--- /dev/null
+/*
+*
+****************************************************************************
+* Copyright (C) 2013 - 2014 Bosch Sensortec GmbH
+*
+* File : bno055.c
+*
+* Date : 2014/12/12
+*
+* Revision : 2.0.2 $
+*
+* Usage: Sensor Driver file for BNO055 sensor
+*
+****************************************************************************
+* \section License
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions are met:
+*
+* Redistributions of source code must retain the above copyright
+* notice, this list of conditions and the following disclaimer.
+*
+* Redistributions in binary form must reproduce the above copyright
+* notice, this list of conditions and the following disclaimer in the
+* documentation and/or other materials provided with the distribution.
+*
+* Neither the name of the copyright holder nor the names of the
+* contributors may be used to endorse or promote products derived from
+* this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR
+* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+* DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDER
+* OR CONTRIBUTORS BE LIABLE FOR ANY
+* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY,
+* OR CONSEQUENTIAL DAMAGES(INCLUDING, BUT NOT LIMITED TO,
+* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+* ANY WAY OUT OF THE USE OF THIS
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE
+*
+* The information provided is believed to be accurate and reliable.
+* The copyright holder assumes no responsibility
+* for the consequences of use
+* of such information nor for any infringement of patents or
+* other rights of third parties which may result from its use.
+* No license is granted by implication or otherwise under any patent or
+* patent rights of the copyright holder.
+**************************************************************************/
+
+/*********************************************************/
+/* INCLUDES */
+/*******************************************************/
+#include "bno055.h"
+/*! file <BNO055 >
+ brief <Sensor driver for BNO055> */
+/* STRUCTURE DEFINITIONS */
+static struct bno055_t *p_bno055;
+/* LOCAL FUNCTIONS */
+/*!
+ * @brief
+ * This function 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
+ * revision id and page id
+ *
+ * @param bno055 - structure pointer
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note While changing the parameter of the bno055_t
+ * consider the following point:
+ * Changing the reference value of the parameter
+ * will changes the local copy or local reference
+ * make sure your changes will not
+ * affect the reference value of the parameter
+ * (Better case don't change the reference value of the parameter)
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_init(struct bno055_t *bno055)
+{
+ /* 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;
+ /* Array holding the Software revision id
+ */
+ u8 a_SW_ID_u8[ARRAY_SIZE_TWO] = {
+ BNO055_ZERO_U8X, BNO055_ZERO_U8X};
+ /* 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);
+ /* 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;
+ /* 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;
+ /* 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;
+ /* 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;
+ /* 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;
+ /* 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);
+ p_bno055->sw_rev_id = (u16)
+ ((((u32)((u8)a_SW_ID_u8[INDEX_ONE])) <<
+ BNO055_SHIFT_8_POSITION) | (a_SW_ID_u8[INDEX_ZERO]));
+ /* 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;
+
+ return com_rslt;
+}
+/*!
+ * @brief
+ * 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+*/
+BNO055_RETURN_FUNCTION_TYPE bno055_write_register(u8 v_addr_u8,
+u8 *p_data_u8, u8 v_len_u8)
+{
+ /* Variable used to return value of
+ communication routine*/
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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);
+ }
+ 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,
+ * read value will be kept
+ * @param v_len_u8 : Length of the data
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_register(u8 v_addr_u8,
+u8 *p_data_u8, u8 v_len_u8)
+{
+ /* Variable used to return value of
+ communication routine*/
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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);
+ }
+ return com_rslt;
+}
+/*!
+ * @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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_chip_id(u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, chip id is
+ available in the page zero*/
+ if (p_bno055->page_id != 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 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;
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_sw_rev_id(u16 *v_sw_id_u8)
+{
+ /* Variable used to return value of
+ communication routine*/
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = 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;
+ /* Check the struct p_bno055 is empty*/
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, chip id is
+ available in the page zero*/
+ if (p_bno055->page_id != 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 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);
+ *v_sw_id_u8 = (u16)
+ ((((u32)((u8)v_data_u8[INDEX_ONE])) <<
+ BNO055_SHIFT_8_POSITION)
+ | (v_data_u8[INDEX_ZERO]));
+ } else {
+ com_rslt = ERROR;
+ }
+ }
+ return com_rslt;
+}
+/*!
+ * @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
+ *
+ * PAGE_ZERO -> 0x00
+ * PAGE_ONE -> 0x01
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_page_id(u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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);
+ *v_page_id_u8 = v_data_u8;
+ p_bno055->page_id = v_data_u8;
+ } else {
+ com_rslt = 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
+ *
+ * PAGE_ZERO -> 0x00
+ * PAGE_ONE -> 0x01
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_write_page_id(u8 v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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);
+ /* 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;
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_rev_id(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, chip id is
+ available in the page zero*/
+ if (p_bno055->page_id != 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 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;
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_rev_id(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, chip id is
+ available in the page zero*/
+ if (p_bno055->page_id != 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 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;
+ } else {
+ com_rslt = 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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_rev_id(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, chip id is
+ available in the page zero*/
+ if (p_bno055->page_id != 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 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;
+ } else {
+ com_rslt = 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
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_bl_rev_id(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, chip id is
+ available in the page zero*/
+ if (p_bno055->page_id != 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 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;
+ } else {
+ com_rslt = ERROR;
+ }
+ }
+ return com_rslt;
+}
+/*!
+ * @brief This API reads acceleration data X values
+ * from register 0x08 and 0x09 it is a two byte data
+ *
+ *
+ *
+ *
+ * @param v_accel_x_s16 : The X raw data
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_x(s16 *v_accel_x_s16)
+{
+ /* Variable used to return value of
+ communication routine*/
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ /* Array holding the accel x value
+ v_data_u8[INDEX_ZERO] - LSB
+ v_data_u8[INDEX_ONE] - MSB
+ */
+ u8 v_data_u8[ARRAY_SIZE_TWO] = {BNO055_ZERO_U8X, BNO055_ZERO_U8X};
+ s8 v_stat_s8 = ERROR;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ if (p_bno055->page_id != 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 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);
+ v_data_u8[INDEX_ONE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ 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]));
+ } else {
+ com_rslt = ERROR;
+ }
+ }
+ return com_rslt;
+}
+/*!
+ * @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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_y(s16 *v_accel_y_s16)
+{
+ /* Variable used to return value of
+ communication routine*/
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ /* Array holding the accel y value
+ v_data_u8[INDEX_ZERO] - LSB
+ v_data_u8[INDEX_ONE] - MSB
+ */
+ u8 v_data_u8[ARRAY_SIZE_TWO] = {BNO055_ZERO_U8X, BNO055_ZERO_U8X};
+ s8 v_stat_s8 = ERROR;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, chip id is
+ available in the page zero*/
+ if (p_bno055->page_id != 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 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);
+ v_data_u8[INDEX_ONE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ 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]));
+ } else {
+ com_rslt = ERROR;
+ }
+ }
+ return com_rslt;
+}
+/*!
+ * @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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_z(s16 *v_accel_z_s16)
+{
+ /* Variable used to return value of
+ communication routine*/
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ /* Array holding the accel z value
+ v_data_u8[INDEX_ZERO] - LSB
+ v_data_u8[INDEX_ONE] - MSB
+ */
+ u8 v_data_u8[ARRAY_SIZE_TWO] = {BNO055_ZERO_U8X, BNO055_ZERO_U8X};
+ s8 v_stat_s8 = ERROR;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, chip id is
+ available in the page zero*/
+ if (p_bno055->page_id != 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 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);
+ v_data_u8[INDEX_ONE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ 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]));
+ } else {
+ com_rslt = ERROR;
+ }
+ }
+ return com_rslt;
+}
+/*!
+ * @brief This API reads acceleration data xyz values
+ * from register 0x08 to 0x0D it is a six byte data
+ *
+ *
+ * @param accel : The value of accel xyz data
+ *
+ * Parameter | result
+ * --------- | -----------------
+ * x | The accel x data
+ * y | The accel y data
+ * z | The accel z data
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_xyz(
+struct bno055_accel_t *accel)
+{
+ /* 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[2] - y->MSB
+ v_data_u8[3] - y->MSB
+ v_data_u8[4] - z->MSB
+ v_data_u8[5] - 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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, chip id is
+ available in the page zero*/
+ if (p_bno055->page_id != 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)) {
+ 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);
+ /* Data X*/
+ v_data_u8[INDEX_ZERO] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_ZERO],
+ BNO055_ACCEL_DATA_X_LSB_VALUEX);
+ v_data_u8[INDEX_ONE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ 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]));
+ /* Data Y*/
+ v_data_u8[INDEX_TWO] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_TWO],
+ BNO055_ACCEL_DATA_Y_LSB_VALUEY);
+ v_data_u8[INDEX_THREE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_THREE],
+ 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]));
+ /* Data Z*/
+ v_data_u8[INDEX_FOUR] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_FOUR],
+ BNO055_ACCEL_DATA_Z_LSB_VALUEZ);
+ v_data_u8[INDEX_FIVE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_FIVE],
+ 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]));
+ } else {
+ com_rslt = ERROR;
+ }
+ }
+ return com_rslt;
+}
+/*!
+ * @brief This API reads mag data x values
+ * from register 0x0E and 0x0F it is a two byte data
+ *
+ *
+ *
+ *
+ * @param v_mag_x_s16 : The x raw data
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_x(s16 *v_mag_x_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] - x->LSB
+ v_data_u8[INDEX_ONE] - x->MSB
+ */
+ u8 v_data_u8[ARRAY_SIZE_TWO] = {BNO055_ZERO_U8X, BNO055_ZERO_U8X};
+ s8 v_stat_s8 = ERROR;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, chip id is
+ available in the page zero*/
+ if (p_bno055->page_id != 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 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);
+ v_data_u8[INDEX_ONE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ 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]));
+ } else {
+ com_rslt = ERROR;
+ }
+ }
+ return com_rslt;
+}
+/*!
+ * @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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_y(s16 *v_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
+ */
+ u8 v_data_u8[ARRAY_SIZE_TWO] = {
+ BNO055_ZERO_U8X, BNO055_ZERO_U8X};
+ s8 v_stat_s8 = ERROR;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, chip id is
+ available in the page zero*/
+ if (p_bno055->page_id != 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 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);
+ v_data_u8[INDEX_ONE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ 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]));
+ } else {
+ com_rslt = ERROR;
+ }
+ }
+ return com_rslt;
+}
+/*!
+ * @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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_z(s16 *v_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
+ */
+ u8 v_data_u8[ARRAY_SIZE_TWO] = {
+ BNO055_ZERO_U8X, BNO055_ZERO_U8X};
+ s8 v_stat_s8 = ERROR;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, chip id is
+ available in the page zero*/
+ if (p_bno055->page_id != 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)) {
+ 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);
+ /*Read the mag z two bytes of data */
+ v_data_u8[INDEX_ZERO] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_ZERO],
+ BNO055_MAG_DATA_Z_LSB_VALUEZ);
+ v_data_u8[INDEX_ONE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ 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]));
+ } else {
+ com_rslt = ERROR;
+ }
+ }
+ return com_rslt;
+}
+/*!
+ * @brief This API reads mag data xyz values
+ * from register 0x0E to 0x13 it is a six byte data
+ *
+ *
+ * @param mag : The mag xyz values
+ *
+ * Parameter | result
+ * --------- | -----------------
+ * x | The mag x data
+ * y | The mag y data
+ * z | The mag z data
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> 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;
+ /* 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
+ */
+ 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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, chip id is
+ available in the page zero*/
+ if (p_bno055->page_id != 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 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);
+ /* Data X*/
+ v_data_u8[INDEX_ZERO] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_ZERO],
+ BNO055_MAG_DATA_X_LSB_VALUEX);
+ v_data_u8[INDEX_ONE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ 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]));
+ /* Data Y*/
+ v_data_u8[INDEX_TWO] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_TWO],
+ BNO055_MAG_DATA_Y_LSB_VALUEY);
+ v_data_u8[INDEX_THREE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_THREE],
+ 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]));
+ /* Data Z*/
+ v_data_u8[INDEX_FOUR] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_FOUR],
+ BNO055_MAG_DATA_Z_LSB_VALUEZ);
+ v_data_u8[INDEX_FIVE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_FIVE],
+ 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]));
+ } else {
+ com_rslt = ERROR;
+ }
+ }
+ return com_rslt;
+}
+/*!
+ * @brief This API reads gyro data x values
+ * from register 0x14 and 0x15 it is a two byte data
+ *
+ *
+ *
+ *
+ * @param v_gyro_x_s16 : The x raw data
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_x(s16 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, chip id is
+ available in the page zero*/
+ if (p_bno055->page_id != 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 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);
+ v_data_u8[INDEX_ONE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ 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]));
+ } else {
+ com_rslt = ERROR;
+ }
+ }
+ return com_rslt;
+}
+/*!
+ * @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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_y(s16 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, chip id is
+ available in the page zero*/
+ if (p_bno055->page_id != 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 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);
+ v_data_u8[INDEX_ONE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ 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]));
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_z(s16 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, chip id is
+ available in the page zero*/
+ if (p_bno055->page_id != 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 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);
+ v_data_u8[INDEX_ONE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ 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]));
+ } else {
+ com_rslt = ERROR;
+ }
+ }
+ return com_rslt;
+}
+/*!
+ * @brief This API reads gyro data xyz values
+ * from register 0x14 to 0x19 it is a six byte data
+ *
+ *
+ * @param gyro : The value of gyro xyz data's
+ *
+ * Parameter | result
+ * --------- | -----------------
+ * x | The gyro x data
+ * y | The gyro y data
+ * z | The gyro z data
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> 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
+ */
+ 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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, chip id is
+ available in the page zero*/
+ if (p_bno055->page_id != 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 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);
+ /* Data x*/
+ v_data_u8[INDEX_ZERO] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_ZERO],
+ BNO055_GYRO_DATA_X_LSB_VALUEX);
+ v_data_u8[INDEX_ONE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ 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]));
+ /* Data y*/
+ v_data_u8[INDEX_TWO] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_TWO],
+ BNO055_GYRO_DATA_Y_LSB_VALUEY);
+ v_data_u8[INDEX_THREE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_THREE],
+ 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]));
+ /* Data z*/
+ v_data_u8[INDEX_FOUR] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_FOUR],
+ BNO055_GYRO_DATA_Z_LSB_VALUEZ);
+ v_data_u8[INDEX_FIVE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_FIVE],
+ 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]));
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_h(s16 *v_euler_h_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] - h->LSB
+ v_data_u8[INDEX_ONE] - h->MSB
+ */
+ u8 v_data_u8[ARRAY_SIZE_TWO] = {
+ BNO055_ZERO_U8X, BNO055_ZERO_U8X};
+ s8 v_stat_s8 = ERROR;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, chip id is
+ available in the page zero*/
+ if (p_bno055->page_id != 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 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);
+ v_data_u8[INDEX_ONE] = BNO055_GET_BITSLICE
+ (v_data_u8[INDEX_ONE],
+ 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]));
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_r(s16 *v_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
+ */
+ u8 v_data_u8[ARRAY_SIZE_TWO] = {
+ BNO055_ZERO_U8X, BNO055_ZERO_U8X};
+ s8 v_stat_s8 = ERROR;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, chip id is
+ available in the page zero*/
+ if (p_bno055->page_id != 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 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);
+ v_data_u8[INDEX_ONE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ 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]));
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_p(s16 *v_euler_p_s16)
+{
+ /* Variable used to return value of
+ communication routine*/
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ /* Array holding the Euler p value
+ v_data_u8[INDEX_ZERO] - p->LSB
+ v_data_u8[INDEX_ONE] - p->MSB
+ */
+ u8 v_data_u8[ARRAY_SIZE_TWO] = {
+ BNO055_ZERO_U8X, BNO055_ZERO_U8X};
+ s8 v_stat_s8 = ERROR;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, chip id is
+ available in the page zero*/
+ if (p_bno055->page_id != 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 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);
+ v_data_u8[INDEX_ONE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ 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]));
+ } else {
+ com_rslt = ERROR;
+ }
+ }
+ return com_rslt;
+}
+/*!
+ * @brief This API reads Euler data hrp values
+ * from register 0x1A to 0x1F it is a six byte data
+ *
+ *
+ * @param euler : The Euler hrp data's
+ *
+ * Parameter | result
+ * --------- | -----------------
+ * h | The Euler h data
+ * r | The Euler r data
+ * p | The Euler p data
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_hrp(
+struct bno055_euler_t *euler)
+{
+ /* Variable used to return value of
+ communication routine*/
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = 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
+ */
+ 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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, chip id is
+ available in the page zero*/
+ if (p_bno055->page_id != 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 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);
+ /* Data h*/
+ v_data_u8[INDEX_ZERO] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_ZERO],
+ BNO055_EULER_H_LSB_VALUEH);
+ v_data_u8[INDEX_ONE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ BNO055_EULER_H_MSB_VALUEH);
+ euler->h = (s16)((((s32)
+ ((s8)v_data_u8[INDEX_ONE])) <<
+ BNO055_SHIFT_8_POSITION) |
+ (v_data_u8[INDEX_ZERO]));
+ /* Data r*/
+ v_data_u8[INDEX_TWO] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_TWO],
+ BNO055_EULER_R_LSB_VALUER);
+ v_data_u8[INDEX_THREE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_THREE],
+ BNO055_EULER_R_MSB_VALUER);
+ euler->r = (s16)((((s32)
+ ((s8)v_data_u8[INDEX_THREE])) <<
+ BNO055_SHIFT_8_POSITION)
+ | (v_data_u8[INDEX_TWO]));
+ /* Data p*/
+ v_data_u8[INDEX_FOUR] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_FOUR],
+ BNO055_EULER_P_LSB_VALUEP);
+ v_data_u8[INDEX_FIVE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_FIVE],
+ BNO055_EULER_P_MSB_VALUEP);
+ euler->p = (s16)((((s32)
+ ((s8)v_data_u8[INDEX_FIVE])) <<
+ BNO055_SHIFT_8_POSITION)
+ | (v_data_u8[INDEX_FOUR]));
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_w(
+s16 *v_quaternion_w_s16)
+{
+ /* Variable used to return value of
+ communication routine*/
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ /* Array holding the Quaternion w value
+ v_data_u8[INDEX_ZERO] - w->LSB
+ v_data_u8[INDEX_ONE] - w->MSB
+ */
+ u8 v_data_u8[ARRAY_SIZE_TWO] = {
+ BNO055_ZERO_U8X, BNO055_ZERO_U8X};
+ s8 v_stat_s8 = ERROR;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, chip id is
+ available in the page zero*/
+ if (p_bno055->page_id != 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 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);
+ v_data_u8[INDEX_ONE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ 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]));
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_x(
+s16 *v_quaternion_x_s16)
+{
+ /* Variable used to return value of
+ communication routine*/
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ /* Array holding the quaternion x value
+ v_data_u8[INDEX_ZERO] - x->LSB
+ v_data_u8[INDEX_ONE] - x->MSB
+ */
+ u8 v_data_u8[ARRAY_SIZE_TWO] = {BNO055_ZERO_U8X, BNO055_ZERO_U8X};
+ s8 v_stat_s8 = ERROR;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, chip id is
+ available in the page zero*/
+ if (p_bno055->page_id != 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 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);
+ v_data_u8[INDEX_ONE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ 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]));
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_y(
+s16 *v_quaternion_y_s16)
+{
+ /* Variable used to return value of
+ communication routine*/
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ /* Array holding the quaternion y value
+ v_data_u8[INDEX_ZERO] - y->LSB
+ v_data_u8[INDEX_ONE] - y->MSB
+ */
+ u8 v_data_u8[ARRAY_SIZE_TWO] = {BNO055_ZERO_U8X, BNO055_ZERO_U8X};
+ s8 v_stat_s8 = ERROR;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, chip id is
+ available in the page zero*/
+ if (p_bno055->page_id != 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 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);
+ v_data_u8[INDEX_ONE] = BNO055_GET_BITSLICE
+ (v_data_u8[INDEX_ONE],
+ 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]));
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_z(
+s16 *v_quaternion_z_s16)
+{
+ /* Variable used to return value of
+ communication routine*/
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ /* Array holding the quaternion z value
+ v_data_u8[INDEX_ZERO] - z->LSB
+ v_data_u8[INDEX_ONE] - z->MSB
+ */
+ u8 v_data_u8[ARRAY_SIZE_TWO] = {
+ BNO055_ZERO_U8X, BNO055_ZERO_U8X};
+ s8 v_stat_s8 = ERROR;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, chip id is
+ available in the page zero*/
+ if (p_bno055->page_id != 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 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);
+ v_data_u8[INDEX_ONE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ 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]));
+ } else {
+ com_rslt = ERROR;
+ }
+ }
+ return com_rslt;
+}
+/*!
+ * @brief This API reads Quaternion data wxyz values
+ * from register 0x20 to 0x27 it is a six byte data
+ *
+ *
+ * @param quaternion : The value of quaternion wxyz data's
+ *
+ * Parameter | result
+ * --------- | -----------------
+ * w | The quaternion w data
+ * x | The quaternion x data
+ * y | The quaternion y data
+ * z | The quaternion z data
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_wxyz(
+struct bno055_quaternion_t *quaternion)
+{
+ /* Variable used to return value of
+ communication routine*/
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = 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
+ */
+ 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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, chip id is
+ available in the page zero*/
+ if (p_bno055->page_id != 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 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);
+ /* Data W*/
+ v_data_u8[INDEX_ZERO] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_ZERO],
+ BNO055_QUATERNION_DATA_W_LSB_VALUEW);
+ v_data_u8[INDEX_ONE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ 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]));
+ /* Data X*/
+ v_data_u8[INDEX_TWO] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_TWO],
+ BNO055_QUATERNION_DATA_X_LSB_VALUEX);
+ v_data_u8[INDEX_THREE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_THREE],
+ 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]));
+ /* Data Y*/
+ v_data_u8[INDEX_FOUR] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_FOUR],
+ BNO055_QUATERNION_DATA_Y_LSB_VALUEY);
+ v_data_u8[INDEX_FIVE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_FIVE],
+ 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]));
+ /* Data Z*/
+ v_data_u8[INDEX_SIX] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_SIX],
+ BNO055_QUATERNION_DATA_Z_LSB_VALUEZ);
+ v_data_u8[INDEX_SEVEN] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_SEVEN],
+ 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]));
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_x(
+s16 *v_linear_accel_x_s16)
+{
+ /* Variable used to return value of
+ communication routine*/
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ /* Array holding the linear accel x value
+ v_data_u8[INDEX_ZERO] - x->LSB
+ v_data_u8[INDEX_ONE] - x->MSB
+ */
+ u8 v_data_u8[ARRAY_SIZE_TWO] = {
+ BNO055_ZERO_U8X, BNO055_ZERO_U8X};
+ s8 v_stat_s8 = ERROR;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, chip id is
+ available in the page zero*/
+ if (p_bno055->page_id != 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 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);
+ v_data_u8[INDEX_ONE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ 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]));
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_y(
+s16 *v_linear_accel_y_s16)
+{
+ /* Variable used to return value of
+ communication routine*/
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ /* Array holding the linear accel y value
+ v_data_u8[INDEX_ZERO] - y->LSB
+ v_data_u8[INDEX_ONE] - y->MSB
+ */
+ u8 v_data_u8[ARRAY_SIZE_TWO] = {
+ BNO055_ZERO_U8X, BNO055_ZERO_U8X};
+ s8 v_stat_s8 = ERROR;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, chip id is
+ available in the page zero*/
+ if (p_bno055->page_id != 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 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);
+ v_data_u8[INDEX_ONE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ 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]));
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_z(
+s16 *v_linear_accel_z_s16)
+{
+ /* Variable used to return value of
+ communication routine*/
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ /* Array holding the linear accel z value
+ v_data_u8[INDEX_ZERO] - z->LSB
+ v_data_u8[INDEX_ONE] - z->MSB
+ */
+ u8 v_data_u8[ARRAY_SIZE_TWO] = {
+ BNO055_ZERO_U8X, BNO055_ZERO_U8X};
+ s8 v_stat_s8 = ERROR;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, chip id is
+ available in the page zero*/
+ if (p_bno055->page_id != 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 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);
+ v_data_u8[INDEX_ONE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ 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]));
+ } else {
+ com_rslt = ERROR;
+ }
+ }
+ return com_rslt;
+}
+/*!
+ * @brief This API reads Linear accel data xyz values
+ * from register 0x28 to 0x2D it is a six byte data
+ *
+ *
+ * @param linear_accel : The value of linear accel xyz data's
+ *
+ * Parameter | result
+ * --------- | -----------------
+ * x | The linear accel x data
+ * y | The linear accel y data
+ * z | The linear accel z data
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> 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;
+ /* 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
+ */
+ 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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, chip id is
+ available in the page zero*/
+ if (p_bno055->page_id != 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 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);
+ /* Data x*/
+ v_data_u8[INDEX_ZERO] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_ZERO],
+ BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX);
+ v_data_u8[INDEX_ONE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ 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]));
+ /* Data y*/
+ v_data_u8[INDEX_TWO] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_TWO],
+ BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY);
+ v_data_u8[INDEX_THREE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_THREE],
+ 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]));
+ /* Data z*/
+ v_data_u8[INDEX_FOUR] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_FOUR],
+ BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ);
+ v_data_u8[INDEX_FIVE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_FIVE],
+ 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]));
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_x(
+s16 *v_gravity_x_s16)
+{
+ /* Variable used to return value of
+ communication routine*/
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ /* Array holding the gravity x value
+ v_data_u8[INDEX_ZERO] - x->LSB
+ v_data_u8[INDEX_ONE] - x->MSB
+ */
+ u8 v_data_u8[ARRAY_SIZE_TWO] = {
+ BNO055_ZERO_U8X, BNO055_ZERO_U8X};
+ s8 v_stat_s8 = ERROR;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, chip id is
+ available in the page zero*/
+ if (p_bno055->page_id != 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 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);
+ v_data_u8[INDEX_ONE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ 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]));
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_y(
+s16 *v_gravity_y_s16)
+{
+ /* Variable used to return value of
+ communication routine*/
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ /* Array holding the gravity y value
+ v_data_u8[INDEX_ZERO] - y->LSB
+ v_data_u8[INDEX_ONE] - y->MSB
+ */
+ u8 v_data_u8[ARRAY_SIZE_TWO] = {
+ BNO055_ZERO_U8X, BNO055_ZERO_U8X};
+ s8 v_stat_s8 = ERROR;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, chip id is
+ available in the page zero*/
+ if (p_bno055->page_id != 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 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);
+ v_data_u8[INDEX_ONE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ 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]));
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_z(
+s16 *v_gravity_z_s16)
+{
+ /* Variable used to return value of
+ communication routine*/
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ /* Array holding the gravity z value
+ v_data_u8[INDEX_ZERO] - z->LSB
+ v_data_u8[INDEX_ONE] - z->MSB
+ */
+ u8 v_data_u8[ARRAY_SIZE_TWO] = {
+ BNO055_ZERO_U8X, BNO055_ZERO_U8X};
+ s8 v_stat_s8 = ERROR;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, chip id is
+ available in the page zero*/
+ if (p_bno055->page_id != 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 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);
+ v_data_u8[INDEX_ONE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ 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]));
+ } else {
+ com_rslt = ERROR;
+ }
+ }
+ return com_rslt;
+}
+/*!
+ * @brief This API reads gravity data xyz values
+ * from register 0x2E to 0x33 it is a six byte data
+ *
+ *
+ * @param gravity : The value of gravity xyz data's
+ *
+ * Parameter | result
+ * --------- | -----------------
+ * x | The gravity x data
+ * y | The gravity y data
+ * z | The gravity z data
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_xyz(
+struct bno055_gravity_t *gravity)
+{
+ /* Variable used to return value of
+ communication routine*/
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = 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
+ */
+ 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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, chip id is
+ available in the page zero*/
+ if (p_bno055->page_id != 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 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);
+ /* Data x*/
+ v_data_u8[INDEX_ZERO] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_ZERO],
+ BNO055_GRAVITY_DATA_X_LSB_VALUEX);
+ v_data_u8[INDEX_ONE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ 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]));
+ /* Data y*/
+ v_data_u8[INDEX_TWO] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_TWO],
+ BNO055_GRAVITY_DATA_Y_LSB_VALUEY);
+ v_data_u8[INDEX_THREE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_THREE],
+ 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]));
+ /* Data z*/
+ v_data_u8[INDEX_FOUR] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_FOUR],
+ BNO055_GRAVITY_DATA_Z_LSB_VALUEZ);
+ v_data_u8[INDEX_FIVE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_FIVE],
+ 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]));
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_temp_data(s8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, chip id is
+ available in the page zero*/
+ if (p_bno055->page_id != 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 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;
+ } else {
+ com_rslt = ERROR;
+ }
+ }
+ return com_rslt;
+}
+#ifdef BNO055_FLOAT_ENABLE
+/*!
+ * @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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_x_msq(
+float *v_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;
+ /* 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) {
+ /* 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) {
+ /* 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;
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = 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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_x_mg(
+float *v_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;
+ /* 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) {
+ /* Read the accel raw x data*/
+ com_rslt += bno055_read_accel_x(&v_reg_accel_x_s16);
+ if (com_rslt == 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;
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = 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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_y_msq(
+float *v_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;
+ /* 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) {
+ /* 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;
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = 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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_y_mg(
+float *v_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;
+ /* 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) {
+ /* Read the accel raw z data*/
+ com_rslt += bno055_read_accel_y(&v_reg_accel_y_s16);
+ if (com_rslt == SUCCESS) {
+ /* Convert the raw accel z to mg*/
+ data = (float)(v_reg_accel_y_s16/ACCEL_DIV_MG);
+ *v_accel_y_f = data;
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = 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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_z_msq(
+float *v_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;
+ /* 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) {
+ /* 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) {
+ /* 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;
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = 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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_z_mg(
+float *v_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;
+ /* 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) {
+ /* Read the accel raw z data*/
+ com_rslt += bno055_read_accel_z(&v_reg_accel_z_s16);
+ if (com_rslt == 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;
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ return com_rslt;
+}
+/*!
+ * @brief This API is used to convert the accel xyz raw data
+ * to meterpersecseq output as float
+ *
+ * @param accel_xyz : The meterpersecseq data of accel xyz
+ *
+ * Parameter | result
+ * --------- | -----------------
+ * x | meterpersecseq data of accel
+ * y | meterpersecseq data of accel
+ * z | meterpersecseq data of accel
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_xyz_msq(
+struct bno055_accel_float_t *accel_xyz)
+{
+ /* Variable used to return value of
+ communication routine*/
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = 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;
+ /* 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) {
+ /* Read the accel raw xyz data*/
+ com_rslt += bno055_read_accel_xyz(®_accel_xyz);
+ if (com_rslt == SUCCESS) {
+ /* Convert the accel raw xyz to meterpersecseq*/
+ accel_xyz->x =
+ (float)(reg_accel_xyz.x/ACCEL_DIV_MSQ);
+ accel_xyz->y =
+ (float)(reg_accel_xyz.y/ACCEL_DIV_MSQ);
+ accel_xyz->z =
+ (float)(reg_accel_xyz.z/ACCEL_DIV_MSQ);
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ return com_rslt;
+}
+/*!
+ * @brief This API is used to convert the accel xyz raw data
+ * to millig output as float
+ *
+ * @param accel_xyz : The millig data of accel xyz
+ *
+ * Parameter | result
+ * --------- | -----------------
+ * x | millig data of accel
+ * y | millig data of accel
+ * z | millig data of accel
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_xyz_mg(
+struct bno055_accel_float_t *accel_xyz)
+{
+ /* Variable used to return value of
+ communication routine*/
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = 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;
+ /* 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) {
+ /* Read the accel raw y data*/
+ com_rslt += bno055_read_accel_xyz(®_accel_xyz);
+ if (com_rslt == SUCCESS) {
+ /*Convert the accel raw xyz to millig */
+ accel_xyz->x =
+ (float)(reg_accel_xyz.x/ACCEL_DIV_MG);
+ accel_xyz->y =
+ (float)(reg_accel_xyz.y/ACCEL_DIV_MG);
+ accel_xyz->z =
+ (float)(reg_accel_xyz.z/ACCEL_DIV_MG);
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = 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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_x_uT(
+float *v_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;
+ /* Read raw mag x data */
+ com_rslt = bno055_read_mag_x(&v_reg_mag_x_s16);
+ if (com_rslt == 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;
+ } else {
+ com_rslt = 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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_y_uT(
+float *v_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;
+ /* Read raw mag y data */
+ com_rslt = bno055_read_mag_y(&v_reg_mag_y_s16);
+ if (com_rslt == 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;
+ } else {
+ com_rslt = 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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_z_uT(
+float *v_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;
+ /* Read raw mag z data */
+ com_rslt = bno055_read_mag_z(&v_reg_mag_z_s16);
+ if (com_rslt == 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;
+ } else {
+ com_rslt = ERROR;
+ }
+ return com_rslt;
+}
+/*!
+ * @brief This API is used to convert the mag yz raw data
+ * to microTesla output as float
+ *
+ * @param mag_xyz_data : The microTesla data of mag xyz
+ *
+ * Parameter | result
+ * --------- | -----------------
+ * x | microTesla data of mag
+ * y | microTesla data of mag
+ * z | microTesla data of mag
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_xyz_uT(
+struct bno055_mag_float_t *mag_xyz_data)
+{
+ /* Variable used to return value of
+ communication routine*/
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ struct bno055_mag_t mag_xyz = {
+ BNO055_ZERO_U8X, BNO055_ZERO_U8X, BNO055_ZERO_U8X};
+ /* Read raw mag x data */
+ com_rslt = bno055_read_mag_xyz(&mag_xyz);
+ if (com_rslt == 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);
+ } else {
+ com_rslt = 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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_x_dps(
+float *v_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;
+ /* 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) {
+ /* Read gyro raw x data */
+ com_rslt += bno055_read_gyro_x(&v_reg_gyro_x_s16);
+ if (com_rslt == 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;
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = 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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_x_rps(
+float *v_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;
+ /* 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) {
+ /* Read gyro raw x data */
+ com_rslt += bno055_read_gyro_x(&v_reg_gyro_x_s16);
+ if (com_rslt == 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;
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = 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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_y_dps(
+float *v_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;
+ /* 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) {
+ /* Read gyro raw y data */
+ com_rslt += bno055_read_gyro_y(&v_reg_gyro_y_s16);
+ if (com_rslt == 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;
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = 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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_y_rps(
+float *v_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;
+ /* 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) {
+ /* Read gyro raw y data */
+ com_rslt += bno055_read_gyro_y(&v_reg_gyro_y_s16);
+ if (com_rslt == 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;
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = 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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_z_dps(
+float *v_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;
+ /* 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) {
+ /* Read gyro raw z data */
+ com_rslt += bno055_read_gyro_z(&v_reg_gyro_z_s16);
+ if (com_rslt == 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;
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = 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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_z_rps(
+float *v_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;
+ /* 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) {
+ /* Read gyro raw x data */
+ com_rslt += bno055_read_gyro_z(&v_reg_gyro_z_s16);
+ if (com_rslt == 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;
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ return com_rslt;
+}
+/*!
+ * @brief This API is used to convert the gyro xyz raw data
+ * to dps output as float
+ *
+ * @param gyro_xyz_data : The dps data of gyro xyz
+ *
+ * Parameter | result
+ * --------- | -----------------
+ * x | dps data of gyro
+ * y | dps data of gyro
+ * z | dps data of gyro
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_xyz_dps(
+struct bno055_gyro_float_t *gyro_xyz_data)
+{
+ /* 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;
+ /* 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) {
+ /* Read gyro raw xyz data */
+ com_rslt += bno055_read_gyro_xyz(&gyro_xyz);
+ if (com_rslt == SUCCESS) {
+ /* Convert gyro raw xyz to dps*/
+ gyro_xyz_data->x =
+ (float)(gyro_xyz.x/GYRO_DIV_DPS);
+ gyro_xyz_data->y =
+ (float)(gyro_xyz.y/GYRO_DIV_DPS);
+ gyro_xyz_data->z =
+ (float)(gyro_xyz.z/GYRO_DIV_DPS);
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ return com_rslt;
+}
+/*!
+ * @brief This API is used to convert the gyro xyz raw data
+ * to rps output as float
+ *
+ * @param gyro_xyz_data : The rps data of gyro xyz
+ *
+ * Parameter | result
+ * --------- | -----------------
+ * x | rps data of gyro
+ * y | rps data of gyro
+ * z | rps data of gyro
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_xyz_rps(
+struct bno055_gyro_float_t *gyro_xyz_data)
+{
+ /* 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;
+ /* 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) {
+ /* Read gyro raw xyz data */
+ com_rslt += bno055_read_gyro_xyz(&gyro_xyz);
+ if (com_rslt == SUCCESS) {
+ /* Convert gyro raw xyz to rps*/
+ gyro_xyz_data->x =
+ (float)(gyro_xyz.x/GYRO_DIV_RPS);
+ gyro_xyz_data->y =
+ (float)(gyro_xyz.y/GYRO_DIV_RPS);
+ gyro_xyz_data->z =
+ (float)(gyro_xyz.z/GYRO_DIV_RPS);
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_h_deg(
+float *v_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;
+ /* 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) {
+ /* Read Euler raw h data*/
+ com_rslt += bno055_read_euler_h(&v_reg_euler_h_s16);
+ if (com_rslt == 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;
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> 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)
+ /* 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) {
+ /* Read Euler raw h data*/
+ com_rslt += bno055_read_euler_h(&v_reg_euler_h_s16);
+ if (com_rslt == 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;
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_r_deg(
+float *v_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;
+ /* 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) {
+ /* Read Euler raw r data*/
+ com_rslt += bno055_read_euler_r(®_euler_r);
+ if (com_rslt == 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;
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_r_rad(
+float *v_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;
+ /* 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) {
+ /* Read Euler raw r data*/
+ com_rslt += bno055_read_euler_r(®_v_euler_r_f);
+ if (com_rslt == 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;
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_p_deg(
+float *v_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;
+ /* 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) {
+ /* Read Euler raw p data*/
+ com_rslt += bno055_read_euler_p(®_v_euler_p_f);
+ if (com_rslt == 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;
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_p_rad(
+float *v_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;
+ /* 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) {
+ /* Read Euler raw r data*/
+ com_rslt += bno055_read_euler_p(®_v_euler_p_f);
+ if (com_rslt == 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;
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ return com_rslt;
+}
+/*!
+ * @brief This API is used to convert the Euler hrp raw data
+ * to degree output as float
+ *
+ * @param euler_hpr : The degree data of Euler hrp
+ *
+ * Parameter | result
+ * --------- | -----------------
+ * h | degree data of Euler
+ * r | degree data of Euler
+ * p | degree data of Euler
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_hpr_deg(
+struct bno055_euler_float_t *euler_hpr)
+{
+ /* 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;
+ /* 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) {
+ /* Read Euler raw hrp data*/
+ com_rslt += bno055_read_euler_hrp(®_euler);
+ if (com_rslt == SUCCESS) {
+ /* Convert raw Euler hrp to degree*/
+ euler_hpr->h =
+ (float)(reg_euler.h/EULER_DIV_DEG);
+ euler_hpr->p =
+ (float)(reg_euler.p/EULER_DIV_DEG);
+ euler_hpr->r =
+ (float)(reg_euler.r/EULER_DIV_DEG);
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ return com_rslt;
+}
+/*!
+ * @brief This API is used to convert the Euler xyz raw data
+ * to radians output as float
+ *
+ * @param euler_hpr : The radians data of Euler hrp
+ *
+ * Parameter | result
+ * --------- | -----------------
+ * h | radians data of Euler
+ * r | radians data of Euler
+ * p | radians data of Euler
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_hpr_rad(
+struct bno055_euler_float_t *euler_hpr)
+{
+ /* 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;
+ /* 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) {
+ /* Read Euler raw hrp data*/
+ com_rslt += bno055_read_euler_hrp(®_euler);
+ if (com_rslt == SUCCESS) {
+ /* Convert raw hrp to radians */
+ euler_hpr->h =
+ (float)(reg_euler.h/EULER_DIV_RAD);
+ euler_hpr->p =
+ (float)(reg_euler.p/EULER_DIV_RAD);
+ euler_hpr->r =
+ (float)(reg_euler.r/EULER_DIV_RAD);
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_x_msq(
+float *v_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;
+ /* Read the raw x of linear accel */
+ com_rslt = bno055_read_linear_accel_x(&v_reg_linear_accel_x_s16);
+ if (com_rslt == 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;
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_y_msq(
+float *v_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;
+ /* Read the raw y of linear accel */
+ com_rslt = bno055_read_linear_accel_y(®_linear_accel_y);
+ if (com_rslt == 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;
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_z_msq(
+float *v_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;
+ /* Read the raw x of linear accel */
+ com_rslt = bno055_read_linear_accel_z(®_linear_accel_z);
+ if (com_rslt == 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;
+ } else {
+ com_rslt = ERROR;
+ }
+ return com_rslt;
+}
+/*!
+ * @brief This API is used to convert the linear accel xyz raw data
+ * to meterpersecseq output as float
+ *
+ * @param linear_accel_xyz : The meterpersecseq data of linear accel xyz
+ *
+ * Parameter | result
+ * --------- | -----------------
+ * x | meterpersecseq data of linear accel
+ * y | meterpersecseq data of linear accel
+ * z | meterpersecseq data of linear accel
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_xyz_msq(
+struct bno055_linear_accel_float_t *linear_accel_xyz)
+{
+ /* Variable used to return value of
+ communication routine*/
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ struct bno055_linear_accel_t reg_linear_accel = {
+ BNO055_ZERO_U8X, BNO055_ZERO_U8X, BNO055_ZERO_U8X};
+ /* Read the raw x of linear accel */
+ com_rslt = bno055_read_linear_accel_xyz(®_linear_accel);
+ if (com_rslt == SUCCESS) {
+ linear_accel_xyz->x =
+ (float)(reg_linear_accel.x/LINEAR_ACCEL_DIV_MSQ);
+ linear_accel_xyz->y =
+ (float)(reg_linear_accel.y/LINEAR_ACCEL_DIV_MSQ);
+ linear_accel_xyz->z =
+ (float)(reg_linear_accel.z/LINEAR_ACCEL_DIV_MSQ);
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_x_msq(
+float *v_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;
+ /* Read raw gravity of x*/
+ com_rslt = bno055_read_gravity_x(&v_reg_gravity_x_s16);
+ if (com_rslt == 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;
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_y_msq(
+float *v_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;
+ /* Read raw gravity of y*/
+ com_rslt = bno055_read_gravity_y(&v_reg_gravity_y_s16);
+ if (com_rslt == 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;
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_z_msq(
+float *v_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;
+ /* Read raw gravity of z */
+ com_rslt = bno055_read_gravity_z(&v_reg_gravity_z_s16);
+ if (com_rslt == 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;
+ } else {
+ com_rslt = ERROR;
+ }
+ return com_rslt;
+}
+/*!
+ * @brief This API is used to convert the gravity xyz raw data
+ * to meterpersecseq output as float
+ *
+ * @param gravity_xyz : The meterpersecseq data of gravity xyz
+ *
+ * Parameter | result
+ * --------- | -----------------
+ * x | meterpersecseq data of gravity
+ * y | meterpersecseq data of gravity
+ * z | meterpersecseq data of gravity
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gravity_xyz_msq(
+struct bno055_gravity_float_t *gravity_xyz)
+{
+ /* Variable used to return value of
+ communication routine*/
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ struct bno055_gravity_t reg_gravity_xyz = {
+ BNO055_ZERO_U8X, BNO055_ZERO_U8X, BNO055_ZERO_U8X};
+ /* Read raw gravity of xyz */
+ com_rslt = bno055_read_gravity_xyz(®_gravity_xyz);
+ if (com_rslt == SUCCESS) {
+ /* Convert raw gravity xyz to meterpersecseq */
+ gravity_xyz->x =
+ (float)(reg_gravity_xyz.x/GRAVITY_DIV_MSQ);
+ gravity_xyz->y =
+ (float)(reg_gravity_xyz.y/GRAVITY_DIV_MSQ);
+ gravity_xyz->z =
+ (float)(reg_gravity_xyz.z/GRAVITY_DIV_MSQ);
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_temp_fahrenheit(
+float *v_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;
+ /* 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) {
+ /* Read the raw temperature data */
+ com_rslt += bno055_read_temp_data(&v_reg_temp_s8);
+ if (com_rslt == SUCCESS) {
+ /* Convert raw temperature data to Fahrenheit*/
+ v_data_f = (float)
+ (v_reg_temp_s8/TEMP_DIV_FAHRENHEIT);
+ *v_temp_f = v_data_f;
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_temp_celsius(
+float *v_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;
+ /* 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) {
+ /* Read the raw temperature data */
+ com_rslt += bno055_read_temp_data(&v_reg_temp_s8);
+ if (com_rslt == SUCCESS) {
+ /* Convert raw temperature data to Fahrenheit*/
+ v_data_f =
+ (float)(v_reg_temp_s8/TEMP_DIV_CELSIUS);
+ *v_temp_f = v_data_f;
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ return com_rslt;
+}
+#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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_x_msq(
+double *v_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;
+ /* 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) {
+ /* Read the accel raw y data*/
+ com_rslt += bno055_read_accel_x(&v_reg_accel_x_s16);
+ if (com_rslt == 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;
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = 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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_x_mg(
+double *v_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;
+ /* 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) {
+ /* Read the accel raw y data*/
+ com_rslt += bno055_read_accel_x(&v_reg_accel_x_s16);
+ if (com_rslt == 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;
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = 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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_y_msq(
+double *v_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;
+ /* 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) {
+ /* Read the accel raw y data*/
+ com_rslt += bno055_read_accel_y(&v_reg_accel_y_s16);
+ if (com_rslt == 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;
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = 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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_y_mg(
+double *v_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;
+ /* 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) {
+ /* Read the accel raw y data*/
+ com_rslt += bno055_read_accel_y(&v_reg_accel_y_s16);
+ if (com_rslt == 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;
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = 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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_z_msq(
+double *v_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;
+ /* 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) {
+ /* Read the accel raw z data*/
+ com_rslt += bno055_read_accel_z(&v_reg_accel_z_s16);
+ if (com_rslt == 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;
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = 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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_z_mg(
+double *v_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;
+ /* 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) {
+ /* Read the accel raw z data*/
+ com_rslt += bno055_read_accel_z(&v_reg_accel_z_s16);
+ if (com_rslt == 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;
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ return com_rslt;
+}
+/*!
+ * @brief This API is used to convert the accel xyz raw data
+ * to meterpersecseq output as double
+ *
+ * @param accel_xyz : The meterpersecseq data of accel xyz
+ *
+ * Parameter | result
+ * --------- | -----------------
+ * x | meterpersecseq data of accel
+ * y | meterpersecseq data of accel
+ * z | meterpersecseq data of accel
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_xyz_msq(
+struct bno055_accel_double_t *accel_xyz)
+{
+ /* Variable used to return value of
+ communication routine*/
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = 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;
+ /* 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) {
+ /* Read the accel raw xyz data*/
+ com_rslt += bno055_read_accel_xyz(®_accel_xyz);
+ if (com_rslt == SUCCESS) {
+ /* Convert raw xyz to m/s2*/
+ accel_xyz->x =
+ (double)(reg_accel_xyz.x/ACCEL_DIV_MSQ);
+ accel_xyz->y =
+ (double)(reg_accel_xyz.y/ACCEL_DIV_MSQ);
+ accel_xyz->z =
+ (double)(reg_accel_xyz.z/ACCEL_DIV_MSQ);
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ return com_rslt;
+}
+/*!
+ * @brief This API is used to convert the accel xyz raw data
+ * to millig output as double
+ *
+ * @param accel_xyz : The millig data of accel xyz
+ *
+ * Parameter | result
+ * --------- | -----------------
+ * x | millig data of accel
+ * y | millig data of accel
+ * z | millig data of accel
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_xyz_mg(
+struct bno055_accel_double_t *accel_xyz)
+{
+ /* Variable used to return value of
+ communication routine*/
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = 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;
+ /* 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) {
+ /* Read the accel raw xyz data*/
+ com_rslt += bno055_read_accel_xyz(®_accel_xyz);
+ if (com_rslt == SUCCESS) {
+ /* Convert raw xyz to mg*/
+ accel_xyz->x =
+ (double)(reg_accel_xyz.x/ACCEL_DIV_MG);
+ accel_xyz->y =
+ (double)(reg_accel_xyz.y/ACCEL_DIV_MG);
+ accel_xyz->z =
+ (double)(reg_accel_xyz.z/ACCEL_DIV_MG);
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = 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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_x_uT(
+double *v_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;
+ /* Read raw mag x data */
+ com_rslt = bno055_read_mag_x(&v_reg_v_mag_x_s16);
+ if (com_rslt == 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;
+ } else {
+ com_rslt = 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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_y_uT(
+double *v_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;
+ /* Read raw mag y data */
+ com_rslt = bno055_read_mag_y(&v_reg_mag_y_s16);
+ if (com_rslt == 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;
+ } else {
+ com_rslt = 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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_z_uT(
+double *v_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;
+ /* Read raw mag x */
+ com_rslt = bno055_read_mag_z(&v_reg_mag_z_s16);
+ if (com_rslt == 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;
+ } else {
+ com_rslt = ERROR;
+ }
+ return com_rslt;
+}
+/*!
+ * @brief This API is used to convert the mag yz raw data
+ * to microTesla output as double
+ *
+ * @param mag_xyz : The microTesla data of mag xyz
+ *
+ * Parameter | result
+ * --------- | -----------------
+ * x | microTesla data of mag
+ * y | microTesla data of mag
+ * z | microTesla data of mag
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_xyz_uT(
+struct bno055_mag_double_t *mag_xyz)
+{
+ /* Variable used to return value of
+ communication routine*/
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ struct bno055_mag_t reg_mag_xyz = {
+ BNO055_ZERO_U8X, BNO055_ZERO_U8X, BNO055_ZERO_U8X};
+ /* Read raw mag xyz data */
+ com_rslt = bno055_read_mag_xyz(®_mag_xyz);
+ if (com_rslt == SUCCESS) {
+ /* Convert raw mag xyz to microTesla*/
+ mag_xyz->x =
+ (double)(reg_mag_xyz.x/MAG_DIV_UT);
+ mag_xyz->y =
+ (double)(reg_mag_xyz.y/MAG_DIV_UT);
+ mag_xyz->z =
+ (double)(reg_mag_xyz.z/MAG_DIV_UT);
+ } else {
+ com_rslt = 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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_x_dps(
+double *v_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;
+ /* 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) {
+ /* Read gyro raw x data */
+ com_rslt += bno055_read_gyro_x(&v_reg_gyro_x_s16);
+ if (com_rslt == 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;
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = 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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_x_rps(
+double *v_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;
+ /* 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) {
+ /* Read gyro raw x data */
+ com_rslt += bno055_read_gyro_x(&v_reg_gyro_x_s16);
+ if (com_rslt == 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;
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = 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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_y_dps(
+double *v_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;
+ /* 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) {
+ /* Read gyro raw y data */
+ com_rslt += bno055_read_gyro_y(&v_reg_gyro_y_s16);
+ if (com_rslt == 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;
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = 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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_y_rps(
+double *v_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;
+ /* 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) {
+ /* Read gyro raw y data */
+ com_rslt += bno055_read_gyro_y(&v_reg_gyro_y_s16);
+ if (com_rslt == 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;
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = 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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_z_dps(
+double *v_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;
+ /* 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) {
+ /* Read gyro raw z data */
+ com_rslt += bno055_read_gyro_z(&v_reg_gyro_z_s16);
+ if (com_rslt == 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;
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = 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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_z_rps(
+double *v_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;
+ /* 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) {
+ /* Read gyro raw x data */
+ com_rslt += bno055_read_gyro_z(&v_reg_gyro_z_s16);
+ if (com_rslt == 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;
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ return com_rslt;
+}
+/*!
+ * @brief This API is used to convert the gyro xyz raw data
+ * to dps output as double
+ *
+ * @param gyro_xyz : The dps data of gyro xyz
+ *
+ * Parameter | result
+ * --------- | -----------------
+ * x | dps data of gyro
+ * y | dps data of gyro
+ * z | dps data of gyro
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_xyz_dps(
+struct bno055_gyro_double_t *gyro_xyz)
+{
+ /* Variable used to return value of
+ communication routine*/
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = 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;
+ /* 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) {
+ /* Read gyro raw xyz data */
+ com_rslt += bno055_read_gyro_xyz(®_gyro_xyz);
+ if (com_rslt == SUCCESS) {
+ /* Convert gyro raw xyz to dps*/
+ gyro_xyz->x =
+ (double)(reg_gyro_xyz.x/GYRO_DIV_DPS);
+ gyro_xyz->y =
+ (double)(reg_gyro_xyz.y/GYRO_DIV_DPS);
+ gyro_xyz->z =
+ (double)(reg_gyro_xyz.z/GYRO_DIV_DPS);
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ return com_rslt;
+}
+/*!
+ * @brief This API is used to convert the gyro xyz raw data
+ * to rps output as double
+ *
+ * @param gyro_xyz : The rps data of gyro xyz
+ *
+ * Parameter | result
+ * --------- | -----------------
+ * x | rps data of gyro
+ * y | rps data of gyro
+ * z | rps data of gyro
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_xyz_rps(
+struct bno055_gyro_double_t *gyro_xyz)
+{
+ /* Variable used to return value of
+ communication routine*/
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = 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;
+ /* 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) {
+ /* Read gyro raw x data */
+ com_rslt += bno055_read_gyro_xyz(®_gyro_xyz);
+ if (com_rslt == SUCCESS) {
+ /* Convert the raw gyro xyz to rps*/
+ gyro_xyz->x =
+ (double)(reg_gyro_xyz.x/GYRO_DIV_RPS);
+ gyro_xyz->y =
+ (double)(reg_gyro_xyz.y/GYRO_DIV_RPS);
+ gyro_xyz->z =
+ (double)(reg_gyro_xyz.z/GYRO_DIV_RPS);
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_h_deg(
+double *v_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;
+ /* 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) {
+ /* Read Euler raw h data*/
+ com_rslt += bno055_read_euler_h(&v_reg_euler_h_s16);
+ if (com_rslt == 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;
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_h_rad(
+double *v_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;
+ /* 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) {
+ /* Read Euler raw h data*/
+ com_rslt += bno055_read_euler_h(&v_reg_euler_h_s16);
+ if (com_rslt == 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;
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_r_deg(
+double *v_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;
+ /* 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) {
+ /* Read Euler raw r data*/
+ com_rslt += bno055_read_euler_r(&v_reg_euler_r_s16);
+ if (com_rslt == 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;
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_r_rad(
+double *v_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;
+ /* 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) {
+ /* Read Euler raw r data*/
+ com_rslt += bno055_read_euler_r(&v_reg_euler_r_s16);
+ if (com_rslt == 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;
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_p_deg(
+double *v_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;
+ /* 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) {
+ /* Read Euler raw p data*/
+ com_rslt += bno055_read_euler_p(&v_reg_euler_p_s16);
+ if (com_rslt == 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;
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_p_rad(
+double *v_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;
+ /* 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) {
+ /* Read Euler raw p data*/
+ com_rslt += bno055_read_euler_p(&v_reg_euler_p_s16);
+ if (com_rslt == 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;
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ return com_rslt;
+}
+/*!
+ * @brief This API is used to convert the Euler hpr raw data
+ * to degree output as double
+ *
+ * @param euler_hpr : The degree data of Euler hpr
+ *
+ * Parameter | result
+ * --------- | -----------------
+ * h | degree data of Euler
+ * r | degree data of Euler
+ * p | degree data of Euler
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_hpr_deg(
+struct bno055_euler_double_t *euler_hpr)
+{
+ /* 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;
+ /* 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) {
+ /* Read Euler raw h data*/
+ com_rslt += bno055_read_euler_hrp(®_euler);
+ if (com_rslt == SUCCESS) {
+ /* Convert raw Euler hrp to degree*/
+ euler_hpr->h =
+ (double)(reg_euler.h/EULER_DIV_DEG);
+ euler_hpr->p =
+ (double)(reg_euler.p/EULER_DIV_DEG);
+ euler_hpr->r =
+ (double)(reg_euler.r/EULER_DIV_DEG);
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ return com_rslt;
+}
+/*!
+ * @brief This API is used to convert the Euler hpr raw data
+ * to radians output as double
+ *
+ * @param euler_hpr : The radians data of Euler hpr
+ *
+ * Parameter | result
+ * --------- | -----------------
+ * h | radians data of Euler
+ * r | radians data of Euler
+ * p | radians data of Euler
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_hpr_rad(
+struct bno055_euler_double_t *euler_hpr)
+{
+ /* 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;
+ /* 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) {
+ /* Read the raw hrp */
+ com_rslt = bno055_read_euler_hrp(®_euler);
+ if (com_rslt == SUCCESS) {
+ /* Convert raw Euler hrp to radians*/
+ euler_hpr->h =
+ (double)(reg_euler.h/EULER_DIV_RAD);
+ euler_hpr->p =
+ (double)(reg_euler.p/EULER_DIV_RAD);
+ euler_hpr->r =
+ (double)(reg_euler.r/EULER_DIV_RAD);
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = 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
+ * linear accel x meterpersecseq
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_x_msq(
+double *v_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;
+ /* Read the raw x of linear accel */
+ com_rslt = bno055_read_linear_accel_x(&v_reg_linear_accel_x_s16);
+ if (com_rslt == 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;
+ } else {
+ com_rslt = 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
+ * linear accel y meterpersecseq
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_y_msq(
+double *v_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;
+ /* Read the raw x of linear accel */
+ com_rslt = bno055_read_linear_accel_y(&v_reg_linear_accel_y_s16);
+ if (com_rslt == 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;
+ } else {
+ com_rslt = 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
+ * linear accel z meterpersecseq
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_z_msq(
+double *v_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;
+ /* Read the raw x of linear accel */
+ com_rslt = bno055_read_linear_accel_z(&v_reg_linear_accel_z_s16);
+ if (com_rslt == 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;
+ } else {
+ com_rslt = ERROR;
+ }
+ return com_rslt;
+}
+/*!
+ * @brief This API is used to convert the linear accel xyz raw data
+ * to meterpersecseq output as double
+ *
+ * @param linear_accel_xyz : The meterpersecseq data of linear accel xyz
+ *
+ * Parameter | result
+ * --------- | -----------------
+ * x | meterpersecseq data of linear accel
+ * y | meterpersecseq data of linear accel
+ * z | meterpersecseq data of linear accel
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_xyz_msq(
+struct bno055_linear_accel_double_t *linear_accel_xyz)
+{
+ /* Variable used to return value of
+ communication routine*/
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ struct bno055_linear_accel_t reg_linear_accel_xyz = {
+ BNO055_ZERO_U8X, BNO055_ZERO_U8X, BNO055_ZERO_U8X};
+ /* Read the raw xyz of linear accel */
+ com_rslt = bno055_read_linear_accel_xyz(®_linear_accel_xyz);
+ if (com_rslt == 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);
+ linear_accel_xyz->y =
+ (double)(reg_linear_accel_xyz.y/LINEAR_ACCEL_DIV_MSQ);
+ linear_accel_xyz->z =
+ (double)(reg_linear_accel_xyz.z/LINEAR_ACCEL_DIV_MSQ);
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_x_msq(
+double *v_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;
+ /* Read raw gravity of x*/
+ com_rslt = bno055_read_gravity_x(&v_reg_gravity_x_s16);
+ if (com_rslt == 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;
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_y_msq(
+double *v_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;
+ /* Read raw gravity of y */
+ com_rslt = bno055_read_gravity_y(&v_reg_gravity_y_s16);
+ if (com_rslt == 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;
+ } else {
+ com_rslt += 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_z_msq(
+double *v_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;
+ /* Read raw gravity of z */
+ com_rslt = bno055_read_gravity_z(&v_reg_gravity_z_s16);
+ if (com_rslt == 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;
+ } else {
+ com_rslt += ERROR;
+ }
+ return com_rslt;
+}
+/*!
+ * @brief This API is used to convert the gravity xyz raw data
+ * to meterpersecseq output as double
+ *
+ * @param gravity_xyz : The meterpersecseq data of gravity xyz
+ *
+ * Parameter | result
+ * --------- | -----------------
+ * x | meterpersecseq data of gravity
+ * y | meterpersecseq data of gravity
+ * z | meterpersecseq data of gravity
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gravity_xyz_msq(
+struct bno055_gravity_double_t *gravity_xyz)
+{
+ /* Variable used to return value of
+ communication routine*/
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ struct bno055_gravity_t reg_gravity_xyz = {
+ BNO055_ZERO_U8X, BNO055_ZERO_U8X, BNO055_ZERO_U8X};
+ /* Read raw gravity of xyz */
+ com_rslt = bno055_read_gravity_xyz(®_gravity_xyz);
+ if (com_rslt == SUCCESS) {
+ /* Convert raw gravity of xyz to m/s2 */
+ gravity_xyz->x =
+ (double)(reg_gravity_xyz.x/GRAVITY_DIV_MSQ);
+ gravity_xyz->y =
+ (double)(reg_gravity_xyz.y/GRAVITY_DIV_MSQ);
+ gravity_xyz->z =
+ (double)(reg_gravity_xyz.z/GRAVITY_DIV_MSQ);
+ } else {
+ com_rslt += 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_temp_fahrenheit(
+double *v_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;
+ /* 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) {
+ /* Read the raw temperature data */
+ com_rslt += bno055_read_temp_data(&v_reg_temp_s8);
+ if (com_rslt == SUCCESS) {
+ /* Convert raw temperature data to Fahrenheit*/
+ v_data_d =
+ (double)(v_reg_temp_s8/TEMP_DIV_FAHRENHEIT);
+ *v_temp_d = v_data_d;
+ } else {
+ com_rslt += ERROR;
+ }
+ } else {
+ com_rslt += 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_temp_celsius(
+double *v_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;
+ /* 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) {
+ /* Read the raw temperature data */
+ com_rslt += bno055_read_temp_data(&v_reg_temp_s8);
+ if (com_rslt == SUCCESS) {
+ /* Convert raw temperature data to Fahrenheit*/
+ v_data_d =
+ (double)(v_reg_temp_s8/TEMP_DIV_CELSIUS);
+ *v_temp_d = v_data_d;
+ } else {
+ com_rslt += ERROR;
+ }
+ } else {
+ com_rslt += ERROR;
+ }
+ return com_rslt;
+}
+#endif
+/*!
+ * @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
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_calib_stat(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, mag calib
+ available in the page zero*/
+ if (p_bno055->page_id != 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 */
+ 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);
+ } else {
+ com_rslt = 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
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_calib_stat(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty*/
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, accel calib
+ available in the page zero*/
+ if (p_bno055->page_id != 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 */
+ 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);
+ } else {
+ com_rslt = 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
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_calib_stat(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, gyro calib
+ available in the page zero*/
+ if (p_bno055->page_id != 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 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);
+ } else {
+ com_rslt = 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
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_calib_stat(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty*/
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page,system calib
+ available in the page zero*/
+ if (p_bno055->page_id != 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 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);
+ } else {
+ com_rslt = 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
+ *
+ * v_selftest_accel_u8 | result
+ * -------------------- | ---------------------
+ * 0x00 | indicates test failed
+ * 0x01 | indicated test passed
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_accel(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, accel self test is
+ available in the page zero*/
+ if (p_bno055->page_id != 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 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);
+ } else {
+ com_rslt = 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
+ *
+ * v_selftest_mag_u8 | result
+ * -------------------- | ---------------------
+ * 0x00 | indicates test failed
+ * 0x01 | indicated test passed
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_mag(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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)
+ /* 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 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);
+ } else {
+ com_rslt = 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
+ *
+ * v_selftest_gyro_u8 | result
+ * -------------------- | ---------------------
+ * 0x00 | indicates test failed
+ * 0x01 | indicated test passed
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_gyro(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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)
+ /* 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 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);
+ } else {
+ com_rslt = 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
+ *
+ * v_selftest_mcu_u8 | result
+ * -------------------- | ---------------------
+ * 0x00 | indicates test failed
+ * 0x01 | indicated test passed
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_mcu(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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)
+ /* 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 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);
+ } else {
+ com_rslt = ERROR;
+ }
+ }
+ return com_rslt;
+}
+/*!
+ * @brief This API used to read the v_stat_s8 of
+ * gyro anymotion interrupt from register from 0x37 bit 2
+ *
+ * @param v_gyro_any_motion_u8 : The value of gyro anymotion interrupt
+ *
+ * v_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
+ *
+ * @note Gyro anymotion interrupt can be enabled
+ * by the following APIs
+ *
+ * bno055_set_intr_mask_gyro_any_motion()
+ *
+ * bno055_set_intr_gyro_any_motion()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_gyro_any_motion(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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)
+ /* 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*/
+ 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);
+ } else {
+ com_rslt = ERROR;
+ }
+ }
+ return com_rslt;
+}
+/*!
+ * @brief This API used to read the v_stat_s8 of
+ * gyro highrate interrupt from register from 0x37 bit 3
+ *
+ * @param v_gyro_highrate_u8 : The value of gyro highrate interrupt
+ *
+ * v_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
+ *
+ * @note Gyro highrate interrupt can be configured
+ * by the following APIs
+ *
+ * bno055_set_intr_mask_gyro_highrate()
+ *
+ * bno055_set_intr_gyro_highrate()
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_gyro_highrate(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, gyro highrate is
+ available in the page zero*/
+ if (p_bno055->page_id != 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*/
+ 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);
+ } else {
+ com_rslt = ERROR;
+ }
+ }
+ return com_rslt;
+}
+/*!
+ * @brief This API used to read the v_stat_s8 of
+ * accel highg interrupt from register from 0x37 bit 5
+ *
+ * @param v_accel_high_g_u8 : The value of accel highg interrupt
+ *
+ * v_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
+ *
+ * @note Accel highg interrupt can be configured
+ * by the following APIs
+ *
+ * bno055_set_intr_mask_accel_high_g()
+ *
+ * bno055_set_intr_accel_high_g()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_high_g(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, accel highg is
+ available in the page zero*/
+ if (p_bno055->page_id != 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 */
+ 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);
+ } else {
+ com_rslt = ERROR;
+ }
+ }
+ return com_rslt;
+}
+/*!
+ * @brief This API used to read the v_stat_s8 of
+ * accel anymotion interrupt from register from 0x37 bit 6
+ *
+ * @param v_accel_any_motion_u8 : The value of accel anymotion interrupt
+ *
+ * v_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
+ *
+ * @note Accel anymotion interrupt can be configured
+ * by the following APIs
+ *
+ * bno055_set_intr_mask_accel_any_motion()
+ *
+ * bno055_set_intr_accel_any_motion()
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_any_motion(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, accel anymotion is
+ available in the page zero*/
+ if (p_bno055->page_id != 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 */
+ 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);
+ } else {
+ com_rslt = ERROR;
+ }
+ }
+ return com_rslt;
+}
+/*!
+ * @brief This API used to read the v_stat_s8 of
+ * accel nomotion/slowmotion interrupt from register from 0x37 bit 6
+ *
+ * @param v_accel_no_motion_u8 : The value of accel
+ * nomotion/slowmotion interrupt
+ *
+ * v_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
+ *
+ * @note Accel nomotion/slowmotion interrupt can be configured
+ * by the following APIs
+ *
+ * bno055_set_intr_mask_accel_nomotion()
+ *
+ * bno055_set_intr_accel_nomotion()
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_no_motion(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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)
+ /* 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
+ 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);
+ } else {
+ com_rslt = 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
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_stat_main_clk(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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)
+ /* 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 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);
+ } else {
+ com_rslt = 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
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_stat_code(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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)
+ /* 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 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);
+ } else {
+ com_rslt = ERROR;
+ }
+ }
+ return com_rslt;
+}
+/*!
+ * @brief This API is used to read system error
+ * code from the register 0x3A it is a byte of data
+ *
+ * @param v_sys_error_u8 : The value of system error code
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_error_code(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, system error code is
+ available in the page zero*/
+ if (p_bno055->page_id != 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*/
+ 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);
+ } else {
+ com_rslt = 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
+ *
+ * v_accel_unit_u8 | result
+ * ------------- | ---------------
+ * 0x00 | ACCEL_UNIT_MSQ
+ * 0x01 | ACCEL_UNIT_MG
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_unit(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, accel unit is
+ available in the page zero*/
+ if (p_bno055->page_id != 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 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);
+ } else {
+ com_rslt = 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
+ *
+ * v_accel_unit_u8 | result
+ * ------------- | ---------------
+ * 0x00 | ACCEL_UNIT_MSQ
+ * 0x01 | ACCEL_UNIT_MG
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_unit(
+u8 v_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;
+ /* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* 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);
+ com_rslt +=
+ p_bno055->BNO055_BUS_WRITE_FUNC
+ (p_bno055->dev_addr,
+ BNO055_ACCEL_UNIT__REG,
+ &v_data_u8r, BNO055_ONE_U8X);
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ }
+ if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode
+ of previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_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
+ *
+ * v_gyro_unit_u8 | result
+ * ------------- | -----------
+ * 0x00 | GYRO_UNIT_DPS
+ * 0x01 | GYRO_UNIT_RPS
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_unit(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, gyro unit is
+ available in the page zero*/
+ if (p_bno055->page_id != 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 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);
+ } else {
+ com_rslt = 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
+ *
+ * v_gyro_unit_u8 | result
+ * ------------- | -----------
+ * 0x00 | GYRO_UNIT_DPS
+ * 0x01 | GYRO_UNIT_RPS
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_unit(u8 v_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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* 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);
+ com_rslt +=
+ p_bno055->BNO055_BUS_WRITE_FUNC
+ (p_bno055->dev_addr,
+ BNO055_GYRO_UNIT__REG,
+ &v_data_u8r, BNO055_ONE_U8X);
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ }
+ if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode
+ of previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_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
+ *
+ * v_euler_unit_u8 | result
+ * -------------- | -----------
+ * 0x00 | EULER_UNIT_DEG
+ * 0x01 | EULER_UNIT_RAD
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_euler_unit(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, Euler unit is
+ available in the page zero*/
+ if (p_bno055->page_id != 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 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);
+ } else {
+ com_rslt = 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
+ *
+ * v_euler_unit_u8 | result
+ * -------------- | -----------
+ * 0x00 | EULER_UNIT_DEG
+ * 0x01 | EULER_UNIT_RAD
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_euler_unit(u8 v_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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* 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);
+ com_rslt +=
+ p_bno055->BNO055_BUS_WRITE_FUNC
+ (p_bno055->dev_addr,
+ BNO055_EULER_UNIT__REG,
+ &v_data_u8r, BNO055_ONE_U8X);
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ }
+ if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode
+ of previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_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
+ *
+ * v_tilt_unit_u8 | result
+ * --------------- | ---------
+ * 0x00 | degrees
+ * 0x01 | radians
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_tilt_unit(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, chip id is
+ available in the page zero*/
+ if (p_bno055->page_id != 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)) {
+ 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);
+ } else {
+ com_rslt = 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
+ *
+ * v_tilt_unit_u8 | result
+ * --------------- | ---------
+ * 0x00 | degrees
+ * 0x01 | radians
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ *
+ * \return Communication results
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_tilt_unit(u8 v_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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ 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);
+ com_rslt +=
+ p_bno055->BNO055_BUS_WRITE_FUNC
+ (p_bno055->dev_addr,
+ BNO055_TILT_UNIT__REG,
+ &v_data_u8r, BNO055_ONE_U8X);
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ }
+ if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode
+ of previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_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
+ *
+ * v_temp_unit_u8 | result
+ * ----------- | --------------
+ * 0x00 | TEMP_UNIT_CELCIUS
+ * 0x01 | TEMP_UNIT_FAHRENHEIT
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_temp_unit(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, temperature unit is
+ available in the page zero*/
+ if (p_bno055->page_id != 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 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);
+ } else {
+ com_rslt = 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
+ *
+ * v_temp_unit_u8 | result
+ * ----------- | --------------
+ * 0x00 | TEMP_UNIT_CELCIUS
+ * 0x01 | TEMP_UNIT_FAHRENHEIT
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_temp_unit(
+u8 v_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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* 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,
+ v_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);
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ }
+ if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode
+ of previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_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
+ *
+ * v_data_output_format_u8 | result
+ * -------------------- | --------
+ * 0x00 | Windows
+ * 0x01 | Android
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_data_output_format(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, data output format is
+ available in the page zero*/
+ if (p_bno055->page_id != 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 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);
+ } else {
+ com_rslt = 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
+ *
+ * v_data_output_format_u8 | result
+ * -------------------- | --------
+ * 0x00 | Windows
+ * 0x01 | Android
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_data_output_format(
+u8 v_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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* 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,
+ v_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);
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ }
+ if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode
+ of previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_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
+ *
+ * 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
+ *
+ * @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_get_operation_mode(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, operation mode is
+ available in the page zero*/
+ if (p_bno055->page_id != 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 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);
+ } else {
+ com_rslt = 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
+ *
+ * @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 com_rslt = ERROR;
+u8 v_data_u8r = BNO055_ZERO_U8X;
+u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
+s8 v_stat_s8 = ERROR;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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 the previous operation mode is config it is
+ directly write the operation mode */
+ if (v_prev_opmode_u8 == 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,
+ v_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);
+ /* Config mode to other
+ operation mode switching
+ required delay of 600ms*/
+ p_bno055->delay_msec(
+ BNO055_SIX_HUNDRES_U8X);
+ }
+ } else {
+ /* If the previous operation
+ mode is not config it is
+ 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,
+ OPERATION_MODE_CONFIG);
+ com_rslt += bno055_write_register(
+ BNO055_OPERATION_MODE__REG,
+ &v_data_u8r, BNO055_ONE_U8X);
+ /* other mode to config mode switching
+ required delay of 20ms*/
+ p_bno055->delay_msec(BNO055_TWENTY_U8X);
+ }
+ /* Write the operation mode */
+ if (v_operation_mode_u8 !=
+ 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,
+ v_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);
+ /* Config mode to other
+ operation mode switching
+ required delay of 600ms*/
+ p_bno055->delay_msec(
+ BNO055_SIX_HUNDRES_U8X);
+ }
+ }
+ }
+ } else {
+ com_rslt = 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
+ *
+ * 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.
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> 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)
+{
+ /* 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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, power mode is
+ available in the page zero*/
+ if (p_bno055->page_id != 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 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);
+ } else {
+ com_rslt = 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
+ *
+ * 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.
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> 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 com_rslt = ERROR;
+u8 v_data_u8r = BNO055_ZERO_U8X;
+u8 v_prev_opmode_u8 = OPERATION_MODE_CONFIG;
+s8 v_stat_s8 = ERROR;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* 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);
+ com_rslt +=
+ p_bno055->BNO055_BUS_WRITE_FUNC
+ (p_bno055->dev_addr,
+ BNO055_POWER_MODE__REG,
+ &v_data_u8r, BNO055_ONE_U8X);
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ }
+ if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode
+ of previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_prev_opmode_u8);
+ return com_rslt;
+}
+/*!
+ * @brief This API used to read the 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
+ *
+ * v_intr_rst_u8 | result
+ * -------------- |----------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_rst(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, reset interrupt is
+ available in the page zero*/
+ if (p_bno055->page_id != 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 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);
+ } else {
+ com_rslt = ERROR;
+ }
+ }
+ return com_rslt;
+}
+/*!
+ * @brief This API used to write the 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
+ *
+ * v_intr_rst_u8 | result
+ * -------------- |----------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_rst(u8 v_intr_rst_u8)
+{
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ u8 v_data_u8r = BNO055_ZERO_U8X;
+ s8 v_stat_s8 = ERROR;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, reset interrupt
+ available in the page zero*/
+ if (p_bno055->page_id != 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)) {
+ /* 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);
+ com_rslt +=
+ p_bno055->BNO055_BUS_WRITE_FUNC
+ (p_bno055->dev_addr,
+ BNO055_INTR_RST__REG,
+ &v_data_u8r, BNO055_ONE_U8X);
+ }
+ } else {
+ com_rslt = 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
+ *
+ * v_clk_src_u8 | result
+ * -------------- |----------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_clk_src(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, clk source is
+ available in the page zero*/
+ if (p_bno055->page_id != 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 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);
+ } else {
+ com_rslt = 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
+ *
+ * v_clk_src_u8 | result
+ * -------------- |----------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_clk_src(u8 v_clk_src_u8)
+{
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ u8 v_data_u8r = BNO055_ZERO_U8X;
+ s8 v_stat_s8 = ERROR;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, clk source is
+ available in the page zero*/
+ if (p_bno055->page_id != 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)) {
+ /* 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);
+ com_rslt +=
+ p_bno055->BNO055_BUS_WRITE_FUNC
+ (p_bno055->dev_addr,
+ BNO055_CLK_SRC__REG,
+ &v_data_u8r, BNO055_ONE_U8X);
+ }
+ } else {
+ com_rslt = 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
+ *
+ * v_sys_rst_u8 | result
+ * -------------- |----------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note It resets the whole system
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_rst(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, reset system is
+ available in the page zero*/
+ if (p_bno055->page_id != 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 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);
+ } else {
+ com_rslt = 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
+ *
+ * v_sys_rst_u8 | result
+ * -------------- |----------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note It resets the whole system
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_sys_rst(u8 v_sys_rst_u8)
+{
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ u8 v_data_u8r = BNO055_ZERO_U8X;
+ s8 v_stat_s8 = ERROR;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, reset system is
+ available in the page zero*/
+ if (p_bno055->page_id != 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)) {
+ /* 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);
+ com_rslt =
+ p_bno055->BNO055_BUS_WRITE_FUNC
+ (p_bno055->dev_addr,
+ BNO055_SYS_RST__REG,
+ &v_data_u8r, BNO055_ONE_U8X);
+ }
+ } else {
+ com_rslt = 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
+ *
+ * v_selftest_u8 | result
+ * -------------- |----------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note It triggers the self test
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, self test is
+ available in the page zero*/
+ if (p_bno055->page_id != 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 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);
+ } else {
+ com_rslt = 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
+ *
+ * v_selftest_u8 | result
+ * -------------- |----------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note It triggers the self test
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_selftest(u8 v_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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* 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,
+ v_selftest_u8);
+ com_rslt +=
+ p_bno055->BNO055_BUS_WRITE_FUNC
+ (p_bno055->dev_addr,
+ BNO055_SELFTEST__REG,
+ &v_data_u8r, BNO055_ONE_U8X);
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ }
+ if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode
+ of previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_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
+ *
+ * v_temp_source_u8 | result
+ * ---------------- |---------------
+ * 0x00 | ACCEL_TEMP_EN
+ * 0X01 | GYRO_TEMP_EN
+ * 0X03 | MCU_TEMP_EN
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_temp_source(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, temperature source is
+ available in the page zero*/
+ if (p_bno055->page_id != 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 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);
+ } else {
+ com_rslt = 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
+ *
+ * v_temp_source_u8 | result
+ * ---------------- |---------------
+ * 0x00 | ACCEL_TEMP_EN
+ * 0X01 | GYRO_TEMP_EN
+ * 0X03 | MCU_TEMP_EN
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_temp_source(u8 v_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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* 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);
+ com_rslt +=
+ p_bno055->BNO055_BUS_WRITE_FUNC
+ (p_bno055->dev_addr,
+ BNO055_TEMP_SOURCE__REG,
+ &v_data_u8r, BNO055_ONE_U8X);
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ }
+ if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode
+ of previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_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
+ *
+ * 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note : For axis sign remap refer the following functions
+ * x-axis :
+ *
+ * bno055_set_x_remap_sign()
+ *
+ * y-axis :
+ *
+ * bno055_set_y_remap_sign()
+ *
+ * z-axis :
+ *
+ * bno055_set_z_remap_sign()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_axis_remap_value(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, axis remap is
+ available in the page zero*/
+ if (p_bno055->page_id != 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 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);
+ } else {
+ com_rslt = 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
+ *
+ * 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note : For axis sign remap refer the following functions
+ * x-axis :
+ *
+ * bno055_set_x_remap_sign()
+ *
+ * y-axis :
+ *
+ * bno055_set_y_remap_sign()
+ *
+ * z-axis :
+ *
+ * bno055_set_z_remap_sign()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_axis_remap_value(
+u8 v_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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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);
+ /* 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:
+ 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,
+ v_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);
+ }
+ break;
+ default:
+ /* Write the default axis remap value */
+ 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,
+ 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);
+ }
+ break;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+}
+if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode
+ of previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_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
+ *
+ * v_remap_x_sign_u8 | result
+ * ------------------- |--------------------
+ * 0X00 | REMAP_AXIS_POSITIVE
+ * 0X01 | REMAP_AXIS_NEGATIVE
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_x_sign(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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)
+ /* 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 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);
+ } else {
+ com_rslt = 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
+ *
+ * v_remap_x_sign_u8 | result
+ * ------------------- |--------------------
+ * 0X00 | REMAP_AXIS_POSITIVE
+ * 0X01 | REMAP_AXIS_NEGATIVE
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_x_sign(
+u8 v_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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* 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,
+ v_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);
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ }
+ if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode
+ of previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_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
+ *
+ * v_remap_y_sign_u8 | result
+ * ------------------- |--------------------
+ * 0X00 | REMAP_AXIS_POSITIVE
+ * 0X01 | REMAP_AXIS_NEGATIVE
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_y_sign(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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)
+ /* 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 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);
+ } else {
+ com_rslt = 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
+ *
+ * v_remap_y_sign_u8 | result
+ * ------------------- |--------------------
+ * 0X00 | REMAP_AXIS_POSITIVE
+ * 0X01 | REMAP_AXIS_NEGATIVE
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_y_sign(
+u8 v_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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* 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,
+ v_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);
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ }
+ if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode
+ of previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_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
+ *
+ * v_remap_z_sign_u8 | result
+ * ------------------- |--------------------
+ * 0X00 | REMAP_AXIS_POSITIVE
+ * 0X01 | REMAP_AXIS_NEGATIVE
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_z_sign(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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)
+ /* 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 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);
+ } else {
+ com_rslt = 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
+ *
+ * v_remap_z_sign_u8 | result
+ * ------------------- |--------------------
+ * 0X00 | REMAP_AXIS_POSITIVE
+ * 0X01 | REMAP_AXIS_NEGATIVE
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_z_sign(
+u8 v_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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* 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,
+ v_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);
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ }
+ if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode
+ of previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_prev_opmode_u8);
+ return com_rslt;
+}
+/*!
+ * @brief This API is used to read soft iron calibration matrix
+ * from the register 0x43 to 0x53 it is a 18 bytes of data
+ *
+ * @param sic_matrix : The value of soft iron calibration matrix
+ *
+ * sic_matrix | result
+ * --------------------|----------------------------------
+ * sic_0 | soft iron calibration matrix zero
+ * sic_1 | soft iron calibration matrix one
+ * sic_2 | soft iron calibration matrix two
+ * sic_3 | soft iron calibration matrix three
+ * sic_4 | soft iron calibration matrix four
+ * sic_5 | soft iron calibration matrix five
+ * sic_6 | soft iron calibration matrix six
+ * sic_7 | soft iron calibration matrix seven
+ * sic_8 | soft iron calibration matrix eight
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note : Each soft iron calibration matrix range from -32768 to +32767
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_sic_matrix(
+struct bno055_sic_matrix_t *sic_matrix)
+{
+ /* Variable used to return value of
+ communication routine*/
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = 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
+ */
+ 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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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)
+ /* 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 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) {
+ /*soft iron calibration matrix zero*/
+ v_data_u8[INDEX_ZERO] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_ZERO],
+ BNO055_SIC_MATRIX_0_LSB);
+ v_data_u8[INDEX_ONE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ 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]));
+
+ /*soft iron calibration matrix one*/
+ v_data_u8[INDEX_TWO] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_TWO],
+ BNO055_SIC_MATRIX_1_LSB);
+ v_data_u8[INDEX_THREE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_THREE],
+ 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]));
+
+ /*soft iron calibration matrix two*/
+ v_data_u8[INDEX_FOUR] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_FOUR],
+ BNO055_SIC_MATRIX_2_LSB);
+ v_data_u8[INDEX_FIVE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_FIVE],
+ 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]));
+
+ /*soft iron calibration matrix three*/
+ v_data_u8[INDEX_SIX] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_SIX],
+ BNO055_SIC_MATRIX_3_LSB);
+ v_data_u8[INDEX_SEVEN] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_SEVEN],
+ 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]));
+
+ /*soft iron calibration matrix four*/
+ v_data_u8[INDEX_EIGHT] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_EIGHT],
+ BNO055_SIC_MATRIX_4_LSB);
+ v_data_u8[INDEX_NINE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_NINE],
+ 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]));
+
+ /*soft iron calibration matrix five*/
+ v_data_u8[INDEX_TEN] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_TEN],
+ BNO055_SIC_MATRIX_5_LSB);
+ v_data_u8[INDEX_ELEVEN] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_ELEVEN],
+ 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]));
+
+ /*soft iron calibration matrix six*/
+ v_data_u8[INDEX_TWELVE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_TWELVE],
+ BNO055_SIC_MATRIX_6_LSB);
+ v_data_u8[INDEX_THIRTEEN] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_THIRTEEN],
+ 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]));
+
+ /*soft iron calibration matrix seven*/
+ v_data_u8[INDEX_FOURTEEN] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_FOURTEEN],
+ BNO055_SIC_MATRIX_7_LSB);
+ v_data_u8[INDEX_FIVETEEN] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_FIVETEEN],
+ 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]));
+
+ /*soft iron calibration matrix eight*/
+ v_data_u8[INDEX_SIXTEEN] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_SIXTEEN],
+ BNO055_SIC_MATRIX_8_LSB);
+ v_data_u8[INDEX_SEVENTEEN] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_SEVENTEEN],
+ 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]));
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ }
+ return com_rslt;
+}
+/*!
+ * @brief This API is used to write soft iron calibration matrix
+ * from the register 0x43 to 0x53 it is a 18 bytes of data
+ *
+ * @param sic_matrix : The value of soft iron calibration matrix
+ *
+ * sic_matrix | result
+ * --------------------|----------------------------------
+ * sic_0 | soft iron calibration matrix zero
+ * sic_1 | soft iron calibration matrix one
+ * sic_2 | soft iron calibration matrix two
+ * sic_3 | soft iron calibration matrix three
+ * sic_4 | soft iron calibration matrix four
+ * sic_5 | soft iron calibration matrix five
+ * sic_6 | soft iron calibration matrix six
+ * sic_7 | soft iron calibration matrix seven
+ * sic_8 | soft iron calibration matrix eight
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> 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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* 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)
+ (sic_matrix->sic_0
+ & BNO055_SIC_HEX_0_0_F_F_DATA));
+ v_data2_u8r =
+ BNO055_SET_BITSLICE(v_data2_u8r,
+ BNO055_SIC_MATRIX_0_LSB,
+ v_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);
+ }
+
+ 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)
+ (sic_matrix->sic_0 >>
+ BNO055_SHIFT_8_POSITION)
+ & BNO055_SIC_HEX_0_0_F_F_DATA);
+ v_data2_u8r =
+ BNO055_SET_BITSLICE(v_data2_u8r,
+ BNO055_SIC_MATRIX_0_MSB,
+ v_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);
+ }
+
+ /* write soft iron calibration
+ matrix one value*/
+ 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)
+ (sic_matrix->sic_1
+ & BNO055_SIC_HEX_0_0_F_F_DATA));
+ v_data2_u8r =
+ BNO055_SET_BITSLICE(v_data2_u8r,
+ BNO055_SIC_MATRIX_1_LSB,
+ v_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);
+ }
+
+ 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)
+ (sic_matrix->sic_1 >>
+ BNO055_SHIFT_8_POSITION)
+ & BNO055_SIC_HEX_0_0_F_F_DATA);
+ v_data2_u8r =
+ BNO055_SET_BITSLICE(v_data2_u8r,
+ BNO055_SIC_MATRIX_1_MSB,
+ v_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);
+ }
+
+ /* write soft iron calibration
+ matrix two value*/
+ 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)
+ (sic_matrix->sic_2
+ & BNO055_SIC_HEX_0_0_F_F_DATA));
+ v_data2_u8r =
+ BNO055_SET_BITSLICE(v_data2_u8r,
+ BNO055_SIC_MATRIX_2_LSB,
+ v_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);
+ }
+
+ 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)
+ (sic_matrix->sic_2 >>
+ BNO055_SHIFT_8_POSITION)
+ & BNO055_SIC_HEX_0_0_F_F_DATA);
+ v_data2_u8r =
+ BNO055_SET_BITSLICE(v_data2_u8r,
+ BNO055_SIC_MATRIX_2_MSB,
+ v_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);
+ }
+
+ /* write soft iron calibration
+ matrix three value*/
+ 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)
+ (sic_matrix->sic_3
+ & BNO055_SIC_HEX_0_0_F_F_DATA));
+ v_data2_u8r =
+ BNO055_SET_BITSLICE(v_data2_u8r,
+ BNO055_SIC_MATRIX_3_LSB,
+ v_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);
+ }
+
+ 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)
+ (sic_matrix->sic_3 >>
+ BNO055_SHIFT_8_POSITION)
+ & BNO055_SIC_HEX_0_0_F_F_DATA);
+ v_data2_u8r =
+ BNO055_SET_BITSLICE(v_data2_u8r,
+ BNO055_SIC_MATRIX_3_MSB,
+ v_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);
+ }
+
+ /* write soft iron calibration
+ matrix four value*/
+ 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)
+ (sic_matrix->sic_4
+ & BNO055_SIC_HEX_0_0_F_F_DATA));
+ v_data2_u8r =
+ BNO055_SET_BITSLICE(v_data2_u8r,
+ BNO055_SIC_MATRIX_4_LSB,
+ v_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);
+ }
+
+ 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)
+ (sic_matrix->sic_4 >>
+ BNO055_SHIFT_8_POSITION)
+ & BNO055_SIC_HEX_0_0_F_F_DATA);
+ v_data2_u8r =
+ BNO055_SET_BITSLICE(v_data2_u8r,
+ BNO055_SIC_MATRIX_4_MSB,
+ v_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);
+ }
+
+ /* write soft iron calibration
+ matrix five value*/
+ 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)
+ (sic_matrix->sic_5
+ & BNO055_SIC_HEX_0_0_F_F_DATA));
+ v_data2_u8r =
+ BNO055_SET_BITSLICE(v_data2_u8r,
+ BNO055_SIC_MATRIX_5_LSB,
+ v_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);
+ }
+
+ 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)
+ (sic_matrix->sic_5 >>
+ BNO055_SHIFT_8_POSITION)
+ & BNO055_SIC_HEX_0_0_F_F_DATA);
+ v_data2_u8r =
+ BNO055_SET_BITSLICE(v_data2_u8r,
+ BNO055_SIC_MATRIX_5_MSB,
+ v_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);
+ }
+
+ /* write soft iron calibration
+ matrix six value*/
+ 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)
+ (sic_matrix->sic_6
+ & BNO055_SIC_HEX_0_0_F_F_DATA));
+ v_data2_u8r =
+ BNO055_SET_BITSLICE(v_data2_u8r,
+ BNO055_SIC_MATRIX_6_LSB,
+ v_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);
+ }
+
+ 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)
+ (sic_matrix->sic_6 >>
+ BNO055_SHIFT_8_POSITION)
+ & BNO055_SIC_HEX_0_0_F_F_DATA);
+ v_data2_u8r =
+ BNO055_SET_BITSLICE(v_data2_u8r,
+ BNO055_SIC_MATRIX_6_MSB,
+ v_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);
+ }
+
+ /* write soft iron calibration
+ matrix seven value*/
+ 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)
+ (sic_matrix->sic_7
+ & BNO055_SIC_HEX_0_0_F_F_DATA));
+ v_data2_u8r =
+ BNO055_SET_BITSLICE(v_data2_u8r,
+ BNO055_SIC_MATRIX_7_LSB,
+ v_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);
+ }
+
+ 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)
+ (sic_matrix->sic_7 >>
+ BNO055_SHIFT_8_POSITION)
+ & BNO055_SIC_HEX_0_0_F_F_DATA);
+ v_data2_u8r =
+ BNO055_SET_BITSLICE(v_data2_u8r,
+ BNO055_SIC_MATRIX_7_MSB,
+ v_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);
+ }
+
+ /* write soft iron calibration
+ matrix eight value*/
+ 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)
+ (sic_matrix->sic_8
+ & BNO055_SIC_HEX_0_0_F_F_DATA));
+ v_data2_u8r =
+ BNO055_SET_BITSLICE(v_data2_u8r,
+ BNO055_SIC_MATRIX_8_LSB,
+ v_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);
+ }
+
+ 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)
+ (sic_matrix->sic_8 >>
+ BNO055_SHIFT_8_POSITION)
+ & BNO055_SIC_HEX_0_0_F_F_DATA);
+ v_data2_u8r =
+ BNO055_SET_BITSLICE(v_data2_u8r,
+ BNO055_SIC_MATRIX_8_MSB,
+ v_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);
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ }
+ if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode
+ of previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_prev_opmode_u8);
+ return com_rslt;
+}
+/*!
+ * @brief This API is used to read accel offset and accel radius
+ * offset form register 0x55 to 0x5A and radius form 0x67 and 0x68
+ *
+ * @param accel_offset : The value of accel offset and radius
+ *
+ * bno055_accel_offset_t | result
+ * ------------------- | ----------------
+ * x | accel offset x
+ * y | accel offset y
+ * z | accel offset z
+ * r | accel offset r
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> 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
+ *
+ * accel G range can be configured by using the
+ * bno055_set_accel_range() function
+ */
+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;
+ /* 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
+ */
+ 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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, accel offset is
+ available in the page zero*/
+ if (p_bno055->page_id != 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 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) {
+ /* Read accel x offset value*/
+ v_data_u8[INDEX_ZERO] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_ZERO],
+ BNO055_ACCEL_OFFSET_X_LSB);
+ v_data_u8[INDEX_ONE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ 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]));
+
+ /* Read accel y offset value*/
+ v_data_u8[INDEX_TWO] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_TWO],
+ BNO055_ACCEL_OFFSET_Y_LSB);
+ v_data_u8[INDEX_THREE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_THREE],
+ 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]));
+
+ /* Read accel z offset value*/
+ v_data_u8[INDEX_FOUR] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_FOUR],
+ BNO055_ACCEL_OFFSET_Z_LSB);
+ v_data_u8[INDEX_FIVE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_FIVE],
+ 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]));
+
+ /* 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);
+ /* Array holding the accel radius values
+ v_data_u8[INDEX_ZERO] - radius->LSB
+ v_data_u8[INDEX_ONE] - radius->MSB
+ */
+ if (com_rslt == SUCCESS) {
+ v_data_u8[INDEX_ZERO] =
+ BNO055_GET_BITSLICE(
+ v_data_u8[INDEX_ZERO],
+ BNO055_ACCEL_RADIUS_LSB);
+ v_data_u8[INDEX_ONE] =
+ BNO055_GET_BITSLICE(
+ v_data_u8[INDEX_ONE],
+ BNO055_ACCEL_RADIUS_MSB);
+ accel_offset->r = (s16)((((s32)
+ (s8)(v_data_u8[INDEX_ONE])) <<
+ (BNO055_SHIFT_8_POSITION)) |
+ (v_data_u8[INDEX_ZERO]));
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ }
+ return com_rslt;
+}
+/*!
+ * @brief This API is used to write accel offset and accel radius
+ * offset form register 0x55 to 0x5A and radius form 0x67 and 0x68
+ *
+ * @param accel_offset : The value of accel offset and radius
+ *
+ * bno055_accel_offset_t | result
+ * ------------------- | ----------------
+ * x | accel offset x
+ * y | accel offset y
+ * z | accel offset z
+ * r | accel offset r
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> 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
+ *
+ * accel G range can be configured by using the
+ * bno055_set_accel_range() function
+ */
+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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* 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)
+ (accel_offset->x
+ & BNO055_SIC_HEX_0_0_F_F_DATA));
+ v_data2_u8r =
+ BNO055_SET_BITSLICE(v_data2_u8r,
+ BNO055_ACCEL_OFFSET_X_LSB,
+ v_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);
+ }
+
+ 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)
+ (accel_offset->x >>
+ BNO055_SHIFT_8_POSITION)
+ & BNO055_SIC_HEX_0_0_F_F_DATA);
+ v_data2_u8r =
+ BNO055_SET_BITSLICE(v_data2_u8r,
+ BNO055_ACCEL_OFFSET_X_MSB,
+ v_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);
+ }
+
+ /* 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)
+ (accel_offset->y
+ & BNO055_SIC_HEX_0_0_F_F_DATA));
+ v_data2_u8r =
+ BNO055_SET_BITSLICE(v_data2_u8r,
+ BNO055_ACCEL_OFFSET_Y_LSB,
+ v_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);
+ }
+
+ 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)
+ (accel_offset->y >>
+ BNO055_SHIFT_8_POSITION)
+ & BNO055_SIC_HEX_0_0_F_F_DATA);
+ v_data2_u8r =
+ BNO055_SET_BITSLICE(v_data2_u8r,
+ BNO055_ACCEL_OFFSET_Y_MSB,
+ v_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);
+ }
+ /* 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)
+ (accel_offset->z
+ & BNO055_SIC_HEX_0_0_F_F_DATA));
+ v_data2_u8r =
+ BNO055_SET_BITSLICE(v_data2_u8r,
+ BNO055_ACCEL_OFFSET_Z_LSB,
+ v_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);
+ }
+
+ 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)
+ (accel_offset->z >>
+ BNO055_SHIFT_8_POSITION)
+ & BNO055_SIC_HEX_0_0_F_F_DATA);
+ v_data2_u8r =
+ BNO055_SET_BITSLICE(v_data2_u8r,
+ BNO055_ACCEL_OFFSET_Z_MSB,
+ v_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);
+ }
+
+ /*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)
+ (accel_offset->r
+ & BNO055_SIC_HEX_0_0_F_F_DATA));
+ v_data2_u8r =
+ BNO055_SET_BITSLICE(v_data2_u8r,
+ BNO055_ACCEL_RADIUS_LSB,
+ v_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);
+ }
+
+ 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)
+ (accel_offset->r >>
+ BNO055_SHIFT_8_POSITION)
+ & BNO055_SIC_HEX_0_0_F_F_DATA);
+ v_data2_u8r =
+ BNO055_SET_BITSLICE(v_data2_u8r,
+ BNO055_ACCEL_RADIUS_MSB,
+ v_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);
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ }
+ if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode
+ of previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_prev_opmode_u8);
+ return com_rslt;
+}
+
+/*!
+ * @brief This API is used to read mag offset
+ * offset form register 0x69 to 0x6A
+ *
+ * @param mag_offset : The value of mag offset and radius
+ *
+ * bno055_mag_offset_t | result
+ * ------------------- | ----------------
+ * x | mag offset x
+ * y | mag offset y
+ * z | mag offset z
+ * r | mag radius r
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note The range of the magnetometer offset is +/-6400 in LSB
+ */
+
+BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_offset(
+struct bno055_mag_offset_t *mag_offset)
+{
+ /* Variable used to return value of
+ communication routine*/
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = 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
+ */
+ 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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, mag offset is
+ available in the page zero*/
+ if (p_bno055->page_id != 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 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) {
+ /* Read mag x offset value*/
+ v_data_u8[INDEX_ZERO] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_ZERO],
+ BNO055_MAG_OFFSET_X_LSB);
+ v_data_u8[INDEX_ONE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ 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]));
+
+ /* Read mag y offset value*/
+ v_data_u8[INDEX_TWO] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_TWO],
+ BNO055_MAG_OFFSET_Y_LSB);
+ v_data_u8[INDEX_THREE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_THREE],
+ 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]));
+
+ /* Read mag z offset value*/
+ v_data_u8[INDEX_FOUR] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_FOUR],
+ BNO055_MAG_OFFSET_Z_LSB);
+ v_data_u8[INDEX_FIVE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_FIVE],
+ 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]));
+
+ /* 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) {
+ /* Array holding the mag radius values
+ v_data_u8[INDEX_ZERO] - radius->LSB
+ v_data_u8[INDEX_ONE] - radius->MSB
+ */
+ v_data_u8[INDEX_ZERO] =
+ BNO055_GET_BITSLICE(
+ v_data_u8[INDEX_ZERO],
+ BNO055_MAG_RADIUS_LSB);
+ v_data_u8[INDEX_ONE] =
+ BNO055_GET_BITSLICE(
+ v_data_u8[INDEX_ONE],
+ BNO055_MAG_RADIUS_MSB);
+ mag_offset->r = (s16)((((s32)
+ (s8)(v_data_u8[INDEX_ONE])) <<
+ (BNO055_SHIFT_8_POSITION)) |
+ (v_data_u8[INDEX_ZERO]));
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ }
+ return com_rslt;
+}
+
+/*!
+ * @brief This API is used to read mag offset
+ * offset form register 0x69 to 0x6A
+ *
+ * @param mag_offset : The value of mag offset and radius
+ *
+ * bno055_mag_offset_t | result
+ * ------------------- | ----------------
+ * x | mag offset x
+ * y | mag offset y
+ * z | mag offset z
+ * r | mag radius r
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> 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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* 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)
+ (mag_offset->x
+ & BNO055_SIC_HEX_0_0_F_F_DATA));
+ v_data2_u8r =
+ BNO055_SET_BITSLICE(v_data2_u8r,
+ BNO055_MAG_OFFSET_X_LSB,
+ v_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);
+ }
+
+ 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)
+ (mag_offset->x >>
+ BNO055_SHIFT_8_POSITION)
+ & BNO055_SIC_HEX_0_0_F_F_DATA);
+ v_data2_u8r =
+ BNO055_SET_BITSLICE(v_data2_u8r,
+ BNO055_MAG_OFFSET_X_MSB,
+ v_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);
+ }
+
+ /* 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)
+ (mag_offset->y &
+ BNO055_SIC_HEX_0_0_F_F_DATA));
+ v_data2_u8r =
+ BNO055_SET_BITSLICE(v_data2_u8r,
+ BNO055_MAG_OFFSET_Y_LSB,
+ v_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);
+ }
+
+ 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)
+ (mag_offset->y >>
+ BNO055_SHIFT_8_POSITION)
+ & BNO055_SIC_HEX_0_0_F_F_DATA);
+ v_data2_u8r =
+ BNO055_SET_BITSLICE(v_data2_u8r,
+ BNO055_MAG_OFFSET_Y_MSB,
+ v_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);
+ }
+ /* 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)
+ (mag_offset->z &
+ BNO055_SIC_HEX_0_0_F_F_DATA));
+ v_data2_u8r =
+ BNO055_SET_BITSLICE(v_data2_u8r,
+ BNO055_MAG_OFFSET_Z_LSB,
+ v_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);
+ }
+
+ 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)
+ (mag_offset->z >>
+ BNO055_SHIFT_8_POSITION)
+ & BNO055_SIC_HEX_0_0_F_F_DATA);
+ v_data2_u8r =
+ BNO055_SET_BITSLICE(v_data2_u8r,
+ BNO055_MAG_OFFSET_Z_MSB,
+ v_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);
+ }
+
+ /* 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)
+ (mag_offset->r &
+ BNO055_SIC_HEX_0_0_F_F_DATA));
+ v_data2_u8r =
+ BNO055_SET_BITSLICE(v_data2_u8r,
+ BNO055_MAG_RADIUS_LSB,
+ v_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);
+ }
+
+ 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)
+ (mag_offset->r >>
+ BNO055_SHIFT_8_POSITION)
+ & BNO055_SIC_HEX_0_0_F_F_DATA);
+ v_data2_u8r =
+ BNO055_SET_BITSLICE(v_data2_u8r,
+ BNO055_MAG_RADIUS_MSB,
+ v_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);
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ }
+ if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode
+ of previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_prev_opmode_u8);
+ return com_rslt;
+}
+/*!
+ * @brief This API is used to read gyro offset
+ * offset form register 0x61 to 0x66
+ *
+ * @param gyro_offset : The value of gyro offset
+ *
+ * bno055_gyro_offset_t | result
+ * ------------------- | ----------------
+ * x | gyro offset x
+ * y | gyro offset y
+ * z | gyro offset z
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> 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
+ *
+ * Gyro range can be configured by using the
+ * bno055_set_gyro_range() function
+ */
+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;
+ /* 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
+ */
+ 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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, gyro offset is
+ available in the page zero*/
+ if (p_bno055->page_id != 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 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) {
+ /* Read gyro x offset value*/
+ v_data_u8[INDEX_ZERO] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_ZERO],
+ BNO055_GYRO_OFFSET_X_LSB);
+ v_data_u8[INDEX_ONE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_ONE],
+ 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]));
+
+ /* Read gyro y offset value*/
+ v_data_u8[INDEX_TWO] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_TWO],
+ BNO055_GYRO_OFFSET_Y_LSB);
+ v_data_u8[INDEX_THREE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_THREE],
+ 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]));
+
+ /* Read gyro z offset value*/
+ v_data_u8[INDEX_FOUR] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_FOUR],
+ BNO055_GYRO_OFFSET_Z_LSB);
+ v_data_u8[INDEX_FIVE] =
+ BNO055_GET_BITSLICE(v_data_u8[INDEX_FIVE],
+ 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]));
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ }
+ return com_rslt;
+}
+/*!
+ * @brief This API is used to read gyro offset
+ * offset form register 0x61 to 0x66
+ *
+ * @param gyro_offset : The value of gyro offset
+ *
+ * bno055_gyro_offset_t | result
+ * ------------------- | ----------------
+ * x | gyro offset x
+ * y | gyro offset y
+ * z | gyro offset z
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> 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
+ *
+ * Gyro range can be configured by using the
+ * bno055_set_gyro_range() function
+ */
+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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* 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)
+ (gyro_offset->x
+ & BNO055_SIC_HEX_0_0_F_F_DATA));
+ v_data2_u8r =
+ BNO055_SET_BITSLICE(v_data2_u8r,
+ BNO055_GYRO_OFFSET_X_LSB,
+ v_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);
+ }
+
+ 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)
+ (gyro_offset->x >>
+ BNO055_SHIFT_8_POSITION)
+ & BNO055_SIC_HEX_0_0_F_F_DATA);
+ v_data2_u8r =
+ BNO055_SET_BITSLICE(v_data2_u8r,
+ BNO055_GYRO_OFFSET_X_MSB,
+ v_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);
+ }
+
+ /* 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)
+ (gyro_offset->y
+ & BNO055_SIC_HEX_0_0_F_F_DATA));
+ v_data2_u8r =
+ BNO055_SET_BITSLICE(v_data2_u8r,
+ BNO055_GYRO_OFFSET_Y_LSB,
+ v_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);
+ }
+
+ 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)
+ (gyro_offset->y >>
+ BNO055_SHIFT_8_POSITION)
+ & BNO055_SIC_HEX_0_0_F_F_DATA);
+ v_data2_u8r =
+ BNO055_SET_BITSLICE(v_data2_u8r,
+ BNO055_GYRO_OFFSET_Y_MSB,
+ v_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);
+ }
+ /* 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)
+ (gyro_offset->z
+ & BNO055_SIC_HEX_0_0_F_F_DATA));
+ v_data2_u8r =
+ BNO055_SET_BITSLICE(v_data2_u8r,
+ BNO055_GYRO_OFFSET_Z_LSB,
+ v_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);
+ }
+
+ 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)
+ (gyro_offset->z >>
+ BNO055_SHIFT_8_POSITION)
+ & BNO055_SIC_HEX_0_0_F_F_DATA);
+ v_data2_u8r =
+ BNO055_SET_BITSLICE(v_data2_u8r,
+ BNO055_GYRO_OFFSET_Z_MSB,
+ v_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);
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ }
+ if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode
+ of previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_prev_opmode_u8);
+ return com_rslt;
+}
+/********************************************************/
+ /************** PAGE1 Functions *********************/
+/********************************************************/
+/*!
+ * @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
+ * ----------------- | --------------
+ * 0x00 | ACCEL_RANGE_2G
+ * 0x01 | ACCEL_RANGE_4G
+ * 0x02 | ACCEL_RANGE_8G
+ * 0x03 | ACCEL_RANGE_16G
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_range(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, accel range is
+ available in the page one*/
+ if (p_bno055->page_id != 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)) {
+ /* 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);
+ } else {
+ com_rslt = 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
+ *
+ * v_accel_range_u8 | result
+ * ----------------- | --------------
+ * 0x00 | ACCEL_RANGE_2G
+ * 0x01 | ACCEL_RANGE_4G
+ * 0x02 | ACCEL_RANGE_8G
+ * 0x03 | ACCEL_RANGE_16G
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_range(
+u8 v_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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* 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) {
+ /* 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,
+ v_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);
+ }
+ } else {
+ com_rslt = E_BNO055_OUT_OF_RANGE;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+}
+if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode of
+ previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_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
+ *
+ * v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_bw(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, accel bandwidth is
+ available in the page one*/
+ if (p_bno055->page_id != 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)) {
+ /* 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);
+ } else {
+ com_rslt = 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
+ *
+ * v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_bw(
+u8 v_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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* 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) {
+ /* 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);
+ com_rslt +=
+ p_bno055->BNO055_BUS_WRITE_FUNC
+ (p_bno055->dev_addr,
+ BNO055_ACCEL_BW__REG,
+ &v_data_u8r, BNO055_ONE_U8X);
+ }
+ } else {
+ com_rslt = E_BNO055_OUT_OF_RANGE;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+}
+if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode of
+ previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_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
+ * ----------------- | -------------
+ * 0x00 | ACCEL_NORMAL
+ * 0x01 | ACCEL_SUSPEND
+ * 0x02 | ACCEL_LOWPOWER_1
+ * 0x03 | ACCEL_STANDBY
+ * 0x04 | ACCEL_LOWPOWER_2
+ * 0x05 | ACCEL_DEEPSUSPEND
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_power_mode(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, accel power mode is
+ available in the page one*/
+ if (p_bno055->page_id != 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)) {
+ /* 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);
+ } else {
+ com_rslt = 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
+ * ----------------- | -------------
+ * 0x00 | ACCEL_NORMAL
+ * 0x01 | ACCEL_SUSPEND
+ * 0x02 | ACCEL_LOWPOWER_1
+ * 0x03 | ACCEL_STANDBY
+ * 0x04 | ACCEL_LOWPOWER_2
+ * 0x05 | ACCEL_DEEPSUSPEND
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_power_mode(
+u8 v_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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* 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) {
+ /* 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,
+ v_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);
+ }
+ } else {
+ com_rslt = E_BNO055_OUT_OF_RANGE;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+}
+if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode of
+ previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_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
+ *
+ * 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_data_output_rate(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, output data rate
+ available in the page one*/
+ if (p_bno055->page_id != 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)) {
+ /* 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);
+ } else {
+ com_rslt = 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
+ *
+ * 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_data_output_rate(
+u8 v_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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* 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) {
+ /* 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,
+ v_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);
+ }
+ } else {
+ com_rslt = E_BNO055_OUT_OF_RANGE;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+} else {
+com_rslt = ERROR;
+}
+}
+if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode of
+ previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_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
+ *
+ * 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_operation_mode(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, mag operation mode is
+ available in the page one*/
+ if (p_bno055->page_id != 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)) {
+ /* 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);
+ } else {
+ com_rslt = 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
+ *
+ * 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_operation_mode(
+u8 v_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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* 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) {
+ /* 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,
+ v_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);
+ }
+ } else {
+ com_rslt = E_BNO055_OUT_OF_RANGE;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+}
+if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode of
+ previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_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
+ *
+ * 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_power_mode(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, mag power mode is
+ available in the page one*/
+ if (p_bno055->page_id != 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)) {
+ /* 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);
+ } else {
+ com_rslt = 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
+ *
+ * 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_power_mode(
+u8 v_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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* 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) {
+ /* 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,
+ v_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);
+ }
+ } else {
+ com_rslt = E_BNO055_OUT_OF_RANGE;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+} else {
+ com_rslt = ERROR;
+}
+}
+if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode of
+ previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_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
+ *
+ * v_gyro_range_u8 | result
+ * --------------------|-----------------
+ * 0x00 | GYRO_RANGE_2000DPS
+ * 0x01 | GYRO_RANGE_1000DPS
+ * 0x02 | GYRO_RANGE_500DPS
+ * 0x03 | GYRO_RANGE_250DPS
+ * 0x04 | GYRO_RANGE_125DPS
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_range(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, gyro range is
+ available in the page one*/
+ if (p_bno055->page_id != 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)) {
+ /* 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);
+ } else {
+ com_rslt = 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
+ *
+ * v_gyro_range_u8 | result
+ * --------------------|-----------------
+ * 0x00 | GYRO_RANGE_2000DPS
+ * 0x01 | GYRO_RANGE_1000DPS
+ * 0x02 | GYRO_RANGE_500DPS
+ * 0x03 | GYRO_RANGE_250DPS
+ * 0x04 | GYRO_RANGE_125DPS
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_range(
+u8 v_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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* 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) {
+ /* 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,
+ v_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);
+ }
+ } else {
+ com_rslt = E_BNO055_OUT_OF_RANGE;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+}
+if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode of
+ previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_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
+ *
+ * v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_bw(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, gyro bandwidth is
+ available in the page one*/
+ if (p_bno055->page_id != 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)) {
+ 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);
+ } else {
+ com_rslt = 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
+ *
+ * v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> 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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* Write page as one */
+ v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
+ if (v_pg_stat_s8 == 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;
+ break;
+ case GYRO_BW_230HZ:
+ v_gyro_bw_u8 = GYRO_BW_230HZ;
+ break;
+ case GYRO_BW_116HZ:
+ v_gyro_bw_u8 = GYRO_BW_116HZ;
+ break;
+ case GYRO_BW_47HZ:
+ v_gyro_bw_u8 = GYRO_BW_47HZ;
+ break;
+ case GYRO_BW_23HZ:
+ v_gyro_bw_u8 = GYRO_BW_23HZ;
+ break;
+ case GYRO_BW_12HZ:
+ v_gyro_bw_u8 = GYRO_BW_12HZ;
+ break;
+ case GYRO_BW_64HZ:
+ v_gyro_bw_u8 = GYRO_BW_64HZ;
+ break;
+ case GYRO_BW_32HZ:
+ v_gyro_bw_u8 = 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,
+ v_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);
+ }
+ com_rslt = bno055_get_gyro_power_mode
+ (&gyro_opmode);
+ if (com_rslt == SUCCESS) {
+ if (gyro_opmode ==
+ GYRO_POWER_MODE_ADVANCE_POWERSAVE) {
+ com_rslt +=
+ bno055_get_gyro_auto_sleep_durn
+ (&gyro_auto_sleep_durn);
+ if (com_rslt == SUCCESS) {
+ com_rslt +=
+ bno055_gyro_set_auto_sleep_durn
+ (gyro_auto_sleep_durn,
+ v_gyro_bw_u8);
+ }
+ }
+ }
+ } else {
+ com_rslt = E_BNO055_OUT_OF_RANGE;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+} else {
+com_rslt = ERROR;
+}
+} else {
+com_rslt = ERROR;
+}
+}
+if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode of
+ previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_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
+ *
+ * v_gyro_power_mode_u8 | result
+ * ----------------------|----------------------------
+ * 0x00 | GYRO_OPR_MODE_NORMAL
+ * 0x01 | GYRO_OPR_MODE_FASTPOWERUP
+ * 0x02 | GYRO_OPR_MODE_DEEPSUSPEND
+ * 0x03 | GYRO_OPR_MODE_SUSPEND
+ * 0x04 | GYRO_OPR_MODE_ADVANCE_POWERSAVE
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_power_mode(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, gyro power mode is
+ available in the page one*/
+ if (p_bno055->page_id != 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)) {
+ /* 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);
+ } else {
+ com_rslt = 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
+ *
+ * v_gyro_power_mode_u8 | result
+ * ----------------------|----------------------------
+ * 0x00 | GYRO_OPR_MODE_NORMAL
+ * 0x01 | GYRO_OPR_MODE_FASTPOWERUP
+ * 0x02 | GYRO_OPR_MODE_DEEPSUSPEND
+ * 0x03 | GYRO_OPR_MODE_SUSPEND
+ * 0x04 | GYRO_OPR_MODE_ADVANCE_POWERSAVE
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> 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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* Write page as one */
+ v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
+ if (v_pg_stat_s8 == 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;
+ break;
+ case GYRO_POWER_MODE_FASTPOWERUP:
+ v_gyro_power_mode_u8 =
+ GYRO_POWER_MODE_FASTPOWERUP;
+ break;
+ case GYRO_POWER_MODE_DEEPSUSPEND:
+ v_gyro_power_mode_u8 =
+ GYRO_POWER_MODE_DEEPSUSPEND;
+ break;
+ case GYRO_POWER_MODE_SUSPEND:
+ v_gyro_power_mode_u8 =
+ GYRO_POWER_MODE_SUSPEND;
+ break;
+ case GYRO_POWER_MODE_ADVANCE_POWERSAVE:
+ com_rslt = bno055_get_gyro_bw
+ (&v_gyro_bw_u8);
+ com_rslt += bno055_get_gyro_auto_sleep_durn
+ (&gyro_auto_sleep_durn);
+ if (com_rslt == 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;
+ 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,
+ v_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);
+ }
+ } else {
+ com_rslt = E_BNO055_OUT_OF_RANGE;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+} else {
+ com_rslt = ERROR;
+}
+}
+if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode of
+ previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_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
+ *
+ * v_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
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_sleep_tmr_mode(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, accel sleep mode is
+ available in the page one*/
+ if (p_bno055->page_id != 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)) {
+ /* 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);
+ } else {
+ com_rslt = 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
+ *
+ * v_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
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_sleep_tmr_mode(
+u8 v_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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* 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) {
+ /*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,
+ v_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);
+ }
+ } else {
+ com_rslt = E_BNO055_OUT_OF_RANGE;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+}
+if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode of
+ previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_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
+ *
+ * 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_sleep_durn(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, accel sleep duration
+ available in the page one*/
+ if (p_bno055->page_id != 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)) {
+ /* 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);
+ } else {
+ com_rslt = 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
+ *
+ * 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_sleep_durn(
+u8 v_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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* 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) {
+ /* 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,
+ v_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);
+ }
+ } else {
+ com_rslt = E_BNO055_OUT_OF_RANGE;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ }
+ if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode of
+ previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_sleep_durn(u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, accel range is
+ available in the page one*/
+ if (p_bno055->page_id != 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)) {
+ /* 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);
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_sleep_durn(u8 v_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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* 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) {
+ 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) {
+ /* Write the gyro
+ sleep duration */
+ v_data_u8r = BNO055_SET_BITSLICE
+ (v_data_u8r,
+ BNO055_GYRO_SLEEP_DURN,
+ v_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);
+ }
+ } else {
+ com_rslt = E_BNO055_OUT_OF_RANGE;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+}
+if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode of
+ previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_auto_sleep_durn(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, accel range is
+ available in the page one*/
+ if (p_bno055->page_id != 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)) {
+ /* 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);
+ } else {
+ com_rslt = 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 bw : The value of gyro bandwidth
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> 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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* Write page as one */
+ v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
+ if (v_pg_stat_s8 == 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) {
+ switch (bw) {
+ case GYRO_BW_523HZ:
+ if (v_auto_sleep_durn_u8 >
+ BNO055_GYRO_4MS_AUTOSLPDUR)
+ v_auto_sleep_durn_u8r =
+ v_auto_sleep_durn_u8;
+ else
+ v_auto_sleep_durn_u8r =
+ BNO055_GYRO_4MS_AUTOSLPDUR;
+ break;
+ case GYRO_BW_230HZ:
+ if (v_auto_sleep_durn_u8 >
+ BNO055_GYRO_4MS_AUTOSLPDUR)
+ v_auto_sleep_durn_u8r =
+ v_auto_sleep_durn_u8;
+ else
+ v_auto_sleep_durn_u8r =
+ BNO055_GYRO_4MS_AUTOSLPDUR;
+ break;
+ case GYRO_BW_116HZ:
+ if (v_auto_sleep_durn_u8 >
+ BNO055_GYRO_4MS_AUTOSLPDUR)
+ v_auto_sleep_durn_u8r =
+ v_auto_sleep_durn_u8;
+ else
+ v_auto_sleep_durn_u8r =
+ BNO055_GYRO_4MS_AUTOSLPDUR;
+ break;
+ case GYRO_BW_47HZ:
+ if (v_auto_sleep_durn_u8 >
+ BNO055_GYRO_5MS_AUTOSLPDUR)
+ v_auto_sleep_durn_u8r =
+ v_auto_sleep_durn_u8;
+ else
+ v_auto_sleep_durn_u8r =
+ BNO055_GYRO_5MS_AUTOSLPDUR;
+ break;
+ case GYRO_BW_23HZ:
+ if (v_auto_sleep_durn_u8 >
+ BNO055_GYRO_10MS_AUTOSLPDUR)
+ v_auto_sleep_durn_u8r =
+ v_auto_sleep_durn_u8;
+ else
+ v_auto_sleep_durn_u8r =
+ BNO055_GYRO_10MS_AUTOSLPDUR;
+ break;
+ case GYRO_BW_12HZ:
+ if (v_auto_sleep_durn_u8 >
+ BNO055_GYRO_20MS_AUTOSLPDUR)
+ v_auto_sleep_durn_u8r =
+ v_auto_sleep_durn_u8;
+ else
+ v_auto_sleep_durn_u8r =
+ BNO055_GYRO_20MS_AUTOSLPDUR;
+ break;
+ case GYRO_BW_64HZ:
+ if (v_auto_sleep_durn_u8 >
+ BNO055_GYRO_10MS_AUTOSLPDUR)
+ v_auto_sleep_durn_u8r =
+ v_auto_sleep_durn_u8;
+ else
+ v_auto_sleep_durn_u8r =
+ BNO055_GYRO_10MS_AUTOSLPDUR;
+ break;
+ case GYRO_BW_32HZ:
+ if (v_auto_sleep_durn_u8 >
+ BNO055_GYRO_20MS_AUTOSLPDUR)
+ v_auto_sleep_durn_u8r =
+ v_auto_sleep_durn_u8;
+ else
+ v_auto_sleep_durn_u8r =
+ BNO055_GYRO_20MS_AUTOSLPDUR;
+ break;
+ default:
+ if (v_auto_sleep_durn_u8 >
+ BNO055_GYRO_4MS_AUTOSLPDUR)
+ v_auto_sleep_durn_u8r =
+ v_auto_sleep_durn_u8;
+ else
+ v_auto_sleep_durn_u8r =
+ BNO055_GYRO_4MS_AUTOSLPDUR;
+ break;
+ }
+ if (com_rslt == SUCCESS) {
+ v_data_u8r = BNO055_SET_BITSLICE
+ (v_data_u8r,
+ BNO055_GYRO_AUTO_SLEEP_DURN,
+ v_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);
+ }
+ } else {
+ com_rslt = E_BNO055_OUT_OF_RANGE;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+} else {
+com_rslt = ERROR;
+}
+}
+if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode of
+ previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_sleep_mode(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page,mag sleep mode is
+ available in the page one*/
+ if (p_bno055->page_id != 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)) {
+ /* 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);
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_sleep_mode(
+u8 v_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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* Write page as one */
+ v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
+ if (v_pg_stat_s8 == 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) {
+ /* Write the value
+ of mag sleep mode*/
+ v_data_u8r =
+ BNO055_SET_BITSLICE(v_data_u8r,
+ BNO055_MAG_SLEEP_MODE,
+ v_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);
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ }
+ if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode of
+ previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_sleep_durn(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page,mag sleep duration is
+ available in the page one*/
+ if (p_bno055->page_id != 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)) {
+ /* 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);
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_sleep_durn(
+u8 v_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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* Write page as one */
+ v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
+ if (v_pg_stat_s8 == 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) {
+ /* Write the value of
+ mag sleep duration */
+ v_data_u8r =
+ BNO055_SET_BITSLICE(v_data_u8r,
+ BNO055_MAG_SLEEP_DURN,
+ v_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);
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ }
+ if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode of
+ previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_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
+ * -------------------- |------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note While enabling the gyro anymotion interrupt
+ * configure the following settings
+ *
+ * Axis:
+ * bno055_set_gyro_any_motion_axis_enable()
+ *
+ * Filter setting:
+ * bno055_set_gyro_any_motion_filter()
+ *
+ * Threshold :
+ *
+ * bno055_set_gyro_any_motion_thres()
+ *
+ * Slope samples :
+ *
+ * bno055_set_gyro_any_motion_slope_samples()
+ *
+ * Awake duration :
+ *
+ * bno055_set_gyro_any_motion_awake_durn()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_gyro_any_motion(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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)
+ /* Write page as one */
+ v_stat_s8 = bno055_write_page_id(PAGE_ONE);
+ if ((v_stat_s8 == SUCCESS) ||
+ (p_bno055->page_id == 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);
+ } else {
+ com_rslt = 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
+ * -------------------- |------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note While enabling the gyro anymotion interrupt
+ * configure the following settings
+ *
+ * Axis:
+ * bno055_set_gyro_any_motion_axis_enable()
+ *
+ * Filter setting:
+ * bno055_set_gyro_any_motion_filter()
+ *
+ * Threshold :
+ *
+ * bno055_set_gyro_any_motion_thres()
+ *
+ * Slope samples :
+ *
+ * bno055_set_gyro_any_motion_slope_samples()
+ *
+ * Awake duration :
+ *
+ * bno055_set_gyro_any_motion_awake_durn()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_gyro_any_motion(
+u8 v_gyro_any_motion_u8)
+{
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ u8 v_data_u8r = BNO055_ZERO_U8X;
+ s8 v_stat_s8 = ERROR;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, accel range is
+ available in the page one*/
+ if (p_bno055->page_id != 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)) {
+ /* 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,
+ v_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);
+ }
+ } else {
+ com_rslt = 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
+ * -------------------- |------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note While enabling the gyro highrate interrupt
+ * configure the below settings by using
+ * the following functions
+ *
+ * Axis :
+ *
+ * bno055_set_gyro_highrate_axis_enable()
+ *
+ * Filter :
+ *
+ * bno055_set_gyro_highrate_filter()
+ *
+ * Threshold :
+ *
+ * bno055_get_gyro_highrate_x_thres()
+ *
+ * bno055_get_gyro_highrate_y_thres()
+ *
+ * bno055_get_gyro_highrate_z_thres()
+ *
+ * Hysteresis :
+ *
+ * bno055_set_gyro_highrate_x_hyst()
+ *
+ * bno055_set_gyro_highrate_y_hyst()
+ *
+ * bno055_set_gyro_highrate_z_hyst()
+ *
+ * Duration :
+ *
+ * bno055_set_gyro_highrate_x_durn()
+ *
+ * bno055_set_gyro_highrate_y_durn()
+ *
+ * bno055_set_gyro_highrate_z_durn()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_gyro_highrate(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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)
+ /* Write page as one */
+ v_stat_s8 = bno055_write_page_id(PAGE_ONE);
+ if ((v_stat_s8 == SUCCESS) ||
+ (p_bno055->page_id == 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);
+ } else {
+ com_rslt = 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
+ * -------------------- |------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note While enabling the gyro highrate interrupt
+ * configure the below settings by using
+ * the following functions
+ *
+ * Axis :
+ *
+ * bno055_set_gyro_highrate_axis_enable()
+ *
+ * Filter :
+ *
+ * bno055_set_gyro_highrate_filter()
+ *
+ * Threshold :
+ *
+ * bno055_get_gyro_highrate_x_thres()
+ *
+ * bno055_get_gyro_highrate_y_thres()
+ *
+ * bno055_get_gyro_highrate_z_thres()
+ *
+ * Hysteresis :
+ *
+ * bno055_set_gyro_highrate_x_hyst()
+ *
+ * bno055_set_gyro_highrate_y_hyst()
+ *
+ * bno055_set_gyro_highrate_z_hyst()
+ *
+ * Duration :
+ *
+ * bno055_set_gyro_highrate_x_durn()
+ *
+ * bno055_set_gyro_highrate_y_durn()
+ *
+ * bno055_set_gyro_highrate_z_durn()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_gyro_highrate(
+u8 v_gyro_highrate_u8)
+{
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ u8 v_data_u8r = BNO055_ZERO_U8X;
+ s8 v_stat_s8 = ERROR;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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)
+ /* Write page as one */
+ v_stat_s8 = bno055_write_page_id(PAGE_ONE);
+ if ((v_stat_s8 == SUCCESS) ||
+ (p_bno055->page_id == 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) {
+ /* Write the value of gyro
+ highrate interrupt mask*/
+ v_data_u8r =
+ BNO055_SET_BITSLICE(v_data_u8r,
+ BNO055_GYRO_HIGHRATE_INTR_MASK,
+ v_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);
+ }
+ } else {
+ com_rslt = 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
+ * -------------------- |------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note While enabling the accel highg interrupt
+ * configure the below settings by using
+ * the following functions
+ *
+ * Axis :
+ *
+ * bno055_set_accel_high_g_axis_enable()
+ *
+ * Threshold :
+ *
+ * bno055_set_accel_high_g_thres()
+ *
+ * Duration :
+ *
+ * bno055_set_accel_high_g_durn()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_high_g(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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)
+ /* Write page as one */
+ v_stat_s8 = bno055_write_page_id(PAGE_ONE);
+ if ((v_stat_s8 == SUCCESS) ||
+ (p_bno055->page_id == 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);
+ } else {
+ com_rslt = 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
+ * -------------------- |------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note While enabling the accel highg interrupt
+ * configure the below settings by using
+ * the following functions
+ *
+ * Axis :
+ *
+ * bno055_set_accel_high_g_axis_enable()
+ *
+ * Threshold :
+ *
+ * bno055_set_accel_high_g_thres()
+ *
+ * Duration :
+ *
+ * bno055_set_accel_high_g_durn()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_high_g(
+u8 v_accel_high_g_u8)
+{
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ u8 v_data_u8r = BNO055_ZERO_U8X;
+ s8 v_stat_s8 = ERROR;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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)
+ /* Write page as one */
+ v_stat_s8 = bno055_write_page_id(PAGE_ONE);
+ if ((v_stat_s8 == SUCCESS) ||
+ (p_bno055->page_id == 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) {
+ /* Write the value of accel
+ highg interrupt mask*/
+ v_data_u8r =
+ BNO055_SET_BITSLICE(v_data_u8r,
+ BNO055_ACCEL_HIGH_G_INTR_MASK,
+ v_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);
+ }
+ } else {
+ com_rslt = 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
+ * -------------------- |------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note While enabling the accel highg interrupt
+ * configure the below settings by using
+ * the following functions
+ *
+ * Axis :
+ *
+ * bno055_set_accel_high_g_axis_enable()
+ *
+ * Threshold :
+ *
+ * bno055_set_accel_high_g_thres()
+ *
+ * Duration :
+ *
+ * bno055_set_accel_high_g_durn()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_any_motion(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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)
+ /* Write page as one */
+ v_stat_s8 = bno055_write_page_id(PAGE_ONE);
+ if ((v_stat_s8 == SUCCESS) ||
+ (p_bno055->page_id == 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);
+ } else {
+ com_rslt = 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
+ * -------------------- |------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note While enabling the accel anymotion interrupt
+ * configure the following settings
+ *
+ * Axis:
+ *
+ * bno055_set_accel_any_motion_no_motion_axis_enable()
+ *
+ * Duration:
+ *
+ * bno055_set_accel_any_motion_durn()
+ *
+ * Threshold:
+ *
+ * bno055_set_accel_any_motion_thres()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_any_motion(
+u8 v_accel_any_motion_u8)
+{
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ u8 v_data_u8r = BNO055_ZERO_U8X;
+ s8 v_stat_s8 = ERROR;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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)
+ /* Write page as one */
+ v_stat_s8 = bno055_write_page_id(PAGE_ONE);
+ if ((v_stat_s8 == SUCCESS) ||
+ (p_bno055->page_id == 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,
+ v_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);
+ }
+ } else {
+ com_rslt = 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
+ * -------------------- |------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ *
+ * @note While enabling the accel anymotion interrupt
+ * configure the following settings
+ *
+ * Axis:
+ *
+ * bno055_set_accel_any_motion_no_motion_axis_enable()
+ *
+ * Duration:
+ *
+ * bno055_set_accel_any_motion_durn()
+ *
+ * Threshold:
+ *
+ * bno055_set_accel_any_motion_thres())
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_no_motion(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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)
+ /* Write page as one */
+ v_stat_s8 = bno055_write_page_id(PAGE_ONE);
+ if ((v_stat_s8 == SUCCESS) ||
+ (p_bno055->page_id == 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);
+ } else {
+ com_rslt = 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
+ * -------------------- |------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note While enabling the accel nomotion interrupt
+ * configure the following settings
+ *
+ * Axis:
+ *
+ * bno055_set_accel_any_motion_no_motion_axis_enable()
+ *
+ * Threshold :
+ *
+ * bno055_set_accel_slow_no_motion_thres()
+ *
+ * Duration :
+ *
+ * bno055_set_accel_slow_no_motion_durn()
+ *
+ * Slow/no motion enable:
+ *
+ * bno055_set_accel_slow_no_motion_enable()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_no_motion(
+u8 v_accel_nomotion_u8)
+{
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ u8 v_data_u8r = BNO055_ZERO_U8X;
+ s8 v_stat_s8 = ERROR;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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)
+ /* Write page as one */
+ v_stat_s8 = bno055_write_page_id(PAGE_ONE);
+ if ((v_stat_s8 == SUCCESS) ||
+ (p_bno055->page_id == 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) {
+ /* Write the value of accel
+ nomotion interrupt mask*/
+ v_data_u8r =
+ BNO055_SET_BITSLICE(v_data_u8r,
+ BNO055_ACCEL_NO_MOTION_INTR_MASK,
+ v_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);
+ }
+ } else {
+ com_rslt = 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
+ * -------------------- |------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note While enabling the gyro anymotion interrupt
+ * configure the following settings
+ *
+ * Axis:
+ * bno055_set_gyro_any_motion_axis_enable()
+ *
+ * Filter setting:
+ * bno055_set_gyro_any_motion_filter()
+ *
+ * Threshold :
+ *
+ * bno055_set_gyro_any_motion_thres()
+ *
+ * Slope samples :
+ *
+ * bno055_set_gyro_any_motion_slope_samples()
+ *
+ * Awake duration :
+ *
+ * bno055_set_gyro_any_motion_awake_durn()
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_gyro_any_motion(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, gyro anymotion interrupt is
+ available in the page one*/
+ if (p_bno055->page_id != 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)) {
+ /* 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);
+ } else {
+ com_rslt = 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
+ * -------------------- |------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note While enabling the gyro anymotion interrupt
+ * configure the following settings
+ *
+ * Axis:
+ * bno055_set_gyro_any_motion_axis_enable()
+ *
+ * Filter setting:
+ * bno055_set_gyro_any_motion_filter()
+ *
+ * Threshold :
+ *
+ * bno055_set_gyro_any_motion_thres()
+ *
+ * Slope samples :
+ *
+ * bno055_set_gyro_any_motion_slope_samples()
+ *
+ * Awake duration :
+ *
+ * bno055_set_gyro_any_motion_awake_durn()
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_gyro_any_motion(
+u8 v_gyro_any_motion_u8)
+{
+BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+u8 v_data_u8r = BNO055_ZERO_U8X;
+s8 v_stat_s8 = ERROR;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, gyro anymotion interrupt is
+ available in the page one*/
+ if (p_bno055->page_id != 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)) {
+ /* 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,
+ v_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);
+ }
+ } else {
+ com_rslt = 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
+ * -------------------- |------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note While enabling the gyro highrate interrupt
+ * configure the below settings by using
+ * the following functions
+ *
+ * Axis :
+ *
+ * bno055_set_gyro_highrate_axis_enable()
+ *
+ * Filter :
+ *
+ * bno055_set_gyro_highrate_filter()
+ *
+ * Threshold :
+ *
+ * bno055_get_gyro_highrate_x_thres()
+ *
+ * bno055_get_gyro_highrate_y_thres()
+ *
+ * bno055_get_gyro_highrate_z_thres()
+ *
+ * Hysteresis :
+ *
+ * bno055_set_gyro_highrate_x_hyst()
+ *
+ * bno055_set_gyro_highrate_y_hyst()
+ *
+ * bno055_set_gyro_highrate_z_hyst()
+ *
+ * Duration :
+ *
+ * bno055_set_gyro_highrate_x_durn()
+ *
+ * bno055_set_gyro_highrate_y_durn()
+ *
+ * bno055_set_gyro_highrate_z_durn()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_gyro_highrate(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, gyro highrate interrupt is
+ available in the page one*/
+ if (p_bno055->page_id != 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)) {
+ /* 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);
+ } else {
+ com_rslt = 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
+ * -------------------- |------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note While enabling the gyro highrate interrupt
+ * configure the below settings by using
+ * the following functions
+ *
+ * Axis :
+ *
+ * bno055_set_gyro_highrate_axis_enable()
+ *
+ * Filter :
+ *
+ * bno055_set_gyro_highrate_filter()
+ *
+ * Threshold :
+ *
+ * bno055_get_gyro_highrate_x_thres()
+ *
+ * bno055_get_gyro_highrate_y_thres()
+ *
+ * bno055_get_gyro_highrate_z_thres()
+ *
+ * Hysteresis :
+ *
+ * bno055_set_gyro_highrate_x_hyst()
+ *
+ * bno055_set_gyro_highrate_y_hyst()
+ *
+ * bno055_set_gyro_highrate_z_hyst()
+ *
+ * Duration :
+ *
+ * bno055_set_gyro_highrate_x_durn()
+ *
+ * bno055_set_gyro_highrate_y_durn()
+ *
+ * bno055_set_gyro_highrate_z_durn()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_gyro_highrate(
+u8 v_gyro_highrate_u8)
+{
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ u8 v_data_u8r = BNO055_ZERO_U8X;
+ s8 v_stat_s8 = ERROR;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, gyro highrate interrupt is
+ available in the page one*/
+ if (p_bno055->page_id != 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)) {
+ 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) {
+ /* Write the value of gyro highrate interrupt */
+ v_data_u8r =
+ BNO055_SET_BITSLICE(v_data_u8r,
+ BNO055_GYRO_HIGHRATE_INTR, v_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);
+ }
+ } else {
+ com_rslt = 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
+ * -------------------- |------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note While enabling the accel highg interrupt
+ * configure the below settings by using
+ * the following functions
+ *
+ * Axis :
+ *
+ * bno055_set_accel_high_g_axis_enable()
+ *
+ * Threshold :
+ *
+ * bno055_set_accel_high_g_thres()
+ *
+ * Duration :
+ *
+ * bno055_set_accel_high_g_durn()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_high_g(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, accel highg interrupt is
+ available in the page one*/
+ if (p_bno055->page_id != 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)) {
+ /* 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);
+ } else {
+ com_rslt = 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
+ * -------------------- |------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note While enabling the accel highg interrupt
+ * configure the below settings by using
+ * the following functions
+ *
+ * Axis :
+ *
+ * bno055_set_accel_high_g_axis_enable()
+ *
+ * Threshold :
+ *
+ * bno055_set_accel_high_g_thres()
+ *
+ * Duration :
+ *
+ * bno055_set_accel_high_g_durn()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_high_g(
+u8 v_accel_high_g_u8)
+{
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ u8 v_data_u8r = BNO055_ZERO_U8X;
+ s8 v_stat_s8 = ERROR;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, accel highg interrupt is
+ available in the page one*/
+ if (p_bno055->page_id != 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)) {
+ 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) {
+ /* Write the value of accel highg interrupt*/
+ v_data_u8r =
+ BNO055_SET_BITSLICE(v_data_u8r,
+ BNO055_ACCEL_HIGH_G_INTR,
+ v_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);
+ }
+ } else {
+ com_rslt = 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
+ * -------------------- |------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note While enabling the accel anymotion interrupt
+ * configure the following settings
+ *
+ * Axis:
+ *
+ * bno055_set_accel_any_motion_no_motion_axis_enable()
+ *
+ * Duration:
+ *
+ * bno055_set_accel_any_motion_durn()
+ *
+ * Threshold:
+ *
+ * bno055_set_accel_any_motion_thres()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_any_motion(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, accel anymotion interrupt is
+ available in the page one*/
+ if (p_bno055->page_id != 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)) {
+ /* 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);
+ } else {
+ com_rslt = 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
+ * -------------------- |------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note While enabling the accel anymotion interrupt
+ * configure the following settings
+ *
+ * Axis:
+ *
+ * bno055_set_accel_any_motion_no_motion_axis_enable()
+ *
+ * Duration:
+ *
+ * bno055_set_accel_any_motion_durn()
+ *
+ * Threshold:
+ *
+ * bno055_set_accel_any_motion_thres()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_any_motion(
+u8 v_accel_any_motion_u8)
+{
+ BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+ u8 v_data_u8r = BNO055_ZERO_U8X;
+ s8 v_stat_s8 = ERROR;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, accel range is
+ available in the page one*/
+ if (p_bno055->page_id != 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)) {
+ /* 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,
+ v_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);
+ }
+ } else {
+ com_rslt = 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
+ * -------------------- |------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note While enabling the accel nomotion interrupt
+ * configure the following settings
+ *
+ * Axis:
+ *
+ * bno055_set_accel_any_motion_no_motion_axis_enable()
+ *
+ * Threshold :
+ *
+ * bno055_set_accel_slow_no_motion_thres()
+ *
+ * Duration :
+ *
+ * bno055_set_accel_slow_no_motion_durn()
+ *
+ * Slow/no motion enable:
+ *
+ * bno055_set_accel_slow_no_motion_enable()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_no_motion(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, accel nomotion interrupt is
+ available in the page one*/
+ if (p_bno055->page_id != 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)) {
+ /* 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);
+ } else {
+ com_rslt = 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
+ * -------------------- |------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note While enabling the accel nomotion interrupt
+ * configure the following settings
+ *
+ * Axis:
+ *
+ * bno055_set_accel_any_motion_no_motion_axis_enable()
+ *
+ * Threshold :
+ *
+ * bno055_set_accel_slow_no_motion_thres()
+ *
+ * Duration :
+ *
+ * bno055_set_accel_slow_no_motion_durn()
+ *
+ * Slow/no motion enable:
+ *
+ * bno055_set_accel_slow_no_motion_enable()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_no_motion(
+u8 v_accel_nomotion_u8)
+{
+BNO055_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+u8 v_data_u8r = BNO055_ZERO_U8X;
+s8 v_stat_s8 = ERROR;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page,
+ accel nomotion interrupt is
+ available in the page one*/
+ if (p_bno055->page_id != 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)) {
+ 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) {
+ /* Write the value of
+ accel nomotion interrupt */
+ v_data_u8r = BNO055_SET_BITSLICE(v_data_u8r,
+ BNO055_ACCEL_NO_MOTION_INTR,
+ v_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);
+ }
+ } else {
+ com_rslt = 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
+ * ------------------------ | -------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note Accel anymotion threshold dependent on the
+ * range values
+ *
+ * v_accel_range_u8 | threshold | LSB
+ * ------------- | ------------- | ---------
+ * 2g | 3.19mg | 1LSB
+ * 4g | 7.81mg | 1LSB
+ * 8g | 15.63mg | 1LSB
+ * 16g | 31.25mg | 1LSB
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_thres(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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)
+ /* Write page as one */
+ v_stat_s8 = bno055_write_page_id(PAGE_ONE);
+ if ((v_stat_s8 == SUCCESS) ||
+ (p_bno055->page_id == 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);
+ } else {
+ com_rslt = 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
+ * ------------------------ | -------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note Accel anymotion threshold dependent on the
+ * range values
+ *
+ * v_accel_range_u8 | threshold | LSB
+ * ------------- | ------------- | ---------
+ * 2g | 3.19mg | 1LSB
+ * 4g | 7.81mg | 1LSB
+ * 8g | 15.63mg | 1LSB
+ * 16g | 31.25mg | 1LSB
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_thres(
+u8 v_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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* Write page as one */
+ v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
+ if (v_pg_stat_s8 == 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) {
+ /* Write the value of
+ accel any motion threshold*/
+ v_data_u8r =
+ BNO055_SET_BITSLICE(v_data_u8r,
+ BNO055_ACCEL_ANY_MOTION_THRES,
+ v_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);
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+}
+if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode of
+ previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_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
+ * ------------------------- | -------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_durn(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, accel anymotion duration is
+ available in the page one*/
+ if (p_bno055->page_id != 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)) {
+ /* 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);
+ } else {
+ com_rslt = 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
+ *
+ * v_accel_any_motion_durn_u8 | result
+ * ------------------------- | -------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_durn(
+u8 v_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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* Write page as one */
+ v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
+ if (v_pg_stat_s8 == 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) {
+ /* Write the value of
+ accel anymotion duration*/
+ v_data_u8r =
+ BNO055_SET_BITSLICE(v_data_u8r,
+ BNO055_ACCEL_ANY_MOTION_DURN_SET,
+ v_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);
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+}
+if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode of
+ previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_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
+ * ------------ | -------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ * @param v_channel_u8 : The value of accel anymotion axis selection
+ * v_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
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_no_motion_axis_enable(
+u8 v_channel_u8, u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, accel anymotion enable is
+ available in the page one*/
+ if (p_bno055->page_id != 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) {
+ 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);
+ 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);
+ 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);
+ break;
+ default:
+ com_rslt = E_BNO055_OUT_OF_RANGE;
+ break;
+ }
+ } else {
+ com_rslt = 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
+ * ------------ | -------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ * @param v_channel_u8 : The value of accel anymotion axis selection
+ * v_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
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_no_motion_axis_enable(
+u8 v_channel_u8, u8 v_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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* Write page as one */
+ v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
+ if (v_pg_stat_s8 == SUCCESS) {
+ switch (v_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,
+ v_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);
+ }
+ break;
+ case BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS:
+ /* Write 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);
+ if (com_rslt == SUCCESS) {
+ v_data_u8r = BNO055_SET_BITSLICE
+ (v_data_u8r,
+ BNO055_ACCEL_ANY_MOTION_Y_AXIS,
+ v_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);
+ }
+ break;
+ case BNO055_ACCEL_ANY_MOTION_NO_MOTION_Z_AXIS:
+ /* Write 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);
+ if (com_rslt == SUCCESS) {
+ v_data_u8r = BNO055_SET_BITSLICE
+ (v_data_u8r,
+ BNO055_ACCEL_ANY_MOTION_Z_AXIS,
+ v_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);
+ }
+ break;
+ default:
+ com_rslt = E_BNO055_OUT_OF_RANGE;
+ break;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+}
+if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode of
+ previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_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
+ * ------------ | -------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ * @param v_channel_u8 : The value of accel highg axis selection
+ * v_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
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_axis_enable(
+u8 v_channel_u8, u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, accel highg enable is
+ available in the page one*/
+ if (p_bno055->page_id != 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) {
+ 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);
+ 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);
+ 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);
+ break;
+ default:
+ com_rslt = E_BNO055_OUT_OF_RANGE;
+ break;
+ }
+ } else {
+ com_rslt = 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
+ * ------------ | -------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ * @param v_channel_u8 : The value of accel highg axis selection
+ * v_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
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_axis_enable(
+u8 v_channel_u8, u8 v_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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* Write page as one */
+ v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
+ if (v_pg_stat_s8 == SUCCESS) {
+ switch (v_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);
+ 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);
+ }
+ break;
+ case BNO055_ACCEL_HIGH_G_Y_AXIS:
+ /* Write 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);
+ if (com_rslt == SUCCESS) {
+ v_data_u8r =
+ BNO055_SET_BITSLICE(v_data_u8r,
+ BNO055_ACCEL_HIGH_G_Y_AXIS,
+ v_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);
+ }
+ break;
+ case BNO055_ACCEL_HIGH_G_Z_AXIS:
+ /* Write 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);
+ if (com_rslt == SUCCESS) {
+ v_data_u8r =
+ BNO055_SET_BITSLICE(v_data_u8r,
+ BNO055_ACCEL_HIGH_G_Z_AXIS, v_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);
+ }
+ break;
+ default:
+ com_rslt = E_BNO055_OUT_OF_RANGE;
+ break;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+}
+if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode of
+ previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note The high-g interrupt trigger delay according
+ * to [highg duration + 1] * 2 ms
+ *
+ * in a range from 2 ms to 512 ms
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_durn(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, accel highg duration is
+ available in the page one*/
+ if (p_bno055->page_id != 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)) {
+ /* 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);
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note The high-g interrupt trigger delay according
+ * to [highg duration + 1] * 2 ms
+ *
+ * in a range from 2 ms to 512 ms
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_durn(
+u8 v_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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* Write page as one */
+ v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
+ if (v_pg_stat_s8 == 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) {
+ /* Write the value of
+ accel highg duration*/
+ v_data_u8r =
+ BNO055_SET_BITSLICE(v_data_u8r,
+ BNO055_ACCEL_HIGH_G_DURN,
+ v_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);
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ }
+ if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode of
+ previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note Accel highg interrupt threshold dependent
+ * for accel g range
+ *
+ * v_accel_range_u8 | threshold | LSB
+ * ------------- | ------------- | ---------
+ * 2g | 7.81mg | 1LSB
+ * 4g | 15.63mg | 1LSB
+ * 8g | 31.25mg | 1LSB
+ * 16g | 62.5mg | 1LSB
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_thres(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, highg threshold is
+ available in the page one*/
+ if (p_bno055->page_id != 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)) {
+ /* 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);
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note Accel highg interrupt threshold dependent
+ * for accel g range
+ *
+ * v_accel_range_u8 | threshold | LSB
+ * ------------- | ------------- | ---------
+ * 2g | 7.81mg | 1LSB
+ * 4g | 15.63mg | 1LSB
+ * 8g | 31.25mg | 1LSB
+ * 16g | 62.5mg | 1LSB
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_thres(
+u8 v_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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* Write page as one */
+ v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
+ if (v_pg_stat_s8 == 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) {
+ /* Write the value of
+ accel highg threshold */
+ v_data_u8r =
+ BNO055_SET_BITSLICE(v_data_u8r,
+ BNO055_ACCEL_HIGH_G_THRES,
+ v_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);
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ }
+ if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode of
+ previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_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 :
+ * The value of accel slownomotion threshold
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note Accel slow no motion interrupt threshold dependent
+ * for accel g range
+ *
+ * v_accel_range_u8 | threshold | LSB
+ * ------------- | ------------- | ---------
+ * 2g | 3.19mg | 1LSB
+ * 4g | 7.81mg | 1LSB
+ * 8g | 15.63mg | 1LSB
+ * 16g | 31.25mg | 1LSB
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_thres(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, accel slownomotion threshold is
+ available in the page one*/
+ if (p_bno055->page_id != 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)) {
+ /* 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);
+ } else {
+ com_rslt = 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 :
+ * The value of accel slownomotion threshold
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note Accel slow no motion interrupt threshold dependent
+ * for accel g range
+ *
+ * v_accel_range_u8 | threshold | LSB
+ * ------------- | ------------- | ---------
+ * 2g | 3.19mg | 1LSB
+ * 4g | 7.81mg | 1LSB
+ * 8g | 15.63mg | 1LSB
+ * 16g | 31.25mg | 1LSB
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_thres(
+u8 v_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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* Write page as one */
+ v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
+ if (v_pg_stat_s8 == 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,
+ v_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);
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+}
+if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode of
+ previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_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
+ * ------------------------ | --------
+ * 0x01 | Slow motion
+ * 0x00 | No motion
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_enable(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, accel slownomotion enable is
+ available in the page one*/
+ if (p_bno055->page_id != 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)) {
+ /* 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);
+ } else {
+ com_rslt = 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
+ * ------------------------ | --------
+ * 0x01 | Slow motion
+ * 0x00 | No motion
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_enable(
+u8 v_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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* Write page as one */
+ v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
+ if (v_pg_stat_s8 == 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) {
+ /* Read the value of
+ accel slownomotion enable */
+ v_data_u8r =
+ BNO055_SET_BITSLICE(v_data_u8r,
+ BNO055_ACCEL_SLOW_NO_MOTION_ENABLE,
+ v_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);
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+}
+if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode of
+ previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_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 :
+ * The value of accel slownomotion duration
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_durn(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, accel slownomotion duration is
+ available in the page one*/
+ if (p_bno055->page_id != 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)) {
+ /*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);
+ } else {
+ com_rslt = 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 :
+ * The value of accel slownomotion duration
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_durn(
+u8 v_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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* Write page as one */
+ v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
+ if (v_pg_stat_s8 == 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) {
+ /*Write the value of accel
+ slownomotion duration*/
+ v_data_u8r =
+ BNO055_SET_BITSLICE(v_data_u8r,
+ BNO055_ACCEL_SLOW_NO_MOTION_DURN,
+ v_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);
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+}
+if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode of
+ previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_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
+ * ----------------- |-------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ * @param v_channel_u8 : The value of gyro anymotion axis selection
+ * v_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
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_axis_enable(
+u8 v_channel_u8, u8 *v_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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, gyro anymotion axis is
+ available in the page one*/
+ if (p_bno055->page_id != 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) {
+ 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);
+ 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);
+ 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);
+ break;
+ default:
+ com_rslt = E_BNO055_OUT_OF_RANGE;
+ break;
+ }
+ } else {
+ com_rslt = 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
+ * ----------------- |-------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ * @param v_channel_u8 : The value of gyro anymotion axis selection
+ * v_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
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_axis_enable(
+u8 v_channel_u8, u8 v_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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* Write page as one */
+ v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
+ if (v_pg_stat_s8 == SUCCESS) {
+ switch (v_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,
+ v_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);
+ }
+ break;
+ case BNO055_GYRO_ANY_MOTION_Y_AXIS:
+ /* Write 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);
+ if (com_rslt == SUCCESS) {
+ v_data_u8r = BNO055_SET_BITSLICE
+ (v_data_u8r,
+ BNO055_GYRO_ANY_MOTION_Y_AXIS, v_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);
+ }
+ break;
+ case BNO055_GYRO_ANY_MOTION_Z_AXIS:
+ /* Write 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);
+ if (com_rslt == SUCCESS) {
+ v_data_u8r = BNO055_SET_BITSLICE
+ (v_data_u8r,
+ BNO055_GYRO_ANY_MOTION_Z_AXIS,
+ v_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);
+ }
+ break;
+ default:
+ com_rslt = E_BNO055_OUT_OF_RANGE;
+ break;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+} else {
+com_rslt = ERROR;
+}
+}
+if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode of
+ previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_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
+ * ---------------- |-------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ * @param v_channel_u8 : The value of gyro highrate axis selection
+ * v_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
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_axis_enable(
+u8 v_channel_u8, u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, gyro highrate enable is
+ available in the page one*/
+ if (p_bno055->page_id != 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) {
+ 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);
+ 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);
+ 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);
+ break;
+ default:
+ com_rslt = E_BNO055_OUT_OF_RANGE;
+ break;
+ }
+ } else {
+ com_rslt = 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
+ * ---------------- |-------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ * @param v_channel_u8 : The value of gyro highrate axis selection
+ * v_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
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_axis_enable(
+u8 v_channel_u8, u8 v_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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* Write page as one */
+ v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
+ if (v_pg_stat_s8 == SUCCESS) {
+ switch (v_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);
+ com_rslt +=
+ p_bno055->BNO055_BUS_WRITE_FUNC
+ (p_bno055->dev_addr,
+ BNO055_GYRO_HIGHRATE_X_AXIS__REG,
+ &v_data_u8r, BNO055_ONE_U8X);
+ }
+ break;
+ case BNO055_GYRO_HIGHRATE_Y_AXIS:
+ /* Write the value of
+ 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_SET_BITSLICE(
+ v_data_u8r,
+ BNO055_GYRO_HIGHRATE_Y_AXIS, v_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);
+ }
+ break;
+ case BNO055_GYRO_HIGHRATE_Z_AXIS:
+ /* Write the value of
+ 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);
+ if (com_rslt == SUCCESS) {
+ v_data_u8r = BNO055_SET_BITSLICE
+ (v_data_u8r,
+ BNO055_GYRO_HIGHRATE_Z_AXIS, v_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);
+ }
+ break;
+ default:
+ com_rslt = E_BNO055_OUT_OF_RANGE;
+ break;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+}
+if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode of
+ previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_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
+ * --------------------------- |------------
+ * 0x00 | FILTERED
+ * 0x01 | UNFILTERED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_filter(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, gyro anymotion filter is
+ available in the page one*/
+ if (p_bno055->page_id != 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)) {
+ /* 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);
+ } else {
+ com_rslt = 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
+ * --------------------------- |------------
+ * 0x00 | FILTERED
+ * 0x01 | UNFILTERED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_filter(
+u8 v_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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* Write page as one */
+ v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
+ if (v_pg_stat_s8 == 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,
+ v_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);
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+}
+if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode of
+ previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_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
+ * --------------------------- |------------
+ * 0x00 | FILTERED
+ * 0x01 | UNFILTERED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_filter(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page, gyro highrate filter is
+ available in the page one*/
+ if (p_bno055->page_id != 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)) {
+ /* 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);
+ } else {
+ com_rslt = 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
+ * --------------------------- |------------
+ * 0x00 | FILTERED
+ * 0x01 | UNFILTERED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_filter(
+u8 v_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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* Write page as one */
+ v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
+ if (v_pg_stat_s8 == 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,
+ v_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);
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+}
+if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode of
+ previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note Gyro highrate threshold dependent on the
+ * selection of gyro range
+ *
+ * v_gyro_range_u8 | threshold | LSB
+ * ----------------- | ------------- | ---------
+ * 2000 | 62.5dps | 1LSB
+ * 1000 | 31.25dps | 1LSB
+ * 500 | 15.625dps | 1LSB
+ * 125 | 7.8125dps | 1LSB
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_thres(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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)
+ /* Write page as one */
+ v_stat_s8 = bno055_write_page_id(PAGE_ONE);
+ if ((v_stat_s8 == SUCCESS) ||
+ (p_bno055->page_id == 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);
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note Gyro highrate threshold dependent on the
+ * selection of gyro range
+ *
+ * v_gyro_range_u8 | threshold | LSB
+ * ----------------- | ------------- | ---------
+ * 2000 | 62.5dps | 1LSB
+ * 1000 | 31.25dps | 1LSB
+ * 500 | 15.625dps | 1LSB
+ * 125 | 7.8125dps | 1LSB
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_thres(
+u8 v_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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* Write page as one */
+ v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
+ if (v_pg_stat_s8 == 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,
+ v_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);
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+}
+if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode of
+ previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note Gyro high rate hysteresis calculated by
+ *
+ * using this (255 + 256 * v_gyro_highrate_x_hyst_u8) *4 LSB
+ *
+ * The high rate value scales with the range setting
+ *
+ * v_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_x_hyst(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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)
+ /* Write page as one */
+ v_stat_s8 = bno055_write_page_id(PAGE_ONE);
+ if ((v_stat_s8 == SUCCESS) ||
+ (p_bno055->page_id == 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);
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note Gyro high rate hysteresis calculated by
+ *
+ * using this (255 + 256 * v_gyro_highrate_x_hyst_u8) *4 LSB
+ *
+ * The high rate value scales with the range setting
+ *
+ * v_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_x_hyst(
+u8 v_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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* Write page as one */
+ v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
+ if (v_pg_stat_s8 == 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,
+ v_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);
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+}
+if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode of
+ previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note Gyro highrate duration calculate by using the formula
+ *
+ * (1 + v_gyro_highrate_x_durn_u8)*2.5ms
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_durn(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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)
+ /* Write page as one */
+ v_stat_s8 = bno055_write_page_id(PAGE_ONE);
+ if ((v_stat_s8 == SUCCESS) ||
+ (p_bno055->page_id == 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);
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note Gyro highrate duration calculate by using the formula
+ *
+ * (1 + v_gyro_highrate_x_durn_u8)*2.5ms
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_durn(
+u8 v_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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* Write page as one */
+ v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
+ if (v_pg_stat_s8 == 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,
+ v_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);
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ }
+ if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode of
+ previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note Gyro highrate threshold dependent on the
+ * selection of gyro range
+ *
+ * v_gyro_range_u8 | threshold | LSB
+ * ----------------- | ------------- | ---------
+ * 2000 | 62.5dps | 1LSB
+ * 1000 | 31.25dps | 1LSB
+ * 500 | 15.625dps | 1LSB
+ * 125 | 7.8125dps | 1LSB
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_thres(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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)
+ /* Write page as one */
+ v_stat_s8 = bno055_write_page_id(PAGE_ONE);
+ if ((v_stat_s8 == SUCCESS) ||
+ (p_bno055->page_id == 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);
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note Gyro highrate threshold dependent on the
+ * selection of gyro range
+ *
+ * v_gyro_range_u8 | threshold | LSB
+ * ----------------- | ------------- | ---------
+ * 2000 | 62.5dps | 1LSB
+ * 1000 | 31.25dps | 1LSB
+ * 500 | 15.625dps | 1LSB
+ * 125 | 7.8125dps | 1LSB
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_thres(
+u8 v_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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* Write page as one */
+ v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
+ if (v_pg_stat_s8 == 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,
+ v_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);
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+}
+if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode of
+ previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note Gyro high rate hysteresis calculated by
+ *
+ * using this (255 + 256 * v_gyro_highrate_y_hyst_u8) *4 LSB
+ *
+ * The high rate value scales with the range setting
+ *
+ * v_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)
+{
+ /* 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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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)
+ /* Write page as one */
+ v_stat_s8 = bno055_write_page_id(PAGE_ONE);
+ if ((v_stat_s8 == SUCCESS) ||
+ (p_bno055->page_id == 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);
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note Gyro high rate hysteresis calculated by
+ *
+ * using this (255 + 256 * v_gyro_highrate_y_hyst_u8) *4 LSB
+ *
+ * The high rate value scales with the range setting
+ *
+ * v_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)
+{
+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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* Write page as one */
+ v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
+ if (v_pg_stat_s8 == 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,
+ v_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);
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+}
+if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode of
+ previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note Gyro highrate duration calculate by using the formula
+ *
+ * (1 + v_gyro_highrate_y_durn_u8)*2.5ms
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_durn(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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)
+ /* Write page as one */
+ v_stat_s8 = bno055_write_page_id(PAGE_ONE);
+ if ((v_stat_s8 == SUCCESS) ||
+ (p_bno055->page_id == 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);
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note Gyro highrate duration calculate by using the formula
+ *
+ * (1 + v_gyro_highrate_y_durn_u8)*2.5ms
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_durn(
+u8 v_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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* Write page as one */
+ v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
+ if (v_pg_stat_s8 == 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,
+ v_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);
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ }
+ if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode of
+ previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note Gyro highrate threshold dependent on the
+ * selection of gyro range
+ *
+ * v_gyro_range_u8 | threshold | LSB
+ * ----------------- | ------------- | ---------
+ * 2000 | 62.5dps | 1LSB
+ * 1000 | 31.25dps | 1LSB
+ * 500 | 15.625dps | 1LSB
+ * 125 | 7.8125dps | 1LSB
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_thres(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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)
+ /* Write page as one */
+ v_stat_s8 = bno055_write_page_id(PAGE_ONE);
+ if ((v_stat_s8 == SUCCESS) ||
+ (p_bno055->page_id == 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);
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note Gyro highrate threshold dependent on the
+ * selection of gyro range
+ *
+ * v_gyro_range_u8 | threshold | LSB
+ * ----------------- | ------------- | ---------
+ * 2000 | 62.5dps | 1LSB
+ * 1000 | 31.25dps | 1LSB
+ * 500 | 15.625dps | 1LSB
+ * 125 | 7.8125dps | 1LSB
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_thres(
+u8 v_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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* Write page as one */
+ v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
+ if (v_pg_stat_s8 == 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,
+ v_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);
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+}
+if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode of
+ previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note Gyro high rate hysteresis calculated by
+ *
+ * using this (255 + 256 * v_gyro_highrate_z_hyst_u8) *4 LSB
+ *
+ * The high rate value scales with the range setting
+ *
+ * v_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)
+{
+ /* 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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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)
+ /* Write page as one */
+ v_stat_s8 = bno055_write_page_id(PAGE_ONE);
+ if ((v_stat_s8 == SUCCESS) ||
+ (p_bno055->page_id == 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);
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note Gyro high rate hysteresis calculated by
+ *
+ * using this (255 + 256 * v_gyro_highrate_z_hyst_u8) *4 LSB
+ *
+ * The high rate value scales with the range setting
+ *
+ * v_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)
+{
+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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* Write page as one */
+ v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
+ if (v_pg_stat_s8 == 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,
+ v_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);
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+}
+if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode of
+ previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note Gyro highrate duration calculate by using the formula
+ *
+ * (1 + v_gyro_highrate_z_durn_u8)*2.5ms
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_durn(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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)
+ /* Write page as one */
+ v_stat_s8 = bno055_write_page_id(PAGE_ONE);
+ if ((v_stat_s8 == SUCCESS) ||
+ (p_bno055->page_id == 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);
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note Gyro highrate duration calculate by using the formula
+ *
+ * (1 + v_gyro_highrate_z_durn_u8)*2.5ms
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_durn(
+u8 v_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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* Write page as one */
+ v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
+ if (v_pg_stat_s8 == 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,
+ v_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);
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ }
+ if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode of
+ previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note Gyro anymotion interrupt threshold dependent
+ * on the selection of gyro range
+ *
+ * v_gyro_range_u8 | threshold | LSB
+ * ----------------- | ------------- | ---------
+ * 2000 | 1dps | 1LSB
+ * 1000 | 0.5dps | 1LSB
+ * 500 | 0.25dps | 1LSB
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_thres(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return E_NULL_PTR;
+ } else {
+ /*condition check for page,gyro anymotion threshold is
+ available in the page one*/
+ if (p_bno055->page_id != 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)) {
+ /* 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);
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note Gyro anymotion interrupt threshold dependent
+ * on the selection of gyro range
+ *
+ * v_gyro_range_u8 | threshold | LSB
+ * ----------------- | ------------- | ---------
+ * 2000 | 1dps | 1LSB
+ * 1000 | 0.5dps | 1LSB
+ * 500 | 0.25dps | 1LSB
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_thres(
+u8 v_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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* Write page as one */
+ v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
+ if (v_pg_stat_s8 == 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,
+ v_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);
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+}
+if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode of
+ previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_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 :
+ * 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_slope_samples(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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)
+ /* Write page as one */
+ v_stat_s8 = bno055_write_page_id(PAGE_ONE);
+ if ((v_stat_s8 == SUCCESS) ||
+ (p_bno055->page_id == 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);
+ } else {
+ com_rslt = 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 :
+ * 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_slope_samples(
+u8 v_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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* Write page as one */
+ v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
+ if (v_pg_stat_s8 == 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,
+ v_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);
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ }
+ if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode of
+ previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_awake_durn(
+u8 *v_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;
+ /* Check the struct p_bno055 is empty */
+ if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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)
+ /* Write page as one */
+ v_stat_s8 = bno055_write_page_id(PAGE_ONE);
+ if ((v_stat_s8 == SUCCESS) ||
+ (p_bno055->page_id == 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);
+ } else {
+ com_rslt = 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_awake_durn(
+u8 v_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;
+/* Check the struct p_bno055 is empty */
+if (p_bno055 == BNO055_ZERO_U8X) {
+ return 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) {
+ /* Write page as one */
+ v_pg_stat_s8 = bno055_write_page_id(PAGE_ONE);
+ if (v_pg_stat_s8 == 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,
+ v_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);
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ } else {
+ com_rslt = ERROR;
+ }
+ }
+ if (v_prev_opmode_u8 != OPERATION_MODE_CONFIG)
+ /* set the operation mode
+ of previous operation mode*/
+ com_rslt += bno055_set_operation_mode
+ (v_prev_opmode_u8);
+ return com_rslt;
+}
--- /dev/null
+/** \mainpage
+*
+****************************************************************************
+* Copyright (C) 2013 - 2014 Bosch Sensortec GmbH
+*
+* File : bno055.h
+*
+* Date : 2014/12/12
+*
+* Revision : 2.0.2 $
+*
+* Usage: Sensor Driver file for BNO055 sensor
+*
+****************************************************************************
+* \section License
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions are met:
+*
+* Redistributions of source code must retain the above copyright
+* notice, this list of conditions and the following disclaimer.
+*
+* Redistributions in binary form must reproduce the above copyright
+* notice, this list of conditions and the following disclaimer in the
+* documentation and/or other materials provided with the distribution.
+*
+* Neither the name of the copyright holder nor the names of the
+* contributors may be used to endorse or promote products derived from
+* this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR
+* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+* DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDER
+* OR CONTRIBUTORS BE LIABLE FOR ANY
+* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY,
+* OR CONSEQUENTIAL DAMAGES(INCLUDING, BUT NOT LIMITED TO,
+* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+* ANY WAY OUT OF THE USE OF THIS
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE
+*
+* The information provided is believed to be accurate and reliable.
+* The copyright holder assumes no responsibility
+* for the consequences of use
+* of such information nor for any infringement of patents or
+* other rights of third parties which may result from its use.
+* No license is granted by implication or otherwise under any patent or
+* patent rights of the copyright holder.
+**************************************************************************/
+/*! \file bno055.h
+ \brief BNO055 Sensor Driver Support Header File */
+
+#ifndef __BNO055_H__
+#define __BNO055_H__
+/****************************************************************/
+/**\name DATA TYPES INCLUDES */
+/************************************************************/
+/*!
+* @brief The following definition uses for define the data types
+*
+* @note While porting the API please consider the following
+* @note Please check the version of C standard
+* @note Are you using Linux platform
+*/
+
+/*!
+* @brief For the Linux platform support
+* Please use the types.h for your data types definitions
+*/
+#ifdef __KERNEL__
+
+#include <linux/types.h>
+/* singed integer type*/
+typedef int8_t s8;/**< used for signed 8bit */
+typedef int16_t s16;/**< used for signed 16bit */
+typedef int32_t s32;/**< used for signed 32bit */
+typedef int64_t s64;/**< used for signed 64bit */
+
+typedef u_int8_t u8;/**< used for unsigned 8bit */
+typedef u_int16_t u16;/**< used for unsigned 16bit */
+typedef u_int32_t u32;/**< used for unsigned 32bit */
+typedef u_int64_t u64;/**< used for unsigned 64bit */
+
+
+
+#else /* ! __KERNEL__ */
+/**********************************************************
+* These definition uses for define the C
+* standard version data types
+***********************************************************/
+# if !defined(__STDC_VERSION__)
+
+/************************************************
+ * compiler is C11 C standard
+************************************************/
+#if (__STDC_VERSION__ == 201112L)
+
+/************************************************/
+#include <stdint.h>
+/************************************************/
+
+/*unsigned integer types*/
+typedef uint8_t u8;/**< used for unsigned 8bit */
+typedef uint16_t u16;/**< used for unsigned 16bit */
+typedef uint32_t u32;/**< used for unsigned 32bit */
+typedef uint64_t u64;/**< used for unsigned 64bit */
+
+/*signed integer types*/
+typedef int8_t s8;/**< used for signed 8bit */
+typedef int16_t s16;/**< used for signed 16bit */
+typedef int32_t s32;/**< used for signed 32bit */
+typedef int64_t s64;/**< used for signed 64bit */
+/************************************************
+ * compiler is C99 C standard
+************************************************/
+
+#elif (__STDC_VERSION__ == 199901L)
+
+/* stdint.h is a C99 supported c library.
+which is used to fixed the integer size*/
+/************************************************/
+#include <stdint.h>
+/************************************************/
+
+/*unsigned integer types*/
+typedef uint8_t u8;/**< used for unsigned 8bit */
+typedef uint16_t u16;/**< used for unsigned 16bit */
+typedef uint32_t u32;/**< used for unsigned 32bit */
+typedef uint64_t u64;/**< used for unsigned 64bit */
+
+/*signed integer types*/
+typedef int8_t s8;/**< used for signed 8bit */
+typedef int16_t s16;/**< used for signed 16bit */
+typedef int32_t s32;/**< used for signed 32bit */
+typedef int64_t s64;/**< used for signed 64bit */
+/************************************************
+ * compiler is C89 or other C standard
+************************************************/
+
+#else /* !defined(__STDC_VERSION__) */
+/*!
+* @brief By default it is defined as 32 bit machine configuration
+* define your data types based on your
+* machine/compiler/controller configuration
+*/
+#define MACHINE_32_BIT
+
+/*! @brief
+ * If your machine support 16 bit
+ * define the MACHINE_16_BIT
+ */
+#ifdef MACHINE_16_BIT
+#include <limits.h>
+/*signed integer types*/
+typedef signed char s8;/**< used for signed 8bit */
+typedef signed short int s16;/**< used for signed 16bit */
+typedef signed long int s32;/**< used for signed 32bit */
+
+#if defined(LONG_MAX) && LONG_MAX == 0x7fffffffffffffffL
+typedef long int s64;/**< used for signed 64bit */
+typedef unsigned long int u64;/**< used for unsigned 64bit */
+#elif defined(LLONG_MAX) && (LLONG_MAX == 0x7fffffffffffffffLL)
+typedef long long int s64;/**< used for signed 64bit */
+typedef unsigned long long int u64;/**< used for unsigned 64bit */
+#else
+#warning Either the correct data type for signed 64 bit integer \
+could not be found, or 64 bit integers are not supported in your environment.
+#warning If 64 bit integers are supported on your platform, \
+please set s64 manually.
+#endif
+
+/*unsigned integer types*/
+typedef unsigned char u8;/**< used for unsigned 8bit */
+typedef unsigned short int u16;/**< used for unsigned 16bit */
+typedef unsigned long int u32;/**< used for unsigned 32bit */
+
+/* If your machine support 32 bit
+define the MACHINE_32_BIT*/
+#elif defined MACHINE_32_BIT
+/*signed integer types*/
+typedef signed char s8;/**< used for signed 8bit */
+typedef signed short int s16;/**< used for signed 16bit */
+typedef signed int s32;/**< used for signed 32bit */
+typedef signed long long int s64;/**< used for signed 64bit */
+
+/*unsigned integer types*/
+typedef unsigned char u8;/**< used for unsigned 8bit */
+typedef unsigned short int u16;/**< used for unsigned 16bit */
+typedef unsigned int u32;/**< used for unsigned 32bit */
+typedef unsigned long long int u64;/**< used for unsigned 64bit */
+
+/* If your machine support 64 bit
+define the MACHINE_64_BIT*/
+#elif defined MACHINE_64_BIT
+/*signed integer types*/
+typedef signed char s8;/**< used for signed 8bit */
+typedef signed short int s16;/**< used for signed 16bit */
+typedef signed int s32;/**< used for signed 32bit */
+typedef signed long int s64;/**< used for signed 64bit */
+
+/*unsigned integer types*/
+typedef unsigned char u8;/**< used for unsigned 8bit */
+typedef unsigned short int u16;/**< used for unsigned 16bit */
+typedef unsigned int u32;/**< used for unsigned 32bit */
+typedef unsigned long int u64;/**< used for unsigned 64bit */
+
+#else
+#warning The data types defined above which not supported \
+define the data types manually
+#endif
+#endif
+
+/*** This else will execute for the compilers
+ * which are not supported the C standards
+ * Like C89/C99/C11***/
+#else
+/*!
+* @brief By default it is defined as 32 bit machine configuration
+* define your data types based on your
+* machine/compiler/controller configuration
+*/
+#define MACHINE_32_BIT
+
+/* If your machine support 16 bit
+define the MACHINE_16_BIT*/
+#ifdef MACHINE_16_BIT
+#include <limits.h>
+/*signed integer types*/
+typedef signed char s8;/**< used for signed 8bit */
+typedef signed short int s16;/**< used for signed 16bit */
+typedef signed long int s32;/**< used for signed 32bit */
+
+#if defined(LONG_MAX) && LONG_MAX == 0x7fffffffffffffffL
+typedef long int s64;/**< used for signed 64bit */
+typedef unsigned long int u64;/**< used for unsigned 64bit */
+#elif defined(LLONG_MAX) && (LLONG_MAX == 0x7fffffffffffffffLL)
+typedef long long int s64;/**< used for signed 64bit */
+typedef unsigned long long int u64;/**< used for unsigned 64bit */
+#else
+#warning Either the correct data type for signed 64 bit integer \
+could not be found, or 64 bit integers are not supported in your environment.
+#warning If 64 bit integers are supported on your platform, \
+please set s64 manually.
+#endif
+
+/*unsigned integer types*/
+typedef unsigned char u8;/**< used for unsigned 8bit */
+typedef unsigned short int u16;/**< used for unsigned 16bit */
+typedef unsigned long int u32;/**< used for unsigned 32bit */
+
+/*! @brief If your machine support 32 bit
+define the MACHINE_32_BIT*/
+#elif defined MACHINE_32_BIT
+/*signed integer types*/
+typedef signed char s8;/**< used for signed 8bit */
+typedef signed short int s16;/**< used for signed 16bit */
+typedef signed int s32;/**< used for signed 32bit */
+typedef signed long long int s64;/**< used for signed 64bit */
+
+/*unsigned integer types*/
+typedef unsigned char u8;/**< used for unsigned 8bit */
+typedef unsigned short int u16;/**< used for unsigned 16bit */
+typedef unsigned int u32;/**< used for unsigned 32bit */
+typedef unsigned long long int u64;/**< used for unsigned 64bit */
+
+/* If your machine support 64 bit
+define the MACHINE_64_BIT*/
+#elif defined MACHINE_64_BIT
+/*signed integer types*/
+typedef signed char s8;/**< used for signed 8bit */
+typedef signed short int s16;/**< used for signed 16bit */
+typedef signed int s32;/**< used for signed 32bit */
+typedef signed long int s64;/**< used for signed 64bit */
+
+/*unsigned integer types*/
+typedef unsigned char u8;/**< used for unsigned 8bit */
+typedef unsigned short int u16;/**< used for unsigned 16bit */
+typedef unsigned int u32;/**< used for unsigned 32bit */
+typedef unsigned long int u64;/**< used for unsigned 64bit */
+
+#else
+#warning The data types defined above which not supported \
+define the data types manually
+#endif
+#endif
+#endif
+/***************************************************************/
+/**\name BUS READ AND WRITE FUNCTIONS */
+/***************************************************************/
+#define BNO055_WR_FUNC_PTR s8 (*bus_write)\
+(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)
+
+#define BNO055_BUS_READ_FUNC(dev_addr, reg_addr, reg_data, r_len)\
+bus_read(dev_addr, reg_addr, reg_data, r_len)
+
+#define BNO055_DELAY_RETURN_TYPE void
+
+#define BNO055_DELAY_PARAM_TYPES u32
+
+#define BNO055_DELAY_FUNC(delay_in_msec)\
+ delay_func(delay_in_msec)
+
+/********************************************************/
+/**\name I2C ADDRESS DEFINITION FOR BNO055 */
+/********************************************************/
+/* bno055 I2C Address */
+#define BNO055_I2C_ADDR1 0x28
+#define BNO055_I2C_ADDR2 0x29
+
+/***************************************************/
+/**\name REGISTER ADDRESS DEFINITION */
+/***************************************************/
+/* Page id register definition*/
+#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
+
+/* 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
+
+/*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
+
+/*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
+
+/*Euler data registers*/
+#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_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
+
+/* 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
+
+/*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
+
+/* Temperature data register*/
+#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
+
+/* Unit selection register*/
+#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_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
+
+/* 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
+
+/* 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
+
+/* 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
+
+/* 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
+
+/* 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
+/* 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
+
+/* 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
+/* PAGE1 REGISTERS DEFINITION END*/
+
+
+#define BNO055_MDELAY_DATA_TYPE u32
+
+/*< This refers BNO055 return type as s8 */
+#define BNO055_RETURN_FUNCTION_TYPE s8
+
+/* Compile switch definition for Float and double*/
+#define BNO055_FLOAT_ENABLE
+#define BNO055_DOUBLE_ENABLE
+/**************************************************************/
+/**\name STRUCTURE DEFINITIONS */
+/**************************************************************/
+/*!
+* @brief bno055 struct
+*/
+struct bno055_t {
+u8 chip_id;/**< chip_id of bno055 */
+u16 sw_rev_id;/**< software revision id of bno055 */
+u8 page_id;/**< page_id of bno055 */
+u8 accel_rev_id;/**< accel revision id of bno055 */
+u8 mag_rev_id;/**< mag revision id of bno055 */
+u8 gyro_rev_id;/**< gyro revision id of bno055 */
+u8 bl_rev_id;/**< boot loader revision id of bno055 */
+u8 dev_addr;/**< i2c device address of bno055 */
+BNO055_WR_FUNC_PTR;/**< bus write function pointer */
+BNO055_RD_FUNC_PTR;/**<bus read function pointer */
+void (*delay_msec)(BNO055_MDELAY_DATA_TYPE);/**< delay function pointer */
+};
+/*!
+* @brief struct for accel data read from registers
+*/
+struct bno055_accel_t {
+s16 x;/**< accel x data */
+s16 y;/**< accel y data */
+s16 z;/**< accel z data */
+};
+/*!
+* @brief struct for Mag data read from registers
+*/
+struct bno055_mag_t {
+s16 x;/**< mag x data */
+s16 y;/**< mag y data */
+s16 z;/**< mag z data */
+};
+/*!
+* @brief struct for Gyro data read from registers
+*/
+struct bno055_gyro_t {
+s16 x;/**< gyro x data */
+s16 y;/**< gyro y data */
+s16 z;/**< gyro z data */
+};
+/*!
+* @brief struct for Euler data read from registers
+*/
+struct bno055_euler_t {
+s16 h;/**< Euler h data */
+s16 r;/**< Euler r data */
+s16 p;/**< Euler p data */
+};
+/*!
+* @brief struct for Quaternion data read from registers
+*/
+struct bno055_quaternion_t {
+s16 w;/**< Quaternion w data */
+s16 x;/**< Quaternion x data */
+s16 y;/**< Quaternion y data */
+s16 z;/**< Quaternion z data */
+};
+/*!
+* @brief struct for Linear Accel data read from registers
+*/
+struct bno055_linear_accel_t {
+s16 x; /**< Linear Accel x data */
+s16 y; /**< Linear Accel y data */
+s16 z; /**< Linear Accel z data */
+};
+/*!
+* @brief struct for Gravity data read from registers
+*/
+struct bno055_gravity_t {
+s16 x;/**< Gravity x data */
+s16 y;/**< Gravity y data */
+s16 z;/**< Gravity z data */
+};
+#ifdef BNO055_DOUBLE_ENABLE
+/*!
+* @brief struct for Accel-output data of precision double
+*/
+struct bno055_accel_double_t {
+double x;/**< Accel x double data */
+double y;/**< Accel y double data */
+double z;/**< Accel z double data */
+};
+/*!
+* @brief struct for Mag-output data of precision double
+*/
+struct bno055_mag_double_t {
+double x;/**< Mag x double data */
+double y;/**< Mag y double data */
+double z;/**< Mag z double data */
+};
+/*!
+* @brief struct for Gyro-output data of precision double
+*/
+struct bno055_gyro_double_t {
+double x;/**< Gyro x double data */
+double y;/**< Gyro y double data */
+double z;/**< Gyro z double data */
+};
+/*!
+* @brief struct for Euler-output data of precision double
+*/
+struct bno055_euler_double_t {
+double h;/**< Euler h double data */
+double r;/**< Euler r double data */
+double p;/**< Euler p double data */
+};
+/*!
+* @brief struct for Linear Accel-output data of precision double
+*/
+struct bno055_linear_accel_double_t {
+double x;/**< linear accel x double data */
+double y;/**< linear accel y double data */
+double z;/**< linear accel z double data */
+};
+/*!
+* @brief struct for Gravity-output data of precision double
+*/
+struct bno055_gravity_double_t {
+double x;/**< Gravity x double data */
+double y;/**< Gravity y double data */
+double z;/**< Gravity z double data */
+};
+#endif
+#ifdef BNO055_FLOAT_ENABLE
+/*!
+* @brief struct for Accel-output data of precision float
+*/
+struct bno055_accel_float_t {
+float x;/**< accel x float data */
+float y;/**< accel y float data */
+float z;/**< accel z float data */
+};
+/*!
+* @brief struct for Mag-output data of precision float
+*/
+struct bno055_mag_float_t {
+float x;/**< Mag x float data */
+float y;/**< Mag y float data */
+float z;/**< Mag z float data */
+};
+/*!
+* @brief struct for Gyro-output data of precision float
+*/
+struct bno055_gyro_float_t {
+float x;/**< Gyro x float data */
+float y;/**< Gyro y float data */
+float z;/**< Gyro z float data */
+};
+/*!
+* @brief struct for Euler-output data of precision float
+*/
+struct bno055_euler_float_t {
+float h;/**< Euler h float data */
+float r;/**< Euler r float data */
+float p;/**< Euler p float data */
+};
+/*!
+* @brief struct for Linear accel-output data of precision float
+*/
+struct bno055_linear_accel_float_t {
+float x;/**< Linear accel x float data */
+float y;/**< Linear accel y float data */
+float z;/**< Linear accel z float data */
+};
+/*!
+* @brief struct for Gravity-output data of precision float
+*/
+struct bno055_gravity_float_t {
+float x;/**< Gravity x float data */
+float y;/**< Gravity y float data */
+float z;/**< Gravity z float data */
+};
+#endif
+/*!
+* @brief struct for Accel offset
+*/
+struct bno055_accel_offset_t {
+s16 x;/**< Accel offset x data */
+s16 y;/**< Accel offset y data */
+s16 z;/**< Accel offset z data */
+s16 r;/**< Accel radius r data */
+};
+/*!
+* @brief struct for Gyro offset
+*/
+struct bno055_gyro_offset_t {
+s16 x;/**< Gyro offset x data */
+s16 y;/**< Gyro offset y data */
+s16 z;/**< Gyro offset z data */
+};
+/*!
+* @brief struct for Mag offset
+*/
+struct bno055_mag_offset_t {
+s16 x;/**< Mag offset x data */
+s16 y;/**< Mag offset y data */
+s16 z;/**< Mag offset z data */
+s16 r;/**< Mag radius x data */
+};
+/*!
+* @brief struct for soft iron calibration matrix
+*/
+struct bno055_sic_matrix_t {
+s16 sic_0;/**< soft iron calibration matrix 0 data */
+s16 sic_1;/**< soft iron calibration matrix 1 data */
+s16 sic_2;/**< soft iron calibration matrix 2 data */
+s16 sic_3;/**< soft iron calibration matrix 3 data */
+s16 sic_4;/**< soft iron calibration matrix 4 data */
+s16 sic_5;/**< soft iron calibration matrix 5 data */
+s16 sic_6;/**< soft iron calibration matrix 6 data */
+s16 sic_7;/**< soft iron calibration matrix 7 data */
+s16 sic_8;/**< soft iron calibration matrix 8 data */
+};
+/***************************************************/
+/**\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)
+
+/* Selection for bit enable and disable */
+#define ENABLED 0x01
+#define DISABLED 0x00
+
+/* Page ID */
+#define PAGE_ZERO 0X00
+#define PAGE_ONE 0X01
+
+/* Enable the temperature source */
+#define ACCEL_TEMP_EN 0x00
+#define GYRO_TEMP_EN 0x01
+#define MCU_TEMP_EN 0x03
+
+/*Accel unit*/
+#define ACCEL_UNIT_MSQ 0x00
+#define ACCEL_UNIT_MG 0x01
+
+/*Gyro unit*/
+#define GYRO_UNIT_DPS 0x00
+#define GYRO_UNIT_RPS 0x01
+
+/* Euler unit*/
+#define EULER_UNIT_DEG 0x00
+#define EULER_UNIT_RAD 0x01
+
+/*Temperature unit*/
+#define TEMP_UNIT_CELSIUS 0x00
+#define TEMP_UNIT_FAHRENHEIT 0x01
+
+/*Accel division factor*/
+#define ACCEL_DIV_MSQ 100.0
+#define ACCEL_DIV_MG 1
+
+/*Mag division factor*/
+#define MAG_DIV_UT 16.0
+
+/*Gyro division factor*/
+#define GYRO_DIV_DPS 16.0
+#define GYRO_DIV_RPS 900.0
+
+/*Euler division factor*/
+#define EULER_DIV_DEG 16.0
+#define EULER_DIV_RAD 900.0
+
+/*Linear accel division factor*/
+#define LINEAR_ACCEL_DIV_MSQ 100.0
+
+/*Gravity accel division factor*/
+#define GRAVITY_DIV_MSQ 100.0
+
+/* Temperature division factor*/
+#define TEMP_DIV_FAHRENHEIT 0.5
+#define TEMP_DIV_CELSIUS 1
+
+#define BNO055_SIX_HUNDRES_U8X 600
+
+
+
+/* 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
+
+/* Power mode*/
+#define POWER_MODE_NORMAL 0X00
+#define POWER_MODE_LOWPOWER 0X01
+#define 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
+
+/* 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
+
+/* 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
+
+/* 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
+
+/* 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
+
+/* 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
+
+/* 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
+
+/* 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
+
+/* 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
+
+/* Accel Sleep Duration */
+#define BNO055_ACCEL_SLEEP_DURN_0_5MS 0x05
+/* sets sleep duration to 0.5 ms */
+#define BNO055_ACCEL_SLEEP_DURN_1MS 0x06
+/* sets sleep duration to 1 ms */
+#define BNO055_ACCEL_SLEEP_DURN_2MS 0x07
+/* sets sleep duration to 2 ms */
+#define BNO055_ACCEL_SLEEP_DURN_4MS 0x08
+/* sets sleep duration to 4 ms */
+#define BNO055_ACCEL_SLEEP_DURN_6MS 0x09
+/* sets sleep duration to 6 ms*/
+#define BNO055_ACCEL_SLEEP_DURN_10MS 0x0A
+/* sets sleep duration to 10 ms */
+#define BNO055_ACCEL_SLEEP_DURN_25MS 0x0B
+ /* sets sleep duration to 25 ms */
+#define BNO055_ACCEL_SLEEP_DURN_50MS 0x0C
+ /* sets sleep duration to 50 ms */
+#define BNO055_ACCEL_SLEEP_DURN_100MS 0x0D
+ /* sets sleep duration to 100 ms */
+#define BNO055_ACCEL_SLEEP_DURN_500MS 0x0E
+ /* sets sleep duration to 500 ms */
+#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
+
+/* 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
+
+/* 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
+
+/* 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
+
+
+/* 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
+
+/* 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
+
+/* Axis remap sign */
+#define REMAP_AXIS_POSITIVE 0X00
+#define REMAP_AXIS_NEGATIVE 0X01
+
+/* Gyro anymotion and high rate filter configuration */
+#define FILTERED 0x00
+#define UNFILTERED 0x01
+
+/* mask definitions*/
+#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
+/*********************************************************/
+/**\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
+
+/* 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
+
+/* 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
+
+/* 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
+
+/*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
+
+/*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
+
+/* 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
+
+/*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
+
+/* 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 \
+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 \
+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 \
+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 \
+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 \
+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 \
+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 \
+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
+
+/* 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
+
+/* 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
+
+/* 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
+
+/* 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
+
+/* 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
+
+/* 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
+
+/* 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
+
+/* 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
+
+/* 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
+
+/* 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
+
+/* 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
+
+/* 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
+
+/* 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
+
+/* 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
+
+/* 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
+
+/* 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
+
+/* 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 \
+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 \
+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 \
+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 \
+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 \
+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
+
+/* 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 \
+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 \
+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 \
+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 \
+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 \
+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 \
+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 \
+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 \
+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 \
+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 \
+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 \
+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 \
+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 \
+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 \
+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
+
+/*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
+
+/*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
+
+/*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
+
+/*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
+
+/*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
+
+/*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
+
+/*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
+
+/*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
+
+/*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
+
+/* 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
+
+/* 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_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
+
+/* 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
+
+/* 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
+
+/* 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
+
+/* 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
+
+/* 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
+/*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
+/* 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
+
+/*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
+
+/* 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
+
+/* 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
+
+/* 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
+
+/* 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
+
+/* 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
+
+/* 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_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
+
+/* 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
+
+/*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
+
+/*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
+
+/* 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
+
+/* 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
+
+/* PAGE0 DATA REGISTERS DEFINITION END*/
+/*************************************************/
+/**\name PAGE1 DATA REGISTERS DEFINITION */
+/*************************************************/
+/* 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
+
+/* 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
+
+/* 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
+
+/* 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
+
+/* 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
+
+/* 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
+
+/* 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
+
+/* 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
+
+/* 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
+
+/* 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
+
+/* 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
+
+/* 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
+
+/* 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
+
+/* 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
+
+/* 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
+
+/* 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
+
+/* 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
+
+/* 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
+
+/* 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
+
+/* 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
+
+/* 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
+
+/* 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
+
+/* 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
+
+/* 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
+
+/*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
+
+/*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
+
+/*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
+
+/* 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_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_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
+
+/* 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_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_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
+
+/* 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
+
+/* 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
+
+/* 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
+
+/* 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
+
+/* 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
+
+/*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_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_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
+
+/*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_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_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
+
+/* 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_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
+
+/* 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_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_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
+
+/* 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_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_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
+
+/* 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_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_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
+
+/*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
+
+/* 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
+
+/* 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
+
+/* PAGE1 DATA REGISTERS DEFINITION END*/
+/*************************************************/
+/**\name GET AND SET BITSLICE FUNCTIONS */
+/*************************************************/
+#define BNO055_GET_BITSLICE(regvar, bitname)\
+((regvar & bitname##__MSK) >> bitname##__POS)
+
+
+#define BNO055_SET_BITSLICE(regvar, bitname, val)\
+((regvar & ~bitname##__MSK) | ((val<<bitname##__POS)&bitname##__MSK))
+/*************************************************/
+/**\name FUNCTION DECLARATION */
+/*************************************************/
+/**************************************************/
+/**\name INITIALIZATION AND REVISION ID FUNCTIONS */
+/**************************************************/
+/*!
+ * @brief
+ * This function 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
+ * revision id and page id
+ *
+ * @param bno055 - structure pointer
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note While changing the parameter of the bno055_t
+ * consider the following point:
+ * Changing the reference value of the parameter
+ * will changes the local copy or local reference
+ * make sure your changes will not
+ * affect the reference value of the parameter
+ * (Better case don't change the reference value of the parameter)
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_init(struct bno055_t *bno055);
+/*!
+ * @brief
+ * 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+*/
+BNO055_RETURN_FUNCTION_TYPE bno055_write_register(u8 v_addr_u8,
+u8 *p_data_u8, u8 v_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,
+ * read value will be kept
+ * @param v_len_u8 : Length of the data
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_register(u8 v_addr_u8,
+u8 *p_data_u8, u8 v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_chip_id(u8 *v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_sw_rev_id(u16 *v_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
+ *
+ * PAGE_ZERO -> 0x00
+ * PAGE_ONE -> 0x01
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_page_id(u8 *v_page_id_u8);
+/*!
+ * @brief This API used to write
+ * the page id register 0x07
+ *
+ * @param v_page_id_u8 : The value of page id
+ *
+ * PAGE_ZERO -> 0x00
+ * PAGE_ONE -> 0x01
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_write_page_id(u8 v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_rev_id(
+u8 *v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_rev_id(
+u8 *v_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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_rev_id(
+u8 *v_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
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_bl_rev_id(
+u8 *v_bl_rev_id_u8);
+/**************************************************/
+/**\name ACCEL DATA READ FUNCTIONS */
+/**************************************************/
+/*!
+ * @brief This API reads acceleration data X values
+ * from register 0x08 and 0x09 it is a two byte data
+ *
+ *
+ *
+ *
+ * @param v_accel_x_s16 : The X raw data
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_x(s16 *v_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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_y(s16 *v_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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_z(s16 *v_accel_z_s16);
+/*!
+ * @brief This API reads acceleration data xyz values
+ * from register 0x08 to 0x0D it is a six byte data
+ *
+ *
+ * @param accel : The value of accel xyz data
+ *
+ * Parameter | result
+ * --------- | -----------------
+ * x | The accel x data
+ * y | The accel y data
+ * z | The accel z data
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_xyz(
+struct bno055_accel_t *accel);
+/**************************************************/
+/**\name MAG DATA READ FUNCTIONS */
+/**************************************************/
+/*!
+ * @brief This API reads mag data x values
+ * from register 0x0E and 0x0F it is a two byte data
+ *
+ *
+ *
+ *
+ * @param v_mag_x_s16 : The x raw data
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_x(s16 *v_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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_y(s16 *v_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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_z(s16 *v_mag_z_s16);
+/*!
+ * @brief This API reads mag data xyz values
+ * from register 0x0E to 0x13 it is a six byte data
+ *
+ *
+ * @param mag : The mag xyz values
+ *
+ * Parameter | result
+ * --------- | -----------------
+ * x | The mag x data
+ * y | The mag y data
+ * z | The mag z data
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_xyz(struct bno055_mag_t *mag);
+/**************************************************/
+/**\name GYRO DATA READ FUNCTIONS */
+/**************************************************/
+/*!
+ * @brief This API reads gyro data x values
+ * from register 0x14 and 0x15 it is a two byte data
+ *
+ *
+ *
+ *
+ * @param v_gyro_x_s16 : The x raw data
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_x(s16 *v_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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_y(s16 *v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_z(s16 *v_gyro_z_s16);
+/*!
+ * @brief This API reads gyro data xyz values
+ * from register 0x14 to 0x19 it is a six byte data
+ *
+ *
+ * @param gyro : The value of gyro xyz data's
+ *
+ * Parameter | result
+ * --------- | -----------------
+ * x | The gyro x data
+ * y | The gyro y data
+ * z | The gyro z data
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_xyz(struct bno055_gyro_t *gyro);
+/**************************************************/
+/**\name EULER DATA READ FUNCTIONS */
+/**************************************************/
+/*!
+ * @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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_h(s16 *v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_r(s16 *v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_p(s16 *v_euler_p_s16);
+/*!
+ * @brief This API reads Euler data hrp values
+ * from register 0x1A to 0x1F it is a six byte data
+ *
+ *
+ * @param euler : The Euler hrp data's
+ *
+ * Parameter | result
+ * --------- | -----------------
+ * h | The Euler h data
+ * r | The Euler r data
+ * p | The Euler p data
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_hrp(
+struct bno055_euler_t *euler);
+/**************************************************/
+/**\name QUATERNION DATA READ FUNCTIONS */
+/**************************************************/
+/*!
+ * @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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_w(
+s16 *v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_x(
+s16 *v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_y(
+s16 *v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_z(
+s16 *v_quaternion_z_s16);
+/*!
+ * @brief This API reads Quaternion data wxyz values
+ * from register 0x20 to 0x27 it is a six byte data
+ *
+ *
+ * @param quaternion : The value of quaternion wxyz data's
+ *
+ * Parameter | result
+ * --------- | -----------------
+ * w | The quaternion w data
+ * x | The quaternion x data
+ * y | The quaternion y data
+ * z | The quaternion z data
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_wxyz(
+struct bno055_quaternion_t *quaternion);
+/**************************************************/
+/**\name LINEAR ACCEL DATA READ FUNCTIONS */
+/**************************************************/
+/*!
+ * @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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_x(
+s16 *v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_y(
+s16 *v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_z(
+s16 *v_linear_accel_z_s16);
+/*!
+ * @brief This API reads Linear accel data xyz values
+ * from register 0x28 to 0x2D it is a six byte data
+ *
+ *
+ * @param linear_accel : The value of linear accel xyz data's
+ *
+ * Parameter | result
+ * --------- | -----------------
+ * x | The linear accel x data
+ * y | The linear accel y data
+ * z | The linear accel z data
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_xyz(
+struct bno055_linear_accel_t *linear_accel);
+/**************************************************/
+/**\name GRAVITY DATA READ FUNCTIONS */
+/**************************************************/
+/*!
+ * @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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_x(
+s16 *v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_y(
+s16 *v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_z(
+s16 *v_gravity_z_s16);
+/*!
+ * @brief This API reads gravity data xyz values
+ * from register 0x2E to 0x33 it is a six byte data
+ *
+ *
+ * @param gravity : The value of gravity xyz data's
+ *
+ * Parameter | result
+ * --------- | -----------------
+ * x | The gravity x data
+ * y | The gravity y data
+ * z | The gravity z data
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_xyz(
+struct bno055_gravity_t *gravity);
+/**************************************************/
+/**\name TEMPERATURE DATA READ FUNCTIONS */
+/**************************************************/
+/*!
+ * @brief This API reads temperature values
+ * from register 0x33 it is a byte data
+ *
+ * @param v_temp_s8 : The raw temperature data
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_temp_data(s8 *v_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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_x_msq(
+float *v_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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_y_msq(
+float *v_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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_z_msq(
+float *v_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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_x_mg(
+float *v_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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_y_mg(
+float *v_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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_z_mg(
+float *v_accel_z_f);
+/*!
+ * @brief This API is used to convert the accel xyz raw data
+ * to meterpersecseq output as float
+ *
+ * @param accel_xyz : The meterpersecseq data of accel xyz
+ *
+ * Parameter | result
+ * --------- | -----------------
+ * x | meterpersecseq data of accel
+ * y | meterpersecseq data of accel
+ * z | meterpersecseq data of accel
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_xyz_msq(
+struct bno055_accel_float_t *accel_xyz);
+/*!
+ * @brief This API is used to convert the accel xyz raw data
+ * to millig output as float
+ *
+ * @param accel_xyz : The millig data of accel xyz
+ *
+ * Parameter | result
+ * --------- | -----------------
+ * x | millig data of accel
+ * y | millig data of accel
+ * z | millig data of accel
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_xyz_mg(
+struct bno055_accel_float_t *accel_xyz);
+/********************************************************************/
+/**\name FUNCTIONS FOR READING MAG DATA OUTPUT AS FLOAT PRECISION */
+/********************************************************************/
+/*!
+ * @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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_x_uT(
+float *v_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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_y_uT(
+float *v_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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_z_uT(
+float *v_mag_z_f);
+/*!
+ * @brief This API is used to convert the mag yz raw data
+ * to microTesla output as float
+ *
+ * @param mag_xyz_data : The microTesla data of mag xyz
+ *
+ * Parameter | result
+ * --------- | -----------------
+ * x | microTesla data of mag
+ * y | microTesla data of mag
+ * z | microTesla data of mag
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_xyz_uT(
+struct bno055_mag_float_t *mag_xyz_data);
+/********************************************************************/
+/**\name FUNCTIONS FOR READING GYRO DATA OUTPUT AS FLOAT PRECISION */
+/********************************************************************/
+/*!
+ * @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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_x_dps(
+float *v_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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_x_rps(
+float *v_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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_y_dps(
+float *v_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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_y_rps(
+float *v_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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_z_dps(
+float *v_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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_z_rps(
+float *v_gyro_z_f);
+/*!
+ * @brief This API is used to convert the gyro xyz raw data
+ * to dps output as float
+ *
+ * @param gyro_xyz_data : The dps data of gyro xyz
+ *
+ * Parameter | result
+ * --------- | -----------------
+ * x | dps data of gyro
+ * y | dps data of gyro
+ * z | dps data of gyro
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_xyz_dps(
+struct bno055_gyro_float_t *gyro_xyz_data);
+/*!
+ * @brief This API is used to convert the gyro xyz raw data
+ * to rps output as float
+ *
+ * @param gyro_xyz_data : The rps data of gyro xyz
+ *
+ * Parameter | result
+ * --------- | -----------------
+ * x | rps data of gyro
+ * y | rps data of gyro
+ * z | rps data of gyro
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_xyz_rps(
+struct bno055_gyro_float_t *gyro_xyz_data);
+/********************************************************************/
+/**\name FUNCTIONS FOR READING EULER DATA OUTPUT AS FLOAT PRECISION */
+/********************************************************************/
+/*!
+ * @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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_h_deg(
+float *v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_h_rad(
+float *v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_r_deg(
+float *v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_r_rad(
+float *v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_p_deg(
+float *v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_p_rad(
+float *v_euler_p_f);
+/*!
+ * @brief This API is used to convert the Euler hrp raw data
+ * to degree output as float
+ *
+ * @param euler_hpr : The degree data of Euler hrp
+ *
+ * Parameter | result
+ * --------- | -----------------
+ * h | degree data of Euler
+ * r | degree data of Euler
+ * p | degree data of Euler
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_hpr_deg(
+struct bno055_euler_float_t *euler_hpr);
+/*!
+ * @brief This API is used to convert the Euler xyz raw data
+ * to radians output as float
+ *
+ * @param euler_hpr : The radians data of Euler hrp
+ *
+ * Parameter | result
+ * --------- | -----------------
+ * h | radians data of Euler
+ * r | radians data of Euler
+ * p | radians data of Euler
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_hpr_rad(
+struct bno055_euler_float_t *euler_hpr);
+/***************************************************************************/
+/**\name FUNCTIONS FOR READING LINEAR ACCEL DATA OUTPUT AS FLOAT PRECISION */
+/**************************************************************************/
+/*!
+ * @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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_x_msq(
+float *v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_y_msq(
+float *v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_z_msq(
+float *v_linear_accel_z_f);
+/*!
+ * @brief This API is used to convert the linear accel xyz raw data
+ * to meterpersecseq output as float
+ *
+ * @param linear_accel_xyz : The meterpersecseq data of linear accel xyz
+ *
+ * Parameter | result
+ * --------- | -----------------
+ * x | meterpersecseq data of linear accel
+ * y | meterpersecseq data of linear accel
+ * z | meterpersecseq data of linear accel
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_xyz_msq(
+struct bno055_linear_accel_float_t *linear_accel_xyz);
+/********************************************************************/
+/**\name FUNCTIONS FOR READING GRAVITY DATA OUTPUT AS FLOAT PRECISION */
+/********************************************************************/
+/*!
+ * @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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_x_msq(
+float *v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_y_msq(
+float *v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_z_msq(
+float *gravity_z);
+/*!
+ * @brief This API is used to convert the gravity xyz raw data
+ * to meterpersecseq output as float
+ *
+ * @param gravity_xyz : The meterpersecseq data of gravity xyz
+ *
+ * Parameter | result
+ * --------- | -----------------
+ * x | meterpersecseq data of gravity
+ * y | meterpersecseq data of gravity
+ * z | meterpersecseq data of gravity
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gravity_xyz_msq(
+struct bno055_gravity_float_t *gravity_xyz);
+/**************************************************************************/
+/**\name FUNCTIONS FOR READING TEMPERATURE DATA OUTPUT AS FLOAT PRECISION */
+/*************************************************************************/
+/*!
+ * @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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_temp_fahrenheit(
+float *v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_temp_celsius(
+float *v_temp_f);
+#endif
+#ifdef BNO055_DOUBLE_ENABLE
+/**************************************************************************/
+/**\name FUNCTIONS FOR READING ACCEL DATA OUTPUT AS DOUBLE PRECISION */
+/*************************************************************************/
+/*!
+ * @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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_x_msq(
+double *v_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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_y_msq(
+double *v_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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_z_msq(
+double *v_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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_x_mg(
+double *v_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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_y_mg(
+double *v_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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_z_mg(
+double *v_accel_z_d);
+/*!
+ * @brief This API is used to convert the accel xyz raw data
+ * to meterpersecseq output as double
+ *
+ * @param accel_xyz : The meterpersecseq data of accel xyz
+ *
+ * Parameter | result
+ * --------- | -----------------
+ * x | meterpersecseq data of accel
+ * y | meterpersecseq data of accel
+ * z | meterpersecseq data of accel
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_xyz_msq(
+struct bno055_accel_double_t *accel_xyz);
+/*!
+ * @brief This API is used to convert the accel xyz raw data
+ * to millig output as double
+ *
+ * @param accel_xyz : The millig data of accel xyz
+ *
+ * Parameter | result
+ * --------- | -----------------
+ * x | millig data of accel
+ * y | millig data of accel
+ * z | millig data of accel
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_xyz_mg(
+struct bno055_accel_double_t *accel_xyz);
+/**************************************************************************/
+/**\name FUNCTIONS FOR READING MAG DATA OUTPUT AS DOUBLE PRECISION */
+/*************************************************************************/
+/*!
+ * @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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_x_uT(
+double *v_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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_y_uT(
+double *v_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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_z_uT(
+double *v_mag_z_d);
+/*!
+ * @brief This API is used to convert the mag yz raw data
+ * to microTesla output as double
+ *
+ * @param mag_xyz : The microTesla data of mag xyz
+ *
+ * Parameter | result
+ * --------- | -----------------
+ * x | microTesla data of mag
+ * y | microTesla data of mag
+ * z | microTesla data of mag
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_xyz_uT(
+struct bno055_mag_double_t *mag_xyz);
+/**************************************************************************/
+/**\name FUNCTIONS FOR READING GYRO DATA OUTPUT AS DOUBLE PRECISION */
+/*************************************************************************/
+/*!
+ * @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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_x_dps(
+double *v_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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_y_dps(
+double *v_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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_z_dps(
+double *v_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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_x_rps(
+double *v_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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_y_rps(
+double *v_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
+ *
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_z_rps(
+double *v_gyro_z_d);
+/*!
+ * @brief This API is used to convert the gyro xyz raw data
+ * to dps output as double
+ *
+ * @param gyro_xyz : The dps data of gyro xyz
+ *
+ * Parameter | result
+ * --------- | -----------------
+ * x | dps data of gyro
+ * y | dps data of gyro
+ * z | dps data of gyro
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_xyz_dps(
+struct bno055_gyro_double_t *gyro_xyz);
+/*!
+ * @brief This API is used to convert the gyro xyz raw data
+ * to rps output as double
+ *
+ * @param gyro_xyz : The rps data of gyro xyz
+ *
+ * Parameter | result
+ * --------- | -----------------
+ * x | rps data of gyro
+ * y | rps data of gyro
+ * z | rps data of gyro
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_xyz_rps(
+struct bno055_gyro_double_t *gyro_xyz);
+/**************************************************************************/
+/**\name FUNCTIONS FOR READING EULER DATA OUTPUT AS DOUBLE PRECISION */
+/*************************************************************************/
+/*!
+ * @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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_h_deg(
+double *v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_p_deg(
+double *v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_r_deg(
+double *v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_h_rad(
+double *v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_p_rad(
+double *v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_r_rad(
+double *v_euler_r_d);
+/*!
+ * @brief This API is used to convert the Euler hpr raw data
+ * to degree output as double
+ *
+ * @param euler_hpr : The degree data of Euler hpr
+ *
+ * Parameter | result
+ * --------- | -----------------
+ * h | degree data of Euler
+ * r | degree data of Euler
+ * p | degree data of Euler
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_hpr_deg(
+struct bno055_euler_double_t *euler_hpr);
+/*!
+ * @brief This API is used to convert the Euler hpr raw data
+ * to radians output as double
+ *
+ * @param euler_hpr : The radians data of Euler hpr
+ *
+ * Parameter | result
+ * --------- | -----------------
+ * h | radians data of Euler
+ * r | radians data of Euler
+ * p | radians data of Euler
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_hpr_rad(
+struct bno055_euler_double_t *euler_hpr);
+/****************************************************************************/
+/**\name FUNCTIONS FOR READING LINEAR ACCEL DATA OUTPUT AS DOUBLE PRECISION */
+/****************************************************************************/
+/*!
+ * @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
+ * linear accel x meterpersecseq
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_x_msq(
+double *v_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
+ * linear accel y meterpersecseq
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_y_msq(
+double *v_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
+ * linear accel z meterpersecseq
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_z_msq(
+double *v_linear_accel_z_d);
+/*!
+ * @brief This API is used to convert the linear accel xyz raw data
+ * to meterpersecseq output as double
+ *
+ * @param linear_accel_xyz : The meterpersecseq data of linear accel xyz
+ *
+ * Parameter | result
+ * --------- | -----------------
+ * x | meterpersecseq data of linear accel
+ * y | meterpersecseq data of linear accel
+ * z | meterpersecseq data of linear accel
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_xyz_msq(
+struct bno055_linear_accel_double_t *linear_accel_xyz);
+/**************************************************************************/
+/**\name FUNCTIONS FOR READING GRAVITY DATA OUTPUT AS DOUBLE PRECISION */
+/*************************************************************************/
+/*!
+ * @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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_x_msq(
+double *v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_y_msq(
+double *v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_z_msq(
+double *v_gravity_z_d);
+/*!
+ * @brief This API is used to convert the gravity xyz raw data
+ * to meterpersecseq output as double
+ *
+ * @param gravity_xyz : The meterpersecseq data of gravity xyz
+ *
+ * Parameter | result
+ * --------- | -----------------
+ * x | meterpersecseq data of gravity
+ * y | meterpersecseq data of gravity
+ * z | meterpersecseq data of gravity
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gravity_xyz_msq(
+struct bno055_gravity_double_t *gravity_xyz);
+/**************************************************************************/
+/**\name FUNCTIONS FOR READING TEMPERATURE DATA OUTPUT AS DOUBLE PRECISION*/
+/*************************************************************************/
+/*!
+ * @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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_temp_fahrenheit(
+double *v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_temp_celsius(
+double *v_temp_d);
+#endif
+/**************************************************************************/
+/**\name FUNCTIONS FOR READING ACCEL,MAG,GYRO AND SYTEM 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
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_calib_stat(
+u8 *v_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
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_calib_stat(
+u8 *v_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
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_calib_stat(
+u8 *v_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
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_calib_stat(
+u8 *v_sys_calib_u8);
+/******************************************************************/
+/**\name FUNCTIONS FOR READING ACCEL,MAG,GYRO AND SYTEM 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
+ *
+ * v_selftest_accel_u8 | result
+ * -------------------- | ---------------------
+ * 0x00 | indicates test failed
+ * 0x01 | indicated test passed
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_accel(
+u8 *v_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
+ *
+ * v_selftest_mag_u8 | result
+ * -------------------- | ---------------------
+ * 0x00 | indicates test failed
+ * 0x01 | indicated test passed
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_mag(
+u8 *v_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
+ *
+ * v_selftest_gyro_u8 | result
+ * -------------------- | ---------------------
+ * 0x00 | indicates test failed
+ * 0x01 | indicated test passed
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_gyro(
+u8 *v_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
+ *
+ * v_selftest_mcu_u8 | result
+ * -------------------- | ---------------------
+ * 0x00 | indicates test failed
+ * 0x01 | indicated test passed
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_mcu(
+u8 *v_selftest_mcu_u8);
+/*****************************************************/
+/**\name FUNCTIONS FOR READING GYRO INTERRUPT STATUS */
+/*****************************************************/
+/*!
+ * @brief This API used to read the v_stat_s8 of
+ * gyro anymotion interrupt from register from 0x37 bit 2
+ *
+ * @param v_gyro_any_motion_u8 : The value of gyro anymotion interrupt
+ *
+ * v_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
+ *
+ * @note Gyro anymotion interrupt can be enabled
+ * by the following APIs
+ *
+ * bno055_set_intr_mask_gyro_any_motion()
+ *
+ * bno055_set_intr_gyro_any_motion()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_gyro_any_motion(
+u8 *v_gyro_any_motion_u8);
+/*!
+ * @brief This API used to read the v_stat_s8 of
+ * gyro highrate interrupt from register from 0x37 bit 3
+ *
+ * @param v_gyro_highrate_u8 : The value of gyro highrate interrupt
+ *
+ * v_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
+ *
+ * @note Gyro highrate interrupt can be configured
+ * by the following APIs
+ *
+ * bno055_set_intr_mask_gyro_highrate()
+ *
+ * bno055_set_intr_gyro_highrate()
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_gyro_highrate(
+u8 *v_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
+ *
+ * v_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
+ *
+ * @note Accel highg interrupt can be configured
+ * by the following APIs
+ *
+ * bno055_set_intr_mask_accel_high_g()
+ *
+ * bno055_set_intr_accel_high_g()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_high_g(
+u8 *v_accel_high_g_u8);
+/*!
+ * @brief This API used to read the v_stat_s8 of
+ * accel anymotion interrupt from register from 0x37 bit 6
+ *
+ * @param v_accel_any_motion_u8 : The value of accel anymotion interrupt
+ *
+ * v_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
+ *
+ * @note Accel anymotion interrupt can be configured
+ * by the following APIs
+ *
+ * bno055_set_intr_mask_accel_any_motion()
+ *
+ * bno055_set_intr_accel_any_motion()
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_any_motion(
+u8 *v_accel_any_motion_u8);
+/*!
+ * @brief This API used to read the v_stat_s8 of
+ * accel nomotion/slowmotion interrupt from register from 0x37 bit 6
+ *
+ * @param v_accel_no_motion_u8 :
+ * The value of accel nomotion/slowmotion interrupt
+ *
+ * v_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
+ *
+ * @note Accel nomotion/slowmotion interrupt can be configured
+ * by the following APIs
+ *
+ * bno055_set_intr_mask_accel_nomotion()
+ *
+ * bno055_set_intr_accel_nomotion()
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_no_motion(
+u8 *v_accel_no_motion_u8);
+/**************************************************************************/
+/**\name FUNCTIONS FOR READING SYSTEM CLOCK, STATUS AND 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
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_stat_main_clk(
+u8 *v_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
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_stat_code(
+u8 *v_sys_stat_u8);
+/*!
+ * @brief This API is used to read system error
+ * code from the register 0x3A it is a byte of data
+ *
+ * @param v_sys_error_u8 : The value of system error code
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_error_code(
+u8 *v_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
+ *
+ * v_accel_unit_u8 | result
+ * ------------- | ---------------
+ * 0x00 | ACCEL_UNIT_MSQ
+ * 0x01 | ACCEL_UNIT_MG
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_unit(
+u8 *v_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
+ *
+ * v_accel_unit_u8 | result
+ * ------------- | ---------------
+ * 0x00 | ACCEL_UNIT_MSQ
+ * 0x01 | ACCEL_UNIT_MG
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_unit(
+u8 v_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
+ *
+ * v_gyro_unit_u8 | result
+ * ------------- | -----------
+ * 0x00 | GYRO_UNIT_DPS
+ * 0x01 | GYRO_UNIT_RPS
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_unit(
+u8 *v_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
+ *
+ * v_gyro_unit_u8 | result
+ * ------------- | -----------
+ * 0x00 | GYRO_UNIT_DPS
+ * 0x01 | GYRO_UNIT_RPS
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_unit(u8 v_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
+ *
+ * v_euler_unit_u8 | result
+ * -------------- | -----------
+ * 0x00 | EULER_UNIT_DEG
+ * 0x01 | EULER_UNIT_RAD
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_euler_unit(
+u8 *v_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
+ *
+ * v_euler_unit_u8 | result
+ * -------------- | -----------
+ * 0x00 | EULER_UNIT_DEG
+ * 0x01 | EULER_UNIT_RAD
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_euler_unit(u8 v_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
+ *
+ * v_tilt_unit_u8 | result
+ * --------------- | ---------
+ * 0x00 | degrees
+ * 0x01 | radians
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_tilt_unit(
+u8 *v_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
+ *
+ * v_tilt_unit_u8 | result
+ * --------------- | ---------
+ * 0x00 | degrees
+ * 0x01 | radians
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ *
+ * \return Communication results
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_tilt_unit(
+u8 v_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
+ *
+ * v_temp_unit_u8 | result
+ * ----------- | --------------
+ * 0x00 | TEMP_UNIT_CELCIUS
+ * 0x01 | TEMP_UNIT_FAHRENHEIT
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_temp_unit(
+u8 *v_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
+ *
+ * v_temp_unit_u8 | result
+ * ----------- | --------------
+ * 0x00 | TEMP_UNIT_CELCIUS
+ * 0x01 | TEMP_UNIT_FAHRENHEIT
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_temp_unit(
+u8 v_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
+ *
+ * v_data_output_format_u8 | result
+ * -------------------- | --------
+ * 0x00 | Windows
+ * 0x01 | Android
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_data_output_format(
+u8 *v_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
+ *
+ * v_data_output_format_u8 | result
+ * -------------------- | --------
+ * 0x00 | Windows
+ * 0x01 | Android
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_data_output_format(
+u8 v_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
+ *
+ * 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
+ *
+ * @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_get_operation_mode(
+u8 *v_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
+ *
+ * @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);
+/**************************************************/
+/**\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
+ *
+ * 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.
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> 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);
+/*! @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
+ *
+ * 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.
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> 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);
+/**************************************************/
+/**\name FUNCTIONS FOR RESET INTERRUPT */
+/**************************************************/
+/*!
+ * @brief This API used to read the 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
+ *
+ * v_intr_rst_u8 | result
+ * -------------- |----------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_rst(
+u8 *v_intr_rst_u8);
+/*!
+ * @brief This API used to write the 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
+ *
+ * v_intr_rst_u8 | result
+ * -------------- |----------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_rst(u8 v_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
+ *
+ * v_clk_src_u8 | result
+ * -------------- |----------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_clk_src(
+u8 *v_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
+ *
+ * v_clk_src_u8 | result
+ * -------------- |----------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_clk_src(u8 v_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
+ *
+ * v_sys_rst_u8 | result
+ * -------------- |----------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note It resets the whole system
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_rst(
+u8 *v_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
+ *
+ * v_sys_rst_u8 | result
+ * -------------- |----------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note It resets the whole system
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_sys_rst(u8 v_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
+ *
+ * v_selftest_u8 | result
+ * -------------- |----------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note It triggers the self test
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest(
+u8 *v_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
+ *
+ * v_selftest_u8 | result
+ * -------------- |----------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note It triggers the self test
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_selftest(u8 v_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
+ *
+ * v_temp_source_u8 | result
+ * ---------------- |---------------
+ * 0x00 | ACCEL_TEMP_EN
+ * 0X01 | GYRO_TEMP_EN
+ * 0X03 | MCU_TEMP_EN
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_temp_source(
+u8 *v_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
+ *
+ * v_temp_source_u8 | result
+ * ---------------- |---------------
+ * 0x00 | ACCEL_TEMP_EN
+ * 0X01 | GYRO_TEMP_EN
+ * 0X03 | MCU_TEMP_EN
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_temp_source(u8 v_temp_source_u8);
+/**************************************************/
+/**\name FUNCTIONS 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
+ *
+ * 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note : For axis sign remap refer the following functions
+ * x-axis :
+ *
+ * bno055_set_x_remap_sign()
+ *
+ * y-axis :
+ *
+ * bno055_set_y_remap_sign()
+ *
+ * z-axis :
+ *
+ * bno055_set_z_remap_sign()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_axis_remap_value(
+u8 *v_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
+ *
+ * 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note : For axis sign remap refer the following functions
+ * x-axis :
+ *
+ * bno055_set_x_remap_sign()
+ *
+ * y-axis :
+ *
+ * bno055_set_y_remap_sign()
+ *
+ * z-axis :
+ *
+ * bno055_set_z_remap_sign()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_axis_remap_value(
+u8 v_remap_axis_u8);
+/**************************************************/
+/**\name FUNCTIONS 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
+ *
+ * v_remap_x_sign_u8 | result
+ * ------------------- |--------------------
+ * 0X00 | REMAP_AXIS_POSITIVE
+ * 0X01 | REMAP_AXIS_NEGATIVE
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_x_sign(
+u8 *v_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
+ *
+ * v_remap_x_sign_u8 | result
+ * ------------------- |--------------------
+ * 0X00 | REMAP_AXIS_POSITIVE
+ * 0X01 | REMAP_AXIS_NEGATIVE
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_x_sign(
+u8 v_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
+ *
+ * v_remap_y_sign_u8 | result
+ * ------------------- |--------------------
+ * 0X00 | REMAP_AXIS_POSITIVE
+ * 0X01 | REMAP_AXIS_NEGATIVE
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_y_sign(
+u8 *v_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
+ *
+ * v_remap_y_sign_u8 | result
+ * ------------------- |--------------------
+ * 0X00 | REMAP_AXIS_POSITIVE
+ * 0X01 | REMAP_AXIS_NEGATIVE
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_y_sign(
+u8 v_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
+ *
+ * v_remap_z_sign_u8 | result
+ * ------------------- |--------------------
+ * 0X00 | REMAP_AXIS_POSITIVE
+ * 0X01 | REMAP_AXIS_NEGATIVE
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_z_sign(
+u8 *v_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
+ *
+ * v_remap_z_sign_u8 | result
+ * ------------------- |--------------------
+ * 0X00 | REMAP_AXIS_POSITIVE
+ * 0X01 | REMAP_AXIS_NEGATIVE
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_z_sign(
+u8 v_remap_z_sign_u8);
+/*****************************************************/
+/**\name FUNCTIONS FOR SOFT IRON CALIBRATION MATRIX */
+/*****************************************************/
+/*!
+ * @brief This API is used to read soft iron calibration matrix
+ * from the register 0x43 to 0x53 it is a 18 bytes of data
+ *
+ * @param sic_matrix : The value of soft iron calibration matrix
+ *
+ * sic_matrix | result
+ * --------------------|----------------------------------
+ * sic_0 | soft iron calibration matrix zero
+ * sic_1 | soft iron calibration matrix one
+ * sic_2 | soft iron calibration matrix two
+ * sic_3 | soft iron calibration matrix three
+ * sic_4 | soft iron calibration matrix four
+ * sic_5 | soft iron calibration matrix five
+ * sic_6 | soft iron calibration matrix six
+ * sic_7 | soft iron calibration matrix seven
+ * sic_8 | soft iron calibration matrix eight
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note : Each soft iron calibration matrix range from -32768 to +32767
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_sic_matrix(
+struct bno055_sic_matrix_t *sic_matrix);
+/*!
+ * @brief This API is used to write soft iron calibration matrix
+ * from the register 0x43 to 0x53 it is a 18 bytes of data
+ *
+ * @param sic_matrix : The value of soft iron calibration matrix
+ *
+ * sic_matrix | result
+ * --------------------|----------------------------------
+ * sic_0 | soft iron calibration matrix zero
+ * sic_1 | soft iron calibration matrix one
+ * sic_2 | soft iron calibration matrix two
+ * sic_3 | soft iron calibration matrix three
+ * sic_4 | soft iron calibration matrix four
+ * sic_5 | soft iron calibration matrix five
+ * sic_6 | soft iron calibration matrix six
+ * sic_7 | soft iron calibration matrix seven
+ * sic_8 | soft iron calibration matrix eight
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> 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);
+/*****************************************************/
+/**\name FUNCTIONS FOR ACCEL OFFSET AND RADIUS */
+/*****************************************************/
+/*!
+ * @brief This API is used to read accel offset and accel radius
+ * offset form register 0x55 to 0x5A and radius form 0x67 and 0x68
+ *
+ * @param accel_offset : The value of accel offset and radius
+ *
+ * bno055_accel_offset_t | result
+ * ------------------- | ----------------
+ * x | accel offset x
+ * y | accel offset y
+ * z | accel offset z
+ * r | accel offset r
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> 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
+ *
+ * accel G range can be configured by using the
+ * bno055_set_accel_range() function
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_offset(
+struct bno055_accel_offset_t *accel_offset);
+/*!
+ * @brief This API is used to write accel offset and accel radius
+ * offset form register 0x55 to 0x5A and radius form 0x67 and 0x68
+ *
+ * @param accel_offset : The value of accel offset and radius
+ *
+ * bno055_accel_offset_t | result
+ * ------------------- | ----------------
+ * x | accel offset x
+ * y | accel offset y
+ * z | accel offset z
+ * r | accel offset r
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> 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
+ *
+ * accel G range can be configured by using the
+ * bno055_set_accel_range() function
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_write_accel_offset(
+struct bno055_accel_offset_t *accel_offset);
+/*****************************************************/
+/**\name FUNCTIONS FOR MAG OFFSET AND RADIUS*/
+/*****************************************************/
+/*!
+ * @brief This API is used to read mag offset
+ * offset form register 0x69 to 0x6A
+ *
+ * @param mag_offset : The value of mag offset and radius
+ *
+ * bno055_mag_offset_t | result
+ * ------------------- | ----------------
+ * x | mag offset x
+ * y | mag offset y
+ * z | mag offset z
+ * r | mag radius r
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note The range of the magnetometer offset is +/-6400 in LSB
+ */
+
+BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_offset(
+struct bno055_mag_offset_t *mag_offset);
+/*!
+ * @brief This API is used to read mag offset
+ * offset form register 0x69 to 0x6A
+ *
+ * @param mag_offset : The value of mag offset and radius
+ *
+ * bno055_mag_offset_t | result
+ * ------------------- | ----------------
+ * x | mag offset x
+ * y | mag offset y
+ * z | mag offset z
+ * r | mag radius r
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> 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);
+/*****************************************************/
+/**\name FUNCTIONS FOR GYRO OFFSET */
+/*****************************************************/
+/*!
+ * @brief This API is used to read gyro offset
+ * offset form register 0x61 to 0x66
+ *
+ * @param gyro_offset : The value of gyro offset
+ *
+ * bno055_gyro_offset_t | result
+ * ------------------- | ----------------
+ * x | gyro offset x
+ * y | gyro offset y
+ * z | gyro offset z
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> 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
+ *
+ * Gyro range can be configured by using the
+ * bno055_set_gyro_range() function
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_offset(
+struct bno055_gyro_offset_t *gyro_offset);
+/*!
+ * @brief This API is used to read gyro offset
+ * offset form register 0x61 to 0x66
+ *
+ * @param gyro_offset : The value of gyro offset
+ *
+ * bno055_gyro_offset_t | result
+ * ------------------- | ----------------
+ * x | gyro offset x
+ * y | gyro offset y
+ * z | gyro offset z
+ *
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> 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
+ *
+ * Gyro range can be configured by using the
+ * bno055_set_gyro_range() function
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_write_gyro_offset(
+struct bno055_gyro_offset_t *gyro_offset);
+/********************************************************/
+/************** PAGE1 Functions *********************/
+/********************************************************/
+/*****************************************************/
+/**\name FUNCTIONS FOR ACCEL CONFIGURATION */
+/*****************************************************/
+/*!
+ * @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
+ * ----------------- | --------------
+ * 0x00 | ACCEL_RANGE_2G
+ * 0x01 | ACCEL_RANGE_4G
+ * 0x02 | ACCEL_RANGE_8G
+ * 0x03 | ACCEL_RANGE_16G
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_range(
+u8 *v_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
+ *
+ * v_accel_range_u8 | result
+ * ----------------- | --------------
+ * 0x00 | ACCEL_RANGE_2G
+ * 0x01 | ACCEL_RANGE_4G
+ * 0x02 | ACCEL_RANGE_8G
+ * 0x03 | ACCEL_RANGE_16G
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_range(
+u8 v_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
+ *
+ * v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_bw(
+u8 *v_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
+ *
+ * v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_bw(
+u8 v_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
+ * ----------------- | -------------
+ * 0x00 | ACCEL_NORMAL
+ * 0x01 | ACCEL_SUSPEND
+ * 0x02 | ACCEL_LOWPOWER_1
+ * 0x03 | ACCEL_STANDBY
+ * 0x04 | ACCEL_LOWPOWER_2
+ * 0x05 | ACCEL_DEEPSUSPEND
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_power_mode(
+u8 *v_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
+ * ----------------- | -------------
+ * 0x00 | ACCEL_NORMAL
+ * 0x01 | ACCEL_SUSPEND
+ * 0x02 | ACCEL_LOWPOWER_1
+ * 0x03 | ACCEL_STANDBY
+ * 0x04 | ACCEL_LOWPOWER_2
+ * 0x05 | ACCEL_DEEPSUSPEND
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_power_mode(
+u8 v_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
+ *
+ * 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_data_output_rate(
+u8 *v_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
+ *
+ * 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_data_output_rate(
+u8 v_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
+ *
+ * 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_operation_mode(
+u8 *v_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
+ *
+ * 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_operation_mode(
+u8 v_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
+ *
+ * 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_power_mode(
+u8 *v_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
+ *
+ * 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_power_mode(
+u8 v_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
+ *
+ * v_gyro_range_u8 | result
+ * --------------------|-----------------
+ * 0x00 | GYRO_RANGE_2000DPS
+ * 0x01 | GYRO_RANGE_1000DPS
+ * 0x02 | GYRO_RANGE_500DPS
+ * 0x03 | GYRO_RANGE_250DPS
+ * 0x04 | GYRO_RANGE_125DPS
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_range(
+u8 *v_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
+ *
+ * v_gyro_range_u8 | result
+ * --------------------|-----------------
+ * 0x00 | GYRO_RANGE_2000DPS
+ * 0x01 | GYRO_RANGE_1000DPS
+ * 0x02 | GYRO_RANGE_500DPS
+ * 0x03 | GYRO_RANGE_250DPS
+ * 0x04 | GYRO_RANGE_125DPS
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_range(
+u8 v_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
+ *
+ * v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_bw(
+u8 *v_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
+ *
+ * v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_bw(
+u8 v_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
+ *
+ * v_gyro_power_mode_u8 | result
+ * ----------------------|----------------------------
+ * 0x00 | GYRO_OPR_MODE_NORMAL
+ * 0x01 | GYRO_OPR_MODE_FASTPOWERUP
+ * 0x02 | GYRO_OPR_MODE_DEEPSUSPEND
+ * 0x03 | GYRO_OPR_MODE_SUSPEND
+ * 0x04 | GYRO_OPR_MODE_ADVANCE_POWERSAVE
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_power_mode(
+u8 *v_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
+ *
+ * v_gyro_power_mode_u8 | result
+ * ----------------------|----------------------------
+ * 0x00 | GYRO_OPR_MODE_NORMAL
+ * 0x01 | GYRO_OPR_MODE_FASTPOWERUP
+ * 0x02 | GYRO_OPR_MODE_DEEPSUSPEND
+ * 0x03 | GYRO_OPR_MODE_SUSPEND
+ * 0x04 | GYRO_OPR_MODE_ADVANCE_POWERSAVE
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_power_mode(
+u8 v_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
+ *
+ * v_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
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_sleep_tmr_mode(
+u8 *v_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
+ *
+ * v_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
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_sleep_tmr_mode(
+u8 v_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
+ *
+ * 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_sleep_durn(
+u8 *v_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
+ *
+ * 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_sleep_durn(
+u8 v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_sleep_durn(
+u8 *v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_sleep_durn(
+u8 sleep_durn);
+/*!
+ * @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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_auto_sleep_durn(
+u8 *v_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 bw : The value of gyro bandwidth
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_gyro_set_auto_sleep_durn(
+u8 v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_sleep_mode(
+u8 *v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_sleep_mode(
+u8 v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_sleep_durn(
+u8 *v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_sleep_durn(
+u8 v_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
+ * -------------------- |------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note While enabling the gyro anymotion interrupt
+ * configure the following settings
+ *
+ * Axis:
+ * bno055_set_gyro_any_motion_axis_enable()
+ *
+ * Filter setting:
+ * bno055_set_gyro_any_motion_filter()
+ *
+ * Threshold :
+ *
+ * bno055_set_gyro_any_motion_thres()
+ *
+ * Slope samples :
+ *
+ * bno055_set_gyro_any_motion_slope_samples()
+ *
+ * Awake duration :
+ *
+ * bno055_set_gyro_any_motion_awake_durn()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_gyro_any_motion(
+u8 *v_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
+ * -------------------- |------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note While enabling the gyro anymotion interrupt
+ * configure the following settings
+ *
+ * Axis:
+ * bno055_set_gyro_any_motion_axis_enable()
+ *
+ * Filter setting:
+ * bno055_set_gyro_any_motion_filter()
+ *
+ * Threshold :
+ *
+ * bno055_set_gyro_any_motion_thres()
+ *
+ * Slope samples :
+ *
+ * bno055_set_gyro_any_motion_slope_samples()
+ *
+ * Awake duration :
+ *
+ * bno055_set_gyro_any_motion_awake_durn()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_gyro_any_motion(
+u8 v_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
+ * -------------------- |------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note While enabling the gyro highrate interrupt
+ * configure the below settings by using
+ * the following functions
+ *
+ * Axis :
+ *
+ * bno055_set_gyro_highrate_axis_enable()
+ *
+ * Filter :
+ *
+ * bno055_set_gyro_highrate_filter()
+ *
+ * Threshold :
+ *
+ * bno055_get_gyro_highrate_x_thres()
+ *
+ * bno055_get_gyro_highrate_y_thres()
+ *
+ * bno055_get_gyro_highrate_z_thres()
+ *
+ * Hysteresis :
+ *
+ * bno055_set_gyro_highrate_x_hyst()
+ *
+ * bno055_set_gyro_highrate_y_hyst()
+ *
+ * bno055_set_gyro_highrate_z_hyst()
+ *
+ * Duration :
+ *
+ * bno055_set_gyro_highrate_x_durn()
+ *
+ * bno055_set_gyro_highrate_y_durn()
+ *
+ * bno055_set_gyro_highrate_z_durn()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_gyro_highrate(
+u8 *v_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
+ * -------------------- |------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note While enabling the gyro highrate interrupt
+ * configure the below settings by using
+ * the following functions
+ *
+ * Axis :
+ *
+ * bno055_set_gyro_highrate_axis_enable()
+ *
+ * Filter :
+ *
+ * bno055_set_gyro_highrate_filter()
+ *
+ * Threshold :
+ *
+ * bno055_get_gyro_highrate_x_thres()
+ *
+ * bno055_get_gyro_highrate_y_thres()
+ *
+ * bno055_get_gyro_highrate_z_thres()
+ *
+ * Hysteresis :
+ *
+ * bno055_set_gyro_highrate_x_hyst()
+ *
+ * bno055_set_gyro_highrate_y_hyst()
+ *
+ * bno055_set_gyro_highrate_z_hyst()
+ *
+ * Duration :
+ *
+ * bno055_set_gyro_highrate_x_durn()
+ *
+ * bno055_set_gyro_highrate_y_durn()
+ *
+ * bno055_set_gyro_highrate_z_durn()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_gyro_highrate(
+u8 v_gyro_highrate_u8);
+/*****************************************************/
+/**\name FUNCTIONS 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
+ * -------------------- |------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note While enabling the accel highg interrupt
+ * configure the below settings by using
+ * the following functions
+ *
+ * Axis :
+ *
+ * bno055_set_accel_high_g_axis_enable()
+ *
+ * Threshold :
+ *
+ * bno055_set_accel_high_g_thres()
+ *
+ * Duration :
+ *
+ * bno055_set_accel_high_g_durn()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_high_g(
+u8 *v_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
+ * -------------------- |------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note While enabling the accel highg interrupt
+ * configure the below settings by using
+ * the following functions
+ *
+ * Axis :
+ *
+ * bno055_set_accel_high_g_axis_enable()
+ *
+ * Threshold :
+ *
+ * bno055_set_accel_high_g_thres()
+ *
+ * Duration :
+ *
+ * bno055_set_accel_high_g_durn()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_high_g(
+u8 v_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
+ * -------------------- |------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note While enabling the accel highg interrupt
+ * configure the below settings by using
+ * the following functions
+ *
+ * Axis :
+ *
+ * bno055_set_accel_high_g_axis_enable()
+ *
+ * Threshold :
+ *
+ * bno055_set_accel_high_g_thres()
+ *
+ * Duration :
+ *
+ * bno055_set_accel_high_g_durn()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_any_motion(
+u8 *v_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
+ * -------------------- |------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note While enabling the accel anymotion interrupt
+ * configure the following settings
+ *
+ * Axis:
+ *
+ * bno055_set_accel_any_motion_no_motion_axis_enable()
+ *
+ * Duration:
+ *
+ * bno055_set_accel_any_motion_durn()
+ *
+ * Threshold:
+ *
+ * bno055_set_accel_any_motion_thres()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_any_motion(
+u8 v_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
+ * -------------------- |------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ *
+ * @note While enabling the accel anymotion interrupt
+ * configure the following settings
+ *
+ * Axis:
+ *
+ * bno055_set_accel_any_motion_no_motion_axis_enable()
+ *
+ * Duration:
+ *
+ * bno055_set_accel_any_motion_durn()
+ *
+ * Threshold:
+ *
+ * bno055_set_accel_any_motion_thres())
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_no_motion(
+u8 *v_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
+ * -------------------- |------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note While enabling the accel nomotion interrupt
+ * configure the following settings
+ *
+ * Axis:
+ *
+ * bno055_set_accel_any_motion_no_motion_axis_enable()
+ *
+ * Threshold :
+ *
+ * bno055_set_accel_slow_no_motion_thres()
+ *
+ * Duration :
+ *
+ * bno055_set_accel_slow_no_motion_durn()
+ *
+ * Slow/no motion enable:
+ *
+ * bno055_set_accel_slow_no_motion_enable()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_no_motion(
+u8 v_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
+ * -------------------- |------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note While enabling the gyro anymotion interrupt
+ * configure the following settings
+ *
+ * Axis:
+ * bno055_set_gyro_any_motion_axis_enable()
+ *
+ * Filter setting:
+ * bno055_set_gyro_any_motion_filter()
+ *
+ * Threshold :
+ *
+ * bno055_set_gyro_any_motion_thres()
+ *
+ * Slope samples :
+ *
+ * bno055_set_gyro_any_motion_slope_samples()
+ *
+ * Awake duration :
+ *
+ * bno055_set_gyro_any_motion_awake_durn()
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_gyro_any_motion(
+u8 *v_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
+ * -------------------- |------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note While enabling the gyro anymotion interrupt
+ * configure the following settings
+ *
+ * Axis:
+ * bno055_set_gyro_any_motion_axis_enable()
+ *
+ * Filter setting:
+ * bno055_set_gyro_any_motion_filter()
+ *
+ * Threshold :
+ *
+ * bno055_set_gyro_any_motion_thres()
+ *
+ * Slope samples :
+ *
+ * bno055_set_gyro_any_motion_slope_samples()
+ *
+ * Awake duration :
+ *
+ * bno055_set_gyro_any_motion_awake_durn()
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_gyro_any_motion(
+u8 v_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
+ * -------------------- |------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note While enabling the gyro highrate interrupt
+ * configure the below settings by using
+ * the following functions
+ *
+ * Axis :
+ *
+ * bno055_set_gyro_highrate_axis_enable()
+ *
+ * Filter :
+ *
+ * bno055_set_gyro_highrate_filter()
+ *
+ * Threshold :
+ *
+ * bno055_get_gyro_highrate_x_thres()
+ *
+ * bno055_get_gyro_highrate_y_thres()
+ *
+ * bno055_get_gyro_highrate_z_thres()
+ *
+ * Hysteresis :
+ *
+ * bno055_set_gyro_highrate_x_hyst()
+ *
+ * bno055_set_gyro_highrate_y_hyst()
+ *
+ * bno055_set_gyro_highrate_z_hyst()
+ *
+ * Duration :
+ *
+ * bno055_set_gyro_highrate_x_durn()
+ *
+ * bno055_set_gyro_highrate_y_durn()
+ *
+ * bno055_set_gyro_highrate_z_durn()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_gyro_highrate(
+u8 *v_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
+ * -------------------- |------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note While enabling the gyro highrate interrupt
+ * configure the below settings by using
+ * the following functions
+ *
+ * Axis :
+ *
+ * bno055_set_gyro_highrate_axis_enable()
+ *
+ * Filter :
+ *
+ * bno055_set_gyro_highrate_filter()
+ *
+ * Threshold :
+ *
+ * bno055_get_gyro_highrate_x_thres()
+ *
+ * bno055_get_gyro_highrate_y_thres()
+ *
+ * bno055_get_gyro_highrate_z_thres()
+ *
+ * Hysteresis :
+ *
+ * bno055_set_gyro_highrate_x_hyst()
+ *
+ * bno055_set_gyro_highrate_y_hyst()
+ *
+ * bno055_set_gyro_highrate_z_hyst()
+ *
+ * Duration :
+ *
+ * bno055_set_gyro_highrate_x_durn()
+ *
+ * bno055_set_gyro_highrate_y_durn()
+ *
+ * bno055_set_gyro_highrate_z_durn()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_gyro_highrate(
+u8 v_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
+ * -------------------- |------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note While enabling the accel highg interrupt
+ * configure the below settings by using
+ * the following functions
+ *
+ * Axis :
+ *
+ * bno055_set_accel_high_g_axis_enable()
+ *
+ * Threshold :
+ *
+ * bno055_set_accel_high_g_thres()
+ *
+ * Duration :
+ *
+ * bno055_set_accel_high_g_durn()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_high_g(
+u8 *v_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
+ * -------------------- |------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note While enabling the accel highg interrupt
+ * configure the below settings by using
+ * the following functions
+ *
+ * Axis :
+ *
+ * bno055_set_accel_high_g_axis_enable()
+ *
+ * Threshold :
+ *
+ * bno055_set_accel_high_g_thres()
+ *
+ * Duration :
+ *
+ * bno055_set_accel_high_g_durn()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_high_g(
+u8 v_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
+ * -------------------- |------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note While enabling the accel anymotion interrupt
+ * configure the following settings
+ *
+ * Axis:
+ *
+ * bno055_set_accel_any_motion_no_motion_axis_enable()
+ *
+ * Duration:
+ *
+ * bno055_set_accel_any_motion_durn()
+ *
+ * Threshold:
+ *
+ * bno055_set_accel_any_motion_thres()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_any_motion(
+u8 *v_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
+ * -------------------- |------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note While enabling the accel anymotion interrupt
+ * configure the following settings
+ *
+ * Axis:
+ *
+ * bno055_set_accel_any_motion_no_motion_axis_enable()
+ *
+ * Duration:
+ *
+ * bno055_set_accel_any_motion_durn()
+ *
+ * Threshold:
+ *
+ * bno055_set_accel_any_motion_thres()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_any_motion(
+u8 v_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
+ * -------------------- |------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note While enabling the accel nomotion interrupt
+ * configure the following settings
+ *
+ * Axis:
+ *
+ * bno055_set_accel_any_motion_no_motion_axis_enable()
+ *
+ * Threshold :
+ *
+ * bno055_set_accel_slow_no_motion_thres()
+ *
+ * Duration :
+ *
+ * bno055_set_accel_slow_no_motion_durn()
+ *
+ * Slow/no motion enable:
+ *
+ * bno055_set_accel_slow_no_motion_enable()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_no_motion(
+u8 *v_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
+ * -------------------- |------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note While enabling the accel nomotion interrupt
+ * configure the following settings
+ *
+ * Axis:
+ *
+ * bno055_set_accel_any_motion_no_motion_axis_enable()
+ *
+ * Threshold :
+ *
+ * bno055_set_accel_slow_no_motion_thres()
+ *
+ * Duration :
+ *
+ * bno055_set_accel_slow_no_motion_durn()
+ *
+ * Slow/no motion enable:
+ *
+ * bno055_set_accel_slow_no_motion_enable()
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_no_motion(
+u8 v_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
+ * ------------------------ | -------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note Accel anymotion threshold dependent on the
+ * range values
+ *
+ * v_accel_range_u8 | threshold | LSB
+ * ------------- | ------------- | ---------
+ * 2g | 3.19mg | 1LSB
+ * 4g | 7.81mg | 1LSB
+ * 8g | 15.63mg | 1LSB
+ * 16g | 31.25mg | 1LSB
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_thres(
+u8 *v_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
+ * ------------------------ | -------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note Accel anymotion threshold dependent on the
+ * range values
+ *
+ * v_accel_range_u8 | threshold | LSB
+ * ------------- | ------------- | ---------
+ * 2g | 3.19mg | 1LSB
+ * 4g | 7.81mg | 1LSB
+ * 8g | 15.63mg | 1LSB
+ * 16g | 31.25mg | 1LSB
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_thres(
+u8 v_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
+ * ------------------------- | -------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_durn(
+u8 *v_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
+ *
+ * v_accel_any_motion_durn_u8 | result
+ * ------------------------- | -------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_durn(
+u8 v_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
+ * ------------ | -------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ * @param v_channel_u8 : The value of accel anymotion axis selection
+ * v_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
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_no_motion_axis_enable(
+u8 v_channel_u8, u8 *v_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
+ * ------------ | -------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ * @param v_channel_u8 : The value of accel anymotion axis selection
+ * v_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
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_no_motion_axis_enable(
+u8 v_channel_u8, u8 v_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
+ * ------------ | -------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ * @param v_channel_u8 : The value of accel highg axis selection
+ * v_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
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_axis_enable(
+u8 v_channel_u8, u8 *v_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
+ * ------------ | -------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ * @param v_channel_u8 : The value of accel highg axis selection
+ * v_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
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_axis_enable(
+u8 v_channel_u8, u8 v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note The high-g interrupt trigger delay according
+ * to [highg duration + 1] * 2 ms
+ *
+ * in a range from 2 ms to 512 ms
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_durn(
+u8 *v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note The high-g interrupt trigger delay according
+ * to [highg duration + 1] * 2 ms
+ *
+ * in a range from 2 ms to 512 ms
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_durn(
+u8 v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note Accel highg interrupt threshold dependent
+ * for accel g range
+ *
+ * v_accel_range_u8 | threshold | LSB
+ * ------------- | ------------- | ---------
+ * 2g | 7.81mg | 1LSB
+ * 4g | 15.63mg | 1LSB
+ * 8g | 31.25mg | 1LSB
+ * 16g | 62.5mg | 1LSB
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_thres(
+u8 *v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note Accel highg interrupt threshold dependent
+ * for accel g range
+ *
+ * v_accel_range_u8 | threshold | LSB
+ * ------------- | ------------- | ---------
+ * 2g | 7.81mg | 1LSB
+ * 4g | 15.63mg | 1LSB
+ * 8g | 31.25mg | 1LSB
+ * 16g | 62.5mg | 1LSB
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_thres(
+u8 v_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 :
+ * The value of accel slownomotion threshold
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note Accel slow no motion interrupt threshold dependent
+ * for accel g range
+ *
+ * v_accel_range_u8 | threshold | LSB
+ * ------------- | ------------- | ---------
+ * 2g | 3.19mg | 1LSB
+ * 4g | 7.81mg | 1LSB
+ * 8g | 15.63mg | 1LSB
+ * 16g | 31.25mg | 1LSB
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_thres(
+u8 *v_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 :
+ * The value of accel slownomotion threshold
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note Accel slow no motion interrupt threshold dependent
+ * for accel g range
+ *
+ * v_accel_range_u8 | threshold | LSB
+ * ------------- | ------------- | ---------
+ * 2g | 3.19mg | 1LSB
+ * 4g | 7.81mg | 1LSB
+ * 8g | 15.63mg | 1LSB
+ * 16g | 31.25mg | 1LSB
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_thres(
+u8 v_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
+ * ------------------------ | --------
+ * 0x01 | Slow motion
+ * 0x00 | No motion
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_enable(
+u8 *v_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
+ * ------------------------ | --------
+ * 0x01 | Slow motion
+ * 0x00 | No motion
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_enable(
+u8 v_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 :
+ * The value of accel slownomotion duration
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_durn(
+u8 *v_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 :
+ * The value of accel slownomotion duration
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_durn(
+u8 v_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
+ * ----------------- |-------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ * @param v_channel_u8 : The value of gyro anymotion axis selection
+ * v_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
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_axis_enable(
+u8 v_channel_u8, u8 *v_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
+ * ----------------- |-------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ * @param v_channel_u8 : The value of gyro anymotion axis selection
+ * v_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
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_axis_enable(
+u8 v_channel_u8, u8 v_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
+ * ---------------- |-------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ * @param v_channel_u8 : The value of gyro highrate axis selection
+ * v_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
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_axis_enable(
+u8 v_channel_u8, u8 *v_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
+ * ---------------- |-------------
+ * 0x01 | ENABLED
+ * 0x00 | DISABLED
+ * @param v_channel_u8 : The value of gyro highrate axis selection
+ * v_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
+ *
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_axis_enable(
+u8 v_channel_u8, u8 v_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
+ * --------------------------- |------------
+ * 0x00 | FILTERED
+ * 0x01 | UNFILTERED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_filter(
+u8 *v_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
+ * --------------------------- |------------
+ * 0x00 | FILTERED
+ * 0x01 | UNFILTERED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_filter(
+u8 v_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
+ * --------------------------- |------------
+ * 0x00 | FILTERED
+ * 0x01 | UNFILTERED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_filter(
+u8 *v_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
+ * --------------------------- |------------
+ * 0x00 | FILTERED
+ * 0x01 | UNFILTERED
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_filter(
+u8 v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note Gyro highrate threshold dependent on the
+ * selection of gyro range
+ *
+ * v_gyro_range_u8 | threshold | LSB
+ * ----------------- | ------------- | ---------
+ * 2000 | 62.5dps | 1LSB
+ * 1000 | 31.25dps | 1LSB
+ * 500 | 15.625dps | 1LSB
+ * 125 | 7.8125dps | 1LSB
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_thres(
+u8 *v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note Gyro highrate threshold dependent on the
+ * selection of gyro range
+ *
+ * v_gyro_range_u8 | threshold | LSB
+ * ----------------- | ------------- | ---------
+ * 2000 | 62.5dps | 1LSB
+ * 1000 | 31.25dps | 1LSB
+ * 500 | 15.625dps | 1LSB
+ * 125 | 7.8125dps | 1LSB
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_thres(
+u8 v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note Gyro high rate hysteresis calculated by
+ *
+ * using this (255 + 256 * v_gyro_highrate_x_hyst_u8) *4 LSB
+ *
+ * The high rate value scales with the range setting
+ *
+ * v_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_x_hyst(
+u8 *v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note Gyro high rate hysteresis calculated by
+ *
+ * using this (255 + 256 * v_gyro_highrate_x_hyst_u8) *4 LSB
+ *
+ * The high rate value scales with the range setting
+ *
+ * v_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_x_hyst(
+u8 v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note Gyro highrate duration calculate by using the formula
+ *
+ * (1 + v_gyro_highrate_x_durn_u8)*2.5ms
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_durn(
+u8 *v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note Gyro highrate duration calculate by using the formula
+ *
+ * (1 + v_gyro_highrate_x_durn_u8)*2.5ms
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_durn(
+u8 v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note Gyro highrate threshold dependent on the
+ * selection of gyro range
+ *
+ * v_gyro_range_u8 | threshold | LSB
+ * ----------------- | ------------- | ---------
+ * 2000 | 62.5dps | 1LSB
+ * 1000 | 31.25dps | 1LSB
+ * 500 | 15.625dps | 1LSB
+ * 125 | 7.8125dps | 1LSB
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_thres(
+u8 *v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note Gyro highrate threshold dependent on the
+ * selection of gyro range
+ *
+ * v_gyro_range_u8 | threshold | LSB
+ * ----------------- | ------------- | ---------
+ * 2000 | 62.5dps | 1LSB
+ * 1000 | 31.25dps | 1LSB
+ * 500 | 15.625dps | 1LSB
+ * 125 | 7.8125dps | 1LSB
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_thres(
+u8 v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note Gyro high rate hysteresis calculated by
+ *
+ * using this (255 + 256 * v_gyro_highrate_y_hyst_u8) *4 LSB
+ *
+ * The high rate value scales with the range setting
+ *
+ * v_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);
+/*!
+ * @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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note Gyro high rate hysteresis calculated by
+ *
+ * using this (255 + 256 * v_gyro_highrate_y_hyst_u8) *4 LSB
+ *
+ * The high rate value scales with the range setting
+ *
+ * v_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);
+/**************************************************************/
+/**\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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note Gyro highrate duration calculate by using the formula
+ *
+ * (1 + v_gyro_highrate_y_durn_u8)*2.5ms
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_durn(
+u8 *v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note Gyro highrate duration calculate by using the formula
+ *
+ * (1 + v_gyro_highrate_y_durn_u8)*2.5ms
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_durn(
+u8 v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note Gyro highrate threshold dependent on the
+ * selection of gyro range
+ *
+ * v_gyro_range_u8 | threshold | LSB
+ * ----------------- | ------------- | ---------
+ * 2000 | 62.5dps | 1LSB
+ * 1000 | 31.25dps | 1LSB
+ * 500 | 15.625dps | 1LSB
+ * 125 | 7.8125dps | 1LSB
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_thres(
+u8 *v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note Gyro highrate threshold dependent on the
+ * selection of gyro range
+ *
+ * v_gyro_range_u8 | threshold | LSB
+ * ----------------- | ------------- | ---------
+ * 2000 | 62.5dps | 1LSB
+ * 1000 | 31.25dps | 1LSB
+ * 500 | 15.625dps | 1LSB
+ * 125 | 7.8125dps | 1LSB
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_thres(
+u8 v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note Gyro high rate hysteresis calculated by
+ *
+ * using this (255 + 256 * v_gyro_highrate_z_hyst_u8) *4 LSB
+ *
+ * The high rate value scales with the range setting
+ *
+ * v_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);
+/*!
+ * @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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note Gyro high rate hysteresis calculated by
+ *
+ * using this (255 + 256 * v_gyro_highrate_z_hyst_u8) *4 LSB
+ *
+ * The high rate value scales with the range setting
+ *
+ * v_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);
+/**************************************************************/
+/**\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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note Gyro highrate duration calculate by using the formula
+ *
+ * (1 + v_gyro_highrate_z_durn_u8)*2.5ms
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_durn(
+u8 *v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note Gyro highrate duration calculate by using the formula
+ *
+ * (1 + v_gyro_highrate_z_durn_u8)*2.5ms
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_durn(
+u8 v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note Gyro anymotion interrupt threshold dependent
+ * on the selection of gyro range
+ *
+ * v_gyro_range_u8 | threshold | LSB
+ * ----------------- | ------------- | ---------
+ * 2000 | 1dps | 1LSB
+ * 1000 | 0.5dps | 1LSB
+ * 500 | 0.25dps | 1LSB
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_thres(
+u8 *v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ * @note Gyro anymotion interrupt threshold dependent
+ * on the selection of gyro range
+ *
+ * v_gyro_range_u8 | threshold | LSB
+ * ----------------- | ------------- | ---------
+ * 2000 | 1dps | 1LSB
+ * 1000 | 0.5dps | 1LSB
+ * 500 | 0.25dps | 1LSB
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_thres(
+u8 v_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 :
+ * 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_slope_samples(
+u8 *v_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 :
+ * 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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_slope_samples(
+u8 v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_awake_durn(
+u8 *v_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
+ *
+ * @return results of bus communication function
+ * @retval 0 -> Success
+ * @retval 1 -> Error
+ *
+ */
+BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_awake_durn(
+u8 v_gyro_awake_durn_u8);
+#endif
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