F it is a two byte data
*
- * @param v_euler_p_s16 : The raw p data
+ * @param euler_p_s16 : The raw p data
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_p(s16 *v_euler_p_s16);
+BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_p(s16 *euler_p_s16);
/*!
* @brief This API reads Euler data hrp values
* from register 0x1A to 0x1F it is a six byte data
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_hrp(
* @brief This API reads quaternion data w values
* from register 0x20 and 0x21 it is a two byte data
*
- * @param v_quaternion_w_s16 : The raw w data
+ * @param quaternion_w_s16 : The raw w data
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_w(
-s16 *v_quaternion_w_s16);
+s16 *quaternion_w_s16);
/*!
* @brief This API reads quaternion data x values
* from register 0x22 and 0x23 it is a two byte data
*
- * @param v_quaternion_x_s16 : The raw x data
+ * @param quaternion_x_s16 : The raw x data
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_x(
-s16 *v_quaternion_x_s16);
+s16 *quaternion_x_s16);
/*!
* @brief This API reads quaternion data y values
* from register 0x24 and 0x25 it is a two byte data
*
- * @param v_quaternion_y_s16 : The raw y data
+ * @param quaternion_y_s16 : The raw y data
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_y(
-s16 *v_quaternion_y_s16);
+s16 *quaternion_y_s16);
/*!
* @brief This API reads quaternion data z values
* from register 0x26 and 0x27 it is a two byte data
*
- * @param v_quaternion_z_s16 : The raw z data
+ * @param quaternion_z_s16 : The raw z data
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_z(
-s16 *v_quaternion_z_s16);
+s16 *quaternion_z_s16);
/*!
* @brief This API reads Quaternion data wxyz values
* from register 0x20 to 0x27 it is a six byte data
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_wxyz(
* @brief This API reads Linear accel data x values
* from register 0x29 and 0x2A it is a two byte data
*
- * @param v_linear_accel_x_s16 : The raw x data
+ * @param linear_accel_x_s16 : The raw x data
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_x(
-s16 *v_linear_accel_x_s16);
+s16 *linear_accel_x_s16);
/*!
* @brief This API reads Linear accel data x values
* from register 0x2B and 0x2C it is a two byte data
*
- * @param v_linear_accel_y_s16 : The raw y data
+ * @param linear_accel_y_s16 : The raw y data
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_y(
-s16 *v_linear_accel_y_s16);
+s16 *linear_accel_y_s16);
/*!
* @brief This API reads Linear accel data x values
* from register 0x2C and 0x2D it is a two byte data
*
- * @param v_linear_accel_z_s16 : The raw z data
+ * @param linear_accel_z_s16 : The raw z data
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_z(
-s16 *v_linear_accel_z_s16);
+s16 *linear_accel_z_s16);
/*!
* @brief This API reads Linear accel data xyz values
* from register 0x28 to 0x2D it is a six byte data
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_xyz(
struct bno055_linear_accel_t *linear_accel);
* @brief This API reads gravity data x values
* from register 0x2E and 0x2F it is a two byte data
*
- * @param v_gravity_x_s16 : The raw x data
+ * @param gravity_x_s16 : The raw x data
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_x(
-s16 *v_gravity_x_s16);
+s16 *gravity_x_s16);
/*!
* @brief This API reads gravity data y values
* from register 0x30 and 0x31 it is a two byte data
*
- * @param v_gravity_y_s16 : The raw y data
+ * @param gravity_y_s16 : The raw y data
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_y(
-s16 *v_gravity_y_s16);
+s16 *gravity_y_s16);
/*!
* @brief This API reads gravity data z values
* from register 0x32 and 0x33 it is a two byte data
*
- * @param v_gravity_z_s16 : The raw z data
+ * @param gravity_z_s16 : The raw z data
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_z(
-s16 *v_gravity_z_s16);
+s16 *gravity_z_s16);
/*!
* @brief This API reads gravity data xyz values
* from register 0x2E to 0x33 it is a six byte data
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_xyz(
* @brief This API reads temperature values
* from register 0x33 it is a byte data
*
- * @param v_temp_s8 : The raw temperature data
+ * @param temp_s8 : The raw temperature data
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_read_temp_data(s8 *v_temp_s8);
+BNO055_RETURN_FUNCTION_TYPE bno055_read_temp_data(s8 *temp_s8);
#ifdef BNO055_FLOAT_ENABLE
/********************************************************************/
/**\name FUNCTIONS FOR READING ACCEL DATA OUTPUT AS FLOAT PRECISION */
* @brief This API is used to convert the accel x raw data
* to meterpersecseq output as float
*
- * @param v_accel_x_f : The accel x meterpersecseq data
+ * @param accel_x_f : The accel x meterpersecseq data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_x_msq(
-float *v_accel_x_f);
+float *accel_x_f);
/*!
* @brief This API is used to convert the accel x raw data
* to meterpersecseq output as float
*
- * @param v_accel_y_f : The accel y meterpersecseq data
+ * @param accel_y_f : The accel y meterpersecseq data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_y_msq(
-float *v_accel_y_f);
+float *accel_y_f);
/*!
* @brief This API is used to convert the accel z raw data
* to meterpersecseq output as float
*
- * @param v_accel_z_f : The accel z meterpersecseq data
+ * @param accel_z_f : The accel z meterpersecseq data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_z_msq(
-float *v_accel_z_f);
+float *accel_z_f);
/*!
* @brief This API is used to convert the accel y raw data
* to millig output as float
*
- * @param v_accel_x_f : The accel y millig data
+ * @param accel_x_f : The accel y millig data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_x_mg(
-float *v_accel_x_f);
+float *accel_x_f);
/*!
* @brief This API is used to convert the accel y raw data
* to millig output as float
*
- * @param v_accel_y_f : The accel y millig data
+ * @param accel_y_f : The accel y millig data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_y_mg(
-float *v_accel_y_f);
+float *accel_y_f);
/*!
* @brief This API is used to convert the accel z raw data
* to millig output as float
*
- * @param v_accel_z_f : The accel z millig data
+ * @param accel_z_f : The accel z millig data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_z_mg(
-float *v_accel_z_f);
+float *accel_z_f);
/*!
* @brief This API is used to convert the accel xyz raw data
* to meterpersecseq output as float
* z | meterpersecseq data of accel
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
* @brief This API is used to convert the mag x raw data
* to microTesla output as float
*
- * @param v_mag_x_f : The mag x microTesla data
+ * @param mag_x_f : The mag x microTesla data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_x_uT(
-float *v_mag_x_f);
+float *mag_x_f);
/*!
* @brief This API is used to convert the mag y raw data
* to microTesla output as float
*
- * @param v_mag_y_f : The mag y microTesla data
+ * @param mag_y_f : The mag y microTesla data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_y_uT(
-float *v_mag_y_f);
+float *mag_y_f);
/*!
* @brief This API is used to convert the mag z raw data
* to microTesla output as float
*
- * @param v_mag_z_f : The mag z microTesla data
+ * @param mag_z_f : The mag z microTesla data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_z_uT(
-float *v_mag_z_f);
+float *mag_z_f);
/*!
* @brief This API is used to convert the mag yz raw data
* to microTesla output as float
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_xyz_uT(
* @brief This API is used to convert the gyro x raw data
* to dps output as float
*
- * @param v_gyro_x_f : The gyro x dps float data
+ * @param gyro_x_f : The gyro x dps float data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_x_dps(
-float *v_gyro_x_f);
+float *gyro_x_f);
/*!
* @brief This API is used to convert the gyro x raw data
* to rps output as float
*
- * @param v_gyro_x_f : The gyro x dps float data
+ * @param gyro_x_f : The gyro x dps float data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_x_rps(
-float *v_gyro_x_f);
+float *gyro_x_f);
/*!
* @brief This API is used to convert the gyro y raw data
* to dps output as float
*
- * @param v_gyro_y_f : The gyro y dps float data
+ * @param gyro_y_f : The gyro y dps float data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_y_dps(
-float *v_gyro_y_f);
+float *gyro_y_f);
/*!
* @brief This API is used to convert the gyro y raw data
* to rps output as float
*
- * @param v_gyro_y_f : The gyro y dps float data
+ * @param gyro_y_f : The gyro y dps float data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_y_rps(
-float *v_gyro_y_f);
+float *gyro_y_f);
/*!
* @brief This API is used to convert the gyro z raw data
* to dps output as float
*
- * @param v_gyro_z_f : The gyro z dps float data
+ * @param gyro_z_f : The gyro z dps float data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_z_dps(
-float *v_gyro_z_f);
+float *gyro_z_f);
/*!
* @brief This API is used to convert the gyro z raw data
* to rps output as float
*
- * @param v_gyro_z_f : The gyro z rps float data
+ * @param gyro_z_f : The gyro z rps float data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_z_rps(
-float *v_gyro_z_f);
+float *gyro_z_f);
/*!
* @brief This API is used to convert the gyro xyz raw data
* to dps output as float
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
* @brief This API is used to convert the Euler h raw data
* to degree output as float
*
- * @param v_euler_h_f : The float value of Euler h degree
+ * @param euler_h_f : The float value of Euler h degree
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_h_deg(
-float *v_euler_h_f);
+float *euler_h_f);
/*!
* @brief This API is used to convert the Euler h raw data
* to radians output as float
*
- * @param v_euler_h_f : The float value of Euler h radians
+ * @param euler_h_f : The float value of Euler h radians
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_h_rad(
-float *v_euler_h_f);
+float *euler_h_f);
/*!
* @brief This API is used to convert the Euler r raw data
* to degree output as float
*
- * @param v_euler_r_f : The float value of Euler r degree
+ * @param euler_r_f : The float value of Euler r degree
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_r_deg(
-float *v_euler_r_f);
+float *euler_r_f);
/*!
* @brief This API is used to convert the Euler r raw data
* to radians output as float
*
- * @param v_euler_r_f : The float value of Euler r radians
+ * @param euler_r_f : The float value of Euler r radians
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_r_rad(
-float *v_euler_r_f);
+float *euler_r_f);
/*!
* @brief This API is used to convert the Euler p raw data
* to degree output as float
*
- * @param v_euler_p_f : The float value of Euler p degree
+ * @param euler_p_f : The float value of Euler p degree
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_p_deg(
-float *v_euler_p_f);
+float *euler_p_f);
/*!
* @brief This API is used to convert the Euler p raw data
* to radians output as float
*
- * @param v_euler_p_f : The float value of Euler p radians
+ * @param euler_p_f : The float value of Euler p radians
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_p_rad(
-float *v_euler_p_f);
+float *euler_p_f);
/*!
* @brief This API is used to convert the Euler hrp raw data
* to degree output as float
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_hpr_deg(
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_hpr_rad(
* @brief This API is used to convert the linear
* accel x raw data to meterpersecseq output as float
*
- * @param v_linear_accel_x_f : The float value of linear accel x meterpersecseq
+ * @param linear_accel_x_f : The float value of linear accel x meterpersecseq
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_x_msq(
-float *v_linear_accel_x_f);
+float *linear_accel_x_f);
/*!
* @brief This API is used to convert the linear
* accel y raw data to meterpersecseq output as float
*
- * @param v_linear_accel_y_f : The float value of linear accel y meterpersecseq
+ * @param linear_accel_y_f : The float value of linear accel y meterpersecseq
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_y_msq(
-float *v_linear_accel_y_f);
+float *linear_accel_y_f);
/*!
* @brief This API is used to convert the linear
* accel z raw data to meterpersecseq output as float
*
- * @param v_linear_accel_z_f : The float value of linear accel z meterpersecseq
+ * @param linear_accel_z_f : The float value of linear accel z meterpersecseq
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_z_msq(
-float *v_linear_accel_z_f);
+float *linear_accel_z_f);
/*!
* @brief This API is used to convert the linear accel xyz raw data
* to meterpersecseq output as float
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
* @brief This API is used to convert the gravity
* x raw data to meterpersecseq output as float
*
- * @param v_gravity_x_f : The float value of gravity x meterpersecseq
+ * @param gravity_x_f : The float value of gravity x meterpersecseq
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_x_msq(
-float *v_gravity_x_f);
+float *gravity_x_f);
/*!
* @brief This API is used to convert the gravity
* y raw data to meterpersecseq output as float
*
- * @param v_gravity_y_f : The float value of gravity y meterpersecseq
+ * @param gravity_y_f : The float value of gravity y meterpersecseq
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_y_msq(
-float *v_gravity_y_f);
+float *gravity_y_f);
/*!
* @brief This API is used to convert the gravity
* z raw data to meterpersecseq output as float
*
- * @param v_gravity_z_f : The float value of gravity z meterpersecseq
+ * @param gravity_z_f : The float value of gravity z meterpersecseq
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_z_msq(
-float *gravity_z);
+float *gravity_z_f);
/*!
* @brief This API is used to convert the gravity xyz raw data
* to meterpersecseq output as float
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
* @brief This API is used to convert the temperature
* data to Fahrenheit output as float
*
- * @param v_temp_f : The float value of temperature Fahrenheit
+ * @param temp_f : The float value of temperature Fahrenheit
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_temp_fahrenheit(
-float *v_temp_f);
+float *temp_f);
/*!
* @brief This API is used to convert the temperature
* data to Celsius output as float
*
- * @param v_temp_f : The float value of temperature Celsius
+ * @param temp_f : The float value of temperature Celsius
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_temp_celsius(
-float *v_temp_f);
+float *temp_f);
#endif
#ifdef BNO055_DOUBLE_ENABLE
/**************************************************************************/
* @brief This API is used to convert the accel x raw data
* to meterpersecseq output as double
*
- * @param v_accel_x_d : The accel x meterpersecseq data
+ * @param accel_x_d : The accel x meterpersecseq data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_x_msq(
-double *v_accel_x_d);
+double *accel_x_d);
/*!
* @brief This API is used to convert the accel y raw data
* to meterpersecseq output as double
*
- * @param v_accel_y_d : The accel y meterpersecseq data
+ * @param accel_y_d : The accel y meterpersecseq data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_y_msq(
-double *v_accel_y_d);
+double *accel_y_d);
/*!
* @brief This API is used to convert the accel z raw data
* to meterpersecseq output as double
*
- * @param v_accel_z_d : The accel z meterpersecseq data
+ * @param accel_z_d : The accel z meterpersecseq data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_z_msq(
-double *v_accel_z_d);
+double *accel_z_d);
/*!
* @brief This API is used to convert the accel x raw data
* to millig output as double
*
- * @param v_accel_x_d : The accel x millig data
+ * @param accel_x_d : The accel x millig data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_x_mg(
-double *v_accel_x_d);
+double *accel_x_d);
/*!
* @brief This API is used to convert the accel y raw data
* to millig output as double
*
- * @param v_accel_y_d : The accel y millig data
+ * @param accel_y_d : The accel y millig data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_y_mg(
-double *v_accel_y_d);
+double *accel_y_d);
/*!
* @brief This API is used to convert the accel z raw data
* to millig output as double
*
- * @param v_accel_z_d : The accel z millig data
+ * @param accel_z_d : The accel z millig data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_z_mg(
-double *v_accel_z_d);
+double *accel_z_d);
/*!
* @brief This API is used to convert the accel xyz raw data
* to meterpersecseq output as double
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_xyz_mg(
* @brief This API is used to convert the mag x raw data
* to microTesla output as double
*
- * @param v_mag_x_d : The mag x microTesla data
+ * @param mag_x_d : The mag x microTesla data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_x_uT(
-double *v_mag_x_d);
+double *mag_x_d);
/*!
* @brief This API is used to convert the mag x raw data
* to microTesla output as double
*
- * @param v_mag_y_d : The mag x microTesla data
+ * @param mag_y_d : The mag x microTesla data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_y_uT(
-double *v_mag_y_d);
+double *mag_y_d);
/*!
* @brief This API is used to convert the mag z raw data
* to microTesla output as double
*
- * @param v_mag_z_d : The mag z microTesla data
+ * @param mag_z_d : The mag z microTesla data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_z_uT(
-double *v_mag_z_d);
+double *mag_z_d);
/*!
* @brief This API is used to convert the mag yz raw data
* to microTesla output as double
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_xyz_uT(
* @brief This API is used to convert the gyro x raw data
* to dps output as double
*
- * @param v_gyro_x_d : The gyro x dps double data
+ * @param gyro_x_d : The gyro x dps double data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_x_dps(
-double *v_gyro_x_d);
+double *gyro_x_d);
/*!
* @brief This API is used to convert the gyro y raw data
* to dps output as double
*
- * @param v_gyro_y_d : The gyro y dps double data
+ * @param gyro_y_d : The gyro y dps double data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_y_dps(
-double *v_gyro_y_d);
+double *gyro_y_d);
/*!
* @brief This API is used to convert the gyro z raw data
* to dps output as double
*
- * @param v_gyro_z_d : The gyro z dps double data
+ * @param gyro_z_d : The gyro z dps double data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_z_dps(
-double *v_gyro_z_d);
+double *gyro_z_d);
/*!
* @brief This API is used to convert the gyro x raw data
* to rps output as double
*
- * @param v_gyro_x_d : The gyro x dps double data
+ * @param gyro_x_d : The gyro x dps double data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_x_rps(
-double *v_gyro_x_d);
+double *gyro_x_d);
/*!
* @brief This API is used to convert the gyro y raw data
* to rps output as double
*
- * @param v_gyro_y_d : The gyro y dps double data
+ * @param gyro_y_d : The gyro y dps double data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_y_rps(
-double *v_gyro_y_d);
+double *gyro_y_d);
/*!
* @brief This API is used to convert the gyro z raw data
* to rps output as double
*
- * @param v_gyro_z_d : The gyro z rps double data
+ * @param gyro_z_d : The gyro z rps double data
*
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_z_rps(
-double *v_gyro_z_d);
+double *gyro_z_d);
/*!
* @brief This API is used to convert the gyro xyz raw data
* to dps output as double
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_xyz_dps(
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_xyz_rps(
* @brief This API is used to convert the Euler h raw data
* to degree output as double
*
- * @param v_euler_h_d : The double value of Euler h degree
+ * @param euler_h_d : The double value of Euler h degree
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_h_deg(
-double *v_euler_h_d);
+double *euler_h_d);
/*!
* @brief This API is used to convert the Euler p raw data
* to degree output as double
*
- * @param v_euler_p_d : The double value of Euler p degree
+ * @param euler_p_d : The double value of Euler p degree
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_p_deg(
-double *v_euler_p_d);
+double *euler_p_d);
/*!
* @brief This API is used to convert the Euler r raw data
* to degree output as double
*
- * @param v_euler_r_d : The double value of Euler r degree
+ * @param euler_r_d : The double value of Euler r degree
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_r_deg(
-double *v_euler_r_d);
+double *euler_r_d);
/*!
* @brief This API is used to convert the Euler h raw data
* to radians output as double
*
- * @param v_euler_h_d : The double value of Euler h radians
+ * @param euler_h_d : The double value of Euler h radians
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_h_rad(
-double *v_euler_h_d);
+double *euler_h_d);
/*!
* @brief This API is used to convert the Euler p raw data
* to radians output as double
*
- * @param v_euler_p_d : The double value of Euler p radians
+ * @param euler_p_d : The double value of Euler p radians
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_p_rad(
-double *v_euler_p_d);
+double *euler_p_d);
/*!
* @brief This API is used to convert the Euler r raw data
* to radians output as double
*
- * @param v_euler_r_d : The double value of Euler r radians
+ * @param euler_r_d : The double value of Euler r radians
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_r_rad(
-double *v_euler_r_d);
+double *euler_r_d);
/*!
* @brief This API is used to convert the Euler hpr raw data
* to degree output as double
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_hpr_deg(
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_hpr_rad(
* @brief This API is used to convert the linear
* accel x raw data to meterpersecseq output as double
*
- * @param v_linear_accel_x_d : The double value of
+ * @param linear_accel_x_d : The double value of
* linear accel x meterpersecseq
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_x_msq(
-double *v_linear_accel_x_d);
+double *linear_accel_x_d);
/*!
* @brief This API is used to convert the linear
* accel y raw data to meterpersecseq output as double
*
- * @param v_linear_accel_y_d : The double value of
+ * @param linear_accel_y_d : The double value of
* linear accel y meterpersecseq
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_y_msq(
-double *v_linear_accel_y_d);
+double *linear_accel_y_d);
/*!
* @brief This API is used to convert the linear
* accel z raw data to meterpersecseq output as double
*
- * @param v_linear_accel_z_d : The double value of
+ * @param linear_accel_z_d : The double value of
* linear accel z meterpersecseq
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_z_msq(
-double *v_linear_accel_z_d);
+double *linear_accel_z_d);
/*!
* @brief This API is used to convert the linear accel xyz raw data
* to meterpersecseq output as double
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
* @brief This API is used to convert the gravity
* x raw data to meterpersecseq output as double
*
- * @param v_gravity_x_d : The double value of gravity x meterpersecseq
+ * @param gravity_x_d : The double value of gravity x meterpersecseq
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_x_msq(
-double *v_gravity_x_d);
+double *gravity_x_d);
/*!
* @brief This API is used to convert the gravity
* y raw data to meterpersecseq output as double
*
- * @param v_gravity_y_d : The double value of gravity y meterpersecseq
+ * @param gravity_y_d : The double value of gravity y meterpersecseq
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_y_msq(
-double *v_gravity_y_d);
+double *gravity_y_d);
/*!
* @brief This API is used to convert the gravity
* z raw data to meterpersecseq output as double
*
- * @param v_gravity_z_d : The double value of gravity z meterpersecseq
+ * @param gravity_z_d : The double value of gravity z meterpersecseq
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_z_msq(
-double *v_gravity_z_d);
+double *gravity_z_d);
/*!
* @brief This API is used to convert the gravity xyz raw data
* to meterpersecseq output as double
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gravity_xyz_msq(
* @brief This API is used to convert the temperature
* data to Fahrenheit output as double
*
- * @param v_temp_d : The double value of temperature Fahrenheit
+ * @param temp_d : The double value of temperature Fahrenheit
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_temp_fahrenheit(
-double *v_temp_d);
+double *temp_d);
/*!
* @brief This API is used to convert the temperature
* data to Celsius output as double
*
- * @param v_temp_d : The double value of temperature Celsius
+ * @param temp_d : The double value of temperature Celsius
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_temp_celsius(
-double *v_temp_d);
+double *temp_d);
#endif
/**************************************************************************/
-/**\name FUNCTIONS FOR READING ACCEL,MAG,GYRO AND SYTEM CALIBRATION STATUS*/
+/**\name FUNCTIONS FOR READING ACCEL,MAG,GYRO AND SYSTEM CALIBRATION STATUS*/
/*************************************************************************/
/*!
* @brief This API used to read
* mag calibration status from register from 0x35 bit 0 and 1
*
- * @param v_mag_calib_u8 : The value of mag calib status
+ * @param mag_calib_u8 : The value of mag calib status
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_calib_stat(
-u8 *v_mag_calib_u8);
+u8 *mag_calib_u8);
/*!
* @brief This API used to read
* accel calibration status from register from 0x35 bit 2 and 3
*
- * @param v_accel_calib_u8 : The value of accel calib status
+ * @param accel_calib_u8 : The value of accel calib status
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_calib_stat(
-u8 *v_accel_calib_u8);
+u8 *accel_calib_u8);
/*!
* @brief This API used to read
* gyro calibration status from register from 0x35 bit 4 and 5
*
- * @param v_gyro_calib_u8 : The value of gyro calib status
+ * @param gyro_calib_u8 : The value of gyro calib status
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_calib_stat(
-u8 *v_gyro_calib_u8);
+u8 *gyro_calib_u8);
/*!
* @brief This API used to read
* system calibration status from register from 0x35 bit 6 and 7
*
- * @param v_sys_calib_u8 : The value of system calib status
+ * @param sys_calib_u8 : The value of system calib status
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_calib_stat(
-u8 *v_sys_calib_u8);
+u8 *sys_calib_u8);
/******************************************************************/
-/**\name FUNCTIONS FOR READING ACCEL,MAG,GYRO AND SYTEM SELF TEST */
+/**\name FUNCTIONS FOR READING ACCEL,MAG,GYRO AND SYSTEM SELF TEST */
/******************************************************************/
/*!
* @brief This API used to read
* self test of accel from register from 0x36 bit 0
*
- * @param v_selftest_accel_u8 : The value of self test of accel
+ * @param selftest_accel_u8 : The value of self test of accel
*
- * v_selftest_accel_u8 | result
+ * selftest_accel_u8 | result
* -------------------- | ---------------------
* 0x00 | indicates test failed
* 0x01 | indicated test passed
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_accel(
-u8 *v_selftest_accel_u8);
+u8 *selftest_accel_u8);
/*!
* @brief This API used to read
* self test of mag from register from 0x36 bit 1
*
- * @param v_selftest_mag_u8 : The value of self test of mag
+ * @param selftest_mag_u8 : The value of self test of mag
*
- * v_selftest_mag_u8 | result
+ * selftest_mag_u8 | result
* -------------------- | ---------------------
* 0x00 | indicates test failed
* 0x01 | indicated test passed
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_mag(
-u8 *v_selftest_mag_u8);
+u8 *selftest_mag_u8);
/*!
* @brief This API used to read
* self test of gyro from register from 0x36 bit 2
*
- * @param v_selftest_gyro_u8 : The value of self test of gyro
+ * @param selftest_gyro_u8 : The value of self test of gyro
*
- * v_selftest_gyro_u8 | result
+ * selftest_gyro_u8 | result
* -------------------- | ---------------------
* 0x00 | indicates test failed
* 0x01 | indicated test passed
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_gyro(
-u8 *v_selftest_gyro_u8);
+u8 *selftest_gyro_u8);
/*!
* @brief This API used to read
* self test of micro controller from register from 0x36 bit 3
*
- * @param v_selftest_mcu_u8 : The value of self test of micro controller
+ * @param selftest_mcu_u8 : The value of self test of micro controller
*
- * v_selftest_mcu_u8 | result
+ * selftest_mcu_u8 | result
* -------------------- | ---------------------
* 0x00 | indicates test failed
* 0x01 | indicated test passed
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_mcu(
-u8 *v_selftest_mcu_u8);
+u8 *selftest_mcu_u8);
/*****************************************************/
/**\name FUNCTIONS FOR READING GYRO INTERRUPT STATUS */
/*****************************************************/
/*!
- * @brief This API used to read the v_stat_s8 of
+ * @brief This API used to read the stat_s8 of
* gyro anymotion interrupt from register from 0x37 bit 2
*
- * @param v_gyro_any_motion_u8 : The value of gyro anymotion interrupt
+ * @param gyro_any_motion_u8 : The value of gyro anymotion interrupt
*
- * v_gyro_any_motion_u8 | result
+ * gyro_any_motion_u8 | result
* -------------------- | ---------------------
* 0x00 | indicates no interrupt triggered
* 0x01 | indicates interrupt triggered
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
- * @note Gyro anymotion interrupt can be enabled
+ * @note Gyro anymotion interrupt can be BNO055_BIT_ENABLE
* by the following APIs
*
* bno055_set_intr_mask_gyro_any_motion()
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_gyro_any_motion(
-u8 *v_gyro_any_motion_u8);
+u8 *gyro_any_motion_u8);
/*!
- * @brief This API used to read the v_stat_s8 of
+ * @brief This API used to read the stat_s8 of
* gyro highrate interrupt from register from 0x37 bit 3
*
- * @param v_gyro_highrate_u8 : The value of gyro highrate interrupt
+ * @param gyro_highrate_u8 : The value of gyro highrate interrupt
*
- * v_gyro_highrate_u8 | result
- * ------------------- | ---------------------
- * 0x00 | indicates no interrupt triggered
- * 0x01 | indicates interrupt triggered
+ * gyro_highrate_u8 | result
+ * ------------------- | ---------------------
+ * 0x00 | indicates no interrupt triggered
+ * 0x01 | indicates interrupt triggered
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Gyro highrate interrupt can be configured
* by the following APIs
* bno055_set_intr_gyro_highrate()
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_gyro_highrate(
-u8 *v_gyro_highrate_u8);
+u8 *gyro_highrate_u8);
/*****************************************************/
/**\name FUNCTIONS FOR READING ACCEL INTERRUPT STATUS */
/*****************************************************/
* @brief This API used to read the status of
* accel highg interrupt from register from 0x37 bit 5
*
- * @param v_accel_high_g_u8 : The value of accel highg interrupt
+ * @param accel_high_g_u8 : The value of accel highg interrupt
*
- * v_accel_high_g_u8 | result
+ * accel_high_g_u8 | result
* ------------------- | ---------------------
* 0x00 | indicates no interrupt triggered
* 0x01 | indicates interrupt triggered
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Accel highg interrupt can be configured
* by the following APIs
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_high_g(
-u8 *v_accel_high_g_u8);
+u8 *accel_high_g_u8);
/*!
- * @brief This API used to read the v_stat_s8 of
+ * @brief This API used to read the stat_s8 of
* accel anymotion interrupt from register from 0x37 bit 6
*
- * @param v_accel_any_motion_u8 : The value of accel anymotion interrupt
+ * @param accel_any_motion_u8 : The value of accel anymotion interrupt
*
- * v_accel_any_motion_u8 | result
+ * accel_any_motion_u8 | result
* ------------------- | ---------------------
* 0x00 | indicates no interrupt triggered
* 0x01 | indicates interrupt triggered
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Accel anymotion interrupt can be configured
* by the following APIs
* bno055_set_intr_accel_any_motion()
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_any_motion(
-u8 *v_accel_any_motion_u8);
+u8 *accel_any_motion_u8);
/*!
- * @brief This API used to read the v_stat_s8 of
+ * @brief This API used to read the stat_s8 of
* accel nomotion/slowmotion interrupt from register from 0x37 bit 6
*
- * @param v_accel_no_motion_u8 :
+ * @param accel_no_motion_u8 :
* The value of accel nomotion/slowmotion interrupt
*
- * v_accel_no_motion_u8 | result
+ * accel_no_motion_u8 | result
* ------------------- | ---------------------
* 0x00 | indicates no interrupt triggered
* 0x01 | indicates interrupt triggered
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Accel nomotion/slowmotion interrupt can be configured
* by the following APIs
* bno055_set_intr_accel_nomotion()
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_no_motion(
-u8 *v_accel_no_motion_u8);
+u8 *accel_no_motion_u8);
/**************************************************************************/
-/**\name FUNCTIONS FOR READING SYSTEM CLOCK, STATUS AND ERROR CODE */
+/**\name FUNCTIONS FOR READING SYSTEM CLOCK, STATUS AND BNO055_ERROR CODE */
/*************************************************************************/
/*!
* @brief This API is used to read status of main clock
* from the register 0x38 bit 0
*
- * @param v_stat_main_clk_u8 : the status of main clock
+ * @param stat_main_clk_u8 : the status of main clock
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_stat_main_clk(
-u8 *v_stat_main_clk_u8);
+u8 *stat_main_clk_u8);
/*!
* @brief This API is used to read system status
* code from the register 0x39 it is a byte of data
*
- * @param v_sys_stat_u8 : the status of system
+ * @param sys_stat_u8 : the status of system
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_stat_code(
-u8 *v_sys_stat_u8);
+u8 *sys_stat_u8);
/*!
- * @brief This API is used to read system error
+ * @brief This API is used to read system BNO055_ERROR
* code from the register 0x3A it is a byte of data
*
- * @param v_sys_error_u8 : The value of system error code
+ * @param sys_error_u8 : The value of system BNO055_ERROR code
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_error_code(
-u8 *v_sys_error_u8);
+u8 *sys_error_u8);
/********************************************/
/**\name FUNCTIONS FOR ACCEL UNIT SELECTION */
/********************************************/
* @brief This API used to read the accel unit
* from register from 0x3B bit 0
*
- * @param v_accel_unit_u8 : The value of accel unit
+ * @param accel_unit_u8 : The value of accel unit
*
- * v_accel_unit_u8 | result
+ * accel_unit_u8 | result
* ------------- | ---------------
- * 0x00 | ACCEL_UNIT_MSQ
- * 0x01 | ACCEL_UNIT_MG
+ * 0x00 | BNO055_ACCEL_UNIT_MSQ
+ * 0x01 | BNO055_ACCEL_UNIT_MG
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_unit(
-u8 *v_accel_unit_u8);
+u8 *accel_unit_u8);
/*!
* @brief This API used to write the accel unit
* from register from 0x3B bit 0
*
- * @param v_accel_unit_u8 : The value of accel unit
+ * @param accel_unit_u8 : The value of accel unit
*
- * v_accel_unit_u8 | result
+ * accel_unit_u8 | result
* ------------- | ---------------
- * 0x00 | ACCEL_UNIT_MSQ
- * 0x01 | ACCEL_UNIT_MG
+ * 0x00 | BNO055_ACCEL_UNIT_MSQ
+ * 0x01 | BNO055_ACCEL_UNIT_MG
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_unit(
-u8 v_accel_unit_u8);
+u8 accel_unit_u8);
/********************************************/
/**\name FUNCTIONS FOR GYRO UNIT SELECTION */
/********************************************/
* @brief This API used to read the gyro unit
* from register from 0x3B bit 1
*
- * @param v_gyro_unit_u8 : The value of accel unit
+ * @param gyro_unit_u8 : The value of accel unit
*
- * v_gyro_unit_u8 | result
+ * gyro_unit_u8 | result
* ------------- | -----------
- * 0x00 | GYRO_UNIT_DPS
- * 0x01 | GYRO_UNIT_RPS
+ * 0x00 | BNO055_GYRO_UNIT_DPS
+ * 0x01 | BNO055_GYRO_UNIT_RPS
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_unit(
-u8 *v_gyro_unit_u8);
+u8 *gyro_unit_u8);
/*!
* @brief This API used to write the gyro unit
* from register from 0x3B bit 1
*
- * @param v_gyro_unit_u8 : The value of accel unit
+ * @param gyro_unit_u8 : The value of accel unit
*
- * v_gyro_unit_u8 | result
+ * gyro_unit_u8 | result
* ------------- | -----------
- * 0x00 | GYRO_UNIT_DPS
- * 0x01 | GYRO_UNIT_RPS
+ * 0x00 | BNO055_GYRO_UNIT_DPS
+ * 0x01 | BNO055_GYRO_UNIT_RPS
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_unit(u8 v_gyro_unit_u8);
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_unit(u8 gyro_unit_u8);
/********************************************/
/**\name FUNCTIONS FOR EULER UNIT SELECTION */
/********************************************/
* @brief This API used to read the Euler unit
* from register from 0x3B bit 2
*
- * @param v_euler_unit_u8 : The value of accel unit
+ * @param euler_unit_u8 : The value of accel unit
*
- * v_euler_unit_u8 | result
+ * euler_unit_u8 | result
* -------------- | -----------
- * 0x00 | EULER_UNIT_DEG
- * 0x01 | EULER_UNIT_RAD
+ * 0x00 | BNO055_EULER_UNIT_DEG
+ * 0x01 | BNO055_EULER_UNIT_RAD
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_euler_unit(
-u8 *v_euler_unit_u8);
+u8 *euler_unit_u8);
/*!
* @brief This API used to write the Euler unit
* from register from 0x3B bit 2
*
- * @param v_euler_unit_u8 : The value of Euler unit
+ * @param euler_unit_u8 : The value of Euler unit
*
- * v_euler_unit_u8 | result
+ * euler_unit_u8 | result
* -------------- | -----------
- * 0x00 | EULER_UNIT_DEG
- * 0x01 | EULER_UNIT_RAD
+ * 0x00 | BNO055_EULER_UNIT_DEG
+ * 0x01 | BNO055_EULER_UNIT_RAD
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_set_euler_unit(u8 v_euler_unit_u8);
+BNO055_RETURN_FUNCTION_TYPE bno055_set_euler_unit(u8 euler_unit_u8);
/********************************************/
/**\name FUNCTIONS FOR TILT UNIT SELECTION */
/********************************************/
* @brief This API used to write the tilt unit
* from register from 0x3B bit 3
*
- * @param v_tilt_unit_u8 : The value of tilt unit
+ * @param tilt_unit_u8 : The value of tilt unit
*
- * v_tilt_unit_u8 | result
+ * tilt_unit_u8 | result
* --------------- | ---------
* 0x00 | degrees
* 0x01 | radians
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_tilt_unit(
-u8 *v_tilt_unit_u8);
+u8 *tilt_unit_u8);
/*!
* @brief This API used to write the tilt unit
* from register from 0x3B bit 3
*
- * @param v_tilt_unit_u8 : The value of tilt unit
+ * @param tilt_unit_u8 : The value of tilt unit
*
- * v_tilt_unit_u8 | result
+ * tilt_unit_u8 | result
* --------------- | ---------
* 0x00 | degrees
* 0x01 | radians
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_tilt_unit(
-u8 v_tilt_unit_u8);
+u8 tilt_unit_u8);
/**************************************************/
/**\name FUNCTIONS FOR TEMPERATURE UNIT SELECTION */
/**************************************************/
* @brief This API used to read the temperature unit
* from register from 0x3B bit 4
*
- * @param v_temp_unit_u8 : The value of temperature unit
+ * @param temp_unit_u8 : The value of temperature unit
*
- * v_temp_unit_u8 | result
+ * temp_unit_u8 | result
* ----------- | --------------
- * 0x00 | TEMP_UNIT_CELCIUS
- * 0x01 | TEMP_UNIT_FAHRENHEIT
+ * 0x00 | BNO055_TEMP_UNIT_CELSIUS
+ * 0x01 | BNO055_TEMP_UNIT_FAHRENHEIT
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_temp_unit(
-u8 *v_temp_unit_u8);
+u8 *temp_unit_u8);
/*!
* @brief This API used to write the temperature unit
* from register from 0x3B bit 4
*
- * @param v_temp_unit_u8 : The value of temperature unit
+ * @param temp_unit_u8 : The value of temperature unit
*
- * v_temp_unit_u8 | result
+ * temp_unit_u8 | result
* ----------- | --------------
- * 0x00 | TEMP_UNIT_CELCIUS
- * 0x01 | TEMP_UNIT_FAHRENHEIT
+ * 0x00 | BNO055_TEMP_UNIT_CELSIUS
+ * 0x01 | BNO055_TEMP_UNIT_FAHRENHEIT
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_temp_unit(
-u8 v_temp_unit_u8);
+u8 temp_unit_u8);
/**************************************************/
/**\name FUNCTIONS FOR DATA OUTPUT FORMAT SELECT */
/**************************************************/
* @brief This API used to read the current selected orientation mode
* from register from 0x3B bit 7
*
- * @param v_data_output_format_u8 : The value of data output format
+ * @param data_output_format_u8 : The value of data output format
*
- * v_data_output_format_u8 | result
+ * data_output_format_u8 | result
* -------------------- | --------
* 0x00 | Windows
* 0x01 | Android
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_data_output_format(
-u8 *v_data_output_format_u8);
+u8 *data_output_format_u8);
/*!
* @brief This API used to read the current selected orientation mode
* from register from 0x3B bit 7
*
- * @param v_data_output_format_u8 : The value of data output format
+ * @param data_output_format_u8 : The value of data output format
*
- * v_data_output_format_u8 | result
+ * data_output_format_u8 | result
* -------------------- | --------
* 0x00 | Windows
* 0x01 | Android
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_data_output_format(
-u8 v_data_output_format_u8);
+u8 data_output_format_u8);
/**************************************************/
/**\name FUNCTIONS FOR DATA OPERATION MODE */
/**************************************************/
/*! @brief This API used to read the operation mode
* from register from 0x3D bit 0 to 3
*
- * @param v_operation_mode_u8 : The value of operation mode
+ * @param operation_mode_u8 : The value of operation mode
*
- * v_operation_mode_u8 | result | comments
+ * operation_mode_u8 | result | comments
* ----------|----------------------------|----------------------------
- * 0x00 | OPERATION_MODE_CONFIG | Configuration mode
- * 0x01 | OPERATION_MODE_ACCONLY | Reads accel data alone
- * 0x02 | OPERATION_MODE_MAGONLY | Reads mag data alone
- * 0x03 | OPERATION_MODE_GYRONLY | Reads gyro data alone
- * 0x04 | OPERATION_MODE_ACCMAG | Reads accel and mag data
- * 0x05 | OPERATION_MODE_ACCGYRO | Reads accel and gyro data
- * 0x06 | OPERATION_MODE_MAGGYRO | Reads accel and mag data
+ * 0x00 | BNO055_OPERATION_MODE_CONFIG | Configuration mode
+ * 0x01 | BNO055_OPERATION_MODE_ACCONLY | Reads accel data alone
+ * 0x02 | BNO055_OPERATION_MODE_MAGONLY | Reads mag data alone
+ * 0x03 | BNO055_OPERATION_MODE_GYRONLY | Reads gyro data alone
+ * 0x04 | BNO055_OPERATION_MODE_ACCMAG | Reads accel and mag data
+ * 0x05 | BNO055_OPERATION_MODE_ACCGYRO | Reads accel and gyro data
+ * 0x06 | BNO055_OPERATION_MODE_MAGGYRO | Reads accel and mag data
* 0x07 | OPERATION_MODE_ANY_MOTION | Reads accel mag and gyro data
- * 0x08 | OPERATION_MODE_IMUPLUS | Inertial measurement unit
+ * 0x08 | BNO055_OPERATION_MODE_IMUPLUS | Inertial measurement unit
* - | - | Reads accel,gyro and fusion data
- * 0x09 | OPERATION_MODE_COMPASS | Reads accel, mag data
+ * 0x09 | BNO055_OPERATION_MODE_COMPASS | Reads accel, mag data
* - | - | and fusion data
- * 0x0A | OPERATION_MODE_M4G | Reads accel, mag data
+ * 0x0A | BNO055_OPERATION_MODE_M4G | Reads accel, mag data
* - | - | and fusion data
- * 0x0B | OPERATION_MODE_NDOF_FMC_OFF| Nine degrees of freedom with
+ * 0x0B | BNO055_OPERATION_MODE_NDOF_FMC_OFF| Nine degrees of freedom with
* - | - | fast magnetic calibration
* - | - | Reads accel,mag, gyro
* - | - | and fusion data
- * 0x0C | OPERATION_MODE_NDOF | Nine degrees of freedom
+ * 0x0C | BNO055_OPERATION_MODE_NDOF | Nine degrees of freedom
* - | - | Reads accel,mag, gyro
* - | - | and fusion data
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note In the config mode, all sensor and fusion data
* becomes zero and it is mainly derived
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_operation_mode(
-u8 *v_operation_mode_u8);
+u8 *operation_mode_u8);
/*! @brief This API used to write the operation mode
* from register from 0x3D bit 0 to 3
*
- * @param v_operation_mode_u8 : The value of operation mode
- *
- * v_operation_mode_u8 | result | comments
- * ----------|----------------------------|----------------------------
- * 0x00 | OPERATION_MODE_CONFIG | Configuration mode
- * 0x01 | OPERATION_MODE_ACCONLY | Reads accel data alone
- * 0x02 | OPERATION_MODE_MAGONLY | Reads mag data alone
- * 0x03 | OPERATION_MODE_GYRONLY | Reads gyro data alone
- * 0x04 | OPERATION_MODE_ACCMAG | Reads accel and mag data
- * 0x05 | OPERATION_MODE_ACCGYRO | Reads accel and gyro data
- * 0x06 | OPERATION_MODE_MAGGYRO | Reads accel and mag data
- * 0x07 | OPERATION_MODE_ANY_MOTION | Reads accel mag and gyro data
- * 0x08 | OPERATION_MODE_IMUPLUS | Inertial measurement unit
- * - | - | Reads accel,gyro and fusion data
- * 0x09 | OPERATION_MODE_COMPASS | Reads accel, mag data
- * - | - | and fusion data
- * 0x0A | OPERATION_MODE_M4G | Reads accel, mag data
- * - | - | and fusion data
- * 0x0B | OPERATION_MODE_NDOF_FMC_OFF| Nine degrees of freedom with
- * - | - | fast magnetic calibration
- * - | - | Reads accel,mag, gyro
- * - | - | and fusion data
- * 0x0C | OPERATION_MODE_NDOF | Nine degrees of freedom
- * - | - | Reads accel,mag, gyro
- * - | - | and fusion data
- *
- * @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @param operation_mode_u8 : The value of operation mode
+ *
+ * operation_mode_u8 | result | comments
+ * ---------|-----------------------------------|--------------------------
+ * 0x00 | BNO055_OPERATION_MODE_CONFIG | Configuration mode
+ * 0x01 | BNO055_OPERATION_MODE_ACCONLY | Reads accel data alone
+ * 0x02 | BNO055_OPERATION_MODE_MAGONLY | Reads mag data alone
+ * 0x03 | BNO055_OPERATION_MODE_GYRONLY | Reads gyro data alone
+ * 0x04 | BNO055_OPERATION_MODE_ACCMAG | Reads accel and mag data
+ * 0x05 | BNO055_OPERATION_MODE_ACCGYRO | Reads accel and gyro data
+ * 0x06 | BNO055_OPERATION_MODE_MAGGYRO | Reads accel and mag data
+ * 0x07 | OPERATION_MODE_ANY_MOTION | Reads accel mag and
+ * | - | gyro data
+ * 0x08 | BNO055_OPERATION_MODE_IMUPLUS | Inertial measurement unit
+ * - | | Reads accel,gyro and
+ * | - | fusion data
+ * 0x09 | BNO055_OPERATION_MODE_COMPASS | Reads accel, mag data
+ * - | - | and fusion data
+ * 0x0A | BNO055_OPERATION_MODE_M4G | Reads accel, mag data
+ * - | - | and fusion data
+ * 0x0B | BNO055_OPERATION_MODE_NDOF_FMC_OFF| Nine degrees of freedom with
+ * - | - | fast magnetic calibration
+ * - | - | Reads accel,mag, gyro
+ * - | - | and fusion data
+ * 0x0C | BNO055_OPERATION_MODE_NDOF | Nine degrees of freedom
+ * - | - | Reads accel,mag, gyro
+ * - | - | and fusion data
+ *
+ * @return results of bus communication function
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note In the config mode, all sensor and fusion data
* becomes zero and it is mainly derived
* to configure the various settings of the BNO
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_set_operation_mode(u8 v_operation_mode_u8);
+BNO055_RETURN_FUNCTION_TYPE bno055_set_operation_mode(u8 operation_mode_u8);
/**************************************************/
/**\name FUNCTIONS FOR POWER MODE */
/**************************************************/
/*! @brief This API used to read the power mode
* from register from 0x3E bit 0 to 1
*
- * @param v_power_mode_u8 : The value of power mode
+ * @param power_mode_u8 : The value of power mode
*
- * v_power_mode_u8| result | comments
- * ----------|---------------------|-------------------------------------
- * 0x00 | POWER_MODE_NORMAL | In the NORMAL mode the register
- * - | - | map and the internal peripherals
- * - | - | of the MCU are always
- * - | - | operative in this mode
- * 0x01 | POWER_MODE_LOWPOWER | This is first level of power saving mode
- * 0x02 | POWER_MODE_SUSPEND | In suspend mode the system is
- * - | - | paused and all the sensors and
- * - | - | the micro controller are
- * - | - | put into sleep mode.
+ * power_mode_u8| result | comments
+ * ---------|---------------------------|-------------------------------------
+ * 0x00 |BNO055_POWER_MODE_NORMAL | In the NORMAL mode the register
+ * - | - | map and the internal peripherals
+ * - | - | of the MCU are always
+ * - | - | operative in this mode
+ * 0x01 |BNO055_POWER_MODE_LOWPOWER | This is first level of power
+ * | - | saving mode
+ * 0x02 |BNO055_POWER_MODE_SUSPEND | In suspend mode the system is
+ * - | - | paused and all the sensors and
+ * - | - | the micro controller are
+ * - | - | put into sleep mode.
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note For detailed about LOWPOWER mode
* refer data sheet 3.4.2
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_power_mode(
-u8 *v_power_mode_u8);
+u8 *power_mode_u8);
/*! @brief This API used to write the power mode
* from register from 0x3E bit 0 to 1
*
- * @param v_power_mode_u8 : The value of power mode
+ * @param power_mode_u8 : The value of power mode
*
- * v_power_mode_u8 | result | comments
- * ----------|---------------------|-------------------------------------
- * 0x00 | POWER_MODE_NORMAL | In the NORMAL mode the register
- * - | - | map and the internal peripherals
- * - | - | of the MCU are always
- * - | - | operative in this mode
- * 0x01 | POWER_MODE_LOWPOWER | This is first level of power saving mode
- * 0x02 | POWER_MODE_SUSPEND | In suspend mode the system is
- * - | - | paused and all the sensors and
- * - | - | the micro controller are
- * - | - | put into sleep mode.
+ *
+ * power_mode_u8| result | comments
+ * -------|----------------------------|---------------------------------
+ * 0x00 | BNO055_POWER_MODE_NORMAL | In the NORMAL mode the register
+ * - | - | map and the internal peripherals
+ * - | - | of the MCU are always
+ * - | - | operative in this mode
+ * 0x01 | BNO055_POWER_MODE_LOWPOWER | This is first level of power
+ * | - | saving mode
+ * 0x02 | BNO055_POWER_MODE_SUSPEND | In suspend mode the system is
+ * - | - | paused and all the sensors and
+ * - | - | the micro controller are
+ * - | - | put into sleep mode.
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note For detailed about LOWPOWER mode
* refer data sheet 3.4.2
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_set_power_mode(u8 v_power_mode_u8);
+BNO055_RETURN_FUNCTION_TYPE bno055_set_power_mode(u8 power_mode_u8);
/**************************************************/
/**\name FUNCTIONS FOR RESET INTERRUPT */
/**************************************************/
* from register from 0x3F bit 6
* It resets all the interrupt bit and interrupt output
*
- * @param v_intr_rst_u8 : The value of reset interrupt
+ * @param intr_rst_u8 : The value of reset interrupt
*
- * v_intr_rst_u8 | result
- * -------------- |----------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * intr_rst_u8 | result
+ * -------------|----------
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_rst(
-u8 *v_intr_rst_u8);
+u8 *intr_rst_u8);
/*!
* @brief This API used to write the reset interrupt
- * from register from 0x3F bit 6
+ * from register from 0x3F bit 6
* It resets all the interrupt bit and interrupt output
*
- * @param v_intr_rst_u8 : The value of reset interrupt
+ * @param intr_rst_u8 : The value of reset interrupt
*
- * v_intr_rst_u8 | result
+ * intr_rst_u8 | result
* -------------- |----------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_rst(u8 v_intr_rst_u8);
+BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_rst(u8 intr_rst_u8);
/**************************************************/
/**\name FUNCTIONS FOR CLOCK SOURCE */
/**************************************************/
* @brief This API used to read the clk source
* from register from 0x3F bit 7
*
- * @param v_clk_src_u8 : The value of clk source
+ * @param clk_src_u8 : The value of clk source
*
- * v_clk_src_u8 | result
- * -------------- |----------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * clk_src_u8 | result
+ * -------------|----------
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_clk_src(
-u8 *v_clk_src_u8);
+u8 *clk_src_u8);
/*!
* @brief This API used to write the clk source
* from register from 0x3F bit 7
*
- * @param v_clk_src_u8 : The value of clk source
+ * @param clk_src_u8 : The value of clk source
*
- * v_clk_src_u8 | result
+ * clk_src_u8 | result
* -------------- |----------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_set_clk_src(u8 v_clk_src_u8);
+BNO055_RETURN_FUNCTION_TYPE bno055_set_clk_src(u8 clk_src_u8);
/**************************************************/
/**\name FUNCTIONS FOR RESET SYSTEM */
/**************************************************/
* @brief This API used to read the reset system
* from register from 0x3F bit 5
*
- * @param v_sys_rst_u8 : The value of reset system
+ * @param sys_rst_u8 : The value of reset system
*
- * v_sys_rst_u8 | result
+ * sys_rst_u8 | result
* -------------- |----------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note It resets the whole system
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_rst(
-u8 *v_sys_rst_u8);
+u8 *sys_rst_u8);
/*!
* @brief This API used to write the reset system
* from register from 0x3F bit 5
*
- * @param v_sys_rst_u8 : The value of reset system
+ * @param sys_rst_u8 : The value of reset system
*
- * v_sys_rst_u8 | result
+ * sys_rst_u8 | result
* -------------- |----------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note It resets the whole system
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_set_sys_rst(u8 v_sys_rst_u8);
+BNO055_RETURN_FUNCTION_TYPE bno055_set_sys_rst(u8 sys_rst_u8);
/**************************************************/
/**\name FUNCTIONS FOR SELF TEST */
/**************************************************/
* @brief This API used to read the self test
* from register from 0x3F bit 0
*
- * @param v_selftest_u8 : The value of self test
+ * @param selftest_u8 : The value of self test
*
- * v_selftest_u8 | result
+ * selftest_u8 | result
* -------------- |----------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note It triggers the self test
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest(
-u8 *v_selftest_u8);
+u8 *selftest_u8);
/*!
* @brief This API used to write the self test
* from register from 0x3F bit 0
*
- * @param v_selftest_u8 : The value of self test
+ * @param selftest_u8 : The value of self test
*
- * v_selftest_u8 | result
+ * selftest_u8 | result
* -------------- |----------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note It triggers the self test
*
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_set_selftest(u8 v_selftest_u8);
+BNO055_RETURN_FUNCTION_TYPE bno055_set_selftest(u8 selftest_u8);
/**************************************************/
/**\name FUNCTIONS FOR TEMPERATURE SOURCE */
/**************************************************/
* @brief This API used to read the temperature source
* from register from 0x40 bit 0 and 1
*
- * @param v_temp_source_u8 : The value of selected temperature source
+ * @param temp_source_u8 : The value of selected temperature source
*
- * v_temp_source_u8 | result
+ * temp_source_u8 | result
* ---------------- |---------------
- * 0x00 | ACCEL_TEMP_EN
- * 0X01 | GYRO_TEMP_EN
- * 0X03 | MCU_TEMP_EN
+ * 0x00 | BNO055_ACCEL_TEMP_EN
+ * 0X01 | BNO055_GYRO_TEMP_EN
+ * 0X03 | BNO055_MCU_TEMP_EN
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_temp_source(
-u8 *v_temp_source_u8);
+u8 *temp_source_u8);
/*!
* @brief This API used to write the temperature source
* from register from 0x40 bit 0 and 1
*
- * @param v_temp_source_u8 : The value of selected temperature source
+ * @param temp_source_u8 : The value of selected temperature source
*
- * v_temp_source_u8 | result
+ * temp_source_u8 | result
* ---------------- |---------------
- * 0x00 | ACCEL_TEMP_EN
- * 0X01 | GYRO_TEMP_EN
- * 0X03 | MCU_TEMP_EN
+ * 0x00 | BNO055_ACCEL_TEMP_EN
+ * 0X01 | BNO055_GYRO_TEMP_EN
+ * 0X03 | BNO055_MCU_TEMP_EN
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
-BNO055_RETURN_FUNCTION_TYPE bno055_set_temp_source(u8 v_temp_source_u8);
+BNO055_RETURN_FUNCTION_TYPE bno055_set_temp_source(u8 temp_source_u8);
/**************************************************/
-/**\name FUNCTIONS FOR AXIS REMAP */
+/**\name APIs FOR AXIS REMAP */
/**************************************************/
/*!
* @brief This API used to read the axis remap value
* from register from 0x41 bit 0 and 5
*
- * @param v_remap_axis_u8 : The value of axis remapping
+ * @param remap_axis_u8 : The value of axis remapping
*
- * v_remap_axis_u8 | result | comments
+ * remap_axis_u8 | result | comments
* ------------|-------------------|------------
- * 0X21 | REMAP_X_Y | Z=Z;X=Y;Y=X
- * 0X18 | REMAP_Y_Z | X=X;Y=Z;Z=Y
- * 0X06 | REMAP_Z_X | Y=Y;X=Z;Z=X
- * 0X12 | REMAP_X_Y_Z_TYPE0 | X=Z;Y=X;Z=Y
- * 0X09 | REMAP_X_Y_Z_TYPE1 | X=Y;Y=Z;Z=X
- * 0X24 | DEFAULT_AXIS | X=X;Y=Y;Z=Z
+ * 0X21 | BNO055_REMAP_X_Y | Z=Z;X=Y;Y=X
+ * 0X18 | BNO055_REMAP_Y_Z | X=X;Y=Z;Z=Y
+ * 0X06 | BNO055_REMAP_Z_X | Y=Y;X=Z;Z=X
+ * 0X12 | BNO055_REMAP_X_Y_Z_TYPE0 | X=Z;Y=X;Z=Y
+ * 0X09 | BNO055_REMAP_X_Y_Z_TYPE1 | X=Y;Y=Z;Z=X
+ * 0X24 | BNO055_DEFAULT_AXIS | X=X;Y=Y;Z=Z
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
- * @note : For axis sign remap refer the following functions
+ * @note : For axis sign remap refer the following APIs
* x-axis :
*
* bno055_set_x_remap_sign()
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_axis_remap_value(
-u8 *v_remap_axis_u8);
+u8 *remap_axis_u8);
/*!
* @brief This API used to write the axis remap value
* from register from 0x41 bit 0 and 5
*
- * @param v_remap_axis_u8 : The value of axis remapping
+ * @param remap_axis_u8 : The value of axis remapping
*
- * v_remap_axis_u8 | result | comments
- * ------------|-------------------|------------
- * 0X21 | REMAP_X_Y | Z=Z;X=Y;Y=X
- * 0X18 | REMAP_Y_Z | X=X;Y=Z;Z=Y
- * 0X06 | REMAP_Z_X | Y=Y;X=Z;Z=X
- * 0X12 | REMAP_X_Y_Z_TYPE0 | X=Z;Y=X;Z=Y
- * 0X09 | REMAP_X_Y_Z_TYPE1 | X=Y;Y=Z;Z=X
- * 0X24 | DEFAULT_AXIS | X=X;Y=Y;Z=Z
+ * remap_axis_u8 | result | comments
+ * ------------|--------------------------|------------
+ * 0X21 | BNO055_REMAP_X_Y | Z=Z;X=Y;Y=X
+ * 0X18 | BNO055_REMAP_Y_Z | X=X;Y=Z;Z=Y
+ * 0X06 | BNO055_REMAP_Z_X | Y=Y;X=Z;Z=X
+ * 0X12 | BNO055_REMAP_X_Y_Z_TYPE0 | X=Z;Y=X;Z=Y
+ * 0X09 | BNO055_REMAP_X_Y_Z_TYPE1 | X=Y;Y=Z;Z=X
+ * 0X24 | BNO055_DEFAULT_AXIS | X=X;Y=Y;Z=Z
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
- * @note : For axis sign remap refer the following functions
+ * @note : For axis sign remap refer the following APIs
* x-axis :
*
* bno055_set_x_remap_sign()
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_axis_remap_value(
-u8 v_remap_axis_u8);
+u8 remap_axis_u8);
/**************************************************/
-/**\name FUNCTIONS FOR AXIS REMAP SIGN */
+/**\name APIs FOR AXIS REMAP SIGN */
/**************************************************/
/*!
* @brief This API used to read the x-axis remap
* sign from register from 0x42 bit 2
*
- * @param v_remap_x_sign_u8 : The value of x-axis remap sign
+ * @param remap_x_sign_u8 : The value of x-axis remap sign
*
- * v_remap_x_sign_u8 | result
+ * remap_x_sign_u8 | result
* ------------------- |--------------------
- * 0X00 | REMAP_AXIS_POSITIVE
- * 0X01 | REMAP_AXIS_NEGATIVE
+ * 0X00 | BNO055_REMAP_AXIS_POSITIVE
+ * 0X01 | BNO055_REMAP_AXIS_NEGATIVE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_x_sign(
-u8 *v_remap_x_sign_u8);
+u8 *remap_x_sign_u8);
/*!
* @brief This API used to write the x-axis remap
* sign from register from 0x42 bit 2
*
- * @param v_remap_x_sign_u8 : The value of x-axis remap sign
+ * @param remap_x_sign_u8 : The value of x-axis remap sign
*
- * v_remap_x_sign_u8 | result
+ * remap_x_sign_u8 | result
* ------------------- |--------------------
- * 0X00 | REMAP_AXIS_POSITIVE
- * 0X01 | REMAP_AXIS_NEGATIVE
+ * 0X00 | BNO055_REMAP_AXIS_POSITIVE
+ * 0X01 | BNO055_REMAP_AXIS_NEGATIVE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_x_sign(
-u8 v_remap_x_sign_u8);
+u8 remap_x_sign_u8);
/*!
* @brief This API used to read the y-axis remap
* sign from register from 0x42 bit 1
*
- * @param v_remap_y_sign_u8 : The value of y-axis remap sign
+ * @param remap_y_sign_u8 : The value of y-axis remap sign
*
- * v_remap_y_sign_u8 | result
+ * remap_y_sign_u8 | result
* ------------------- |--------------------
- * 0X00 | REMAP_AXIS_POSITIVE
- * 0X01 | REMAP_AXIS_NEGATIVE
+ * 0X00 | BNO055_REMAP_AXIS_POSITIVE
+ * 0X01 | BNO055_REMAP_AXIS_NEGATIVE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_y_sign(
-u8 *v_remap_y_sign_u8);
+u8 *remap_y_sign_u8);
/*!
* @brief This API used to write the y-axis remap
* sign from register from 0x42 bit 1
*
- * @param v_remap_y_sign_u8 : The value of y-axis remap sign
+ * @param remap_y_sign_u8 : The value of y-axis remap sign
*
- * v_remap_y_sign_u8 | result
+ * remap_y_sign_u8 | result
* ------------------- |--------------------
- * 0X00 | REMAP_AXIS_POSITIVE
- * 0X01 | REMAP_AXIS_NEGATIVE
+ * 0X00 | BNO055_REMAP_AXIS_POSITIVE
+ * 0X01 | BNO055_REMAP_AXIS_NEGATIVE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_y_sign(
-u8 v_remap_y_sign_u8);
+u8 remap_y_sign_u8);
/*!
* @brief This API used to read the z-axis remap
* sign from register from 0x42 bit 0
*
- * @param v_remap_z_sign_u8 : The value of z-axis remap sign
+ * @param remap_z_sign_u8 : The value of z-axis remap sign
*
- * v_remap_z_sign_u8 | result
+ * remap_z_sign_u8 | result
* ------------------- |--------------------
- * 0X00 | REMAP_AXIS_POSITIVE
- * 0X01 | REMAP_AXIS_NEGATIVE
+ * 0X00 | BNO055_REMAP_AXIS_POSITIVE
+ * 0X01 | BNO055_REMAP_AXIS_NEGATIVE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_z_sign(
-u8 *v_remap_z_sign_u8);
+u8 *remap_z_sign_u8);
/*!
* @brief This API used to write the z-axis remap
* sign from register from 0x42 bit 0
*
- * @param v_remap_z_sign_u8 : The value of z-axis remap sign
+ * @param remap_z_sign_u8 : The value of z-axis remap sign
*
- * v_remap_z_sign_u8 | result
- * ------------------- |--------------------
- * 0X00 | REMAP_AXIS_POSITIVE
- * 0X01 | REMAP_AXIS_NEGATIVE
+ * remap_z_sign_u8 | result
+ * ------------------|--------------------
+ * 0X00 | BNO055_REMAP_AXIS_POSITIVE
+ * 0X01 | BNO055_REMAP_AXIS_NEGATIVE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_z_sign(
-u8 v_remap_z_sign_u8);
+u8 remap_z_sign_u8);
/*****************************************************/
/**\name FUNCTIONS FOR SOFT IRON CALIBRATION MATRIX */
/*****************************************************/
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note : Each soft iron calibration matrix range from -32768 to +32767
*/
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note : Each soft iron calibration matrix range from -32768 to +32767
*/
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note The range of the accel offset varies based on
* the G-range of accel sensor.
*
* accel G range | offset range
* --------------- | --------------
- * ACCEL_RANGE_2G | +/-2000
- * ACCEL_RANGE_4G | +/-4000
- * ACCEL_RANGE_8G | +/-8000
- * ACCEL_RANGE_16G | +/-16000
+ * BNO055_ACCEL_RANGE_2G | +/-2000
+ * BNO055_ACCEL_RANGE_4G | +/-4000
+ * BNO055_ACCEL_RANGE_8G | +/-8000
+ * BNO055_ACCEL_RANGE_16G | +/-16000
*
* accel G range can be configured by using the
- * bno055_set_accel_range() function
+ * bno055_set_accel_range() API
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_offset(
struct bno055_accel_offset_t *accel_offset);
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note The range of the accel offset varies based on
* the G-range of accel sensor.
*
* accel G range | offset range
* --------------- | --------------
- * ACCEL_RANGE_2G | +/-2000
- * ACCEL_RANGE_4G | +/-4000
- * ACCEL_RANGE_8G | +/-8000
- * ACCEL_RANGE_16G | +/-16000
+ * BNO055_ACCEL_RANGE_2G | +/-2000
+ * BNO055_ACCEL_RANGE_4G | +/-4000
+ * BNO055_ACCEL_RANGE_8G | +/-8000
+ * BNO055_ACCEL_RANGE_16G | +/-16000
*
* accel G range can be configured by using the
- * bno055_set_accel_range() function
+ * bno055_set_accel_range() API
*/
BNO055_RETURN_FUNCTION_TYPE bno055_write_accel_offset(
struct bno055_accel_offset_t *accel_offset);
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note The range of the magnetometer offset is +/-6400 in LSB
*/
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note The range of the magnetometer offset is +/-6400 in LSB
*/
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note The range of the gyro offset varies based on
* the range of gyro sensor
*
* gyro G range | offset range
* -------------------- | ------------
- * GYRO_RANGE_2000DPS | +/-32000
- * GYRO_RANGE_1000DPS | +/-16000
- * GYRO_RANGE_500DPS | +/-8000
- * GYRO_RANGE_250DPS | +/-4000
- * GYRO_RANGE_125DPS | +/-2000
+ * BNO055_GYRO_RANGE_2000DPS | +/-32000
+ * BNO055_GYRO_RANGE_1000DPS | +/-16000
+ * BNO055_GYRO_RANGE_500DPS | +/-8000
+ * BNO055_GYRO_RANGE_250DPS | +/-4000
+ * BNO055_GYRO_RANGE_125DPS | +/-2000
*
* Gyro range can be configured by using the
- * bno055_set_gyro_range() function
+ * bno055_set_gyro_range() API
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_offset(
struct bno055_gyro_offset_t *gyro_offset);
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note The range of the gyro offset varies based on
* the range of gyro sensor
*
* gyro G range | offset range
* -------------------- | ------------
- * GYRO_RANGE_2000DPS | +/-32000
- * GYRO_RANGE_1000DPS | +/-16000
- * GYRO_RANGE_500DPS | +/-8000
- * GYRO_RANGE_250DPS | +/-4000
- * GYRO_RANGE_125DPS | +/-2000
+ * BNO055_GYRO_RANGE_2000DPS | +/-32000
+ * BNO055_GYRO_RANGE_1000DPS | +/-16000
+ * BNO055_GYRO_RANGE_500DPS | +/-8000
+ * BNO055_GYRO_RANGE_250DPS | +/-4000
+ * BNO055_GYRO_RANGE_125DPS | +/-2000
*
* Gyro range can be configured by using the
- * bno055_set_gyro_range() function
+ * bno055_set_gyro_range() API
*/
BNO055_RETURN_FUNCTION_TYPE bno055_write_gyro_offset(
struct bno055_gyro_offset_t *gyro_offset);
* @brief This API used to read the accel range
* from page one register from 0x08 bit 0 and 1
*
- * @param v_accel_range_u8 : The value of accel range
- * v_accel_range_u8 | result
+ * @param accel_range_u8 : The value of accel range
+ * accel_range_u8 | result
* ----------------- | --------------
- * 0x00 | ACCEL_RANGE_2G
- * 0x01 | ACCEL_RANGE_4G
- * 0x02 | ACCEL_RANGE_8G
- * 0x03 | ACCEL_RANGE_16G
+ * 0x00 | BNO055_ACCEL_RANGE_2G
+ * 0x01 | BNO055_ACCEL_RANGE_4G
+ * 0x02 | BNO055_ACCEL_RANGE_8G
+ * 0x03 | BNO055_ACCEL_RANGE_16G
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_range(
-u8 *v_accel_range_u8);
+u8 *accel_range_u8);
/*!
* @brief This API used to write the accel range
* from page one register from 0x08 bit 0 and 1
*
- * @param v_accel_range_u8 : The value of accel range
+ * @param accel_range_u8 : The value of accel range
*
- * v_accel_range_u8 | result
+ * accel_range_u8 | result
* ----------------- | --------------
- * 0x00 | ACCEL_RANGE_2G
- * 0x01 | ACCEL_RANGE_4G
- * 0x02 | ACCEL_RANGE_8G
- * 0x03 | ACCEL_RANGE_16G
+ * 0x00 | BNO055_ACCEL_RANGE_2G
+ * 0x01 | BNO055_ACCEL_RANGE_4G
+ * 0x02 | BNO055_ACCEL_RANGE_8G
+ * 0x03 | BNO055_ACCEL_RANGE_16G
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_range(
-u8 v_accel_range_u8);
+u8 accel_range_u8);
/*!
* @brief This API used to read the accel bandwidth
* from page one register from 0x08 bit 2 to 4
*
- * @param v_accel_bw_u8 : The value of accel bandwidth
+ * @param accel_bw_u8 : The value of accel bandwidth
*
- * v_accel_bw_u8 | result
+ * accel_bw_u8 | result
* ----------------- | ---------------
- * 0x00 | ACCEL_BW_7_81HZ
- * 0x01 | ACCEL_BW_15_63HZ
- * 0x02 | ACCEL_BW_31_25HZ
- * 0x03 | ACCEL_BW_62_5HZ
- * 0x04 | ACCEL_BW_125HZ
- * 0x05 | ACCEL_BW_250HZ
- * 0x06 | ACCEL_BW_500HZ
- * 0x07 | ACCEL_BW_1000HZ
+ * 0x00 | BNO055_ACCEL_BW_7_81HZ
+ * 0x01 | BNO055_ACCEL_BW_15_63HZ
+ * 0x02 | BNO055_ACCEL_BW_31_25HZ
+ * 0x03 | BNO055_ACCEL_BW_62_5HZ
+ * 0x04 | BNO055_ACCEL_BW_125HZ
+ * 0x05 | BNO055_ACCEL_BW_250HZ
+ * 0x06 | BNO055_ACCEL_BW_500HZ
+ * 0x07 | BNO055_ACCEL_BW_1000HZ
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_bw(
-u8 *v_accel_bw_u8);
+u8 *accel_bw_u8);
/*!
* @brief This API used to write the accel bandwidth
* from page one register from 0x08 bit 2 to 4
*
- * @param v_accel_bw_u8 : The value of accel bandwidth
+ * @param accel_bw_u8 : The value of accel bandwidth
*
- * v_accel_bw_u8 | result
+ * accel_bw_u8 | result
* ----------------- | ---------------
- * 0x00 | ACCEL_BW_7_81HZ
- * 0x01 | ACCEL_BW_15_63HZ
- * 0x02 | ACCEL_BW_31_25HZ
- * 0x03 | ACCEL_BW_62_5HZ
- * 0x04 | ACCEL_BW_125HZ
- * 0x05 | ACCEL_BW_250HZ
- * 0x06 | ACCEL_BW_500HZ
- * 0x07 | ACCEL_BW_1000HZ
+ * 0x00 | BNO055_ACCEL_BW_7_81HZ
+ * 0x01 | BNO055_ACCEL_BW_15_63HZ
+ * 0x02 | BNO055_ACCEL_BW_31_25HZ
+ * 0x03 | BNO055_ACCEL_BW_62_5HZ
+ * 0x04 | BNO055_ACCEL_BW_125HZ
+ * 0x05 | BNO055_ACCEL_BW_250HZ
+ * 0x06 | BNO055_ACCEL_BW_500HZ
+ * 0x07 | BNO055_ACCEL_BW_1000HZ
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_bw(
-u8 v_accel_bw_u8);
+u8 accel_bw_u8);
/*!
* @brief This API used to read the accel power mode
* from page one register from 0x08 bit 5 to 7
*
- * @param v_accel_power_mode_u8 : The value of accel power mode
- * v_accel_power_mode_u8 | result
+ * @param accel_power_mode_u8 : The value of accel power mode
+ * accel_power_mode_u8 | result
* ----------------- | -------------
- * 0x00 | ACCEL_NORMAL
- * 0x01 | ACCEL_SUSPEND
- * 0x02 | ACCEL_LOWPOWER_1
- * 0x03 | ACCEL_STANDBY
- * 0x04 | ACCEL_LOWPOWER_2
- * 0x05 | ACCEL_DEEPSUSPEND
+ * 0x00 | BNO055_ACCEL_NORMAL
+ * 0x01 | BNO055_ACCEL_SUSPEND
+ * 0x02 | BNO055_ACCEL_LOWPOWER_1
+ * 0x03 | BNO055_ACCEL_STANDBY
+ * 0x04 | BNO055_ACCEL_LOWPOWER_2
+ * 0x05 | BNO055_ACCEL_DEEPSUSPEND
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_power_mode(
-u8 *v_accel_power_mode_u8);
+u8 *accel_power_mode_u8);
/*!
* @brief This API used to write the accel power mode
* from page one register from 0x08 bit 5 to 7
*
- * @param v_accel_power_mode_u8 : The value of accel power mode
- * v_accel_power_mode_u8 | result
+ * @param accel_power_mode_u8 : The value of accel power mode
+ * accel_power_mode_u8 | result
* ----------------- | -------------
- * 0x00 | ACCEL_NORMAL
- * 0x01 | ACCEL_SUSPEND
- * 0x02 | ACCEL_LOWPOWER_1
- * 0x03 | ACCEL_STANDBY
- * 0x04 | ACCEL_LOWPOWER_2
- * 0x05 | ACCEL_DEEPSUSPEND
+ * 0x00 | BNO055_ACCEL_NORMAL
+ * 0x01 | BNO055_ACCEL_SUSPEND
+ * 0x02 | BNO055_ACCEL_LOWPOWER_1
+ * 0x03 | BNO055_ACCEL_STANDBY
+ * 0x04 | BNO055_ACCEL_LOWPOWER_2
+ * 0x05 | BNO055_ACCEL_DEEPSUSPEND
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_power_mode(
-u8 v_accel_power_mode_u8);
+u8 accel_power_mode_u8);
/*****************************************************/
/**\name FUNCTIONS FOR MAG CONFIGURATION */
/*****************************************************/
* @brief This API used to read the mag output data rate
* from page one register from 0x09 bit 0 to 2
*
- * @param v_mag_data_output_rate_u8 : The value of mag output data rate
+ * @param mag_data_output_rate_u8 : The value of mag output data rate
*
- * v_mag_data_output_rate_u8 | result
+ * mag_data_output_rate_u8 | result
* ---------------------- |----------------------
* 0x00 | MAG_DATA_OUTPUT_RATE_2HZ
* 0x01 | MAG_DATA_OUTPUT_RATE_6HZ
* 0x07 | MAG_DATA_OUTPUT_RATE_30HZ
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_data_output_rate(
-u8 *v_mag_data_output_rate_u8);
+u8 *mag_data_output_rate_u8);
/*!
* @brief This API used to write the mag output data rate
* from page one register from 0x09 bit 0 to 2
*
- * @param v_mag_data_output_rate_u8 : The value of mag output data rate
+ * @param mag_data_output_rate_u8 : The value of mag output data rate
*
- * v_mag_data_output_rate_u8 | result
- * ---------------------- |----------------------
- * 0x00 | MAG_DATA_OUTPUT_RATE_2HZ
- * 0x01 | MAG_DATA_OUTPUT_RATE_6HZ
- * 0x02 | MAG_DATA_OUTPUT_RATE_8HZ
- * 0x03 | MAG_DATA_OUTPUT_RATE_10HZ
- * 0x04 | MAG_DATA_OUTPUT_RATE_15HZ
- * 0x05 | MAG_DATA_OUTPUT_RATE_20HZ
- * 0x06 | MAG_DATA_OUTPUT_RATE_25HZ
- * 0x07 | MAG_DATA_OUTPUT_RATE_30HZ
+ * mag_data_output_rate_u8 | result
+ * ---------------------- |----------------------
+ * 0x00 | MAG_DATA_OUTPUT_RATE_2HZ
+ * 0x01 | MAG_DATA_OUTPUT_RATE_6HZ
+ * 0x02 | MAG_DATA_OUTPUT_RATE_8HZ
+ * 0x03 | MAG_DATA_OUTPUT_RATE_10HZ
+ * 0x04 | MAG_DATA_OUTPUT_RATE_15HZ
+ * 0x05 | MAG_DATA_OUTPUT_RATE_20HZ
+ * 0x06 | MAG_DATA_OUTPUT_RATE_25HZ
+ * 0x07 | MAG_DATA_OUTPUT_RATE_30HZ
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_data_output_rate(
-u8 v_mag_data_output_rate_u8);
+u8 mag_data_output_rate_u8);
/*!
* @brief This API used to read the mag operation mode
* from page one register from 0x09 bit 3 to 4
*
- * @param v_mag_operation_mode_u8 : The value of mag operation mode
+ * @param mag_operation_mode_u8 : The value of mag operation mode
*
- * v_mag_operation_mode_u8 | result
- * ------------------------- |--------------------------
- * 0x00 | MAG_OPR_MODE_LOWPOWER
- * 0x01 | MAG_OPR_MODE_REGULAR
- * 0x02 | MAG_OPR_MODE_ENHANCED_REGULAR
- * 0x03 | MAG_OPR_MODE_HIGH_ACCURACY
+ * mag_operation_mode_u8 | result
+ * ------------------------|--------------------------
+ * 0x00 | MAG_OPR_MODE_LOWPOWER
+ * 0x01 | MAG_OPR_MODE_REGULAR
+ * 0x02 | MAG_OPR_MODE_ENHANCED_REGULAR
+ * 0x03 | MAG_OPR_MODE_HIGH_ACCURACY
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_operation_mode(
-u8 *v_mag_operation_mode_u8);
+u8 *mag_operation_mode_u8);
/*!
* @brief This API used to write the mag operation mode
* from page one register from 0x09 bit 3 to 4
*
- * @param v_mag_operation_mode_u8 : The value of mag operation mode
+ * @param mag_operation_mode_u8 : The value of mag operation mode
*
- * v_mag_operation_mode_u8 | result
- * ------------------------- |--------------------------
- * 0x00 | MAG_OPR_MODE_LOWPOWER
- * 0x01 | MAG_OPR_MODE_REGULAR
- * 0x02 | MAG_OPR_MODE_ENHANCED_REGULAR
- * 0x03 | MAG_OPR_MODE_HIGH_ACCURACY
+ * mag_operation_mode_u8 | result
+ * ------------------------|--------------------------
+ * 0x00 | MAG_OPR_MODE_LOWPOWER
+ * 0x01 | MAG_OPR_MODE_REGULAR
+ * 0x02 | MAG_OPR_MODE_ENHANCED_REGULAR
+ * 0x03 | MAG_OPR_MODE_HIGH_ACCURACY
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_operation_mode(
-u8 v_mag_operation_mode_u8);
+u8 mag_operation_mode_u8);
/*!
* @brief This API used to read the mag power mode
* from page one register from 0x09 bit 4 to 6
*
- * @param v_mag_power_mode_u8 : The value of mag power mode
+ * @param mag_power_mode_u8 : The value of mag power mode
*
- * v_mag_power_mode_u8 | result
+ * mag_power_mode_u8 | result
* --------------------|-----------------
- * 0x00 | MAG_POWER_MODE_NORMAL
- * 0x01 | MAG_POWER_MODE_SLEEP
- * 0x02 | MAG_POWER_MODE_SUSPEND
- * 0x03 | MAG_POWER_MODE_FORCE_MODE
+ * 0x00 | BNO055_MAG_POWER_MODE_NORMAL
+ * 0x01 | BNO055_MAG_POWER_MODE_SLEEP
+ * 0x02 | BNO055_MAG_POWER_MODE_SUSPEND
+ * 0x03 | BNO055_MAG_POWER_MODE_FORCE_MODE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_power_mode(
-u8 *v_mag_power_mode_u8);
+u8 *mag_power_mode_u8);
/*!
* @brief This API used to write the mag power mode
* from page one register from 0x09 bit 4 to 6
*
- * @param v_mag_power_mode_u8 : The value of mag power mode
+ * @param mag_power_mode_u8 : The value of mag power mode
*
- * v_mag_power_mode_u8 | result
- * --------------------|-----------------
- * 0x00 | MAG_POWER_MODE_NORMAL
- * 0x01 | MAG_POWER_MODE_SLEEP
- * 0x02 | MAG_POWER_MODE_SUSPEND
- * 0x03 | MAG_POWER_MODE_FORCE_MODE
+ * mag_power_mode_u8 | result
+ * ------------------|-----------------
+ * 0x00 | BNO055_MAG_POWER_MODE_NORMAL
+ * 0x01 | BNO055_MAG_POWER_MODE_SLEEP
+ * 0x02 | BNO055_MAG_POWER_MODE_SUSPEND
+ * 0x03 | BNO055_MAG_POWER_MODE_FORCE_MODE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_power_mode(
-u8 v_mag_power_mode_u8);
+u8 mag_power_mode_u8);
/*****************************************************/
/**\name FUNCTIONS FOR GYRO CONFIGURATION */
/*****************************************************/
* @brief This API used to read the gyro range
* from page one register from 0x0A bit 0 to 3
*
- * @param v_gyro_range_u8 : The value of gyro range
+ * @param gyro_range_u8 : The value of gyro range
*
- * v_gyro_range_u8 | result
+ * gyro_range_u8 | result
* --------------------|-----------------
- * 0x00 | GYRO_RANGE_2000DPS
- * 0x01 | GYRO_RANGE_1000DPS
- * 0x02 | GYRO_RANGE_500DPS
- * 0x03 | GYRO_RANGE_250DPS
- * 0x04 | GYRO_RANGE_125DPS
+ * 0x00 | BNO055_GYRO_RANGE_2000DPS
+ * 0x01 | BNO055_GYRO_RANGE_1000DPS
+ * 0x02 | BNO055_GYRO_RANGE_500DPS
+ * 0x03 | BNO055_GYRO_RANGE_250DPS
+ * 0x04 | BNO055_GYRO_RANGE_125DPS
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_range(
-u8 *v_gyro_range_u8);
+u8 *gyro_range_u8);
/*!
* @brief This API used to write the gyro range
* from page one register from 0x0A bit 0 to 3
*
- * @param v_gyro_range_u8 : The value of gyro range
+ * @param gyro_range_u8 : The value of gyro range
*
- * v_gyro_range_u8 | result
+ * gyro_range_u8 | result
* --------------------|-----------------
- * 0x00 | GYRO_RANGE_2000DPS
- * 0x01 | GYRO_RANGE_1000DPS
- * 0x02 | GYRO_RANGE_500DPS
- * 0x03 | GYRO_RANGE_250DPS
- * 0x04 | GYRO_RANGE_125DPS
+ * 0x00 | BNO055_GYRO_RANGE_2000DPS
+ * 0x01 | BNO055_GYRO_RANGE_1000DPS
+ * 0x02 | BNO055_GYRO_RANGE_500DPS
+ * 0x03 | BNO055_GYRO_RANGE_250DPS
+ * 0x04 | BNO055_GYRO_RANGE_125DPS
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_range(
-u8 v_gyro_range_u8);
+u8 gyro_range_u8);
/*!
* @brief This API used to read the gyro bandwidth
* from page one register from 0x0A bit 3 to 5
*
- * @param v_gyro_bw_u8 : The value of gyro bandwidth
+ * @param gyro_bw_u8 : The value of gyro bandwidth
*
- * v_gyro_bw_u8 | result
+ * gyro_bw_u8 | result
* --------------------|-----------------
- * 0x00 | GYRO_BW_523HZ
- * 0x01 | GYRO_BW_230HZ
- * 0x02 | GYRO_BW_116HZ
- * 0x03 | GYRO_BW_47HZ
- * 0x04 | GYRO_BW_23HZ
- * 0x05 | GYRO_BW_12HZ
- * 0x06 | GYRO_BW_64HZ
- * 0x07 | GYRO_BW_32HZ
+ * 0x00 | BNO055_GYRO_BW_523HZ
+ * 0x01 | BNO055_GYRO_BW_230HZ
+ * 0x02 | BNO055_GYRO_BW_116HZ
+ * 0x03 | BNO055_GYRO_BW_47HZ
+ * 0x04 | BNO055_GYRO_BW_23HZ
+ * 0x05 | BNO055_GYRO_BW_12HZ
+ * 0x06 | BNO055_GYRO_BW_64HZ
+ * 0x07 | BNO055_GYRO_BW_32HZ
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_bw(
-u8 *v_gyro_bw_u8);
+u8 *gyro_bw_u8);
/*!
* @brief This API used to write the gyro bandwidth
* from page one register from 0x0A bit 3 to 5
*
- * @param v_gyro_bw_u8 : The value of gyro bandwidth
+ * @param gyro_bw_u8 : The value of gyro bandwidth
*
- * v_gyro_bw_u8 | result
+ * gyro_bw_u8 | result
* --------------------|-----------------
- * 0x00 | GYRO_BW_523HZ
- * 0x01 | GYRO_BW_230HZ
- * 0x02 | GYRO_BW_116HZ
- * 0x03 | GYRO_BW_47HZ
- * 0x04 | GYRO_BW_23HZ
- * 0x05 | GYRO_BW_12HZ
- * 0x06 | GYRO_BW_64HZ
- * 0x07 | GYRO_BW_32HZ
+ * 0x00 | BNO055_GYRO_BW_523HZ
+ * 0x01 | BNO055_GYRO_BW_230HZ
+ * 0x02 | BNO055_GYRO_BW_116HZ
+ * 0x03 | BNO055_GYRO_BW_47HZ
+ * 0x04 | BNO055_GYRO_BW_23HZ
+ * 0x05 | BNO055_GYRO_BW_12HZ
+ * 0x06 | BNO055_GYRO_BW_64HZ
+ * 0x07 | BNO055_GYRO_BW_32HZ
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_bw(
-u8 v_gyro_bw_u8);
+u8 gyro_bw_u8);
/*!
* @brief This API used to read the gyro power mode
* from page one register from 0x0B bit 0 to 2
*
- * @param v_gyro_power_mode_u8 : The value of gyro power mode
+ * @param gyro_power_mode_u8 : The value of gyro power mode
*
- * v_gyro_power_mode_u8 | result
+ * gyro_power_mode_u8 | result
* ----------------------|----------------------------
* 0x00 | GYRO_OPR_MODE_NORMAL
* 0x01 | GYRO_OPR_MODE_FASTPOWERUP
* 0x04 | GYRO_OPR_MODE_ADVANCE_POWERSAVE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_power_mode(
-u8 *v_gyro_power_mode_u8);
+u8 *gyro_power_mode_u8);
/*!
* @brief This API used to write the gyro power mode
* from page one register from 0x0B bit 0 to 2
*
- * @param v_gyro_power_mode_u8 : The value of gyro power mode
+ * @param gyro_power_mode_u8 : The value of gyro power mode
*
- * v_gyro_power_mode_u8 | result
+ * gyro_power_mode_u8 | result
* ----------------------|----------------------------
* 0x00 | GYRO_OPR_MODE_NORMAL
* 0x01 | GYRO_OPR_MODE_FASTPOWERUP
* 0x04 | GYRO_OPR_MODE_ADVANCE_POWERSAVE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_power_mode(
-u8 v_gyro_power_mode_u8);
+u8 gyro_power_mode_u8);
/*****************************************************/
/**\name FUNCTIONS FOR ACCEL SLEEP SETTINGS */
/*****************************************************/
* @brief This API used to read the accel sleep mode
* from page one register from 0x0C bit 0
*
- * @param v_sleep_tmr_u8 : The value of accel sleep mode
+ * @param sleep_tmr_u8 : The value of accel sleep mode
*
- * v_sleep_tmr_u8 | result
+ * sleep_tmr_u8 | result
* ----------------- |------------------------------------
* 0x00 | enable EventDrivenSampling(EDT)
* 0x01 | enable Equidistant sampling mode(EST)
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_sleep_tmr_mode(
-u8 *v_sleep_tmr_u8);
+u8 *sleep_tmr_u8);
/*!
* @brief This API used to write the accel sleep mode
* from page one register from 0x0C bit 0
*
- * @param v_sleep_tmr_u8 : The value of accel sleep mode
+ * @param sleep_tmr_u8 : The value of accel sleep mode
*
- * v_sleep_tmr_u8 | result
+ * sleep_tmr_u8 | result
* ----------------- |------------------------------------
* 0x00 | enable EventDrivenSampling(EDT)
* 0x01 | enable Equidistant sampling mode(EST)
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_sleep_tmr_mode(
-u8 v_sleep_tmr_u8);
+u8 sleep_tmr_u8);
/*!
* @brief This API used to read the accel sleep duration
* from page one register from 0x0C bit 1 to 4
*
- * @param v_sleep_durn_u8 : The value of accel sleep duration
+ * @param sleep_durn_u8 : The value of accel sleep duration
*
- * v_sleep_durn_u8 | result
+ * sleep_durn_u8 | result
* ---------------- |-----------------------------
* 0x05 | BNO055_ACCEL_SLEEP_DURN_0_5MS
* 0x06 | BNO055_ACCEL_SLEEP_DURN_1MS
* 0x0F | BNO055_ACCEL_SLEEP_DURN_1S
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_sleep_durn(
-u8 *v_sleep_durn_u8);
+u8 *sleep_durn_u8);
/*!
* @brief This API used to write the accel sleep duration
* from page one register from 0x0C bit 1 to 4
*
- * @param v_sleep_durn_u8 : The value of accel sleep duration
+ * @param sleep_durn_u8 : The value of accel sleep duration
*
- * v_sleep_durn_u8 | result
+ * sleep_durn_u8 | result
* ---------------- |-----------------------------
* 0x05 | BNO055_ACCEL_SLEEP_DURN_0_5MS
* 0x06 | BNO055_ACCEL_SLEEP_DURN_1MS
* 0x0F | BNO055_ACCEL_SLEEP_DURN_1S
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_sleep_durn(
-u8 v_sleep_durn_u8);
+u8 sleep_durn_u8);
/*****************************************************/
/**\name FUNCTIONS FOR GYRO SLEEP SETTINGS */
/*****************************************************/
* @brief This API used to write the gyro sleep duration
* from page one register from 0x0D bit 0 to 2
*
- * @param v_sleep_durn_u8 : The value of gyro sleep duration
+ * @param sleep_durn_u8 : The value of gyro sleep duration
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_sleep_durn(
-u8 *v_sleep_durn_u8);
+u8 *sleep_durn_u8);
/*!
* @brief This API used to write the gyro sleep duration
* from page one register from 0x0D bit 0 to 2
*
- * @param v_sleep_durn_u8 : The value of gyro sleep duration
+ * @param sleep_durn_u8 : The value of gyro sleep duration
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
* @brief This API used to read the gyro auto sleep duration
* from page one register from 0x0D bit 3 to 5
*
- * @param v_auto_sleep_durn_u8 : The value of gyro auto sleep duration
+ * @param auto_sleep_durn_u8 : The value of gyro auto sleep duration
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_auto_sleep_durn(
-u8 *v_auto_sleep_durn_u8);
+u8 *auto_sleep_durn_u8);
/*!
* @brief This API used to write the gyro auto sleep duration
* from page one register from 0x0D bit 3 to 5
*
- * @param v_auto_sleep_durn_u8 : The value of gyro auto sleep duration
+ * @param auto_sleep_durn_u8 : The value of gyro auto sleep duration
* @param bw : The value of gyro bandwidth
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_gyro_set_auto_sleep_durn(
-u8 v_auto_sleep_durn_u8, u8 bw);
+u8 auto_sleep_durn_u8, u8 bw);
/*****************************************************/
/**\name FUNCTIONS FOR MAG SLEEP SETTINGS */
/*****************************************************/
* @brief This API used to read the mag sleep mode
* from page one register from 0x0E bit 0
*
- * @param v_sleep_mode_u8 : The value of mag sleep mode
+ * @param sleep_mode_u8 : The value of mag sleep mode
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_sleep_mode(
-u8 *v_sleep_mode_u8);
+u8 *sleep_mode_u8);
/*!
* @brief This API used to write the mag sleep mode
* from page one register from 0x0E bit 0
*
- * @param v_sleep_mode_u8 : The value of mag sleep mode
+ * @param sleep_mode_u8 : The value of mag sleep mode
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_sleep_mode(
-u8 v_sleep_mode_u8);
+u8 sleep_mode_u8);
/*!
* @brief This API used to read the mag sleep duration
* from page one register from 0x0E bit 1 to 4
*
- * @param v_sleep_durn_u8 : The value of mag sleep duration
+ * @param sleep_durn_u8 : The value of mag sleep duration
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_sleep_durn(
-u8 *v_sleep_durn_u8);
+u8 *sleep_durn_u8);
/*!
* @brief This API used to write the mag sleep duration
* from page one register from 0x0E bit 1 to 4
*
- * @param v_sleep_durn_u8 : The value of mag sleep duration
+ * @param sleep_durn_u8 : The value of mag sleep duration
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_sleep_durn(
-u8 v_sleep_durn_u8);
+u8 sleep_durn_u8);
/*****************************************************/
/**\name FUNCTIONS FOR GYRO INTERRUPT MASK */
/*****************************************************/
* @brief This API used to read the gyro anymotion interrupt mask
* from page one register from 0x0F bit 2
*
- * @param v_gyro_any_motion_u8 : The value of gyro anymotion interrupt mask
- * v_gyro_any_motion_u8 | result
+ * @param gyro_any_motion_u8 : The value of gyro anymotion interrupt mask
+ * gyro_any_motion_u8 | result
* -------------------- |------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note While enabling the gyro anymotion interrupt
* configure the following settings
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_gyro_any_motion(
-u8 *v_gyro_any_motion_u8);
+u8 *gyro_any_motion_u8);
/*!
* @brief This API used to write the gyro anymotion interrupt mask
* from page one register from 0x0F bit 2
*
- * @param v_gyro_any_motion_u8 : The value of gyro anymotion interrupt mask
- * v_gyro_any_motion_u8 | result
+ * @param gyro_any_motion_u8 : The value of gyro anymotion interrupt mask
+ * gyro_any_motion_u8 | result
* -------------------- |------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note While enabling the gyro anymotion interrupt
* configure the following settings
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_gyro_any_motion(
-u8 v_gyro_any_motion_u8);
+u8 gyro_any_motion_u8);
/*!
* @brief This API used to read the gyro highrate interrupt mask
* from page one register from 0x0F bit 3
*
- * @param v_gyro_highrate_u8 : The value of gyro highrate interrupt mask
- * v_gyro_highrate_u8 | result
+ * @param gyro_highrate_u8 : The value of gyro highrate interrupt mask
+ * gyro_highrate_u8 | result
* -------------------- |------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note While enabling the gyro highrate interrupt
* configure the below settings by using
- * the following functions
+ * the following APIs
*
* Axis :
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_gyro_highrate(
-u8 *v_gyro_highrate_u8);
+u8 *gyro_highrate_u8);
/*!
* @brief This API used to write the gyro highrate interrupt mask
* from page one register from 0x0F bit 3
*
- * @param v_gyro_highrate_u8 : The value of gyro highrate interrupt mask
- * v_gyro_highrate_u8 | result
+ * @param gyro_highrate_u8 : The value of gyro highrate interrupt mask
+ * gyro_highrate_u8 | result
* -------------------- |------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note While enabling the gyro highrate interrupt
* configure the below settings by using
- * the following functions
+ * the following APIs
*
* Axis :
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_gyro_highrate(
-u8 v_gyro_highrate_u8);
+u8 gyro_highrate_u8);
/*****************************************************/
-/**\name FUNCTIONS FOR ACCEL INTERRUPT MASK */
+/**\name APIs FOR ACCEL INTERRUPT MASK */
/*****************************************************/
/*!
* @brief This API used to read the accel highg interrupt mask
* from page one register from 0x0F bit 5
*
- * @param v_accel_high_g_u8 : The value of accel highg interrupt mask
- * v_accel_high_g_u8 | result
+ * @param accel_high_g_u8 : The value of accel highg interrupt mask
+ * accel_high_g_u8 | result
* -------------------- |------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note While enabling the accel highg interrupt
* configure the below settings by using
- * the following functions
+ * the following APIs
*
* Axis :
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_high_g(
-u8 *v_accel_high_g_u8);
+u8 *accel_high_g_u8);
/*!
* @brief This API used to write the accel highg interrupt mask
* from page one register from 0x0F bit 5
*
- * @param v_accel_high_g_u8 : The value of accel highg interrupt mask
- * v_accel_high_g_u8 | result
+ * @param accel_high_g_u8 : The value of accel highg interrupt mask
+ * accel_high_g_u8 | result
* -------------------- |------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note While enabling the accel highg interrupt
* configure the below settings by using
- * the following functions
+ * the following APIs
*
* Axis :
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_high_g(
-u8 v_accel_high_g_u8);
+u8 accel_high_g_u8);
/*!
* @brief This API used to read the accel anymotion interrupt mask
* from page one register from 0x0F bit 6
*
- * @param v_accel_any_motion_u8 : The value of accel anymotion interrupt mask
- * v_accel_any_motion_u8 | result
+ * @param accel_any_motion_u8 : The value of accel anymotion interrupt mask
+ * accel_any_motion_u8 | result
* -------------------- |------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note While enabling the accel highg interrupt
* configure the below settings by using
- * the following functions
+ * the following APIs
*
* Axis :
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_any_motion(
-u8 *v_accel_any_motion_u8);
+u8 *accel_any_motion_u8);
/*!
* @brief This API used to write the accel anymotion interrupt mask
* from page one register from 0x0F bit 6
*
- * @param v_accel_any_motion_u8 : The value of accel anymotion interrupt mask
- * v_accel_any_motion_u8 | result
+ * @param accel_any_motion_u8 : The value of accel anymotion interrupt mask
+ * accel_any_motion_u8 | result
* -------------------- |------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note While enabling the accel anymotion interrupt
* configure the following settings
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_any_motion(
-u8 v_accel_any_motion_u8);
+u8 accel_any_motion_u8);
/*!
* @brief This API used to read the accel nomotion interrupt mask
* from page one register from 0x0F bit 7
*
- * @param v_accel_nomotion_u8 : The value of accel nomotion interrupt mask
- * v_accel_nomotion_u8 | result
+ * @param accel_nomotion_u8 : The value of accel nomotion interrupt mask
+ * accel_nomotion_u8 | result
* -------------------- |------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
+ * @retval 0 -> BNO055_SUCCESS
*
* @note While enabling the accel anymotion interrupt
* configure the following settings
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_no_motion(
-u8 *v_accel_nomotion_u8);
+u8 *accel_nomotion_u8);
/*!
* @brief This API used to write the accel nomotion interrupt mask
* from page one register from 0x0F bit 7
*
- * @param v_accel_nomotion_u8 : The value of accel nomotion interrupt mask
- * v_accel_nomotion_u8 | result
+ * @param accel_nomotion_u8 : The value of accel nomotion interrupt mask
+ * accel_nomotion_u8 | result
* -------------------- |------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note While enabling the accel nomotion interrupt
* configure the following settings
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_no_motion(
-u8 v_accel_nomotion_u8);
+u8 accel_nomotion_u8);
/*****************************************************/
/**\name FUNCTIONS FOR GYRO INTERRUPT */
/*****************************************************/
* @brief This API used to read the gyro anymotion interrupt
* from page one register from 0x10 bit 2
*
- * @param v_gyro_any_motion_u8 : The value of gyro anymotion interrupt
- * v_gyro_any_motion_u8 | result
+ * @param gyro_any_motion_u8 : The value of gyro anymotion interrupt
+ * gyro_any_motion_u8 | result
* -------------------- |------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note While enabling the gyro anymotion interrupt
* configure the following settings
* bno055_set_gyro_any_motion_awake_durn()
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_gyro_any_motion(
-u8 *v_gyro_any_motion_u8);
+u8 *gyro_any_motion_u8);
/*!
* @brief This API used to write the gyro anymotion interrupt
* from page one register from 0x10 bit 2
*
- * @param v_gyro_any_motion_u8 : The value of gyro anymotion interrupt
- * v_gyro_any_motion_u8 | result
+ * @param gyro_any_motion_u8 : The value of gyro anymotion interrupt
+ * gyro_any_motion_u8 | result
* -------------------- |------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note While enabling the gyro anymotion interrupt
* configure the following settings
* bno055_set_gyro_any_motion_awake_durn()
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_gyro_any_motion(
-u8 v_gyro_any_motion_u8);
+u8 gyro_any_motion_u8);
/*!
* @brief This API used to read the gyro highrate interrupt
* from page one register from 0x10 bit 3
*
- * @param v_gyro_highrate_u8 : The value of gyro highrate interrupt
- * v_gyro_highrate_u8 | result
+ * @param gyro_highrate_u8 : The value of gyro highrate interrupt
+ * gyro_highrate_u8 | result
* -------------------- |------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note While enabling the gyro highrate interrupt
* configure the below settings by using
- * the following functions
+ * the following APIs
*
* Axis :
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_gyro_highrate(
-u8 *v_gyro_highrate_u8);
+u8 *gyro_highrate_u8);
/*!
* @brief This API used to write the gyro highrate interrupt
* from page one register from 0x10 bit 3
*
- * @param v_gyro_highrate_u8 : The value of gyro highrate interrupt
- * v_gyro_highrate_u8 | result
+ * @param gyro_highrate_u8 : The value of gyro highrate interrupt
+ * gyro_highrate_u8 | result
* -------------------- |------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note While enabling the gyro highrate interrupt
* configure the below settings by using
- * the following functions
+ * the following APIs
*
* Axis :
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_gyro_highrate(
-u8 v_gyro_highrate_u8);
+u8 gyro_highrate_u8);
/*****************************************************/
/**\name FUNCTIONS FOR ACCEL INTERRUPT */
/*****************************************************/
* @brief This API used to read the accel highg interrupt
* from page one register from 0x10 bit 5
*
- * @param v_accel_high_g_u8 : The value of accel highg interrupt
- * v_accel_high_g_u8 | result
+ * @param accel_high_g_u8 : The value of accel highg interrupt
+ * accel_high_g_u8 | result
* -------------------- |------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note While enabling the accel highg interrupt
* configure the below settings by using
- * the following functions
+ * the following APIs
*
* Axis :
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_high_g(
-u8 *v_accel_high_g_u8);
+u8 *accel_high_g_u8);
/*!
* @brief This API used to write the accel highg interrupt
* from page one register from 0x10 bit 5
*
- * @param v_accel_high_g_u8 : The value of accel highg interrupt
- * v_accel_high_g_u8 | result
+ * @param accel_high_g_u8 : The value of accel highg interrupt
+ * accel_high_g_u8 | result
* -------------------- |------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note While enabling the accel highg interrupt
* configure the below settings by using
- * the following functions
+ * the following APIs
*
* Axis :
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_high_g(
-u8 v_accel_high_g_u8);
+u8 accel_high_g_u8);
/*!
* @brief This API used to read the accel anymotion interrupt
* from page one register from 0x10 bit 6
*
- * @param v_accel_any_motion_u8 : The value of accel anymotion interrupt
- * v_accel_any_motion_u8 | result
+ * @param accel_any_motion_u8 : The value of accel anymotion interrupt
+ * accel_any_motion_u8 | result
* -------------------- |------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note While enabling the accel anymotion interrupt
* configure the following settings
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_any_motion(
-u8 *v_accel_any_motion_u8);
+u8 *accel_any_motion_u8);
/*!
* @brief This API used to write the accel anymotion interrupt
* from page one register from 0x10 bit 6
*
- * @param v_accel_any_motion_u8 : The value of accel anymotion interrupt
- * v_accel_any_motion_u8 | result
+ * @param accel_any_motion_u8 : The value of accel anymotion interrupt
+ * accel_any_motion_u8 | result
* -------------------- |------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note While enabling the accel anymotion interrupt
* configure the following settings
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_any_motion(
-u8 v_accel_any_motion_u8);
+u8 accel_any_motion_u8);
/*!
* @brief This API used to read the accel nomotion interrupt
* from page one register from 0x10 bit 6
*
- * @param v_accel_nomotion_u8 : The value of accel nomotion interrupt
- * v_accel_nomotion_u8 | result
+ * @param accel_nomotion_u8 : The value of accel nomotion interrupt
+ * accel_nomotion_u8 | result
* -------------------- |------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note While enabling the accel nomotion interrupt
* configure the following settings
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_no_motion(
-u8 *v_accel_nomotion_u8);
+u8 *accel_nomotion_u8);
/*!
* @brief This API used to write the accel nomotion interrupt
* from page one register from 0x10 bit 6
*
- * @param v_accel_nomotion_u8 : The value of accel nomotion interrupt
- * v_accel_nomotion_u8 | result
+ * @param accel_nomotion_u8 : The value of accel nomotion interrupt
+ * accel_nomotion_u8 | result
* -------------------- |------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note While enabling the accel nomotion interrupt
* configure the following settings
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_no_motion(
-u8 v_accel_nomotion_u8);
+u8 accel_nomotion_u8);
/*****************************************************/
/**\name FUNCTIONS FOR ACCEL ANY_MOTION THRESHOLD */
/*****************************************************/
* @brief This API used to read the accel any motion threshold
* from page one register from 0x11 bit 0 to 7
*
- * @param v_accel_any_motion_thres_u8 : The value of any motion threshold
- * v_accel_any_motion_thres_u8 | result
+ * @param accel_any_motion_thres_u8 : The value of any motion threshold
+ * accel_any_motion_thres_u8 | result
* ------------------------ | -------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Accel anymotion threshold dependent on the
* range values
*
- * v_accel_range_u8 | threshold | LSB
+ * accel_range_u8 | threshold | LSB
* ------------- | ------------- | ---------
* 2g | 3.19mg | 1LSB
* 4g | 7.81mg | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_thres(
-u8 *v_accel_any_motion_thres_u8);
+u8 *accel_any_motion_thres_u8);
/*!
* @brief This API used to write the accel any motion threshold
* from page one register from 0x11 bit 0 to 7
*
- * @param v_accel_any_motion_thres_u8 : The value of any motion threshold
- * v_accel_any_motion_thres_u8 | result
+ * @param accel_any_motion_thres_u8 : The value of any motion threshold
+ * accel_any_motion_thres_u8 | result
* ------------------------ | -------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Accel anymotion threshold dependent on the
* range values
*
- * v_accel_range_u8 | threshold | LSB
+ * accel_range_u8 | threshold | LSB
* ------------- | ------------- | ---------
* 2g | 3.19mg | 1LSB
* 4g | 7.81mg | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_thres(
-u8 v_accel_any_motion_thres_u8);
+u8 accel_any_motion_thres_u8);
/*****************************************************/
/**\name FUNCTIONS FOR ACCEL ANY_MOTION DURATION */
/*****************************************************/
* @brief This API used to read the accel anymotion duration
* from page one register from 0x12 bit 0 to 1
*
- * @param v_accel_any_motion_durn_u8 : The value of accel anymotion duration
- * v_accel_any_motion_durn_u8 | result
+ * @param accel_any_motion_durn_u8 : The value of accel anymotion duration
+ * accel_any_motion_durn_u8 | result
* ------------------------- | -------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_durn(
-u8 *v_accel_any_motion_durn_u8);
+u8 *accel_any_motion_durn_u8);
/*!
* @brief This API used to write the accel anymotion duration
* from page one register from 0x12 bit 0 to 1
*
- * @param v_accel_any_motion_durn_u8 : The value of accel anymotion duration
+ * @param accel_any_motion_durn_u8 : The value of accel anymotion duration
*
- * v_accel_any_motion_durn_u8 | result
+ * accel_any_motion_durn_u8 | result
* ------------------------- | -------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_durn(
-u8 v_accel_any_motion_durn_u8);
+u8 accel_any_motion_durn_u8);
/*****************************************************/
/**\name FUNCTIONS FOR ACCEL ANY_MOTION AXIS ENABLE */
/*****************************************************/
* @brief This API used to read the accel anymotion enable
* from page one register from 0x12 bit 2 to 4
*
- * @param v_data_u8 : The value of accel anymotion enable
- * v_data_u8 | result
+ * @param data_u8 : The value of accel anymotion enable
+ * data_u8 | result
* ------------ | -------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
- * @param v_channel_u8 : The value of accel anymotion axis selection
- * v_channel_u8 | value
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
+ * @param channel_u8 : The value of accel anymotion axis selection
+ * channel_u8 | value
* -------------------------- | ----------
* BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS | 0
* BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS | 1
* BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS | 2
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_no_motion_axis_enable(
-u8 v_channel_u8, u8 *v_data_u8);
+u8 channel_u8, u8 *data_u8);
/*!
* @brief This API used to write the accel anymotion enable
* from page one register from 0x12 bit 2 to 4
*
- * @param v_data_u8 : The value of accel anymotion enable
- * v_data_u8 | result
+ * @param data_u8 : The value of accel anymotion enable
+ * data_u8 | result
* ------------ | -------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
- * @param v_channel_u8 : The value of accel anymotion axis selection
- * v_channel_u8 | value
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
+ * @param channel_u8 : The value of accel anymotion axis selection
+ * channel_u8 | value
* -------------------------- | ----------
* BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS | 0
* BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS | 1
* BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS | 2
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_no_motion_axis_enable(
-u8 v_channel_u8, u8 v_data_u8);
+u8 channel_u8, u8 data_u8);
/*****************************************************/
/**\name FUNCTIONS FOR ACCEL HIGHG AXIS ENABLE */
/*****************************************************/
* @brief This API used to read the accel highg enable
* from page one register from 0x12 bit 5 to 7
*
- * @param v_data_u8 : The value of accel highg enable
- * v_data_u8| result
+ * @param data_u8 : The value of accel highg enable
+ * data_u8| result
* ------------ | -------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
- * @param v_channel_u8 : The value of accel highg axis selection
- * v_channel_u8 | value
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
+ * @param channel_u8 : The value of accel highg axis selection
+ * channel_u8 | value
* -------------------------- | ----------
* BNO055_ACCEL_HIGH_G_X_AXIS | 0
* BNO055_ACCEL_HIGH_G_Y_AXIS | 1
* BNO055_ACCEL_HIGH_G_Z_AXIS | 2
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_axis_enable(
-u8 v_channel_u8, u8 *v_data_u8);
+u8 channel_u8, u8 *data_u8);
/*!
* @brief This API used to write the accel highg enable
* from page one register from 0x12 bit 5 to 7
*
- * @param v_data_u8 : The value of accel highg enable
- * v_data_u8| result
+ * @param data_u8 : The value of accel highg enable
+ * data_u8| result
* ------------ | -------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
- * @param v_channel_u8 : The value of accel highg axis selection
- * v_channel_u8 | value
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
+ * @param channel_u8 : The value of accel highg axis selection
+ * channel_u8 | value
* -------------------------- | ----------
* BNO055_ACCEL_HIGH_G_X_AXIS | 0
* BNO055_ACCEL_HIGH_G_Y_AXIS | 1
* BNO055_ACCEL_HIGH_G_Z_AXIS | 2
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_axis_enable(
-u8 v_channel_u8, u8 v_data_u8);
+u8 channel_u8, u8 data_u8);
/*****************************************************/
/**\name FUNCTIONS FOR ACCEL HIGHG DURATION */
/*****************************************************/
* @brief This API used to read the accel highg duration
* from page one register from 0x13 bit 0 to 7
*
- * @param v_accel_high_g_durn_u8 : The value of accel highg duration
+ * @param accel_high_g_durn_u8 : The value of accel highg duration
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note The high-g interrupt trigger delay according
* to [highg duration + 1] * 2 ms
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_durn(
-u8 *v_accel_high_g_durn_u8);
+u8 *accel_high_g_durn_u8);
/*!
* @brief This API used to write the accel highg duration
* from page one register from 0x13 bit 0 to 7
*
- * @param v_accel_high_g_durn_u8 : The value of accel highg duration
+ * @param accel_high_g_durn_u8 : The value of accel highg duration
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note The high-g interrupt trigger delay according
* to [highg duration + 1] * 2 ms
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_durn(
-u8 v_accel_high_g_durn_u8);
+u8 accel_high_g_durn_u8);
/*****************************************************/
/**\name FUNCTIONS FOR ACCEL HIGHG THRESHOLD */
/*****************************************************/
* @brief This API used to read the accel highg threshold
* from page one register from 0x14 bit 0 to 7
*
- * @param v_accel_high_g_thres_u8 : The value of accel highg threshold
+ * @param accel_high_g_thres_u8 : The value of accel highg threshold
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Accel highg interrupt threshold dependent
* for accel g range
*
- * v_accel_range_u8 | threshold | LSB
+ * accel_range_u8 | threshold | LSB
* ------------- | ------------- | ---------
* 2g | 7.81mg | 1LSB
* 4g | 15.63mg | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_thres(
-u8 *v_accel_high_g_thres_u8);
+u8 *accel_high_g_thres_u8);
/*!
* @brief This API used to write the accel highg threshold
* from page one register from 0x14 bit 0 to 7
*
- * @param v_accel_high_g_thres_u8 : The value of accel highg threshold
+ * @param accel_high_g_thres_u8 : The value of accel highg threshold
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Accel highg interrupt threshold dependent
* for accel g range
*
- * v_accel_range_u8 | threshold | LSB
+ * accel_range_u8 | threshold | LSB
* ------------- | ------------- | ---------
* 2g | 7.81mg | 1LSB
* 4g | 15.63mg | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_thres(
-u8 v_accel_high_g_thres_u8);
+u8 accel_high_g_thres_u8);
/**************************************************************/
/**\name FUNCTIONS FOR ACCEL SLOWNOMOTION THRESHOLD */
/**************************************************************/
* @brief This API used to read the accel slownomotion threshold
* from page one register from 0x15 bit 0 to 7
*
- * @param v_accel_slow_no_motion_thres_u8 :
+ * @param accel_slow_no_motion_thres_u8 :
* The value of accel slownomotion threshold
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Accel slow no motion interrupt threshold dependent
* for accel g range
*
- * v_accel_range_u8 | threshold | LSB
+ * accel_range_u8 | threshold | LSB
* ------------- | ------------- | ---------
* 2g | 3.19mg | 1LSB
* 4g | 7.81mg | 1LSB
* 16g | 31.25mg | 1LSB
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_thres(
-u8 *v_accel_slow_no_motion_thres_u8);
+u8 *accel_slow_no_motion_thres_u8);
/*!
* @brief This API used to write the accel slownomotion threshold
* from page one register from 0x15 bit 0 to 7
*
- * @param v_accel_slow_no_motion_thres_u8 :
+ * @param accel_slow_no_motion_thres_u8 :
* The value of accel slownomotion threshold
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Accel slow no motion interrupt threshold dependent
* for accel g range
*
- * v_accel_range_u8 | threshold | LSB
+ * accel_range_u8 | threshold | LSB
* ------------- | ------------- | ---------
* 2g | 3.19mg | 1LSB
* 4g | 7.81mg | 1LSB
* 16g | 31.25mg | 1LSB
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_thres(
-u8 v_accel_slow_no_motion_thres_u8);
+u8 accel_slow_no_motion_thres_u8);
/**************************************************************/
/**\name FUNCTIONS FOR ACCEL SLOWNOMOTION ENABLE */
/**************************************************************/
* @brief This API used to read accel slownomotion enable
* from page one register from 0x16 bit 0
*
- * @param v_accel_slow_no_motion_en_u8 : The value of accel slownomotion enable
- * v_accel_slow_no_motion_en_u8 | result
+ * @param accel_slow_no_motion_en_u8 : The value of accel slownomotion enable
+ * accel_slow_no_motion_en_u8 | result
* ------------------------ | --------
* 0x01 | Slow motion
* 0x00 | No motion
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_enable(
-u8 *v_accel_slow_no_motion_en_u8);
+u8 *accel_slow_no_motion_en_u8);
/*!
* @brief This API used to write accel slownomotion enable
* from page one register from 0x16 bit 0
*
- * @param v_accel_slow_no_motion_en_u8 : The value of accel slownomotion enable
- * v_accel_slow_no_motion_en_u8 | result
+ * @param accel_slow_no_motion_en_u8 : The value of accel slownomotion enable
+ * accel_slow_no_motion_en_u8 | result
* ------------------------ | --------
* 0x01 | Slow motion
* 0x00 | No motion
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_enable(
-u8 v_accel_slow_no_motion_en_u8);
+u8 accel_slow_no_motion_en_u8);
/**************************************************************/
/**\name FUNCTIONS FOR ACCEL SLOWNOMOTION DURATION */
/**************************************************************/
* @brief This API used to read accel slownomotion duration
* from page one register from 0x16 bit 1 to 6
*
- * @param v_accel_slow_no_motion_durn_u8 :
+ * @param accel_slow_no_motion_durn_u8 :
* The value of accel slownomotion duration
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_durn(
-u8 *v_accel_slow_no_motion_durn_u8);
+u8 *accel_slow_no_motion_durn_u8);
/*!
* @brief This API used to write accel slownomotion duration
* from page one register from 0x16 bit 1 to 6
*
- * @param v_accel_slow_no_motion_durn_u8 :
+ * @param accel_slow_no_motion_durn_u8 :
* The value of accel slownomotion duration
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_durn(
-u8 v_accel_slow_no_motion_durn_u8);
+u8 accel_slow_no_motion_durn_u8);
/**************************************************************/
/**\name FUNCTIONS FOR GYRO ANY_MOTION AXIS ENABLE */
/**************************************************************/
* @brief This API used to read the gyro anymotion enable
* from page one register from 0x17 bit 0 to 2
*
- * @param v_data_u8 : The value of gyro anymotion enable
- * v_data_u8 | result
+ * @param data_u8 : The value of gyro anymotion enable
+ * data_u8 | result
* ----------------- |-------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
- * @param v_channel_u8 : The value of gyro anymotion axis selection
- * v_channel_u8 | value
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
+ * @param channel_u8 : The value of gyro anymotion axis selection
+ * channel_u8 | value
* --------------------------- | ----------
* BNO055_GYRO_ANY_MOTIONX_AXIS | 0
* BNO055_GYRO_ANY_MOTIONY_AXIS | 1
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_axis_enable(
-u8 v_channel_u8, u8 *v_data_u8);
+u8 channel_u8, u8 *data_u8);
/*!
* @brief This API used to write the gyro anymotion enable
* from page one register from 0x17 bit 0 to 2
*
- * @param v_data_u8 : The value of gyro anymotion enable
- * v_data_u8 | result
+ * @param data_u8 : The value of gyro anymotion enable
+ * data_u8 | result
* ----------------- |-------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
- * @param v_channel_u8 : The value of gyro anymotion axis selection
- * v_channel_u8 | value
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
+ * @param channel_u8 : The value of gyro anymotion axis selection
+ * channel_u8 | value
* --------------------------- | ----------
* BNO055_GYRO_ANY_MOTIONX_AXIS | 0
* BNO055_GYRO_ANY_MOTIONY_AXIS | 1
* BNO055_GYRO_ANY_MOTIONZ_AXIS | 2
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_axis_enable(
-u8 v_channel_u8, u8 v_data_u8);
+u8 channel_u8, u8 data_u8);
/**************************************************************/
/**\name FUNCTIONS FOR GYRO HIGHRATE ENABLE */
/**************************************************************/
* @brief This API used to read the gyro highrate enable
* from page one register from 0x17 bit 3 to 5
*
- * @param v_data_u8 : The value of gyro highrate enable
- * v_data_u8 | result
+ * @param data_u8 : The value of gyro highrate enable
+ * data_u8 | result
* ---------------- |-------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
- * @param v_channel_u8 : The value of gyro highrate axis selection
- * v_channel_u8 | value
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
+ * @param channel_u8 : The value of gyro highrate axis selection
+ * channel_u8 | value
* ------------------------ | ----------
* BNO055_GYRO_HIGHRATE_X_AXIS | 0
* BNO055_GYRO_HIGHRATE_Y_AXIS | 1
*
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_axis_enable(
-u8 v_channel_u8, u8 *v_data_u8);
+u8 channel_u8, u8 *data_u8);
/**************************************************************/
/**\name FUNCTIONS FOR GYRO HIGHRATE AXIS ENABLE */
/**************************************************************/
* @brief This API used to write the gyro highrate enable
* from page one register from 0x17 bit 3 to 5
*
- * @param v_data_u8 : The value of gyro highrate enable
- * v_data_u8 | result
+ * @param data_u8 : The value of gyro highrate enable
+ * data_u8 | result
* ---------------- |-------------
- * 0x01 | ENABLED
- * 0x00 | DISABLED
- * @param v_channel_u8 : The value of gyro highrate axis selection
- * v_channel_u8 | value
+ * 0x01 | BNO055_BIT_ENABLE
+ * 0x00 | BNO055_BIT_DISABLE
+ * @param channel_u8 : The value of gyro highrate axis selection
+ * channel_u8 | value
* ------------------------ | ----------
* BNO055_GYRO_HIGHRATE_X_AXIS | 0
* BNO055_GYRO_HIGHRATE_Y_AXIS | 1
* BNO055_GYRO_HIGHRATE_Z_AXIS | 2
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_axis_enable(
-u8 v_channel_u8, u8 v_data_u8);
+u8 channel_u8, u8 data_u8);
/**************************************************************/
/**\name FUNCTIONS FOR GYRO ANY_MOTION FILTER */
/**************************************************************/
* @brief This API used to read gyro anymotion filter
* from page one register from 0x17 bit 6
*
- * @param v_gyro_any_motion_filter_u8 : The value of gyro anymotion filter
- * v_gyro_any_motion_filter_u8 | result
+ * @param gyro_any_motion_filter_u8 : The value of gyro anymotion filter
+ * gyro_any_motion_filter_u8 | result
* --------------------------- |------------
- * 0x00 | FILTERED
- * 0x01 | UNFILTERED
+ * 0x00 | BNO055_GYRO_FILTERED_CONFIG
+ * 0x01 | BNO055_GYRO_UNFILTERED_CONFIG
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_filter(
-u8 *v_gyro_any_motion_filter_u8);
+u8 *gyro_any_motion_filter_u8);
/*!
* @brief This API used to write gyro anymotion filter
* from page one register from 0x17 bit 6
*
- * @param v_gyro_any_motion_filter_u8 : The value of gyro anymotion filter
- * v_gyro_any_motion_filter_u8 | result
+ * @param gyro_any_motion_filter_u8 : The value of gyro anymotion filter
+ * gyro_any_motion_filter_u8 | result
* --------------------------- |------------
- * 0x00 | FILTERED
- * 0x01 | UNFILTERED
+ * 0x00 | BNO055_GYRO_FILTERED_CONFIG
+ * 0x01 | BNO055_GYRO_UNFILTERED_CONFIG
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_filter(
-u8 v_gyro_any_motion_filter_u8);
+u8 gyro_any_motion_filter_u8);
/**************************************************************/
/**\name FUNCTIONS FOR GYRO HIGHRATE FILTER */
/**************************************************************/
* @brief This API used to read gyro highrate filter
* from page one register from 0x17 bit 7
*
- * @param v_gyro_highrate_filter_u8 : The value of gyro highrate filter
- * v_gyro_highrate_filter_u8 | result
+ * @param gyro_highrate_filter_u8 : The value of gyro highrate filter
+ * gyro_highrate_filter_u8 | result
* --------------------------- |------------
- * 0x00 | FILTERED
- * 0x01 | UNFILTERED
+ * 0x00 | BNO055_GYRO_FILTERED_CONFIG
+ * 0x01 | BNO055_GYRO_UNFILTERED_CONFIG
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_filter(
-u8 *v_gyro_highrate_filter_u8);
+u8 *gyro_highrate_filter_u8);
/*!
* @brief This API used to write gyro highrate filter
* from page one register from 0x17 bit 7
*
- * @param v_gyro_highrate_filter_u8 : The value of gyro highrate filter
- * v_gyro_highrate_filter_u8 | result
+ * @param gyro_highrate_filter_u8 : The value of gyro highrate filter
+ * gyro_highrate_filter_u8 | result
* --------------------------- |------------
- * 0x00 | FILTERED
- * 0x01 | UNFILTERED
+ * 0x00 | BNO055_GYRO_FILTERED_CONFIG
+ * 0x01 | BNO055_GYRO_UNFILTERED_CONFIG
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_filter(
-u8 v_gyro_highrate_filter_u8);
+u8 gyro_highrate_filter_u8);
/**************************************************************/
/**\name FUNCTIONS FOR GYRO HIGHRATE X THRESHOLD */
/**************************************************************/
* @brief This API used to read gyro highrate x threshold
* from page one register from 0x18 bit 0 to 4
*
- * @param v_gyro_highrate_x_thres_u8 : The value of gyro x highrate threshold
+ * @param gyro_highrate_x_thres_u8 : The value of gyro x highrate threshold
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Gyro highrate threshold dependent on the
* selection of gyro range
*
- * v_gyro_range_u8 | threshold | LSB
+ * gyro_range_u8 | threshold | LSB
* ----------------- | ------------- | ---------
* 2000 | 62.5dps | 1LSB
* 1000 | 31.25dps | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_thres(
-u8 *v_gyro_highrate_x_thres_u8);
+u8 *gyro_highrate_x_thres_u8);
/*!
* @brief This API used to write gyro highrate x threshold
* from page one register from 0x18 bit 0 to 4
*
- * @param v_gyro_highrate_x_thres_u8 : The value of gyro x highrate threshold
+ * @param gyro_highrate_x_thres_u8 : The value of gyro x highrate threshold
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Gyro highrate threshold dependent on the
* selection of gyro range
*
- * v_gyro_range_u8 | threshold | LSB
+ * gyro_range_u8 | threshold | LSB
* ----------------- | ------------- | ---------
* 2000 | 62.5dps | 1LSB
* 1000 | 31.25dps | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_thres(
-u8 v_gyro_highrate_x_thres_u8);
+u8 gyro_highrate_x_thres_u8);
/**************************************************************/
/**\name FUNCTIONS FOR GYRO HIGHRATE X HYSTERESIS */
/**************************************************************/
* @brief This API used to read gyro highrate x hysteresis
* from page one register from 0x18 bit 5 to 6
*
- * @param v_gyro_highrate_x_hyst_u8 : The value of gyro highrate x hysteresis
+ * @param gyro_highrate_x_hyst_u8 : The value of gyro highrate x hysteresis
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Gyro high rate hysteresis calculated by
*
- * using this (255 + 256 * v_gyro_highrate_x_hyst_u8) *4 LSB
+ * using this (255 + 256 * gyro_highrate_x_hyst_u8) *4 LSB
*
* The high rate value scales with the range setting
*
- * v_gyro_range_u8 | hysteresis | LSB
+ * gyro_range_u8 | hysteresis | LSB
* ----------------- | ------------- | ---------
* 2000 | 62.26dps | 1LSB
* 1000 | 31.13dps | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_hyst(
-u8 *v_gyro_highrate_x_hyst_u8);
+u8 *gyro_highrate_x_hyst_u8);
/*!
* @brief This API used to write gyro highrate x hysteresis
* from page one register from 0x18 bit 5 to 6
*
- * @param v_gyro_highrate_x_hyst_u8 : The value of gyro highrate x hysteresis
+ * @param gyro_highrate_x_hyst_u8 : The value of gyro highrate x hysteresis
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Gyro high rate hysteresis calculated by
*
- * using this (255 + 256 * v_gyro_highrate_x_hyst_u8) *4 LSB
+ * using this (255 + 256 * gyro_highrate_x_hyst_u8) *4 LSB
*
* The high rate value scales with the range setting
*
- * v_gyro_range_u8 | hysteresis | LSB
+ * gyro_range_u8 | hysteresis | LSB
* ----------------- | ------------- | ---------
* 2000 | 62.26dps | 1LSB
* 1000 | 31.13dps | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_hyst(
-u8 v_gyro_highrate_x_hyst_u8);
+u8 gyro_highrate_x_hyst_u8);
/**************************************************************/
/**\name FUNCTIONS FOR GYRO HIGHRATE X DURATION */
/**************************************************************/
* @brief This API used to read gyro highrate x duration
* from page one register from 0x19 bit 0 to 7
*
- * @param v_gyro_highrate_x_durn_u8 : The value of gyro highrate x duration
+ * @param gyro_highrate_x_durn_u8 : The value of gyro highrate x duration
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Gyro highrate duration calculate by using the formula
*
- * (1 + v_gyro_highrate_x_durn_u8)*2.5ms
+ * (1 + gyro_highrate_x_durn_u8)*2.5ms
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_durn(
-u8 *v_gyro_highrate_x_durn_u8);
+u8 *gyro_highrate_x_durn_u8);
/*!
* @brief This API used to write gyro highrate x duration
* from page one register from 0x19 bit 0 to 7
*
- * @param v_gyro_highrate_x_durn_u8 : The value of gyro highrate x duration
+ * @param gyro_highrate_x_durn_u8 : The value of gyro highrate x duration
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Gyro highrate duration calculate by using the formula
*
- * (1 + v_gyro_highrate_x_durn_u8)*2.5ms
+ * (1 + gyro_highrate_x_durn_u8)*2.5ms
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_durn(
-u8 v_gyro_highrate_x_durn_u8);
+u8 gyro_highrate_x_durn_u8);
/**************************************************************/
/**\name FUNCTIONS FOR GYRO HIGHRATE Y THRESHOLD */
/**************************************************************/
* @brief This API used to read gyro highrate y threshold
* from page one register from 0x1A bit 0 to 4
*
- * @param v_gyro_highrate_y_thres_u8 : The value of gyro highrate y threshold
+ * @param gyro_highrate_y_thres_u8 : The value of gyro highrate y threshold
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Gyro highrate threshold dependent on the
* selection of gyro range
*
- * v_gyro_range_u8 | threshold | LSB
+ * gyro_range_u8 | threshold | LSB
* ----------------- | ------------- | ---------
* 2000 | 62.5dps | 1LSB
* 1000 | 31.25dps | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_thres(
-u8 *v_gyro_highrate_y_thres_u8);
+u8 *gyro_highrate_y_thres_u8);
/*!
* @brief This API used to write gyro highrate y threshold
* from page one register from 0x1A bit 0 to 4
*
- * @param v_gyro_highrate_y_thres_u8 : The value of gyro highrate y threshold
+ * @param gyro_highrate_y_thres_u8 : The value of gyro highrate y threshold
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Gyro highrate threshold dependent on the
* selection of gyro range
*
- * v_gyro_range_u8 | threshold | LSB
+ * gyro_range_u8 | threshold | LSB
* ----------------- | ------------- | ---------
* 2000 | 62.5dps | 1LSB
* 1000 | 31.25dps | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_thres(
-u8 v_gyro_highrate_y_thres_u8);
+u8 gyro_highrate_y_thres_u8);
/**************************************************************/
/**\name FUNCTIONS FOR GYRO HIGHRATE Y HYSTERESIS */
/**************************************************************/
* @brief This API used to read gyro highrate y hysteresis
* from page one register from 0x1A bit 5 to 6
*
- * @param v_gyro_highrate_y_hyst_u8 : The value of gyro highrate y hysteresis
+ * @param gyro_highrate_y_hyst_u8 : The value of gyro highrate y hysteresis
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Gyro high rate hysteresis calculated by
*
- * using this (255 + 256 * v_gyro_highrate_y_hyst_u8) *4 LSB
+ * using this (255 + 256 * gyro_highrate_y_hyst_u8) *4 LSB
*
* The high rate value scales with the range setting
*
- * v_gyro_range_u8 | hysteresis | LSB
+ * gyro_range_u8 | hysteresis | LSB
* ----------------- | ------------- | ---------
* 2000 | 62.26dps | 1LSB
* 1000 | 31.13dps | 1LSB
* 500 | 15.56dps | 1LSB
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_hyst(
-u8 *v_gyro_highrate_y_hyst_u8);
+u8 *gyro_highrate_y_hyst_u8);
/*!
* @brief This API used to write gyro highrate y hysteresis
* from page one register from 0x1A bit 5 to 6
*
- * @param v_gyro_highrate_y_hyst_u8 : The value of gyro highrate y hysteresis
+ * @param gyro_highrate_y_hyst_u8 : The value of gyro highrate y hysteresis
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Gyro high rate hysteresis calculated by
*
- * using this (255 + 256 * v_gyro_highrate_y_hyst_u8) *4 LSB
+ * using this (255 + 256 * gyro_highrate_y_hyst_u8) *4 LSB
*
* The high rate value scales with the range setting
*
- * v_gyro_range_u8 | hysteresis | LSB
+ * gyro_range_u8 | hysteresis | LSB
* ----------------- | ------------- | ---------
* 2000 | 62.26dps | 1LSB
* 1000 | 31.13dps | 1LSB
* 500 | 15.56dps | 1LSB
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_hyst(
-u8 v_gyro_highrate_y_hyst_u8);
+u8 gyro_highrate_y_hyst_u8);
/**************************************************************/
/**\name FUNCTIONS FOR GYRO HIGHRATE Y DURATION */
/**************************************************************/
* @brief This API used to read gyro highrate y duration
* from page one register from 0x1B bit 0 to 7
*
- * @param v_gyro_highrate_y_durn_u8 : The value of gyro highrate y duration
+ * @param gyro_highrate_y_durn_u8 : The value of gyro highrate y duration
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Gyro highrate duration calculate by using the formula
*
- * (1 + v_gyro_highrate_y_durn_u8)*2.5ms
+ * (1 + gyro_highrate_y_durn_u8)*2.5ms
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_durn(
-u8 *v_gyro_highrate_y_durn_u8);
+u8 *gyro_highrate_y_durn_u8);
/*!
* @brief This API used to write gyro highrate y duration
* from page one register from 0x1B bit 0 to 7
*
- * @param v_gyro_highrate_y_durn_u8 : The value of gyro highrate y duration
+ * @param gyro_highrate_y_durn_u8 : The value of gyro highrate y duration
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Gyro highrate duration calculate by using the formula
*
- * (1 + v_gyro_highrate_y_durn_u8)*2.5ms
+ * (1 + gyro_highrate_y_durn_u8)*2.5ms
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_durn(
-u8 v_gyro_highrate_y_durn_u8);
+u8 gyro_highrate_y_durn_u8);
/**************************************************************/
/**\name FUNCTIONS FOR GYRO HIGHRATE Z THRESHOLD */
/**************************************************************/
* @brief This API used to read gyro highrate z threshold
* from page one register from 0x1C bit 0 to 4
*
- * @param v_gyro_highrate_z_thres_u8 : The value of gyro highrate z threshold
+ * @param gyro_highrate_z_thres_u8 : The value of gyro highrate z threshold
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Gyro highrate threshold dependent on the
* selection of gyro range
*
- * v_gyro_range_u8 | threshold | LSB
+ * gyro_range_u8 | threshold | LSB
* ----------------- | ------------- | ---------
* 2000 | 62.5dps | 1LSB
* 1000 | 31.25dps | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_thres(
-u8 *v_gyro_highrate_z_thres_u8);
+u8 *gyro_highrate_z_thres_u8);
/*!
* @brief This API used to write gyro highrate z threshold
* from page one register from 0x1C bit 0 to 4
*
- * @param v_gyro_highrate_z_thres_u8 : The value of gyro highrate z threshold
+ * @param gyro_highrate_z_thres_u8 : The value of gyro highrate z threshold
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Gyro highrate threshold dependent on the
* selection of gyro range
*
- * v_gyro_range_u8 | threshold | LSB
+ * gyro_range_u8 | threshold | LSB
* ----------------- | ------------- | ---------
* 2000 | 62.5dps | 1LSB
* 1000 | 31.25dps | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_thres(
-u8 v_gyro_highrate_z_thres_u8);
+u8 gyro_highrate_z_thres_u8);
/**************************************************************/
/**\name FUNCTIONS FOR GYRO HIGHRATE Z HYSTERESIS */
/**************************************************************/
* @brief This API used to read gyro highrate z hysteresis
* from page one register from 0x1C bit 5 to 6
*
- * @param v_gyro_highrate_z_hyst_u8 : The value of gyro highrate z hysteresis
+ * @param gyro_highrate_z_hyst_u8 : The value of gyro highrate z hysteresis
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Gyro high rate hysteresis calculated by
*
- * using this (255 + 256 * v_gyro_highrate_z_hyst_u8) *4 LSB
+ * using this (255 + 256 * gyro_highrate_z_hyst_u8) *4 LSB
*
* The high rate value scales with the range setting
*
- * v_gyro_range_u8 | hysteresis | LSB
+ * gyro_range_u8 | hysteresis | LSB
* ----------------- | ------------- | ---------
* 2000 | 62.26dps | 1LSB
* 1000 | 31.13dps | 1LSB
* 500 | 15.56dps | 1LSB
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_hyst(
-u8 *v_gyro_highrate_z_hyst_u8);
+u8 *gyro_highrate_z_hyst_u8);
/*!
* @brief This API used to write gyro highrate z hysteresis
* from page one register from 0x1C bit 5 to 6
*
- * @param v_gyro_highrate_z_hyst_u8 : The value of gyro highrate z hysteresis
+ * @param gyro_highrate_z_hyst_u8 : The value of gyro highrate z hysteresis
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Gyro high rate hysteresis calculated by
*
- * using this (255 + 256 * v_gyro_highrate_z_hyst_u8) *4 LSB
+ * using this (255 + 256 * gyro_highrate_z_hyst_u8) *4 LSB
*
* The high rate value scales with the range setting
*
- * v_gyro_range_u8 | hysteresis | LSB
+ * gyro_range_u8 | hysteresis | LSB
* ----------------- | ------------- | ---------
* 2000 | 62.26dps | 1LSB
* 1000 | 31.13dps | 1LSB
* 500 | 15.56dps | 1LSB
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_hyst(
-u8 v_gyro_highrate_z_hyst_u8);
+u8 gyro_highrate_z_hyst_u8);
/**************************************************************/
/**\name FUNCTIONS FOR GYRO HIGHRATE Z DURATION */
/**************************************************************/
* @brief This API used to read gyro highrate z duration
* from page one register from 0x1D bit 0 to 7
*
- * @param v_gyro_highrate_z_durn_u8 : The value of gyro highrate z duration
+ * @param gyro_highrate_z_durn_u8 : The value of gyro highrate z duration
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Gyro highrate duration calculate by using the formula
*
- * (1 + v_gyro_highrate_z_durn_u8)*2.5ms
+ * (1 + gyro_highrate_z_durn_u8)*2.5ms
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_durn(
-u8 *v_gyro_highrate_z_durn_u8);
+u8 *gyro_highrate_z_durn_u8);
/*!
* @brief This API used to write gyro highrate z duration
* from page one register from 0x1D bit 0 to 7
*
- * @param v_gyro_highrate_z_durn_u8 : The value of gyro highrate z duration
+ * @param gyro_highrate_z_durn_u8 : The value of gyro highrate z duration
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Gyro highrate duration calculate by using the formula
*
- * (1 + v_gyro_highrate_z_durn_u8)*2.5ms
+ * (1 + gyro_highrate_z_durn_u8)*2.5ms
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_durn(
-u8 v_gyro_highrate_z_durn_u8);
+u8 gyro_highrate_z_durn_u8);
/**************************************************************/
/**\name FUNCTIONS FOR GYRO ANY_MOTION THRESHOLD */
/**************************************************************/
* @brief This API used to read gyro anymotion threshold
* from page one register from 0x1E bit 0 to 6
*
- * @param v_gyro_any_motion_thres_u8 : The value of gyro anymotion threshold
+ * @param gyro_any_motion_thres_u8 : The value of gyro anymotion threshold
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Gyro anymotion interrupt threshold dependent
* on the selection of gyro range
*
- * v_gyro_range_u8 | threshold | LSB
+ * gyro_range_u8 | threshold | LSB
* ----------------- | ------------- | ---------
* 2000 | 1dps | 1LSB
* 1000 | 0.5dps | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_thres(
-u8 *v_gyro_any_motion_thres_u8);
+u8 *gyro_any_motion_thres_u8);
/*!
* @brief This API used to write gyro anymotion threshold
* from page one register from 0x1E bit 0 to 6
*
- * @param v_gyro_any_motion_thres_u8 : The value of gyro anymotion threshold
+ * @param gyro_any_motion_thres_u8 : The value of gyro anymotion threshold
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
* @note Gyro anymotion interrupt threshold dependent
* on the selection of gyro range
*
- * v_gyro_range_u8 | threshold | LSB
+ * gyro_range_u8 | threshold | LSB
* ----------------- | ------------- | ---------
* 2000 | 1dps | 1LSB
* 1000 | 0.5dps | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_thres(
-u8 v_gyro_any_motion_thres_u8);
+u8 gyro_any_motion_thres_u8);
/**************************************************************/
/**\name FUNCTIONS FOR GYRO ANY_MOTION SLOPE SAMPLES */
/**************************************************************/
* @brief This API used to read gyro anymotion slope samples
* from page one register from 0x1F bit 0 to 1
*
- * @param v_gyro_any_motion_slope_samples_u8 :
+ * @param gyro_any_motion_slope_samples_u8 :
* The value of gyro anymotion slope samples
- * v_gyro_any_motion_slope_samples_u8 | result
+ * gyro_any_motion_slope_samples_u8 | result
* ---------------------------------- | -----------
* 0 | 8 samples
* 1 | 16 samples
* 3 | 64 samples
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_slope_samples(
-u8 *v_gyro_any_motion_slope_samples_u8);
+u8 *gyro_any_motion_slope_samples_u8);
/*!
* @brief This API used to write gyro anymotion slope samples
* from page one register from 0x1F bit 0 to 1
*
- * @param v_gyro_any_motion_slope_samples_u8 :
+ * @param gyro_any_motion_slope_samples_u8 :
* The value of gyro anymotion slope samples
- * v_gyro_any_motion_slope_samples_u8 | result
- * ---------------------------------- | -----------
- * 0 | 8 samples
- * 1 | 16 samples
- * 2 | 32 samples
- * 3 | 64 samples
+ * gyro_any_motion_slope_samples_u8 | result
+ * ---------------------------------- | -----------
+ * 0 | 8 samples
+ * 1 | 16 samples
+ * 2 | 32 samples
+ * 3 | 64 samples
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_slope_samples(
-u8 v_gyro_any_motion_slope_samples_u8);
+u8 gyro_any_motion_slope_samples_u8);
/**************************************************************/
/**\name FUNCTIONS FOR GYRO ANY_MOTION AWAKE DURATION */
/**************************************************************/
* @brief This API used to read gyro anymotion awake duration
* from page one register from 0x1F bit 2 to 3
*
- * @param v_gyro_awake_durn_u8 : The value of gyro anymotion awake duration
+ * @param gyro_awake_durn_u8 : The value of gyro anymotion awake duration
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_awake_durn(
-u8 *v_gyro_awake_durn_u8);
+u8 *gyro_awake_durn_u8);
/*!
* @brief This API used to write gyro anymotion awake duration
* from page one register from 0x1F bit 2 to 3
*
- * @param v_gyro_awake_durn_u8 : The value of gyro anymotion awake duration
+ * @param gyro_awake_durn_u8 : The value of gyro anymotion awake duration
*
* @return results of bus communication function
- * @retval 0 -> Success
- * @retval 1 -> Error
+ * @retval 0 -> BNO055_SUCCESS
+ * @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_awake_durn(
-u8 v_gyro_awake_durn_u8);
+u8 gyro_awake_durn_u8);
#endif
projects / BNO055_driver.git / commitdiff