BNO055 library using Bosch's code
BNO055.cpp@0:1f82672b8755, 2017-07-01 (annotated)
- Committer:
- gume
- Date:
- Sat Jul 01 01:24:03 2017 +0000
- Revision:
- 0:1f82672b8755
Initial commit. Library based on Bosch's code
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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gume | 0:1f82672b8755 | 1 | /* |
gume | 0:1f82672b8755 | 2 | * |
gume | 0:1f82672b8755 | 3 | **************************************************************************** |
gume | 0:1f82672b8755 | 4 | * Copyright (C) 2015 - 2016 Bosch Sensortec GmbH |
gume | 0:1f82672b8755 | 5 | * |
gume | 0:1f82672b8755 | 6 | * File : bno055.c |
gume | 0:1f82672b8755 | 7 | * |
gume | 0:1f82672b8755 | 8 | * Date : 2016/03/14 |
gume | 0:1f82672b8755 | 9 | * |
gume | 0:1f82672b8755 | 10 | * Revision : 2.0.3 $ |
gume | 0:1f82672b8755 | 11 | * |
gume | 0:1f82672b8755 | 12 | * Usage: Sensor Driver file for BNO055 sensor |
gume | 0:1f82672b8755 | 13 | * |
gume | 0:1f82672b8755 | 14 | **************************************************************************** |
gume | 0:1f82672b8755 | 15 | * \section License |
gume | 0:1f82672b8755 | 16 | * |
gume | 0:1f82672b8755 | 17 | * Redistribution and use in source and binary forms, with or without |
gume | 0:1f82672b8755 | 18 | * modification, are permitted provided that the following conditions are met: |
gume | 0:1f82672b8755 | 19 | * |
gume | 0:1f82672b8755 | 20 | * Redistributions of source code must retain the above copyright |
gume | 0:1f82672b8755 | 21 | * notice, this list of conditions and the following disclaimer. |
gume | 0:1f82672b8755 | 22 | * |
gume | 0:1f82672b8755 | 23 | * Redistributions in binary form must reproduce the above copyright |
gume | 0:1f82672b8755 | 24 | * notice, this list of conditions and the following disclaimer in the |
gume | 0:1f82672b8755 | 25 | * documentation and/or other materials provided with the distribution. |
gume | 0:1f82672b8755 | 26 | * |
gume | 0:1f82672b8755 | 27 | * Neither the name of the copyright holder nor the names of the |
gume | 0:1f82672b8755 | 28 | * contributors may be used to endorse or promote products derived from |
gume | 0:1f82672b8755 | 29 | * this software without specific prior written permission. |
gume | 0:1f82672b8755 | 30 | * |
gume | 0:1f82672b8755 | 31 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND |
gume | 0:1f82672b8755 | 32 | * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR |
gume | 0:1f82672b8755 | 33 | * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED |
gume | 0:1f82672b8755 | 34 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
gume | 0:1f82672b8755 | 35 | * DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDER |
gume | 0:1f82672b8755 | 36 | * OR CONTRIBUTORS BE LIABLE FOR ANY |
gume | 0:1f82672b8755 | 37 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, |
gume | 0:1f82672b8755 | 38 | * OR CONSEQUENTIAL DAMAGES(INCLUDING, BUT NOT LIMITED TO, |
gume | 0:1f82672b8755 | 39 | * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
gume | 0:1f82672b8755 | 40 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) |
gume | 0:1f82672b8755 | 41 | * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, |
gume | 0:1f82672b8755 | 42 | * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
gume | 0:1f82672b8755 | 43 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
gume | 0:1f82672b8755 | 44 | * ANY WAY OUT OF THE USE OF THIS |
gume | 0:1f82672b8755 | 45 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE |
gume | 0:1f82672b8755 | 46 | * |
gume | 0:1f82672b8755 | 47 | * The information provided is believed to be accurate and reliable. |
gume | 0:1f82672b8755 | 48 | * The copyright holder assumes no responsibility |
gume | 0:1f82672b8755 | 49 | * for the consequences of use |
gume | 0:1f82672b8755 | 50 | * of such information nor for any infringement of patents or |
gume | 0:1f82672b8755 | 51 | * other rights of third parties which may result from its use. |
gume | 0:1f82672b8755 | 52 | * No license is granted by implication or otherwise under any patent or |
gume | 0:1f82672b8755 | 53 | * patent rights of the copyright holder. |
gume | 0:1f82672b8755 | 54 | **************************************************************************/ |
gume | 0:1f82672b8755 | 55 | |
gume | 0:1f82672b8755 | 56 | /*********************************************************/ |
gume | 0:1f82672b8755 | 57 | /* INCLUDES */ |
gume | 0:1f82672b8755 | 58 | /*******************************************************/ |
gume | 0:1f82672b8755 | 59 | #include "BNO055.h" |
gume | 0:1f82672b8755 | 60 | /*! file <BNO055 > |
gume | 0:1f82672b8755 | 61 | brief <Sensor driver for BNO055> */ |
gume | 0:1f82672b8755 | 62 | /* STRUCTURE DEFINITIONS */ |
gume | 0:1f82672b8755 | 63 | /*static*/ struct bno055_t *p_bno055; |
gume | 0:1f82672b8755 | 64 | |
gume | 0:1f82672b8755 | 65 | /* LOCAL FUNCTIONS */ |
gume | 0:1f82672b8755 | 66 | /*! |
gume | 0:1f82672b8755 | 67 | * @brief |
gume | 0:1f82672b8755 | 68 | * This API is used for initialize |
gume | 0:1f82672b8755 | 69 | * bus read, bus write function pointers,device |
gume | 0:1f82672b8755 | 70 | * address,accel revision id, gyro revision id |
gume | 0:1f82672b8755 | 71 | * mag revision id, software revision id, boot loader |
gume | 0:1f82672b8755 | 72 | * revision id and page id |
gume | 0:1f82672b8755 | 73 | * |
gume | 0:1f82672b8755 | 74 | * @param bno055 - structure pointer |
gume | 0:1f82672b8755 | 75 | * |
gume | 0:1f82672b8755 | 76 | * |
gume | 0:1f82672b8755 | 77 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 78 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 79 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 80 | * |
gume | 0:1f82672b8755 | 81 | * @note While changing the parameter of the bno055_t |
gume | 0:1f82672b8755 | 82 | * consider the following point: |
gume | 0:1f82672b8755 | 83 | * Changing the reference value of the parameter |
gume | 0:1f82672b8755 | 84 | * will changes the local copy or local reference |
gume | 0:1f82672b8755 | 85 | * make sure your changes will not |
gume | 0:1f82672b8755 | 86 | * affect the reference value of the parameter |
gume | 0:1f82672b8755 | 87 | * (Better case don't change the reference value of the parameter) |
gume | 0:1f82672b8755 | 88 | */ |
gume | 0:1f82672b8755 | 89 | BNO055_RETURN_FUNCTION_TYPE bno055_init(struct bno055_t *bno055) |
gume | 0:1f82672b8755 | 90 | { |
gume | 0:1f82672b8755 | 91 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 92 | communication routine*/ |
gume | 0:1f82672b8755 | 93 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 94 | u8 data_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 95 | u8 bno055_page_zero_u8 = BNO055_PAGE_ZERO; |
gume | 0:1f82672b8755 | 96 | /* Array holding the Software revision id |
gume | 0:1f82672b8755 | 97 | */ |
gume | 0:1f82672b8755 | 98 | u8 a_SW_ID_u8[BNO055_REV_ID_SIZE] = { |
gume | 0:1f82672b8755 | 99 | BNO055_INIT_VALUE, BNO055_INIT_VALUE}; |
gume | 0:1f82672b8755 | 100 | /* stuct parameters are assign to bno055*/ |
gume | 0:1f82672b8755 | 101 | p_bno055 = bno055; |
gume | 0:1f82672b8755 | 102 | /* Write the default page as zero*/ |
gume | 0:1f82672b8755 | 103 | com_rslt = p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 104 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 105 | BNO055_PAGE_ID_REG, &bno055_page_zero_u8, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 106 | /* Read the chip id of the sensor from page |
gume | 0:1f82672b8755 | 107 | zero 0x00 register*/ |
gume | 0:1f82672b8755 | 108 | com_rslt += p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 109 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 110 | BNO055_CHIP_ID_REG, &data_u8, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 111 | p_bno055->chip_id = data_u8; |
gume | 0:1f82672b8755 | 112 | /* Read the accel revision id from page |
gume | 0:1f82672b8755 | 113 | zero 0x01 register*/ |
gume | 0:1f82672b8755 | 114 | com_rslt += p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 115 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 116 | BNO055_ACCEL_REV_ID_REG, &data_u8, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 117 | p_bno055->accel_rev_id = data_u8; |
gume | 0:1f82672b8755 | 118 | /* Read the mag revision id from page |
gume | 0:1f82672b8755 | 119 | zero 0x02 register*/ |
gume | 0:1f82672b8755 | 120 | com_rslt += p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 121 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 122 | BNO055_MAG_REV_ID_REG, &data_u8, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 123 | p_bno055->mag_rev_id = data_u8; |
gume | 0:1f82672b8755 | 124 | /* Read the gyro revision id from page |
gume | 0:1f82672b8755 | 125 | zero 0x02 register*/ |
gume | 0:1f82672b8755 | 126 | com_rslt += p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 127 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 128 | BNO055_GYRO_REV_ID_REG, &data_u8, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 129 | p_bno055->gyro_rev_id = data_u8; |
gume | 0:1f82672b8755 | 130 | /* Read the boot loader revision from page |
gume | 0:1f82672b8755 | 131 | zero 0x06 register*/ |
gume | 0:1f82672b8755 | 132 | com_rslt += p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 133 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 134 | BNO055_BL_REV_ID_REG, &data_u8, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 135 | p_bno055->bl_rev_id = data_u8; |
gume | 0:1f82672b8755 | 136 | /* Read the software revision id from page |
gume | 0:1f82672b8755 | 137 | zero 0x04 and 0x05 register( 2 bytes of data)*/ |
gume | 0:1f82672b8755 | 138 | com_rslt += p_bno055->BNO055_BUS_READ_FUNC(p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 139 | BNO055_SW_REV_ID_LSB_REG, |
gume | 0:1f82672b8755 | 140 | a_SW_ID_u8, BNO055_LSB_MSB_READ_LENGTH); |
gume | 0:1f82672b8755 | 141 | a_SW_ID_u8[BNO055_SW_ID_LSB] = BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 142 | a_SW_ID_u8[BNO055_SW_ID_LSB], |
gume | 0:1f82672b8755 | 143 | BNO055_SW_REV_ID_LSB); |
gume | 0:1f82672b8755 | 144 | p_bno055->sw_rev_id = (u16) |
gume | 0:1f82672b8755 | 145 | ((((u32)((u8)a_SW_ID_u8[BNO055_SW_ID_MSB])) << |
gume | 0:1f82672b8755 | 146 | BNO055_SHIFT_EIGHT_BITS) | (a_SW_ID_u8[BNO055_SW_ID_LSB])); |
gume | 0:1f82672b8755 | 147 | /* Read the page id from the register 0x07*/ |
gume | 0:1f82672b8755 | 148 | com_rslt += p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 149 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 150 | BNO055_PAGE_ID_REG, &data_u8, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 151 | p_bno055->page_id = data_u8; |
gume | 0:1f82672b8755 | 152 | |
gume | 0:1f82672b8755 | 153 | return com_rslt; |
gume | 0:1f82672b8755 | 154 | } |
gume | 0:1f82672b8755 | 155 | /*! |
gume | 0:1f82672b8755 | 156 | * @brief |
gume | 0:1f82672b8755 | 157 | * This API gives data to the given register and |
gume | 0:1f82672b8755 | 158 | * the data is written in the corresponding register address |
gume | 0:1f82672b8755 | 159 | * |
gume | 0:1f82672b8755 | 160 | * @param addr_u8 : Address of the register |
gume | 0:1f82672b8755 | 161 | * @param data_u8 : Data to be written to the register |
gume | 0:1f82672b8755 | 162 | * @param len_u8 : Length of the Data |
gume | 0:1f82672b8755 | 163 | * |
gume | 0:1f82672b8755 | 164 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 165 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 166 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 167 | * |
gume | 0:1f82672b8755 | 168 | * |
gume | 0:1f82672b8755 | 169 | */ |
gume | 0:1f82672b8755 | 170 | BNO055_RETURN_FUNCTION_TYPE bno055_write_register(u8 addr_u8, |
gume | 0:1f82672b8755 | 171 | u8 *data_u8, u8 len_u8) |
gume | 0:1f82672b8755 | 172 | { |
gume | 0:1f82672b8755 | 173 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 174 | communication routine*/ |
gume | 0:1f82672b8755 | 175 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 176 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 177 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 178 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 179 | } else { |
gume | 0:1f82672b8755 | 180 | /* Write the values of respective given register */ |
gume | 0:1f82672b8755 | 181 | com_rslt = p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 182 | (p_bno055->dev_addr, addr_u8, data_u8, len_u8); |
gume | 0:1f82672b8755 | 183 | } |
gume | 0:1f82672b8755 | 184 | return com_rslt; |
gume | 0:1f82672b8755 | 185 | } |
gume | 0:1f82672b8755 | 186 | /*! |
gume | 0:1f82672b8755 | 187 | * @brief This API reads the data from |
gume | 0:1f82672b8755 | 188 | * the given register address |
gume | 0:1f82672b8755 | 189 | * |
gume | 0:1f82672b8755 | 190 | * @param addr_u8 : Address of the register |
gume | 0:1f82672b8755 | 191 | * @param data_u8 : address of the variable, |
gume | 0:1f82672b8755 | 192 | * read value will be kept |
gume | 0:1f82672b8755 | 193 | * @param len_u8 : Length of the data |
gume | 0:1f82672b8755 | 194 | * |
gume | 0:1f82672b8755 | 195 | * |
gume | 0:1f82672b8755 | 196 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 197 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 198 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 199 | * |
gume | 0:1f82672b8755 | 200 | */ |
gume | 0:1f82672b8755 | 201 | BNO055_RETURN_FUNCTION_TYPE bno055_read_register(u8 addr_u8, |
gume | 0:1f82672b8755 | 202 | u8 *data_u8, u8 len_u8) |
gume | 0:1f82672b8755 | 203 | { |
gume | 0:1f82672b8755 | 204 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 205 | communication routine*/ |
gume | 0:1f82672b8755 | 206 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 207 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 208 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 209 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 210 | } else { |
gume | 0:1f82672b8755 | 211 | /* Read the value from given register*/ |
gume | 0:1f82672b8755 | 212 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 213 | (p_bno055->dev_addr, addr_u8, data_u8, len_u8); |
gume | 0:1f82672b8755 | 214 | } |
gume | 0:1f82672b8755 | 215 | return com_rslt; |
gume | 0:1f82672b8755 | 216 | } |
gume | 0:1f82672b8755 | 217 | /*! |
gume | 0:1f82672b8755 | 218 | * @brief This API reads chip id |
gume | 0:1f82672b8755 | 219 | * from register 0x00 it is a byte of data |
gume | 0:1f82672b8755 | 220 | * |
gume | 0:1f82672b8755 | 221 | * |
gume | 0:1f82672b8755 | 222 | * @param chip_id_u8 : The chip id value 0xA0 |
gume | 0:1f82672b8755 | 223 | * |
gume | 0:1f82672b8755 | 224 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 225 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 226 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 227 | */ |
gume | 0:1f82672b8755 | 228 | BNO055_RETURN_FUNCTION_TYPE bno055_read_chip_id(u8 *chip_id_u8) |
gume | 0:1f82672b8755 | 229 | { |
gume | 0:1f82672b8755 | 230 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 231 | communication routine*/ |
gume | 0:1f82672b8755 | 232 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 233 | u8 data_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 234 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 235 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 236 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 237 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 238 | } else { |
gume | 0:1f82672b8755 | 239 | /*condition check for page, chip id is |
gume | 0:1f82672b8755 | 240 | available in the page zero*/ |
gume | 0:1f82672b8755 | 241 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 242 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 243 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 244 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 245 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 246 | /* Read the chip id*/ |
gume | 0:1f82672b8755 | 247 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 248 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 249 | BNO055_CHIP_ID_REG, &data_u8, |
gume | 0:1f82672b8755 | 250 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 251 | *chip_id_u8 = data_u8; |
gume | 0:1f82672b8755 | 252 | } else { |
gume | 0:1f82672b8755 | 253 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 254 | } |
gume | 0:1f82672b8755 | 255 | } |
gume | 0:1f82672b8755 | 256 | return com_rslt; |
gume | 0:1f82672b8755 | 257 | } |
gume | 0:1f82672b8755 | 258 | /*! |
gume | 0:1f82672b8755 | 259 | * @brief This API reads software revision id |
gume | 0:1f82672b8755 | 260 | * from register 0x04 and 0x05 it is a two byte of data |
gume | 0:1f82672b8755 | 261 | * |
gume | 0:1f82672b8755 | 262 | * @param sw_id_u8 : The SW revision id |
gume | 0:1f82672b8755 | 263 | * |
gume | 0:1f82672b8755 | 264 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 265 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 266 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 267 | * |
gume | 0:1f82672b8755 | 268 | * |
gume | 0:1f82672b8755 | 269 | */ |
gume | 0:1f82672b8755 | 270 | BNO055_RETURN_FUNCTION_TYPE bno055_read_sw_rev_id(u16 *sw_id_u8) |
gume | 0:1f82672b8755 | 271 | { |
gume | 0:1f82672b8755 | 272 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 273 | communication routine*/ |
gume | 0:1f82672b8755 | 274 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 275 | /* array having the software revision id |
gume | 0:1f82672b8755 | 276 | data_u8[0] - LSB |
gume | 0:1f82672b8755 | 277 | data_u8[1] - MSB*/ |
gume | 0:1f82672b8755 | 278 | u8 data_u8[BNO055_REV_ID_SIZE] = {BNO055_INIT_VALUE, |
gume | 0:1f82672b8755 | 279 | BNO055_INIT_VALUE}; |
gume | 0:1f82672b8755 | 280 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 281 | /* Check the struct p_bno055 is empty*/ |
gume | 0:1f82672b8755 | 282 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 283 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 284 | } else { |
gume | 0:1f82672b8755 | 285 | /*condition check for page, chip id is |
gume | 0:1f82672b8755 | 286 | available in the page zero*/ |
gume | 0:1f82672b8755 | 287 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 288 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 289 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 290 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 291 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 292 | /* Read the two byte value of software |
gume | 0:1f82672b8755 | 293 | revision id*/ |
gume | 0:1f82672b8755 | 294 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 295 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 296 | BNO055_SW_REV_ID_LSB_REG, |
gume | 0:1f82672b8755 | 297 | data_u8, BNO055_LSB_MSB_READ_LENGTH); |
gume | 0:1f82672b8755 | 298 | data_u8[BNO055_SW_ID_LSB] = |
gume | 0:1f82672b8755 | 299 | BNO055_GET_BITSLICE(data_u8[BNO055_SW_ID_LSB], |
gume | 0:1f82672b8755 | 300 | BNO055_SW_REV_ID_LSB); |
gume | 0:1f82672b8755 | 301 | *sw_id_u8 = (u16) |
gume | 0:1f82672b8755 | 302 | ((((u32)((u8)data_u8[BNO055_SW_ID_MSB])) << |
gume | 0:1f82672b8755 | 303 | BNO055_SHIFT_EIGHT_BITS) |
gume | 0:1f82672b8755 | 304 | | (data_u8[BNO055_SW_ID_LSB])); |
gume | 0:1f82672b8755 | 305 | } else { |
gume | 0:1f82672b8755 | 306 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 307 | } |
gume | 0:1f82672b8755 | 308 | } |
gume | 0:1f82672b8755 | 309 | return com_rslt; |
gume | 0:1f82672b8755 | 310 | } |
gume | 0:1f82672b8755 | 311 | /*! |
gume | 0:1f82672b8755 | 312 | * @brief This API reads page id |
gume | 0:1f82672b8755 | 313 | * from register 0x07 it is a byte of data |
gume | 0:1f82672b8755 | 314 | * |
gume | 0:1f82672b8755 | 315 | * |
gume | 0:1f82672b8755 | 316 | * @param page_id_u8 : The value of page id |
gume | 0:1f82672b8755 | 317 | * |
gume | 0:1f82672b8755 | 318 | * BNO055_PAGE_ZERO -> 0x00 |
gume | 0:1f82672b8755 | 319 | * BNO055_PAGE_ONE -> 0x01 |
gume | 0:1f82672b8755 | 320 | * |
gume | 0:1f82672b8755 | 321 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 322 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 323 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 324 | * |
gume | 0:1f82672b8755 | 325 | * |
gume | 0:1f82672b8755 | 326 | */ |
gume | 0:1f82672b8755 | 327 | BNO055_RETURN_FUNCTION_TYPE bno055_read_page_id(u8 *page_id_u8) |
gume | 0:1f82672b8755 | 328 | { |
gume | 0:1f82672b8755 | 329 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 330 | communication routine*/ |
gume | 0:1f82672b8755 | 331 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 332 | u8 data_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 333 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 334 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 335 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 336 | } else { |
gume | 0:1f82672b8755 | 337 | /* Read the page id form 0x07*/ |
gume | 0:1f82672b8755 | 338 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 339 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 340 | BNO055_PAGE_ID_REG, &data_u8, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 341 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 342 | data_u8 = BNO055_GET_BITSLICE(data_u8, |
gume | 0:1f82672b8755 | 343 | BNO055_PAGE_ID); |
gume | 0:1f82672b8755 | 344 | *page_id_u8 = data_u8; |
gume | 0:1f82672b8755 | 345 | p_bno055->page_id = data_u8; |
gume | 0:1f82672b8755 | 346 | } else { |
gume | 0:1f82672b8755 | 347 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 348 | } |
gume | 0:1f82672b8755 | 349 | } |
gume | 0:1f82672b8755 | 350 | return com_rslt; |
gume | 0:1f82672b8755 | 351 | } |
gume | 0:1f82672b8755 | 352 | /*! |
gume | 0:1f82672b8755 | 353 | * @brief This API used to write |
gume | 0:1f82672b8755 | 354 | * the page id register 0x07 |
gume | 0:1f82672b8755 | 355 | * |
gume | 0:1f82672b8755 | 356 | * @param page_id_u8 : The value of page id |
gume | 0:1f82672b8755 | 357 | * |
gume | 0:1f82672b8755 | 358 | * BNO055_PAGE_ZERO -> 0x00 |
gume | 0:1f82672b8755 | 359 | * BNO055_PAGE_ONE -> 0x01 |
gume | 0:1f82672b8755 | 360 | * |
gume | 0:1f82672b8755 | 361 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 362 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 363 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 364 | * |
gume | 0:1f82672b8755 | 365 | * |
gume | 0:1f82672b8755 | 366 | */ |
gume | 0:1f82672b8755 | 367 | BNO055_RETURN_FUNCTION_TYPE bno055_write_page_id(u8 page_id_u8) |
gume | 0:1f82672b8755 | 368 | { |
gume | 0:1f82672b8755 | 369 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 370 | communication routine*/ |
gume | 0:1f82672b8755 | 371 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 372 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 373 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 374 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 375 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 376 | } else { |
gume | 0:1f82672b8755 | 377 | /* Read the current page*/ |
gume | 0:1f82672b8755 | 378 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 379 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 380 | BNO055_PAGE_ID_REG, &data_u8r, |
gume | 0:1f82672b8755 | 381 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 382 | /* Check condition for communication BNO055_SUCCESS*/ |
gume | 0:1f82672b8755 | 383 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 384 | data_u8r = BNO055_SET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 385 | BNO055_PAGE_ID, page_id_u8); |
gume | 0:1f82672b8755 | 386 | /* Write the page id*/ |
gume | 0:1f82672b8755 | 387 | com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 388 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 389 | BNO055_PAGE_ID_REG, |
gume | 0:1f82672b8755 | 390 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 391 | if (com_rslt == BNO055_SUCCESS) |
gume | 0:1f82672b8755 | 392 | p_bno055->page_id = page_id_u8; |
gume | 0:1f82672b8755 | 393 | } else { |
gume | 0:1f82672b8755 | 394 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 395 | } |
gume | 0:1f82672b8755 | 396 | } |
gume | 0:1f82672b8755 | 397 | return com_rslt; |
gume | 0:1f82672b8755 | 398 | } |
gume | 0:1f82672b8755 | 399 | /*! |
gume | 0:1f82672b8755 | 400 | * @brief This API reads accel revision id |
gume | 0:1f82672b8755 | 401 | * from register 0x01 it is a byte of value |
gume | 0:1f82672b8755 | 402 | * |
gume | 0:1f82672b8755 | 403 | * @param accel_rev_id_u8 : The accel revision id 0xFB |
gume | 0:1f82672b8755 | 404 | * |
gume | 0:1f82672b8755 | 405 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 406 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 407 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 408 | * |
gume | 0:1f82672b8755 | 409 | * |
gume | 0:1f82672b8755 | 410 | */ |
gume | 0:1f82672b8755 | 411 | BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_rev_id( |
gume | 0:1f82672b8755 | 412 | u8 *accel_rev_id_u8) |
gume | 0:1f82672b8755 | 413 | { |
gume | 0:1f82672b8755 | 414 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 415 | communication routine*/ |
gume | 0:1f82672b8755 | 416 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 417 | u8 data_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 418 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 419 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 420 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 421 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 422 | } else { |
gume | 0:1f82672b8755 | 423 | /*condition check for page, chip id is |
gume | 0:1f82672b8755 | 424 | available in the page zero*/ |
gume | 0:1f82672b8755 | 425 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 426 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 427 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 428 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 429 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 430 | /* Read the accel revision id */ |
gume | 0:1f82672b8755 | 431 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 432 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 433 | BNO055_ACCEL_REV_ID_REG, |
gume | 0:1f82672b8755 | 434 | &data_u8, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 435 | *accel_rev_id_u8 = data_u8; |
gume | 0:1f82672b8755 | 436 | } else { |
gume | 0:1f82672b8755 | 437 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 438 | } |
gume | 0:1f82672b8755 | 439 | } |
gume | 0:1f82672b8755 | 440 | return com_rslt; |
gume | 0:1f82672b8755 | 441 | } |
gume | 0:1f82672b8755 | 442 | /*! |
gume | 0:1f82672b8755 | 443 | * @brief This API reads mag revision id |
gume | 0:1f82672b8755 | 444 | * from register 0x02 it is a byte of value |
gume | 0:1f82672b8755 | 445 | * |
gume | 0:1f82672b8755 | 446 | * @param mag_rev_id_u8 : The mag revision id 0x32 |
gume | 0:1f82672b8755 | 447 | * |
gume | 0:1f82672b8755 | 448 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 449 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 450 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 451 | * |
gume | 0:1f82672b8755 | 452 | * |
gume | 0:1f82672b8755 | 453 | */ |
gume | 0:1f82672b8755 | 454 | BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_rev_id( |
gume | 0:1f82672b8755 | 455 | u8 *mag_rev_id_u8) |
gume | 0:1f82672b8755 | 456 | { |
gume | 0:1f82672b8755 | 457 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 458 | communication routine*/ |
gume | 0:1f82672b8755 | 459 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 460 | u8 data_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 461 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 462 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 463 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 464 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 465 | } else { |
gume | 0:1f82672b8755 | 466 | /*condition check for page, chip id is |
gume | 0:1f82672b8755 | 467 | available in the page zero*/ |
gume | 0:1f82672b8755 | 468 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 469 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 470 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 471 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 472 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 473 | /* Read the mag revision id */ |
gume | 0:1f82672b8755 | 474 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 475 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 476 | BNO055_MAG_REV_ID_REG, |
gume | 0:1f82672b8755 | 477 | &data_u8, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 478 | *mag_rev_id_u8 = data_u8; |
gume | 0:1f82672b8755 | 479 | } else { |
gume | 0:1f82672b8755 | 480 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 481 | } |
gume | 0:1f82672b8755 | 482 | } |
gume | 0:1f82672b8755 | 483 | return com_rslt; |
gume | 0:1f82672b8755 | 484 | } |
gume | 0:1f82672b8755 | 485 | /*! |
gume | 0:1f82672b8755 | 486 | * @brief This API reads gyro revision id |
gume | 0:1f82672b8755 | 487 | * from register 0x03 it is a byte of value |
gume | 0:1f82672b8755 | 488 | * |
gume | 0:1f82672b8755 | 489 | * @param gyro_rev_id_u8 : The gyro revision id 0xF0 |
gume | 0:1f82672b8755 | 490 | * |
gume | 0:1f82672b8755 | 491 | * |
gume | 0:1f82672b8755 | 492 | * |
gume | 0:1f82672b8755 | 493 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 494 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 495 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 496 | * |
gume | 0:1f82672b8755 | 497 | * |
gume | 0:1f82672b8755 | 498 | */ |
gume | 0:1f82672b8755 | 499 | BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_rev_id( |
gume | 0:1f82672b8755 | 500 | u8 *gyro_rev_id_u8) |
gume | 0:1f82672b8755 | 501 | { |
gume | 0:1f82672b8755 | 502 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 503 | communication routine*/ |
gume | 0:1f82672b8755 | 504 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 505 | u8 data_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 506 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 507 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 508 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 509 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 510 | } else { |
gume | 0:1f82672b8755 | 511 | /*condition check for page, chip id is |
gume | 0:1f82672b8755 | 512 | available in the page zero*/ |
gume | 0:1f82672b8755 | 513 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 514 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 515 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 516 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 517 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 518 | /* Read the gyro revision id */ |
gume | 0:1f82672b8755 | 519 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 520 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 521 | BNO055_GYRO_REV_ID_REG, |
gume | 0:1f82672b8755 | 522 | &data_u8, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 523 | *gyro_rev_id_u8 = data_u8; |
gume | 0:1f82672b8755 | 524 | } else { |
gume | 0:1f82672b8755 | 525 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 526 | } |
gume | 0:1f82672b8755 | 527 | } |
gume | 0:1f82672b8755 | 528 | return com_rslt; |
gume | 0:1f82672b8755 | 529 | } |
gume | 0:1f82672b8755 | 530 | /*! |
gume | 0:1f82672b8755 | 531 | * @brief This API used to read boot loader revision id |
gume | 0:1f82672b8755 | 532 | * from register 0x06 it is a byte of value |
gume | 0:1f82672b8755 | 533 | * |
gume | 0:1f82672b8755 | 534 | * @param bl_rev_id_u8 : The boot loader revision id |
gume | 0:1f82672b8755 | 535 | * |
gume | 0:1f82672b8755 | 536 | * |
gume | 0:1f82672b8755 | 537 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 538 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 539 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 540 | * |
gume | 0:1f82672b8755 | 541 | * |
gume | 0:1f82672b8755 | 542 | */ |
gume | 0:1f82672b8755 | 543 | BNO055_RETURN_FUNCTION_TYPE bno055_read_bl_rev_id( |
gume | 0:1f82672b8755 | 544 | u8 *bl_rev_id_u8) |
gume | 0:1f82672b8755 | 545 | { |
gume | 0:1f82672b8755 | 546 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 547 | communication routine*/ |
gume | 0:1f82672b8755 | 548 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 549 | u8 data_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 550 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 551 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 552 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 553 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 554 | } else { |
gume | 0:1f82672b8755 | 555 | /*condition check for page, chip id is |
gume | 0:1f82672b8755 | 556 | available in the page zero*/ |
gume | 0:1f82672b8755 | 557 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 558 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 559 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 560 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 561 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 562 | /* Read the boot loader revision id */ |
gume | 0:1f82672b8755 | 563 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 564 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 565 | BNO055_BL_REV_ID_REG, |
gume | 0:1f82672b8755 | 566 | &data_u8, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 567 | *bl_rev_id_u8 = data_u8; |
gume | 0:1f82672b8755 | 568 | } else { |
gume | 0:1f82672b8755 | 569 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 570 | } |
gume | 0:1f82672b8755 | 571 | } |
gume | 0:1f82672b8755 | 572 | return com_rslt; |
gume | 0:1f82672b8755 | 573 | } |
gume | 0:1f82672b8755 | 574 | /*! |
gume | 0:1f82672b8755 | 575 | * @brief This API reads acceleration data X values |
gume | 0:1f82672b8755 | 576 | * from register 0x08 and 0x09 it is a two byte data |
gume | 0:1f82672b8755 | 577 | * |
gume | 0:1f82672b8755 | 578 | * |
gume | 0:1f82672b8755 | 579 | * |
gume | 0:1f82672b8755 | 580 | * |
gume | 0:1f82672b8755 | 581 | * @param accel_x_s16 : The X raw data |
gume | 0:1f82672b8755 | 582 | * |
gume | 0:1f82672b8755 | 583 | * |
gume | 0:1f82672b8755 | 584 | * |
gume | 0:1f82672b8755 | 585 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 586 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 587 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 588 | * |
gume | 0:1f82672b8755 | 589 | * |
gume | 0:1f82672b8755 | 590 | */ |
gume | 0:1f82672b8755 | 591 | BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_x(s16 *accel_x_s16) |
gume | 0:1f82672b8755 | 592 | { |
gume | 0:1f82672b8755 | 593 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 594 | communication routine*/ |
gume | 0:1f82672b8755 | 595 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 596 | /* Array holding the accel x value |
gume | 0:1f82672b8755 | 597 | data_u8[BNO055_SENSOR_DATA_LSB] - x-LSB |
gume | 0:1f82672b8755 | 598 | data_u8[BNO055_SENSOR_DATA_MSB] - x-MSB |
gume | 0:1f82672b8755 | 599 | */ |
gume | 0:1f82672b8755 | 600 | u8 data_u8[BNO055_ACCEL_DATA_SIZE] = {BNO055_INIT_VALUE, |
gume | 0:1f82672b8755 | 601 | BNO055_INIT_VALUE}; |
gume | 0:1f82672b8755 | 602 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 603 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 604 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 605 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 606 | } else { |
gume | 0:1f82672b8755 | 607 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 608 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 609 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 610 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 611 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 612 | /* Read the accel x axis two byte value*/ |
gume | 0:1f82672b8755 | 613 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 614 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 615 | BNO055_ACCEL_DATA_X_LSB_VALUEX_REG, |
gume | 0:1f82672b8755 | 616 | data_u8, BNO055_LSB_MSB_READ_LENGTH); |
gume | 0:1f82672b8755 | 617 | data_u8[BNO055_SENSOR_DATA_LSB] = |
gume | 0:1f82672b8755 | 618 | BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB], |
gume | 0:1f82672b8755 | 619 | BNO055_ACCEL_DATA_X_LSB_VALUEX); |
gume | 0:1f82672b8755 | 620 | data_u8[BNO055_SENSOR_DATA_MSB] = |
gume | 0:1f82672b8755 | 621 | BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB], |
gume | 0:1f82672b8755 | 622 | BNO055_ACCEL_DATA_X_MSB_VALUEX); |
gume | 0:1f82672b8755 | 623 | *accel_x_s16 = (s16)((((s32) |
gume | 0:1f82672b8755 | 624 | (s8)(data_u8[BNO055_SENSOR_DATA_MSB])) << |
gume | 0:1f82672b8755 | 625 | (BNO055_SHIFT_EIGHT_BITS)) |
gume | 0:1f82672b8755 | 626 | | (data_u8[BNO055_SENSOR_DATA_LSB])); |
gume | 0:1f82672b8755 | 627 | } else { |
gume | 0:1f82672b8755 | 628 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 629 | } |
gume | 0:1f82672b8755 | 630 | } |
gume | 0:1f82672b8755 | 631 | return com_rslt; |
gume | 0:1f82672b8755 | 632 | } |
gume | 0:1f82672b8755 | 633 | /*! |
gume | 0:1f82672b8755 | 634 | * @brief This API reads acceleration data Y values |
gume | 0:1f82672b8755 | 635 | * from register 0x0A and 0x0B it is a two byte data |
gume | 0:1f82672b8755 | 636 | * |
gume | 0:1f82672b8755 | 637 | * |
gume | 0:1f82672b8755 | 638 | * |
gume | 0:1f82672b8755 | 639 | * |
gume | 0:1f82672b8755 | 640 | * @param accel_y_s16 : The Y raw data |
gume | 0:1f82672b8755 | 641 | * |
gume | 0:1f82672b8755 | 642 | * |
gume | 0:1f82672b8755 | 643 | * |
gume | 0:1f82672b8755 | 644 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 645 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 646 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 647 | * |
gume | 0:1f82672b8755 | 648 | * |
gume | 0:1f82672b8755 | 649 | */ |
gume | 0:1f82672b8755 | 650 | BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_y(s16 *accel_y_s16) |
gume | 0:1f82672b8755 | 651 | { |
gume | 0:1f82672b8755 | 652 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 653 | communication routine*/ |
gume | 0:1f82672b8755 | 654 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 655 | /* Array holding the accel y value |
gume | 0:1f82672b8755 | 656 | data_u8[BNO055_SENSOR_DATA_LSB] - y-LSB |
gume | 0:1f82672b8755 | 657 | data_u8[BNO055_SENSOR_DATA_MSB] - y-MSB |
gume | 0:1f82672b8755 | 658 | */ |
gume | 0:1f82672b8755 | 659 | u8 data_u8[BNO055_ACCEL_DATA_SIZE] = {BNO055_INIT_VALUE, |
gume | 0:1f82672b8755 | 660 | BNO055_INIT_VALUE}; |
gume | 0:1f82672b8755 | 661 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 662 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 663 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 664 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 665 | } else { |
gume | 0:1f82672b8755 | 666 | /*condition check for page, chip id is |
gume | 0:1f82672b8755 | 667 | available in the page zero*/ |
gume | 0:1f82672b8755 | 668 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 669 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 670 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 671 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 672 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 673 | /* Read the accel y axis two byte value*/ |
gume | 0:1f82672b8755 | 674 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 675 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 676 | BNO055_ACCEL_DATA_Y_LSB_VALUEY_REG, |
gume | 0:1f82672b8755 | 677 | data_u8, BNO055_LSB_MSB_READ_LENGTH); |
gume | 0:1f82672b8755 | 678 | data_u8[BNO055_SENSOR_DATA_LSB] = |
gume | 0:1f82672b8755 | 679 | BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB], |
gume | 0:1f82672b8755 | 680 | BNO055_ACCEL_DATA_Y_LSB_VALUEY); |
gume | 0:1f82672b8755 | 681 | data_u8[BNO055_SENSOR_DATA_MSB] = |
gume | 0:1f82672b8755 | 682 | BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB], |
gume | 0:1f82672b8755 | 683 | BNO055_ACCEL_DATA_Y_MSB_VALUEY); |
gume | 0:1f82672b8755 | 684 | *accel_y_s16 = (s16)((((s32) |
gume | 0:1f82672b8755 | 685 | ((s8)data_u8[BNO055_SENSOR_DATA_MSB])) << |
gume | 0:1f82672b8755 | 686 | BNO055_SHIFT_EIGHT_BITS) | |
gume | 0:1f82672b8755 | 687 | (data_u8[BNO055_SENSOR_DATA_LSB])); |
gume | 0:1f82672b8755 | 688 | } else { |
gume | 0:1f82672b8755 | 689 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 690 | } |
gume | 0:1f82672b8755 | 691 | } |
gume | 0:1f82672b8755 | 692 | return com_rslt; |
gume | 0:1f82672b8755 | 693 | } |
gume | 0:1f82672b8755 | 694 | /*! |
gume | 0:1f82672b8755 | 695 | * @brief This API reads acceleration data z values |
gume | 0:1f82672b8755 | 696 | * from register 0x0C and 0x0D it is a two byte data |
gume | 0:1f82672b8755 | 697 | * |
gume | 0:1f82672b8755 | 698 | * |
gume | 0:1f82672b8755 | 699 | * |
gume | 0:1f82672b8755 | 700 | * |
gume | 0:1f82672b8755 | 701 | * @param accel_z_s16 : The z raw data |
gume | 0:1f82672b8755 | 702 | * |
gume | 0:1f82672b8755 | 703 | * |
gume | 0:1f82672b8755 | 704 | * |
gume | 0:1f82672b8755 | 705 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 706 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 707 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 708 | * |
gume | 0:1f82672b8755 | 709 | * |
gume | 0:1f82672b8755 | 710 | */ |
gume | 0:1f82672b8755 | 711 | BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_z(s16 *accel_z_s16) |
gume | 0:1f82672b8755 | 712 | { |
gume | 0:1f82672b8755 | 713 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 714 | communication routine*/ |
gume | 0:1f82672b8755 | 715 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 716 | /* Array holding the accel z value |
gume | 0:1f82672b8755 | 717 | data_u8[BNO055_SENSOR_DATA_LSB] - z-LSB |
gume | 0:1f82672b8755 | 718 | data_u8[BNO055_SENSOR_DATA_MSB] - z-MSB |
gume | 0:1f82672b8755 | 719 | */ |
gume | 0:1f82672b8755 | 720 | u8 data_u8[BNO055_ACCEL_DATA_SIZE] = {BNO055_INIT_VALUE, |
gume | 0:1f82672b8755 | 721 | BNO055_INIT_VALUE}; |
gume | 0:1f82672b8755 | 722 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 723 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 724 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 725 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 726 | } else { |
gume | 0:1f82672b8755 | 727 | /*condition check for page, chip id is |
gume | 0:1f82672b8755 | 728 | available in the page zero*/ |
gume | 0:1f82672b8755 | 729 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 730 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 731 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 732 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 733 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 734 | /* Read the accel z axis two byte value*/ |
gume | 0:1f82672b8755 | 735 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 736 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 737 | BNO055_ACCEL_DATA_Z_LSB_VALUEZ_REG, |
gume | 0:1f82672b8755 | 738 | data_u8, BNO055_LSB_MSB_READ_LENGTH); |
gume | 0:1f82672b8755 | 739 | data_u8[BNO055_SENSOR_DATA_LSB] = |
gume | 0:1f82672b8755 | 740 | BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB], |
gume | 0:1f82672b8755 | 741 | BNO055_ACCEL_DATA_Z_LSB_VALUEZ); |
gume | 0:1f82672b8755 | 742 | data_u8[BNO055_SENSOR_DATA_MSB] = |
gume | 0:1f82672b8755 | 743 | BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB], |
gume | 0:1f82672b8755 | 744 | BNO055_ACCEL_DATA_Z_MSB_VALUEZ); |
gume | 0:1f82672b8755 | 745 | *accel_z_s16 = (s16)((((s32) |
gume | 0:1f82672b8755 | 746 | ((s8)data_u8[BNO055_SENSOR_DATA_MSB])) << |
gume | 0:1f82672b8755 | 747 | BNO055_SHIFT_EIGHT_BITS) | |
gume | 0:1f82672b8755 | 748 | (data_u8[BNO055_SENSOR_DATA_LSB])); |
gume | 0:1f82672b8755 | 749 | } else { |
gume | 0:1f82672b8755 | 750 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 751 | } |
gume | 0:1f82672b8755 | 752 | } |
gume | 0:1f82672b8755 | 753 | return com_rslt; |
gume | 0:1f82672b8755 | 754 | } |
gume | 0:1f82672b8755 | 755 | /*! |
gume | 0:1f82672b8755 | 756 | * @brief This API reads acceleration data xyz values |
gume | 0:1f82672b8755 | 757 | * from register 0x08 to 0x0D it is a six byte data |
gume | 0:1f82672b8755 | 758 | * |
gume | 0:1f82672b8755 | 759 | * |
gume | 0:1f82672b8755 | 760 | * @param accel : The value of accel xyz data |
gume | 0:1f82672b8755 | 761 | * |
gume | 0:1f82672b8755 | 762 | * Parameter | result |
gume | 0:1f82672b8755 | 763 | * --------- | ----------------- |
gume | 0:1f82672b8755 | 764 | * x | The accel x data |
gume | 0:1f82672b8755 | 765 | * y | The accel y data |
gume | 0:1f82672b8755 | 766 | * z | The accel z data |
gume | 0:1f82672b8755 | 767 | * |
gume | 0:1f82672b8755 | 768 | * |
gume | 0:1f82672b8755 | 769 | * |
gume | 0:1f82672b8755 | 770 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 771 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 772 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 773 | * |
gume | 0:1f82672b8755 | 774 | */ |
gume | 0:1f82672b8755 | 775 | BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_xyz( |
gume | 0:1f82672b8755 | 776 | struct bno055_accel_t *accel) |
gume | 0:1f82672b8755 | 777 | { |
gume | 0:1f82672b8755 | 778 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 779 | communication routine*/ |
gume | 0:1f82672b8755 | 780 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 781 | /* Array holding the accel xyz value |
gume | 0:1f82672b8755 | 782 | data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB] - x->LSB |
gume | 0:1f82672b8755 | 783 | data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB] - x->MSB |
gume | 0:1f82672b8755 | 784 | data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB] - y->MSB |
gume | 0:1f82672b8755 | 785 | data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB] - y->MSB |
gume | 0:1f82672b8755 | 786 | data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB] - z->MSB |
gume | 0:1f82672b8755 | 787 | data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB] - z->MSB |
gume | 0:1f82672b8755 | 788 | */ |
gume | 0:1f82672b8755 | 789 | u8 data_u8[BNO055_ACCEL_XYZ_DATA_SIZE] = { |
gume | 0:1f82672b8755 | 790 | BNO055_INIT_VALUE, BNO055_INIT_VALUE, |
gume | 0:1f82672b8755 | 791 | BNO055_INIT_VALUE, BNO055_INIT_VALUE, |
gume | 0:1f82672b8755 | 792 | BNO055_INIT_VALUE, BNO055_INIT_VALUE}; |
gume | 0:1f82672b8755 | 793 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 794 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 795 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 796 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 797 | } else { |
gume | 0:1f82672b8755 | 798 | /*condition check for page, chip id is |
gume | 0:1f82672b8755 | 799 | available in the page zero*/ |
gume | 0:1f82672b8755 | 800 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 801 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 802 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 803 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 804 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 805 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 806 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 807 | BNO055_ACCEL_DATA_X_LSB_VALUEX_REG, |
gume | 0:1f82672b8755 | 808 | data_u8, BNO055_ACCEL_XYZ_DATA_SIZE); |
gume | 0:1f82672b8755 | 809 | /* Data X*/ |
gume | 0:1f82672b8755 | 810 | data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB] = |
gume | 0:1f82672b8755 | 811 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 812 | data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB], |
gume | 0:1f82672b8755 | 813 | BNO055_ACCEL_DATA_X_LSB_VALUEX); |
gume | 0:1f82672b8755 | 814 | data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB] = |
gume | 0:1f82672b8755 | 815 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 816 | data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB], |
gume | 0:1f82672b8755 | 817 | BNO055_ACCEL_DATA_X_MSB_VALUEX); |
gume | 0:1f82672b8755 | 818 | accel->x = (s16)((((s32) |
gume | 0:1f82672b8755 | 819 | ((s8)data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB])) << |
gume | 0:1f82672b8755 | 820 | BNO055_SHIFT_EIGHT_BITS) |
gume | 0:1f82672b8755 | 821 | | (data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB])); |
gume | 0:1f82672b8755 | 822 | /* Data Y*/ |
gume | 0:1f82672b8755 | 823 | data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB] = |
gume | 0:1f82672b8755 | 824 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 825 | data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB], |
gume | 0:1f82672b8755 | 826 | BNO055_ACCEL_DATA_Y_LSB_VALUEY); |
gume | 0:1f82672b8755 | 827 | data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB] = |
gume | 0:1f82672b8755 | 828 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 829 | data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB], |
gume | 0:1f82672b8755 | 830 | BNO055_ACCEL_DATA_Y_MSB_VALUEY); |
gume | 0:1f82672b8755 | 831 | accel->y = (s16)((((s32) |
gume | 0:1f82672b8755 | 832 | ((s8)data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB])) << |
gume | 0:1f82672b8755 | 833 | BNO055_SHIFT_EIGHT_BITS) |
gume | 0:1f82672b8755 | 834 | | (data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB])); |
gume | 0:1f82672b8755 | 835 | /* Data Z*/ |
gume | 0:1f82672b8755 | 836 | data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB] = |
gume | 0:1f82672b8755 | 837 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 838 | data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB], |
gume | 0:1f82672b8755 | 839 | BNO055_ACCEL_DATA_Z_LSB_VALUEZ); |
gume | 0:1f82672b8755 | 840 | data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB] = |
gume | 0:1f82672b8755 | 841 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 842 | data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB], |
gume | 0:1f82672b8755 | 843 | BNO055_ACCEL_DATA_Z_MSB_VALUEZ); |
gume | 0:1f82672b8755 | 844 | accel->z = (s16)((((s32) |
gume | 0:1f82672b8755 | 845 | ((s8)data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB])) << |
gume | 0:1f82672b8755 | 846 | BNO055_SHIFT_EIGHT_BITS) |
gume | 0:1f82672b8755 | 847 | | (data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB])); |
gume | 0:1f82672b8755 | 848 | } else { |
gume | 0:1f82672b8755 | 849 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 850 | } |
gume | 0:1f82672b8755 | 851 | } |
gume | 0:1f82672b8755 | 852 | return com_rslt; |
gume | 0:1f82672b8755 | 853 | } |
gume | 0:1f82672b8755 | 854 | /*! |
gume | 0:1f82672b8755 | 855 | * @brief This API reads mag data x values |
gume | 0:1f82672b8755 | 856 | * from register 0x0E and 0x0F it is a two byte data |
gume | 0:1f82672b8755 | 857 | * |
gume | 0:1f82672b8755 | 858 | * |
gume | 0:1f82672b8755 | 859 | * |
gume | 0:1f82672b8755 | 860 | * |
gume | 0:1f82672b8755 | 861 | * @param mag_x_s16 : The x raw data |
gume | 0:1f82672b8755 | 862 | * |
gume | 0:1f82672b8755 | 863 | * |
gume | 0:1f82672b8755 | 864 | * |
gume | 0:1f82672b8755 | 865 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 866 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 867 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 868 | * |
gume | 0:1f82672b8755 | 869 | * |
gume | 0:1f82672b8755 | 870 | * |
gume | 0:1f82672b8755 | 871 | */ |
gume | 0:1f82672b8755 | 872 | BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_x(s16 *mag_x_s16) |
gume | 0:1f82672b8755 | 873 | { |
gume | 0:1f82672b8755 | 874 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 875 | communication routine*/ |
gume | 0:1f82672b8755 | 876 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 877 | /* Array holding the mag x value |
gume | 0:1f82672b8755 | 878 | data_u8[BNO055_SENSOR_DATA_LSB] - x->LSB |
gume | 0:1f82672b8755 | 879 | data_u8[BNO055_SENSOR_DATA_MSB] - x->MSB |
gume | 0:1f82672b8755 | 880 | */ |
gume | 0:1f82672b8755 | 881 | u8 data_u8[BNO055_MAG_DATA_SIZE] = {BNO055_INIT_VALUE, |
gume | 0:1f82672b8755 | 882 | BNO055_INIT_VALUE}; |
gume | 0:1f82672b8755 | 883 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 884 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 885 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 886 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 887 | } else { |
gume | 0:1f82672b8755 | 888 | /*condition check for page, chip id is |
gume | 0:1f82672b8755 | 889 | available in the page zero*/ |
gume | 0:1f82672b8755 | 890 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 891 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 892 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 893 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 894 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 895 | /*Read the mag x two bytes of data */ |
gume | 0:1f82672b8755 | 896 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 897 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 898 | BNO055_MAG_DATA_X_LSB_VALUEX_REG, |
gume | 0:1f82672b8755 | 899 | data_u8, BNO055_LSB_MSB_READ_LENGTH); |
gume | 0:1f82672b8755 | 900 | data_u8[BNO055_SENSOR_DATA_LSB] = |
gume | 0:1f82672b8755 | 901 | BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB], |
gume | 0:1f82672b8755 | 902 | BNO055_MAG_DATA_X_LSB_VALUEX); |
gume | 0:1f82672b8755 | 903 | data_u8[BNO055_SENSOR_DATA_MSB] = |
gume | 0:1f82672b8755 | 904 | BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB], |
gume | 0:1f82672b8755 | 905 | BNO055_MAG_DATA_X_MSB_VALUEX); |
gume | 0:1f82672b8755 | 906 | *mag_x_s16 = (s16)((((s32) |
gume | 0:1f82672b8755 | 907 | ((s8)data_u8[BNO055_SENSOR_DATA_MSB])) << |
gume | 0:1f82672b8755 | 908 | BNO055_SHIFT_EIGHT_BITS) | ( |
gume | 0:1f82672b8755 | 909 | data_u8[BNO055_SENSOR_DATA_LSB])); |
gume | 0:1f82672b8755 | 910 | } else { |
gume | 0:1f82672b8755 | 911 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 912 | } |
gume | 0:1f82672b8755 | 913 | } |
gume | 0:1f82672b8755 | 914 | return com_rslt; |
gume | 0:1f82672b8755 | 915 | } |
gume | 0:1f82672b8755 | 916 | /*! |
gume | 0:1f82672b8755 | 917 | * @brief This API reads mag data y values |
gume | 0:1f82672b8755 | 918 | * from register 0x10 and 0x11 it is a two byte data |
gume | 0:1f82672b8755 | 919 | * |
gume | 0:1f82672b8755 | 920 | * |
gume | 0:1f82672b8755 | 921 | * |
gume | 0:1f82672b8755 | 922 | * |
gume | 0:1f82672b8755 | 923 | * @param mag_y_s16 : The y raw data |
gume | 0:1f82672b8755 | 924 | * |
gume | 0:1f82672b8755 | 925 | * |
gume | 0:1f82672b8755 | 926 | * |
gume | 0:1f82672b8755 | 927 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 928 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 929 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 930 | * |
gume | 0:1f82672b8755 | 931 | * |
gume | 0:1f82672b8755 | 932 | */ |
gume | 0:1f82672b8755 | 933 | BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_y(s16 *mag_y_s16) |
gume | 0:1f82672b8755 | 934 | { |
gume | 0:1f82672b8755 | 935 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 936 | communication routine*/ |
gume | 0:1f82672b8755 | 937 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 938 | /* Array holding the mag y value |
gume | 0:1f82672b8755 | 939 | data_u8[BNO055_SENSOR_DATA_LSB] - y->LSB |
gume | 0:1f82672b8755 | 940 | data_u8[BNO055_SENSOR_DATA_MSB] - y->MSB |
gume | 0:1f82672b8755 | 941 | */ |
gume | 0:1f82672b8755 | 942 | u8 data_u8[BNO055_MAG_DATA_SIZE] = { |
gume | 0:1f82672b8755 | 943 | BNO055_INIT_VALUE, BNO055_INIT_VALUE}; |
gume | 0:1f82672b8755 | 944 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 945 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 946 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 947 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 948 | } else { |
gume | 0:1f82672b8755 | 949 | /*condition check for page, chip id is |
gume | 0:1f82672b8755 | 950 | available in the page zero*/ |
gume | 0:1f82672b8755 | 951 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 952 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 953 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 954 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 955 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 956 | /*Read the mag y two bytes of data */ |
gume | 0:1f82672b8755 | 957 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 958 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 959 | BNO055_MAG_DATA_Y_LSB_VALUEY_REG, |
gume | 0:1f82672b8755 | 960 | data_u8, BNO055_LSB_MSB_READ_LENGTH); |
gume | 0:1f82672b8755 | 961 | data_u8[BNO055_SENSOR_DATA_LSB] = |
gume | 0:1f82672b8755 | 962 | BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB], |
gume | 0:1f82672b8755 | 963 | BNO055_MAG_DATA_Y_LSB_VALUEY); |
gume | 0:1f82672b8755 | 964 | data_u8[BNO055_SENSOR_DATA_MSB] = |
gume | 0:1f82672b8755 | 965 | BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB], |
gume | 0:1f82672b8755 | 966 | BNO055_MAG_DATA_Y_MSB_VALUEY); |
gume | 0:1f82672b8755 | 967 | *mag_y_s16 = (s16)((((s32) |
gume | 0:1f82672b8755 | 968 | ((s8)data_u8[BNO055_SENSOR_DATA_MSB])) << |
gume | 0:1f82672b8755 | 969 | BNO055_SHIFT_EIGHT_BITS) | |
gume | 0:1f82672b8755 | 970 | (data_u8[BNO055_SENSOR_DATA_LSB])); |
gume | 0:1f82672b8755 | 971 | } else { |
gume | 0:1f82672b8755 | 972 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 973 | } |
gume | 0:1f82672b8755 | 974 | } |
gume | 0:1f82672b8755 | 975 | return com_rslt; |
gume | 0:1f82672b8755 | 976 | } |
gume | 0:1f82672b8755 | 977 | /*! |
gume | 0:1f82672b8755 | 978 | * @brief This API reads mag data z values |
gume | 0:1f82672b8755 | 979 | * from register 0x12 and 0x13 it is a two byte data |
gume | 0:1f82672b8755 | 980 | * |
gume | 0:1f82672b8755 | 981 | * |
gume | 0:1f82672b8755 | 982 | * |
gume | 0:1f82672b8755 | 983 | * |
gume | 0:1f82672b8755 | 984 | * @param mag_z_s16 : The z raw data |
gume | 0:1f82672b8755 | 985 | * |
gume | 0:1f82672b8755 | 986 | * |
gume | 0:1f82672b8755 | 987 | * |
gume | 0:1f82672b8755 | 988 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 989 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 990 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 991 | * |
gume | 0:1f82672b8755 | 992 | * |
gume | 0:1f82672b8755 | 993 | * |
gume | 0:1f82672b8755 | 994 | */ |
gume | 0:1f82672b8755 | 995 | BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_z(s16 *mag_z_s16) |
gume | 0:1f82672b8755 | 996 | { |
gume | 0:1f82672b8755 | 997 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 998 | communication routine*/ |
gume | 0:1f82672b8755 | 999 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 1000 | /* Array holding the mag z value |
gume | 0:1f82672b8755 | 1001 | data_u8[BNO055_SENSOR_DATA_LSB] - z->LSB |
gume | 0:1f82672b8755 | 1002 | data_u8[BNO055_SENSOR_DATA_MSB] - z->MSB |
gume | 0:1f82672b8755 | 1003 | */ |
gume | 0:1f82672b8755 | 1004 | u8 data_u8[BNO055_MAG_DATA_SIZE] = { |
gume | 0:1f82672b8755 | 1005 | BNO055_INIT_VALUE, BNO055_INIT_VALUE}; |
gume | 0:1f82672b8755 | 1006 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 1007 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 1008 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 1009 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 1010 | } else { |
gume | 0:1f82672b8755 | 1011 | /*condition check for page, chip id is |
gume | 0:1f82672b8755 | 1012 | available in the page zero*/ |
gume | 0:1f82672b8755 | 1013 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 1014 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 1015 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 1016 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 1017 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 1018 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 1019 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 1020 | BNO055_MAG_DATA_Z_LSB_VALUEZ_REG, |
gume | 0:1f82672b8755 | 1021 | data_u8, BNO055_LSB_MSB_READ_LENGTH); |
gume | 0:1f82672b8755 | 1022 | /*Read the mag z two bytes of data */ |
gume | 0:1f82672b8755 | 1023 | data_u8[BNO055_SENSOR_DATA_LSB] = |
gume | 0:1f82672b8755 | 1024 | BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB], |
gume | 0:1f82672b8755 | 1025 | BNO055_MAG_DATA_Z_LSB_VALUEZ); |
gume | 0:1f82672b8755 | 1026 | data_u8[BNO055_SENSOR_DATA_MSB] = |
gume | 0:1f82672b8755 | 1027 | BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB], |
gume | 0:1f82672b8755 | 1028 | BNO055_MAG_DATA_Z_MSB_VALUEZ); |
gume | 0:1f82672b8755 | 1029 | *mag_z_s16 = (s16)((((s32) |
gume | 0:1f82672b8755 | 1030 | ((s8)data_u8[BNO055_SENSOR_DATA_MSB])) << |
gume | 0:1f82672b8755 | 1031 | BNO055_SHIFT_EIGHT_BITS) |
gume | 0:1f82672b8755 | 1032 | | (data_u8[BNO055_SENSOR_DATA_LSB])); |
gume | 0:1f82672b8755 | 1033 | } else { |
gume | 0:1f82672b8755 | 1034 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 1035 | } |
gume | 0:1f82672b8755 | 1036 | } |
gume | 0:1f82672b8755 | 1037 | return com_rslt; |
gume | 0:1f82672b8755 | 1038 | } |
gume | 0:1f82672b8755 | 1039 | /*! |
gume | 0:1f82672b8755 | 1040 | * @brief This API reads mag data xyz values |
gume | 0:1f82672b8755 | 1041 | * from register 0x0E to 0x13 it is a six byte data |
gume | 0:1f82672b8755 | 1042 | * |
gume | 0:1f82672b8755 | 1043 | * |
gume | 0:1f82672b8755 | 1044 | * @param mag : The mag xyz values |
gume | 0:1f82672b8755 | 1045 | * |
gume | 0:1f82672b8755 | 1046 | * Parameter | result |
gume | 0:1f82672b8755 | 1047 | * --------- | ----------------- |
gume | 0:1f82672b8755 | 1048 | * x | The mag x data |
gume | 0:1f82672b8755 | 1049 | * y | The mag y data |
gume | 0:1f82672b8755 | 1050 | * z | The mag z data |
gume | 0:1f82672b8755 | 1051 | * |
gume | 0:1f82672b8755 | 1052 | * |
gume | 0:1f82672b8755 | 1053 | * |
gume | 0:1f82672b8755 | 1054 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 1055 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 1056 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 1057 | * |
gume | 0:1f82672b8755 | 1058 | */ |
gume | 0:1f82672b8755 | 1059 | BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_xyz(struct bno055_mag_t *mag) |
gume | 0:1f82672b8755 | 1060 | { |
gume | 0:1f82672b8755 | 1061 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 1062 | communication routine*/ |
gume | 0:1f82672b8755 | 1063 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 1064 | /* Array holding the mag xyz value |
gume | 0:1f82672b8755 | 1065 | data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB] - x->LSB |
gume | 0:1f82672b8755 | 1066 | data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB] - x->MSB |
gume | 0:1f82672b8755 | 1067 | data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB] - y->MSB |
gume | 0:1f82672b8755 | 1068 | data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB] - y->MSB |
gume | 0:1f82672b8755 | 1069 | data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB] - z->MSB |
gume | 0:1f82672b8755 | 1070 | data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB] - z->MSB |
gume | 0:1f82672b8755 | 1071 | */ |
gume | 0:1f82672b8755 | 1072 | u8 data_u8[BNO055_MAG_XYZ_DATA_SIZE] = { |
gume | 0:1f82672b8755 | 1073 | BNO055_INIT_VALUE, BNO055_INIT_VALUE, |
gume | 0:1f82672b8755 | 1074 | BNO055_INIT_VALUE, BNO055_INIT_VALUE, |
gume | 0:1f82672b8755 | 1075 | BNO055_INIT_VALUE, BNO055_INIT_VALUE}; |
gume | 0:1f82672b8755 | 1076 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 1077 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 1078 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 1079 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 1080 | } else { |
gume | 0:1f82672b8755 | 1081 | /*condition check for page, chip id is |
gume | 0:1f82672b8755 | 1082 | available in the page zero*/ |
gume | 0:1f82672b8755 | 1083 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 1084 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 1085 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 1086 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 1087 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 1088 | /*Read the six byte value of mag xyz*/ |
gume | 0:1f82672b8755 | 1089 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 1090 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 1091 | BNO055_MAG_DATA_X_LSB_VALUEX_REG, |
gume | 0:1f82672b8755 | 1092 | data_u8, BNO055_MAG_XYZ_DATA_SIZE); |
gume | 0:1f82672b8755 | 1093 | /* Data X*/ |
gume | 0:1f82672b8755 | 1094 | data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB] = |
gume | 0:1f82672b8755 | 1095 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 1096 | data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB], |
gume | 0:1f82672b8755 | 1097 | BNO055_MAG_DATA_X_LSB_VALUEX); |
gume | 0:1f82672b8755 | 1098 | data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB] = |
gume | 0:1f82672b8755 | 1099 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 1100 | data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB], |
gume | 0:1f82672b8755 | 1101 | BNO055_MAG_DATA_X_MSB_VALUEX); |
gume | 0:1f82672b8755 | 1102 | mag->x = (s16)((((s32) |
gume | 0:1f82672b8755 | 1103 | ((s8)data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB])) << |
gume | 0:1f82672b8755 | 1104 | BNO055_SHIFT_EIGHT_BITS) | |
gume | 0:1f82672b8755 | 1105 | (data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB])); |
gume | 0:1f82672b8755 | 1106 | /* Data Y*/ |
gume | 0:1f82672b8755 | 1107 | data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB] = |
gume | 0:1f82672b8755 | 1108 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 1109 | data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB], |
gume | 0:1f82672b8755 | 1110 | BNO055_MAG_DATA_Y_LSB_VALUEY); |
gume | 0:1f82672b8755 | 1111 | data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB] = |
gume | 0:1f82672b8755 | 1112 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 1113 | data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB], |
gume | 0:1f82672b8755 | 1114 | BNO055_MAG_DATA_Y_MSB_VALUEY); |
gume | 0:1f82672b8755 | 1115 | mag->y = (s16)((((s32) |
gume | 0:1f82672b8755 | 1116 | ((s8)data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB])) << |
gume | 0:1f82672b8755 | 1117 | BNO055_SHIFT_EIGHT_BITS) | |
gume | 0:1f82672b8755 | 1118 | (data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB])); |
gume | 0:1f82672b8755 | 1119 | /* Data Z*/ |
gume | 0:1f82672b8755 | 1120 | data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB] = |
gume | 0:1f82672b8755 | 1121 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 1122 | data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB], |
gume | 0:1f82672b8755 | 1123 | BNO055_MAG_DATA_Z_LSB_VALUEZ); |
gume | 0:1f82672b8755 | 1124 | data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB] = |
gume | 0:1f82672b8755 | 1125 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 1126 | data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB], |
gume | 0:1f82672b8755 | 1127 | BNO055_MAG_DATA_Z_MSB_VALUEZ); |
gume | 0:1f82672b8755 | 1128 | mag->z = (s16)((((s32) |
gume | 0:1f82672b8755 | 1129 | ((s8)data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB])) << |
gume | 0:1f82672b8755 | 1130 | BNO055_SHIFT_EIGHT_BITS) |
gume | 0:1f82672b8755 | 1131 | | (data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB])); |
gume | 0:1f82672b8755 | 1132 | } else { |
gume | 0:1f82672b8755 | 1133 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 1134 | } |
gume | 0:1f82672b8755 | 1135 | } |
gume | 0:1f82672b8755 | 1136 | return com_rslt; |
gume | 0:1f82672b8755 | 1137 | } |
gume | 0:1f82672b8755 | 1138 | /*! |
gume | 0:1f82672b8755 | 1139 | * @brief This API reads gyro data x values |
gume | 0:1f82672b8755 | 1140 | * from register 0x14 and 0x15 it is a two byte data |
gume | 0:1f82672b8755 | 1141 | * |
gume | 0:1f82672b8755 | 1142 | * |
gume | 0:1f82672b8755 | 1143 | * |
gume | 0:1f82672b8755 | 1144 | * |
gume | 0:1f82672b8755 | 1145 | * @param gyro_x_s16 : The x raw data |
gume | 0:1f82672b8755 | 1146 | * |
gume | 0:1f82672b8755 | 1147 | * |
gume | 0:1f82672b8755 | 1148 | * |
gume | 0:1f82672b8755 | 1149 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 1150 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 1151 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 1152 | * |
gume | 0:1f82672b8755 | 1153 | * |
gume | 0:1f82672b8755 | 1154 | */ |
gume | 0:1f82672b8755 | 1155 | BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_x(s16 *gyro_x_s16) |
gume | 0:1f82672b8755 | 1156 | { |
gume | 0:1f82672b8755 | 1157 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 1158 | communication routine*/ |
gume | 0:1f82672b8755 | 1159 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 1160 | u8 data_u8[BNO055_GYRO_DATA_SIZE] = { |
gume | 0:1f82672b8755 | 1161 | BNO055_INIT_VALUE, BNO055_INIT_VALUE}; |
gume | 0:1f82672b8755 | 1162 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 1163 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 1164 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 1165 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 1166 | } else { |
gume | 0:1f82672b8755 | 1167 | /*condition check for page, chip id is |
gume | 0:1f82672b8755 | 1168 | available in the page zero*/ |
gume | 0:1f82672b8755 | 1169 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 1170 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 1171 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 1172 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 1173 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 1174 | /* Read the gyro 16 bit x value*/ |
gume | 0:1f82672b8755 | 1175 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 1176 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 1177 | BNO055_GYRO_DATA_X_LSB_VALUEX_REG, |
gume | 0:1f82672b8755 | 1178 | data_u8, BNO055_LSB_MSB_READ_LENGTH); |
gume | 0:1f82672b8755 | 1179 | data_u8[BNO055_SENSOR_DATA_LSB] = |
gume | 0:1f82672b8755 | 1180 | BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB], |
gume | 0:1f82672b8755 | 1181 | BNO055_GYRO_DATA_X_LSB_VALUEX); |
gume | 0:1f82672b8755 | 1182 | data_u8[BNO055_SENSOR_DATA_MSB] = |
gume | 0:1f82672b8755 | 1183 | BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB], |
gume | 0:1f82672b8755 | 1184 | BNO055_GYRO_DATA_X_MSB_VALUEX); |
gume | 0:1f82672b8755 | 1185 | *gyro_x_s16 = (s16)((((s32) |
gume | 0:1f82672b8755 | 1186 | ((s8)data_u8[BNO055_SENSOR_DATA_MSB])) << |
gume | 0:1f82672b8755 | 1187 | BNO055_SHIFT_EIGHT_BITS) | |
gume | 0:1f82672b8755 | 1188 | (data_u8[BNO055_SENSOR_DATA_LSB])); |
gume | 0:1f82672b8755 | 1189 | } else { |
gume | 0:1f82672b8755 | 1190 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 1191 | } |
gume | 0:1f82672b8755 | 1192 | } |
gume | 0:1f82672b8755 | 1193 | return com_rslt; |
gume | 0:1f82672b8755 | 1194 | } |
gume | 0:1f82672b8755 | 1195 | /*! |
gume | 0:1f82672b8755 | 1196 | * @brief This API reads gyro data y values |
gume | 0:1f82672b8755 | 1197 | * from register 0x16 and 0x17 it is a two byte data |
gume | 0:1f82672b8755 | 1198 | * |
gume | 0:1f82672b8755 | 1199 | * |
gume | 0:1f82672b8755 | 1200 | * |
gume | 0:1f82672b8755 | 1201 | * |
gume | 0:1f82672b8755 | 1202 | * @param gyro_y_s16 : The y raw data |
gume | 0:1f82672b8755 | 1203 | * |
gume | 0:1f82672b8755 | 1204 | * |
gume | 0:1f82672b8755 | 1205 | * |
gume | 0:1f82672b8755 | 1206 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 1207 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 1208 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 1209 | * |
gume | 0:1f82672b8755 | 1210 | * |
gume | 0:1f82672b8755 | 1211 | */ |
gume | 0:1f82672b8755 | 1212 | BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_y(s16 *gyro_y_s16) |
gume | 0:1f82672b8755 | 1213 | { |
gume | 0:1f82672b8755 | 1214 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 1215 | communication routine*/ |
gume | 0:1f82672b8755 | 1216 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 1217 | u8 data_u8[BNO055_GYRO_DATA_SIZE] = { |
gume | 0:1f82672b8755 | 1218 | BNO055_INIT_VALUE, BNO055_INIT_VALUE}; |
gume | 0:1f82672b8755 | 1219 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 1220 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 1221 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 1222 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 1223 | } else { |
gume | 0:1f82672b8755 | 1224 | /*condition check for page, chip id is |
gume | 0:1f82672b8755 | 1225 | available in the page zero*/ |
gume | 0:1f82672b8755 | 1226 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 1227 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 1228 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 1229 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 1230 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 1231 | /* Read the value of gyro y */ |
gume | 0:1f82672b8755 | 1232 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 1233 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 1234 | BNO055_GYRO_DATA_Y_LSB_VALUEY_REG, |
gume | 0:1f82672b8755 | 1235 | data_u8, BNO055_LSB_MSB_READ_LENGTH); |
gume | 0:1f82672b8755 | 1236 | data_u8[BNO055_SENSOR_DATA_LSB] = |
gume | 0:1f82672b8755 | 1237 | BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB], |
gume | 0:1f82672b8755 | 1238 | BNO055_GYRO_DATA_Y_LSB_VALUEY); |
gume | 0:1f82672b8755 | 1239 | data_u8[BNO055_SENSOR_DATA_MSB] = |
gume | 0:1f82672b8755 | 1240 | BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB], |
gume | 0:1f82672b8755 | 1241 | BNO055_GYRO_DATA_Y_MSB_VALUEY); |
gume | 0:1f82672b8755 | 1242 | *gyro_y_s16 = (s16)((((s32) |
gume | 0:1f82672b8755 | 1243 | ((s8)data_u8[BNO055_SENSOR_DATA_MSB])) << |
gume | 0:1f82672b8755 | 1244 | BNO055_SHIFT_EIGHT_BITS) |
gume | 0:1f82672b8755 | 1245 | | (data_u8[BNO055_SENSOR_DATA_LSB])); |
gume | 0:1f82672b8755 | 1246 | } else { |
gume | 0:1f82672b8755 | 1247 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 1248 | } |
gume | 0:1f82672b8755 | 1249 | } |
gume | 0:1f82672b8755 | 1250 | return com_rslt; |
gume | 0:1f82672b8755 | 1251 | } |
gume | 0:1f82672b8755 | 1252 | /*! |
gume | 0:1f82672b8755 | 1253 | * @brief This API reads gyro data z values |
gume | 0:1f82672b8755 | 1254 | * from register 0x18 and 0x19 it is a two byte data |
gume | 0:1f82672b8755 | 1255 | * |
gume | 0:1f82672b8755 | 1256 | * @param gyro_z_s16 : The z raw data |
gume | 0:1f82672b8755 | 1257 | * |
gume | 0:1f82672b8755 | 1258 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 1259 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 1260 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 1261 | * |
gume | 0:1f82672b8755 | 1262 | * |
gume | 0:1f82672b8755 | 1263 | */ |
gume | 0:1f82672b8755 | 1264 | BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_z(s16 *gyro_z_s16) |
gume | 0:1f82672b8755 | 1265 | { |
gume | 0:1f82672b8755 | 1266 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 1267 | communication routine*/ |
gume | 0:1f82672b8755 | 1268 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 1269 | u8 data_u8[BNO055_GYRO_DATA_SIZE] = { |
gume | 0:1f82672b8755 | 1270 | BNO055_INIT_VALUE, BNO055_INIT_VALUE}; |
gume | 0:1f82672b8755 | 1271 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 1272 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 1273 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 1274 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 1275 | } else { |
gume | 0:1f82672b8755 | 1276 | /*condition check for page, chip id is |
gume | 0:1f82672b8755 | 1277 | available in the page zero*/ |
gume | 0:1f82672b8755 | 1278 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 1279 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 1280 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 1281 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 1282 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 1283 | /* Read the gyro z 16 bit value*/ |
gume | 0:1f82672b8755 | 1284 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 1285 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 1286 | BNO055_GYRO_DATA_Z_LSB_VALUEZ_REG, |
gume | 0:1f82672b8755 | 1287 | data_u8, BNO055_LSB_MSB_READ_LENGTH); |
gume | 0:1f82672b8755 | 1288 | data_u8[BNO055_SENSOR_DATA_LSB] = |
gume | 0:1f82672b8755 | 1289 | BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB], |
gume | 0:1f82672b8755 | 1290 | BNO055_GYRO_DATA_Z_LSB_VALUEZ); |
gume | 0:1f82672b8755 | 1291 | data_u8[BNO055_SENSOR_DATA_MSB] = |
gume | 0:1f82672b8755 | 1292 | BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB], |
gume | 0:1f82672b8755 | 1293 | BNO055_GYRO_DATA_Z_MSB_VALUEZ); |
gume | 0:1f82672b8755 | 1294 | *gyro_z_s16 = (s16)((((s32) |
gume | 0:1f82672b8755 | 1295 | ((s8)data_u8[BNO055_SENSOR_DATA_MSB])) << |
gume | 0:1f82672b8755 | 1296 | BNO055_SHIFT_EIGHT_BITS) |
gume | 0:1f82672b8755 | 1297 | | (data_u8[BNO055_SENSOR_DATA_LSB])); |
gume | 0:1f82672b8755 | 1298 | } else { |
gume | 0:1f82672b8755 | 1299 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 1300 | } |
gume | 0:1f82672b8755 | 1301 | } |
gume | 0:1f82672b8755 | 1302 | return com_rslt; |
gume | 0:1f82672b8755 | 1303 | } |
gume | 0:1f82672b8755 | 1304 | /*! |
gume | 0:1f82672b8755 | 1305 | * @brief This API reads gyro data xyz values |
gume | 0:1f82672b8755 | 1306 | * from register 0x14 to 0x19 it is a six byte data |
gume | 0:1f82672b8755 | 1307 | * |
gume | 0:1f82672b8755 | 1308 | * |
gume | 0:1f82672b8755 | 1309 | * @param gyro : The value of gyro xyz data's |
gume | 0:1f82672b8755 | 1310 | * |
gume | 0:1f82672b8755 | 1311 | * Parameter | result |
gume | 0:1f82672b8755 | 1312 | * --------- | ----------------- |
gume | 0:1f82672b8755 | 1313 | * x | The gyro x data |
gume | 0:1f82672b8755 | 1314 | * y | The gyro y data |
gume | 0:1f82672b8755 | 1315 | * z | The gyro z data |
gume | 0:1f82672b8755 | 1316 | * |
gume | 0:1f82672b8755 | 1317 | * |
gume | 0:1f82672b8755 | 1318 | * |
gume | 0:1f82672b8755 | 1319 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 1320 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 1321 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 1322 | * |
gume | 0:1f82672b8755 | 1323 | */ |
gume | 0:1f82672b8755 | 1324 | BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_xyz(struct bno055_gyro_t *gyro) |
gume | 0:1f82672b8755 | 1325 | { |
gume | 0:1f82672b8755 | 1326 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 1327 | communication routine*/ |
gume | 0:1f82672b8755 | 1328 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 1329 | /* Array holding the gyro xyz value |
gume | 0:1f82672b8755 | 1330 | data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB] - x->LSB |
gume | 0:1f82672b8755 | 1331 | data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB] - x->MSB |
gume | 0:1f82672b8755 | 1332 | data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB] - y->MSB |
gume | 0:1f82672b8755 | 1333 | data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB] - y->MSB |
gume | 0:1f82672b8755 | 1334 | data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB] - z->MSB |
gume | 0:1f82672b8755 | 1335 | data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB] - z->MSB |
gume | 0:1f82672b8755 | 1336 | */ |
gume | 0:1f82672b8755 | 1337 | u8 data_u8[BNO055_GYRO_XYZ_DATA_SIZE] = { |
gume | 0:1f82672b8755 | 1338 | BNO055_INIT_VALUE, BNO055_INIT_VALUE, |
gume | 0:1f82672b8755 | 1339 | BNO055_INIT_VALUE, BNO055_INIT_VALUE, |
gume | 0:1f82672b8755 | 1340 | BNO055_INIT_VALUE, BNO055_INIT_VALUE}; |
gume | 0:1f82672b8755 | 1341 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 1342 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 1343 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 1344 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 1345 | } else { |
gume | 0:1f82672b8755 | 1346 | /*condition check for page, chip id is |
gume | 0:1f82672b8755 | 1347 | available in the page zero*/ |
gume | 0:1f82672b8755 | 1348 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 1349 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 1350 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 1351 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 1352 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 1353 | /* Read the six bytes data of gyro xyz*/ |
gume | 0:1f82672b8755 | 1354 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 1355 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 1356 | BNO055_GYRO_DATA_X_LSB_VALUEX_REG, |
gume | 0:1f82672b8755 | 1357 | data_u8, BNO055_GYRO_XYZ_DATA_SIZE); |
gume | 0:1f82672b8755 | 1358 | /* Data x*/ |
gume | 0:1f82672b8755 | 1359 | data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB] = |
gume | 0:1f82672b8755 | 1360 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 1361 | data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB], |
gume | 0:1f82672b8755 | 1362 | BNO055_GYRO_DATA_X_LSB_VALUEX); |
gume | 0:1f82672b8755 | 1363 | data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB] = |
gume | 0:1f82672b8755 | 1364 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 1365 | data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB], |
gume | 0:1f82672b8755 | 1366 | BNO055_GYRO_DATA_X_MSB_VALUEX); |
gume | 0:1f82672b8755 | 1367 | gyro->x = (s16)((((s32) |
gume | 0:1f82672b8755 | 1368 | ((s8)data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB])) << |
gume | 0:1f82672b8755 | 1369 | BNO055_SHIFT_EIGHT_BITS) | |
gume | 0:1f82672b8755 | 1370 | (data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB])); |
gume | 0:1f82672b8755 | 1371 | /* Data y*/ |
gume | 0:1f82672b8755 | 1372 | data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB] = |
gume | 0:1f82672b8755 | 1373 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 1374 | data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB], |
gume | 0:1f82672b8755 | 1375 | BNO055_GYRO_DATA_Y_LSB_VALUEY); |
gume | 0:1f82672b8755 | 1376 | data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB] = |
gume | 0:1f82672b8755 | 1377 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 1378 | data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB], |
gume | 0:1f82672b8755 | 1379 | BNO055_GYRO_DATA_Y_MSB_VALUEY); |
gume | 0:1f82672b8755 | 1380 | gyro->y = (s16)((((s32) |
gume | 0:1f82672b8755 | 1381 | ((s8)data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB])) << |
gume | 0:1f82672b8755 | 1382 | BNO055_SHIFT_EIGHT_BITS) |
gume | 0:1f82672b8755 | 1383 | | (data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB])); |
gume | 0:1f82672b8755 | 1384 | /* Data z*/ |
gume | 0:1f82672b8755 | 1385 | data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB] = |
gume | 0:1f82672b8755 | 1386 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 1387 | data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB], |
gume | 0:1f82672b8755 | 1388 | BNO055_GYRO_DATA_Z_LSB_VALUEZ); |
gume | 0:1f82672b8755 | 1389 | data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB] = |
gume | 0:1f82672b8755 | 1390 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 1391 | data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB], |
gume | 0:1f82672b8755 | 1392 | BNO055_GYRO_DATA_Z_MSB_VALUEZ); |
gume | 0:1f82672b8755 | 1393 | gyro->z = (s16)((((s32) |
gume | 0:1f82672b8755 | 1394 | ((s8)data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB])) << |
gume | 0:1f82672b8755 | 1395 | BNO055_SHIFT_EIGHT_BITS) |
gume | 0:1f82672b8755 | 1396 | | (data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB])); |
gume | 0:1f82672b8755 | 1397 | } else { |
gume | 0:1f82672b8755 | 1398 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 1399 | } |
gume | 0:1f82672b8755 | 1400 | } |
gume | 0:1f82672b8755 | 1401 | return com_rslt; |
gume | 0:1f82672b8755 | 1402 | } |
gume | 0:1f82672b8755 | 1403 | /*! |
gume | 0:1f82672b8755 | 1404 | * @brief This API reads gyro data z values |
gume | 0:1f82672b8755 | 1405 | * from register 0x1A and 0x1B it is a two byte data |
gume | 0:1f82672b8755 | 1406 | * |
gume | 0:1f82672b8755 | 1407 | * @param euler_h_s16 : The raw h data |
gume | 0:1f82672b8755 | 1408 | * |
gume | 0:1f82672b8755 | 1409 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 1410 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 1411 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 1412 | * |
gume | 0:1f82672b8755 | 1413 | */ |
gume | 0:1f82672b8755 | 1414 | BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_h(s16 *euler_h_s16) |
gume | 0:1f82672b8755 | 1415 | { |
gume | 0:1f82672b8755 | 1416 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 1417 | communication routine*/ |
gume | 0:1f82672b8755 | 1418 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 1419 | /* Array holding the Euler h value |
gume | 0:1f82672b8755 | 1420 | data_u8[BNO055_SENSOR_DATA_EULER_LSB] - h->LSB |
gume | 0:1f82672b8755 | 1421 | data_u8[BNO055_SENSOR_DATA_EULER_MSB] - h->MSB |
gume | 0:1f82672b8755 | 1422 | */ |
gume | 0:1f82672b8755 | 1423 | u8 data_u8[BNO055_EULER_DATA_SIZE] = { |
gume | 0:1f82672b8755 | 1424 | BNO055_INIT_VALUE, BNO055_INIT_VALUE}; |
gume | 0:1f82672b8755 | 1425 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 1426 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 1427 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 1428 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 1429 | } else { |
gume | 0:1f82672b8755 | 1430 | /*condition check for page, chip id is |
gume | 0:1f82672b8755 | 1431 | available in the page zero*/ |
gume | 0:1f82672b8755 | 1432 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 1433 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 1434 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 1435 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 1436 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 1437 | /* Read the eulre heading data*/ |
gume | 0:1f82672b8755 | 1438 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 1439 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 1440 | BNO055_EULER_H_LSB_VALUEH_REG, |
gume | 0:1f82672b8755 | 1441 | data_u8, BNO055_LSB_MSB_READ_LENGTH); |
gume | 0:1f82672b8755 | 1442 | data_u8[BNO055_SENSOR_DATA_EULER_LSB] = |
gume | 0:1f82672b8755 | 1443 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 1444 | data_u8[BNO055_SENSOR_DATA_EULER_LSB], |
gume | 0:1f82672b8755 | 1445 | BNO055_EULER_H_LSB_VALUEH); |
gume | 0:1f82672b8755 | 1446 | data_u8[BNO055_SENSOR_DATA_EULER_MSB] = |
gume | 0:1f82672b8755 | 1447 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 1448 | data_u8[BNO055_SENSOR_DATA_EULER_MSB], |
gume | 0:1f82672b8755 | 1449 | BNO055_EULER_H_MSB_VALUEH); |
gume | 0:1f82672b8755 | 1450 | *euler_h_s16 = (s16)((((s32) |
gume | 0:1f82672b8755 | 1451 | ((s8)data_u8[BNO055_SENSOR_DATA_EULER_MSB])) << |
gume | 0:1f82672b8755 | 1452 | BNO055_SHIFT_EIGHT_BITS) | |
gume | 0:1f82672b8755 | 1453 | (data_u8[BNO055_SENSOR_DATA_EULER_LSB])); |
gume | 0:1f82672b8755 | 1454 | } else { |
gume | 0:1f82672b8755 | 1455 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 1456 | } |
gume | 0:1f82672b8755 | 1457 | } |
gume | 0:1f82672b8755 | 1458 | return com_rslt; |
gume | 0:1f82672b8755 | 1459 | } |
gume | 0:1f82672b8755 | 1460 | /*! |
gume | 0:1f82672b8755 | 1461 | * @brief This API reads Euler data r values |
gume | 0:1f82672b8755 | 1462 | * from register 0x1C and 0x1D it is a two byte data |
gume | 0:1f82672b8755 | 1463 | * |
gume | 0:1f82672b8755 | 1464 | * @param euler_r_s16 : The raw r data |
gume | 0:1f82672b8755 | 1465 | * |
gume | 0:1f82672b8755 | 1466 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 1467 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 1468 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 1469 | * |
gume | 0:1f82672b8755 | 1470 | */ |
gume | 0:1f82672b8755 | 1471 | BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_r(s16 *euler_r_s16) |
gume | 0:1f82672b8755 | 1472 | { |
gume | 0:1f82672b8755 | 1473 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 1474 | communication routine*/ |
gume | 0:1f82672b8755 | 1475 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 1476 | /* Array holding the Euler r value |
gume | 0:1f82672b8755 | 1477 | data_u8[BNO055_SENSOR_DATA_EULER_LSB] - r->LSB |
gume | 0:1f82672b8755 | 1478 | data_u8[BNO055_SENSOR_DATA_EULER_MSB] - r->MSB |
gume | 0:1f82672b8755 | 1479 | */ |
gume | 0:1f82672b8755 | 1480 | u8 data_u8[BNO055_EULER_DATA_SIZE] = { |
gume | 0:1f82672b8755 | 1481 | BNO055_INIT_VALUE, BNO055_INIT_VALUE}; |
gume | 0:1f82672b8755 | 1482 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 1483 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 1484 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 1485 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 1486 | } else { |
gume | 0:1f82672b8755 | 1487 | /*condition check for page, chip id is |
gume | 0:1f82672b8755 | 1488 | available in the page zero*/ |
gume | 0:1f82672b8755 | 1489 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 1490 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 1491 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 1492 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 1493 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 1494 | /* Read the Euler roll data*/ |
gume | 0:1f82672b8755 | 1495 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 1496 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 1497 | BNO055_EULER_R_LSB_VALUER_REG, |
gume | 0:1f82672b8755 | 1498 | data_u8, BNO055_LSB_MSB_READ_LENGTH); |
gume | 0:1f82672b8755 | 1499 | data_u8[BNO055_SENSOR_DATA_EULER_LSB] = |
gume | 0:1f82672b8755 | 1500 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 1501 | data_u8[BNO055_SENSOR_DATA_EULER_LSB], |
gume | 0:1f82672b8755 | 1502 | BNO055_EULER_R_LSB_VALUER); |
gume | 0:1f82672b8755 | 1503 | data_u8[BNO055_SENSOR_DATA_EULER_MSB] = |
gume | 0:1f82672b8755 | 1504 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 1505 | data_u8[BNO055_SENSOR_DATA_EULER_MSB], |
gume | 0:1f82672b8755 | 1506 | BNO055_EULER_R_MSB_VALUER); |
gume | 0:1f82672b8755 | 1507 | *euler_r_s16 = (s16)((((s32) |
gume | 0:1f82672b8755 | 1508 | ((s8)data_u8[BNO055_SENSOR_DATA_EULER_MSB])) << |
gume | 0:1f82672b8755 | 1509 | BNO055_SHIFT_EIGHT_BITS) |
gume | 0:1f82672b8755 | 1510 | | (data_u8[BNO055_SENSOR_DATA_EULER_LSB])); |
gume | 0:1f82672b8755 | 1511 | } else { |
gume | 0:1f82672b8755 | 1512 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 1513 | } |
gume | 0:1f82672b8755 | 1514 | } |
gume | 0:1f82672b8755 | 1515 | return com_rslt; |
gume | 0:1f82672b8755 | 1516 | } |
gume | 0:1f82672b8755 | 1517 | /*! |
gume | 0:1f82672b8755 | 1518 | * @brief This API reads Euler data p values |
gume | 0:1f82672b8755 | 1519 | * from register 0x1E and 0x1F it is a two byte data |
gume | 0:1f82672b8755 | 1520 | * |
gume | 0:1f82672b8755 | 1521 | * @param euler_p_s16 : The raw p data |
gume | 0:1f82672b8755 | 1522 | * |
gume | 0:1f82672b8755 | 1523 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 1524 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 1525 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 1526 | * |
gume | 0:1f82672b8755 | 1527 | * |
gume | 0:1f82672b8755 | 1528 | */ |
gume | 0:1f82672b8755 | 1529 | BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_p(s16 *euler_p_s16) |
gume | 0:1f82672b8755 | 1530 | { |
gume | 0:1f82672b8755 | 1531 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 1532 | communication routine*/ |
gume | 0:1f82672b8755 | 1533 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 1534 | /* Array holding the Euler p value |
gume | 0:1f82672b8755 | 1535 | data_u8[BNO055_SENSOR_DATA_EULER_LSB] - p->LSB |
gume | 0:1f82672b8755 | 1536 | data_u8[BNO055_SENSOR_DATA_EULER_MSB] - p->MSB |
gume | 0:1f82672b8755 | 1537 | */ |
gume | 0:1f82672b8755 | 1538 | u8 data_u8[BNO055_EULER_DATA_SIZE] = { |
gume | 0:1f82672b8755 | 1539 | BNO055_INIT_VALUE, BNO055_INIT_VALUE}; |
gume | 0:1f82672b8755 | 1540 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 1541 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 1542 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 1543 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 1544 | } else { |
gume | 0:1f82672b8755 | 1545 | /*condition check for page, chip id is |
gume | 0:1f82672b8755 | 1546 | available in the page zero*/ |
gume | 0:1f82672b8755 | 1547 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 1548 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 1549 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 1550 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 1551 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 1552 | /* Read the Euler p data*/ |
gume | 0:1f82672b8755 | 1553 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 1554 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 1555 | BNO055_EULER_P_LSB_VALUEP_REG, |
gume | 0:1f82672b8755 | 1556 | data_u8, BNO055_LSB_MSB_READ_LENGTH); |
gume | 0:1f82672b8755 | 1557 | data_u8[BNO055_SENSOR_DATA_EULER_LSB] = |
gume | 0:1f82672b8755 | 1558 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 1559 | data_u8[BNO055_SENSOR_DATA_EULER_LSB], |
gume | 0:1f82672b8755 | 1560 | BNO055_EULER_P_LSB_VALUEP); |
gume | 0:1f82672b8755 | 1561 | data_u8[BNO055_SENSOR_DATA_EULER_MSB] = |
gume | 0:1f82672b8755 | 1562 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 1563 | data_u8[BNO055_SENSOR_DATA_EULER_MSB], |
gume | 0:1f82672b8755 | 1564 | BNO055_EULER_P_MSB_VALUEP); |
gume | 0:1f82672b8755 | 1565 | *euler_p_s16 = (s16)((((s32) |
gume | 0:1f82672b8755 | 1566 | ((s8)data_u8[BNO055_SENSOR_DATA_EULER_MSB])) << |
gume | 0:1f82672b8755 | 1567 | BNO055_SHIFT_EIGHT_BITS) |
gume | 0:1f82672b8755 | 1568 | | (data_u8[BNO055_SENSOR_DATA_EULER_LSB])); |
gume | 0:1f82672b8755 | 1569 | } else { |
gume | 0:1f82672b8755 | 1570 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 1571 | } |
gume | 0:1f82672b8755 | 1572 | } |
gume | 0:1f82672b8755 | 1573 | return com_rslt; |
gume | 0:1f82672b8755 | 1574 | } |
gume | 0:1f82672b8755 | 1575 | /*! |
gume | 0:1f82672b8755 | 1576 | * @brief This API reads Euler data hrp values |
gume | 0:1f82672b8755 | 1577 | * from register 0x1A to 0x1F it is a six byte data |
gume | 0:1f82672b8755 | 1578 | * |
gume | 0:1f82672b8755 | 1579 | * |
gume | 0:1f82672b8755 | 1580 | * @param euler : The Euler hrp data's |
gume | 0:1f82672b8755 | 1581 | * |
gume | 0:1f82672b8755 | 1582 | * Parameter | result |
gume | 0:1f82672b8755 | 1583 | * --------- | ----------------- |
gume | 0:1f82672b8755 | 1584 | * h | The Euler h data |
gume | 0:1f82672b8755 | 1585 | * r | The Euler r data |
gume | 0:1f82672b8755 | 1586 | * p | The Euler p data |
gume | 0:1f82672b8755 | 1587 | * |
gume | 0:1f82672b8755 | 1588 | * |
gume | 0:1f82672b8755 | 1589 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 1590 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 1591 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 1592 | * |
gume | 0:1f82672b8755 | 1593 | */ |
gume | 0:1f82672b8755 | 1594 | BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_hrp( |
gume | 0:1f82672b8755 | 1595 | struct bno055_euler_t *euler) |
gume | 0:1f82672b8755 | 1596 | { |
gume | 0:1f82672b8755 | 1597 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 1598 | communication routine*/ |
gume | 0:1f82672b8755 | 1599 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 1600 | /* Array holding the Euler hrp value |
gume | 0:1f82672b8755 | 1601 | data_u8[BNO055_SENSOR_DATA_EULER_HRP_H_LSB] - h->LSB |
gume | 0:1f82672b8755 | 1602 | data_u8[BNO055_SENSOR_DATA_EULER_HRP_H_MSB] - h->MSB |
gume | 0:1f82672b8755 | 1603 | data_u8[BNO055_SENSOR_DATA_EULER_HRP_R_LSB] - r->MSB |
gume | 0:1f82672b8755 | 1604 | data_u8[BNO055_SENSOR_DATA_EULER_HRP_R_MSB] - r->MSB |
gume | 0:1f82672b8755 | 1605 | data_u8[BNO055_SENSOR_DATA_EULER_HRP_P_LSB] - p->MSB |
gume | 0:1f82672b8755 | 1606 | data_u8[BNO055_SENSOR_DATA_EULER_HRP_P_MSB] - p->MSB |
gume | 0:1f82672b8755 | 1607 | */ |
gume | 0:1f82672b8755 | 1608 | u8 data_u8[BNO055_EULER_HRP_DATA_SIZE] = { |
gume | 0:1f82672b8755 | 1609 | BNO055_INIT_VALUE, BNO055_INIT_VALUE, |
gume | 0:1f82672b8755 | 1610 | BNO055_INIT_VALUE, BNO055_INIT_VALUE, |
gume | 0:1f82672b8755 | 1611 | BNO055_INIT_VALUE, BNO055_INIT_VALUE}; |
gume | 0:1f82672b8755 | 1612 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 1613 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 1614 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 1615 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 1616 | } else { |
gume | 0:1f82672b8755 | 1617 | /*condition check for page, chip id is |
gume | 0:1f82672b8755 | 1618 | available in the page zero*/ |
gume | 0:1f82672b8755 | 1619 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 1620 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 1621 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 1622 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 1623 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 1624 | /* Read the six byte of Euler hrp data*/ |
gume | 0:1f82672b8755 | 1625 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 1626 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 1627 | BNO055_EULER_H_LSB_VALUEH_REG, |
gume | 0:1f82672b8755 | 1628 | data_u8, BNO055_EULER_HRP_DATA_SIZE); |
gume | 0:1f82672b8755 | 1629 | /* Data h*/ |
gume | 0:1f82672b8755 | 1630 | data_u8[BNO055_SENSOR_DATA_EULER_HRP_H_LSB] = |
gume | 0:1f82672b8755 | 1631 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 1632 | data_u8[BNO055_SENSOR_DATA_EULER_HRP_H_LSB], |
gume | 0:1f82672b8755 | 1633 | BNO055_EULER_H_LSB_VALUEH); |
gume | 0:1f82672b8755 | 1634 | data_u8[BNO055_SENSOR_DATA_EULER_HRP_H_MSB] = |
gume | 0:1f82672b8755 | 1635 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 1636 | data_u8[BNO055_SENSOR_DATA_EULER_HRP_H_MSB], |
gume | 0:1f82672b8755 | 1637 | BNO055_EULER_H_MSB_VALUEH); |
gume | 0:1f82672b8755 | 1638 | euler->h = (s16)((((s32) |
gume | 0:1f82672b8755 | 1639 | ((s8)data_u8[BNO055_SENSOR_DATA_EULER_HRP_H_MSB])) << |
gume | 0:1f82672b8755 | 1640 | BNO055_SHIFT_EIGHT_BITS) | |
gume | 0:1f82672b8755 | 1641 | (data_u8[BNO055_SENSOR_DATA_EULER_HRP_H_LSB])); |
gume | 0:1f82672b8755 | 1642 | /* Data r*/ |
gume | 0:1f82672b8755 | 1643 | data_u8[BNO055_SENSOR_DATA_EULER_HRP_R_LSB] = |
gume | 0:1f82672b8755 | 1644 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 1645 | data_u8[BNO055_SENSOR_DATA_EULER_HRP_R_LSB], |
gume | 0:1f82672b8755 | 1646 | BNO055_EULER_R_LSB_VALUER); |
gume | 0:1f82672b8755 | 1647 | data_u8[BNO055_SENSOR_DATA_EULER_HRP_R_MSB] = |
gume | 0:1f82672b8755 | 1648 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 1649 | data_u8[BNO055_SENSOR_DATA_EULER_HRP_R_MSB], |
gume | 0:1f82672b8755 | 1650 | BNO055_EULER_R_MSB_VALUER); |
gume | 0:1f82672b8755 | 1651 | euler->r = (s16)((((s32) |
gume | 0:1f82672b8755 | 1652 | ((s8)data_u8[BNO055_SENSOR_DATA_EULER_HRP_R_MSB])) << |
gume | 0:1f82672b8755 | 1653 | BNO055_SHIFT_EIGHT_BITS) |
gume | 0:1f82672b8755 | 1654 | | (data_u8[BNO055_SENSOR_DATA_EULER_HRP_R_LSB])); |
gume | 0:1f82672b8755 | 1655 | /* Data p*/ |
gume | 0:1f82672b8755 | 1656 | data_u8[BNO055_SENSOR_DATA_EULER_HRP_P_LSB] = |
gume | 0:1f82672b8755 | 1657 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 1658 | data_u8[BNO055_SENSOR_DATA_EULER_HRP_P_LSB], |
gume | 0:1f82672b8755 | 1659 | BNO055_EULER_P_LSB_VALUEP); |
gume | 0:1f82672b8755 | 1660 | data_u8[BNO055_SENSOR_DATA_EULER_HRP_P_MSB] = |
gume | 0:1f82672b8755 | 1661 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 1662 | data_u8[BNO055_SENSOR_DATA_EULER_HRP_P_MSB], |
gume | 0:1f82672b8755 | 1663 | BNO055_EULER_P_MSB_VALUEP); |
gume | 0:1f82672b8755 | 1664 | euler->p = (s16)((((s32) |
gume | 0:1f82672b8755 | 1665 | ((s8)data_u8[BNO055_SENSOR_DATA_EULER_HRP_P_MSB])) << |
gume | 0:1f82672b8755 | 1666 | BNO055_SHIFT_EIGHT_BITS) |
gume | 0:1f82672b8755 | 1667 | | (data_u8[BNO055_SENSOR_DATA_EULER_HRP_P_LSB])); |
gume | 0:1f82672b8755 | 1668 | } else { |
gume | 0:1f82672b8755 | 1669 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 1670 | } |
gume | 0:1f82672b8755 | 1671 | } |
gume | 0:1f82672b8755 | 1672 | return com_rslt; |
gume | 0:1f82672b8755 | 1673 | } |
gume | 0:1f82672b8755 | 1674 | /*! |
gume | 0:1f82672b8755 | 1675 | * @brief This API reads quaternion data w values |
gume | 0:1f82672b8755 | 1676 | * from register 0x20 and 0x21 it is a two byte data |
gume | 0:1f82672b8755 | 1677 | * |
gume | 0:1f82672b8755 | 1678 | * @param quaternion_w_s16 : The raw w data |
gume | 0:1f82672b8755 | 1679 | * |
gume | 0:1f82672b8755 | 1680 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 1681 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 1682 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 1683 | * |
gume | 0:1f82672b8755 | 1684 | * |
gume | 0:1f82672b8755 | 1685 | */ |
gume | 0:1f82672b8755 | 1686 | BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_w( |
gume | 0:1f82672b8755 | 1687 | s16 *quaternion_w_s16) |
gume | 0:1f82672b8755 | 1688 | { |
gume | 0:1f82672b8755 | 1689 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 1690 | communication routine*/ |
gume | 0:1f82672b8755 | 1691 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 1692 | /* Array holding the Quaternion w value |
gume | 0:1f82672b8755 | 1693 | data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB] - w->LSB |
gume | 0:1f82672b8755 | 1694 | data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB] - w->MSB |
gume | 0:1f82672b8755 | 1695 | */ |
gume | 0:1f82672b8755 | 1696 | u8 data_u8[BNO055_QUATERNION_DATA_SIZE] = { |
gume | 0:1f82672b8755 | 1697 | BNO055_INIT_VALUE, BNO055_INIT_VALUE}; |
gume | 0:1f82672b8755 | 1698 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 1699 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 1700 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 1701 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 1702 | } else { |
gume | 0:1f82672b8755 | 1703 | /*condition check for page, chip id is |
gume | 0:1f82672b8755 | 1704 | available in the page zero*/ |
gume | 0:1f82672b8755 | 1705 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 1706 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 1707 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 1708 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 1709 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 1710 | /* Read the two byte value |
gume | 0:1f82672b8755 | 1711 | of quaternion w data*/ |
gume | 0:1f82672b8755 | 1712 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 1713 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 1714 | BNO055_QUATERNION_DATA_W_LSB_VALUEW_REG, |
gume | 0:1f82672b8755 | 1715 | data_u8, BNO055_LSB_MSB_READ_LENGTH); |
gume | 0:1f82672b8755 | 1716 | data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB] = |
gume | 0:1f82672b8755 | 1717 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 1718 | data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB], |
gume | 0:1f82672b8755 | 1719 | BNO055_QUATERNION_DATA_W_LSB_VALUEW); |
gume | 0:1f82672b8755 | 1720 | data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB] = |
gume | 0:1f82672b8755 | 1721 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 1722 | data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB], |
gume | 0:1f82672b8755 | 1723 | BNO055_QUATERNION_DATA_W_MSB_VALUEW); |
gume | 0:1f82672b8755 | 1724 | *quaternion_w_s16 = (s16)((((s32) |
gume | 0:1f82672b8755 | 1725 | ((s8)data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB])) << |
gume | 0:1f82672b8755 | 1726 | BNO055_SHIFT_EIGHT_BITS) |
gume | 0:1f82672b8755 | 1727 | | (data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB])); |
gume | 0:1f82672b8755 | 1728 | } else { |
gume | 0:1f82672b8755 | 1729 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 1730 | } |
gume | 0:1f82672b8755 | 1731 | } |
gume | 0:1f82672b8755 | 1732 | return com_rslt; |
gume | 0:1f82672b8755 | 1733 | } |
gume | 0:1f82672b8755 | 1734 | /*! |
gume | 0:1f82672b8755 | 1735 | * @brief This API reads quaternion data x values |
gume | 0:1f82672b8755 | 1736 | * from register 0x22 and 0x23 it is a two byte data |
gume | 0:1f82672b8755 | 1737 | * |
gume | 0:1f82672b8755 | 1738 | * @param quaternion_x_s16 : The raw x data |
gume | 0:1f82672b8755 | 1739 | * |
gume | 0:1f82672b8755 | 1740 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 1741 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 1742 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 1743 | * |
gume | 0:1f82672b8755 | 1744 | * |
gume | 0:1f82672b8755 | 1745 | */ |
gume | 0:1f82672b8755 | 1746 | BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_x( |
gume | 0:1f82672b8755 | 1747 | s16 *quaternion_x_s16) |
gume | 0:1f82672b8755 | 1748 | { |
gume | 0:1f82672b8755 | 1749 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 1750 | communication routine*/ |
gume | 0:1f82672b8755 | 1751 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 1752 | /* Array holding the quaternion x value |
gume | 0:1f82672b8755 | 1753 | data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB] - x->LSB |
gume | 0:1f82672b8755 | 1754 | data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB] - x->MSB |
gume | 0:1f82672b8755 | 1755 | */ |
gume | 0:1f82672b8755 | 1756 | u8 data_u8[BNO055_QUATERNION_DATA_SIZE] = {BNO055_INIT_VALUE, |
gume | 0:1f82672b8755 | 1757 | BNO055_INIT_VALUE}; |
gume | 0:1f82672b8755 | 1758 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 1759 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 1760 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 1761 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 1762 | } else { |
gume | 0:1f82672b8755 | 1763 | /*condition check for page, chip id is |
gume | 0:1f82672b8755 | 1764 | available in the page zero*/ |
gume | 0:1f82672b8755 | 1765 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 1766 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 1767 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 1768 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 1769 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 1770 | /* Read the two byte value |
gume | 0:1f82672b8755 | 1771 | of quaternion x data*/ |
gume | 0:1f82672b8755 | 1772 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 1773 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 1774 | BNO055_QUATERNION_DATA_X_LSB_VALUEX_REG, |
gume | 0:1f82672b8755 | 1775 | data_u8, BNO055_LSB_MSB_READ_LENGTH); |
gume | 0:1f82672b8755 | 1776 | data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB] = |
gume | 0:1f82672b8755 | 1777 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 1778 | data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB], |
gume | 0:1f82672b8755 | 1779 | BNO055_QUATERNION_DATA_X_LSB_VALUEX); |
gume | 0:1f82672b8755 | 1780 | data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB] = |
gume | 0:1f82672b8755 | 1781 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 1782 | data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB], |
gume | 0:1f82672b8755 | 1783 | BNO055_QUATERNION_DATA_X_MSB_VALUEX); |
gume | 0:1f82672b8755 | 1784 | *quaternion_x_s16 = (s16)((((s32) |
gume | 0:1f82672b8755 | 1785 | ((s8)data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB])) << |
gume | 0:1f82672b8755 | 1786 | BNO055_SHIFT_EIGHT_BITS) | |
gume | 0:1f82672b8755 | 1787 | (data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB])); |
gume | 0:1f82672b8755 | 1788 | } else { |
gume | 0:1f82672b8755 | 1789 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 1790 | } |
gume | 0:1f82672b8755 | 1791 | } |
gume | 0:1f82672b8755 | 1792 | return com_rslt; |
gume | 0:1f82672b8755 | 1793 | } |
gume | 0:1f82672b8755 | 1794 | /*! |
gume | 0:1f82672b8755 | 1795 | * @brief This API reads quaternion data y values |
gume | 0:1f82672b8755 | 1796 | * from register 0x24 and 0x25 it is a two byte data |
gume | 0:1f82672b8755 | 1797 | * |
gume | 0:1f82672b8755 | 1798 | * @param quaternion_y_s16 : The raw y data |
gume | 0:1f82672b8755 | 1799 | * |
gume | 0:1f82672b8755 | 1800 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 1801 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 1802 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 1803 | * |
gume | 0:1f82672b8755 | 1804 | * |
gume | 0:1f82672b8755 | 1805 | */ |
gume | 0:1f82672b8755 | 1806 | BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_y( |
gume | 0:1f82672b8755 | 1807 | s16 *quaternion_y_s16) |
gume | 0:1f82672b8755 | 1808 | { |
gume | 0:1f82672b8755 | 1809 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 1810 | communication routine*/ |
gume | 0:1f82672b8755 | 1811 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 1812 | /* Array holding the quaternion y value |
gume | 0:1f82672b8755 | 1813 | data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB] - y->LSB |
gume | 0:1f82672b8755 | 1814 | data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB] - y->MSB |
gume | 0:1f82672b8755 | 1815 | */ |
gume | 0:1f82672b8755 | 1816 | u8 data_u8[BNO055_QUATERNION_DATA_SIZE] = {BNO055_INIT_VALUE, |
gume | 0:1f82672b8755 | 1817 | BNO055_INIT_VALUE}; |
gume | 0:1f82672b8755 | 1818 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 1819 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 1820 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 1821 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 1822 | } else { |
gume | 0:1f82672b8755 | 1823 | /*condition check for page, chip id is |
gume | 0:1f82672b8755 | 1824 | available in the page zero*/ |
gume | 0:1f82672b8755 | 1825 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 1826 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 1827 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 1828 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 1829 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 1830 | /* Read the two byte value |
gume | 0:1f82672b8755 | 1831 | of quaternion y data*/ |
gume | 0:1f82672b8755 | 1832 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 1833 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 1834 | BNO055_QUATERNION_DATA_Y_LSB_VALUEY_REG, |
gume | 0:1f82672b8755 | 1835 | data_u8, BNO055_LSB_MSB_READ_LENGTH); |
gume | 0:1f82672b8755 | 1836 | data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB] = |
gume | 0:1f82672b8755 | 1837 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 1838 | data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB], |
gume | 0:1f82672b8755 | 1839 | BNO055_QUATERNION_DATA_Y_LSB_VALUEY); |
gume | 0:1f82672b8755 | 1840 | data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB] = |
gume | 0:1f82672b8755 | 1841 | BNO055_GET_BITSLICE |
gume | 0:1f82672b8755 | 1842 | (data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB], |
gume | 0:1f82672b8755 | 1843 | BNO055_QUATERNION_DATA_Y_MSB_VALUEY); |
gume | 0:1f82672b8755 | 1844 | *quaternion_y_s16 = (s16)((((s32) |
gume | 0:1f82672b8755 | 1845 | ((s8)data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB])) << |
gume | 0:1f82672b8755 | 1846 | BNO055_SHIFT_EIGHT_BITS) |
gume | 0:1f82672b8755 | 1847 | | (data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB])); |
gume | 0:1f82672b8755 | 1848 | } else { |
gume | 0:1f82672b8755 | 1849 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 1850 | } |
gume | 0:1f82672b8755 | 1851 | } |
gume | 0:1f82672b8755 | 1852 | return com_rslt; |
gume | 0:1f82672b8755 | 1853 | } |
gume | 0:1f82672b8755 | 1854 | /*! |
gume | 0:1f82672b8755 | 1855 | * @brief This API reads quaternion data z values |
gume | 0:1f82672b8755 | 1856 | * from register 0x26 and 0x27 it is a two byte data |
gume | 0:1f82672b8755 | 1857 | * |
gume | 0:1f82672b8755 | 1858 | * @param quaternion_z_s16 : The raw z data |
gume | 0:1f82672b8755 | 1859 | * |
gume | 0:1f82672b8755 | 1860 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 1861 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 1862 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 1863 | * |
gume | 0:1f82672b8755 | 1864 | * |
gume | 0:1f82672b8755 | 1865 | */ |
gume | 0:1f82672b8755 | 1866 | BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_z( |
gume | 0:1f82672b8755 | 1867 | s16 *quaternion_z_s16) |
gume | 0:1f82672b8755 | 1868 | { |
gume | 0:1f82672b8755 | 1869 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 1870 | communication routine*/ |
gume | 0:1f82672b8755 | 1871 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 1872 | /* Array holding the quaternion z value |
gume | 0:1f82672b8755 | 1873 | data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB] - z->LSB |
gume | 0:1f82672b8755 | 1874 | data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB] - z->MSB |
gume | 0:1f82672b8755 | 1875 | */ |
gume | 0:1f82672b8755 | 1876 | u8 data_u8[BNO055_QUATERNION_DATA_SIZE] = { |
gume | 0:1f82672b8755 | 1877 | BNO055_INIT_VALUE, BNO055_INIT_VALUE}; |
gume | 0:1f82672b8755 | 1878 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 1879 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 1880 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 1881 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 1882 | } else { |
gume | 0:1f82672b8755 | 1883 | /*condition check for page, chip id is |
gume | 0:1f82672b8755 | 1884 | available in the page zero*/ |
gume | 0:1f82672b8755 | 1885 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 1886 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 1887 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 1888 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 1889 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 1890 | /* Read the two byte value |
gume | 0:1f82672b8755 | 1891 | of quaternion z data*/ |
gume | 0:1f82672b8755 | 1892 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 1893 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 1894 | BNO055_QUATERNION_DATA_Z_LSB_VALUEZ_REG, |
gume | 0:1f82672b8755 | 1895 | data_u8, BNO055_LSB_MSB_READ_LENGTH); |
gume | 0:1f82672b8755 | 1896 | data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB] = |
gume | 0:1f82672b8755 | 1897 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 1898 | data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB], |
gume | 0:1f82672b8755 | 1899 | BNO055_QUATERNION_DATA_Z_LSB_VALUEZ); |
gume | 0:1f82672b8755 | 1900 | data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB] = |
gume | 0:1f82672b8755 | 1901 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 1902 | data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB], |
gume | 0:1f82672b8755 | 1903 | BNO055_QUATERNION_DATA_Z_MSB_VALUEZ); |
gume | 0:1f82672b8755 | 1904 | *quaternion_z_s16 = (s16)((((s32) |
gume | 0:1f82672b8755 | 1905 | ((s8)data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB])) << |
gume | 0:1f82672b8755 | 1906 | BNO055_SHIFT_EIGHT_BITS) |
gume | 0:1f82672b8755 | 1907 | | (data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB])); |
gume | 0:1f82672b8755 | 1908 | } else { |
gume | 0:1f82672b8755 | 1909 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 1910 | } |
gume | 0:1f82672b8755 | 1911 | } |
gume | 0:1f82672b8755 | 1912 | return com_rslt; |
gume | 0:1f82672b8755 | 1913 | } |
gume | 0:1f82672b8755 | 1914 | /*! |
gume | 0:1f82672b8755 | 1915 | * @brief This API reads Quaternion data wxyz values |
gume | 0:1f82672b8755 | 1916 | * from register 0x20 to 0x27 it is a six byte data |
gume | 0:1f82672b8755 | 1917 | * |
gume | 0:1f82672b8755 | 1918 | * |
gume | 0:1f82672b8755 | 1919 | * @param quaternion : The value of quaternion wxyz data's |
gume | 0:1f82672b8755 | 1920 | * |
gume | 0:1f82672b8755 | 1921 | * Parameter | result |
gume | 0:1f82672b8755 | 1922 | * --------- | ----------------- |
gume | 0:1f82672b8755 | 1923 | * w | The quaternion w data |
gume | 0:1f82672b8755 | 1924 | * x | The quaternion x data |
gume | 0:1f82672b8755 | 1925 | * y | The quaternion y data |
gume | 0:1f82672b8755 | 1926 | * z | The quaternion z data |
gume | 0:1f82672b8755 | 1927 | * |
gume | 0:1f82672b8755 | 1928 | * |
gume | 0:1f82672b8755 | 1929 | * |
gume | 0:1f82672b8755 | 1930 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 1931 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 1932 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 1933 | * |
gume | 0:1f82672b8755 | 1934 | */ |
gume | 0:1f82672b8755 | 1935 | BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_wxyz( |
gume | 0:1f82672b8755 | 1936 | struct bno055_quaternion_t *quaternion) |
gume | 0:1f82672b8755 | 1937 | { |
gume | 0:1f82672b8755 | 1938 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 1939 | communication routine*/ |
gume | 0:1f82672b8755 | 1940 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 1941 | /* Array holding the quaternion wxyz value |
gume | 0:1f82672b8755 | 1942 | data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_LSB] - w->LSB |
gume | 0:1f82672b8755 | 1943 | data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_MSB] - w->MSB |
gume | 0:1f82672b8755 | 1944 | data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_LSB] - x->LSB |
gume | 0:1f82672b8755 | 1945 | data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_MSB] - x->MSB |
gume | 0:1f82672b8755 | 1946 | data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_LSB] - y->MSB |
gume | 0:1f82672b8755 | 1947 | data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_MSB] - y->MSB |
gume | 0:1f82672b8755 | 1948 | data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_LSB] - z->MSB |
gume | 0:1f82672b8755 | 1949 | data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_MSB] - z->MSB |
gume | 0:1f82672b8755 | 1950 | */ |
gume | 0:1f82672b8755 | 1951 | u8 data_u8[BNO055_QUATERNION_WXYZ_DATA_SIZE] = { |
gume | 0:1f82672b8755 | 1952 | BNO055_INIT_VALUE, BNO055_INIT_VALUE, |
gume | 0:1f82672b8755 | 1953 | BNO055_INIT_VALUE, BNO055_INIT_VALUE, |
gume | 0:1f82672b8755 | 1954 | BNO055_INIT_VALUE, BNO055_INIT_VALUE, |
gume | 0:1f82672b8755 | 1955 | BNO055_INIT_VALUE, BNO055_INIT_VALUE}; |
gume | 0:1f82672b8755 | 1956 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 1957 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 1958 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 1959 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 1960 | } else { |
gume | 0:1f82672b8755 | 1961 | /*condition check for page, chip id is |
gume | 0:1f82672b8755 | 1962 | available in the page zero*/ |
gume | 0:1f82672b8755 | 1963 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 1964 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 1965 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 1966 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 1967 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 1968 | /* Read the eight byte value |
gume | 0:1f82672b8755 | 1969 | of quaternion wxyz data*/ |
gume | 0:1f82672b8755 | 1970 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 1971 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 1972 | BNO055_QUATERNION_DATA_W_LSB_VALUEW_REG, |
gume | 0:1f82672b8755 | 1973 | data_u8, BNO055_QUATERNION_WXYZ_DATA_SIZE); |
gume | 0:1f82672b8755 | 1974 | /* Data W*/ |
gume | 0:1f82672b8755 | 1975 | data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_LSB] = |
gume | 0:1f82672b8755 | 1976 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 1977 | data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_LSB], |
gume | 0:1f82672b8755 | 1978 | BNO055_QUATERNION_DATA_W_LSB_VALUEW); |
gume | 0:1f82672b8755 | 1979 | data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_MSB] = |
gume | 0:1f82672b8755 | 1980 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 1981 | data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_MSB], |
gume | 0:1f82672b8755 | 1982 | BNO055_QUATERNION_DATA_W_MSB_VALUEW); |
gume | 0:1f82672b8755 | 1983 | quaternion->w = (s16)((((s32)((s8) |
gume | 0:1f82672b8755 | 1984 | data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_MSB])) << |
gume | 0:1f82672b8755 | 1985 | BNO055_SHIFT_EIGHT_BITS) | |
gume | 0:1f82672b8755 | 1986 | (data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_LSB])); |
gume | 0:1f82672b8755 | 1987 | /* Data X*/ |
gume | 0:1f82672b8755 | 1988 | data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_LSB] = |
gume | 0:1f82672b8755 | 1989 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 1990 | data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_LSB], |
gume | 0:1f82672b8755 | 1991 | BNO055_QUATERNION_DATA_X_LSB_VALUEX); |
gume | 0:1f82672b8755 | 1992 | data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_MSB] = |
gume | 0:1f82672b8755 | 1993 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 1994 | data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_MSB], |
gume | 0:1f82672b8755 | 1995 | BNO055_QUATERNION_DATA_X_MSB_VALUEX); |
gume | 0:1f82672b8755 | 1996 | quaternion->x = (s16)((((s32)((s8) |
gume | 0:1f82672b8755 | 1997 | data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_MSB])) << |
gume | 0:1f82672b8755 | 1998 | BNO055_SHIFT_EIGHT_BITS) | |
gume | 0:1f82672b8755 | 1999 | (data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_LSB])); |
gume | 0:1f82672b8755 | 2000 | /* Data Y*/ |
gume | 0:1f82672b8755 | 2001 | data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_LSB] = |
gume | 0:1f82672b8755 | 2002 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 2003 | data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_LSB], |
gume | 0:1f82672b8755 | 2004 | BNO055_QUATERNION_DATA_Y_LSB_VALUEY); |
gume | 0:1f82672b8755 | 2005 | data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_MSB] = |
gume | 0:1f82672b8755 | 2006 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 2007 | data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_MSB], |
gume | 0:1f82672b8755 | 2008 | BNO055_QUATERNION_DATA_Y_MSB_VALUEY); |
gume | 0:1f82672b8755 | 2009 | quaternion->y = (s16)((((s32)((s8) |
gume | 0:1f82672b8755 | 2010 | data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_MSB])) << |
gume | 0:1f82672b8755 | 2011 | BNO055_SHIFT_EIGHT_BITS) | |
gume | 0:1f82672b8755 | 2012 | (data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_LSB])); |
gume | 0:1f82672b8755 | 2013 | /* Data Z*/ |
gume | 0:1f82672b8755 | 2014 | data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_LSB] = |
gume | 0:1f82672b8755 | 2015 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 2016 | data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_LSB], |
gume | 0:1f82672b8755 | 2017 | BNO055_QUATERNION_DATA_Z_LSB_VALUEZ); |
gume | 0:1f82672b8755 | 2018 | data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_MSB] = |
gume | 0:1f82672b8755 | 2019 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 2020 | data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_MSB], |
gume | 0:1f82672b8755 | 2021 | BNO055_QUATERNION_DATA_Z_MSB_VALUEZ); |
gume | 0:1f82672b8755 | 2022 | quaternion->z = (s16)((((s32)((s8) |
gume | 0:1f82672b8755 | 2023 | data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_MSB])) << |
gume | 0:1f82672b8755 | 2024 | BNO055_SHIFT_EIGHT_BITS) | |
gume | 0:1f82672b8755 | 2025 | (data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_LSB])); |
gume | 0:1f82672b8755 | 2026 | } else { |
gume | 0:1f82672b8755 | 2027 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 2028 | } |
gume | 0:1f82672b8755 | 2029 | } |
gume | 0:1f82672b8755 | 2030 | return com_rslt; |
gume | 0:1f82672b8755 | 2031 | } |
gume | 0:1f82672b8755 | 2032 | /*! |
gume | 0:1f82672b8755 | 2033 | * @brief This API reads Linear accel data x values |
gume | 0:1f82672b8755 | 2034 | * from register 0x29 and 0x2A it is a two byte data |
gume | 0:1f82672b8755 | 2035 | * |
gume | 0:1f82672b8755 | 2036 | * @param linear_accel_x_s16 : The raw x data |
gume | 0:1f82672b8755 | 2037 | * |
gume | 0:1f82672b8755 | 2038 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 2039 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 2040 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 2041 | * |
gume | 0:1f82672b8755 | 2042 | * |
gume | 0:1f82672b8755 | 2043 | */ |
gume | 0:1f82672b8755 | 2044 | BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_x( |
gume | 0:1f82672b8755 | 2045 | s16 *linear_accel_x_s16) |
gume | 0:1f82672b8755 | 2046 | { |
gume | 0:1f82672b8755 | 2047 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 2048 | communication routine*/ |
gume | 0:1f82672b8755 | 2049 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 2050 | /* Array holding the linear accel x value |
gume | 0:1f82672b8755 | 2051 | data_u8[BNO055_SENSOR_DATA_LSB] - x->LSB |
gume | 0:1f82672b8755 | 2052 | data_u8[BNO055_SENSOR_DATA_MSB] - x->MSB |
gume | 0:1f82672b8755 | 2053 | */ |
gume | 0:1f82672b8755 | 2054 | u8 data_u8[BNO055_ACCEL_DATA_SIZE] = { |
gume | 0:1f82672b8755 | 2055 | BNO055_INIT_VALUE, BNO055_INIT_VALUE}; |
gume | 0:1f82672b8755 | 2056 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 2057 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 2058 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 2059 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 2060 | } else { |
gume | 0:1f82672b8755 | 2061 | /*condition check for page, chip id is |
gume | 0:1f82672b8755 | 2062 | available in the page zero*/ |
gume | 0:1f82672b8755 | 2063 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 2064 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 2065 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 2066 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 2067 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 2068 | /* Read the two byte value |
gume | 0:1f82672b8755 | 2069 | of linear accel x data*/ |
gume | 0:1f82672b8755 | 2070 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 2071 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 2072 | BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX_REG, |
gume | 0:1f82672b8755 | 2073 | data_u8, BNO055_LSB_MSB_READ_LENGTH); |
gume | 0:1f82672b8755 | 2074 | data_u8[BNO055_SENSOR_DATA_LSB] = |
gume | 0:1f82672b8755 | 2075 | BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB], |
gume | 0:1f82672b8755 | 2076 | BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX); |
gume | 0:1f82672b8755 | 2077 | data_u8[BNO055_SENSOR_DATA_MSB] = |
gume | 0:1f82672b8755 | 2078 | BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB], |
gume | 0:1f82672b8755 | 2079 | BNO055_LINEAR_ACCEL_DATA_X_MSB_VALUEX); |
gume | 0:1f82672b8755 | 2080 | *linear_accel_x_s16 = (s16)((((s32) |
gume | 0:1f82672b8755 | 2081 | ((s8)data_u8[BNO055_SENSOR_DATA_MSB])) << |
gume | 0:1f82672b8755 | 2082 | BNO055_SHIFT_EIGHT_BITS) |
gume | 0:1f82672b8755 | 2083 | | (data_u8[BNO055_SENSOR_DATA_LSB])); |
gume | 0:1f82672b8755 | 2084 | } else { |
gume | 0:1f82672b8755 | 2085 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 2086 | } |
gume | 0:1f82672b8755 | 2087 | } |
gume | 0:1f82672b8755 | 2088 | return com_rslt; |
gume | 0:1f82672b8755 | 2089 | } |
gume | 0:1f82672b8755 | 2090 | /*! |
gume | 0:1f82672b8755 | 2091 | * @brief This API reads Linear accel data x values |
gume | 0:1f82672b8755 | 2092 | * from register 0x2B and 0x2C it is a two byte data |
gume | 0:1f82672b8755 | 2093 | * |
gume | 0:1f82672b8755 | 2094 | * @param linear_accel_y_s16 : The raw y data |
gume | 0:1f82672b8755 | 2095 | * |
gume | 0:1f82672b8755 | 2096 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 2097 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 2098 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 2099 | * |
gume | 0:1f82672b8755 | 2100 | * |
gume | 0:1f82672b8755 | 2101 | */ |
gume | 0:1f82672b8755 | 2102 | BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_y( |
gume | 0:1f82672b8755 | 2103 | s16 *linear_accel_y_s16) |
gume | 0:1f82672b8755 | 2104 | { |
gume | 0:1f82672b8755 | 2105 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 2106 | communication routine*/ |
gume | 0:1f82672b8755 | 2107 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 2108 | /* Array holding the linear accel y value |
gume | 0:1f82672b8755 | 2109 | data_u8[BNO055_SENSOR_DATA_LSB] - y->LSB |
gume | 0:1f82672b8755 | 2110 | data_u8[BNO055_SENSOR_DATA_MSB] - y->MSB |
gume | 0:1f82672b8755 | 2111 | */ |
gume | 0:1f82672b8755 | 2112 | u8 data_u8[BNO055_ACCEL_DATA_SIZE] = { |
gume | 0:1f82672b8755 | 2113 | BNO055_INIT_VALUE, BNO055_INIT_VALUE}; |
gume | 0:1f82672b8755 | 2114 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 2115 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 2116 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 2117 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 2118 | } else { |
gume | 0:1f82672b8755 | 2119 | /*condition check for page, chip id is |
gume | 0:1f82672b8755 | 2120 | available in the page zero*/ |
gume | 0:1f82672b8755 | 2121 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 2122 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 2123 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 2124 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 2125 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 2126 | /* Read the two byte value |
gume | 0:1f82672b8755 | 2127 | of linear accel y data*/ |
gume | 0:1f82672b8755 | 2128 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 2129 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 2130 | BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY_REG, |
gume | 0:1f82672b8755 | 2131 | data_u8, BNO055_LSB_MSB_READ_LENGTH); |
gume | 0:1f82672b8755 | 2132 | data_u8[BNO055_SENSOR_DATA_LSB] = |
gume | 0:1f82672b8755 | 2133 | BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB], |
gume | 0:1f82672b8755 | 2134 | BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY); |
gume | 0:1f82672b8755 | 2135 | data_u8[BNO055_SENSOR_DATA_MSB] = |
gume | 0:1f82672b8755 | 2136 | BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB], |
gume | 0:1f82672b8755 | 2137 | BNO055_LINEAR_ACCEL_DATA_Y_MSB_VALUEY); |
gume | 0:1f82672b8755 | 2138 | *linear_accel_y_s16 = (s16)((((s32) |
gume | 0:1f82672b8755 | 2139 | ((s8)data_u8[BNO055_SENSOR_DATA_MSB])) << |
gume | 0:1f82672b8755 | 2140 | BNO055_SHIFT_EIGHT_BITS) | ( |
gume | 0:1f82672b8755 | 2141 | data_u8[BNO055_SENSOR_DATA_LSB])); |
gume | 0:1f82672b8755 | 2142 | } else { |
gume | 0:1f82672b8755 | 2143 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 2144 | } |
gume | 0:1f82672b8755 | 2145 | } |
gume | 0:1f82672b8755 | 2146 | return com_rslt; |
gume | 0:1f82672b8755 | 2147 | } |
gume | 0:1f82672b8755 | 2148 | /*! |
gume | 0:1f82672b8755 | 2149 | * @brief This API reads Linear accel data x values |
gume | 0:1f82672b8755 | 2150 | * from register 0x2C and 0x2D it is a two byte data |
gume | 0:1f82672b8755 | 2151 | * |
gume | 0:1f82672b8755 | 2152 | * @param linear_accel_z_s16 : The raw z data |
gume | 0:1f82672b8755 | 2153 | * |
gume | 0:1f82672b8755 | 2154 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 2155 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 2156 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 2157 | * |
gume | 0:1f82672b8755 | 2158 | * |
gume | 0:1f82672b8755 | 2159 | */ |
gume | 0:1f82672b8755 | 2160 | BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_z( |
gume | 0:1f82672b8755 | 2161 | s16 *linear_accel_z_s16) |
gume | 0:1f82672b8755 | 2162 | { |
gume | 0:1f82672b8755 | 2163 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 2164 | communication routine*/ |
gume | 0:1f82672b8755 | 2165 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 2166 | /* Array holding the linear accel z value |
gume | 0:1f82672b8755 | 2167 | data_u8[BNO055_SENSOR_DATA_LSB] - z->LSB |
gume | 0:1f82672b8755 | 2168 | data_u8[BNO055_SENSOR_DATA_MSB] - z->MSB |
gume | 0:1f82672b8755 | 2169 | */ |
gume | 0:1f82672b8755 | 2170 | u8 data_u8[BNO055_ACCEL_DATA_SIZE] = { |
gume | 0:1f82672b8755 | 2171 | BNO055_INIT_VALUE, BNO055_INIT_VALUE}; |
gume | 0:1f82672b8755 | 2172 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 2173 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 2174 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 2175 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 2176 | } else { |
gume | 0:1f82672b8755 | 2177 | /*condition check for page, chip id is |
gume | 0:1f82672b8755 | 2178 | available in the page zero*/ |
gume | 0:1f82672b8755 | 2179 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 2180 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 2181 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 2182 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 2183 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 2184 | /* Read the two byte value |
gume | 0:1f82672b8755 | 2185 | of linear accel z data*/ |
gume | 0:1f82672b8755 | 2186 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 2187 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 2188 | BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ_REG, |
gume | 0:1f82672b8755 | 2189 | data_u8, BNO055_LSB_MSB_READ_LENGTH); |
gume | 0:1f82672b8755 | 2190 | data_u8[BNO055_SENSOR_DATA_LSB] = |
gume | 0:1f82672b8755 | 2191 | BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB], |
gume | 0:1f82672b8755 | 2192 | BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ); |
gume | 0:1f82672b8755 | 2193 | data_u8[BNO055_SENSOR_DATA_MSB] = |
gume | 0:1f82672b8755 | 2194 | BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB], |
gume | 0:1f82672b8755 | 2195 | BNO055_LINEAR_ACCEL_DATA_Z_MSB_VALUEZ); |
gume | 0:1f82672b8755 | 2196 | *linear_accel_z_s16 = (s16)((((s32) |
gume | 0:1f82672b8755 | 2197 | ((s8)data_u8[BNO055_SENSOR_DATA_MSB])) << |
gume | 0:1f82672b8755 | 2198 | BNO055_SHIFT_EIGHT_BITS) | ( |
gume | 0:1f82672b8755 | 2199 | data_u8[BNO055_SENSOR_DATA_LSB])); |
gume | 0:1f82672b8755 | 2200 | } else { |
gume | 0:1f82672b8755 | 2201 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 2202 | } |
gume | 0:1f82672b8755 | 2203 | } |
gume | 0:1f82672b8755 | 2204 | return com_rslt; |
gume | 0:1f82672b8755 | 2205 | } |
gume | 0:1f82672b8755 | 2206 | /*! |
gume | 0:1f82672b8755 | 2207 | * @brief This API reads Linear accel data xyz values |
gume | 0:1f82672b8755 | 2208 | * from register 0x28 to 0x2D it is a six byte data |
gume | 0:1f82672b8755 | 2209 | * |
gume | 0:1f82672b8755 | 2210 | * |
gume | 0:1f82672b8755 | 2211 | * @param linear_accel : The value of linear accel xyz data's |
gume | 0:1f82672b8755 | 2212 | * |
gume | 0:1f82672b8755 | 2213 | * Parameter | result |
gume | 0:1f82672b8755 | 2214 | * --------- | ----------------- |
gume | 0:1f82672b8755 | 2215 | * x | The linear accel x data |
gume | 0:1f82672b8755 | 2216 | * y | The linear accel y data |
gume | 0:1f82672b8755 | 2217 | * z | The linear accel z data |
gume | 0:1f82672b8755 | 2218 | * |
gume | 0:1f82672b8755 | 2219 | * |
gume | 0:1f82672b8755 | 2220 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 2221 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 2222 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 2223 | */ |
gume | 0:1f82672b8755 | 2224 | BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_xyz( |
gume | 0:1f82672b8755 | 2225 | struct bno055_linear_accel_t *linear_accel) |
gume | 0:1f82672b8755 | 2226 | { |
gume | 0:1f82672b8755 | 2227 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 2228 | communication routine*/ |
gume | 0:1f82672b8755 | 2229 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 2230 | /* Array holding the linear accel xyz value |
gume | 0:1f82672b8755 | 2231 | data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB] - x->LSB |
gume | 0:1f82672b8755 | 2232 | data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB] - x->MSB |
gume | 0:1f82672b8755 | 2233 | data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB] - y->MSB |
gume | 0:1f82672b8755 | 2234 | data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB] - y->MSB |
gume | 0:1f82672b8755 | 2235 | data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB] - z->MSB |
gume | 0:1f82672b8755 | 2236 | data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB] - z->MSB |
gume | 0:1f82672b8755 | 2237 | */ |
gume | 0:1f82672b8755 | 2238 | u8 data_u8[BNO055_ACCEL_XYZ_DATA_SIZE] = { |
gume | 0:1f82672b8755 | 2239 | BNO055_INIT_VALUE, BNO055_INIT_VALUE, |
gume | 0:1f82672b8755 | 2240 | BNO055_INIT_VALUE, BNO055_INIT_VALUE, |
gume | 0:1f82672b8755 | 2241 | BNO055_INIT_VALUE, BNO055_INIT_VALUE}; |
gume | 0:1f82672b8755 | 2242 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 2243 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 2244 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 2245 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 2246 | } else { |
gume | 0:1f82672b8755 | 2247 | /*condition check for page, chip id is |
gume | 0:1f82672b8755 | 2248 | available in the page zero*/ |
gume | 0:1f82672b8755 | 2249 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 2250 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 2251 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 2252 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 2253 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 2254 | /* Read the six byte value |
gume | 0:1f82672b8755 | 2255 | of linear accel xyz data*/ |
gume | 0:1f82672b8755 | 2256 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 2257 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 2258 | BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX_REG, |
gume | 0:1f82672b8755 | 2259 | data_u8, BNO055_ACCEL_XYZ_DATA_SIZE); |
gume | 0:1f82672b8755 | 2260 | /* Data x*/ |
gume | 0:1f82672b8755 | 2261 | data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB] = |
gume | 0:1f82672b8755 | 2262 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 2263 | data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB], |
gume | 0:1f82672b8755 | 2264 | BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX); |
gume | 0:1f82672b8755 | 2265 | data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB] = |
gume | 0:1f82672b8755 | 2266 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 2267 | data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB], |
gume | 0:1f82672b8755 | 2268 | BNO055_LINEAR_ACCEL_DATA_X_MSB_VALUEX); |
gume | 0:1f82672b8755 | 2269 | linear_accel->x = (s16)((((s32) |
gume | 0:1f82672b8755 | 2270 | ((s8)data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB])) << |
gume | 0:1f82672b8755 | 2271 | BNO055_SHIFT_EIGHT_BITS) |
gume | 0:1f82672b8755 | 2272 | | (data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB])); |
gume | 0:1f82672b8755 | 2273 | /* Data y*/ |
gume | 0:1f82672b8755 | 2274 | data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB] = |
gume | 0:1f82672b8755 | 2275 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 2276 | data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB], |
gume | 0:1f82672b8755 | 2277 | BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY); |
gume | 0:1f82672b8755 | 2278 | data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB] = |
gume | 0:1f82672b8755 | 2279 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 2280 | data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB], |
gume | 0:1f82672b8755 | 2281 | BNO055_LINEAR_ACCEL_DATA_Y_MSB_VALUEY); |
gume | 0:1f82672b8755 | 2282 | linear_accel->y = (s16)((((s32) |
gume | 0:1f82672b8755 | 2283 | ((s8)data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB])) << |
gume | 0:1f82672b8755 | 2284 | BNO055_SHIFT_EIGHT_BITS) |
gume | 0:1f82672b8755 | 2285 | | (data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB])); |
gume | 0:1f82672b8755 | 2286 | /* Data z*/ |
gume | 0:1f82672b8755 | 2287 | data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB] = |
gume | 0:1f82672b8755 | 2288 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 2289 | data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB], |
gume | 0:1f82672b8755 | 2290 | BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ); |
gume | 0:1f82672b8755 | 2291 | data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB] = |
gume | 0:1f82672b8755 | 2292 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 2293 | data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB], |
gume | 0:1f82672b8755 | 2294 | BNO055_LINEAR_ACCEL_DATA_Z_MSB_VALUEZ); |
gume | 0:1f82672b8755 | 2295 | linear_accel->z = (s16)((((s32) |
gume | 0:1f82672b8755 | 2296 | ((s8)data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB])) << |
gume | 0:1f82672b8755 | 2297 | BNO055_SHIFT_EIGHT_BITS) |
gume | 0:1f82672b8755 | 2298 | | (data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB])); |
gume | 0:1f82672b8755 | 2299 | } else { |
gume | 0:1f82672b8755 | 2300 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 2301 | } |
gume | 0:1f82672b8755 | 2302 | } |
gume | 0:1f82672b8755 | 2303 | return com_rslt; |
gume | 0:1f82672b8755 | 2304 | } |
gume | 0:1f82672b8755 | 2305 | /*! |
gume | 0:1f82672b8755 | 2306 | * @brief This API reads gravity data x values |
gume | 0:1f82672b8755 | 2307 | * from register 0x2E and 0x2F it is a two byte data |
gume | 0:1f82672b8755 | 2308 | * |
gume | 0:1f82672b8755 | 2309 | * @param gravity_x_s16 : The raw x data |
gume | 0:1f82672b8755 | 2310 | * |
gume | 0:1f82672b8755 | 2311 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 2312 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 2313 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 2314 | * |
gume | 0:1f82672b8755 | 2315 | * |
gume | 0:1f82672b8755 | 2316 | */ |
gume | 0:1f82672b8755 | 2317 | BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_x( |
gume | 0:1f82672b8755 | 2318 | s16 *gravity_x_s16) |
gume | 0:1f82672b8755 | 2319 | { |
gume | 0:1f82672b8755 | 2320 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 2321 | communication routine*/ |
gume | 0:1f82672b8755 | 2322 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 2323 | /* Array holding the gravity x value |
gume | 0:1f82672b8755 | 2324 | data_u8[BNO055_SENSOR_DATA_LSB] - x->LSB |
gume | 0:1f82672b8755 | 2325 | data_u8[BNO055_SENSOR_DATA_MSB] - x->MSB |
gume | 0:1f82672b8755 | 2326 | */ |
gume | 0:1f82672b8755 | 2327 | u8 data_u8[BNO055_GRAVITY_DATA_SIZE] = { |
gume | 0:1f82672b8755 | 2328 | BNO055_INIT_VALUE, BNO055_INIT_VALUE}; |
gume | 0:1f82672b8755 | 2329 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 2330 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 2331 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 2332 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 2333 | } else { |
gume | 0:1f82672b8755 | 2334 | /*condition check for page, chip id is |
gume | 0:1f82672b8755 | 2335 | available in the page zero*/ |
gume | 0:1f82672b8755 | 2336 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 2337 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 2338 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 2339 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 2340 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 2341 | /* Read the two byte value |
gume | 0:1f82672b8755 | 2342 | of gravity x data*/ |
gume | 0:1f82672b8755 | 2343 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 2344 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 2345 | BNO055_GRAVITY_DATA_X_LSB_VALUEX_REG, |
gume | 0:1f82672b8755 | 2346 | data_u8, BNO055_LSB_MSB_READ_LENGTH); |
gume | 0:1f82672b8755 | 2347 | data_u8[BNO055_SENSOR_DATA_LSB] = |
gume | 0:1f82672b8755 | 2348 | BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB], |
gume | 0:1f82672b8755 | 2349 | BNO055_GRAVITY_DATA_X_LSB_VALUEX); |
gume | 0:1f82672b8755 | 2350 | data_u8[BNO055_SENSOR_DATA_MSB] = |
gume | 0:1f82672b8755 | 2351 | BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB], |
gume | 0:1f82672b8755 | 2352 | BNO055_GRAVITY_DATA_X_MSB_VALUEX); |
gume | 0:1f82672b8755 | 2353 | *gravity_x_s16 = (s16)((((s32) |
gume | 0:1f82672b8755 | 2354 | ((s8)data_u8[BNO055_SENSOR_DATA_MSB])) << |
gume | 0:1f82672b8755 | 2355 | BNO055_SHIFT_EIGHT_BITS) |
gume | 0:1f82672b8755 | 2356 | | (data_u8[BNO055_SENSOR_DATA_LSB])); |
gume | 0:1f82672b8755 | 2357 | } else { |
gume | 0:1f82672b8755 | 2358 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 2359 | } |
gume | 0:1f82672b8755 | 2360 | } |
gume | 0:1f82672b8755 | 2361 | return com_rslt; |
gume | 0:1f82672b8755 | 2362 | } |
gume | 0:1f82672b8755 | 2363 | /*! |
gume | 0:1f82672b8755 | 2364 | * @brief This API reads gravity data y values |
gume | 0:1f82672b8755 | 2365 | * from register 0x30 and 0x31 it is a two byte data |
gume | 0:1f82672b8755 | 2366 | * |
gume | 0:1f82672b8755 | 2367 | * @param gravity_y_s16 : The raw y data |
gume | 0:1f82672b8755 | 2368 | * |
gume | 0:1f82672b8755 | 2369 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 2370 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 2371 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 2372 | * |
gume | 0:1f82672b8755 | 2373 | * |
gume | 0:1f82672b8755 | 2374 | */ |
gume | 0:1f82672b8755 | 2375 | BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_y( |
gume | 0:1f82672b8755 | 2376 | s16 *gravity_y_s16) |
gume | 0:1f82672b8755 | 2377 | { |
gume | 0:1f82672b8755 | 2378 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 2379 | communication routine*/ |
gume | 0:1f82672b8755 | 2380 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 2381 | /* Array holding the gravity y value |
gume | 0:1f82672b8755 | 2382 | data_u8[BNO055_SENSOR_DATA_LSB] - y->LSB |
gume | 0:1f82672b8755 | 2383 | data_u8[BNO055_SENSOR_DATA_MSB] - y->MSB |
gume | 0:1f82672b8755 | 2384 | */ |
gume | 0:1f82672b8755 | 2385 | u8 data_u8[BNO055_GRAVITY_DATA_SIZE] = { |
gume | 0:1f82672b8755 | 2386 | BNO055_INIT_VALUE, BNO055_INIT_VALUE}; |
gume | 0:1f82672b8755 | 2387 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 2388 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 2389 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 2390 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 2391 | } else { |
gume | 0:1f82672b8755 | 2392 | /*condition check for page, chip id is |
gume | 0:1f82672b8755 | 2393 | available in the page zero*/ |
gume | 0:1f82672b8755 | 2394 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 2395 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 2396 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 2397 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 2398 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 2399 | /* Read the two byte value |
gume | 0:1f82672b8755 | 2400 | of gravity y data*/ |
gume | 0:1f82672b8755 | 2401 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 2402 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 2403 | BNO055_GRAVITY_DATA_Y_LSB_VALUEY_REG, |
gume | 0:1f82672b8755 | 2404 | data_u8, BNO055_LSB_MSB_READ_LENGTH); |
gume | 0:1f82672b8755 | 2405 | data_u8[BNO055_SENSOR_DATA_LSB] = |
gume | 0:1f82672b8755 | 2406 | BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB], |
gume | 0:1f82672b8755 | 2407 | BNO055_GRAVITY_DATA_Y_LSB_VALUEY); |
gume | 0:1f82672b8755 | 2408 | data_u8[BNO055_SENSOR_DATA_MSB] = |
gume | 0:1f82672b8755 | 2409 | BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB], |
gume | 0:1f82672b8755 | 2410 | BNO055_GRAVITY_DATA_Y_MSB_VALUEY); |
gume | 0:1f82672b8755 | 2411 | *gravity_y_s16 = (s16)((((s32) |
gume | 0:1f82672b8755 | 2412 | ((s8)data_u8[BNO055_SENSOR_DATA_MSB])) << |
gume | 0:1f82672b8755 | 2413 | BNO055_SHIFT_EIGHT_BITS) |
gume | 0:1f82672b8755 | 2414 | | (data_u8[BNO055_SENSOR_DATA_LSB])); |
gume | 0:1f82672b8755 | 2415 | } else { |
gume | 0:1f82672b8755 | 2416 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 2417 | } |
gume | 0:1f82672b8755 | 2418 | } |
gume | 0:1f82672b8755 | 2419 | return com_rslt; |
gume | 0:1f82672b8755 | 2420 | } |
gume | 0:1f82672b8755 | 2421 | /*! |
gume | 0:1f82672b8755 | 2422 | * @brief This API reads gravity data z values |
gume | 0:1f82672b8755 | 2423 | * from register 0x32 and 0x33 it is a two byte data |
gume | 0:1f82672b8755 | 2424 | * |
gume | 0:1f82672b8755 | 2425 | * @param gravity_z_s16 : The raw z data |
gume | 0:1f82672b8755 | 2426 | * |
gume | 0:1f82672b8755 | 2427 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 2428 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 2429 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 2430 | * |
gume | 0:1f82672b8755 | 2431 | * |
gume | 0:1f82672b8755 | 2432 | */ |
gume | 0:1f82672b8755 | 2433 | BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_z( |
gume | 0:1f82672b8755 | 2434 | s16 *gravity_z_s16) |
gume | 0:1f82672b8755 | 2435 | { |
gume | 0:1f82672b8755 | 2436 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 2437 | communication routine*/ |
gume | 0:1f82672b8755 | 2438 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 2439 | /* Array holding the gravity z value |
gume | 0:1f82672b8755 | 2440 | data_u8[BNO055_SENSOR_DATA_LSB] - z->LSB |
gume | 0:1f82672b8755 | 2441 | data_u8[BNO055_SENSOR_DATA_MSB] - z->MSB |
gume | 0:1f82672b8755 | 2442 | */ |
gume | 0:1f82672b8755 | 2443 | u8 data_u8[BNO055_GRAVITY_DATA_SIZE] = { |
gume | 0:1f82672b8755 | 2444 | BNO055_INIT_VALUE, BNO055_INIT_VALUE}; |
gume | 0:1f82672b8755 | 2445 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 2446 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 2447 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 2448 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 2449 | } else { |
gume | 0:1f82672b8755 | 2450 | /*condition check for page, chip id is |
gume | 0:1f82672b8755 | 2451 | available in the page zero*/ |
gume | 0:1f82672b8755 | 2452 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 2453 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 2454 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 2455 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 2456 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 2457 | /* Read the two byte value |
gume | 0:1f82672b8755 | 2458 | of gravity z data*/ |
gume | 0:1f82672b8755 | 2459 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 2460 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 2461 | BNO055_GRAVITY_DATA_Z_LSB_VALUEZ_REG, |
gume | 0:1f82672b8755 | 2462 | data_u8, BNO055_LSB_MSB_READ_LENGTH); |
gume | 0:1f82672b8755 | 2463 | data_u8[BNO055_SENSOR_DATA_LSB] = |
gume | 0:1f82672b8755 | 2464 | BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB], |
gume | 0:1f82672b8755 | 2465 | BNO055_GRAVITY_DATA_Z_LSB_VALUEZ); |
gume | 0:1f82672b8755 | 2466 | data_u8[BNO055_SENSOR_DATA_MSB] = |
gume | 0:1f82672b8755 | 2467 | BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB], |
gume | 0:1f82672b8755 | 2468 | BNO055_GRAVITY_DATA_Z_MSB_VALUEZ); |
gume | 0:1f82672b8755 | 2469 | *gravity_z_s16 = (s16)((((s32) |
gume | 0:1f82672b8755 | 2470 | ((s8)data_u8[BNO055_SENSOR_DATA_MSB])) << |
gume | 0:1f82672b8755 | 2471 | BNO055_SHIFT_EIGHT_BITS) |
gume | 0:1f82672b8755 | 2472 | | (data_u8[BNO055_SENSOR_DATA_LSB])); |
gume | 0:1f82672b8755 | 2473 | } else { |
gume | 0:1f82672b8755 | 2474 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 2475 | } |
gume | 0:1f82672b8755 | 2476 | } |
gume | 0:1f82672b8755 | 2477 | return com_rslt; |
gume | 0:1f82672b8755 | 2478 | } |
gume | 0:1f82672b8755 | 2479 | /*! |
gume | 0:1f82672b8755 | 2480 | * @brief This API reads gravity data xyz values |
gume | 0:1f82672b8755 | 2481 | * from register 0x2E to 0x33 it is a six byte data |
gume | 0:1f82672b8755 | 2482 | * |
gume | 0:1f82672b8755 | 2483 | * |
gume | 0:1f82672b8755 | 2484 | * @param gravity : The value of gravity xyz data's |
gume | 0:1f82672b8755 | 2485 | * |
gume | 0:1f82672b8755 | 2486 | * Parameter | result |
gume | 0:1f82672b8755 | 2487 | * --------- | ----------------- |
gume | 0:1f82672b8755 | 2488 | * x | The gravity x data |
gume | 0:1f82672b8755 | 2489 | * y | The gravity y data |
gume | 0:1f82672b8755 | 2490 | * z | The gravity z data |
gume | 0:1f82672b8755 | 2491 | * |
gume | 0:1f82672b8755 | 2492 | * |
gume | 0:1f82672b8755 | 2493 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 2494 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 2495 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 2496 | * |
gume | 0:1f82672b8755 | 2497 | */ |
gume | 0:1f82672b8755 | 2498 | BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_xyz( |
gume | 0:1f82672b8755 | 2499 | struct bno055_gravity_t *gravity) |
gume | 0:1f82672b8755 | 2500 | { |
gume | 0:1f82672b8755 | 2501 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 2502 | communication routine*/ |
gume | 0:1f82672b8755 | 2503 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 2504 | /* Array holding the gravity xyz value |
gume | 0:1f82672b8755 | 2505 | data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB] - x->LSB |
gume | 0:1f82672b8755 | 2506 | data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB] - x->MSB |
gume | 0:1f82672b8755 | 2507 | data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB] - y->MSB |
gume | 0:1f82672b8755 | 2508 | data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB] - y->MSB |
gume | 0:1f82672b8755 | 2509 | data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB] - z->MSB |
gume | 0:1f82672b8755 | 2510 | data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB] - z->MSB |
gume | 0:1f82672b8755 | 2511 | */ |
gume | 0:1f82672b8755 | 2512 | u8 data_u8[BNO055_GRAVITY_XYZ_DATA_SIZE] = { |
gume | 0:1f82672b8755 | 2513 | BNO055_INIT_VALUE, BNO055_INIT_VALUE, |
gume | 0:1f82672b8755 | 2514 | BNO055_INIT_VALUE, BNO055_INIT_VALUE, |
gume | 0:1f82672b8755 | 2515 | BNO055_INIT_VALUE, BNO055_INIT_VALUE}; |
gume | 0:1f82672b8755 | 2516 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 2517 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 2518 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 2519 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 2520 | } else { |
gume | 0:1f82672b8755 | 2521 | /*condition check for page, chip id is |
gume | 0:1f82672b8755 | 2522 | available in the page zero*/ |
gume | 0:1f82672b8755 | 2523 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 2524 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 2525 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 2526 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 2527 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 2528 | /* Read the six byte value |
gume | 0:1f82672b8755 | 2529 | of gravity xyz data*/ |
gume | 0:1f82672b8755 | 2530 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 2531 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 2532 | BNO055_GRAVITY_DATA_X_LSB_VALUEX_REG, |
gume | 0:1f82672b8755 | 2533 | data_u8, BNO055_GRAVITY_XYZ_DATA_SIZE); |
gume | 0:1f82672b8755 | 2534 | /* Data x*/ |
gume | 0:1f82672b8755 | 2535 | data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB] = |
gume | 0:1f82672b8755 | 2536 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 2537 | data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB], |
gume | 0:1f82672b8755 | 2538 | BNO055_GRAVITY_DATA_X_LSB_VALUEX); |
gume | 0:1f82672b8755 | 2539 | data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB] = |
gume | 0:1f82672b8755 | 2540 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 2541 | data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB], |
gume | 0:1f82672b8755 | 2542 | BNO055_GRAVITY_DATA_X_MSB_VALUEX); |
gume | 0:1f82672b8755 | 2543 | gravity->x = (s16)(((s32) |
gume | 0:1f82672b8755 | 2544 | ((s8)data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB]) << |
gume | 0:1f82672b8755 | 2545 | BNO055_SHIFT_EIGHT_BITS) | |
gume | 0:1f82672b8755 | 2546 | (data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB])); |
gume | 0:1f82672b8755 | 2547 | /* Data y*/ |
gume | 0:1f82672b8755 | 2548 | data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB] = |
gume | 0:1f82672b8755 | 2549 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 2550 | data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB], |
gume | 0:1f82672b8755 | 2551 | BNO055_GRAVITY_DATA_Y_LSB_VALUEY); |
gume | 0:1f82672b8755 | 2552 | data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB] = |
gume | 0:1f82672b8755 | 2553 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 2554 | data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB], |
gume | 0:1f82672b8755 | 2555 | BNO055_GRAVITY_DATA_Y_MSB_VALUEY); |
gume | 0:1f82672b8755 | 2556 | gravity->y = (s16)((((s32) |
gume | 0:1f82672b8755 | 2557 | ((s8)data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB])) << |
gume | 0:1f82672b8755 | 2558 | BNO055_SHIFT_EIGHT_BITS) | ( |
gume | 0:1f82672b8755 | 2559 | data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB])); |
gume | 0:1f82672b8755 | 2560 | /* Data z*/ |
gume | 0:1f82672b8755 | 2561 | data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB] = |
gume | 0:1f82672b8755 | 2562 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 2563 | data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB], |
gume | 0:1f82672b8755 | 2564 | BNO055_GRAVITY_DATA_Z_LSB_VALUEZ); |
gume | 0:1f82672b8755 | 2565 | data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB] = |
gume | 0:1f82672b8755 | 2566 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 2567 | data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB], |
gume | 0:1f82672b8755 | 2568 | BNO055_GRAVITY_DATA_Z_MSB_VALUEZ); |
gume | 0:1f82672b8755 | 2569 | gravity->z = (s16)((((s32) |
gume | 0:1f82672b8755 | 2570 | ((s8)data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB])) << |
gume | 0:1f82672b8755 | 2571 | BNO055_SHIFT_EIGHT_BITS) |
gume | 0:1f82672b8755 | 2572 | | (data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB])); |
gume | 0:1f82672b8755 | 2573 | } else { |
gume | 0:1f82672b8755 | 2574 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 2575 | } |
gume | 0:1f82672b8755 | 2576 | } |
gume | 0:1f82672b8755 | 2577 | return com_rslt; |
gume | 0:1f82672b8755 | 2578 | } |
gume | 0:1f82672b8755 | 2579 | /*! |
gume | 0:1f82672b8755 | 2580 | * @brief This API reads temperature values |
gume | 0:1f82672b8755 | 2581 | * from register 0x33 it is a byte data |
gume | 0:1f82672b8755 | 2582 | * |
gume | 0:1f82672b8755 | 2583 | * @param temp_s8 : The raw temperature data |
gume | 0:1f82672b8755 | 2584 | * |
gume | 0:1f82672b8755 | 2585 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 2586 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 2587 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 2588 | * |
gume | 0:1f82672b8755 | 2589 | * |
gume | 0:1f82672b8755 | 2590 | */ |
gume | 0:1f82672b8755 | 2591 | BNO055_RETURN_FUNCTION_TYPE bno055_read_temp_data(s8 *temp_s8) |
gume | 0:1f82672b8755 | 2592 | { |
gume | 0:1f82672b8755 | 2593 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 2594 | communication routine*/ |
gume | 0:1f82672b8755 | 2595 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 2596 | u8 data_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 2597 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 2598 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 2599 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 2600 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 2601 | } else { |
gume | 0:1f82672b8755 | 2602 | /*condition check for page, chip id is |
gume | 0:1f82672b8755 | 2603 | available in the page zero*/ |
gume | 0:1f82672b8755 | 2604 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 2605 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 2606 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 2607 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 2608 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 2609 | /* Read the raw temperature data */ |
gume | 0:1f82672b8755 | 2610 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 2611 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 2612 | BNO055_TEMP_REG, &data_u8, |
gume | 0:1f82672b8755 | 2613 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 2614 | *temp_s8 = data_u8; |
gume | 0:1f82672b8755 | 2615 | } else { |
gume | 0:1f82672b8755 | 2616 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 2617 | } |
gume | 0:1f82672b8755 | 2618 | } |
gume | 0:1f82672b8755 | 2619 | return com_rslt; |
gume | 0:1f82672b8755 | 2620 | } |
gume | 0:1f82672b8755 | 2621 | #ifdef BNO055_FLOAT_ENABLE |
gume | 0:1f82672b8755 | 2622 | /*! |
gume | 0:1f82672b8755 | 2623 | * @brief This API is used to convert the accel x raw data |
gume | 0:1f82672b8755 | 2624 | * to meterpersecseq output as float |
gume | 0:1f82672b8755 | 2625 | * |
gume | 0:1f82672b8755 | 2626 | * @param accel_x_f : The accel x meterpersecseq data |
gume | 0:1f82672b8755 | 2627 | * |
gume | 0:1f82672b8755 | 2628 | * |
gume | 0:1f82672b8755 | 2629 | * |
gume | 0:1f82672b8755 | 2630 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 2631 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 2632 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 2633 | * |
gume | 0:1f82672b8755 | 2634 | * |
gume | 0:1f82672b8755 | 2635 | */ |
gume | 0:1f82672b8755 | 2636 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_x_msq( |
gume | 0:1f82672b8755 | 2637 | float *accel_x_f) |
gume | 0:1f82672b8755 | 2638 | { |
gume | 0:1f82672b8755 | 2639 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 2640 | communication routine*/ |
gume | 0:1f82672b8755 | 2641 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 2642 | s16 reg_accel_x_s16 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 2643 | float data_f = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 2644 | u8 accel_unit_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 2645 | /* Read the current accel unit and set the |
gume | 0:1f82672b8755 | 2646 | unit as m/s2 if the unit is in mg*/ |
gume | 0:1f82672b8755 | 2647 | com_rslt = bno055_get_accel_unit(&accel_unit_u8); |
gume | 0:1f82672b8755 | 2648 | if (accel_unit_u8 != BNO055_ACCEL_UNIT_MSQ) |
gume | 0:1f82672b8755 | 2649 | com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MSQ); |
gume | 0:1f82672b8755 | 2650 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 2651 | /* Read the accel raw x data*/ |
gume | 0:1f82672b8755 | 2652 | com_rslt += bno055_read_accel_x(®_accel_x_s16); |
gume | 0:1f82672b8755 | 2653 | p_bno055->delay_msec(BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 2654 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 2655 | /* Convert the raw accel x to m/s2*/ |
gume | 0:1f82672b8755 | 2656 | data_f = |
gume | 0:1f82672b8755 | 2657 | (float)(reg_accel_x_s16/BNO055_ACCEL_DIV_MSQ); |
gume | 0:1f82672b8755 | 2658 | *accel_x_f = data_f; |
gume | 0:1f82672b8755 | 2659 | } else { |
gume | 0:1f82672b8755 | 2660 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 2661 | } |
gume | 0:1f82672b8755 | 2662 | } else { |
gume | 0:1f82672b8755 | 2663 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 2664 | } |
gume | 0:1f82672b8755 | 2665 | return com_rslt; |
gume | 0:1f82672b8755 | 2666 | } |
gume | 0:1f82672b8755 | 2667 | /*! |
gume | 0:1f82672b8755 | 2668 | * @brief This API is used to convert the accel x raw data |
gume | 0:1f82672b8755 | 2669 | * to millig output as float |
gume | 0:1f82672b8755 | 2670 | * |
gume | 0:1f82672b8755 | 2671 | * @param accel_x_f : The accel x millig data |
gume | 0:1f82672b8755 | 2672 | * |
gume | 0:1f82672b8755 | 2673 | * |
gume | 0:1f82672b8755 | 2674 | * |
gume | 0:1f82672b8755 | 2675 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 2676 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 2677 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 2678 | * |
gume | 0:1f82672b8755 | 2679 | * |
gume | 0:1f82672b8755 | 2680 | * |
gume | 0:1f82672b8755 | 2681 | */ |
gume | 0:1f82672b8755 | 2682 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_x_mg( |
gume | 0:1f82672b8755 | 2683 | float *accel_x_f) |
gume | 0:1f82672b8755 | 2684 | { |
gume | 0:1f82672b8755 | 2685 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 2686 | communication routine*/ |
gume | 0:1f82672b8755 | 2687 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 2688 | s16 reg_accel_x_s16 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 2689 | float data_f = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 2690 | u8 accel_unit_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 2691 | /* Read the current accel unit and set the |
gume | 0:1f82672b8755 | 2692 | unit as mg if the unit is in m/s2*/ |
gume | 0:1f82672b8755 | 2693 | com_rslt = bno055_get_accel_unit(&accel_unit_u8); |
gume | 0:1f82672b8755 | 2694 | if (accel_unit_u8 != BNO055_ACCEL_UNIT_MG) |
gume | 0:1f82672b8755 | 2695 | com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MG); |
gume | 0:1f82672b8755 | 2696 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 2697 | /* Read the accel raw x data*/ |
gume | 0:1f82672b8755 | 2698 | com_rslt += bno055_read_accel_x(®_accel_x_s16); |
gume | 0:1f82672b8755 | 2699 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 2700 | /* Convert the raw accel x to m/s2*/ |
gume | 0:1f82672b8755 | 2701 | data_f = |
gume | 0:1f82672b8755 | 2702 | (float)(reg_accel_x_s16/BNO055_ACCEL_DIV_MG); |
gume | 0:1f82672b8755 | 2703 | *accel_x_f = data_f; |
gume | 0:1f82672b8755 | 2704 | } else { |
gume | 0:1f82672b8755 | 2705 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 2706 | } |
gume | 0:1f82672b8755 | 2707 | } else { |
gume | 0:1f82672b8755 | 2708 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 2709 | } |
gume | 0:1f82672b8755 | 2710 | return com_rslt; |
gume | 0:1f82672b8755 | 2711 | } |
gume | 0:1f82672b8755 | 2712 | /*! |
gume | 0:1f82672b8755 | 2713 | * @brief This API is used to convert the accel x raw data |
gume | 0:1f82672b8755 | 2714 | * to meterpersecseq output as float |
gume | 0:1f82672b8755 | 2715 | * |
gume | 0:1f82672b8755 | 2716 | * @param accel_y_f : The accel y meterpersecseq data |
gume | 0:1f82672b8755 | 2717 | * |
gume | 0:1f82672b8755 | 2718 | * |
gume | 0:1f82672b8755 | 2719 | * |
gume | 0:1f82672b8755 | 2720 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 2721 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 2722 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 2723 | * |
gume | 0:1f82672b8755 | 2724 | * |
gume | 0:1f82672b8755 | 2725 | */ |
gume | 0:1f82672b8755 | 2726 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_y_msq( |
gume | 0:1f82672b8755 | 2727 | float *accel_y_f) |
gume | 0:1f82672b8755 | 2728 | { |
gume | 0:1f82672b8755 | 2729 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 2730 | communication routine*/ |
gume | 0:1f82672b8755 | 2731 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 2732 | s16 reg_accel_y_s16 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 2733 | float data_f = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 2734 | u8 accel_unit_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 2735 | /* Read the current accel unit and set the |
gume | 0:1f82672b8755 | 2736 | unit as m/s2 if the unit is in mg*/ |
gume | 0:1f82672b8755 | 2737 | com_rslt = bno055_get_accel_unit(&accel_unit_u8); |
gume | 0:1f82672b8755 | 2738 | if (accel_unit_u8 != BNO055_ACCEL_UNIT_MSQ) |
gume | 0:1f82672b8755 | 2739 | com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MSQ); |
gume | 0:1f82672b8755 | 2740 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 2741 | com_rslt += bno055_read_accel_y(®_accel_y_s16); |
gume | 0:1f82672b8755 | 2742 | p_bno055->delay_msec(BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 2743 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 2744 | /* Convert the raw accel y to m/s2*/ |
gume | 0:1f82672b8755 | 2745 | data_f = |
gume | 0:1f82672b8755 | 2746 | (float)(reg_accel_y_s16/BNO055_ACCEL_DIV_MSQ); |
gume | 0:1f82672b8755 | 2747 | *accel_y_f = data_f; |
gume | 0:1f82672b8755 | 2748 | } else { |
gume | 0:1f82672b8755 | 2749 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 2750 | } |
gume | 0:1f82672b8755 | 2751 | } else { |
gume | 0:1f82672b8755 | 2752 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 2753 | } |
gume | 0:1f82672b8755 | 2754 | return com_rslt; |
gume | 0:1f82672b8755 | 2755 | } |
gume | 0:1f82672b8755 | 2756 | /*! |
gume | 0:1f82672b8755 | 2757 | * @brief This API is used to convert the accel y raw data |
gume | 0:1f82672b8755 | 2758 | * to millig output as float |
gume | 0:1f82672b8755 | 2759 | * |
gume | 0:1f82672b8755 | 2760 | * @param accel_y_f : The accel y millig data |
gume | 0:1f82672b8755 | 2761 | * |
gume | 0:1f82672b8755 | 2762 | * |
gume | 0:1f82672b8755 | 2763 | * |
gume | 0:1f82672b8755 | 2764 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 2765 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 2766 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 2767 | * |
gume | 0:1f82672b8755 | 2768 | */ |
gume | 0:1f82672b8755 | 2769 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_y_mg( |
gume | 0:1f82672b8755 | 2770 | float *accel_y_f) |
gume | 0:1f82672b8755 | 2771 | { |
gume | 0:1f82672b8755 | 2772 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 2773 | communication routine*/ |
gume | 0:1f82672b8755 | 2774 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 2775 | s16 reg_accel_y_s16 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 2776 | float data = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 2777 | u8 accel_unit_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 2778 | /* Read the current accel unit and set the |
gume | 0:1f82672b8755 | 2779 | unit as mg if the unit is in m/s2*/ |
gume | 0:1f82672b8755 | 2780 | com_rslt = bno055_get_accel_unit(&accel_unit_u8); |
gume | 0:1f82672b8755 | 2781 | if (accel_unit_u8 != BNO055_ACCEL_UNIT_MG) |
gume | 0:1f82672b8755 | 2782 | com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MG); |
gume | 0:1f82672b8755 | 2783 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 2784 | /* Read the accel raw z data*/ |
gume | 0:1f82672b8755 | 2785 | com_rslt += bno055_read_accel_y(®_accel_y_s16); |
gume | 0:1f82672b8755 | 2786 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 2787 | /* Convert the raw accel z to mg*/ |
gume | 0:1f82672b8755 | 2788 | data = (float)( |
gume | 0:1f82672b8755 | 2789 | reg_accel_y_s16/BNO055_ACCEL_DIV_MG); |
gume | 0:1f82672b8755 | 2790 | *accel_y_f = data; |
gume | 0:1f82672b8755 | 2791 | } else { |
gume | 0:1f82672b8755 | 2792 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 2793 | } |
gume | 0:1f82672b8755 | 2794 | } else { |
gume | 0:1f82672b8755 | 2795 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 2796 | } |
gume | 0:1f82672b8755 | 2797 | return com_rslt; |
gume | 0:1f82672b8755 | 2798 | } |
gume | 0:1f82672b8755 | 2799 | /*! |
gume | 0:1f82672b8755 | 2800 | * @brief This API is used to convert the accel z raw data |
gume | 0:1f82672b8755 | 2801 | * to meterpersecseq output as float |
gume | 0:1f82672b8755 | 2802 | * |
gume | 0:1f82672b8755 | 2803 | * @param accel_z_f : The accel z meterpersecseq data |
gume | 0:1f82672b8755 | 2804 | * |
gume | 0:1f82672b8755 | 2805 | * |
gume | 0:1f82672b8755 | 2806 | * |
gume | 0:1f82672b8755 | 2807 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 2808 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 2809 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 2810 | * |
gume | 0:1f82672b8755 | 2811 | * |
gume | 0:1f82672b8755 | 2812 | */ |
gume | 0:1f82672b8755 | 2813 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_z_msq( |
gume | 0:1f82672b8755 | 2814 | float *accel_z_f) |
gume | 0:1f82672b8755 | 2815 | { |
gume | 0:1f82672b8755 | 2816 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 2817 | communication routine*/ |
gume | 0:1f82672b8755 | 2818 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 2819 | s16 reg_accel_z_s16 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 2820 | float data_f = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 2821 | u8 accel_unit_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 2822 | /* Read the current accel unit and set the |
gume | 0:1f82672b8755 | 2823 | unit as m/s2 if the unit is in mg*/ |
gume | 0:1f82672b8755 | 2824 | com_rslt = bno055_get_accel_unit(&accel_unit_u8); |
gume | 0:1f82672b8755 | 2825 | if (accel_unit_u8 != BNO055_ACCEL_UNIT_MSQ) |
gume | 0:1f82672b8755 | 2826 | com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MSQ); |
gume | 0:1f82672b8755 | 2827 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 2828 | /* Read the accel raw z data*/ |
gume | 0:1f82672b8755 | 2829 | com_rslt += bno055_read_accel_z(®_accel_z_s16); |
gume | 0:1f82672b8755 | 2830 | p_bno055->delay_msec(BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 2831 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 2832 | /* Convert the raw accel z to m/s2*/ |
gume | 0:1f82672b8755 | 2833 | data_f = |
gume | 0:1f82672b8755 | 2834 | (float)(reg_accel_z_s16/BNO055_ACCEL_DIV_MSQ); |
gume | 0:1f82672b8755 | 2835 | *accel_z_f = data_f; |
gume | 0:1f82672b8755 | 2836 | } else { |
gume | 0:1f82672b8755 | 2837 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 2838 | } |
gume | 0:1f82672b8755 | 2839 | } else { |
gume | 0:1f82672b8755 | 2840 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 2841 | } |
gume | 0:1f82672b8755 | 2842 | return com_rslt; |
gume | 0:1f82672b8755 | 2843 | } |
gume | 0:1f82672b8755 | 2844 | /*! |
gume | 0:1f82672b8755 | 2845 | * @brief This API is used to convert the accel z raw data |
gume | 0:1f82672b8755 | 2846 | * to millig output as float |
gume | 0:1f82672b8755 | 2847 | * |
gume | 0:1f82672b8755 | 2848 | * @param accel_z_f : The accel z millig data |
gume | 0:1f82672b8755 | 2849 | * |
gume | 0:1f82672b8755 | 2850 | * |
gume | 0:1f82672b8755 | 2851 | * |
gume | 0:1f82672b8755 | 2852 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 2853 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 2854 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 2855 | * |
gume | 0:1f82672b8755 | 2856 | * |
gume | 0:1f82672b8755 | 2857 | */ |
gume | 0:1f82672b8755 | 2858 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_z_mg( |
gume | 0:1f82672b8755 | 2859 | float *accel_z_f) |
gume | 0:1f82672b8755 | 2860 | { |
gume | 0:1f82672b8755 | 2861 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 2862 | communication routine*/ |
gume | 0:1f82672b8755 | 2863 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 2864 | s16 reg_accel_z_s16 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 2865 | float data_f = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 2866 | u8 accel_unit_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 2867 | /* Read the current accel unit and set the |
gume | 0:1f82672b8755 | 2868 | unit as mg if the unit is in m/s2 */ |
gume | 0:1f82672b8755 | 2869 | com_rslt = bno055_get_accel_unit(&accel_unit_u8); |
gume | 0:1f82672b8755 | 2870 | if (accel_unit_u8 != BNO055_ACCEL_UNIT_MG) |
gume | 0:1f82672b8755 | 2871 | com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MG); |
gume | 0:1f82672b8755 | 2872 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 2873 | /* Read the accel raw z data*/ |
gume | 0:1f82672b8755 | 2874 | com_rslt += bno055_read_accel_z(®_accel_z_s16); |
gume | 0:1f82672b8755 | 2875 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 2876 | /* Convert the raw accel x to mg*/ |
gume | 0:1f82672b8755 | 2877 | data_f = |
gume | 0:1f82672b8755 | 2878 | (float)(reg_accel_z_s16/BNO055_ACCEL_DIV_MG); |
gume | 0:1f82672b8755 | 2879 | *accel_z_f = data_f; |
gume | 0:1f82672b8755 | 2880 | } else { |
gume | 0:1f82672b8755 | 2881 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 2882 | } |
gume | 0:1f82672b8755 | 2883 | } else { |
gume | 0:1f82672b8755 | 2884 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 2885 | } |
gume | 0:1f82672b8755 | 2886 | return com_rslt; |
gume | 0:1f82672b8755 | 2887 | } |
gume | 0:1f82672b8755 | 2888 | /*! |
gume | 0:1f82672b8755 | 2889 | * @brief This API is used to convert the accel xyz raw data |
gume | 0:1f82672b8755 | 2890 | * to meterpersecseq output as float |
gume | 0:1f82672b8755 | 2891 | * |
gume | 0:1f82672b8755 | 2892 | * @param accel_xyz : The meterpersecseq data of accel xyz |
gume | 0:1f82672b8755 | 2893 | * |
gume | 0:1f82672b8755 | 2894 | * Parameter | result |
gume | 0:1f82672b8755 | 2895 | * --------- | ----------------- |
gume | 0:1f82672b8755 | 2896 | * x | meterpersecseq data of accel |
gume | 0:1f82672b8755 | 2897 | * y | meterpersecseq data of accel |
gume | 0:1f82672b8755 | 2898 | * z | meterpersecseq data of accel |
gume | 0:1f82672b8755 | 2899 | * |
gume | 0:1f82672b8755 | 2900 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 2901 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 2902 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 2903 | * |
gume | 0:1f82672b8755 | 2904 | * |
gume | 0:1f82672b8755 | 2905 | */ |
gume | 0:1f82672b8755 | 2906 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_xyz_msq( |
gume | 0:1f82672b8755 | 2907 | struct bno055_accel_float_t *accel_xyz) |
gume | 0:1f82672b8755 | 2908 | { |
gume | 0:1f82672b8755 | 2909 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 2910 | communication routine*/ |
gume | 0:1f82672b8755 | 2911 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 2912 | struct bno055_accel_t reg_accel_xyz = { |
gume | 0:1f82672b8755 | 2913 | BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE}; |
gume | 0:1f82672b8755 | 2914 | u8 accel_unit_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 2915 | /* Read the current accel unit and set the |
gume | 0:1f82672b8755 | 2916 | unit as m/s2 if the unit is in mg*/ |
gume | 0:1f82672b8755 | 2917 | com_rslt = bno055_get_accel_unit(&accel_unit_u8); |
gume | 0:1f82672b8755 | 2918 | if (accel_unit_u8 != BNO055_ACCEL_UNIT_MSQ) |
gume | 0:1f82672b8755 | 2919 | com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MSQ); |
gume | 0:1f82672b8755 | 2920 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 2921 | /* Read the accel raw xyz data*/ |
gume | 0:1f82672b8755 | 2922 | com_rslt += bno055_read_accel_xyz(®_accel_xyz); |
gume | 0:1f82672b8755 | 2923 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 2924 | /* Convert the accel raw xyz to meterpersecseq*/ |
gume | 0:1f82672b8755 | 2925 | accel_xyz->x = |
gume | 0:1f82672b8755 | 2926 | (float)(reg_accel_xyz.x/BNO055_ACCEL_DIV_MSQ); |
gume | 0:1f82672b8755 | 2927 | accel_xyz->y = |
gume | 0:1f82672b8755 | 2928 | (float)(reg_accel_xyz.y/BNO055_ACCEL_DIV_MSQ); |
gume | 0:1f82672b8755 | 2929 | accel_xyz->z = |
gume | 0:1f82672b8755 | 2930 | (float)(reg_accel_xyz.z/BNO055_ACCEL_DIV_MSQ); |
gume | 0:1f82672b8755 | 2931 | } else { |
gume | 0:1f82672b8755 | 2932 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 2933 | } |
gume | 0:1f82672b8755 | 2934 | } else { |
gume | 0:1f82672b8755 | 2935 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 2936 | } |
gume | 0:1f82672b8755 | 2937 | return com_rslt; |
gume | 0:1f82672b8755 | 2938 | } |
gume | 0:1f82672b8755 | 2939 | /*! |
gume | 0:1f82672b8755 | 2940 | * @brief This API is used to convert the accel xyz raw data |
gume | 0:1f82672b8755 | 2941 | * to millig output as float |
gume | 0:1f82672b8755 | 2942 | * |
gume | 0:1f82672b8755 | 2943 | * @param accel_xyz : The millig data of accel xyz |
gume | 0:1f82672b8755 | 2944 | * |
gume | 0:1f82672b8755 | 2945 | * Parameter | result |
gume | 0:1f82672b8755 | 2946 | * --------- | ----------------- |
gume | 0:1f82672b8755 | 2947 | * x | millig data of accel |
gume | 0:1f82672b8755 | 2948 | * y | millig data of accel |
gume | 0:1f82672b8755 | 2949 | * z | millig data of accel |
gume | 0:1f82672b8755 | 2950 | * |
gume | 0:1f82672b8755 | 2951 | * |
gume | 0:1f82672b8755 | 2952 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 2953 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 2954 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 2955 | * |
gume | 0:1f82672b8755 | 2956 | * |
gume | 0:1f82672b8755 | 2957 | */ |
gume | 0:1f82672b8755 | 2958 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_xyz_mg( |
gume | 0:1f82672b8755 | 2959 | struct bno055_accel_float_t *accel_xyz) |
gume | 0:1f82672b8755 | 2960 | { |
gume | 0:1f82672b8755 | 2961 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 2962 | communication routine*/ |
gume | 0:1f82672b8755 | 2963 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 2964 | struct bno055_accel_t reg_accel_xyz = { |
gume | 0:1f82672b8755 | 2965 | BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE}; |
gume | 0:1f82672b8755 | 2966 | u8 accel_unit_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 2967 | /* Read the current accel unit and set the |
gume | 0:1f82672b8755 | 2968 | unit as mg if the unit is in m/s2*/ |
gume | 0:1f82672b8755 | 2969 | com_rslt = bno055_get_accel_unit(&accel_unit_u8); |
gume | 0:1f82672b8755 | 2970 | if (accel_unit_u8 != BNO055_ACCEL_UNIT_MG) |
gume | 0:1f82672b8755 | 2971 | com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MG); |
gume | 0:1f82672b8755 | 2972 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 2973 | /* Read the accel raw y data*/ |
gume | 0:1f82672b8755 | 2974 | com_rslt += bno055_read_accel_xyz(®_accel_xyz); |
gume | 0:1f82672b8755 | 2975 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 2976 | /*Convert the accel raw xyz to millig */ |
gume | 0:1f82672b8755 | 2977 | accel_xyz->x = |
gume | 0:1f82672b8755 | 2978 | (float)(reg_accel_xyz.x/BNO055_ACCEL_DIV_MG); |
gume | 0:1f82672b8755 | 2979 | accel_xyz->y = |
gume | 0:1f82672b8755 | 2980 | (float)(reg_accel_xyz.y/BNO055_ACCEL_DIV_MG); |
gume | 0:1f82672b8755 | 2981 | accel_xyz->z = |
gume | 0:1f82672b8755 | 2982 | (float)(reg_accel_xyz.z/BNO055_ACCEL_DIV_MG); |
gume | 0:1f82672b8755 | 2983 | } else { |
gume | 0:1f82672b8755 | 2984 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 2985 | } |
gume | 0:1f82672b8755 | 2986 | } else { |
gume | 0:1f82672b8755 | 2987 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 2988 | } |
gume | 0:1f82672b8755 | 2989 | return com_rslt; |
gume | 0:1f82672b8755 | 2990 | } |
gume | 0:1f82672b8755 | 2991 | /*! |
gume | 0:1f82672b8755 | 2992 | * @brief This API is used to convert the mag x raw data |
gume | 0:1f82672b8755 | 2993 | * to microTesla output as float |
gume | 0:1f82672b8755 | 2994 | * |
gume | 0:1f82672b8755 | 2995 | * @param mag_x_f : The mag x microTesla data |
gume | 0:1f82672b8755 | 2996 | * |
gume | 0:1f82672b8755 | 2997 | * |
gume | 0:1f82672b8755 | 2998 | * |
gume | 0:1f82672b8755 | 2999 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 3000 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 3001 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 3002 | * |
gume | 0:1f82672b8755 | 3003 | * |
gume | 0:1f82672b8755 | 3004 | */ |
gume | 0:1f82672b8755 | 3005 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_x_uT( |
gume | 0:1f82672b8755 | 3006 | float *mag_x_f) |
gume | 0:1f82672b8755 | 3007 | { |
gume | 0:1f82672b8755 | 3008 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 3009 | communication routine*/ |
gume | 0:1f82672b8755 | 3010 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3011 | s16 reg_mag_x_s16 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 3012 | float data_f = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 3013 | /* Read raw mag x data */ |
gume | 0:1f82672b8755 | 3014 | com_rslt = bno055_read_mag_x(®_mag_x_s16); |
gume | 0:1f82672b8755 | 3015 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 3016 | /* Convert the raw mag x to microTesla*/ |
gume | 0:1f82672b8755 | 3017 | data_f = (float)(reg_mag_x_s16/BNO055_MAG_DIV_UT); |
gume | 0:1f82672b8755 | 3018 | *mag_x_f = data_f; |
gume | 0:1f82672b8755 | 3019 | } else { |
gume | 0:1f82672b8755 | 3020 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3021 | } |
gume | 0:1f82672b8755 | 3022 | return com_rslt; |
gume | 0:1f82672b8755 | 3023 | } |
gume | 0:1f82672b8755 | 3024 | /*! |
gume | 0:1f82672b8755 | 3025 | * @brief This API is used to convert the mag y raw data |
gume | 0:1f82672b8755 | 3026 | * to microTesla output as float |
gume | 0:1f82672b8755 | 3027 | * |
gume | 0:1f82672b8755 | 3028 | * @param mag_y_f : The mag y microTesla data |
gume | 0:1f82672b8755 | 3029 | * |
gume | 0:1f82672b8755 | 3030 | * |
gume | 0:1f82672b8755 | 3031 | * |
gume | 0:1f82672b8755 | 3032 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 3033 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 3034 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 3035 | * |
gume | 0:1f82672b8755 | 3036 | */ |
gume | 0:1f82672b8755 | 3037 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_y_uT( |
gume | 0:1f82672b8755 | 3038 | float *mag_y_f) |
gume | 0:1f82672b8755 | 3039 | { |
gume | 0:1f82672b8755 | 3040 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 3041 | communication routine*/ |
gume | 0:1f82672b8755 | 3042 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3043 | s16 reg_mag_y_s16 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 3044 | float data_f = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 3045 | /* Read raw mag y data */ |
gume | 0:1f82672b8755 | 3046 | com_rslt = bno055_read_mag_y(®_mag_y_s16); |
gume | 0:1f82672b8755 | 3047 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 3048 | /* Convert the raw mag y to microTesla*/ |
gume | 0:1f82672b8755 | 3049 | data_f = (float)(reg_mag_y_s16/BNO055_MAG_DIV_UT); |
gume | 0:1f82672b8755 | 3050 | *mag_y_f = data_f; |
gume | 0:1f82672b8755 | 3051 | } else { |
gume | 0:1f82672b8755 | 3052 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3053 | } |
gume | 0:1f82672b8755 | 3054 | return com_rslt; |
gume | 0:1f82672b8755 | 3055 | } |
gume | 0:1f82672b8755 | 3056 | /*! |
gume | 0:1f82672b8755 | 3057 | * @brief This API is used to convert the mag z raw data |
gume | 0:1f82672b8755 | 3058 | * to microTesla output as float |
gume | 0:1f82672b8755 | 3059 | * |
gume | 0:1f82672b8755 | 3060 | * @param mag_z_f : The mag z microTesla data |
gume | 0:1f82672b8755 | 3061 | * |
gume | 0:1f82672b8755 | 3062 | * |
gume | 0:1f82672b8755 | 3063 | * |
gume | 0:1f82672b8755 | 3064 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 3065 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 3066 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 3067 | * |
gume | 0:1f82672b8755 | 3068 | */ |
gume | 0:1f82672b8755 | 3069 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_z_uT( |
gume | 0:1f82672b8755 | 3070 | float *mag_z_f) |
gume | 0:1f82672b8755 | 3071 | { |
gume | 0:1f82672b8755 | 3072 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 3073 | communication routine*/ |
gume | 0:1f82672b8755 | 3074 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3075 | s16 reg_mag_z_s16 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 3076 | float data_f = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 3077 | /* Read raw mag z data */ |
gume | 0:1f82672b8755 | 3078 | com_rslt = bno055_read_mag_z(®_mag_z_s16); |
gume | 0:1f82672b8755 | 3079 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 3080 | /* Convert the raw mag z to microTesla*/ |
gume | 0:1f82672b8755 | 3081 | data_f = (float)(reg_mag_z_s16/BNO055_MAG_DIV_UT); |
gume | 0:1f82672b8755 | 3082 | *mag_z_f = data_f; |
gume | 0:1f82672b8755 | 3083 | } else { |
gume | 0:1f82672b8755 | 3084 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3085 | } |
gume | 0:1f82672b8755 | 3086 | return com_rslt; |
gume | 0:1f82672b8755 | 3087 | } |
gume | 0:1f82672b8755 | 3088 | /*! |
gume | 0:1f82672b8755 | 3089 | * @brief This API is used to convert the mag yz raw data |
gume | 0:1f82672b8755 | 3090 | * to microTesla output as float |
gume | 0:1f82672b8755 | 3091 | * |
gume | 0:1f82672b8755 | 3092 | * @param mag_xyz_data : The microTesla data of mag xyz |
gume | 0:1f82672b8755 | 3093 | * |
gume | 0:1f82672b8755 | 3094 | * Parameter | result |
gume | 0:1f82672b8755 | 3095 | * --------- | ----------------- |
gume | 0:1f82672b8755 | 3096 | * x | microTesla data of mag |
gume | 0:1f82672b8755 | 3097 | * y | microTesla data of mag |
gume | 0:1f82672b8755 | 3098 | * z | microTesla data of mag |
gume | 0:1f82672b8755 | 3099 | * |
gume | 0:1f82672b8755 | 3100 | * |
gume | 0:1f82672b8755 | 3101 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 3102 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 3103 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 3104 | * |
gume | 0:1f82672b8755 | 3105 | */ |
gume | 0:1f82672b8755 | 3106 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_xyz_uT( |
gume | 0:1f82672b8755 | 3107 | struct bno055_mag_float_t *mag_xyz_data) |
gume | 0:1f82672b8755 | 3108 | { |
gume | 0:1f82672b8755 | 3109 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 3110 | communication routine*/ |
gume | 0:1f82672b8755 | 3111 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3112 | struct bno055_mag_t mag_xyz = { |
gume | 0:1f82672b8755 | 3113 | BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE}; |
gume | 0:1f82672b8755 | 3114 | /* Read raw mag x data */ |
gume | 0:1f82672b8755 | 3115 | com_rslt = bno055_read_mag_xyz(&mag_xyz); |
gume | 0:1f82672b8755 | 3116 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 3117 | /* Convert mag raw xyz to microTesla*/ |
gume | 0:1f82672b8755 | 3118 | mag_xyz_data->x = (float)(mag_xyz.x/BNO055_MAG_DIV_UT); |
gume | 0:1f82672b8755 | 3119 | mag_xyz_data->y = (float)(mag_xyz.y/BNO055_MAG_DIV_UT); |
gume | 0:1f82672b8755 | 3120 | mag_xyz_data->z = (float)(mag_xyz.z/BNO055_MAG_DIV_UT); |
gume | 0:1f82672b8755 | 3121 | } else { |
gume | 0:1f82672b8755 | 3122 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3123 | } |
gume | 0:1f82672b8755 | 3124 | |
gume | 0:1f82672b8755 | 3125 | return com_rslt; |
gume | 0:1f82672b8755 | 3126 | } |
gume | 0:1f82672b8755 | 3127 | /*! |
gume | 0:1f82672b8755 | 3128 | * @brief This API is used to convert the gyro x raw data |
gume | 0:1f82672b8755 | 3129 | * to dps output as float |
gume | 0:1f82672b8755 | 3130 | * |
gume | 0:1f82672b8755 | 3131 | * @param gyro_x_f : The gyro x dps float data |
gume | 0:1f82672b8755 | 3132 | * |
gume | 0:1f82672b8755 | 3133 | * |
gume | 0:1f82672b8755 | 3134 | * |
gume | 0:1f82672b8755 | 3135 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 3136 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 3137 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 3138 | */ |
gume | 0:1f82672b8755 | 3139 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_x_dps( |
gume | 0:1f82672b8755 | 3140 | float *gyro_x_f) |
gume | 0:1f82672b8755 | 3141 | { |
gume | 0:1f82672b8755 | 3142 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 3143 | communication routine*/ |
gume | 0:1f82672b8755 | 3144 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3145 | s16 reg_gyro_x_s16 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 3146 | float data_f = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 3147 | u8 gyro_unit_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 3148 | /* Read the current gyro unit and set the |
gume | 0:1f82672b8755 | 3149 | unit as dps if the unit is in rps */ |
gume | 0:1f82672b8755 | 3150 | com_rslt = bno055_get_gyro_unit(&gyro_unit_u8); |
gume | 0:1f82672b8755 | 3151 | if (gyro_unit_u8 != BNO055_GYRO_UNIT_DPS) |
gume | 0:1f82672b8755 | 3152 | com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_DPS); |
gume | 0:1f82672b8755 | 3153 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 3154 | /* Read gyro raw x data */ |
gume | 0:1f82672b8755 | 3155 | com_rslt += bno055_read_gyro_x(®_gyro_x_s16); |
gume | 0:1f82672b8755 | 3156 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 3157 | /* Convert the raw gyro x to dps*/ |
gume | 0:1f82672b8755 | 3158 | data_f = |
gume | 0:1f82672b8755 | 3159 | (float)(reg_gyro_x_s16/BNO055_GYRO_DIV_DPS); |
gume | 0:1f82672b8755 | 3160 | *gyro_x_f = data_f; |
gume | 0:1f82672b8755 | 3161 | } else { |
gume | 0:1f82672b8755 | 3162 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3163 | } |
gume | 0:1f82672b8755 | 3164 | } else { |
gume | 0:1f82672b8755 | 3165 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3166 | } |
gume | 0:1f82672b8755 | 3167 | return com_rslt; |
gume | 0:1f82672b8755 | 3168 | } |
gume | 0:1f82672b8755 | 3169 | /*! |
gume | 0:1f82672b8755 | 3170 | * @brief This API is used to convert the gyro x raw data |
gume | 0:1f82672b8755 | 3171 | * to rps output as float |
gume | 0:1f82672b8755 | 3172 | * |
gume | 0:1f82672b8755 | 3173 | * @param gyro_x_f : The gyro x dps float data |
gume | 0:1f82672b8755 | 3174 | * |
gume | 0:1f82672b8755 | 3175 | * |
gume | 0:1f82672b8755 | 3176 | * |
gume | 0:1f82672b8755 | 3177 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 3178 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 3179 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 3180 | * |
gume | 0:1f82672b8755 | 3181 | */ |
gume | 0:1f82672b8755 | 3182 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_x_rps( |
gume | 0:1f82672b8755 | 3183 | float *gyro_x_f) |
gume | 0:1f82672b8755 | 3184 | { |
gume | 0:1f82672b8755 | 3185 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 3186 | communication routine*/ |
gume | 0:1f82672b8755 | 3187 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3188 | s16 reg_gyro_x_s16 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 3189 | float data_f = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 3190 | u8 gyro_unit_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 3191 | /* Read the current gyro unit and set the |
gume | 0:1f82672b8755 | 3192 | unit as rps if the unit is in dps */ |
gume | 0:1f82672b8755 | 3193 | com_rslt = bno055_get_gyro_unit(&gyro_unit_u8); |
gume | 0:1f82672b8755 | 3194 | if (gyro_unit_u8 != BNO055_GYRO_UNIT_RPS) |
gume | 0:1f82672b8755 | 3195 | com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_RPS); |
gume | 0:1f82672b8755 | 3196 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 3197 | /* Read gyro raw x data */ |
gume | 0:1f82672b8755 | 3198 | com_rslt += bno055_read_gyro_x(®_gyro_x_s16); |
gume | 0:1f82672b8755 | 3199 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 3200 | /* Convert the raw gyro x to rps*/ |
gume | 0:1f82672b8755 | 3201 | data_f = |
gume | 0:1f82672b8755 | 3202 | (float)(reg_gyro_x_s16/BNO055_GYRO_DIV_RPS); |
gume | 0:1f82672b8755 | 3203 | *gyro_x_f = data_f; |
gume | 0:1f82672b8755 | 3204 | } else { |
gume | 0:1f82672b8755 | 3205 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3206 | } |
gume | 0:1f82672b8755 | 3207 | } else { |
gume | 0:1f82672b8755 | 3208 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3209 | } |
gume | 0:1f82672b8755 | 3210 | return com_rslt; |
gume | 0:1f82672b8755 | 3211 | } |
gume | 0:1f82672b8755 | 3212 | /*! |
gume | 0:1f82672b8755 | 3213 | * @brief This API is used to convert the gyro y raw data |
gume | 0:1f82672b8755 | 3214 | * to dps output as float |
gume | 0:1f82672b8755 | 3215 | * |
gume | 0:1f82672b8755 | 3216 | * @param gyro_y_f : The gyro y dps float data |
gume | 0:1f82672b8755 | 3217 | * |
gume | 0:1f82672b8755 | 3218 | * |
gume | 0:1f82672b8755 | 3219 | * |
gume | 0:1f82672b8755 | 3220 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 3221 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 3222 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 3223 | * |
gume | 0:1f82672b8755 | 3224 | */ |
gume | 0:1f82672b8755 | 3225 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_y_dps( |
gume | 0:1f82672b8755 | 3226 | float *gyro_y_f) |
gume | 0:1f82672b8755 | 3227 | { |
gume | 0:1f82672b8755 | 3228 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 3229 | communication routine*/ |
gume | 0:1f82672b8755 | 3230 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3231 | s16 reg_gyro_y_s16 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 3232 | float data_f = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 3233 | u8 gyro_unit_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 3234 | /* Read the current gyro unit and set the |
gume | 0:1f82672b8755 | 3235 | unit as dps if the unit is in rps */ |
gume | 0:1f82672b8755 | 3236 | com_rslt = bno055_get_gyro_unit(&gyro_unit_u8); |
gume | 0:1f82672b8755 | 3237 | if (gyro_unit_u8 != BNO055_GYRO_UNIT_DPS) |
gume | 0:1f82672b8755 | 3238 | com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_DPS); |
gume | 0:1f82672b8755 | 3239 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 3240 | /* Read gyro raw y data */ |
gume | 0:1f82672b8755 | 3241 | com_rslt += bno055_read_gyro_y(®_gyro_y_s16); |
gume | 0:1f82672b8755 | 3242 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 3243 | /* Convert the raw gyro x to dps*/ |
gume | 0:1f82672b8755 | 3244 | data_f = |
gume | 0:1f82672b8755 | 3245 | (float)(reg_gyro_y_s16/BNO055_GYRO_DIV_DPS); |
gume | 0:1f82672b8755 | 3246 | *gyro_y_f = data_f; |
gume | 0:1f82672b8755 | 3247 | } else { |
gume | 0:1f82672b8755 | 3248 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3249 | } |
gume | 0:1f82672b8755 | 3250 | } else { |
gume | 0:1f82672b8755 | 3251 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3252 | } |
gume | 0:1f82672b8755 | 3253 | return com_rslt; |
gume | 0:1f82672b8755 | 3254 | } |
gume | 0:1f82672b8755 | 3255 | /*! |
gume | 0:1f82672b8755 | 3256 | * @brief This API is used to convert the gyro y raw data |
gume | 0:1f82672b8755 | 3257 | * to rps output as float |
gume | 0:1f82672b8755 | 3258 | * |
gume | 0:1f82672b8755 | 3259 | * @param gyro_y_f : The gyro y dps float data |
gume | 0:1f82672b8755 | 3260 | * |
gume | 0:1f82672b8755 | 3261 | * |
gume | 0:1f82672b8755 | 3262 | * |
gume | 0:1f82672b8755 | 3263 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 3264 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 3265 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 3266 | * |
gume | 0:1f82672b8755 | 3267 | * |
gume | 0:1f82672b8755 | 3268 | */ |
gume | 0:1f82672b8755 | 3269 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_y_rps( |
gume | 0:1f82672b8755 | 3270 | float *gyro_y_f) |
gume | 0:1f82672b8755 | 3271 | { |
gume | 0:1f82672b8755 | 3272 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 3273 | communication routine*/ |
gume | 0:1f82672b8755 | 3274 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3275 | s16 reg_gyro_y_s16 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 3276 | float data_f = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 3277 | u8 gyro_unit_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 3278 | /* Read the current gyro unit and set the |
gume | 0:1f82672b8755 | 3279 | unit as rps if the unit is in dps */ |
gume | 0:1f82672b8755 | 3280 | com_rslt = bno055_get_gyro_unit(&gyro_unit_u8); |
gume | 0:1f82672b8755 | 3281 | if (gyro_unit_u8 != BNO055_GYRO_UNIT_RPS) |
gume | 0:1f82672b8755 | 3282 | com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_RPS); |
gume | 0:1f82672b8755 | 3283 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 3284 | /* Read gyro raw y data */ |
gume | 0:1f82672b8755 | 3285 | com_rslt += bno055_read_gyro_y(®_gyro_y_s16); |
gume | 0:1f82672b8755 | 3286 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 3287 | /* Convert the raw gyro x to rps*/ |
gume | 0:1f82672b8755 | 3288 | data_f = |
gume | 0:1f82672b8755 | 3289 | (float)(reg_gyro_y_s16/BNO055_GYRO_DIV_RPS); |
gume | 0:1f82672b8755 | 3290 | *gyro_y_f = data_f; |
gume | 0:1f82672b8755 | 3291 | } else { |
gume | 0:1f82672b8755 | 3292 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3293 | } |
gume | 0:1f82672b8755 | 3294 | } else { |
gume | 0:1f82672b8755 | 3295 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3296 | } |
gume | 0:1f82672b8755 | 3297 | return com_rslt; |
gume | 0:1f82672b8755 | 3298 | } |
gume | 0:1f82672b8755 | 3299 | /*! |
gume | 0:1f82672b8755 | 3300 | * @brief This API is used to convert the gyro z raw data |
gume | 0:1f82672b8755 | 3301 | * to dps output as float |
gume | 0:1f82672b8755 | 3302 | * |
gume | 0:1f82672b8755 | 3303 | * @param gyro_z_f : The gyro z dps float data |
gume | 0:1f82672b8755 | 3304 | * |
gume | 0:1f82672b8755 | 3305 | * |
gume | 0:1f82672b8755 | 3306 | * |
gume | 0:1f82672b8755 | 3307 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 3308 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 3309 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 3310 | * |
gume | 0:1f82672b8755 | 3311 | */ |
gume | 0:1f82672b8755 | 3312 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_z_dps( |
gume | 0:1f82672b8755 | 3313 | float *gyro_z_f) |
gume | 0:1f82672b8755 | 3314 | { |
gume | 0:1f82672b8755 | 3315 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 3316 | communication routine*/ |
gume | 0:1f82672b8755 | 3317 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3318 | s16 reg_gyro_z_s16 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 3319 | float data_f = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 3320 | u8 gyro_unit_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 3321 | /* Read the current gyro unit and set the |
gume | 0:1f82672b8755 | 3322 | unit as dps if the unit is in rps */ |
gume | 0:1f82672b8755 | 3323 | com_rslt = bno055_get_gyro_unit(&gyro_unit_u8); |
gume | 0:1f82672b8755 | 3324 | if (gyro_unit_u8 != BNO055_GYRO_UNIT_DPS) |
gume | 0:1f82672b8755 | 3325 | com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_DPS); |
gume | 0:1f82672b8755 | 3326 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 3327 | /* Read gyro raw z data */ |
gume | 0:1f82672b8755 | 3328 | com_rslt += bno055_read_gyro_z(®_gyro_z_s16); |
gume | 0:1f82672b8755 | 3329 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 3330 | /* Convert the raw gyro x to dps*/ |
gume | 0:1f82672b8755 | 3331 | data_f = |
gume | 0:1f82672b8755 | 3332 | (float)(reg_gyro_z_s16/BNO055_GYRO_DIV_DPS); |
gume | 0:1f82672b8755 | 3333 | *gyro_z_f = data_f; |
gume | 0:1f82672b8755 | 3334 | } else { |
gume | 0:1f82672b8755 | 3335 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3336 | } |
gume | 0:1f82672b8755 | 3337 | } else { |
gume | 0:1f82672b8755 | 3338 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3339 | } |
gume | 0:1f82672b8755 | 3340 | return com_rslt; |
gume | 0:1f82672b8755 | 3341 | } |
gume | 0:1f82672b8755 | 3342 | /*! |
gume | 0:1f82672b8755 | 3343 | * @brief This API is used to convert the gyro z raw data |
gume | 0:1f82672b8755 | 3344 | * to rps output as float |
gume | 0:1f82672b8755 | 3345 | * |
gume | 0:1f82672b8755 | 3346 | * @param gyro_z_f : The gyro z rps float data |
gume | 0:1f82672b8755 | 3347 | * |
gume | 0:1f82672b8755 | 3348 | * |
gume | 0:1f82672b8755 | 3349 | * |
gume | 0:1f82672b8755 | 3350 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 3351 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 3352 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 3353 | * |
gume | 0:1f82672b8755 | 3354 | */ |
gume | 0:1f82672b8755 | 3355 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_z_rps( |
gume | 0:1f82672b8755 | 3356 | float *gyro_z_f) |
gume | 0:1f82672b8755 | 3357 | { |
gume | 0:1f82672b8755 | 3358 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 3359 | communication routine*/ |
gume | 0:1f82672b8755 | 3360 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3361 | s16 reg_gyro_z_s16 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 3362 | float data_f = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 3363 | u8 gyro_unit_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 3364 | /* Read the current gyro unit and set the |
gume | 0:1f82672b8755 | 3365 | unit as rps if the unit is in dps */ |
gume | 0:1f82672b8755 | 3366 | com_rslt = bno055_get_gyro_unit(&gyro_unit_u8); |
gume | 0:1f82672b8755 | 3367 | if (gyro_unit_u8 != BNO055_GYRO_UNIT_RPS) |
gume | 0:1f82672b8755 | 3368 | com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_RPS); |
gume | 0:1f82672b8755 | 3369 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 3370 | /* Read gyro raw x data */ |
gume | 0:1f82672b8755 | 3371 | com_rslt += bno055_read_gyro_z(®_gyro_z_s16); |
gume | 0:1f82672b8755 | 3372 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 3373 | /* Convert the raw gyro x to rps*/ |
gume | 0:1f82672b8755 | 3374 | data_f = |
gume | 0:1f82672b8755 | 3375 | (float)(reg_gyro_z_s16/BNO055_GYRO_DIV_RPS); |
gume | 0:1f82672b8755 | 3376 | *gyro_z_f = data_f; |
gume | 0:1f82672b8755 | 3377 | } else { |
gume | 0:1f82672b8755 | 3378 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3379 | } |
gume | 0:1f82672b8755 | 3380 | } else { |
gume | 0:1f82672b8755 | 3381 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3382 | } |
gume | 0:1f82672b8755 | 3383 | return com_rslt; |
gume | 0:1f82672b8755 | 3384 | } |
gume | 0:1f82672b8755 | 3385 | /*! |
gume | 0:1f82672b8755 | 3386 | * @brief This API is used to convert the gyro xyz raw data |
gume | 0:1f82672b8755 | 3387 | * to dps output as float |
gume | 0:1f82672b8755 | 3388 | * |
gume | 0:1f82672b8755 | 3389 | * @param gyro_xyz_data : The dps data of gyro xyz |
gume | 0:1f82672b8755 | 3390 | * |
gume | 0:1f82672b8755 | 3391 | * Parameter | result |
gume | 0:1f82672b8755 | 3392 | * --------- | ----------------- |
gume | 0:1f82672b8755 | 3393 | * x | dps data of gyro |
gume | 0:1f82672b8755 | 3394 | * y | dps data of gyro |
gume | 0:1f82672b8755 | 3395 | * z | dps data of gyro |
gume | 0:1f82672b8755 | 3396 | * |
gume | 0:1f82672b8755 | 3397 | * |
gume | 0:1f82672b8755 | 3398 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 3399 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 3400 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 3401 | * |
gume | 0:1f82672b8755 | 3402 | * |
gume | 0:1f82672b8755 | 3403 | */ |
gume | 0:1f82672b8755 | 3404 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_xyz_dps( |
gume | 0:1f82672b8755 | 3405 | struct bno055_gyro_float_t *gyro_xyz_data) |
gume | 0:1f82672b8755 | 3406 | { |
gume | 0:1f82672b8755 | 3407 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 3408 | communication routine*/ |
gume | 0:1f82672b8755 | 3409 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3410 | struct bno055_gyro_t gyro_xyz = { |
gume | 0:1f82672b8755 | 3411 | BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE}; |
gume | 0:1f82672b8755 | 3412 | u8 gyro_unit_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 3413 | /* Read the current gyro unit and set the |
gume | 0:1f82672b8755 | 3414 | unit as dps if the unit is in rps */ |
gume | 0:1f82672b8755 | 3415 | com_rslt = bno055_get_gyro_unit(&gyro_unit_u8); |
gume | 0:1f82672b8755 | 3416 | if (gyro_unit_u8 != BNO055_GYRO_UNIT_DPS) |
gume | 0:1f82672b8755 | 3417 | com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_DPS); |
gume | 0:1f82672b8755 | 3418 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 3419 | /* Read gyro raw xyz data */ |
gume | 0:1f82672b8755 | 3420 | com_rslt += bno055_read_gyro_xyz(&gyro_xyz); |
gume | 0:1f82672b8755 | 3421 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 3422 | /* Convert gyro raw xyz to dps*/ |
gume | 0:1f82672b8755 | 3423 | gyro_xyz_data->x = |
gume | 0:1f82672b8755 | 3424 | (float)(gyro_xyz.x/BNO055_GYRO_DIV_DPS); |
gume | 0:1f82672b8755 | 3425 | gyro_xyz_data->y = |
gume | 0:1f82672b8755 | 3426 | (float)(gyro_xyz.y/BNO055_GYRO_DIV_DPS); |
gume | 0:1f82672b8755 | 3427 | gyro_xyz_data->z = |
gume | 0:1f82672b8755 | 3428 | (float)(gyro_xyz.z/BNO055_GYRO_DIV_DPS); |
gume | 0:1f82672b8755 | 3429 | } else { |
gume | 0:1f82672b8755 | 3430 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3431 | } |
gume | 0:1f82672b8755 | 3432 | } else { |
gume | 0:1f82672b8755 | 3433 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3434 | } |
gume | 0:1f82672b8755 | 3435 | return com_rslt; |
gume | 0:1f82672b8755 | 3436 | } |
gume | 0:1f82672b8755 | 3437 | /*! |
gume | 0:1f82672b8755 | 3438 | * @brief This API is used to convert the gyro xyz raw data |
gume | 0:1f82672b8755 | 3439 | * to rps output as float |
gume | 0:1f82672b8755 | 3440 | * |
gume | 0:1f82672b8755 | 3441 | * @param gyro_xyz_data : The rps data of gyro xyz |
gume | 0:1f82672b8755 | 3442 | * |
gume | 0:1f82672b8755 | 3443 | * Parameter | result |
gume | 0:1f82672b8755 | 3444 | * --------- | ----------------- |
gume | 0:1f82672b8755 | 3445 | * x | rps data of gyro |
gume | 0:1f82672b8755 | 3446 | * y | rps data of gyro |
gume | 0:1f82672b8755 | 3447 | * z | rps data of gyro |
gume | 0:1f82672b8755 | 3448 | * |
gume | 0:1f82672b8755 | 3449 | * |
gume | 0:1f82672b8755 | 3450 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 3451 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 3452 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 3453 | * |
gume | 0:1f82672b8755 | 3454 | * |
gume | 0:1f82672b8755 | 3455 | */ |
gume | 0:1f82672b8755 | 3456 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_xyz_rps( |
gume | 0:1f82672b8755 | 3457 | struct bno055_gyro_float_t *gyro_xyz_data) |
gume | 0:1f82672b8755 | 3458 | { |
gume | 0:1f82672b8755 | 3459 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 3460 | communication routine*/ |
gume | 0:1f82672b8755 | 3461 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3462 | struct bno055_gyro_t gyro_xyz = {BNO055_INIT_VALUE, |
gume | 0:1f82672b8755 | 3463 | BNO055_INIT_VALUE, BNO055_INIT_VALUE}; |
gume | 0:1f82672b8755 | 3464 | u8 gyro_unit_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 3465 | /* Read the current gyro unit and set the |
gume | 0:1f82672b8755 | 3466 | unit as rps if the unit is in dps */ |
gume | 0:1f82672b8755 | 3467 | com_rslt = bno055_get_gyro_unit(&gyro_unit_u8); |
gume | 0:1f82672b8755 | 3468 | if (gyro_unit_u8 != BNO055_GYRO_UNIT_RPS) |
gume | 0:1f82672b8755 | 3469 | com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_RPS); |
gume | 0:1f82672b8755 | 3470 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 3471 | /* Read gyro raw xyz data */ |
gume | 0:1f82672b8755 | 3472 | com_rslt += bno055_read_gyro_xyz(&gyro_xyz); |
gume | 0:1f82672b8755 | 3473 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 3474 | /* Convert gyro raw xyz to rps*/ |
gume | 0:1f82672b8755 | 3475 | gyro_xyz_data->x = |
gume | 0:1f82672b8755 | 3476 | (float)(gyro_xyz.x/BNO055_GYRO_DIV_RPS); |
gume | 0:1f82672b8755 | 3477 | gyro_xyz_data->y = |
gume | 0:1f82672b8755 | 3478 | (float)(gyro_xyz.y/BNO055_GYRO_DIV_RPS); |
gume | 0:1f82672b8755 | 3479 | gyro_xyz_data->z = |
gume | 0:1f82672b8755 | 3480 | (float)(gyro_xyz.z/BNO055_GYRO_DIV_RPS); |
gume | 0:1f82672b8755 | 3481 | } else { |
gume | 0:1f82672b8755 | 3482 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3483 | } |
gume | 0:1f82672b8755 | 3484 | } else { |
gume | 0:1f82672b8755 | 3485 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3486 | } |
gume | 0:1f82672b8755 | 3487 | return com_rslt; |
gume | 0:1f82672b8755 | 3488 | } |
gume | 0:1f82672b8755 | 3489 | /*! |
gume | 0:1f82672b8755 | 3490 | * @brief This API is used to convert the Euler h raw data |
gume | 0:1f82672b8755 | 3491 | * to degree output as float |
gume | 0:1f82672b8755 | 3492 | * |
gume | 0:1f82672b8755 | 3493 | * @param euler_h_f : The float value of Euler h degree |
gume | 0:1f82672b8755 | 3494 | * |
gume | 0:1f82672b8755 | 3495 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 3496 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 3497 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 3498 | * |
gume | 0:1f82672b8755 | 3499 | * |
gume | 0:1f82672b8755 | 3500 | */ |
gume | 0:1f82672b8755 | 3501 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_h_deg( |
gume | 0:1f82672b8755 | 3502 | float *euler_h_f) |
gume | 0:1f82672b8755 | 3503 | { |
gume | 0:1f82672b8755 | 3504 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 3505 | communication routine*/ |
gume | 0:1f82672b8755 | 3506 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3507 | s16 reg_euler_h_s16 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 3508 | float data_f = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 3509 | u8 euler_unit_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 3510 | /* Read the current Euler unit and set the |
gume | 0:1f82672b8755 | 3511 | unit as degree if the unit is in radians */ |
gume | 0:1f82672b8755 | 3512 | com_rslt = bno055_get_euler_unit(&euler_unit_u8); |
gume | 0:1f82672b8755 | 3513 | if (euler_unit_u8 != BNO055_EULER_UNIT_DEG) |
gume | 0:1f82672b8755 | 3514 | com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_DEG); |
gume | 0:1f82672b8755 | 3515 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 3516 | /* Read Euler raw h data*/ |
gume | 0:1f82672b8755 | 3517 | com_rslt += bno055_read_euler_h(®_euler_h_s16); |
gume | 0:1f82672b8755 | 3518 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 3519 | /* Convert raw Euler h data to degree*/ |
gume | 0:1f82672b8755 | 3520 | data_f = |
gume | 0:1f82672b8755 | 3521 | (float)(reg_euler_h_s16/BNO055_EULER_DIV_DEG); |
gume | 0:1f82672b8755 | 3522 | *euler_h_f = data_f; |
gume | 0:1f82672b8755 | 3523 | } else { |
gume | 0:1f82672b8755 | 3524 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3525 | } |
gume | 0:1f82672b8755 | 3526 | } else { |
gume | 0:1f82672b8755 | 3527 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3528 | } |
gume | 0:1f82672b8755 | 3529 | return com_rslt; |
gume | 0:1f82672b8755 | 3530 | } |
gume | 0:1f82672b8755 | 3531 | /*! |
gume | 0:1f82672b8755 | 3532 | * @brief This API is used to convert the Euler h raw data |
gume | 0:1f82672b8755 | 3533 | * to radians output as float |
gume | 0:1f82672b8755 | 3534 | * |
gume | 0:1f82672b8755 | 3535 | * @param euler_h_f : The float value of Euler h radians |
gume | 0:1f82672b8755 | 3536 | * |
gume | 0:1f82672b8755 | 3537 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 3538 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 3539 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 3540 | * |
gume | 0:1f82672b8755 | 3541 | * |
gume | 0:1f82672b8755 | 3542 | */ |
gume | 0:1f82672b8755 | 3543 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_h_rad( |
gume | 0:1f82672b8755 | 3544 | float *euler_h_f) |
gume | 0:1f82672b8755 | 3545 | { |
gume | 0:1f82672b8755 | 3546 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3547 | s16 reg_euler_h_s16 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 3548 | float data_f = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 3549 | u8 euler_unit_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 3550 | |
gume | 0:1f82672b8755 | 3551 | com_rslt = bno055_get_euler_unit(&euler_unit_u8); |
gume | 0:1f82672b8755 | 3552 | if (euler_unit_u8 != BNO055_EULER_UNIT_RAD) |
gume | 0:1f82672b8755 | 3553 | /* Read the current Euler unit and set the |
gume | 0:1f82672b8755 | 3554 | unit as radians if the unit is in degree */ |
gume | 0:1f82672b8755 | 3555 | com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_RAD); |
gume | 0:1f82672b8755 | 3556 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 3557 | /* Read Euler raw h data*/ |
gume | 0:1f82672b8755 | 3558 | com_rslt += bno055_read_euler_h(®_euler_h_s16); |
gume | 0:1f82672b8755 | 3559 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 3560 | /* Convert raw Euler h data to degree*/ |
gume | 0:1f82672b8755 | 3561 | data_f = |
gume | 0:1f82672b8755 | 3562 | (float)(reg_euler_h_s16/BNO055_EULER_DIV_RAD); |
gume | 0:1f82672b8755 | 3563 | *euler_h_f = data_f; |
gume | 0:1f82672b8755 | 3564 | } else { |
gume | 0:1f82672b8755 | 3565 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3566 | } |
gume | 0:1f82672b8755 | 3567 | } else { |
gume | 0:1f82672b8755 | 3568 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3569 | } |
gume | 0:1f82672b8755 | 3570 | return com_rslt; |
gume | 0:1f82672b8755 | 3571 | } |
gume | 0:1f82672b8755 | 3572 | /*! |
gume | 0:1f82672b8755 | 3573 | * @brief This API is used to convert the Euler r raw data |
gume | 0:1f82672b8755 | 3574 | * to degree output as float |
gume | 0:1f82672b8755 | 3575 | * |
gume | 0:1f82672b8755 | 3576 | * @param euler_r_f : The float value of Euler r degree |
gume | 0:1f82672b8755 | 3577 | * |
gume | 0:1f82672b8755 | 3578 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 3579 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 3580 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 3581 | * |
gume | 0:1f82672b8755 | 3582 | */ |
gume | 0:1f82672b8755 | 3583 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_r_deg( |
gume | 0:1f82672b8755 | 3584 | float *euler_r_f) |
gume | 0:1f82672b8755 | 3585 | { |
gume | 0:1f82672b8755 | 3586 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3587 | s16 reg_euler_r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 3588 | float data_f = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 3589 | u8 euler_unit_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 3590 | /* Read the current Euler unit and set the |
gume | 0:1f82672b8755 | 3591 | unit as degree if the unit is in radians */ |
gume | 0:1f82672b8755 | 3592 | com_rslt = bno055_get_euler_unit(&euler_unit_u8); |
gume | 0:1f82672b8755 | 3593 | if (euler_unit_u8 != BNO055_EULER_UNIT_DEG) |
gume | 0:1f82672b8755 | 3594 | com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_DEG); |
gume | 0:1f82672b8755 | 3595 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 3596 | /* Read Euler raw r data*/ |
gume | 0:1f82672b8755 | 3597 | com_rslt += bno055_read_euler_r(®_euler_r); |
gume | 0:1f82672b8755 | 3598 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 3599 | /* Convert raw Euler r data to degree*/ |
gume | 0:1f82672b8755 | 3600 | data_f = (float)( |
gume | 0:1f82672b8755 | 3601 | reg_euler_r/BNO055_EULER_DIV_DEG); |
gume | 0:1f82672b8755 | 3602 | *euler_r_f = data_f; |
gume | 0:1f82672b8755 | 3603 | } else { |
gume | 0:1f82672b8755 | 3604 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3605 | } |
gume | 0:1f82672b8755 | 3606 | } else { |
gume | 0:1f82672b8755 | 3607 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3608 | } |
gume | 0:1f82672b8755 | 3609 | return com_rslt; |
gume | 0:1f82672b8755 | 3610 | } |
gume | 0:1f82672b8755 | 3611 | /*! |
gume | 0:1f82672b8755 | 3612 | * @brief This API is used to convert the Euler r raw data |
gume | 0:1f82672b8755 | 3613 | * to radians output as float |
gume | 0:1f82672b8755 | 3614 | * |
gume | 0:1f82672b8755 | 3615 | * @param euler_r_f : The float value of Euler r radians |
gume | 0:1f82672b8755 | 3616 | * |
gume | 0:1f82672b8755 | 3617 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 3618 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 3619 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 3620 | * |
gume | 0:1f82672b8755 | 3621 | */ |
gume | 0:1f82672b8755 | 3622 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_r_rad( |
gume | 0:1f82672b8755 | 3623 | float *euler_r_f) |
gume | 0:1f82672b8755 | 3624 | { |
gume | 0:1f82672b8755 | 3625 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3626 | s16 reg_euler_r_f = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 3627 | float data_f = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 3628 | u8 euler_unit_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 3629 | /* Read the current Euler unit and set the |
gume | 0:1f82672b8755 | 3630 | unit as radians if the unit is in degree */ |
gume | 0:1f82672b8755 | 3631 | com_rslt = bno055_get_euler_unit(&euler_unit_u8); |
gume | 0:1f82672b8755 | 3632 | if (euler_unit_u8 != BNO055_EULER_UNIT_RAD) |
gume | 0:1f82672b8755 | 3633 | com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_RAD); |
gume | 0:1f82672b8755 | 3634 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 3635 | /* Read Euler raw r data*/ |
gume | 0:1f82672b8755 | 3636 | com_rslt += bno055_read_euler_r(®_euler_r_f); |
gume | 0:1f82672b8755 | 3637 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 3638 | /* Convert raw Euler r data to radians*/ |
gume | 0:1f82672b8755 | 3639 | data_f = |
gume | 0:1f82672b8755 | 3640 | (float)(reg_euler_r_f/BNO055_EULER_DIV_RAD); |
gume | 0:1f82672b8755 | 3641 | *euler_r_f = data_f; |
gume | 0:1f82672b8755 | 3642 | } else { |
gume | 0:1f82672b8755 | 3643 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3644 | } |
gume | 0:1f82672b8755 | 3645 | } else { |
gume | 0:1f82672b8755 | 3646 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3647 | } |
gume | 0:1f82672b8755 | 3648 | return com_rslt; |
gume | 0:1f82672b8755 | 3649 | } |
gume | 0:1f82672b8755 | 3650 | /*! |
gume | 0:1f82672b8755 | 3651 | * @brief This API is used to convert the Euler p raw data |
gume | 0:1f82672b8755 | 3652 | * to degree output as float |
gume | 0:1f82672b8755 | 3653 | * |
gume | 0:1f82672b8755 | 3654 | * @param euler_p_f : The float value of Euler p degree |
gume | 0:1f82672b8755 | 3655 | * |
gume | 0:1f82672b8755 | 3656 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 3657 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 3658 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 3659 | * |
gume | 0:1f82672b8755 | 3660 | */ |
gume | 0:1f82672b8755 | 3661 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_p_deg( |
gume | 0:1f82672b8755 | 3662 | float *euler_p_f) |
gume | 0:1f82672b8755 | 3663 | { |
gume | 0:1f82672b8755 | 3664 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3665 | s16 reg_euler_p_f = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 3666 | float data_f = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 3667 | u8 euler_unit_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 3668 | /* Read the current Euler unit and set the |
gume | 0:1f82672b8755 | 3669 | unit as degree if the unit is in radians */ |
gume | 0:1f82672b8755 | 3670 | com_rslt = bno055_get_euler_unit(&euler_unit_u8); |
gume | 0:1f82672b8755 | 3671 | if (euler_unit_u8 != BNO055_EULER_UNIT_DEG) |
gume | 0:1f82672b8755 | 3672 | com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_DEG); |
gume | 0:1f82672b8755 | 3673 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 3674 | /* Read Euler raw p data*/ |
gume | 0:1f82672b8755 | 3675 | com_rslt += bno055_read_euler_p(®_euler_p_f); |
gume | 0:1f82672b8755 | 3676 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 3677 | /* Convert raw Euler p data to degree*/ |
gume | 0:1f82672b8755 | 3678 | data_f = |
gume | 0:1f82672b8755 | 3679 | (float)(reg_euler_p_f/BNO055_EULER_DIV_DEG); |
gume | 0:1f82672b8755 | 3680 | *euler_p_f = data_f; |
gume | 0:1f82672b8755 | 3681 | } else { |
gume | 0:1f82672b8755 | 3682 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3683 | } |
gume | 0:1f82672b8755 | 3684 | } else { |
gume | 0:1f82672b8755 | 3685 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3686 | } |
gume | 0:1f82672b8755 | 3687 | return com_rslt; |
gume | 0:1f82672b8755 | 3688 | } |
gume | 0:1f82672b8755 | 3689 | /*! |
gume | 0:1f82672b8755 | 3690 | * @brief This API is used to convert the Euler p raw data |
gume | 0:1f82672b8755 | 3691 | * to radians output as float |
gume | 0:1f82672b8755 | 3692 | * |
gume | 0:1f82672b8755 | 3693 | * @param euler_p_f : The float value of Euler p radians |
gume | 0:1f82672b8755 | 3694 | * |
gume | 0:1f82672b8755 | 3695 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 3696 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 3697 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 3698 | * |
gume | 0:1f82672b8755 | 3699 | * |
gume | 0:1f82672b8755 | 3700 | */ |
gume | 0:1f82672b8755 | 3701 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_p_rad( |
gume | 0:1f82672b8755 | 3702 | float *euler_p_f) |
gume | 0:1f82672b8755 | 3703 | { |
gume | 0:1f82672b8755 | 3704 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3705 | s16 reg_euler_p_f = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 3706 | float data_f = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 3707 | u8 euler_unit_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 3708 | /* Read the current Euler unit and set the |
gume | 0:1f82672b8755 | 3709 | unit as radians if the unit is in degree */ |
gume | 0:1f82672b8755 | 3710 | com_rslt = bno055_get_euler_unit(&euler_unit_u8); |
gume | 0:1f82672b8755 | 3711 | if (euler_unit_u8 != BNO055_EULER_UNIT_RAD) |
gume | 0:1f82672b8755 | 3712 | com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_RAD); |
gume | 0:1f82672b8755 | 3713 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 3714 | /* Read Euler raw r data*/ |
gume | 0:1f82672b8755 | 3715 | com_rslt += bno055_read_euler_p(®_euler_p_f); |
gume | 0:1f82672b8755 | 3716 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 3717 | /* Convert raw Euler r data to radians*/ |
gume | 0:1f82672b8755 | 3718 | data_f = |
gume | 0:1f82672b8755 | 3719 | (float)(reg_euler_p_f/BNO055_EULER_DIV_RAD); |
gume | 0:1f82672b8755 | 3720 | *euler_p_f = data_f; |
gume | 0:1f82672b8755 | 3721 | } else { |
gume | 0:1f82672b8755 | 3722 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3723 | } |
gume | 0:1f82672b8755 | 3724 | } else { |
gume | 0:1f82672b8755 | 3725 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3726 | } |
gume | 0:1f82672b8755 | 3727 | return com_rslt; |
gume | 0:1f82672b8755 | 3728 | } |
gume | 0:1f82672b8755 | 3729 | /*! |
gume | 0:1f82672b8755 | 3730 | * @brief This API is used to convert the Euler hrp raw data |
gume | 0:1f82672b8755 | 3731 | * to degree output as float |
gume | 0:1f82672b8755 | 3732 | * |
gume | 0:1f82672b8755 | 3733 | * @param euler_hpr : The degree data of Euler hrp |
gume | 0:1f82672b8755 | 3734 | * |
gume | 0:1f82672b8755 | 3735 | * Parameter | result |
gume | 0:1f82672b8755 | 3736 | * --------- | ----------------- |
gume | 0:1f82672b8755 | 3737 | * h | degree data of Euler |
gume | 0:1f82672b8755 | 3738 | * r | degree data of Euler |
gume | 0:1f82672b8755 | 3739 | * p | degree data of Euler |
gume | 0:1f82672b8755 | 3740 | * |
gume | 0:1f82672b8755 | 3741 | * |
gume | 0:1f82672b8755 | 3742 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 3743 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 3744 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 3745 | * |
gume | 0:1f82672b8755 | 3746 | */ |
gume | 0:1f82672b8755 | 3747 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_hpr_deg( |
gume | 0:1f82672b8755 | 3748 | struct bno055_euler_float_t *euler_hpr) |
gume | 0:1f82672b8755 | 3749 | { |
gume | 0:1f82672b8755 | 3750 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 3751 | communication routine*/ |
gume | 0:1f82672b8755 | 3752 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3753 | struct bno055_euler_t reg_euler = {BNO055_INIT_VALUE, |
gume | 0:1f82672b8755 | 3754 | BNO055_INIT_VALUE, BNO055_INIT_VALUE}; |
gume | 0:1f82672b8755 | 3755 | u8 euler_unit_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 3756 | /* Read the current Euler unit and set the |
gume | 0:1f82672b8755 | 3757 | unit as degree if the unit is in radians */ |
gume | 0:1f82672b8755 | 3758 | com_rslt = bno055_get_euler_unit(&euler_unit_u8); |
gume | 0:1f82672b8755 | 3759 | if (euler_unit_u8 != BNO055_EULER_UNIT_DEG) |
gume | 0:1f82672b8755 | 3760 | com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_DEG); |
gume | 0:1f82672b8755 | 3761 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 3762 | /* Read Euler raw hrp data*/ |
gume | 0:1f82672b8755 | 3763 | com_rslt += bno055_read_euler_hrp(®_euler); |
gume | 0:1f82672b8755 | 3764 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 3765 | /* Convert raw Euler hrp to degree*/ |
gume | 0:1f82672b8755 | 3766 | euler_hpr->h = |
gume | 0:1f82672b8755 | 3767 | (float)(reg_euler.h/BNO055_EULER_DIV_DEG); |
gume | 0:1f82672b8755 | 3768 | euler_hpr->p = |
gume | 0:1f82672b8755 | 3769 | (float)(reg_euler.p/BNO055_EULER_DIV_DEG); |
gume | 0:1f82672b8755 | 3770 | euler_hpr->r = |
gume | 0:1f82672b8755 | 3771 | (float)(reg_euler.r/BNO055_EULER_DIV_DEG); |
gume | 0:1f82672b8755 | 3772 | } else { |
gume | 0:1f82672b8755 | 3773 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3774 | } |
gume | 0:1f82672b8755 | 3775 | } else { |
gume | 0:1f82672b8755 | 3776 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3777 | } |
gume | 0:1f82672b8755 | 3778 | return com_rslt; |
gume | 0:1f82672b8755 | 3779 | } |
gume | 0:1f82672b8755 | 3780 | /*! |
gume | 0:1f82672b8755 | 3781 | * @brief This API is used to convert the Euler xyz raw data |
gume | 0:1f82672b8755 | 3782 | * to radians output as float |
gume | 0:1f82672b8755 | 3783 | * |
gume | 0:1f82672b8755 | 3784 | * @param euler_hpr : The radians data of Euler hrp |
gume | 0:1f82672b8755 | 3785 | * |
gume | 0:1f82672b8755 | 3786 | * Parameter | result |
gume | 0:1f82672b8755 | 3787 | * --------- | ----------------- |
gume | 0:1f82672b8755 | 3788 | * h | radians data of Euler |
gume | 0:1f82672b8755 | 3789 | * r | radians data of Euler |
gume | 0:1f82672b8755 | 3790 | * p | radians data of Euler |
gume | 0:1f82672b8755 | 3791 | * |
gume | 0:1f82672b8755 | 3792 | * |
gume | 0:1f82672b8755 | 3793 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 3794 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 3795 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 3796 | * |
gume | 0:1f82672b8755 | 3797 | */ |
gume | 0:1f82672b8755 | 3798 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_hpr_rad( |
gume | 0:1f82672b8755 | 3799 | struct bno055_euler_float_t *euler_hpr) |
gume | 0:1f82672b8755 | 3800 | { |
gume | 0:1f82672b8755 | 3801 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 3802 | communication routine*/ |
gume | 0:1f82672b8755 | 3803 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3804 | struct bno055_euler_t reg_euler = {BNO055_INIT_VALUE, |
gume | 0:1f82672b8755 | 3805 | BNO055_INIT_VALUE, BNO055_INIT_VALUE}; |
gume | 0:1f82672b8755 | 3806 | u8 euler_unit_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 3807 | /* Read the current Euler unit and set the |
gume | 0:1f82672b8755 | 3808 | unit as radians if the unit is in degree */ |
gume | 0:1f82672b8755 | 3809 | com_rslt = bno055_get_euler_unit(&euler_unit_u8); |
gume | 0:1f82672b8755 | 3810 | if (euler_unit_u8 != BNO055_EULER_UNIT_RAD) |
gume | 0:1f82672b8755 | 3811 | com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_RAD); |
gume | 0:1f82672b8755 | 3812 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 3813 | /* Read Euler raw hrp data*/ |
gume | 0:1f82672b8755 | 3814 | com_rslt += bno055_read_euler_hrp(®_euler); |
gume | 0:1f82672b8755 | 3815 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 3816 | /* Convert raw hrp to radians */ |
gume | 0:1f82672b8755 | 3817 | euler_hpr->h = |
gume | 0:1f82672b8755 | 3818 | (float)(reg_euler.h/BNO055_EULER_DIV_RAD); |
gume | 0:1f82672b8755 | 3819 | euler_hpr->p = |
gume | 0:1f82672b8755 | 3820 | (float)(reg_euler.p/BNO055_EULER_DIV_RAD); |
gume | 0:1f82672b8755 | 3821 | euler_hpr->r = |
gume | 0:1f82672b8755 | 3822 | (float)(reg_euler.r/BNO055_EULER_DIV_RAD); |
gume | 0:1f82672b8755 | 3823 | } else { |
gume | 0:1f82672b8755 | 3824 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3825 | } |
gume | 0:1f82672b8755 | 3826 | } else { |
gume | 0:1f82672b8755 | 3827 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3828 | } |
gume | 0:1f82672b8755 | 3829 | return com_rslt; |
gume | 0:1f82672b8755 | 3830 | } |
gume | 0:1f82672b8755 | 3831 | /*! |
gume | 0:1f82672b8755 | 3832 | * @brief This API is used to convert the linear |
gume | 0:1f82672b8755 | 3833 | * accel x raw data to meterpersecseq output as float |
gume | 0:1f82672b8755 | 3834 | * |
gume | 0:1f82672b8755 | 3835 | * @param linear_accel_x_f : The float value of linear accel x meterpersecseq |
gume | 0:1f82672b8755 | 3836 | * |
gume | 0:1f82672b8755 | 3837 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 3838 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 3839 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 3840 | */ |
gume | 0:1f82672b8755 | 3841 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_x_msq( |
gume | 0:1f82672b8755 | 3842 | float *linear_accel_x_f) |
gume | 0:1f82672b8755 | 3843 | { |
gume | 0:1f82672b8755 | 3844 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 3845 | communication routine*/ |
gume | 0:1f82672b8755 | 3846 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3847 | s16 reg_linear_accel_x_s16 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 3848 | float data_f = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 3849 | /* Read the raw x of linear accel */ |
gume | 0:1f82672b8755 | 3850 | com_rslt = bno055_read_linear_accel_x(®_linear_accel_x_s16); |
gume | 0:1f82672b8755 | 3851 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 3852 | /* Convert the raw linear accel x to m/s2*/ |
gume | 0:1f82672b8755 | 3853 | data_f = |
gume | 0:1f82672b8755 | 3854 | (float)(reg_linear_accel_x_s16/BNO055_LINEAR_ACCEL_DIV_MSQ); |
gume | 0:1f82672b8755 | 3855 | *linear_accel_x_f = data_f; |
gume | 0:1f82672b8755 | 3856 | } else { |
gume | 0:1f82672b8755 | 3857 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3858 | } |
gume | 0:1f82672b8755 | 3859 | return com_rslt; |
gume | 0:1f82672b8755 | 3860 | } |
gume | 0:1f82672b8755 | 3861 | /*! |
gume | 0:1f82672b8755 | 3862 | * @brief This API is used to convert the linear |
gume | 0:1f82672b8755 | 3863 | * accel y raw data to meterpersecseq output as float |
gume | 0:1f82672b8755 | 3864 | * |
gume | 0:1f82672b8755 | 3865 | * @param linear_accel_y_f : The float value of linear accel y meterpersecseq |
gume | 0:1f82672b8755 | 3866 | * |
gume | 0:1f82672b8755 | 3867 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 3868 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 3869 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 3870 | */ |
gume | 0:1f82672b8755 | 3871 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_y_msq( |
gume | 0:1f82672b8755 | 3872 | float *linear_accel_y_f) |
gume | 0:1f82672b8755 | 3873 | { |
gume | 0:1f82672b8755 | 3874 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3875 | s16 reg_linear_accel_y = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 3876 | float data_f = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 3877 | /* Read the raw y of linear accel */ |
gume | 0:1f82672b8755 | 3878 | com_rslt = bno055_read_linear_accel_y(®_linear_accel_y); |
gume | 0:1f82672b8755 | 3879 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 3880 | /* Convert the raw linear accel x to m/s2*/ |
gume | 0:1f82672b8755 | 3881 | data_f = (float) |
gume | 0:1f82672b8755 | 3882 | (reg_linear_accel_y/BNO055_LINEAR_ACCEL_DIV_MSQ); |
gume | 0:1f82672b8755 | 3883 | *linear_accel_y_f = data_f; |
gume | 0:1f82672b8755 | 3884 | } else { |
gume | 0:1f82672b8755 | 3885 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3886 | } |
gume | 0:1f82672b8755 | 3887 | return com_rslt; |
gume | 0:1f82672b8755 | 3888 | } |
gume | 0:1f82672b8755 | 3889 | /*! |
gume | 0:1f82672b8755 | 3890 | * @brief This API is used to convert the linear |
gume | 0:1f82672b8755 | 3891 | * accel z raw data to meterpersecseq output as float |
gume | 0:1f82672b8755 | 3892 | * |
gume | 0:1f82672b8755 | 3893 | * @param linear_accel_z_f : The float value of linear accel z meterpersecseq |
gume | 0:1f82672b8755 | 3894 | * |
gume | 0:1f82672b8755 | 3895 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 3896 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 3897 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 3898 | * |
gume | 0:1f82672b8755 | 3899 | */ |
gume | 0:1f82672b8755 | 3900 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_z_msq( |
gume | 0:1f82672b8755 | 3901 | float *linear_accel_z_f) |
gume | 0:1f82672b8755 | 3902 | { |
gume | 0:1f82672b8755 | 3903 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3904 | s16 reg_linear_accel_z = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 3905 | float data_f = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 3906 | /* Read the raw x of linear accel */ |
gume | 0:1f82672b8755 | 3907 | com_rslt = bno055_read_linear_accel_z(®_linear_accel_z); |
gume | 0:1f82672b8755 | 3908 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 3909 | /* Convert the raw linear accel z to m/s2*/ |
gume | 0:1f82672b8755 | 3910 | data_f = (float) |
gume | 0:1f82672b8755 | 3911 | (reg_linear_accel_z/BNO055_LINEAR_ACCEL_DIV_MSQ); |
gume | 0:1f82672b8755 | 3912 | *linear_accel_z_f = data_f; |
gume | 0:1f82672b8755 | 3913 | } else { |
gume | 0:1f82672b8755 | 3914 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3915 | } |
gume | 0:1f82672b8755 | 3916 | return com_rslt; |
gume | 0:1f82672b8755 | 3917 | } |
gume | 0:1f82672b8755 | 3918 | /*! |
gume | 0:1f82672b8755 | 3919 | * @brief This API is used to convert the linear accel xyz raw data |
gume | 0:1f82672b8755 | 3920 | * to meterpersecseq output as float |
gume | 0:1f82672b8755 | 3921 | * |
gume | 0:1f82672b8755 | 3922 | * @param linear_accel_xyz : The meterpersecseq data of linear accel xyz |
gume | 0:1f82672b8755 | 3923 | * |
gume | 0:1f82672b8755 | 3924 | * Parameter | result |
gume | 0:1f82672b8755 | 3925 | * --------- | ----------------- |
gume | 0:1f82672b8755 | 3926 | * x | meterpersecseq data of linear accel |
gume | 0:1f82672b8755 | 3927 | * y | meterpersecseq data of linear accel |
gume | 0:1f82672b8755 | 3928 | * z | meterpersecseq data of linear accel |
gume | 0:1f82672b8755 | 3929 | * |
gume | 0:1f82672b8755 | 3930 | * |
gume | 0:1f82672b8755 | 3931 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 3932 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 3933 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 3934 | * |
gume | 0:1f82672b8755 | 3935 | * |
gume | 0:1f82672b8755 | 3936 | */ |
gume | 0:1f82672b8755 | 3937 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_xyz_msq( |
gume | 0:1f82672b8755 | 3938 | struct bno055_linear_accel_float_t *linear_accel_xyz) |
gume | 0:1f82672b8755 | 3939 | { |
gume | 0:1f82672b8755 | 3940 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 3941 | communication routine*/ |
gume | 0:1f82672b8755 | 3942 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3943 | struct bno055_linear_accel_t reg_linear_accel = { |
gume | 0:1f82672b8755 | 3944 | BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE}; |
gume | 0:1f82672b8755 | 3945 | /* Read the raw x of linear accel */ |
gume | 0:1f82672b8755 | 3946 | com_rslt = bno055_read_linear_accel_xyz(®_linear_accel); |
gume | 0:1f82672b8755 | 3947 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 3948 | linear_accel_xyz->x = |
gume | 0:1f82672b8755 | 3949 | (float)(reg_linear_accel.x/BNO055_LINEAR_ACCEL_DIV_MSQ); |
gume | 0:1f82672b8755 | 3950 | linear_accel_xyz->y = |
gume | 0:1f82672b8755 | 3951 | (float)(reg_linear_accel.y/BNO055_LINEAR_ACCEL_DIV_MSQ); |
gume | 0:1f82672b8755 | 3952 | linear_accel_xyz->z = |
gume | 0:1f82672b8755 | 3953 | (float)(reg_linear_accel.z/BNO055_LINEAR_ACCEL_DIV_MSQ); |
gume | 0:1f82672b8755 | 3954 | } else { |
gume | 0:1f82672b8755 | 3955 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3956 | } |
gume | 0:1f82672b8755 | 3957 | return com_rslt; |
gume | 0:1f82672b8755 | 3958 | } |
gume | 0:1f82672b8755 | 3959 | /*! |
gume | 0:1f82672b8755 | 3960 | * @brief This API is used to convert the gravity |
gume | 0:1f82672b8755 | 3961 | * x raw data to meterpersecseq output as float |
gume | 0:1f82672b8755 | 3962 | * |
gume | 0:1f82672b8755 | 3963 | * @param gravity_x_f : The float value of gravity x meterpersecseq |
gume | 0:1f82672b8755 | 3964 | * |
gume | 0:1f82672b8755 | 3965 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 3966 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 3967 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 3968 | * |
gume | 0:1f82672b8755 | 3969 | * |
gume | 0:1f82672b8755 | 3970 | */ |
gume | 0:1f82672b8755 | 3971 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_x_msq( |
gume | 0:1f82672b8755 | 3972 | float *gravity_x_f) |
gume | 0:1f82672b8755 | 3973 | { |
gume | 0:1f82672b8755 | 3974 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3975 | s16 reg_gravity_x_s16 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 3976 | float data_f = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 3977 | /* Read raw gravity of x*/ |
gume | 0:1f82672b8755 | 3978 | com_rslt = bno055_read_gravity_x(®_gravity_x_s16); |
gume | 0:1f82672b8755 | 3979 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 3980 | /* Convert the raw gravity x to m/s2*/ |
gume | 0:1f82672b8755 | 3981 | data_f = (float)(reg_gravity_x_s16/BNO055_GRAVITY_DIV_MSQ); |
gume | 0:1f82672b8755 | 3982 | *gravity_x_f = data_f; |
gume | 0:1f82672b8755 | 3983 | } else { |
gume | 0:1f82672b8755 | 3984 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 3985 | } |
gume | 0:1f82672b8755 | 3986 | return com_rslt; |
gume | 0:1f82672b8755 | 3987 | } |
gume | 0:1f82672b8755 | 3988 | /*! |
gume | 0:1f82672b8755 | 3989 | * @brief This API is used to convert the gravity |
gume | 0:1f82672b8755 | 3990 | * y raw data to meterpersecseq output as float |
gume | 0:1f82672b8755 | 3991 | * |
gume | 0:1f82672b8755 | 3992 | * @param gravity_y_f : The float value of gravity y meterpersecseq |
gume | 0:1f82672b8755 | 3993 | * |
gume | 0:1f82672b8755 | 3994 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 3995 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 3996 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 3997 | * |
gume | 0:1f82672b8755 | 3998 | * |
gume | 0:1f82672b8755 | 3999 | */ |
gume | 0:1f82672b8755 | 4000 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_y_msq( |
gume | 0:1f82672b8755 | 4001 | float *gravity_y_f) |
gume | 0:1f82672b8755 | 4002 | { |
gume | 0:1f82672b8755 | 4003 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4004 | s16 reg_gravity_y_s16 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4005 | float data_f = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4006 | /* Read raw gravity of y*/ |
gume | 0:1f82672b8755 | 4007 | com_rslt = bno055_read_gravity_y(®_gravity_y_s16); |
gume | 0:1f82672b8755 | 4008 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 4009 | /* Convert the raw gravity y to m/s2*/ |
gume | 0:1f82672b8755 | 4010 | data_f = (float)(reg_gravity_y_s16/BNO055_GRAVITY_DIV_MSQ); |
gume | 0:1f82672b8755 | 4011 | *gravity_y_f = data_f; |
gume | 0:1f82672b8755 | 4012 | } else { |
gume | 0:1f82672b8755 | 4013 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4014 | } |
gume | 0:1f82672b8755 | 4015 | return com_rslt; |
gume | 0:1f82672b8755 | 4016 | } |
gume | 0:1f82672b8755 | 4017 | /*! |
gume | 0:1f82672b8755 | 4018 | * @brief This API is used to convert the gravity |
gume | 0:1f82672b8755 | 4019 | * z raw data to meterpersecseq output as float |
gume | 0:1f82672b8755 | 4020 | * |
gume | 0:1f82672b8755 | 4021 | * @param gravity_z_f : The float value of gravity z meterpersecseq |
gume | 0:1f82672b8755 | 4022 | * |
gume | 0:1f82672b8755 | 4023 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 4024 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 4025 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 4026 | * |
gume | 0:1f82672b8755 | 4027 | */ |
gume | 0:1f82672b8755 | 4028 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_z_msq( |
gume | 0:1f82672b8755 | 4029 | float *gravity_z_f) |
gume | 0:1f82672b8755 | 4030 | { |
gume | 0:1f82672b8755 | 4031 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4032 | s16 reg_gravity_z_s16 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4033 | float data_f = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4034 | /* Read raw gravity of z */ |
gume | 0:1f82672b8755 | 4035 | com_rslt = bno055_read_gravity_z(®_gravity_z_s16); |
gume | 0:1f82672b8755 | 4036 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 4037 | /* Convert the raw gravity z to m/s2*/ |
gume | 0:1f82672b8755 | 4038 | data_f = (float)(reg_gravity_z_s16/BNO055_GRAVITY_DIV_MSQ); |
gume | 0:1f82672b8755 | 4039 | *gravity_z_f = data_f; |
gume | 0:1f82672b8755 | 4040 | } else { |
gume | 0:1f82672b8755 | 4041 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4042 | } |
gume | 0:1f82672b8755 | 4043 | return com_rslt; |
gume | 0:1f82672b8755 | 4044 | } |
gume | 0:1f82672b8755 | 4045 | /*! |
gume | 0:1f82672b8755 | 4046 | * @brief This API is used to convert the gravity xyz raw data |
gume | 0:1f82672b8755 | 4047 | * to meterpersecseq output as float |
gume | 0:1f82672b8755 | 4048 | * |
gume | 0:1f82672b8755 | 4049 | * @param gravity_xyz : The meterpersecseq data of gravity xyz |
gume | 0:1f82672b8755 | 4050 | * |
gume | 0:1f82672b8755 | 4051 | * Parameter | result |
gume | 0:1f82672b8755 | 4052 | * --------- | ----------------- |
gume | 0:1f82672b8755 | 4053 | * x | meterpersecseq data of gravity |
gume | 0:1f82672b8755 | 4054 | * y | meterpersecseq data of gravity |
gume | 0:1f82672b8755 | 4055 | * z | meterpersecseq data of gravity |
gume | 0:1f82672b8755 | 4056 | * |
gume | 0:1f82672b8755 | 4057 | * |
gume | 0:1f82672b8755 | 4058 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 4059 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 4060 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 4061 | * |
gume | 0:1f82672b8755 | 4062 | * |
gume | 0:1f82672b8755 | 4063 | */ |
gume | 0:1f82672b8755 | 4064 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gravity_xyz_msq( |
gume | 0:1f82672b8755 | 4065 | struct bno055_gravity_float_t *gravity_xyz) |
gume | 0:1f82672b8755 | 4066 | { |
gume | 0:1f82672b8755 | 4067 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 4068 | communication routine*/ |
gume | 0:1f82672b8755 | 4069 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4070 | struct bno055_gravity_t reg_gravity_xyz = { |
gume | 0:1f82672b8755 | 4071 | BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE}; |
gume | 0:1f82672b8755 | 4072 | /* Read raw gravity of xyz */ |
gume | 0:1f82672b8755 | 4073 | com_rslt = bno055_read_gravity_xyz(®_gravity_xyz); |
gume | 0:1f82672b8755 | 4074 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 4075 | /* Convert raw gravity xyz to meterpersecseq */ |
gume | 0:1f82672b8755 | 4076 | gravity_xyz->x = |
gume | 0:1f82672b8755 | 4077 | (float)(reg_gravity_xyz.x/BNO055_GRAVITY_DIV_MSQ); |
gume | 0:1f82672b8755 | 4078 | gravity_xyz->y = |
gume | 0:1f82672b8755 | 4079 | (float)(reg_gravity_xyz.y/BNO055_GRAVITY_DIV_MSQ); |
gume | 0:1f82672b8755 | 4080 | gravity_xyz->z = |
gume | 0:1f82672b8755 | 4081 | (float)(reg_gravity_xyz.z/BNO055_GRAVITY_DIV_MSQ); |
gume | 0:1f82672b8755 | 4082 | } else { |
gume | 0:1f82672b8755 | 4083 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4084 | } |
gume | 0:1f82672b8755 | 4085 | return com_rslt; |
gume | 0:1f82672b8755 | 4086 | } |
gume | 0:1f82672b8755 | 4087 | /*! |
gume | 0:1f82672b8755 | 4088 | * @brief This API is used to convert the temperature |
gume | 0:1f82672b8755 | 4089 | * data to Fahrenheit output as float |
gume | 0:1f82672b8755 | 4090 | * |
gume | 0:1f82672b8755 | 4091 | * @param temp_f : The float value of temperature Fahrenheit |
gume | 0:1f82672b8755 | 4092 | * |
gume | 0:1f82672b8755 | 4093 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 4094 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 4095 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 4096 | * |
gume | 0:1f82672b8755 | 4097 | * |
gume | 0:1f82672b8755 | 4098 | */ |
gume | 0:1f82672b8755 | 4099 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_temp_fahrenheit( |
gume | 0:1f82672b8755 | 4100 | float *temp_f) |
gume | 0:1f82672b8755 | 4101 | { |
gume | 0:1f82672b8755 | 4102 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 4103 | communication routine*/ |
gume | 0:1f82672b8755 | 4104 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4105 | s8 reg_temp_s8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4106 | float data_f = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4107 | u8 temp_unit_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4108 | /* Read the current temperature unit and set the |
gume | 0:1f82672b8755 | 4109 | unit as Fahrenheit if the unit is in Celsius */ |
gume | 0:1f82672b8755 | 4110 | com_rslt = bno055_get_temp_unit(&temp_unit_u8); |
gume | 0:1f82672b8755 | 4111 | if (temp_unit_u8 != BNO055_TEMP_UNIT_FAHRENHEIT) |
gume | 0:1f82672b8755 | 4112 | com_rslt += bno055_set_temp_unit(BNO055_TEMP_UNIT_FAHRENHEIT); |
gume | 0:1f82672b8755 | 4113 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 4114 | /* Read the raw temperature data */ |
gume | 0:1f82672b8755 | 4115 | com_rslt += bno055_read_temp_data(®_temp_s8); |
gume | 0:1f82672b8755 | 4116 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 4117 | /* Convert raw temperature data to Fahrenheit*/ |
gume | 0:1f82672b8755 | 4118 | data_f = (float) |
gume | 0:1f82672b8755 | 4119 | (reg_temp_s8/BNO055_TEMP_DIV_FAHRENHEIT); |
gume | 0:1f82672b8755 | 4120 | *temp_f = data_f; |
gume | 0:1f82672b8755 | 4121 | } else { |
gume | 0:1f82672b8755 | 4122 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4123 | } |
gume | 0:1f82672b8755 | 4124 | } else { |
gume | 0:1f82672b8755 | 4125 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4126 | } |
gume | 0:1f82672b8755 | 4127 | return com_rslt; |
gume | 0:1f82672b8755 | 4128 | } |
gume | 0:1f82672b8755 | 4129 | /*! |
gume | 0:1f82672b8755 | 4130 | * @brief This API is used to convert the temperature |
gume | 0:1f82672b8755 | 4131 | * data to Celsius output as float |
gume | 0:1f82672b8755 | 4132 | * |
gume | 0:1f82672b8755 | 4133 | * @param temp_f : The float value of temperature Celsius |
gume | 0:1f82672b8755 | 4134 | * |
gume | 0:1f82672b8755 | 4135 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 4136 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 4137 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 4138 | * |
gume | 0:1f82672b8755 | 4139 | * |
gume | 0:1f82672b8755 | 4140 | * |
gume | 0:1f82672b8755 | 4141 | */ |
gume | 0:1f82672b8755 | 4142 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_temp_celsius( |
gume | 0:1f82672b8755 | 4143 | float *temp_f) |
gume | 0:1f82672b8755 | 4144 | { |
gume | 0:1f82672b8755 | 4145 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 4146 | communication routine*/ |
gume | 0:1f82672b8755 | 4147 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4148 | s8 reg_temp_s8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4149 | float data_f = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4150 | u8 temp_unit_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4151 | /* Read the current temperature unit and set the |
gume | 0:1f82672b8755 | 4152 | unit as Fahrenheit if the unit is in Celsius */ |
gume | 0:1f82672b8755 | 4153 | com_rslt = bno055_get_temp_unit(&temp_unit_u8); |
gume | 0:1f82672b8755 | 4154 | if (temp_unit_u8 != BNO055_TEMP_UNIT_CELSIUS) |
gume | 0:1f82672b8755 | 4155 | com_rslt += bno055_set_temp_unit(BNO055_TEMP_UNIT_CELSIUS); |
gume | 0:1f82672b8755 | 4156 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 4157 | /* Read the raw temperature data */ |
gume | 0:1f82672b8755 | 4158 | com_rslt += bno055_read_temp_data(®_temp_s8); |
gume | 0:1f82672b8755 | 4159 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 4160 | /* Convert raw temperature data to Fahrenheit*/ |
gume | 0:1f82672b8755 | 4161 | data_f = |
gume | 0:1f82672b8755 | 4162 | (float)(reg_temp_s8/BNO055_TEMP_DIV_CELSIUS); |
gume | 0:1f82672b8755 | 4163 | *temp_f = data_f; |
gume | 0:1f82672b8755 | 4164 | } else { |
gume | 0:1f82672b8755 | 4165 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4166 | } |
gume | 0:1f82672b8755 | 4167 | } else { |
gume | 0:1f82672b8755 | 4168 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4169 | } |
gume | 0:1f82672b8755 | 4170 | return com_rslt; |
gume | 0:1f82672b8755 | 4171 | } |
gume | 0:1f82672b8755 | 4172 | #endif |
gume | 0:1f82672b8755 | 4173 | #ifdef BNO055_DOUBLE_ENABLE |
gume | 0:1f82672b8755 | 4174 | /*! |
gume | 0:1f82672b8755 | 4175 | * @brief This API is used to convert the accel x raw data |
gume | 0:1f82672b8755 | 4176 | * to meterpersecseq output as double |
gume | 0:1f82672b8755 | 4177 | * |
gume | 0:1f82672b8755 | 4178 | * @param accel_x_d : The accel x meterpersecseq data |
gume | 0:1f82672b8755 | 4179 | * |
gume | 0:1f82672b8755 | 4180 | * |
gume | 0:1f82672b8755 | 4181 | * |
gume | 0:1f82672b8755 | 4182 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 4183 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 4184 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 4185 | * |
gume | 0:1f82672b8755 | 4186 | * |
gume | 0:1f82672b8755 | 4187 | */ |
gume | 0:1f82672b8755 | 4188 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_x_msq( |
gume | 0:1f82672b8755 | 4189 | double *accel_x_d) |
gume | 0:1f82672b8755 | 4190 | { |
gume | 0:1f82672b8755 | 4191 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 4192 | communication routine*/ |
gume | 0:1f82672b8755 | 4193 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4194 | s16 reg_accel_x_s16 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4195 | double data_f = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4196 | u8 accel_unit_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4197 | /* Read the current accel unit and set the |
gume | 0:1f82672b8755 | 4198 | unit as m/s2 if the unit is in mg*/ |
gume | 0:1f82672b8755 | 4199 | com_rslt = bno055_get_accel_unit(&accel_unit_u8); |
gume | 0:1f82672b8755 | 4200 | if (accel_unit_u8 != BNO055_ACCEL_UNIT_MSQ) |
gume | 0:1f82672b8755 | 4201 | com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MSQ); |
gume | 0:1f82672b8755 | 4202 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 4203 | /* Read the accel raw y data*/ |
gume | 0:1f82672b8755 | 4204 | com_rslt += bno055_read_accel_x(®_accel_x_s16); |
gume | 0:1f82672b8755 | 4205 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 4206 | /* Convert the raw x to m/s2 */ |
gume | 0:1f82672b8755 | 4207 | data_f = |
gume | 0:1f82672b8755 | 4208 | (double)(reg_accel_x_s16/BNO055_ACCEL_DIV_MSQ); |
gume | 0:1f82672b8755 | 4209 | *accel_x_d = data_f; |
gume | 0:1f82672b8755 | 4210 | } else { |
gume | 0:1f82672b8755 | 4211 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4212 | } |
gume | 0:1f82672b8755 | 4213 | } else { |
gume | 0:1f82672b8755 | 4214 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4215 | } |
gume | 0:1f82672b8755 | 4216 | return com_rslt; |
gume | 0:1f82672b8755 | 4217 | } |
gume | 0:1f82672b8755 | 4218 | /*! |
gume | 0:1f82672b8755 | 4219 | * @brief This API is used to convert the accel x raw data |
gume | 0:1f82672b8755 | 4220 | * to millig output as double |
gume | 0:1f82672b8755 | 4221 | * |
gume | 0:1f82672b8755 | 4222 | * @param accel_x_d : The accel x millig data |
gume | 0:1f82672b8755 | 4223 | * |
gume | 0:1f82672b8755 | 4224 | * |
gume | 0:1f82672b8755 | 4225 | * |
gume | 0:1f82672b8755 | 4226 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 4227 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 4228 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 4229 | * |
gume | 0:1f82672b8755 | 4230 | * |
gume | 0:1f82672b8755 | 4231 | * |
gume | 0:1f82672b8755 | 4232 | */ |
gume | 0:1f82672b8755 | 4233 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_x_mg( |
gume | 0:1f82672b8755 | 4234 | double *accel_x_d) |
gume | 0:1f82672b8755 | 4235 | { |
gume | 0:1f82672b8755 | 4236 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 4237 | communication routine*/ |
gume | 0:1f82672b8755 | 4238 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4239 | s16 reg_accel_x_s16 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4240 | double data_f = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4241 | u8 accel_unit_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4242 | /* Read the current accel unit and set the |
gume | 0:1f82672b8755 | 4243 | unit as mg if the unit is in m/s2*/ |
gume | 0:1f82672b8755 | 4244 | com_rslt = bno055_get_accel_unit(&accel_unit_u8); |
gume | 0:1f82672b8755 | 4245 | if (accel_unit_u8 != BNO055_ACCEL_UNIT_MG) |
gume | 0:1f82672b8755 | 4246 | com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MG); |
gume | 0:1f82672b8755 | 4247 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 4248 | /* Read the accel raw y data*/ |
gume | 0:1f82672b8755 | 4249 | com_rslt += bno055_read_accel_x(®_accel_x_s16); |
gume | 0:1f82672b8755 | 4250 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 4251 | /* Convert the raw x to mg */ |
gume | 0:1f82672b8755 | 4252 | data_f = |
gume | 0:1f82672b8755 | 4253 | (double)(reg_accel_x_s16/BNO055_ACCEL_DIV_MG); |
gume | 0:1f82672b8755 | 4254 | *accel_x_d = data_f; |
gume | 0:1f82672b8755 | 4255 | } else { |
gume | 0:1f82672b8755 | 4256 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4257 | } |
gume | 0:1f82672b8755 | 4258 | } else { |
gume | 0:1f82672b8755 | 4259 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4260 | } |
gume | 0:1f82672b8755 | 4261 | return com_rslt; |
gume | 0:1f82672b8755 | 4262 | } |
gume | 0:1f82672b8755 | 4263 | /*! |
gume | 0:1f82672b8755 | 4264 | * @brief This API is used to convert the accel y raw data |
gume | 0:1f82672b8755 | 4265 | * to meterpersecseq output as double |
gume | 0:1f82672b8755 | 4266 | * |
gume | 0:1f82672b8755 | 4267 | * @param accel_y_d : The accel y meterpersecseq data |
gume | 0:1f82672b8755 | 4268 | * |
gume | 0:1f82672b8755 | 4269 | * |
gume | 0:1f82672b8755 | 4270 | * |
gume | 0:1f82672b8755 | 4271 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 4272 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 4273 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 4274 | * |
gume | 0:1f82672b8755 | 4275 | * |
gume | 0:1f82672b8755 | 4276 | * |
gume | 0:1f82672b8755 | 4277 | */ |
gume | 0:1f82672b8755 | 4278 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_y_msq( |
gume | 0:1f82672b8755 | 4279 | double *accel_y_d) |
gume | 0:1f82672b8755 | 4280 | { |
gume | 0:1f82672b8755 | 4281 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 4282 | communication routine*/ |
gume | 0:1f82672b8755 | 4283 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4284 | s16 reg_accel_y_s16 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4285 | double data_f = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4286 | u8 accel_unit_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4287 | /* Read the current accel unit and set the |
gume | 0:1f82672b8755 | 4288 | unit as m/s2 if the unit is in mg*/ |
gume | 0:1f82672b8755 | 4289 | com_rslt = bno055_get_accel_unit(&accel_unit_u8); |
gume | 0:1f82672b8755 | 4290 | if (accel_unit_u8 != BNO055_ACCEL_UNIT_MSQ) |
gume | 0:1f82672b8755 | 4291 | com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MSQ); |
gume | 0:1f82672b8755 | 4292 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 4293 | /* Read the accel raw y data*/ |
gume | 0:1f82672b8755 | 4294 | com_rslt += bno055_read_accel_y(®_accel_y_s16); |
gume | 0:1f82672b8755 | 4295 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 4296 | /* Convert the raw x to m/s2 */ |
gume | 0:1f82672b8755 | 4297 | data_f = |
gume | 0:1f82672b8755 | 4298 | (double)(reg_accel_y_s16/BNO055_ACCEL_DIV_MSQ); |
gume | 0:1f82672b8755 | 4299 | *accel_y_d = data_f; |
gume | 0:1f82672b8755 | 4300 | } else { |
gume | 0:1f82672b8755 | 4301 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4302 | } |
gume | 0:1f82672b8755 | 4303 | } else { |
gume | 0:1f82672b8755 | 4304 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4305 | } |
gume | 0:1f82672b8755 | 4306 | return com_rslt; |
gume | 0:1f82672b8755 | 4307 | } |
gume | 0:1f82672b8755 | 4308 | /*! |
gume | 0:1f82672b8755 | 4309 | * @brief This API is used to convert the accel y raw data |
gume | 0:1f82672b8755 | 4310 | * to millig output as double |
gume | 0:1f82672b8755 | 4311 | * |
gume | 0:1f82672b8755 | 4312 | * @param accel_y_d : The accel y millig data |
gume | 0:1f82672b8755 | 4313 | * |
gume | 0:1f82672b8755 | 4314 | * |
gume | 0:1f82672b8755 | 4315 | * |
gume | 0:1f82672b8755 | 4316 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 4317 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 4318 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 4319 | * |
gume | 0:1f82672b8755 | 4320 | * |
gume | 0:1f82672b8755 | 4321 | */ |
gume | 0:1f82672b8755 | 4322 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_y_mg( |
gume | 0:1f82672b8755 | 4323 | double *accel_y_d) |
gume | 0:1f82672b8755 | 4324 | { |
gume | 0:1f82672b8755 | 4325 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 4326 | communication routine*/ |
gume | 0:1f82672b8755 | 4327 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4328 | s16 reg_accel_y_s16 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4329 | double data_d = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4330 | u8 accel_unit_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4331 | /* Read the current accel unit and set the |
gume | 0:1f82672b8755 | 4332 | unit as mg if the unit is in m/s2*/ |
gume | 0:1f82672b8755 | 4333 | com_rslt = bno055_get_accel_unit(&accel_unit_u8); |
gume | 0:1f82672b8755 | 4334 | if (accel_unit_u8 != BNO055_ACCEL_UNIT_MG) |
gume | 0:1f82672b8755 | 4335 | com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MG); |
gume | 0:1f82672b8755 | 4336 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 4337 | /* Read the accel raw y data*/ |
gume | 0:1f82672b8755 | 4338 | com_rslt += bno055_read_accel_y(®_accel_y_s16); |
gume | 0:1f82672b8755 | 4339 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 4340 | /* Convert the raw y to mg */ |
gume | 0:1f82672b8755 | 4341 | data_d = |
gume | 0:1f82672b8755 | 4342 | (double)(reg_accel_y_s16/BNO055_ACCEL_DIV_MG); |
gume | 0:1f82672b8755 | 4343 | *accel_y_d = data_d; |
gume | 0:1f82672b8755 | 4344 | } else { |
gume | 0:1f82672b8755 | 4345 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4346 | } |
gume | 0:1f82672b8755 | 4347 | } else { |
gume | 0:1f82672b8755 | 4348 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4349 | } |
gume | 0:1f82672b8755 | 4350 | return com_rslt; |
gume | 0:1f82672b8755 | 4351 | } |
gume | 0:1f82672b8755 | 4352 | /*! |
gume | 0:1f82672b8755 | 4353 | * @brief This API is used to convert the accel z raw data |
gume | 0:1f82672b8755 | 4354 | * to meterpersecseq output as double |
gume | 0:1f82672b8755 | 4355 | * |
gume | 0:1f82672b8755 | 4356 | * @param accel_z_d : The accel z meterpersecseq data |
gume | 0:1f82672b8755 | 4357 | * |
gume | 0:1f82672b8755 | 4358 | * |
gume | 0:1f82672b8755 | 4359 | * |
gume | 0:1f82672b8755 | 4360 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 4361 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 4362 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 4363 | */ |
gume | 0:1f82672b8755 | 4364 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_z_msq( |
gume | 0:1f82672b8755 | 4365 | double *accel_z_d) |
gume | 0:1f82672b8755 | 4366 | { |
gume | 0:1f82672b8755 | 4367 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 4368 | communication routine*/ |
gume | 0:1f82672b8755 | 4369 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4370 | s16 reg_accel_z_s16 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4371 | double data_d = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4372 | u8 accel_unit_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4373 | /* Read the current accel unit and set the |
gume | 0:1f82672b8755 | 4374 | unit as m/s2 if the unit is in mg*/ |
gume | 0:1f82672b8755 | 4375 | com_rslt = bno055_get_accel_unit(&accel_unit_u8); |
gume | 0:1f82672b8755 | 4376 | if (accel_unit_u8 != BNO055_ACCEL_UNIT_MSQ) |
gume | 0:1f82672b8755 | 4377 | com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MSQ); |
gume | 0:1f82672b8755 | 4378 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 4379 | /* Read the accel raw z data*/ |
gume | 0:1f82672b8755 | 4380 | com_rslt += bno055_read_accel_z(®_accel_z_s16); |
gume | 0:1f82672b8755 | 4381 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 4382 | /* Convert the raw z to m/s2 */ |
gume | 0:1f82672b8755 | 4383 | data_d = |
gume | 0:1f82672b8755 | 4384 | (double)(reg_accel_z_s16/BNO055_ACCEL_DIV_MSQ); |
gume | 0:1f82672b8755 | 4385 | *accel_z_d = data_d; |
gume | 0:1f82672b8755 | 4386 | } else { |
gume | 0:1f82672b8755 | 4387 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4388 | } |
gume | 0:1f82672b8755 | 4389 | } else { |
gume | 0:1f82672b8755 | 4390 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4391 | } |
gume | 0:1f82672b8755 | 4392 | return com_rslt; |
gume | 0:1f82672b8755 | 4393 | } |
gume | 0:1f82672b8755 | 4394 | /*! |
gume | 0:1f82672b8755 | 4395 | * @brief This API is used to convert the accel z raw data |
gume | 0:1f82672b8755 | 4396 | * to millig output as double |
gume | 0:1f82672b8755 | 4397 | * |
gume | 0:1f82672b8755 | 4398 | * @param accel_z_d : The accel z millig data |
gume | 0:1f82672b8755 | 4399 | * |
gume | 0:1f82672b8755 | 4400 | * |
gume | 0:1f82672b8755 | 4401 | * |
gume | 0:1f82672b8755 | 4402 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 4403 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 4404 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 4405 | * |
gume | 0:1f82672b8755 | 4406 | */ |
gume | 0:1f82672b8755 | 4407 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_z_mg( |
gume | 0:1f82672b8755 | 4408 | double *accel_z_d) |
gume | 0:1f82672b8755 | 4409 | { |
gume | 0:1f82672b8755 | 4410 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 4411 | communication routine*/ |
gume | 0:1f82672b8755 | 4412 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4413 | s16 reg_accel_z_s16 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4414 | double data_d = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4415 | u8 accel_unit_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4416 | /* Read the current accel unit and set the |
gume | 0:1f82672b8755 | 4417 | unit as mg if the unit is in m/s2*/ |
gume | 0:1f82672b8755 | 4418 | com_rslt = bno055_get_accel_unit(&accel_unit_u8); |
gume | 0:1f82672b8755 | 4419 | if (accel_unit_u8 != BNO055_ACCEL_UNIT_MG) |
gume | 0:1f82672b8755 | 4420 | com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MG); |
gume | 0:1f82672b8755 | 4421 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 4422 | /* Read the accel raw z data*/ |
gume | 0:1f82672b8755 | 4423 | com_rslt += bno055_read_accel_z(®_accel_z_s16); |
gume | 0:1f82672b8755 | 4424 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 4425 | /* Convert the raw z to mg */ |
gume | 0:1f82672b8755 | 4426 | data_d = |
gume | 0:1f82672b8755 | 4427 | (double)(reg_accel_z_s16/BNO055_ACCEL_DIV_MG); |
gume | 0:1f82672b8755 | 4428 | *accel_z_d = data_d; |
gume | 0:1f82672b8755 | 4429 | } else { |
gume | 0:1f82672b8755 | 4430 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4431 | } |
gume | 0:1f82672b8755 | 4432 | } else { |
gume | 0:1f82672b8755 | 4433 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4434 | } |
gume | 0:1f82672b8755 | 4435 | return com_rslt; |
gume | 0:1f82672b8755 | 4436 | } |
gume | 0:1f82672b8755 | 4437 | /*! |
gume | 0:1f82672b8755 | 4438 | * @brief This API is used to convert the accel xyz raw data |
gume | 0:1f82672b8755 | 4439 | * to meterpersecseq output as double |
gume | 0:1f82672b8755 | 4440 | * |
gume | 0:1f82672b8755 | 4441 | * @param accel_xyz : The meterpersecseq data of accel xyz |
gume | 0:1f82672b8755 | 4442 | * |
gume | 0:1f82672b8755 | 4443 | * Parameter | result |
gume | 0:1f82672b8755 | 4444 | * --------- | ----------------- |
gume | 0:1f82672b8755 | 4445 | * x | meterpersecseq data of accel |
gume | 0:1f82672b8755 | 4446 | * y | meterpersecseq data of accel |
gume | 0:1f82672b8755 | 4447 | * z | meterpersecseq data of accel |
gume | 0:1f82672b8755 | 4448 | * |
gume | 0:1f82672b8755 | 4449 | * |
gume | 0:1f82672b8755 | 4450 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 4451 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 4452 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 4453 | * |
gume | 0:1f82672b8755 | 4454 | * |
gume | 0:1f82672b8755 | 4455 | */ |
gume | 0:1f82672b8755 | 4456 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_xyz_msq( |
gume | 0:1f82672b8755 | 4457 | struct bno055_accel_double_t *accel_xyz) |
gume | 0:1f82672b8755 | 4458 | { |
gume | 0:1f82672b8755 | 4459 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 4460 | communication routine*/ |
gume | 0:1f82672b8755 | 4461 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4462 | struct bno055_accel_t reg_accel_xyz = { |
gume | 0:1f82672b8755 | 4463 | BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE}; |
gume | 0:1f82672b8755 | 4464 | u8 accel_unit_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4465 | /* Read the current accel unit and set the |
gume | 0:1f82672b8755 | 4466 | unit as m/s2 if the unit is in mg*/ |
gume | 0:1f82672b8755 | 4467 | com_rslt = bno055_get_accel_unit(&accel_unit_u8); |
gume | 0:1f82672b8755 | 4468 | if (accel_unit_u8 != BNO055_ACCEL_UNIT_MSQ) |
gume | 0:1f82672b8755 | 4469 | com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MSQ); |
gume | 0:1f82672b8755 | 4470 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 4471 | /* Read the accel raw xyz data*/ |
gume | 0:1f82672b8755 | 4472 | com_rslt += bno055_read_accel_xyz(®_accel_xyz); |
gume | 0:1f82672b8755 | 4473 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 4474 | /* Convert raw xyz to m/s2*/ |
gume | 0:1f82672b8755 | 4475 | accel_xyz->x = |
gume | 0:1f82672b8755 | 4476 | (double)(reg_accel_xyz.x/BNO055_ACCEL_DIV_MSQ); |
gume | 0:1f82672b8755 | 4477 | accel_xyz->y = |
gume | 0:1f82672b8755 | 4478 | (double)(reg_accel_xyz.y/BNO055_ACCEL_DIV_MSQ); |
gume | 0:1f82672b8755 | 4479 | accel_xyz->z = |
gume | 0:1f82672b8755 | 4480 | (double)(reg_accel_xyz.z/BNO055_ACCEL_DIV_MSQ); |
gume | 0:1f82672b8755 | 4481 | } else { |
gume | 0:1f82672b8755 | 4482 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4483 | } |
gume | 0:1f82672b8755 | 4484 | } else { |
gume | 0:1f82672b8755 | 4485 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4486 | } |
gume | 0:1f82672b8755 | 4487 | return com_rslt; |
gume | 0:1f82672b8755 | 4488 | } |
gume | 0:1f82672b8755 | 4489 | /*! |
gume | 0:1f82672b8755 | 4490 | * @brief This API is used to convert the accel xyz raw data |
gume | 0:1f82672b8755 | 4491 | * to millig output as double |
gume | 0:1f82672b8755 | 4492 | * |
gume | 0:1f82672b8755 | 4493 | * @param accel_xyz : The millig data of accel xyz |
gume | 0:1f82672b8755 | 4494 | * |
gume | 0:1f82672b8755 | 4495 | * Parameter | result |
gume | 0:1f82672b8755 | 4496 | * --------- | ----------------- |
gume | 0:1f82672b8755 | 4497 | * x | millig data of accel |
gume | 0:1f82672b8755 | 4498 | * y | millig data of accel |
gume | 0:1f82672b8755 | 4499 | * z | millig data of accel |
gume | 0:1f82672b8755 | 4500 | * |
gume | 0:1f82672b8755 | 4501 | * |
gume | 0:1f82672b8755 | 4502 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 4503 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 4504 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 4505 | * |
gume | 0:1f82672b8755 | 4506 | */ |
gume | 0:1f82672b8755 | 4507 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_xyz_mg( |
gume | 0:1f82672b8755 | 4508 | struct bno055_accel_double_t *accel_xyz) |
gume | 0:1f82672b8755 | 4509 | { |
gume | 0:1f82672b8755 | 4510 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 4511 | communication routine*/ |
gume | 0:1f82672b8755 | 4512 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4513 | struct bno055_accel_t reg_accel_xyz = { |
gume | 0:1f82672b8755 | 4514 | BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE}; |
gume | 0:1f82672b8755 | 4515 | u8 accel_unit_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4516 | /* Read the current accel unit and set the |
gume | 0:1f82672b8755 | 4517 | unit as m/s2 if the unit is in mg*/ |
gume | 0:1f82672b8755 | 4518 | com_rslt = bno055_get_accel_unit(&accel_unit_u8); |
gume | 0:1f82672b8755 | 4519 | if (accel_unit_u8 != BNO055_ACCEL_UNIT_MG) |
gume | 0:1f82672b8755 | 4520 | com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MG); |
gume | 0:1f82672b8755 | 4521 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 4522 | /* Read the accel raw xyz data*/ |
gume | 0:1f82672b8755 | 4523 | com_rslt += bno055_read_accel_xyz(®_accel_xyz); |
gume | 0:1f82672b8755 | 4524 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 4525 | /* Convert raw xyz to mg*/ |
gume | 0:1f82672b8755 | 4526 | accel_xyz->x = |
gume | 0:1f82672b8755 | 4527 | (double)(reg_accel_xyz.x/BNO055_ACCEL_DIV_MG); |
gume | 0:1f82672b8755 | 4528 | accel_xyz->y = |
gume | 0:1f82672b8755 | 4529 | (double)(reg_accel_xyz.y/BNO055_ACCEL_DIV_MG); |
gume | 0:1f82672b8755 | 4530 | accel_xyz->z = |
gume | 0:1f82672b8755 | 4531 | (double)(reg_accel_xyz.z/BNO055_ACCEL_DIV_MG); |
gume | 0:1f82672b8755 | 4532 | } else { |
gume | 0:1f82672b8755 | 4533 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4534 | } |
gume | 0:1f82672b8755 | 4535 | } else { |
gume | 0:1f82672b8755 | 4536 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4537 | } |
gume | 0:1f82672b8755 | 4538 | return com_rslt; |
gume | 0:1f82672b8755 | 4539 | } |
gume | 0:1f82672b8755 | 4540 | /*! |
gume | 0:1f82672b8755 | 4541 | * @brief This API is used to convert the mag x raw data |
gume | 0:1f82672b8755 | 4542 | * to microTesla output as double |
gume | 0:1f82672b8755 | 4543 | * |
gume | 0:1f82672b8755 | 4544 | * @param mag_x_d : The mag x microTesla data |
gume | 0:1f82672b8755 | 4545 | * |
gume | 0:1f82672b8755 | 4546 | * |
gume | 0:1f82672b8755 | 4547 | * |
gume | 0:1f82672b8755 | 4548 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 4549 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 4550 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 4551 | * |
gume | 0:1f82672b8755 | 4552 | * |
gume | 0:1f82672b8755 | 4553 | * |
gume | 0:1f82672b8755 | 4554 | */ |
gume | 0:1f82672b8755 | 4555 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_x_uT( |
gume | 0:1f82672b8755 | 4556 | double *mag_x_d) |
gume | 0:1f82672b8755 | 4557 | { |
gume | 0:1f82672b8755 | 4558 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 4559 | communication routine*/ |
gume | 0:1f82672b8755 | 4560 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4561 | s16 reg_mag_x_s16 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4562 | double data_d = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4563 | /* Read raw mag x data */ |
gume | 0:1f82672b8755 | 4564 | com_rslt = bno055_read_mag_x(®_mag_x_s16); |
gume | 0:1f82672b8755 | 4565 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 4566 | /* Convert raw mag x to microTesla */ |
gume | 0:1f82672b8755 | 4567 | data_d = (double)(reg_mag_x_s16/BNO055_MAG_DIV_UT); |
gume | 0:1f82672b8755 | 4568 | *mag_x_d = data_d; |
gume | 0:1f82672b8755 | 4569 | } else { |
gume | 0:1f82672b8755 | 4570 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4571 | } |
gume | 0:1f82672b8755 | 4572 | return com_rslt; |
gume | 0:1f82672b8755 | 4573 | } |
gume | 0:1f82672b8755 | 4574 | /*! |
gume | 0:1f82672b8755 | 4575 | * @brief This API is used to convert the mag y raw data |
gume | 0:1f82672b8755 | 4576 | * to microTesla output as double |
gume | 0:1f82672b8755 | 4577 | * |
gume | 0:1f82672b8755 | 4578 | * @param mag_y_d : The mag y microTesla data |
gume | 0:1f82672b8755 | 4579 | * |
gume | 0:1f82672b8755 | 4580 | * |
gume | 0:1f82672b8755 | 4581 | * |
gume | 0:1f82672b8755 | 4582 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 4583 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 4584 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 4585 | * |
gume | 0:1f82672b8755 | 4586 | * |
gume | 0:1f82672b8755 | 4587 | */ |
gume | 0:1f82672b8755 | 4588 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_y_uT( |
gume | 0:1f82672b8755 | 4589 | double *mag_y_d) |
gume | 0:1f82672b8755 | 4590 | { |
gume | 0:1f82672b8755 | 4591 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 4592 | communication routine*/ |
gume | 0:1f82672b8755 | 4593 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4594 | s16 reg_mag_y_s16 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4595 | double data_d = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4596 | /* Read raw mag y data */ |
gume | 0:1f82672b8755 | 4597 | com_rslt = bno055_read_mag_y(®_mag_y_s16); |
gume | 0:1f82672b8755 | 4598 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 4599 | /* Convert raw mag y to microTesla */ |
gume | 0:1f82672b8755 | 4600 | data_d = (double)(reg_mag_y_s16/BNO055_MAG_DIV_UT); |
gume | 0:1f82672b8755 | 4601 | *mag_y_d = data_d; |
gume | 0:1f82672b8755 | 4602 | } else { |
gume | 0:1f82672b8755 | 4603 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4604 | } |
gume | 0:1f82672b8755 | 4605 | return com_rslt; |
gume | 0:1f82672b8755 | 4606 | } |
gume | 0:1f82672b8755 | 4607 | /*! |
gume | 0:1f82672b8755 | 4608 | * @brief This API is used to convert the mag z raw data |
gume | 0:1f82672b8755 | 4609 | * to microTesla output as double |
gume | 0:1f82672b8755 | 4610 | * |
gume | 0:1f82672b8755 | 4611 | * @param mag_z_d : The mag z microTesla data |
gume | 0:1f82672b8755 | 4612 | * |
gume | 0:1f82672b8755 | 4613 | * |
gume | 0:1f82672b8755 | 4614 | * |
gume | 0:1f82672b8755 | 4615 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 4616 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 4617 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 4618 | * |
gume | 0:1f82672b8755 | 4619 | * |
gume | 0:1f82672b8755 | 4620 | */ |
gume | 0:1f82672b8755 | 4621 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_z_uT( |
gume | 0:1f82672b8755 | 4622 | double *mag_z_d) |
gume | 0:1f82672b8755 | 4623 | { |
gume | 0:1f82672b8755 | 4624 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 4625 | communication routine*/ |
gume | 0:1f82672b8755 | 4626 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4627 | s16 reg_mag_z_s16 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4628 | double data_d = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4629 | /* Read raw mag x */ |
gume | 0:1f82672b8755 | 4630 | com_rslt = bno055_read_mag_z(®_mag_z_s16); |
gume | 0:1f82672b8755 | 4631 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 4632 | /* Convert raw mag x to microTesla */ |
gume | 0:1f82672b8755 | 4633 | data_d = (double)(reg_mag_z_s16/BNO055_MAG_DIV_UT); |
gume | 0:1f82672b8755 | 4634 | *mag_z_d = data_d; |
gume | 0:1f82672b8755 | 4635 | } else { |
gume | 0:1f82672b8755 | 4636 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4637 | } |
gume | 0:1f82672b8755 | 4638 | return com_rslt; |
gume | 0:1f82672b8755 | 4639 | } |
gume | 0:1f82672b8755 | 4640 | /*! |
gume | 0:1f82672b8755 | 4641 | * @brief This API is used to convert the mag yz raw data |
gume | 0:1f82672b8755 | 4642 | * to microTesla output as double |
gume | 0:1f82672b8755 | 4643 | * |
gume | 0:1f82672b8755 | 4644 | * @param mag_xyz : The microTesla data of mag xyz |
gume | 0:1f82672b8755 | 4645 | * |
gume | 0:1f82672b8755 | 4646 | * Parameter | result |
gume | 0:1f82672b8755 | 4647 | * --------- | ----------------- |
gume | 0:1f82672b8755 | 4648 | * x | microTesla data of mag |
gume | 0:1f82672b8755 | 4649 | * y | microTesla data of mag |
gume | 0:1f82672b8755 | 4650 | * z | microTesla data of mag |
gume | 0:1f82672b8755 | 4651 | * |
gume | 0:1f82672b8755 | 4652 | * |
gume | 0:1f82672b8755 | 4653 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 4654 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 4655 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 4656 | * |
gume | 0:1f82672b8755 | 4657 | */ |
gume | 0:1f82672b8755 | 4658 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_xyz_uT( |
gume | 0:1f82672b8755 | 4659 | struct bno055_mag_double_t *mag_xyz) |
gume | 0:1f82672b8755 | 4660 | { |
gume | 0:1f82672b8755 | 4661 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 4662 | communication routine*/ |
gume | 0:1f82672b8755 | 4663 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4664 | struct bno055_mag_t reg_mag_xyz = { |
gume | 0:1f82672b8755 | 4665 | BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE}; |
gume | 0:1f82672b8755 | 4666 | /* Read raw mag xyz data */ |
gume | 0:1f82672b8755 | 4667 | com_rslt = bno055_read_mag_xyz(®_mag_xyz); |
gume | 0:1f82672b8755 | 4668 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 4669 | /* Convert raw mag xyz to microTesla*/ |
gume | 0:1f82672b8755 | 4670 | mag_xyz->x = |
gume | 0:1f82672b8755 | 4671 | (double)(reg_mag_xyz.x/BNO055_MAG_DIV_UT); |
gume | 0:1f82672b8755 | 4672 | mag_xyz->y = |
gume | 0:1f82672b8755 | 4673 | (double)(reg_mag_xyz.y/BNO055_MAG_DIV_UT); |
gume | 0:1f82672b8755 | 4674 | mag_xyz->z = |
gume | 0:1f82672b8755 | 4675 | (double)(reg_mag_xyz.z/BNO055_MAG_DIV_UT); |
gume | 0:1f82672b8755 | 4676 | } else { |
gume | 0:1f82672b8755 | 4677 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4678 | } |
gume | 0:1f82672b8755 | 4679 | |
gume | 0:1f82672b8755 | 4680 | return com_rslt; |
gume | 0:1f82672b8755 | 4681 | } |
gume | 0:1f82672b8755 | 4682 | /*! |
gume | 0:1f82672b8755 | 4683 | * @brief This API is used to convert the gyro x raw data |
gume | 0:1f82672b8755 | 4684 | * to dps output as double |
gume | 0:1f82672b8755 | 4685 | * |
gume | 0:1f82672b8755 | 4686 | * @param gyro_x_d : The gyro x dps double data |
gume | 0:1f82672b8755 | 4687 | * |
gume | 0:1f82672b8755 | 4688 | * |
gume | 0:1f82672b8755 | 4689 | * |
gume | 0:1f82672b8755 | 4690 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 4691 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 4692 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 4693 | * |
gume | 0:1f82672b8755 | 4694 | * |
gume | 0:1f82672b8755 | 4695 | */ |
gume | 0:1f82672b8755 | 4696 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_x_dps( |
gume | 0:1f82672b8755 | 4697 | double *gyro_x_d) |
gume | 0:1f82672b8755 | 4698 | { |
gume | 0:1f82672b8755 | 4699 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 4700 | communication routine*/ |
gume | 0:1f82672b8755 | 4701 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4702 | s16 reg_gyro_x_s16 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4703 | double data_d = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4704 | u8 gyro_unit_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4705 | /* Read the current gyro unit and set the |
gume | 0:1f82672b8755 | 4706 | unit as dps if the unit is in rps */ |
gume | 0:1f82672b8755 | 4707 | com_rslt = bno055_get_gyro_unit(&gyro_unit_u8); |
gume | 0:1f82672b8755 | 4708 | if (gyro_unit_u8 != BNO055_GYRO_UNIT_DPS) |
gume | 0:1f82672b8755 | 4709 | com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_DPS); |
gume | 0:1f82672b8755 | 4710 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 4711 | /* Read gyro raw x data */ |
gume | 0:1f82672b8755 | 4712 | com_rslt += bno055_read_gyro_x(®_gyro_x_s16); |
gume | 0:1f82672b8755 | 4713 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 4714 | /* Convert raw gyro x to dps */ |
gume | 0:1f82672b8755 | 4715 | data_d = |
gume | 0:1f82672b8755 | 4716 | (double)(reg_gyro_x_s16/BNO055_GYRO_DIV_DPS); |
gume | 0:1f82672b8755 | 4717 | *gyro_x_d = data_d; |
gume | 0:1f82672b8755 | 4718 | } else { |
gume | 0:1f82672b8755 | 4719 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4720 | } |
gume | 0:1f82672b8755 | 4721 | } else { |
gume | 0:1f82672b8755 | 4722 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4723 | } |
gume | 0:1f82672b8755 | 4724 | return com_rslt; |
gume | 0:1f82672b8755 | 4725 | } |
gume | 0:1f82672b8755 | 4726 | /*! |
gume | 0:1f82672b8755 | 4727 | * @brief This API is used to convert the gyro x raw data |
gume | 0:1f82672b8755 | 4728 | * to rps output as double |
gume | 0:1f82672b8755 | 4729 | * |
gume | 0:1f82672b8755 | 4730 | * @param gyro_x_d : The gyro x dps double data |
gume | 0:1f82672b8755 | 4731 | * |
gume | 0:1f82672b8755 | 4732 | * |
gume | 0:1f82672b8755 | 4733 | * |
gume | 0:1f82672b8755 | 4734 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 4735 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 4736 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 4737 | * |
gume | 0:1f82672b8755 | 4738 | * |
gume | 0:1f82672b8755 | 4739 | */ |
gume | 0:1f82672b8755 | 4740 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_x_rps( |
gume | 0:1f82672b8755 | 4741 | double *gyro_x_d) |
gume | 0:1f82672b8755 | 4742 | { |
gume | 0:1f82672b8755 | 4743 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 4744 | communication routine*/ |
gume | 0:1f82672b8755 | 4745 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4746 | s16 reg_gyro_x_s16 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4747 | double data_d = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4748 | u8 gyro_unit_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4749 | /* Read the current gyro unit and set the |
gume | 0:1f82672b8755 | 4750 | unit as rps if the unit is in dps */ |
gume | 0:1f82672b8755 | 4751 | com_rslt = bno055_get_gyro_unit(&gyro_unit_u8); |
gume | 0:1f82672b8755 | 4752 | if (gyro_unit_u8 != BNO055_GYRO_UNIT_RPS) |
gume | 0:1f82672b8755 | 4753 | com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_RPS); |
gume | 0:1f82672b8755 | 4754 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 4755 | /* Read gyro raw x data */ |
gume | 0:1f82672b8755 | 4756 | com_rslt += bno055_read_gyro_x(®_gyro_x_s16); |
gume | 0:1f82672b8755 | 4757 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 4758 | /* Convert raw gyro x to rps */ |
gume | 0:1f82672b8755 | 4759 | data_d = |
gume | 0:1f82672b8755 | 4760 | (double)(reg_gyro_x_s16/BNO055_GYRO_DIV_RPS); |
gume | 0:1f82672b8755 | 4761 | *gyro_x_d = data_d; |
gume | 0:1f82672b8755 | 4762 | } else { |
gume | 0:1f82672b8755 | 4763 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4764 | } |
gume | 0:1f82672b8755 | 4765 | } else { |
gume | 0:1f82672b8755 | 4766 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4767 | } |
gume | 0:1f82672b8755 | 4768 | return com_rslt; |
gume | 0:1f82672b8755 | 4769 | } |
gume | 0:1f82672b8755 | 4770 | /*! |
gume | 0:1f82672b8755 | 4771 | * @brief This API is used to convert the gyro y raw data |
gume | 0:1f82672b8755 | 4772 | * to dps output as double |
gume | 0:1f82672b8755 | 4773 | * |
gume | 0:1f82672b8755 | 4774 | * @param gyro_y_d : The gyro y dps double data |
gume | 0:1f82672b8755 | 4775 | * |
gume | 0:1f82672b8755 | 4776 | * |
gume | 0:1f82672b8755 | 4777 | * |
gume | 0:1f82672b8755 | 4778 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 4779 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 4780 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 4781 | * |
gume | 0:1f82672b8755 | 4782 | * |
gume | 0:1f82672b8755 | 4783 | */ |
gume | 0:1f82672b8755 | 4784 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_y_dps( |
gume | 0:1f82672b8755 | 4785 | double *gyro_y_d) |
gume | 0:1f82672b8755 | 4786 | { |
gume | 0:1f82672b8755 | 4787 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 4788 | communication routine*/ |
gume | 0:1f82672b8755 | 4789 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4790 | s16 reg_gyro_y_s16 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4791 | double data_d = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4792 | u8 gyro_unit_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4793 | /* Read the current gyro unit and set the |
gume | 0:1f82672b8755 | 4794 | unit as dps if the unit is in rps */ |
gume | 0:1f82672b8755 | 4795 | com_rslt = bno055_get_gyro_unit(&gyro_unit_u8); |
gume | 0:1f82672b8755 | 4796 | if (gyro_unit_u8 != BNO055_GYRO_UNIT_DPS) |
gume | 0:1f82672b8755 | 4797 | com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_DPS); |
gume | 0:1f82672b8755 | 4798 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 4799 | /* Read gyro raw y data */ |
gume | 0:1f82672b8755 | 4800 | com_rslt += bno055_read_gyro_y(®_gyro_y_s16); |
gume | 0:1f82672b8755 | 4801 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 4802 | /* Convert raw gyro y to dps */ |
gume | 0:1f82672b8755 | 4803 | data_d = |
gume | 0:1f82672b8755 | 4804 | (double)(reg_gyro_y_s16/BNO055_GYRO_DIV_DPS); |
gume | 0:1f82672b8755 | 4805 | *gyro_y_d = data_d; |
gume | 0:1f82672b8755 | 4806 | } else { |
gume | 0:1f82672b8755 | 4807 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4808 | } |
gume | 0:1f82672b8755 | 4809 | } else { |
gume | 0:1f82672b8755 | 4810 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4811 | } |
gume | 0:1f82672b8755 | 4812 | return com_rslt; |
gume | 0:1f82672b8755 | 4813 | } |
gume | 0:1f82672b8755 | 4814 | /*! |
gume | 0:1f82672b8755 | 4815 | * @brief This API is used to convert the gyro y raw data |
gume | 0:1f82672b8755 | 4816 | * to rps output as double |
gume | 0:1f82672b8755 | 4817 | * |
gume | 0:1f82672b8755 | 4818 | * @param gyro_y_d : The gyro y dps double data |
gume | 0:1f82672b8755 | 4819 | * |
gume | 0:1f82672b8755 | 4820 | * |
gume | 0:1f82672b8755 | 4821 | * |
gume | 0:1f82672b8755 | 4822 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 4823 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 4824 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 4825 | * |
gume | 0:1f82672b8755 | 4826 | * |
gume | 0:1f82672b8755 | 4827 | */ |
gume | 0:1f82672b8755 | 4828 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_y_rps( |
gume | 0:1f82672b8755 | 4829 | double *gyro_y_d) |
gume | 0:1f82672b8755 | 4830 | { |
gume | 0:1f82672b8755 | 4831 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 4832 | communication routine*/ |
gume | 0:1f82672b8755 | 4833 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4834 | s16 reg_gyro_y_s16 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4835 | double data_d = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4836 | u8 gyro_unit_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4837 | /* Read the current gyro unit and set the |
gume | 0:1f82672b8755 | 4838 | unit as rps if the unit is in dps */ |
gume | 0:1f82672b8755 | 4839 | com_rslt = bno055_get_gyro_unit(&gyro_unit_u8); |
gume | 0:1f82672b8755 | 4840 | if (gyro_unit_u8 != BNO055_GYRO_UNIT_RPS) |
gume | 0:1f82672b8755 | 4841 | com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_RPS); |
gume | 0:1f82672b8755 | 4842 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 4843 | /* Read gyro raw y data */ |
gume | 0:1f82672b8755 | 4844 | com_rslt += bno055_read_gyro_y(®_gyro_y_s16); |
gume | 0:1f82672b8755 | 4845 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 4846 | /* Convert raw gyro y to rps */ |
gume | 0:1f82672b8755 | 4847 | data_d = |
gume | 0:1f82672b8755 | 4848 | (double)(reg_gyro_y_s16/BNO055_GYRO_DIV_RPS); |
gume | 0:1f82672b8755 | 4849 | *gyro_y_d = data_d; |
gume | 0:1f82672b8755 | 4850 | } else { |
gume | 0:1f82672b8755 | 4851 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4852 | } |
gume | 0:1f82672b8755 | 4853 | } else { |
gume | 0:1f82672b8755 | 4854 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4855 | } |
gume | 0:1f82672b8755 | 4856 | return com_rslt; |
gume | 0:1f82672b8755 | 4857 | } |
gume | 0:1f82672b8755 | 4858 | /*! |
gume | 0:1f82672b8755 | 4859 | * @brief This API is used to convert the gyro z raw data |
gume | 0:1f82672b8755 | 4860 | * to dps output as double |
gume | 0:1f82672b8755 | 4861 | * |
gume | 0:1f82672b8755 | 4862 | * @param gyro_z_d : The gyro z dps double data |
gume | 0:1f82672b8755 | 4863 | * |
gume | 0:1f82672b8755 | 4864 | * |
gume | 0:1f82672b8755 | 4865 | * |
gume | 0:1f82672b8755 | 4866 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 4867 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 4868 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 4869 | * |
gume | 0:1f82672b8755 | 4870 | * |
gume | 0:1f82672b8755 | 4871 | */ |
gume | 0:1f82672b8755 | 4872 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_z_dps( |
gume | 0:1f82672b8755 | 4873 | double *gyro_z_d) |
gume | 0:1f82672b8755 | 4874 | { |
gume | 0:1f82672b8755 | 4875 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 4876 | communication routine*/ |
gume | 0:1f82672b8755 | 4877 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4878 | s16 reg_gyro_z_s16 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4879 | double data_d = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4880 | u8 gyro_unit_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4881 | /* Read the current gyro unit and set the |
gume | 0:1f82672b8755 | 4882 | unit as dps if the unit is in rps */ |
gume | 0:1f82672b8755 | 4883 | com_rslt = bno055_get_gyro_unit(&gyro_unit_u8); |
gume | 0:1f82672b8755 | 4884 | if (gyro_unit_u8 != BNO055_GYRO_UNIT_DPS) |
gume | 0:1f82672b8755 | 4885 | com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_DPS); |
gume | 0:1f82672b8755 | 4886 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 4887 | /* Read gyro raw z data */ |
gume | 0:1f82672b8755 | 4888 | com_rslt += bno055_read_gyro_z(®_gyro_z_s16); |
gume | 0:1f82672b8755 | 4889 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 4890 | /* Convert raw gyro z to dps */ |
gume | 0:1f82672b8755 | 4891 | data_d = |
gume | 0:1f82672b8755 | 4892 | (double)(reg_gyro_z_s16/BNO055_GYRO_DIV_DPS); |
gume | 0:1f82672b8755 | 4893 | *gyro_z_d = data_d; |
gume | 0:1f82672b8755 | 4894 | } else { |
gume | 0:1f82672b8755 | 4895 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4896 | } |
gume | 0:1f82672b8755 | 4897 | } else { |
gume | 0:1f82672b8755 | 4898 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4899 | } |
gume | 0:1f82672b8755 | 4900 | return com_rslt; |
gume | 0:1f82672b8755 | 4901 | } |
gume | 0:1f82672b8755 | 4902 | /*! |
gume | 0:1f82672b8755 | 4903 | * @brief This API is used to convert the gyro z raw data |
gume | 0:1f82672b8755 | 4904 | * to rps output as double |
gume | 0:1f82672b8755 | 4905 | * |
gume | 0:1f82672b8755 | 4906 | * @param gyro_z_d : The gyro z rps double data |
gume | 0:1f82672b8755 | 4907 | * |
gume | 0:1f82672b8755 | 4908 | * |
gume | 0:1f82672b8755 | 4909 | * |
gume | 0:1f82672b8755 | 4910 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 4911 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 4912 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 4913 | * |
gume | 0:1f82672b8755 | 4914 | * |
gume | 0:1f82672b8755 | 4915 | */ |
gume | 0:1f82672b8755 | 4916 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_z_rps( |
gume | 0:1f82672b8755 | 4917 | double *gyro_z_d) |
gume | 0:1f82672b8755 | 4918 | { |
gume | 0:1f82672b8755 | 4919 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 4920 | communication routine*/ |
gume | 0:1f82672b8755 | 4921 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4922 | s16 reg_gyro_z_s16 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4923 | double data_d = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4924 | u8 gyro_unit_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4925 | /* Read the current gyro unit and set the |
gume | 0:1f82672b8755 | 4926 | unit as rps if the unit is in dps */ |
gume | 0:1f82672b8755 | 4927 | com_rslt = bno055_get_gyro_unit(&gyro_unit_u8); |
gume | 0:1f82672b8755 | 4928 | if (gyro_unit_u8 != BNO055_GYRO_UNIT_RPS) |
gume | 0:1f82672b8755 | 4929 | com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_RPS); |
gume | 0:1f82672b8755 | 4930 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 4931 | /* Read gyro raw x data */ |
gume | 0:1f82672b8755 | 4932 | com_rslt += bno055_read_gyro_z(®_gyro_z_s16); |
gume | 0:1f82672b8755 | 4933 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 4934 | /* Convert raw gyro x to rps */ |
gume | 0:1f82672b8755 | 4935 | data_d = |
gume | 0:1f82672b8755 | 4936 | (double)(reg_gyro_z_s16/BNO055_GYRO_DIV_RPS); |
gume | 0:1f82672b8755 | 4937 | *gyro_z_d = data_d; |
gume | 0:1f82672b8755 | 4938 | } else { |
gume | 0:1f82672b8755 | 4939 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4940 | } |
gume | 0:1f82672b8755 | 4941 | } else { |
gume | 0:1f82672b8755 | 4942 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4943 | } |
gume | 0:1f82672b8755 | 4944 | return com_rslt; |
gume | 0:1f82672b8755 | 4945 | } |
gume | 0:1f82672b8755 | 4946 | /*! |
gume | 0:1f82672b8755 | 4947 | * @brief This API is used to convert the gyro xyz raw data |
gume | 0:1f82672b8755 | 4948 | * to dps output as double |
gume | 0:1f82672b8755 | 4949 | * |
gume | 0:1f82672b8755 | 4950 | * @param gyro_xyz : The dps data of gyro xyz |
gume | 0:1f82672b8755 | 4951 | * |
gume | 0:1f82672b8755 | 4952 | * Parameter | result |
gume | 0:1f82672b8755 | 4953 | * --------- | ----------------- |
gume | 0:1f82672b8755 | 4954 | * x | dps data of gyro |
gume | 0:1f82672b8755 | 4955 | * y | dps data of gyro |
gume | 0:1f82672b8755 | 4956 | * z | dps data of gyro |
gume | 0:1f82672b8755 | 4957 | * |
gume | 0:1f82672b8755 | 4958 | * |
gume | 0:1f82672b8755 | 4959 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 4960 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 4961 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 4962 | * |
gume | 0:1f82672b8755 | 4963 | */ |
gume | 0:1f82672b8755 | 4964 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_xyz_dps( |
gume | 0:1f82672b8755 | 4965 | struct bno055_gyro_double_t *gyro_xyz) |
gume | 0:1f82672b8755 | 4966 | { |
gume | 0:1f82672b8755 | 4967 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 4968 | communication routine*/ |
gume | 0:1f82672b8755 | 4969 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4970 | struct bno055_gyro_t reg_gyro_xyz = { |
gume | 0:1f82672b8755 | 4971 | BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE}; |
gume | 0:1f82672b8755 | 4972 | u8 gyro_unit_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 4973 | /* Read the current gyro unit and set the |
gume | 0:1f82672b8755 | 4974 | unit as dps if the unit is in rps */ |
gume | 0:1f82672b8755 | 4975 | com_rslt = bno055_get_gyro_unit(&gyro_unit_u8); |
gume | 0:1f82672b8755 | 4976 | if (gyro_unit_u8 != BNO055_GYRO_UNIT_DPS) |
gume | 0:1f82672b8755 | 4977 | com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_DPS); |
gume | 0:1f82672b8755 | 4978 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 4979 | /* Read gyro raw xyz data */ |
gume | 0:1f82672b8755 | 4980 | com_rslt += bno055_read_gyro_xyz(®_gyro_xyz); |
gume | 0:1f82672b8755 | 4981 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 4982 | /* Convert gyro raw xyz to dps*/ |
gume | 0:1f82672b8755 | 4983 | gyro_xyz->x = |
gume | 0:1f82672b8755 | 4984 | (double)(reg_gyro_xyz.x/BNO055_GYRO_DIV_DPS); |
gume | 0:1f82672b8755 | 4985 | gyro_xyz->y = |
gume | 0:1f82672b8755 | 4986 | (double)(reg_gyro_xyz.y/BNO055_GYRO_DIV_DPS); |
gume | 0:1f82672b8755 | 4987 | gyro_xyz->z = |
gume | 0:1f82672b8755 | 4988 | (double)(reg_gyro_xyz.z/BNO055_GYRO_DIV_DPS); |
gume | 0:1f82672b8755 | 4989 | } else { |
gume | 0:1f82672b8755 | 4990 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4991 | } |
gume | 0:1f82672b8755 | 4992 | } else { |
gume | 0:1f82672b8755 | 4993 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 4994 | } |
gume | 0:1f82672b8755 | 4995 | return com_rslt; |
gume | 0:1f82672b8755 | 4996 | } |
gume | 0:1f82672b8755 | 4997 | /*! |
gume | 0:1f82672b8755 | 4998 | * @brief This API is used to convert the gyro xyz raw data |
gume | 0:1f82672b8755 | 4999 | * to rps output as double |
gume | 0:1f82672b8755 | 5000 | * |
gume | 0:1f82672b8755 | 5001 | * @param gyro_xyz : The rps data of gyro xyz |
gume | 0:1f82672b8755 | 5002 | * |
gume | 0:1f82672b8755 | 5003 | * Parameter | result |
gume | 0:1f82672b8755 | 5004 | * --------- | ----------------- |
gume | 0:1f82672b8755 | 5005 | * x | rps data of gyro |
gume | 0:1f82672b8755 | 5006 | * y | rps data of gyro |
gume | 0:1f82672b8755 | 5007 | * z | rps data of gyro |
gume | 0:1f82672b8755 | 5008 | * |
gume | 0:1f82672b8755 | 5009 | * |
gume | 0:1f82672b8755 | 5010 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 5011 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 5012 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 5013 | * |
gume | 0:1f82672b8755 | 5014 | */ |
gume | 0:1f82672b8755 | 5015 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_xyz_rps( |
gume | 0:1f82672b8755 | 5016 | struct bno055_gyro_double_t *gyro_xyz) |
gume | 0:1f82672b8755 | 5017 | { |
gume | 0:1f82672b8755 | 5018 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 5019 | communication routine*/ |
gume | 0:1f82672b8755 | 5020 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5021 | struct bno055_gyro_t reg_gyro_xyz = { |
gume | 0:1f82672b8755 | 5022 | BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE}; |
gume | 0:1f82672b8755 | 5023 | u8 gyro_unit_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 5024 | /* Read the current gyro unit and set the |
gume | 0:1f82672b8755 | 5025 | unit as rps if the unit is in dps */ |
gume | 0:1f82672b8755 | 5026 | com_rslt = bno055_get_gyro_unit(&gyro_unit_u8); |
gume | 0:1f82672b8755 | 5027 | if (gyro_unit_u8 != BNO055_GYRO_UNIT_RPS) |
gume | 0:1f82672b8755 | 5028 | com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_RPS); |
gume | 0:1f82672b8755 | 5029 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 5030 | /* Read gyro raw x data */ |
gume | 0:1f82672b8755 | 5031 | com_rslt += bno055_read_gyro_xyz(®_gyro_xyz); |
gume | 0:1f82672b8755 | 5032 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 5033 | /* Convert the raw gyro xyz to rps*/ |
gume | 0:1f82672b8755 | 5034 | gyro_xyz->x = |
gume | 0:1f82672b8755 | 5035 | (double)(reg_gyro_xyz.x/BNO055_GYRO_DIV_RPS); |
gume | 0:1f82672b8755 | 5036 | gyro_xyz->y = |
gume | 0:1f82672b8755 | 5037 | (double)(reg_gyro_xyz.y/BNO055_GYRO_DIV_RPS); |
gume | 0:1f82672b8755 | 5038 | gyro_xyz->z = |
gume | 0:1f82672b8755 | 5039 | (double)(reg_gyro_xyz.z/BNO055_GYRO_DIV_RPS); |
gume | 0:1f82672b8755 | 5040 | } else { |
gume | 0:1f82672b8755 | 5041 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5042 | } |
gume | 0:1f82672b8755 | 5043 | } else { |
gume | 0:1f82672b8755 | 5044 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5045 | } |
gume | 0:1f82672b8755 | 5046 | return com_rslt; |
gume | 0:1f82672b8755 | 5047 | } |
gume | 0:1f82672b8755 | 5048 | /*! |
gume | 0:1f82672b8755 | 5049 | * @brief This API is used to convert the Euler h raw data |
gume | 0:1f82672b8755 | 5050 | * to degree output as double |
gume | 0:1f82672b8755 | 5051 | * |
gume | 0:1f82672b8755 | 5052 | * @param euler_h_d : The double value of Euler h degree |
gume | 0:1f82672b8755 | 5053 | * |
gume | 0:1f82672b8755 | 5054 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 5055 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 5056 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 5057 | * |
gume | 0:1f82672b8755 | 5058 | * |
gume | 0:1f82672b8755 | 5059 | */ |
gume | 0:1f82672b8755 | 5060 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_h_deg( |
gume | 0:1f82672b8755 | 5061 | double *euler_h_d) |
gume | 0:1f82672b8755 | 5062 | { |
gume | 0:1f82672b8755 | 5063 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5064 | s16 reg_euler_h_s16 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 5065 | double data_d = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 5066 | u8 euler_unit_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 5067 | /* Read the current Euler unit and set the |
gume | 0:1f82672b8755 | 5068 | unit as degree if the unit is in radians */ |
gume | 0:1f82672b8755 | 5069 | com_rslt = bno055_get_euler_unit(&euler_unit_u8); |
gume | 0:1f82672b8755 | 5070 | if (euler_unit_u8 != BNO055_EULER_UNIT_DEG) |
gume | 0:1f82672b8755 | 5071 | com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_DEG); |
gume | 0:1f82672b8755 | 5072 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 5073 | /* Read Euler raw h data*/ |
gume | 0:1f82672b8755 | 5074 | com_rslt += bno055_read_euler_h(®_euler_h_s16); |
gume | 0:1f82672b8755 | 5075 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 5076 | /* Convert raw Euler h to degree */ |
gume | 0:1f82672b8755 | 5077 | data_d = |
gume | 0:1f82672b8755 | 5078 | (double)(reg_euler_h_s16/BNO055_EULER_DIV_DEG); |
gume | 0:1f82672b8755 | 5079 | *euler_h_d = data_d; |
gume | 0:1f82672b8755 | 5080 | } else { |
gume | 0:1f82672b8755 | 5081 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5082 | } |
gume | 0:1f82672b8755 | 5083 | } else { |
gume | 0:1f82672b8755 | 5084 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5085 | } |
gume | 0:1f82672b8755 | 5086 | return com_rslt; |
gume | 0:1f82672b8755 | 5087 | } |
gume | 0:1f82672b8755 | 5088 | /*! |
gume | 0:1f82672b8755 | 5089 | * @brief This API is used to convert the Euler h raw data |
gume | 0:1f82672b8755 | 5090 | * to radians output as double |
gume | 0:1f82672b8755 | 5091 | * |
gume | 0:1f82672b8755 | 5092 | * @param euler_h_d : The double value of Euler h radians |
gume | 0:1f82672b8755 | 5093 | * |
gume | 0:1f82672b8755 | 5094 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 5095 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 5096 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 5097 | * |
gume | 0:1f82672b8755 | 5098 | * |
gume | 0:1f82672b8755 | 5099 | */ |
gume | 0:1f82672b8755 | 5100 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_h_rad( |
gume | 0:1f82672b8755 | 5101 | double *euler_h_d) |
gume | 0:1f82672b8755 | 5102 | { |
gume | 0:1f82672b8755 | 5103 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5104 | s16 reg_euler_h_s16 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 5105 | double data_d = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 5106 | u8 euler_unit_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 5107 | /* Read the current Euler unit and set the |
gume | 0:1f82672b8755 | 5108 | unit as radians if the unit is in degree */ |
gume | 0:1f82672b8755 | 5109 | com_rslt = bno055_get_euler_unit(&euler_unit_u8); |
gume | 0:1f82672b8755 | 5110 | if (euler_unit_u8 != BNO055_EULER_UNIT_RAD) |
gume | 0:1f82672b8755 | 5111 | com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_RAD); |
gume | 0:1f82672b8755 | 5112 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 5113 | /* Read Euler raw h data*/ |
gume | 0:1f82672b8755 | 5114 | com_rslt += bno055_read_euler_h(®_euler_h_s16); |
gume | 0:1f82672b8755 | 5115 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 5116 | /* Convert raw Euler h to radians */ |
gume | 0:1f82672b8755 | 5117 | data_d = |
gume | 0:1f82672b8755 | 5118 | (double)(reg_euler_h_s16/BNO055_EULER_DIV_RAD); |
gume | 0:1f82672b8755 | 5119 | *euler_h_d = data_d; |
gume | 0:1f82672b8755 | 5120 | } else { |
gume | 0:1f82672b8755 | 5121 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5122 | } |
gume | 0:1f82672b8755 | 5123 | } else { |
gume | 0:1f82672b8755 | 5124 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5125 | } |
gume | 0:1f82672b8755 | 5126 | return com_rslt; |
gume | 0:1f82672b8755 | 5127 | } |
gume | 0:1f82672b8755 | 5128 | /*! |
gume | 0:1f82672b8755 | 5129 | * @brief This API is used to convert the Euler r raw data |
gume | 0:1f82672b8755 | 5130 | * to degree output as double |
gume | 0:1f82672b8755 | 5131 | * |
gume | 0:1f82672b8755 | 5132 | * @param euler_r_d : The double value of Euler r degree |
gume | 0:1f82672b8755 | 5133 | * |
gume | 0:1f82672b8755 | 5134 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 5135 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 5136 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 5137 | * |
gume | 0:1f82672b8755 | 5138 | * |
gume | 0:1f82672b8755 | 5139 | */ |
gume | 0:1f82672b8755 | 5140 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_r_deg( |
gume | 0:1f82672b8755 | 5141 | double *euler_r_d) |
gume | 0:1f82672b8755 | 5142 | { |
gume | 0:1f82672b8755 | 5143 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5144 | s16 reg_euler_r_s16 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 5145 | double data_d = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 5146 | u8 euler_unit_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 5147 | /* Read the current Euler unit and set the |
gume | 0:1f82672b8755 | 5148 | unit as degree if the unit is in radians */ |
gume | 0:1f82672b8755 | 5149 | com_rslt = bno055_get_euler_unit(&euler_unit_u8); |
gume | 0:1f82672b8755 | 5150 | if (euler_unit_u8 != BNO055_EULER_UNIT_DEG) |
gume | 0:1f82672b8755 | 5151 | com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_DEG); |
gume | 0:1f82672b8755 | 5152 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 5153 | /* Read Euler raw r data*/ |
gume | 0:1f82672b8755 | 5154 | com_rslt += bno055_read_euler_r(®_euler_r_s16); |
gume | 0:1f82672b8755 | 5155 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 5156 | /* Convert raw Euler r to degree */ |
gume | 0:1f82672b8755 | 5157 | data_d = |
gume | 0:1f82672b8755 | 5158 | (double)(reg_euler_r_s16/BNO055_EULER_DIV_DEG); |
gume | 0:1f82672b8755 | 5159 | *euler_r_d = data_d; |
gume | 0:1f82672b8755 | 5160 | } else { |
gume | 0:1f82672b8755 | 5161 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5162 | } |
gume | 0:1f82672b8755 | 5163 | } else { |
gume | 0:1f82672b8755 | 5164 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5165 | } |
gume | 0:1f82672b8755 | 5166 | return com_rslt; |
gume | 0:1f82672b8755 | 5167 | } |
gume | 0:1f82672b8755 | 5168 | /*! |
gume | 0:1f82672b8755 | 5169 | * @brief This API is used to convert the Euler r raw data |
gume | 0:1f82672b8755 | 5170 | * to radians output as double |
gume | 0:1f82672b8755 | 5171 | * |
gume | 0:1f82672b8755 | 5172 | * @param euler_r_d : The double value of Euler r radians |
gume | 0:1f82672b8755 | 5173 | * |
gume | 0:1f82672b8755 | 5174 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 5175 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 5176 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 5177 | * |
gume | 0:1f82672b8755 | 5178 | * |
gume | 0:1f82672b8755 | 5179 | */ |
gume | 0:1f82672b8755 | 5180 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_r_rad( |
gume | 0:1f82672b8755 | 5181 | double *euler_r_d) |
gume | 0:1f82672b8755 | 5182 | { |
gume | 0:1f82672b8755 | 5183 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5184 | s16 reg_euler_r_s16 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 5185 | double data_d = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 5186 | u8 euler_unit_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 5187 | /* Read the current Euler unit and set the |
gume | 0:1f82672b8755 | 5188 | unit as radians if the unit is in degree */ |
gume | 0:1f82672b8755 | 5189 | com_rslt = bno055_get_euler_unit(&euler_unit_u8); |
gume | 0:1f82672b8755 | 5190 | if (euler_unit_u8 != BNO055_EULER_UNIT_RAD) |
gume | 0:1f82672b8755 | 5191 | com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_RAD); |
gume | 0:1f82672b8755 | 5192 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 5193 | /* Read Euler raw r data*/ |
gume | 0:1f82672b8755 | 5194 | com_rslt += bno055_read_euler_r(®_euler_r_s16); |
gume | 0:1f82672b8755 | 5195 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 5196 | /* Convert raw Euler r to radians */ |
gume | 0:1f82672b8755 | 5197 | data_d = |
gume | 0:1f82672b8755 | 5198 | (double)(reg_euler_r_s16/BNO055_EULER_DIV_RAD); |
gume | 0:1f82672b8755 | 5199 | *euler_r_d = data_d; |
gume | 0:1f82672b8755 | 5200 | } else { |
gume | 0:1f82672b8755 | 5201 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5202 | } |
gume | 0:1f82672b8755 | 5203 | } else { |
gume | 0:1f82672b8755 | 5204 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5205 | } |
gume | 0:1f82672b8755 | 5206 | return com_rslt; |
gume | 0:1f82672b8755 | 5207 | } |
gume | 0:1f82672b8755 | 5208 | /*! |
gume | 0:1f82672b8755 | 5209 | * @brief This API is used to convert the Euler p raw data |
gume | 0:1f82672b8755 | 5210 | * to degree output as double |
gume | 0:1f82672b8755 | 5211 | * |
gume | 0:1f82672b8755 | 5212 | * @param euler_p_d : The double value of Euler p degree |
gume | 0:1f82672b8755 | 5213 | * |
gume | 0:1f82672b8755 | 5214 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 5215 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 5216 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 5217 | * |
gume | 0:1f82672b8755 | 5218 | * |
gume | 0:1f82672b8755 | 5219 | */ |
gume | 0:1f82672b8755 | 5220 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_p_deg( |
gume | 0:1f82672b8755 | 5221 | double *euler_p_d) |
gume | 0:1f82672b8755 | 5222 | { |
gume | 0:1f82672b8755 | 5223 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5224 | s16 reg_euler_p_s16 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 5225 | double data_d = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 5226 | u8 euler_unit_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 5227 | /* Read the current Euler unit and set the |
gume | 0:1f82672b8755 | 5228 | unit as degree if the unit is in radians */ |
gume | 0:1f82672b8755 | 5229 | com_rslt = bno055_get_euler_unit(&euler_unit_u8); |
gume | 0:1f82672b8755 | 5230 | if (euler_unit_u8 != BNO055_EULER_UNIT_DEG) |
gume | 0:1f82672b8755 | 5231 | com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_DEG); |
gume | 0:1f82672b8755 | 5232 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 5233 | /* Read Euler raw p data*/ |
gume | 0:1f82672b8755 | 5234 | com_rslt += bno055_read_euler_p(®_euler_p_s16); |
gume | 0:1f82672b8755 | 5235 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 5236 | /* Convert raw Euler p to degree*/ |
gume | 0:1f82672b8755 | 5237 | data_d = |
gume | 0:1f82672b8755 | 5238 | (double)(reg_euler_p_s16/BNO055_EULER_DIV_DEG); |
gume | 0:1f82672b8755 | 5239 | *euler_p_d = data_d; |
gume | 0:1f82672b8755 | 5240 | } else { |
gume | 0:1f82672b8755 | 5241 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5242 | } |
gume | 0:1f82672b8755 | 5243 | } else { |
gume | 0:1f82672b8755 | 5244 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5245 | } |
gume | 0:1f82672b8755 | 5246 | return com_rslt; |
gume | 0:1f82672b8755 | 5247 | } |
gume | 0:1f82672b8755 | 5248 | /*! |
gume | 0:1f82672b8755 | 5249 | * @brief This API is used to convert the Euler p raw data |
gume | 0:1f82672b8755 | 5250 | * to radians output as double |
gume | 0:1f82672b8755 | 5251 | * |
gume | 0:1f82672b8755 | 5252 | * @param euler_p_d : The double value of Euler p radians |
gume | 0:1f82672b8755 | 5253 | * |
gume | 0:1f82672b8755 | 5254 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 5255 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 5256 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 5257 | * |
gume | 0:1f82672b8755 | 5258 | * |
gume | 0:1f82672b8755 | 5259 | */ |
gume | 0:1f82672b8755 | 5260 | |
gume | 0:1f82672b8755 | 5261 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_p_rad( |
gume | 0:1f82672b8755 | 5262 | double *euler_p_d) |
gume | 0:1f82672b8755 | 5263 | { |
gume | 0:1f82672b8755 | 5264 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5265 | s16 reg_euler_p_s16 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 5266 | double data_d = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 5267 | u8 euler_unit_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 5268 | /* Read the current Euler unit and set the |
gume | 0:1f82672b8755 | 5269 | unit as radians if the unit is in degree */ |
gume | 0:1f82672b8755 | 5270 | com_rslt = bno055_get_euler_unit(&euler_unit_u8); |
gume | 0:1f82672b8755 | 5271 | if (euler_unit_u8 != BNO055_EULER_UNIT_RAD) |
gume | 0:1f82672b8755 | 5272 | com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_RAD); |
gume | 0:1f82672b8755 | 5273 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 5274 | /* Read Euler raw p data*/ |
gume | 0:1f82672b8755 | 5275 | com_rslt += bno055_read_euler_p(®_euler_p_s16); |
gume | 0:1f82672b8755 | 5276 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 5277 | /* Convert raw p to radians*/ |
gume | 0:1f82672b8755 | 5278 | data_d = |
gume | 0:1f82672b8755 | 5279 | (double)(reg_euler_p_s16/BNO055_EULER_DIV_RAD); |
gume | 0:1f82672b8755 | 5280 | *euler_p_d = data_d; |
gume | 0:1f82672b8755 | 5281 | } else { |
gume | 0:1f82672b8755 | 5282 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5283 | } |
gume | 0:1f82672b8755 | 5284 | } else { |
gume | 0:1f82672b8755 | 5285 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5286 | } |
gume | 0:1f82672b8755 | 5287 | return com_rslt; |
gume | 0:1f82672b8755 | 5288 | } |
gume | 0:1f82672b8755 | 5289 | /*! |
gume | 0:1f82672b8755 | 5290 | * @brief This API is used to convert the Euler hpr raw data |
gume | 0:1f82672b8755 | 5291 | * to degree output as double |
gume | 0:1f82672b8755 | 5292 | * |
gume | 0:1f82672b8755 | 5293 | * @param euler_hpr : The degree data of Euler hpr |
gume | 0:1f82672b8755 | 5294 | * |
gume | 0:1f82672b8755 | 5295 | * Parameter | result |
gume | 0:1f82672b8755 | 5296 | * --------- | ----------------- |
gume | 0:1f82672b8755 | 5297 | * h | degree data of Euler |
gume | 0:1f82672b8755 | 5298 | * r | degree data of Euler |
gume | 0:1f82672b8755 | 5299 | * p | degree data of Euler |
gume | 0:1f82672b8755 | 5300 | * |
gume | 0:1f82672b8755 | 5301 | * |
gume | 0:1f82672b8755 | 5302 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 5303 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 5304 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 5305 | * |
gume | 0:1f82672b8755 | 5306 | */ |
gume | 0:1f82672b8755 | 5307 | |
gume | 0:1f82672b8755 | 5308 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_hpr_deg( |
gume | 0:1f82672b8755 | 5309 | struct bno055_euler_double_t *euler_hpr) |
gume | 0:1f82672b8755 | 5310 | { |
gume | 0:1f82672b8755 | 5311 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 5312 | communication routine*/ |
gume | 0:1f82672b8755 | 5313 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5314 | struct bno055_euler_t reg_euler = {BNO055_INIT_VALUE, |
gume | 0:1f82672b8755 | 5315 | BNO055_INIT_VALUE, BNO055_INIT_VALUE}; |
gume | 0:1f82672b8755 | 5316 | u8 euler_unit_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 5317 | /* Read the current Euler unit and set the |
gume | 0:1f82672b8755 | 5318 | unit as degree if the unit is in radians */ |
gume | 0:1f82672b8755 | 5319 | com_rslt = bno055_get_euler_unit(&euler_unit_u8); |
gume | 0:1f82672b8755 | 5320 | if (euler_unit_u8 != BNO055_EULER_UNIT_DEG) |
gume | 0:1f82672b8755 | 5321 | com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_DEG); |
gume | 0:1f82672b8755 | 5322 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 5323 | /* Read Euler raw h data*/ |
gume | 0:1f82672b8755 | 5324 | com_rslt += bno055_read_euler_hrp(®_euler); |
gume | 0:1f82672b8755 | 5325 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 5326 | /* Convert raw Euler hrp to degree*/ |
gume | 0:1f82672b8755 | 5327 | euler_hpr->h = |
gume | 0:1f82672b8755 | 5328 | (double)(reg_euler.h/BNO055_EULER_DIV_DEG); |
gume | 0:1f82672b8755 | 5329 | euler_hpr->p = |
gume | 0:1f82672b8755 | 5330 | (double)(reg_euler.p/BNO055_EULER_DIV_DEG); |
gume | 0:1f82672b8755 | 5331 | euler_hpr->r = |
gume | 0:1f82672b8755 | 5332 | (double)(reg_euler.r/BNO055_EULER_DIV_DEG); |
gume | 0:1f82672b8755 | 5333 | } else { |
gume | 0:1f82672b8755 | 5334 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5335 | } |
gume | 0:1f82672b8755 | 5336 | } else { |
gume | 0:1f82672b8755 | 5337 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5338 | } |
gume | 0:1f82672b8755 | 5339 | return com_rslt; |
gume | 0:1f82672b8755 | 5340 | } |
gume | 0:1f82672b8755 | 5341 | /*! |
gume | 0:1f82672b8755 | 5342 | * @brief This API is used to convert the Euler hpr raw data |
gume | 0:1f82672b8755 | 5343 | * to radians output as double |
gume | 0:1f82672b8755 | 5344 | * |
gume | 0:1f82672b8755 | 5345 | * @param euler_hpr : The radians data of Euler hpr |
gume | 0:1f82672b8755 | 5346 | * |
gume | 0:1f82672b8755 | 5347 | * Parameter | result |
gume | 0:1f82672b8755 | 5348 | * --------- | ----------------- |
gume | 0:1f82672b8755 | 5349 | * h | radians data of Euler |
gume | 0:1f82672b8755 | 5350 | * r | radians data of Euler |
gume | 0:1f82672b8755 | 5351 | * p | radians data of Euler |
gume | 0:1f82672b8755 | 5352 | * |
gume | 0:1f82672b8755 | 5353 | * |
gume | 0:1f82672b8755 | 5354 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 5355 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 5356 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 5357 | * |
gume | 0:1f82672b8755 | 5358 | */ |
gume | 0:1f82672b8755 | 5359 | |
gume | 0:1f82672b8755 | 5360 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_hpr_rad( |
gume | 0:1f82672b8755 | 5361 | struct bno055_euler_double_t *euler_hpr) |
gume | 0:1f82672b8755 | 5362 | { |
gume | 0:1f82672b8755 | 5363 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 5364 | communication routine*/ |
gume | 0:1f82672b8755 | 5365 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5366 | struct bno055_euler_t reg_euler = {BNO055_INIT_VALUE, |
gume | 0:1f82672b8755 | 5367 | BNO055_INIT_VALUE, BNO055_INIT_VALUE}; |
gume | 0:1f82672b8755 | 5368 | u8 euler_unit_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 5369 | /* Read the current Euler unit and set the |
gume | 0:1f82672b8755 | 5370 | unit as radians if the unit is in degree */ |
gume | 0:1f82672b8755 | 5371 | com_rslt = bno055_get_euler_unit(&euler_unit_u8); |
gume | 0:1f82672b8755 | 5372 | if (euler_unit_u8 != BNO055_EULER_UNIT_RAD) |
gume | 0:1f82672b8755 | 5373 | com_rslt = bno055_set_euler_unit(BNO055_EULER_UNIT_RAD); |
gume | 0:1f82672b8755 | 5374 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 5375 | /* Read the raw hrp */ |
gume | 0:1f82672b8755 | 5376 | com_rslt = bno055_read_euler_hrp(®_euler); |
gume | 0:1f82672b8755 | 5377 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 5378 | /* Convert raw Euler hrp to radians*/ |
gume | 0:1f82672b8755 | 5379 | euler_hpr->h = |
gume | 0:1f82672b8755 | 5380 | (double)(reg_euler.h/BNO055_EULER_DIV_RAD); |
gume | 0:1f82672b8755 | 5381 | euler_hpr->p = |
gume | 0:1f82672b8755 | 5382 | (double)(reg_euler.p/BNO055_EULER_DIV_RAD); |
gume | 0:1f82672b8755 | 5383 | euler_hpr->r = |
gume | 0:1f82672b8755 | 5384 | (double)(reg_euler.r/BNO055_EULER_DIV_RAD); |
gume | 0:1f82672b8755 | 5385 | } else { |
gume | 0:1f82672b8755 | 5386 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5387 | } |
gume | 0:1f82672b8755 | 5388 | } else { |
gume | 0:1f82672b8755 | 5389 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5390 | } |
gume | 0:1f82672b8755 | 5391 | return com_rslt; |
gume | 0:1f82672b8755 | 5392 | } |
gume | 0:1f82672b8755 | 5393 | /*! |
gume | 0:1f82672b8755 | 5394 | * @brief This API is used to convert the linear |
gume | 0:1f82672b8755 | 5395 | * accel x raw data to meterpersecseq output as double |
gume | 0:1f82672b8755 | 5396 | * |
gume | 0:1f82672b8755 | 5397 | * @param linear_accel_x_d : The double value of |
gume | 0:1f82672b8755 | 5398 | * linear accel x meterpersecseq |
gume | 0:1f82672b8755 | 5399 | * |
gume | 0:1f82672b8755 | 5400 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 5401 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 5402 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 5403 | * |
gume | 0:1f82672b8755 | 5404 | * |
gume | 0:1f82672b8755 | 5405 | */ |
gume | 0:1f82672b8755 | 5406 | |
gume | 0:1f82672b8755 | 5407 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_x_msq( |
gume | 0:1f82672b8755 | 5408 | double *linear_accel_x_d) |
gume | 0:1f82672b8755 | 5409 | { |
gume | 0:1f82672b8755 | 5410 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5411 | s16 reg_linear_accel_x_s16 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 5412 | double data_d = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 5413 | /* Read the raw x of linear accel */ |
gume | 0:1f82672b8755 | 5414 | com_rslt = bno055_read_linear_accel_x(®_linear_accel_x_s16); |
gume | 0:1f82672b8755 | 5415 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 5416 | /* Convert the raw x to m/s2 */ |
gume | 0:1f82672b8755 | 5417 | data_d = (double) |
gume | 0:1f82672b8755 | 5418 | (reg_linear_accel_x_s16/BNO055_LINEAR_ACCEL_DIV_MSQ); |
gume | 0:1f82672b8755 | 5419 | *linear_accel_x_d = data_d; |
gume | 0:1f82672b8755 | 5420 | } else { |
gume | 0:1f82672b8755 | 5421 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5422 | } |
gume | 0:1f82672b8755 | 5423 | return com_rslt; |
gume | 0:1f82672b8755 | 5424 | } |
gume | 0:1f82672b8755 | 5425 | /*! |
gume | 0:1f82672b8755 | 5426 | * @brief This API is used to convert the linear |
gume | 0:1f82672b8755 | 5427 | * accel y raw data to meterpersecseq output as double |
gume | 0:1f82672b8755 | 5428 | * |
gume | 0:1f82672b8755 | 5429 | * @param linear_accel_y_d : The double value of |
gume | 0:1f82672b8755 | 5430 | * linear accel y meterpersecseq |
gume | 0:1f82672b8755 | 5431 | * |
gume | 0:1f82672b8755 | 5432 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 5433 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 5434 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 5435 | * |
gume | 0:1f82672b8755 | 5436 | * |
gume | 0:1f82672b8755 | 5437 | */ |
gume | 0:1f82672b8755 | 5438 | |
gume | 0:1f82672b8755 | 5439 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_y_msq( |
gume | 0:1f82672b8755 | 5440 | double *linear_accel_y_d) |
gume | 0:1f82672b8755 | 5441 | { |
gume | 0:1f82672b8755 | 5442 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5443 | s16 reg_linear_accel_y_s16 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 5444 | double data_d = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 5445 | /* Read the raw x of linear accel */ |
gume | 0:1f82672b8755 | 5446 | com_rslt = bno055_read_linear_accel_y(®_linear_accel_y_s16); |
gume | 0:1f82672b8755 | 5447 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 5448 | /* Convert the raw y to m/s2 */ |
gume | 0:1f82672b8755 | 5449 | data_d = (double) |
gume | 0:1f82672b8755 | 5450 | (reg_linear_accel_y_s16/BNO055_LINEAR_ACCEL_DIV_MSQ); |
gume | 0:1f82672b8755 | 5451 | *linear_accel_y_d = data_d; |
gume | 0:1f82672b8755 | 5452 | } else { |
gume | 0:1f82672b8755 | 5453 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5454 | } |
gume | 0:1f82672b8755 | 5455 | return com_rslt; |
gume | 0:1f82672b8755 | 5456 | } |
gume | 0:1f82672b8755 | 5457 | /*! |
gume | 0:1f82672b8755 | 5458 | * @brief This API is used to convert the linear |
gume | 0:1f82672b8755 | 5459 | * accel z raw data to meterpersecseq output as double |
gume | 0:1f82672b8755 | 5460 | * |
gume | 0:1f82672b8755 | 5461 | * @param linear_accel_z_d : The double value of |
gume | 0:1f82672b8755 | 5462 | * linear accel z meterpersecseq |
gume | 0:1f82672b8755 | 5463 | * |
gume | 0:1f82672b8755 | 5464 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 5465 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 5466 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 5467 | * |
gume | 0:1f82672b8755 | 5468 | * |
gume | 0:1f82672b8755 | 5469 | */ |
gume | 0:1f82672b8755 | 5470 | |
gume | 0:1f82672b8755 | 5471 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_z_msq( |
gume | 0:1f82672b8755 | 5472 | double *linear_accel_z_d) |
gume | 0:1f82672b8755 | 5473 | { |
gume | 0:1f82672b8755 | 5474 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5475 | s16 reg_linear_accel_z_s16 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 5476 | double data_d = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 5477 | /* Read the raw x of linear accel */ |
gume | 0:1f82672b8755 | 5478 | com_rslt = bno055_read_linear_accel_z(®_linear_accel_z_s16); |
gume | 0:1f82672b8755 | 5479 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 5480 | /* Convert the raw z to m/s2 */ |
gume | 0:1f82672b8755 | 5481 | data_d = |
gume | 0:1f82672b8755 | 5482 | (double)(reg_linear_accel_z_s16/BNO055_LINEAR_ACCEL_DIV_MSQ); |
gume | 0:1f82672b8755 | 5483 | *linear_accel_z_d = data_d; |
gume | 0:1f82672b8755 | 5484 | } else { |
gume | 0:1f82672b8755 | 5485 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5486 | } |
gume | 0:1f82672b8755 | 5487 | return com_rslt; |
gume | 0:1f82672b8755 | 5488 | } |
gume | 0:1f82672b8755 | 5489 | /*! |
gume | 0:1f82672b8755 | 5490 | * @brief This API is used to convert the linear accel xyz raw data |
gume | 0:1f82672b8755 | 5491 | * to meterpersecseq output as double |
gume | 0:1f82672b8755 | 5492 | * |
gume | 0:1f82672b8755 | 5493 | * @param linear_accel_xyz : The meterpersecseq data of linear accel xyz |
gume | 0:1f82672b8755 | 5494 | * |
gume | 0:1f82672b8755 | 5495 | * Parameter | result |
gume | 0:1f82672b8755 | 5496 | * --------- | ----------------- |
gume | 0:1f82672b8755 | 5497 | * x | meterpersecseq data of linear accel |
gume | 0:1f82672b8755 | 5498 | * y | meterpersecseq data of linear accel |
gume | 0:1f82672b8755 | 5499 | * z | meterpersecseq data of linear accel |
gume | 0:1f82672b8755 | 5500 | * |
gume | 0:1f82672b8755 | 5501 | * |
gume | 0:1f82672b8755 | 5502 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 5503 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 5504 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 5505 | * |
gume | 0:1f82672b8755 | 5506 | */ |
gume | 0:1f82672b8755 | 5507 | |
gume | 0:1f82672b8755 | 5508 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_xyz_msq( |
gume | 0:1f82672b8755 | 5509 | struct bno055_linear_accel_double_t *linear_accel_xyz) |
gume | 0:1f82672b8755 | 5510 | { |
gume | 0:1f82672b8755 | 5511 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 5512 | communication routine*/ |
gume | 0:1f82672b8755 | 5513 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5514 | struct bno055_linear_accel_t reg_linear_accel_xyz = { |
gume | 0:1f82672b8755 | 5515 | BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE}; |
gume | 0:1f82672b8755 | 5516 | /* Read the raw xyz of linear accel */ |
gume | 0:1f82672b8755 | 5517 | com_rslt = bno055_read_linear_accel_xyz(®_linear_accel_xyz); |
gume | 0:1f82672b8755 | 5518 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 5519 | /* Convert the raw xyz of linear accel to m/s2 */ |
gume | 0:1f82672b8755 | 5520 | linear_accel_xyz->x = |
gume | 0:1f82672b8755 | 5521 | (double)(reg_linear_accel_xyz.x/BNO055_LINEAR_ACCEL_DIV_MSQ); |
gume | 0:1f82672b8755 | 5522 | linear_accel_xyz->y = |
gume | 0:1f82672b8755 | 5523 | (double)(reg_linear_accel_xyz.y/BNO055_LINEAR_ACCEL_DIV_MSQ); |
gume | 0:1f82672b8755 | 5524 | linear_accel_xyz->z = |
gume | 0:1f82672b8755 | 5525 | (double)(reg_linear_accel_xyz.z/BNO055_LINEAR_ACCEL_DIV_MSQ); |
gume | 0:1f82672b8755 | 5526 | } else { |
gume | 0:1f82672b8755 | 5527 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5528 | } |
gume | 0:1f82672b8755 | 5529 | return com_rslt; |
gume | 0:1f82672b8755 | 5530 | } |
gume | 0:1f82672b8755 | 5531 | /*! |
gume | 0:1f82672b8755 | 5532 | * @brief This API is used to convert the gravity |
gume | 0:1f82672b8755 | 5533 | * x raw data to meterpersecseq output as double |
gume | 0:1f82672b8755 | 5534 | * |
gume | 0:1f82672b8755 | 5535 | * @param gravity_x_d : The double value of gravity x meterpersecseq |
gume | 0:1f82672b8755 | 5536 | * |
gume | 0:1f82672b8755 | 5537 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 5538 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 5539 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 5540 | * |
gume | 0:1f82672b8755 | 5541 | * |
gume | 0:1f82672b8755 | 5542 | */ |
gume | 0:1f82672b8755 | 5543 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_x_msq( |
gume | 0:1f82672b8755 | 5544 | double *gravity_x_d) |
gume | 0:1f82672b8755 | 5545 | { |
gume | 0:1f82672b8755 | 5546 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5547 | s16 reg_gravity_x_s16 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 5548 | double data_d = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 5549 | /* Read raw gravity of x*/ |
gume | 0:1f82672b8755 | 5550 | com_rslt = bno055_read_gravity_x(®_gravity_x_s16); |
gume | 0:1f82672b8755 | 5551 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 5552 | /* Convert raw gravity of x to m/s2 */ |
gume | 0:1f82672b8755 | 5553 | data_d = |
gume | 0:1f82672b8755 | 5554 | (double)(reg_gravity_x_s16/BNO055_GRAVITY_DIV_MSQ); |
gume | 0:1f82672b8755 | 5555 | *gravity_x_d = data_d; |
gume | 0:1f82672b8755 | 5556 | } else { |
gume | 0:1f82672b8755 | 5557 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5558 | } |
gume | 0:1f82672b8755 | 5559 | return com_rslt; |
gume | 0:1f82672b8755 | 5560 | } |
gume | 0:1f82672b8755 | 5561 | /*! |
gume | 0:1f82672b8755 | 5562 | * @brief This API is used to convert the gravity |
gume | 0:1f82672b8755 | 5563 | * y raw data to meterpersecseq output as double |
gume | 0:1f82672b8755 | 5564 | * |
gume | 0:1f82672b8755 | 5565 | * @param gravity_y_d : The double value of gravity y meterpersecseq |
gume | 0:1f82672b8755 | 5566 | * |
gume | 0:1f82672b8755 | 5567 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 5568 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 5569 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 5570 | * |
gume | 0:1f82672b8755 | 5571 | * |
gume | 0:1f82672b8755 | 5572 | */ |
gume | 0:1f82672b8755 | 5573 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_y_msq( |
gume | 0:1f82672b8755 | 5574 | double *gravity_y_d) |
gume | 0:1f82672b8755 | 5575 | { |
gume | 0:1f82672b8755 | 5576 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5577 | s16 reg_gravity_y_s16 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 5578 | double data_d = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 5579 | /* Read raw gravity of y */ |
gume | 0:1f82672b8755 | 5580 | com_rslt = bno055_read_gravity_y(®_gravity_y_s16); |
gume | 0:1f82672b8755 | 5581 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 5582 | /* convert raw gravity of y to m/s2 */ |
gume | 0:1f82672b8755 | 5583 | data_d = |
gume | 0:1f82672b8755 | 5584 | (double)(reg_gravity_y_s16/BNO055_GRAVITY_DIV_MSQ); |
gume | 0:1f82672b8755 | 5585 | *gravity_y_d = data_d; |
gume | 0:1f82672b8755 | 5586 | } else { |
gume | 0:1f82672b8755 | 5587 | com_rslt += BNO055_ERROR; |
gume | 0:1f82672b8755 | 5588 | } |
gume | 0:1f82672b8755 | 5589 | return com_rslt; |
gume | 0:1f82672b8755 | 5590 | } |
gume | 0:1f82672b8755 | 5591 | /*! |
gume | 0:1f82672b8755 | 5592 | * @brief This API is used to convert the gravity |
gume | 0:1f82672b8755 | 5593 | * z raw data to meterpersecseq output as double |
gume | 0:1f82672b8755 | 5594 | * |
gume | 0:1f82672b8755 | 5595 | * @param gravity_z_d : The double value of gravity z meterpersecseq |
gume | 0:1f82672b8755 | 5596 | * |
gume | 0:1f82672b8755 | 5597 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 5598 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 5599 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 5600 | * |
gume | 0:1f82672b8755 | 5601 | * |
gume | 0:1f82672b8755 | 5602 | */ |
gume | 0:1f82672b8755 | 5603 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_z_msq( |
gume | 0:1f82672b8755 | 5604 | double *gravity_z_d) |
gume | 0:1f82672b8755 | 5605 | { |
gume | 0:1f82672b8755 | 5606 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5607 | s16 reg_gravity_z_s16 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 5608 | double data_d = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 5609 | /* Read raw gravity of z */ |
gume | 0:1f82672b8755 | 5610 | com_rslt = bno055_read_gravity_z(®_gravity_z_s16); |
gume | 0:1f82672b8755 | 5611 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 5612 | /* Convert raw gravity of z to m/s2 */ |
gume | 0:1f82672b8755 | 5613 | data_d = |
gume | 0:1f82672b8755 | 5614 | (double)(reg_gravity_z_s16/BNO055_GRAVITY_DIV_MSQ); |
gume | 0:1f82672b8755 | 5615 | *gravity_z_d = data_d; |
gume | 0:1f82672b8755 | 5616 | } else { |
gume | 0:1f82672b8755 | 5617 | com_rslt += BNO055_ERROR; |
gume | 0:1f82672b8755 | 5618 | } |
gume | 0:1f82672b8755 | 5619 | return com_rslt; |
gume | 0:1f82672b8755 | 5620 | } |
gume | 0:1f82672b8755 | 5621 | /*! |
gume | 0:1f82672b8755 | 5622 | * @brief This API is used to convert the gravity xyz raw data |
gume | 0:1f82672b8755 | 5623 | * to meterpersecseq output as double |
gume | 0:1f82672b8755 | 5624 | * |
gume | 0:1f82672b8755 | 5625 | * @param gravity_xyz : The meterpersecseq data of gravity xyz |
gume | 0:1f82672b8755 | 5626 | * |
gume | 0:1f82672b8755 | 5627 | * Parameter | result |
gume | 0:1f82672b8755 | 5628 | * --------- | ----------------- |
gume | 0:1f82672b8755 | 5629 | * x | meterpersecseq data of gravity |
gume | 0:1f82672b8755 | 5630 | * y | meterpersecseq data of gravity |
gume | 0:1f82672b8755 | 5631 | * z | meterpersecseq data of gravity |
gume | 0:1f82672b8755 | 5632 | * |
gume | 0:1f82672b8755 | 5633 | * |
gume | 0:1f82672b8755 | 5634 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 5635 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 5636 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 5637 | * |
gume | 0:1f82672b8755 | 5638 | */ |
gume | 0:1f82672b8755 | 5639 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gravity_xyz_msq( |
gume | 0:1f82672b8755 | 5640 | struct bno055_gravity_double_t *gravity_xyz) |
gume | 0:1f82672b8755 | 5641 | { |
gume | 0:1f82672b8755 | 5642 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 5643 | communication routine*/ |
gume | 0:1f82672b8755 | 5644 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5645 | struct bno055_gravity_t reg_gravity_xyz = { |
gume | 0:1f82672b8755 | 5646 | BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE}; |
gume | 0:1f82672b8755 | 5647 | /* Read raw gravity of xyz */ |
gume | 0:1f82672b8755 | 5648 | com_rslt = bno055_read_gravity_xyz(®_gravity_xyz); |
gume | 0:1f82672b8755 | 5649 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 5650 | /* Convert raw gravity of xyz to m/s2 */ |
gume | 0:1f82672b8755 | 5651 | gravity_xyz->x = |
gume | 0:1f82672b8755 | 5652 | (double)(reg_gravity_xyz.x/BNO055_GRAVITY_DIV_MSQ); |
gume | 0:1f82672b8755 | 5653 | gravity_xyz->y = |
gume | 0:1f82672b8755 | 5654 | (double)(reg_gravity_xyz.y/BNO055_GRAVITY_DIV_MSQ); |
gume | 0:1f82672b8755 | 5655 | gravity_xyz->z = |
gume | 0:1f82672b8755 | 5656 | (double)(reg_gravity_xyz.z/BNO055_GRAVITY_DIV_MSQ); |
gume | 0:1f82672b8755 | 5657 | } else { |
gume | 0:1f82672b8755 | 5658 | com_rslt += BNO055_ERROR; |
gume | 0:1f82672b8755 | 5659 | } |
gume | 0:1f82672b8755 | 5660 | return com_rslt; |
gume | 0:1f82672b8755 | 5661 | } |
gume | 0:1f82672b8755 | 5662 | /*! |
gume | 0:1f82672b8755 | 5663 | * @brief This API is used to convert the temperature |
gume | 0:1f82672b8755 | 5664 | * data to Fahrenheit output as double |
gume | 0:1f82672b8755 | 5665 | * |
gume | 0:1f82672b8755 | 5666 | * @param temp_d : The double value of temperature Fahrenheit |
gume | 0:1f82672b8755 | 5667 | * |
gume | 0:1f82672b8755 | 5668 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 5669 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 5670 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 5671 | * |
gume | 0:1f82672b8755 | 5672 | * |
gume | 0:1f82672b8755 | 5673 | */ |
gume | 0:1f82672b8755 | 5674 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_temp_fahrenheit( |
gume | 0:1f82672b8755 | 5675 | double *temp_d) |
gume | 0:1f82672b8755 | 5676 | { |
gume | 0:1f82672b8755 | 5677 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5678 | s8 reg_temp_s8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 5679 | double data_d = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 5680 | u8 temp_unit_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 5681 | /* Read the current temperature unit and set the |
gume | 0:1f82672b8755 | 5682 | unit as Fahrenheit if the unit is in Celsius */ |
gume | 0:1f82672b8755 | 5683 | com_rslt = bno055_get_temp_unit(&temp_unit_u8); |
gume | 0:1f82672b8755 | 5684 | if (temp_unit_u8 != BNO055_TEMP_UNIT_FAHRENHEIT) |
gume | 0:1f82672b8755 | 5685 | com_rslt += bno055_set_temp_unit(BNO055_TEMP_UNIT_FAHRENHEIT); |
gume | 0:1f82672b8755 | 5686 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 5687 | /* Read the raw temperature data */ |
gume | 0:1f82672b8755 | 5688 | com_rslt += bno055_read_temp_data(®_temp_s8); |
gume | 0:1f82672b8755 | 5689 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 5690 | /* Convert raw temperature data to Fahrenheit*/ |
gume | 0:1f82672b8755 | 5691 | data_d = (double)(reg_temp_s8/ |
gume | 0:1f82672b8755 | 5692 | BNO055_TEMP_DIV_FAHRENHEIT); |
gume | 0:1f82672b8755 | 5693 | *temp_d = data_d; |
gume | 0:1f82672b8755 | 5694 | } else { |
gume | 0:1f82672b8755 | 5695 | com_rslt += BNO055_ERROR; |
gume | 0:1f82672b8755 | 5696 | } |
gume | 0:1f82672b8755 | 5697 | } else { |
gume | 0:1f82672b8755 | 5698 | com_rslt += BNO055_ERROR; |
gume | 0:1f82672b8755 | 5699 | } |
gume | 0:1f82672b8755 | 5700 | return com_rslt; |
gume | 0:1f82672b8755 | 5701 | } |
gume | 0:1f82672b8755 | 5702 | /*! |
gume | 0:1f82672b8755 | 5703 | * @brief This API is used to convert the temperature |
gume | 0:1f82672b8755 | 5704 | * data to Celsius output as double |
gume | 0:1f82672b8755 | 5705 | * |
gume | 0:1f82672b8755 | 5706 | * @param temp_d : The double value of temperature Celsius |
gume | 0:1f82672b8755 | 5707 | * |
gume | 0:1f82672b8755 | 5708 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 5709 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 5710 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 5711 | * |
gume | 0:1f82672b8755 | 5712 | * |
gume | 0:1f82672b8755 | 5713 | */ |
gume | 0:1f82672b8755 | 5714 | BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_temp_celsius( |
gume | 0:1f82672b8755 | 5715 | double *temp_d) |
gume | 0:1f82672b8755 | 5716 | { |
gume | 0:1f82672b8755 | 5717 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5718 | s8 reg_temp_s8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 5719 | double data_d = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 5720 | u8 temp_unit_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 5721 | /* Read the current temperature unit and set the |
gume | 0:1f82672b8755 | 5722 | unit as Fahrenheit if the unit is in Celsius */ |
gume | 0:1f82672b8755 | 5723 | com_rslt = bno055_get_temp_unit(&temp_unit_u8); |
gume | 0:1f82672b8755 | 5724 | if (temp_unit_u8 != BNO055_TEMP_UNIT_CELSIUS) |
gume | 0:1f82672b8755 | 5725 | com_rslt += bno055_set_temp_unit(BNO055_TEMP_UNIT_CELSIUS); |
gume | 0:1f82672b8755 | 5726 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 5727 | /* Read the raw temperature data */ |
gume | 0:1f82672b8755 | 5728 | com_rslt += bno055_read_temp_data(®_temp_s8); |
gume | 0:1f82672b8755 | 5729 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 5730 | /* Convert raw temperature data to Fahrenheit*/ |
gume | 0:1f82672b8755 | 5731 | data_d = |
gume | 0:1f82672b8755 | 5732 | (double)(reg_temp_s8/BNO055_TEMP_DIV_CELSIUS); |
gume | 0:1f82672b8755 | 5733 | *temp_d = data_d; |
gume | 0:1f82672b8755 | 5734 | } else { |
gume | 0:1f82672b8755 | 5735 | com_rslt += BNO055_ERROR; |
gume | 0:1f82672b8755 | 5736 | } |
gume | 0:1f82672b8755 | 5737 | } else { |
gume | 0:1f82672b8755 | 5738 | com_rslt += BNO055_ERROR; |
gume | 0:1f82672b8755 | 5739 | } |
gume | 0:1f82672b8755 | 5740 | return com_rslt; |
gume | 0:1f82672b8755 | 5741 | } |
gume | 0:1f82672b8755 | 5742 | #endif |
gume | 0:1f82672b8755 | 5743 | /*! |
gume | 0:1f82672b8755 | 5744 | * @brief This API used to read |
gume | 0:1f82672b8755 | 5745 | * mag calibration status from register from 0x35 bit 0 and 1 |
gume | 0:1f82672b8755 | 5746 | * |
gume | 0:1f82672b8755 | 5747 | * @param mag_calib_u8 : The value of mag calib status |
gume | 0:1f82672b8755 | 5748 | * |
gume | 0:1f82672b8755 | 5749 | * |
gume | 0:1f82672b8755 | 5750 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 5751 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 5752 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 5753 | * |
gume | 0:1f82672b8755 | 5754 | */ |
gume | 0:1f82672b8755 | 5755 | BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_calib_stat( |
gume | 0:1f82672b8755 | 5756 | u8 *mag_calib_u8) |
gume | 0:1f82672b8755 | 5757 | { |
gume | 0:1f82672b8755 | 5758 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 5759 | communication routine*/ |
gume | 0:1f82672b8755 | 5760 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5761 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 5762 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5763 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 5764 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 5765 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 5766 | } else { |
gume | 0:1f82672b8755 | 5767 | /*condition check for page, mag calib |
gume | 0:1f82672b8755 | 5768 | available in the page zero*/ |
gume | 0:1f82672b8755 | 5769 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 5770 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 5771 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 5772 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 5773 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 5774 | /* Read the mag calib stat_s8 */ |
gume | 0:1f82672b8755 | 5775 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 5776 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 5777 | BNO055_MAG_CALIB_STAT_REG, |
gume | 0:1f82672b8755 | 5778 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 5779 | *mag_calib_u8 = |
gume | 0:1f82672b8755 | 5780 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 5781 | BNO055_MAG_CALIB_STAT); |
gume | 0:1f82672b8755 | 5782 | } else { |
gume | 0:1f82672b8755 | 5783 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5784 | } |
gume | 0:1f82672b8755 | 5785 | } |
gume | 0:1f82672b8755 | 5786 | return com_rslt; |
gume | 0:1f82672b8755 | 5787 | } |
gume | 0:1f82672b8755 | 5788 | /*! |
gume | 0:1f82672b8755 | 5789 | * @brief This API used to read |
gume | 0:1f82672b8755 | 5790 | * accel calibration status from register from 0x35 bit 2 and 3 |
gume | 0:1f82672b8755 | 5791 | * |
gume | 0:1f82672b8755 | 5792 | * @param accel_calib_u8 : The value of accel calib status |
gume | 0:1f82672b8755 | 5793 | * |
gume | 0:1f82672b8755 | 5794 | * |
gume | 0:1f82672b8755 | 5795 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 5796 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 5797 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 5798 | * |
gume | 0:1f82672b8755 | 5799 | */ |
gume | 0:1f82672b8755 | 5800 | BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_calib_stat( |
gume | 0:1f82672b8755 | 5801 | u8 *accel_calib_u8) |
gume | 0:1f82672b8755 | 5802 | { |
gume | 0:1f82672b8755 | 5803 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 5804 | communication routine*/ |
gume | 0:1f82672b8755 | 5805 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5806 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 5807 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5808 | /* Check the struct p_bno055 is empty*/ |
gume | 0:1f82672b8755 | 5809 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 5810 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 5811 | } else { |
gume | 0:1f82672b8755 | 5812 | /*condition check for page, accel calib |
gume | 0:1f82672b8755 | 5813 | available in the page zero*/ |
gume | 0:1f82672b8755 | 5814 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 5815 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 5816 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 5817 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 5818 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 5819 | /* Read the accel calib stat_s8 */ |
gume | 0:1f82672b8755 | 5820 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 5821 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 5822 | BNO055_ACCEL_CALIB_STAT_REG, |
gume | 0:1f82672b8755 | 5823 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 5824 | *accel_calib_u8 = |
gume | 0:1f82672b8755 | 5825 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 5826 | BNO055_ACCEL_CALIB_STAT); |
gume | 0:1f82672b8755 | 5827 | } else { |
gume | 0:1f82672b8755 | 5828 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5829 | } |
gume | 0:1f82672b8755 | 5830 | } |
gume | 0:1f82672b8755 | 5831 | return com_rslt; |
gume | 0:1f82672b8755 | 5832 | } |
gume | 0:1f82672b8755 | 5833 | /*! |
gume | 0:1f82672b8755 | 5834 | * @brief This API used to read |
gume | 0:1f82672b8755 | 5835 | * gyro calibration status from register from 0x35 bit 4 and 5 |
gume | 0:1f82672b8755 | 5836 | * |
gume | 0:1f82672b8755 | 5837 | * @param gyro_calib_u8 : The value of gyro calib status |
gume | 0:1f82672b8755 | 5838 | * |
gume | 0:1f82672b8755 | 5839 | * |
gume | 0:1f82672b8755 | 5840 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 5841 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 5842 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 5843 | * |
gume | 0:1f82672b8755 | 5844 | */ |
gume | 0:1f82672b8755 | 5845 | BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_calib_stat( |
gume | 0:1f82672b8755 | 5846 | u8 *gyro_calib_u8) |
gume | 0:1f82672b8755 | 5847 | { |
gume | 0:1f82672b8755 | 5848 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 5849 | communication routine*/ |
gume | 0:1f82672b8755 | 5850 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5851 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 5852 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5853 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 5854 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 5855 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 5856 | } else { |
gume | 0:1f82672b8755 | 5857 | /*condition check for page, gyro calib |
gume | 0:1f82672b8755 | 5858 | available in the page zero*/ |
gume | 0:1f82672b8755 | 5859 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 5860 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 5861 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 5862 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 5863 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 5864 | /* Read the gyro calib status */ |
gume | 0:1f82672b8755 | 5865 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 5866 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 5867 | BNO055_GYRO_CALIB_STAT_REG, |
gume | 0:1f82672b8755 | 5868 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 5869 | *gyro_calib_u8 = |
gume | 0:1f82672b8755 | 5870 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 5871 | BNO055_GYRO_CALIB_STAT); |
gume | 0:1f82672b8755 | 5872 | } else { |
gume | 0:1f82672b8755 | 5873 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5874 | } |
gume | 0:1f82672b8755 | 5875 | } |
gume | 0:1f82672b8755 | 5876 | return com_rslt; |
gume | 0:1f82672b8755 | 5877 | } |
gume | 0:1f82672b8755 | 5878 | /*! |
gume | 0:1f82672b8755 | 5879 | * @brief This API used to read |
gume | 0:1f82672b8755 | 5880 | * system calibration status from register from 0x35 bit 6 and 7 |
gume | 0:1f82672b8755 | 5881 | * |
gume | 0:1f82672b8755 | 5882 | * @param sys_calib_u8 : The value of system calib status |
gume | 0:1f82672b8755 | 5883 | * |
gume | 0:1f82672b8755 | 5884 | * |
gume | 0:1f82672b8755 | 5885 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 5886 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 5887 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 5888 | * |
gume | 0:1f82672b8755 | 5889 | */ |
gume | 0:1f82672b8755 | 5890 | BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_calib_stat( |
gume | 0:1f82672b8755 | 5891 | u8 *sys_calib_u8) |
gume | 0:1f82672b8755 | 5892 | { |
gume | 0:1f82672b8755 | 5893 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 5894 | communication routine*/ |
gume | 0:1f82672b8755 | 5895 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5896 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 5897 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5898 | /* Check the struct p_bno055 is empty*/ |
gume | 0:1f82672b8755 | 5899 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 5900 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 5901 | } else { |
gume | 0:1f82672b8755 | 5902 | /*condition check for page,system calib |
gume | 0:1f82672b8755 | 5903 | available in the page zero*/ |
gume | 0:1f82672b8755 | 5904 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 5905 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 5906 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 5907 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 5908 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 5909 | /* Read the system calib */ |
gume | 0:1f82672b8755 | 5910 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 5911 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 5912 | BNO055_SYS_CALIB_STAT_REG, |
gume | 0:1f82672b8755 | 5913 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 5914 | *sys_calib_u8 = |
gume | 0:1f82672b8755 | 5915 | BNO055_GET_BITSLICE(data_u8r, BNO055_SYS_CALIB_STAT); |
gume | 0:1f82672b8755 | 5916 | } else { |
gume | 0:1f82672b8755 | 5917 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5918 | } |
gume | 0:1f82672b8755 | 5919 | } |
gume | 0:1f82672b8755 | 5920 | return com_rslt; |
gume | 0:1f82672b8755 | 5921 | } |
gume | 0:1f82672b8755 | 5922 | /*! |
gume | 0:1f82672b8755 | 5923 | * @brief This API used to read |
gume | 0:1f82672b8755 | 5924 | * all calibration status from register from 0x35 |
gume | 0:1f82672b8755 | 5925 | * |
gume | 0:1f82672b8755 | 5926 | * @param all_calib_u8 : The value of system calib status |
gume | 0:1f82672b8755 | 5927 | * |
gume | 0:1f82672b8755 | 5928 | * |
gume | 0:1f82672b8755 | 5929 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 5930 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 5931 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 5932 | * |
gume | 0:1f82672b8755 | 5933 | */ |
gume | 0:1f82672b8755 | 5934 | BNO055_RETURN_FUNCTION_TYPE bno055_get_all_calib_stat( |
gume | 0:1f82672b8755 | 5935 | u8 *all_calib_u8) |
gume | 0:1f82672b8755 | 5936 | { |
gume | 0:1f82672b8755 | 5937 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 5938 | communication routine*/ |
gume | 0:1f82672b8755 | 5939 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5940 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 5941 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5942 | /* Check the struct p_bno055 is empty*/ |
gume | 0:1f82672b8755 | 5943 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 5944 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 5945 | } else { |
gume | 0:1f82672b8755 | 5946 | /*condition check for page,system calib |
gume | 0:1f82672b8755 | 5947 | available in the page zero*/ |
gume | 0:1f82672b8755 | 5948 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 5949 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 5950 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 5951 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 5952 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 5953 | /* Read the system calib */ |
gume | 0:1f82672b8755 | 5954 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 5955 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 5956 | BNO055_ALL_CALIB_STAT_REG, |
gume | 0:1f82672b8755 | 5957 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 5958 | *all_calib_u8 = |
gume | 0:1f82672b8755 | 5959 | BNO055_GET_BITSLICE(data_u8r, BNO055_ALL_CALIB_STAT); |
gume | 0:1f82672b8755 | 5960 | } else { |
gume | 0:1f82672b8755 | 5961 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5962 | } |
gume | 0:1f82672b8755 | 5963 | } |
gume | 0:1f82672b8755 | 5964 | return com_rslt; |
gume | 0:1f82672b8755 | 5965 | } |
gume | 0:1f82672b8755 | 5966 | /*! |
gume | 0:1f82672b8755 | 5967 | * @brief This API used to read |
gume | 0:1f82672b8755 | 5968 | * self test of accel from register from 0x36 bit 0 |
gume | 0:1f82672b8755 | 5969 | * |
gume | 0:1f82672b8755 | 5970 | * @param selftest_accel_u8 : The value of self test of accel |
gume | 0:1f82672b8755 | 5971 | * |
gume | 0:1f82672b8755 | 5972 | * selftest_accel_u8 | result |
gume | 0:1f82672b8755 | 5973 | * -------------------- | --------------------- |
gume | 0:1f82672b8755 | 5974 | * 0x00 | indicates test failed |
gume | 0:1f82672b8755 | 5975 | * 0x01 | indicated test passed |
gume | 0:1f82672b8755 | 5976 | * |
gume | 0:1f82672b8755 | 5977 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 5978 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 5979 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 5980 | * |
gume | 0:1f82672b8755 | 5981 | */ |
gume | 0:1f82672b8755 | 5982 | BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_accel( |
gume | 0:1f82672b8755 | 5983 | u8 *selftest_accel_u8) |
gume | 0:1f82672b8755 | 5984 | { |
gume | 0:1f82672b8755 | 5985 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 5986 | communication routine*/ |
gume | 0:1f82672b8755 | 5987 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5988 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 5989 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 5990 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 5991 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 5992 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 5993 | } else { |
gume | 0:1f82672b8755 | 5994 | /*condition check for page, accel self test is |
gume | 0:1f82672b8755 | 5995 | available in the page zero*/ |
gume | 0:1f82672b8755 | 5996 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 5997 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 5998 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 5999 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 6000 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 6001 | /* Read the accel self test */ |
gume | 0:1f82672b8755 | 6002 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 6003 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 6004 | BNO055_SELFTEST_ACCEL_REG, |
gume | 0:1f82672b8755 | 6005 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 6006 | *selftest_accel_u8 = |
gume | 0:1f82672b8755 | 6007 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 6008 | BNO055_SELFTEST_ACCEL); |
gume | 0:1f82672b8755 | 6009 | } else { |
gume | 0:1f82672b8755 | 6010 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6011 | } |
gume | 0:1f82672b8755 | 6012 | } |
gume | 0:1f82672b8755 | 6013 | return com_rslt; |
gume | 0:1f82672b8755 | 6014 | } |
gume | 0:1f82672b8755 | 6015 | /*! |
gume | 0:1f82672b8755 | 6016 | * @brief This API used to read |
gume | 0:1f82672b8755 | 6017 | * self test of mag from register from 0x36 bit 1 |
gume | 0:1f82672b8755 | 6018 | * |
gume | 0:1f82672b8755 | 6019 | * @param selftest_mag_u8 : The value of self test of mag |
gume | 0:1f82672b8755 | 6020 | * |
gume | 0:1f82672b8755 | 6021 | * selftest_mag_u8 | result |
gume | 0:1f82672b8755 | 6022 | * -------------------- | --------------------- |
gume | 0:1f82672b8755 | 6023 | * 0x00 | indicates test failed |
gume | 0:1f82672b8755 | 6024 | * 0x01 | indicated test passed |
gume | 0:1f82672b8755 | 6025 | * |
gume | 0:1f82672b8755 | 6026 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 6027 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 6028 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 6029 | * |
gume | 0:1f82672b8755 | 6030 | */ |
gume | 0:1f82672b8755 | 6031 | BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_mag( |
gume | 0:1f82672b8755 | 6032 | u8 *selftest_mag_u8) |
gume | 0:1f82672b8755 | 6033 | { |
gume | 0:1f82672b8755 | 6034 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 6035 | communication routine*/ |
gume | 0:1f82672b8755 | 6036 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6037 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 6038 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6039 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 6040 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 6041 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 6042 | } else { |
gume | 0:1f82672b8755 | 6043 | /*condition check for page, self test of mag is |
gume | 0:1f82672b8755 | 6044 | available in the page zero*/ |
gume | 0:1f82672b8755 | 6045 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 6046 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 6047 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 6048 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 6049 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 6050 | /* Read the mag self test */ |
gume | 0:1f82672b8755 | 6051 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 6052 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 6053 | BNO055_SELFTEST_MAG_REG, &data_u8r, |
gume | 0:1f82672b8755 | 6054 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 6055 | *selftest_mag_u8 = |
gume | 0:1f82672b8755 | 6056 | BNO055_GET_BITSLICE(data_u8r, BNO055_SELFTEST_MAG); |
gume | 0:1f82672b8755 | 6057 | } else { |
gume | 0:1f82672b8755 | 6058 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6059 | } |
gume | 0:1f82672b8755 | 6060 | } |
gume | 0:1f82672b8755 | 6061 | return com_rslt; |
gume | 0:1f82672b8755 | 6062 | } |
gume | 0:1f82672b8755 | 6063 | /*! |
gume | 0:1f82672b8755 | 6064 | * @brief This API used to read |
gume | 0:1f82672b8755 | 6065 | * self test of gyro from register from 0x36 bit 2 |
gume | 0:1f82672b8755 | 6066 | * |
gume | 0:1f82672b8755 | 6067 | * @param selftest_gyro_u8 : The value of self test of gyro |
gume | 0:1f82672b8755 | 6068 | * |
gume | 0:1f82672b8755 | 6069 | * selftest_gyro_u8 | result |
gume | 0:1f82672b8755 | 6070 | * -------------------- | --------------------- |
gume | 0:1f82672b8755 | 6071 | * 0x00 | indicates test failed |
gume | 0:1f82672b8755 | 6072 | * 0x01 | indicated test passed |
gume | 0:1f82672b8755 | 6073 | * |
gume | 0:1f82672b8755 | 6074 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 6075 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 6076 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 6077 | * |
gume | 0:1f82672b8755 | 6078 | */ |
gume | 0:1f82672b8755 | 6079 | BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_gyro( |
gume | 0:1f82672b8755 | 6080 | u8 *selftest_gyro_u8) |
gume | 0:1f82672b8755 | 6081 | { |
gume | 0:1f82672b8755 | 6082 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 6083 | communication routine*/ |
gume | 0:1f82672b8755 | 6084 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6085 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 6086 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6087 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 6088 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 6089 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 6090 | } else { |
gume | 0:1f82672b8755 | 6091 | /*condition check for page self test of gyro is |
gume | 0:1f82672b8755 | 6092 | available in the page zero*/ |
gume | 0:1f82672b8755 | 6093 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 6094 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 6095 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 6096 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 6097 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 6098 | /* Read the gyro self test */ |
gume | 0:1f82672b8755 | 6099 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 6100 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 6101 | BNO055_SELFTEST_GYRO_REG, &data_u8r, |
gume | 0:1f82672b8755 | 6102 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 6103 | *selftest_gyro_u8 = |
gume | 0:1f82672b8755 | 6104 | BNO055_GET_BITSLICE(data_u8r, BNO055_SELFTEST_GYRO); |
gume | 0:1f82672b8755 | 6105 | } else { |
gume | 0:1f82672b8755 | 6106 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6107 | } |
gume | 0:1f82672b8755 | 6108 | } |
gume | 0:1f82672b8755 | 6109 | return com_rslt; |
gume | 0:1f82672b8755 | 6110 | } |
gume | 0:1f82672b8755 | 6111 | /*! |
gume | 0:1f82672b8755 | 6112 | * @brief This API used to read |
gume | 0:1f82672b8755 | 6113 | * self test of micro controller from register from 0x36 bit 3 |
gume | 0:1f82672b8755 | 6114 | * |
gume | 0:1f82672b8755 | 6115 | * @param selftest_mcu_u8 : The value of self test of micro controller |
gume | 0:1f82672b8755 | 6116 | * |
gume | 0:1f82672b8755 | 6117 | * selftest_mcu_u8 | result |
gume | 0:1f82672b8755 | 6118 | * -------------------- | --------------------- |
gume | 0:1f82672b8755 | 6119 | * 0x00 | indicates test failed |
gume | 0:1f82672b8755 | 6120 | * 0x01 | indicated test passed |
gume | 0:1f82672b8755 | 6121 | * |
gume | 0:1f82672b8755 | 6122 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 6123 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 6124 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 6125 | * |
gume | 0:1f82672b8755 | 6126 | */ |
gume | 0:1f82672b8755 | 6127 | BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_mcu( |
gume | 0:1f82672b8755 | 6128 | u8 *selftest_mcu_u8) |
gume | 0:1f82672b8755 | 6129 | { |
gume | 0:1f82672b8755 | 6130 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 6131 | communication routine*/ |
gume | 0:1f82672b8755 | 6132 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6133 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 6134 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6135 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 6136 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 6137 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 6138 | } else { |
gume | 0:1f82672b8755 | 6139 | /*condition check for page self test of micro controller |
gume | 0:1f82672b8755 | 6140 | is available in the page zero*/ |
gume | 0:1f82672b8755 | 6141 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 6142 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 6143 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 6144 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 6145 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 6146 | /* Read the self test of micro controller*/ |
gume | 0:1f82672b8755 | 6147 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 6148 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 6149 | BNO055_SELFTEST_MCU_REG, &data_u8r, |
gume | 0:1f82672b8755 | 6150 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 6151 | *selftest_mcu_u8 = |
gume | 0:1f82672b8755 | 6152 | BNO055_GET_BITSLICE(data_u8r, BNO055_SELFTEST_MCU); |
gume | 0:1f82672b8755 | 6153 | } else { |
gume | 0:1f82672b8755 | 6154 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6155 | } |
gume | 0:1f82672b8755 | 6156 | } |
gume | 0:1f82672b8755 | 6157 | return com_rslt; |
gume | 0:1f82672b8755 | 6158 | } |
gume | 0:1f82672b8755 | 6159 | /*! |
gume | 0:1f82672b8755 | 6160 | * @brief This API used to read the stat_s8 of |
gume | 0:1f82672b8755 | 6161 | * gyro anymotion interrupt from register from 0x37 bit 2 |
gume | 0:1f82672b8755 | 6162 | * |
gume | 0:1f82672b8755 | 6163 | * @param gyro_any_motion_u8 : The value of gyro anymotion interrupt |
gume | 0:1f82672b8755 | 6164 | * |
gume | 0:1f82672b8755 | 6165 | * gyro_any_motion_u8 | result |
gume | 0:1f82672b8755 | 6166 | * -------------------- | --------------------- |
gume | 0:1f82672b8755 | 6167 | * 0x00 | indicates no interrupt triggered |
gume | 0:1f82672b8755 | 6168 | * 0x01 | indicates interrupt triggered |
gume | 0:1f82672b8755 | 6169 | * |
gume | 0:1f82672b8755 | 6170 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 6171 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 6172 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 6173 | * |
gume | 0:1f82672b8755 | 6174 | * @note Gyro anymotion interrupt can be BNO055_BIT_ENABLE |
gume | 0:1f82672b8755 | 6175 | * by the following APIs |
gume | 0:1f82672b8755 | 6176 | * |
gume | 0:1f82672b8755 | 6177 | * bno055_set_intr_mask_gyro_any_motion() |
gume | 0:1f82672b8755 | 6178 | * |
gume | 0:1f82672b8755 | 6179 | * bno055_set_intr_gyro_any_motion() |
gume | 0:1f82672b8755 | 6180 | * |
gume | 0:1f82672b8755 | 6181 | */ |
gume | 0:1f82672b8755 | 6182 | BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_gyro_any_motion( |
gume | 0:1f82672b8755 | 6183 | u8 *gyro_any_motion_u8) |
gume | 0:1f82672b8755 | 6184 | { |
gume | 0:1f82672b8755 | 6185 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 6186 | communication routine*/ |
gume | 0:1f82672b8755 | 6187 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6188 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 6189 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6190 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 6191 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 6192 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 6193 | } else { |
gume | 0:1f82672b8755 | 6194 | /*condition check for page, gyro anymotion interrupt |
gume | 0:1f82672b8755 | 6195 | status is available in the page zero*/ |
gume | 0:1f82672b8755 | 6196 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 6197 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 6198 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 6199 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 6200 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 6201 | /* Read the gyro anymotion interrupt stat_s8*/ |
gume | 0:1f82672b8755 | 6202 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 6203 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 6204 | BNO055_INTR_STAT_GYRO_ANY_MOTION_REG, |
gume | 0:1f82672b8755 | 6205 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 6206 | *gyro_any_motion_u8 = |
gume | 0:1f82672b8755 | 6207 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 6208 | BNO055_INTR_STAT_GYRO_ANY_MOTION); |
gume | 0:1f82672b8755 | 6209 | } else { |
gume | 0:1f82672b8755 | 6210 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6211 | } |
gume | 0:1f82672b8755 | 6212 | } |
gume | 0:1f82672b8755 | 6213 | return com_rslt; |
gume | 0:1f82672b8755 | 6214 | } |
gume | 0:1f82672b8755 | 6215 | /*! |
gume | 0:1f82672b8755 | 6216 | * @brief This API used to read the stat_s8 of |
gume | 0:1f82672b8755 | 6217 | * gyro highrate interrupt from register from 0x37 bit 3 |
gume | 0:1f82672b8755 | 6218 | * |
gume | 0:1f82672b8755 | 6219 | * @param gyro_highrate_u8 : The value of gyro highrate interrupt |
gume | 0:1f82672b8755 | 6220 | * |
gume | 0:1f82672b8755 | 6221 | * gyro_highrate_u8 | result |
gume | 0:1f82672b8755 | 6222 | * ------------------- | --------------------- |
gume | 0:1f82672b8755 | 6223 | * 0x00 | indicates no interrupt triggered |
gume | 0:1f82672b8755 | 6224 | * 0x01 | indicates interrupt triggered |
gume | 0:1f82672b8755 | 6225 | * |
gume | 0:1f82672b8755 | 6226 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 6227 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 6228 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 6229 | * |
gume | 0:1f82672b8755 | 6230 | * @note Gyro highrate interrupt can be configured |
gume | 0:1f82672b8755 | 6231 | * by the following APIs |
gume | 0:1f82672b8755 | 6232 | * |
gume | 0:1f82672b8755 | 6233 | * bno055_set_intr_mask_gyro_highrate() |
gume | 0:1f82672b8755 | 6234 | * |
gume | 0:1f82672b8755 | 6235 | * bno055_set_intr_gyro_highrate() |
gume | 0:1f82672b8755 | 6236 | */ |
gume | 0:1f82672b8755 | 6237 | BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_gyro_highrate( |
gume | 0:1f82672b8755 | 6238 | u8 *gyro_highrate_u8) |
gume | 0:1f82672b8755 | 6239 | { |
gume | 0:1f82672b8755 | 6240 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 6241 | communication routine*/ |
gume | 0:1f82672b8755 | 6242 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6243 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 6244 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6245 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 6246 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 6247 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 6248 | } else { |
gume | 0:1f82672b8755 | 6249 | /*condition check for page, gyro highrate is |
gume | 0:1f82672b8755 | 6250 | available in the page zero*/ |
gume | 0:1f82672b8755 | 6251 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 6252 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 6253 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 6254 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 6255 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 6256 | /* Read the gyro highrate interrupt stat_s8*/ |
gume | 0:1f82672b8755 | 6257 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 6258 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 6259 | BNO055_INTR_STAT_GYRO_HIGHRATE_REG, |
gume | 0:1f82672b8755 | 6260 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 6261 | *gyro_highrate_u8 = |
gume | 0:1f82672b8755 | 6262 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 6263 | BNO055_INTR_STAT_GYRO_HIGHRATE); |
gume | 0:1f82672b8755 | 6264 | } else { |
gume | 0:1f82672b8755 | 6265 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6266 | } |
gume | 0:1f82672b8755 | 6267 | } |
gume | 0:1f82672b8755 | 6268 | return com_rslt; |
gume | 0:1f82672b8755 | 6269 | } |
gume | 0:1f82672b8755 | 6270 | /*! |
gume | 0:1f82672b8755 | 6271 | * @brief This API used to read the stat_s8 of |
gume | 0:1f82672b8755 | 6272 | * accel highg interrupt from register from 0x37 bit 5 |
gume | 0:1f82672b8755 | 6273 | * |
gume | 0:1f82672b8755 | 6274 | * @param accel_high_g_u8 : The value of accel highg interrupt |
gume | 0:1f82672b8755 | 6275 | * |
gume | 0:1f82672b8755 | 6276 | * accel_high_g_u8 | result |
gume | 0:1f82672b8755 | 6277 | * ------------------- | --------------------- |
gume | 0:1f82672b8755 | 6278 | * 0x00 | indicates no interrupt triggered |
gume | 0:1f82672b8755 | 6279 | * 0x01 | indicates interrupt triggered |
gume | 0:1f82672b8755 | 6280 | * |
gume | 0:1f82672b8755 | 6281 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 6282 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 6283 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 6284 | * |
gume | 0:1f82672b8755 | 6285 | * @note Accel highg interrupt can be configured |
gume | 0:1f82672b8755 | 6286 | * by the following APIs |
gume | 0:1f82672b8755 | 6287 | * |
gume | 0:1f82672b8755 | 6288 | * bno055_set_intr_mask_accel_high_g() |
gume | 0:1f82672b8755 | 6289 | * |
gume | 0:1f82672b8755 | 6290 | * bno055_set_intr_accel_high_g() |
gume | 0:1f82672b8755 | 6291 | * |
gume | 0:1f82672b8755 | 6292 | */ |
gume | 0:1f82672b8755 | 6293 | BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_high_g( |
gume | 0:1f82672b8755 | 6294 | u8 *accel_high_g_u8) |
gume | 0:1f82672b8755 | 6295 | { |
gume | 0:1f82672b8755 | 6296 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 6297 | communication routine*/ |
gume | 0:1f82672b8755 | 6298 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6299 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 6300 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6301 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 6302 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 6303 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 6304 | } else { |
gume | 0:1f82672b8755 | 6305 | /*condition check for page, accel highg is |
gume | 0:1f82672b8755 | 6306 | available in the page zero*/ |
gume | 0:1f82672b8755 | 6307 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 6308 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 6309 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 6310 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 6311 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 6312 | /* Read the accel highg interrupt stat_s8 */ |
gume | 0:1f82672b8755 | 6313 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 6314 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 6315 | BNO055_INTR_STAT_ACCEL_HIGH_G_REG, |
gume | 0:1f82672b8755 | 6316 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 6317 | *accel_high_g_u8 = |
gume | 0:1f82672b8755 | 6318 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 6319 | BNO055_INTR_STAT_ACCEL_HIGH_G); |
gume | 0:1f82672b8755 | 6320 | } else { |
gume | 0:1f82672b8755 | 6321 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6322 | } |
gume | 0:1f82672b8755 | 6323 | } |
gume | 0:1f82672b8755 | 6324 | return com_rslt; |
gume | 0:1f82672b8755 | 6325 | } |
gume | 0:1f82672b8755 | 6326 | /*! |
gume | 0:1f82672b8755 | 6327 | * @brief This API used to read the stat_s8 of |
gume | 0:1f82672b8755 | 6328 | * accel anymotion interrupt from register from 0x37 bit 6 |
gume | 0:1f82672b8755 | 6329 | * |
gume | 0:1f82672b8755 | 6330 | * @param accel_any_motion_u8 : The value of accel anymotion interrupt |
gume | 0:1f82672b8755 | 6331 | * |
gume | 0:1f82672b8755 | 6332 | * accel_any_motion_u8 | result |
gume | 0:1f82672b8755 | 6333 | * ------------------- | --------------------- |
gume | 0:1f82672b8755 | 6334 | * 0x00 | indicates no interrupt triggered |
gume | 0:1f82672b8755 | 6335 | * 0x01 | indicates interrupt triggered |
gume | 0:1f82672b8755 | 6336 | * |
gume | 0:1f82672b8755 | 6337 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 6338 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 6339 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 6340 | * |
gume | 0:1f82672b8755 | 6341 | * @note Accel anymotion interrupt can be configured |
gume | 0:1f82672b8755 | 6342 | * by the following APIs |
gume | 0:1f82672b8755 | 6343 | * |
gume | 0:1f82672b8755 | 6344 | * bno055_set_intr_mask_accel_any_motion() |
gume | 0:1f82672b8755 | 6345 | * |
gume | 0:1f82672b8755 | 6346 | * bno055_set_intr_accel_any_motion() |
gume | 0:1f82672b8755 | 6347 | */ |
gume | 0:1f82672b8755 | 6348 | BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_any_motion( |
gume | 0:1f82672b8755 | 6349 | u8 *accel_any_motion_u8) |
gume | 0:1f82672b8755 | 6350 | { |
gume | 0:1f82672b8755 | 6351 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 6352 | communication routine*/ |
gume | 0:1f82672b8755 | 6353 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6354 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 6355 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6356 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 6357 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 6358 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 6359 | } else { |
gume | 0:1f82672b8755 | 6360 | /*condition check for page, accel anymotion is |
gume | 0:1f82672b8755 | 6361 | available in the page zero*/ |
gume | 0:1f82672b8755 | 6362 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 6363 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 6364 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 6365 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 6366 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 6367 | /* Read the accel anymotion interrupt stat_s8 */ |
gume | 0:1f82672b8755 | 6368 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 6369 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 6370 | BNO055_INTR_STAT_ACCEL_ANY_MOTION_REG, |
gume | 0:1f82672b8755 | 6371 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 6372 | *accel_any_motion_u8 = |
gume | 0:1f82672b8755 | 6373 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 6374 | BNO055_INTR_STAT_ACCEL_ANY_MOTION); |
gume | 0:1f82672b8755 | 6375 | } else { |
gume | 0:1f82672b8755 | 6376 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6377 | } |
gume | 0:1f82672b8755 | 6378 | } |
gume | 0:1f82672b8755 | 6379 | return com_rslt; |
gume | 0:1f82672b8755 | 6380 | } |
gume | 0:1f82672b8755 | 6381 | /*! |
gume | 0:1f82672b8755 | 6382 | * @brief This API used to read the stat_s8 of |
gume | 0:1f82672b8755 | 6383 | * accel nomotion/slowmotion interrupt from register from 0x37 bit 6 |
gume | 0:1f82672b8755 | 6384 | * |
gume | 0:1f82672b8755 | 6385 | * @param accel_no_motion_u8 : The value of accel |
gume | 0:1f82672b8755 | 6386 | * nomotion/slowmotion interrupt |
gume | 0:1f82672b8755 | 6387 | * |
gume | 0:1f82672b8755 | 6388 | * accel_no_motion_u8 | result |
gume | 0:1f82672b8755 | 6389 | * ------------------- | --------------------- |
gume | 0:1f82672b8755 | 6390 | * 0x00 | indicates no interrupt triggered |
gume | 0:1f82672b8755 | 6391 | * 0x01 | indicates interrupt triggered |
gume | 0:1f82672b8755 | 6392 | * |
gume | 0:1f82672b8755 | 6393 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 6394 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 6395 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 6396 | * |
gume | 0:1f82672b8755 | 6397 | * @note Accel nomotion/slowmotion interrupt can be configured |
gume | 0:1f82672b8755 | 6398 | * by the following APIs |
gume | 0:1f82672b8755 | 6399 | * |
gume | 0:1f82672b8755 | 6400 | * bno055_set_intr_mask_accel_nomotion() |
gume | 0:1f82672b8755 | 6401 | * |
gume | 0:1f82672b8755 | 6402 | * bno055_set_intr_accel_nomotion() |
gume | 0:1f82672b8755 | 6403 | */ |
gume | 0:1f82672b8755 | 6404 | BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_no_motion( |
gume | 0:1f82672b8755 | 6405 | u8 *accel_no_motion_u8) |
gume | 0:1f82672b8755 | 6406 | { |
gume | 0:1f82672b8755 | 6407 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 6408 | communication routine*/ |
gume | 0:1f82672b8755 | 6409 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6410 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 6411 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6412 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 6413 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 6414 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 6415 | } else { |
gume | 0:1f82672b8755 | 6416 | /*condition check for page, accel |
gume | 0:1f82672b8755 | 6417 | nomotion/slowmotion interrupt |
gume | 0:1f82672b8755 | 6418 | is available in the page zero*/ |
gume | 0:1f82672b8755 | 6419 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 6420 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 6421 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 6422 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 6423 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 6424 | /* Read the stat_s8 of accel |
gume | 0:1f82672b8755 | 6425 | nomotion/slowmotion interrupt*/ |
gume | 0:1f82672b8755 | 6426 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 6427 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 6428 | BNO055_INTR_STAT_ACCEL_NO_MOTION_REG, |
gume | 0:1f82672b8755 | 6429 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 6430 | *accel_no_motion_u8 = |
gume | 0:1f82672b8755 | 6431 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 6432 | BNO055_INTR_STAT_ACCEL_NO_MOTION); |
gume | 0:1f82672b8755 | 6433 | } else { |
gume | 0:1f82672b8755 | 6434 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6435 | } |
gume | 0:1f82672b8755 | 6436 | } |
gume | 0:1f82672b8755 | 6437 | return com_rslt; |
gume | 0:1f82672b8755 | 6438 | } |
gume | 0:1f82672b8755 | 6439 | /*! |
gume | 0:1f82672b8755 | 6440 | * @brief This API is used to read status of main clock |
gume | 0:1f82672b8755 | 6441 | * from the register 0x38 bit 0 |
gume | 0:1f82672b8755 | 6442 | * |
gume | 0:1f82672b8755 | 6443 | * @param stat_main_clk_u8 : the status of main clock |
gume | 0:1f82672b8755 | 6444 | * |
gume | 0:1f82672b8755 | 6445 | * |
gume | 0:1f82672b8755 | 6446 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 6447 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 6448 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 6449 | * |
gume | 0:1f82672b8755 | 6450 | */ |
gume | 0:1f82672b8755 | 6451 | BNO055_RETURN_FUNCTION_TYPE bno055_get_stat_main_clk( |
gume | 0:1f82672b8755 | 6452 | u8 *stat_main_clk_u8) |
gume | 0:1f82672b8755 | 6453 | { |
gume | 0:1f82672b8755 | 6454 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 6455 | communication routine*/ |
gume | 0:1f82672b8755 | 6456 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6457 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 6458 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6459 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 6460 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 6461 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 6462 | } else { |
gume | 0:1f82672b8755 | 6463 | /*condition check for page, status of main clk is |
gume | 0:1f82672b8755 | 6464 | available in the page zero*/ |
gume | 0:1f82672b8755 | 6465 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 6466 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 6467 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 6468 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 6469 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 6470 | /* Read the status of main clk */ |
gume | 0:1f82672b8755 | 6471 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 6472 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 6473 | BNO055_SYS_MAIN_CLK_REG, |
gume | 0:1f82672b8755 | 6474 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 6475 | *stat_main_clk_u8 = |
gume | 0:1f82672b8755 | 6476 | BNO055_GET_BITSLICE(data_u8r, BNO055_SYS_MAIN_CLK); |
gume | 0:1f82672b8755 | 6477 | } else { |
gume | 0:1f82672b8755 | 6478 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6479 | } |
gume | 0:1f82672b8755 | 6480 | } |
gume | 0:1f82672b8755 | 6481 | return com_rslt; |
gume | 0:1f82672b8755 | 6482 | } |
gume | 0:1f82672b8755 | 6483 | /*! |
gume | 0:1f82672b8755 | 6484 | * @brief This API is used to read system status |
gume | 0:1f82672b8755 | 6485 | * code from the register 0x39 it is a byte of data |
gume | 0:1f82672b8755 | 6486 | * |
gume | 0:1f82672b8755 | 6487 | * @param sys_stat_u8 : the status of system |
gume | 0:1f82672b8755 | 6488 | * |
gume | 0:1f82672b8755 | 6489 | * |
gume | 0:1f82672b8755 | 6490 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 6491 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 6492 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 6493 | * |
gume | 0:1f82672b8755 | 6494 | */ |
gume | 0:1f82672b8755 | 6495 | BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_stat_code( |
gume | 0:1f82672b8755 | 6496 | u8 *sys_stat_u8) |
gume | 0:1f82672b8755 | 6497 | { |
gume | 0:1f82672b8755 | 6498 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 6499 | communication routine*/ |
gume | 0:1f82672b8755 | 6500 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6501 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 6502 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6503 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 6504 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 6505 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 6506 | } else { |
gume | 0:1f82672b8755 | 6507 | /*condition check for page, the status of system is |
gume | 0:1f82672b8755 | 6508 | available in the page zero*/ |
gume | 0:1f82672b8755 | 6509 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 6510 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 6511 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 6512 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 6513 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 6514 | /* Read the the status of system*/ |
gume | 0:1f82672b8755 | 6515 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 6516 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 6517 | BNO055_SYS_STAT_CODE_REG, |
gume | 0:1f82672b8755 | 6518 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 6519 | *sys_stat_u8 = |
gume | 0:1f82672b8755 | 6520 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 6521 | BNO055_SYS_STAT_CODE); |
gume | 0:1f82672b8755 | 6522 | } else { |
gume | 0:1f82672b8755 | 6523 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6524 | } |
gume | 0:1f82672b8755 | 6525 | } |
gume | 0:1f82672b8755 | 6526 | return com_rslt; |
gume | 0:1f82672b8755 | 6527 | } |
gume | 0:1f82672b8755 | 6528 | /*! |
gume | 0:1f82672b8755 | 6529 | * @brief This API is used to read system BNO055_ERROR |
gume | 0:1f82672b8755 | 6530 | * code from the register 0x3A it is a byte of data |
gume | 0:1f82672b8755 | 6531 | * |
gume | 0:1f82672b8755 | 6532 | * @param sys_error_u8 : The value of system BNO055_ERROR code |
gume | 0:1f82672b8755 | 6533 | * |
gume | 0:1f82672b8755 | 6534 | * |
gume | 0:1f82672b8755 | 6535 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 6536 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 6537 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 6538 | * |
gume | 0:1f82672b8755 | 6539 | * |
gume | 0:1f82672b8755 | 6540 | */ |
gume | 0:1f82672b8755 | 6541 | BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_error_code( |
gume | 0:1f82672b8755 | 6542 | u8 *sys_error_u8) |
gume | 0:1f82672b8755 | 6543 | { |
gume | 0:1f82672b8755 | 6544 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 6545 | communication routine*/ |
gume | 0:1f82672b8755 | 6546 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6547 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 6548 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6549 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 6550 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 6551 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 6552 | } else { |
gume | 0:1f82672b8755 | 6553 | /*condition check for page, system BNO055_ERROR code is |
gume | 0:1f82672b8755 | 6554 | available in the page zero*/ |
gume | 0:1f82672b8755 | 6555 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 6556 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 6557 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 6558 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 6559 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 6560 | /* Read the system BNO055_ERROR code*/ |
gume | 0:1f82672b8755 | 6561 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 6562 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 6563 | BNO055_SYS_ERROR_CODE_REG, |
gume | 0:1f82672b8755 | 6564 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 6565 | *sys_error_u8 = |
gume | 0:1f82672b8755 | 6566 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 6567 | BNO055_SYS_ERROR_CODE); |
gume | 0:1f82672b8755 | 6568 | } else { |
gume | 0:1f82672b8755 | 6569 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6570 | } |
gume | 0:1f82672b8755 | 6571 | } |
gume | 0:1f82672b8755 | 6572 | return com_rslt; |
gume | 0:1f82672b8755 | 6573 | } |
gume | 0:1f82672b8755 | 6574 | /*! |
gume | 0:1f82672b8755 | 6575 | * @brief This API used to read the accel unit |
gume | 0:1f82672b8755 | 6576 | * from register from 0x3B bit 0 |
gume | 0:1f82672b8755 | 6577 | * |
gume | 0:1f82672b8755 | 6578 | * @param accel_unit_u8 : The value of accel unit |
gume | 0:1f82672b8755 | 6579 | * |
gume | 0:1f82672b8755 | 6580 | * accel_unit_u8 | result |
gume | 0:1f82672b8755 | 6581 | * ------------- | --------------- |
gume | 0:1f82672b8755 | 6582 | * 0x00 | BNO055_ACCEL_UNIT_MSQ |
gume | 0:1f82672b8755 | 6583 | * 0x01 | BNO055_ACCEL_UNIT_MG |
gume | 0:1f82672b8755 | 6584 | * |
gume | 0:1f82672b8755 | 6585 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 6586 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 6587 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 6588 | * |
gume | 0:1f82672b8755 | 6589 | */ |
gume | 0:1f82672b8755 | 6590 | BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_unit( |
gume | 0:1f82672b8755 | 6591 | u8 *accel_unit_u8) |
gume | 0:1f82672b8755 | 6592 | { |
gume | 0:1f82672b8755 | 6593 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 6594 | communication routine*/ |
gume | 0:1f82672b8755 | 6595 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6596 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 6597 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6598 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 6599 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 6600 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 6601 | } else { |
gume | 0:1f82672b8755 | 6602 | /*condition check for page, accel unit is |
gume | 0:1f82672b8755 | 6603 | available in the page zero*/ |
gume | 0:1f82672b8755 | 6604 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 6605 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 6606 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 6607 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 6608 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 6609 | /* Read the accel unit */ |
gume | 0:1f82672b8755 | 6610 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 6611 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 6612 | BNO055_ACCEL_UNIT_REG, |
gume | 0:1f82672b8755 | 6613 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 6614 | *accel_unit_u8 = |
gume | 0:1f82672b8755 | 6615 | BNO055_GET_BITSLICE(data_u8r, BNO055_ACCEL_UNIT); |
gume | 0:1f82672b8755 | 6616 | } else { |
gume | 0:1f82672b8755 | 6617 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6618 | } |
gume | 0:1f82672b8755 | 6619 | } |
gume | 0:1f82672b8755 | 6620 | return com_rslt; |
gume | 0:1f82672b8755 | 6621 | } |
gume | 0:1f82672b8755 | 6622 | /*! |
gume | 0:1f82672b8755 | 6623 | * @brief This API used to write the accel unit |
gume | 0:1f82672b8755 | 6624 | * from register from 0x3B bit 0 |
gume | 0:1f82672b8755 | 6625 | * |
gume | 0:1f82672b8755 | 6626 | * @param accel_unit_u8 : The value of accel unit |
gume | 0:1f82672b8755 | 6627 | * |
gume | 0:1f82672b8755 | 6628 | * accel_unit_u8 | result |
gume | 0:1f82672b8755 | 6629 | * ------------- | --------------- |
gume | 0:1f82672b8755 | 6630 | * 0x00 | BNO055_ACCEL_UNIT_MSQ |
gume | 0:1f82672b8755 | 6631 | * 0x01 | BNO055_ACCEL_UNIT_MG |
gume | 0:1f82672b8755 | 6632 | * |
gume | 0:1f82672b8755 | 6633 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 6634 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 6635 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 6636 | * |
gume | 0:1f82672b8755 | 6637 | * |
gume | 0:1f82672b8755 | 6638 | */ |
gume | 0:1f82672b8755 | 6639 | BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_unit( |
gume | 0:1f82672b8755 | 6640 | u8 accel_unit_u8) |
gume | 0:1f82672b8755 | 6641 | { |
gume | 0:1f82672b8755 | 6642 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6643 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 6644 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 6645 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6646 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 6647 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 6648 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 6649 | } else { |
gume | 0:1f82672b8755 | 6650 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 6651 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 6652 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 6653 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 6654 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 6655 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 6656 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 6657 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 6658 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 6659 | /* Write the accel unit */ |
gume | 0:1f82672b8755 | 6660 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 6661 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 6662 | BNO055_ACCEL_UNIT_REG, |
gume | 0:1f82672b8755 | 6663 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 6664 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 6665 | data_u8r = |
gume | 0:1f82672b8755 | 6666 | BNO055_SET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 6667 | BNO055_ACCEL_UNIT, accel_unit_u8); |
gume | 0:1f82672b8755 | 6668 | com_rslt += |
gume | 0:1f82672b8755 | 6669 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 6670 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 6671 | BNO055_ACCEL_UNIT_REG, |
gume | 0:1f82672b8755 | 6672 | &data_u8r, |
gume | 0:1f82672b8755 | 6673 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 6674 | } |
gume | 0:1f82672b8755 | 6675 | } else { |
gume | 0:1f82672b8755 | 6676 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6677 | } |
gume | 0:1f82672b8755 | 6678 | } else { |
gume | 0:1f82672b8755 | 6679 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6680 | } |
gume | 0:1f82672b8755 | 6681 | } |
gume | 0:1f82672b8755 | 6682 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 6683 | /* set the operation mode |
gume | 0:1f82672b8755 | 6684 | of previous operation mode*/ |
gume | 0:1f82672b8755 | 6685 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 6686 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 6687 | return com_rslt; |
gume | 0:1f82672b8755 | 6688 | } |
gume | 0:1f82672b8755 | 6689 | /*! |
gume | 0:1f82672b8755 | 6690 | * @brief This API used to read the gyro unit |
gume | 0:1f82672b8755 | 6691 | * from register from 0x3B bit 1 |
gume | 0:1f82672b8755 | 6692 | * |
gume | 0:1f82672b8755 | 6693 | * @param gyro_unit_u8 : The value of accel unit |
gume | 0:1f82672b8755 | 6694 | * |
gume | 0:1f82672b8755 | 6695 | * gyro_unit_u8 | result |
gume | 0:1f82672b8755 | 6696 | * ------------- | ----------- |
gume | 0:1f82672b8755 | 6697 | * 0x00 | BNO055_GYRO_UNIT_DPS |
gume | 0:1f82672b8755 | 6698 | * 0x01 | BNO055_GYRO_UNIT_RPS |
gume | 0:1f82672b8755 | 6699 | * |
gume | 0:1f82672b8755 | 6700 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 6701 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 6702 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 6703 | * |
gume | 0:1f82672b8755 | 6704 | * |
gume | 0:1f82672b8755 | 6705 | */ |
gume | 0:1f82672b8755 | 6706 | BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_unit( |
gume | 0:1f82672b8755 | 6707 | u8 *gyro_unit_u8) |
gume | 0:1f82672b8755 | 6708 | { |
gume | 0:1f82672b8755 | 6709 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 6710 | communication routine*/ |
gume | 0:1f82672b8755 | 6711 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6712 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 6713 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6714 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 6715 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 6716 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 6717 | } else { |
gume | 0:1f82672b8755 | 6718 | /*condition check for page, gyro unit is |
gume | 0:1f82672b8755 | 6719 | available in the page zero*/ |
gume | 0:1f82672b8755 | 6720 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 6721 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 6722 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 6723 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 6724 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 6725 | /* Read the gyro unit */ |
gume | 0:1f82672b8755 | 6726 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 6727 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 6728 | BNO055_GYRO_UNIT_REG, |
gume | 0:1f82672b8755 | 6729 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 6730 | *gyro_unit_u8 = |
gume | 0:1f82672b8755 | 6731 | BNO055_GET_BITSLICE(data_u8r, BNO055_GYRO_UNIT); |
gume | 0:1f82672b8755 | 6732 | } else { |
gume | 0:1f82672b8755 | 6733 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6734 | } |
gume | 0:1f82672b8755 | 6735 | } |
gume | 0:1f82672b8755 | 6736 | return com_rslt; |
gume | 0:1f82672b8755 | 6737 | } |
gume | 0:1f82672b8755 | 6738 | /*! |
gume | 0:1f82672b8755 | 6739 | * @brief This API used to write the gyro unit |
gume | 0:1f82672b8755 | 6740 | * from register from 0x3B bit 1 |
gume | 0:1f82672b8755 | 6741 | * |
gume | 0:1f82672b8755 | 6742 | * @param gyro_unit_u8 : The value of accel unit |
gume | 0:1f82672b8755 | 6743 | * |
gume | 0:1f82672b8755 | 6744 | * gyro_unit_u8 | result |
gume | 0:1f82672b8755 | 6745 | * ------------- | ----------- |
gume | 0:1f82672b8755 | 6746 | * 0x00 | BNO055_GYRO_UNIT_DPS |
gume | 0:1f82672b8755 | 6747 | * 0x01 | BNO055_GYRO_UNIT_RPS |
gume | 0:1f82672b8755 | 6748 | * |
gume | 0:1f82672b8755 | 6749 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 6750 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 6751 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 6752 | * |
gume | 0:1f82672b8755 | 6753 | * |
gume | 0:1f82672b8755 | 6754 | */ |
gume | 0:1f82672b8755 | 6755 | BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_unit(u8 gyro_unit_u8) |
gume | 0:1f82672b8755 | 6756 | { |
gume | 0:1f82672b8755 | 6757 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6758 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 6759 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 6760 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6761 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 6762 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 6763 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 6764 | } else { |
gume | 0:1f82672b8755 | 6765 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 6766 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 6767 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 6768 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 6769 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 6770 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 6771 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 6772 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 6773 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 6774 | /* Write the gyro unit */ |
gume | 0:1f82672b8755 | 6775 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 6776 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 6777 | BNO055_GYRO_UNIT_REG, |
gume | 0:1f82672b8755 | 6778 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 6779 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 6780 | data_u8r = |
gume | 0:1f82672b8755 | 6781 | BNO055_SET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 6782 | BNO055_GYRO_UNIT, gyro_unit_u8); |
gume | 0:1f82672b8755 | 6783 | com_rslt += |
gume | 0:1f82672b8755 | 6784 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 6785 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 6786 | BNO055_GYRO_UNIT_REG, |
gume | 0:1f82672b8755 | 6787 | &data_u8r, |
gume | 0:1f82672b8755 | 6788 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 6789 | } |
gume | 0:1f82672b8755 | 6790 | } else { |
gume | 0:1f82672b8755 | 6791 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6792 | } |
gume | 0:1f82672b8755 | 6793 | } else { |
gume | 0:1f82672b8755 | 6794 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6795 | } |
gume | 0:1f82672b8755 | 6796 | } |
gume | 0:1f82672b8755 | 6797 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 6798 | /* set the operation mode |
gume | 0:1f82672b8755 | 6799 | of previous operation mode*/ |
gume | 0:1f82672b8755 | 6800 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 6801 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 6802 | return com_rslt; |
gume | 0:1f82672b8755 | 6803 | } |
gume | 0:1f82672b8755 | 6804 | /*! |
gume | 0:1f82672b8755 | 6805 | * @brief This API used to read the Euler unit |
gume | 0:1f82672b8755 | 6806 | * from register from 0x3B bit 2 |
gume | 0:1f82672b8755 | 6807 | * |
gume | 0:1f82672b8755 | 6808 | * @param euler_unit_u8 : The value of accel unit |
gume | 0:1f82672b8755 | 6809 | * |
gume | 0:1f82672b8755 | 6810 | * euler_unit_u8 | result |
gume | 0:1f82672b8755 | 6811 | * -------------- | ----------- |
gume | 0:1f82672b8755 | 6812 | * 0x00 | BNO055_EULER_UNIT_DEG |
gume | 0:1f82672b8755 | 6813 | * 0x01 | BNO055_EULER_UNIT_RAD |
gume | 0:1f82672b8755 | 6814 | * |
gume | 0:1f82672b8755 | 6815 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 6816 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 6817 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 6818 | * |
gume | 0:1f82672b8755 | 6819 | * |
gume | 0:1f82672b8755 | 6820 | */ |
gume | 0:1f82672b8755 | 6821 | BNO055_RETURN_FUNCTION_TYPE bno055_get_euler_unit( |
gume | 0:1f82672b8755 | 6822 | u8 *euler_unit_u8) |
gume | 0:1f82672b8755 | 6823 | { |
gume | 0:1f82672b8755 | 6824 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 6825 | communication routine*/ |
gume | 0:1f82672b8755 | 6826 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6827 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 6828 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6829 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 6830 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 6831 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 6832 | } else { |
gume | 0:1f82672b8755 | 6833 | /*condition check for page, Euler unit is |
gume | 0:1f82672b8755 | 6834 | available in the page zero*/ |
gume | 0:1f82672b8755 | 6835 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 6836 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 6837 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 6838 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 6839 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 6840 | /* Read the Euler unit */ |
gume | 0:1f82672b8755 | 6841 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 6842 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 6843 | BNO055_EULER_UNIT_REG, |
gume | 0:1f82672b8755 | 6844 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 6845 | *euler_unit_u8 = |
gume | 0:1f82672b8755 | 6846 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 6847 | BNO055_EULER_UNIT); |
gume | 0:1f82672b8755 | 6848 | } else { |
gume | 0:1f82672b8755 | 6849 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6850 | } |
gume | 0:1f82672b8755 | 6851 | } |
gume | 0:1f82672b8755 | 6852 | return com_rslt; |
gume | 0:1f82672b8755 | 6853 | } |
gume | 0:1f82672b8755 | 6854 | /*! |
gume | 0:1f82672b8755 | 6855 | * @brief This API used to write the Euler unit |
gume | 0:1f82672b8755 | 6856 | * from register from 0x3B bit 2 |
gume | 0:1f82672b8755 | 6857 | * |
gume | 0:1f82672b8755 | 6858 | * @param euler_unit_u8 : The value of Euler unit |
gume | 0:1f82672b8755 | 6859 | * |
gume | 0:1f82672b8755 | 6860 | * euler_unit_u8 | result |
gume | 0:1f82672b8755 | 6861 | * -------------- | ----------- |
gume | 0:1f82672b8755 | 6862 | * 0x00 | BNO055_EULER_UNIT_DEG |
gume | 0:1f82672b8755 | 6863 | * 0x01 | BNO055_EULER_UNIT_RAD |
gume | 0:1f82672b8755 | 6864 | * |
gume | 0:1f82672b8755 | 6865 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 6866 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 6867 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 6868 | * |
gume | 0:1f82672b8755 | 6869 | * |
gume | 0:1f82672b8755 | 6870 | */ |
gume | 0:1f82672b8755 | 6871 | BNO055_RETURN_FUNCTION_TYPE bno055_set_euler_unit(u8 euler_unit_u8) |
gume | 0:1f82672b8755 | 6872 | { |
gume | 0:1f82672b8755 | 6873 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6874 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 6875 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 6876 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6877 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 6878 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 6879 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 6880 | } else { |
gume | 0:1f82672b8755 | 6881 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 6882 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 6883 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 6884 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 6885 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 6886 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 6887 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 6888 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 6889 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 6890 | /* Write the Euler unit*/ |
gume | 0:1f82672b8755 | 6891 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 6892 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 6893 | BNO055_EULER_UNIT_REG, |
gume | 0:1f82672b8755 | 6894 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 6895 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 6896 | data_u8r = |
gume | 0:1f82672b8755 | 6897 | BNO055_SET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 6898 | BNO055_EULER_UNIT, euler_unit_u8); |
gume | 0:1f82672b8755 | 6899 | com_rslt += |
gume | 0:1f82672b8755 | 6900 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 6901 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 6902 | BNO055_EULER_UNIT_REG, |
gume | 0:1f82672b8755 | 6903 | &data_u8r, |
gume | 0:1f82672b8755 | 6904 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 6905 | } |
gume | 0:1f82672b8755 | 6906 | } else { |
gume | 0:1f82672b8755 | 6907 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6908 | } |
gume | 0:1f82672b8755 | 6909 | } else { |
gume | 0:1f82672b8755 | 6910 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6911 | } |
gume | 0:1f82672b8755 | 6912 | } |
gume | 0:1f82672b8755 | 6913 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 6914 | /* set the operation mode |
gume | 0:1f82672b8755 | 6915 | of previous operation mode*/ |
gume | 0:1f82672b8755 | 6916 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 6917 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 6918 | return com_rslt; |
gume | 0:1f82672b8755 | 6919 | } |
gume | 0:1f82672b8755 | 6920 | /*! |
gume | 0:1f82672b8755 | 6921 | * @brief This API used to write the tilt unit |
gume | 0:1f82672b8755 | 6922 | * from register from 0x3B bit 3 |
gume | 0:1f82672b8755 | 6923 | * |
gume | 0:1f82672b8755 | 6924 | * @param tilt_unit_u8 : The value of tilt unit |
gume | 0:1f82672b8755 | 6925 | * |
gume | 0:1f82672b8755 | 6926 | * tilt_unit_u8 | result |
gume | 0:1f82672b8755 | 6927 | * --------------- | --------- |
gume | 0:1f82672b8755 | 6928 | * 0x00 | degrees |
gume | 0:1f82672b8755 | 6929 | * 0x01 | radians |
gume | 0:1f82672b8755 | 6930 | * |
gume | 0:1f82672b8755 | 6931 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 6932 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 6933 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 6934 | * |
gume | 0:1f82672b8755 | 6935 | * |
gume | 0:1f82672b8755 | 6936 | */ |
gume | 0:1f82672b8755 | 6937 | BNO055_RETURN_FUNCTION_TYPE bno055_get_tilt_unit( |
gume | 0:1f82672b8755 | 6938 | u8 *tilt_unit_u8) |
gume | 0:1f82672b8755 | 6939 | { |
gume | 0:1f82672b8755 | 6940 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 6941 | communication routine*/ |
gume | 0:1f82672b8755 | 6942 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6943 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 6944 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6945 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 6946 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 6947 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 6948 | } else { |
gume | 0:1f82672b8755 | 6949 | /*condition check for page, chip id is |
gume | 0:1f82672b8755 | 6950 | available in the page zero*/ |
gume | 0:1f82672b8755 | 6951 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 6952 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 6953 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 6954 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 6955 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 6956 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 6957 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 6958 | BNO055_TILT_UNIT_REG, |
gume | 0:1f82672b8755 | 6959 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 6960 | *tilt_unit_u8 = |
gume | 0:1f82672b8755 | 6961 | BNO055_GET_BITSLICE(data_u8r, BNO055_TILT_UNIT); |
gume | 0:1f82672b8755 | 6962 | } else { |
gume | 0:1f82672b8755 | 6963 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6964 | } |
gume | 0:1f82672b8755 | 6965 | } |
gume | 0:1f82672b8755 | 6966 | return com_rslt; |
gume | 0:1f82672b8755 | 6967 | } |
gume | 0:1f82672b8755 | 6968 | /*! |
gume | 0:1f82672b8755 | 6969 | * @brief This API used to write the tilt unit |
gume | 0:1f82672b8755 | 6970 | * from register from 0x3B bit 3 |
gume | 0:1f82672b8755 | 6971 | * |
gume | 0:1f82672b8755 | 6972 | * @param tilt_unit_u8 : The value of tilt unit |
gume | 0:1f82672b8755 | 6973 | * |
gume | 0:1f82672b8755 | 6974 | * tilt_unit_u8 | result |
gume | 0:1f82672b8755 | 6975 | * --------------- | --------- |
gume | 0:1f82672b8755 | 6976 | * 0x00 | degrees |
gume | 0:1f82672b8755 | 6977 | * 0x01 | radians |
gume | 0:1f82672b8755 | 6978 | * |
gume | 0:1f82672b8755 | 6979 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 6980 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 6981 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 6982 | * |
gume | 0:1f82672b8755 | 6983 | * |
gume | 0:1f82672b8755 | 6984 | * |
gume | 0:1f82672b8755 | 6985 | * \return Communication results |
gume | 0:1f82672b8755 | 6986 | * |
gume | 0:1f82672b8755 | 6987 | * |
gume | 0:1f82672b8755 | 6988 | */ |
gume | 0:1f82672b8755 | 6989 | BNO055_RETURN_FUNCTION_TYPE bno055_set_tilt_unit(u8 tilt_unit_u8) |
gume | 0:1f82672b8755 | 6990 | { |
gume | 0:1f82672b8755 | 6991 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6992 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 6993 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 6994 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 6995 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 6996 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 6997 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 6998 | } else { |
gume | 0:1f82672b8755 | 6999 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 7000 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 7001 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 7002 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 7003 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 7004 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 7005 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 7006 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 7007 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 7008 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 7009 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 7010 | BNO055_TILT_UNIT_REG, |
gume | 0:1f82672b8755 | 7011 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 7012 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 7013 | data_u8r = |
gume | 0:1f82672b8755 | 7014 | BNO055_SET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 7015 | BNO055_TILT_UNIT, tilt_unit_u8); |
gume | 0:1f82672b8755 | 7016 | com_rslt += |
gume | 0:1f82672b8755 | 7017 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 7018 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 7019 | BNO055_TILT_UNIT_REG, |
gume | 0:1f82672b8755 | 7020 | &data_u8r, |
gume | 0:1f82672b8755 | 7021 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 7022 | } |
gume | 0:1f82672b8755 | 7023 | } else { |
gume | 0:1f82672b8755 | 7024 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 7025 | } |
gume | 0:1f82672b8755 | 7026 | } else { |
gume | 0:1f82672b8755 | 7027 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 7028 | } |
gume | 0:1f82672b8755 | 7029 | } |
gume | 0:1f82672b8755 | 7030 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 7031 | /* set the operation mode |
gume | 0:1f82672b8755 | 7032 | of previous operation mode*/ |
gume | 0:1f82672b8755 | 7033 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 7034 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 7035 | return com_rslt; |
gume | 0:1f82672b8755 | 7036 | } |
gume | 0:1f82672b8755 | 7037 | /*! |
gume | 0:1f82672b8755 | 7038 | * @brief This API used to read the temperature unit |
gume | 0:1f82672b8755 | 7039 | * from register from 0x3B bit 4 |
gume | 0:1f82672b8755 | 7040 | * |
gume | 0:1f82672b8755 | 7041 | * @param temp_unit_u8 : The value of temperature unit |
gume | 0:1f82672b8755 | 7042 | * |
gume | 0:1f82672b8755 | 7043 | * temp_unit_u8 | result |
gume | 0:1f82672b8755 | 7044 | * ----------- | -------------- |
gume | 0:1f82672b8755 | 7045 | * 0x00 | BNO055_TEMP_UNIT_CELSIUS |
gume | 0:1f82672b8755 | 7046 | * 0x01 | BNO055_TEMP_UNIT_FAHRENHEIT |
gume | 0:1f82672b8755 | 7047 | * |
gume | 0:1f82672b8755 | 7048 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 7049 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 7050 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 7051 | * |
gume | 0:1f82672b8755 | 7052 | */ |
gume | 0:1f82672b8755 | 7053 | BNO055_RETURN_FUNCTION_TYPE bno055_get_temp_unit( |
gume | 0:1f82672b8755 | 7054 | u8 *temp_unit_u8) |
gume | 0:1f82672b8755 | 7055 | { |
gume | 0:1f82672b8755 | 7056 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 7057 | communication routine*/ |
gume | 0:1f82672b8755 | 7058 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 7059 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 7060 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 7061 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 7062 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 7063 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 7064 | } else { |
gume | 0:1f82672b8755 | 7065 | /*condition check for page, temperature unit is |
gume | 0:1f82672b8755 | 7066 | available in the page zero*/ |
gume | 0:1f82672b8755 | 7067 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 7068 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 7069 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 7070 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 7071 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 7072 | /* Read the temperature unit */ |
gume | 0:1f82672b8755 | 7073 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 7074 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 7075 | BNO055_TEMP_UNIT_REG, |
gume | 0:1f82672b8755 | 7076 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 7077 | *temp_unit_u8 = |
gume | 0:1f82672b8755 | 7078 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 7079 | BNO055_TEMP_UNIT); |
gume | 0:1f82672b8755 | 7080 | } else { |
gume | 0:1f82672b8755 | 7081 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 7082 | } |
gume | 0:1f82672b8755 | 7083 | } |
gume | 0:1f82672b8755 | 7084 | return com_rslt; |
gume | 0:1f82672b8755 | 7085 | } |
gume | 0:1f82672b8755 | 7086 | /*! |
gume | 0:1f82672b8755 | 7087 | * @brief This API used to write the temperature unit |
gume | 0:1f82672b8755 | 7088 | * from register from 0x3B bit 4 |
gume | 0:1f82672b8755 | 7089 | * |
gume | 0:1f82672b8755 | 7090 | * @param temp_unit_u8 : The value of temperature unit |
gume | 0:1f82672b8755 | 7091 | * |
gume | 0:1f82672b8755 | 7092 | * temp_unit_u8 | result |
gume | 0:1f82672b8755 | 7093 | * ----------- | -------------- |
gume | 0:1f82672b8755 | 7094 | * 0x00 | BNO055_TEMP_UNIT_CELSIUS |
gume | 0:1f82672b8755 | 7095 | * 0x01 | BNO055_TEMP_UNIT_FAHRENHEIT |
gume | 0:1f82672b8755 | 7096 | * |
gume | 0:1f82672b8755 | 7097 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 7098 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 7099 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 7100 | * |
gume | 0:1f82672b8755 | 7101 | * |
gume | 0:1f82672b8755 | 7102 | */ |
gume | 0:1f82672b8755 | 7103 | BNO055_RETURN_FUNCTION_TYPE bno055_set_temp_unit( |
gume | 0:1f82672b8755 | 7104 | u8 temp_unit_u8) |
gume | 0:1f82672b8755 | 7105 | { |
gume | 0:1f82672b8755 | 7106 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 7107 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 7108 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 7109 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 7110 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 7111 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 7112 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 7113 | } else { |
gume | 0:1f82672b8755 | 7114 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 7115 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 7116 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 7117 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 7118 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 7119 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 7120 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 7121 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 7122 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 7123 | /* Write the temperature unit */ |
gume | 0:1f82672b8755 | 7124 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 7125 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 7126 | BNO055_TEMP_UNIT_REG, |
gume | 0:1f82672b8755 | 7127 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 7128 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 7129 | data_u8r = |
gume | 0:1f82672b8755 | 7130 | BNO055_SET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 7131 | BNO055_TEMP_UNIT, |
gume | 0:1f82672b8755 | 7132 | temp_unit_u8); |
gume | 0:1f82672b8755 | 7133 | com_rslt += |
gume | 0:1f82672b8755 | 7134 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 7135 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 7136 | BNO055_TEMP_UNIT_REG, |
gume | 0:1f82672b8755 | 7137 | &data_u8r, |
gume | 0:1f82672b8755 | 7138 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 7139 | } |
gume | 0:1f82672b8755 | 7140 | } else { |
gume | 0:1f82672b8755 | 7141 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 7142 | } |
gume | 0:1f82672b8755 | 7143 | } else { |
gume | 0:1f82672b8755 | 7144 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 7145 | } |
gume | 0:1f82672b8755 | 7146 | } |
gume | 0:1f82672b8755 | 7147 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 7148 | /* set the operation mode |
gume | 0:1f82672b8755 | 7149 | of previous operation mode*/ |
gume | 0:1f82672b8755 | 7150 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 7151 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 7152 | return com_rslt; |
gume | 0:1f82672b8755 | 7153 | } |
gume | 0:1f82672b8755 | 7154 | /*! |
gume | 0:1f82672b8755 | 7155 | * @brief This API used to read the current selected orientation mode |
gume | 0:1f82672b8755 | 7156 | * from register from 0x3B bit 7 |
gume | 0:1f82672b8755 | 7157 | * |
gume | 0:1f82672b8755 | 7158 | * @param data_output_format_u8 : The value of data output format |
gume | 0:1f82672b8755 | 7159 | * |
gume | 0:1f82672b8755 | 7160 | * data_output_format_u8 | result |
gume | 0:1f82672b8755 | 7161 | * -------------------- | -------- |
gume | 0:1f82672b8755 | 7162 | * 0x00 | Windows |
gume | 0:1f82672b8755 | 7163 | * 0x01 | Android |
gume | 0:1f82672b8755 | 7164 | * |
gume | 0:1f82672b8755 | 7165 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 7166 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 7167 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 7168 | * |
gume | 0:1f82672b8755 | 7169 | */ |
gume | 0:1f82672b8755 | 7170 | BNO055_RETURN_FUNCTION_TYPE bno055_get_data_output_format( |
gume | 0:1f82672b8755 | 7171 | u8 *data_output_format_u8) |
gume | 0:1f82672b8755 | 7172 | { |
gume | 0:1f82672b8755 | 7173 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 7174 | communication routine*/ |
gume | 0:1f82672b8755 | 7175 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 7176 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 7177 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 7178 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 7179 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 7180 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 7181 | } else { |
gume | 0:1f82672b8755 | 7182 | /*condition check for page, data output format is |
gume | 0:1f82672b8755 | 7183 | available in the page zero*/ |
gume | 0:1f82672b8755 | 7184 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 7185 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 7186 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 7187 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 7188 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 7189 | /* Read the data output format */ |
gume | 0:1f82672b8755 | 7190 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 7191 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 7192 | BNO055_DATA_OUTPUT_FORMAT_REG, |
gume | 0:1f82672b8755 | 7193 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 7194 | *data_output_format_u8 = |
gume | 0:1f82672b8755 | 7195 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 7196 | BNO055_DATA_OUTPUT_FORMAT); |
gume | 0:1f82672b8755 | 7197 | } else { |
gume | 0:1f82672b8755 | 7198 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 7199 | } |
gume | 0:1f82672b8755 | 7200 | } |
gume | 0:1f82672b8755 | 7201 | return com_rslt; |
gume | 0:1f82672b8755 | 7202 | } |
gume | 0:1f82672b8755 | 7203 | /*! |
gume | 0:1f82672b8755 | 7204 | * @brief This API used to write the current selected orientation mode |
gume | 0:1f82672b8755 | 7205 | * from register from 0x3B bit 7 |
gume | 0:1f82672b8755 | 7206 | * |
gume | 0:1f82672b8755 | 7207 | * @param data_output_format_u8 : The value of data output format |
gume | 0:1f82672b8755 | 7208 | * |
gume | 0:1f82672b8755 | 7209 | * data_output_format_u8 | result |
gume | 0:1f82672b8755 | 7210 | * -------------------- | -------- |
gume | 0:1f82672b8755 | 7211 | * 0x00 | Windows |
gume | 0:1f82672b8755 | 7212 | * 0x01 | Android |
gume | 0:1f82672b8755 | 7213 | * |
gume | 0:1f82672b8755 | 7214 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 7215 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 7216 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 7217 | * |
gume | 0:1f82672b8755 | 7218 | * |
gume | 0:1f82672b8755 | 7219 | */ |
gume | 0:1f82672b8755 | 7220 | BNO055_RETURN_FUNCTION_TYPE bno055_set_data_output_format( |
gume | 0:1f82672b8755 | 7221 | u8 data_output_format_u8) |
gume | 0:1f82672b8755 | 7222 | { |
gume | 0:1f82672b8755 | 7223 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 7224 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 7225 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 7226 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 7227 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 7228 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 7229 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 7230 | } else { |
gume | 0:1f82672b8755 | 7231 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 7232 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 7233 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 7234 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 7235 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 7236 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 7237 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 7238 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 7239 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 7240 | /* Write the data output format */ |
gume | 0:1f82672b8755 | 7241 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 7242 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 7243 | BNO055_DATA_OUTPUT_FORMAT_REG, |
gume | 0:1f82672b8755 | 7244 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 7245 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 7246 | data_u8r = |
gume | 0:1f82672b8755 | 7247 | BNO055_SET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 7248 | BNO055_DATA_OUTPUT_FORMAT, |
gume | 0:1f82672b8755 | 7249 | data_output_format_u8); |
gume | 0:1f82672b8755 | 7250 | com_rslt += |
gume | 0:1f82672b8755 | 7251 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 7252 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 7253 | BNO055_DATA_OUTPUT_FORMAT_REG, |
gume | 0:1f82672b8755 | 7254 | &data_u8r, |
gume | 0:1f82672b8755 | 7255 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 7256 | } |
gume | 0:1f82672b8755 | 7257 | } else { |
gume | 0:1f82672b8755 | 7258 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 7259 | } |
gume | 0:1f82672b8755 | 7260 | } else { |
gume | 0:1f82672b8755 | 7261 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 7262 | } |
gume | 0:1f82672b8755 | 7263 | } |
gume | 0:1f82672b8755 | 7264 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 7265 | /* set the operation mode |
gume | 0:1f82672b8755 | 7266 | of previous operation mode*/ |
gume | 0:1f82672b8755 | 7267 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 7268 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 7269 | return com_rslt; |
gume | 0:1f82672b8755 | 7270 | } |
gume | 0:1f82672b8755 | 7271 | /*! @brief This API used to read the operation mode |
gume | 0:1f82672b8755 | 7272 | * from register from 0x3D bit 0 to 3 |
gume | 0:1f82672b8755 | 7273 | * |
gume | 0:1f82672b8755 | 7274 | * @param operation_mode_u8 : The value of operation mode |
gume | 0:1f82672b8755 | 7275 | * |
gume | 0:1f82672b8755 | 7276 | * operation_mode_u8 | result | comments |
gume | 0:1f82672b8755 | 7277 | * ----------|----------------------------|---------------------------- |
gume | 0:1f82672b8755 | 7278 | * 0x00 | BNO055_OPERATION_MODE_CONFIG | Configuration mode |
gume | 0:1f82672b8755 | 7279 | * 0x01 | BNO055_OPERATION_MODE_ACCONLY | Reads accel data alone |
gume | 0:1f82672b8755 | 7280 | * 0x02 | BNO055_OPERATION_MODE_MAGONLY | Reads mag data alone |
gume | 0:1f82672b8755 | 7281 | * 0x03 | BNO055_OPERATION_MODE_GYRONLY | Reads gyro data alone |
gume | 0:1f82672b8755 | 7282 | * 0x04 | BNO055_OPERATION_MODE_ACCMAG | Reads accel and mag data |
gume | 0:1f82672b8755 | 7283 | * 0x05 | BNO055_OPERATION_MODE_ACCGYRO | Reads accel and gyro data |
gume | 0:1f82672b8755 | 7284 | * 0x06 | BNO055_OPERATION_MODE_MAGGYRO | Reads accel and mag data |
gume | 0:1f82672b8755 | 7285 | * 0x07 | OPERATION_MODE_ANY_MOTION | Reads accel mag and gyro data |
gume | 0:1f82672b8755 | 7286 | * 0x08 | BNO055_OPERATION_MODE_IMUPLUS | Inertial measurement unit |
gume | 0:1f82672b8755 | 7287 | * - | - | Reads accel,gyro and fusion data |
gume | 0:1f82672b8755 | 7288 | * 0x09 | BNO055_OPERATION_MODE_COMPASS | Reads accel, mag data |
gume | 0:1f82672b8755 | 7289 | * - | - | and fusion data |
gume | 0:1f82672b8755 | 7290 | * 0x0A | BNO055_OPERATION_MODE_M4G | Reads accel, mag data |
gume | 0:1f82672b8755 | 7291 | * - | - | and fusion data |
gume | 0:1f82672b8755 | 7292 | * 0x0B | BNO055_OPERATION_MODE_NDOF_FMC_OFF| Nine degrees of freedom with |
gume | 0:1f82672b8755 | 7293 | * - | - | fast magnetic calibration |
gume | 0:1f82672b8755 | 7294 | * - | - | Reads accel,mag, gyro |
gume | 0:1f82672b8755 | 7295 | * - | - | and fusion data |
gume | 0:1f82672b8755 | 7296 | * 0x0C | BNO055_OPERATION_MODE_NDOF | Nine degrees of freedom |
gume | 0:1f82672b8755 | 7297 | * - | - | Reads accel,mag, gyro |
gume | 0:1f82672b8755 | 7298 | * - | - | and fusion data |
gume | 0:1f82672b8755 | 7299 | * |
gume | 0:1f82672b8755 | 7300 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 7301 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 7302 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 7303 | * |
gume | 0:1f82672b8755 | 7304 | * @note In the config mode, all sensor and fusion data |
gume | 0:1f82672b8755 | 7305 | * becomes zero and it is mainly derived |
gume | 0:1f82672b8755 | 7306 | * to configure the various settings of the BNO |
gume | 0:1f82672b8755 | 7307 | * |
gume | 0:1f82672b8755 | 7308 | */ |
gume | 0:1f82672b8755 | 7309 | BNO055_RETURN_FUNCTION_TYPE bno055_get_operation_mode( |
gume | 0:1f82672b8755 | 7310 | u8 *operation_mode_u8) |
gume | 0:1f82672b8755 | 7311 | { |
gume | 0:1f82672b8755 | 7312 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 7313 | communication routine*/ |
gume | 0:1f82672b8755 | 7314 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 7315 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 7316 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 7317 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 7318 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 7319 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 7320 | } else { |
gume | 0:1f82672b8755 | 7321 | /*condition check for page, operation mode is |
gume | 0:1f82672b8755 | 7322 | available in the page zero*/ |
gume | 0:1f82672b8755 | 7323 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 7324 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 7325 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 7326 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 7327 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 7328 | /* Read the value of operation mode*/ |
gume | 0:1f82672b8755 | 7329 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 7330 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 7331 | BNO055_OPERATION_MODE_REG, |
gume | 0:1f82672b8755 | 7332 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 7333 | *operation_mode_u8 = |
gume | 0:1f82672b8755 | 7334 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 7335 | BNO055_OPERATION_MODE); |
gume | 0:1f82672b8755 | 7336 | } else { |
gume | 0:1f82672b8755 | 7337 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 7338 | } |
gume | 0:1f82672b8755 | 7339 | } |
gume | 0:1f82672b8755 | 7340 | return com_rslt; |
gume | 0:1f82672b8755 | 7341 | } |
gume | 0:1f82672b8755 | 7342 | /*! @brief This API used to write the operation mode |
gume | 0:1f82672b8755 | 7343 | * from register from 0x3D bit 0 to 3 |
gume | 0:1f82672b8755 | 7344 | * |
gume | 0:1f82672b8755 | 7345 | * @param operation_mode_u8 : The value of operation mode |
gume | 0:1f82672b8755 | 7346 | * |
gume | 0:1f82672b8755 | 7347 | * operation_mode_u8 | result | comments |
gume | 0:1f82672b8755 | 7348 | * ---------|-----------------------------------|-------------------------- |
gume | 0:1f82672b8755 | 7349 | * 0x00 | BNO055_OPERATION_MODE_CONFIG | Configuration mode |
gume | 0:1f82672b8755 | 7350 | * 0x01 | BNO055_OPERATION_MODE_ACCONLY | Reads accel data alone |
gume | 0:1f82672b8755 | 7351 | * 0x02 | BNO055_OPERATION_MODE_MAGONLY | Reads mag data alone |
gume | 0:1f82672b8755 | 7352 | * 0x03 | BNO055_OPERATION_MODE_GYRONLY | Reads gyro data alone |
gume | 0:1f82672b8755 | 7353 | * 0x04 | BNO055_OPERATION_MODE_ACCMAG | Reads accel and mag data |
gume | 0:1f82672b8755 | 7354 | * 0x05 | BNO055_OPERATION_MODE_ACCGYRO | Reads accel and gyro data |
gume | 0:1f82672b8755 | 7355 | * 0x06 | BNO055_OPERATION_MODE_MAGGYRO | Reads accel and mag data |
gume | 0:1f82672b8755 | 7356 | * 0x07 | OPERATION_MODE_ANY_MOTION | Reads accel mag and |
gume | 0:1f82672b8755 | 7357 | * | - | gyro data |
gume | 0:1f82672b8755 | 7358 | * 0x08 | BNO055_OPERATION_MODE_IMUPLUS | Inertial measurement unit |
gume | 0:1f82672b8755 | 7359 | * - | | Reads accel,gyro and |
gume | 0:1f82672b8755 | 7360 | * | - | fusion data |
gume | 0:1f82672b8755 | 7361 | * 0x09 | BNO055_OPERATION_MODE_COMPASS | Reads accel, mag data |
gume | 0:1f82672b8755 | 7362 | * - | - | and fusion data |
gume | 0:1f82672b8755 | 7363 | * 0x0A | BNO055_OPERATION_MODE_M4G | Reads accel, mag data |
gume | 0:1f82672b8755 | 7364 | * - | - | and fusion data |
gume | 0:1f82672b8755 | 7365 | * 0x0B | BNO055_OPERATION_MODE_NDOF_FMC_OFF| Nine degrees of freedom with |
gume | 0:1f82672b8755 | 7366 | * - | - | fast magnetic calibration |
gume | 0:1f82672b8755 | 7367 | * - | - | Reads accel,mag, gyro |
gume | 0:1f82672b8755 | 7368 | * - | - | and fusion data |
gume | 0:1f82672b8755 | 7369 | * 0x0C | BNO055_OPERATION_MODE_NDOF | Nine degrees of freedom |
gume | 0:1f82672b8755 | 7370 | * - | - | Reads accel,mag, gyro |
gume | 0:1f82672b8755 | 7371 | * - | - | and fusion data |
gume | 0:1f82672b8755 | 7372 | * |
gume | 0:1f82672b8755 | 7373 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 7374 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 7375 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 7376 | * |
gume | 0:1f82672b8755 | 7377 | * @note In the config mode, all sensor and fusion data |
gume | 0:1f82672b8755 | 7378 | * becomes zero and it is mainly derived |
gume | 0:1f82672b8755 | 7379 | * to configure the various settings of the BNO |
gume | 0:1f82672b8755 | 7380 | * |
gume | 0:1f82672b8755 | 7381 | */ |
gume | 0:1f82672b8755 | 7382 | BNO055_RETURN_FUNCTION_TYPE bno055_set_operation_mode(u8 operation_mode_u8) |
gume | 0:1f82672b8755 | 7383 | { |
gume | 0:1f82672b8755 | 7384 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 7385 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 7386 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 7387 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 7388 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 7389 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 7390 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 7391 | } else { |
gume | 0:1f82672b8755 | 7392 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 7393 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 7394 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 7395 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 7396 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 7397 | /* If the previous operation mode is config it is |
gume | 0:1f82672b8755 | 7398 | directly write the operation mode */ |
gume | 0:1f82672b8755 | 7399 | if (prev_opmode_u8 == BNO055_OPERATION_MODE_CONFIG) { |
gume | 0:1f82672b8755 | 7400 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 7401 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 7402 | BNO055_OPERATION_MODE_REG, |
gume | 0:1f82672b8755 | 7403 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 7404 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 7405 | data_u8r = |
gume | 0:1f82672b8755 | 7406 | BNO055_SET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 7407 | BNO055_OPERATION_MODE, |
gume | 0:1f82672b8755 | 7408 | operation_mode_u8); |
gume | 0:1f82672b8755 | 7409 | com_rslt += |
gume | 0:1f82672b8755 | 7410 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 7411 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 7412 | BNO055_OPERATION_MODE_REG, |
gume | 0:1f82672b8755 | 7413 | &data_u8r, |
gume | 0:1f82672b8755 | 7414 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 7415 | /* Config mode to other |
gume | 0:1f82672b8755 | 7416 | operation mode switching |
gume | 0:1f82672b8755 | 7417 | required delay of 600ms*/ |
gume | 0:1f82672b8755 | 7418 | p_bno055->delay_msec( |
gume | 0:1f82672b8755 | 7419 | BNO055_MODE_SWITCHING_DELAY); |
gume | 0:1f82672b8755 | 7420 | } |
gume | 0:1f82672b8755 | 7421 | } else { |
gume | 0:1f82672b8755 | 7422 | /* If the previous operation |
gume | 0:1f82672b8755 | 7423 | mode is not config it is |
gume | 0:1f82672b8755 | 7424 | write the config mode */ |
gume | 0:1f82672b8755 | 7425 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 7426 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 7427 | BNO055_OPERATION_MODE_REG, |
gume | 0:1f82672b8755 | 7428 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 7429 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 7430 | data_u8r = |
gume | 0:1f82672b8755 | 7431 | BNO055_SET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 7432 | BNO055_OPERATION_MODE, |
gume | 0:1f82672b8755 | 7433 | BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 7434 | com_rslt += bno055_write_register( |
gume | 0:1f82672b8755 | 7435 | BNO055_OPERATION_MODE_REG, |
gume | 0:1f82672b8755 | 7436 | &data_u8r, |
gume | 0:1f82672b8755 | 7437 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 7438 | /* other mode to config mode switching |
gume | 0:1f82672b8755 | 7439 | required delay of 20ms*/ |
gume | 0:1f82672b8755 | 7440 | p_bno055->delay_msec( |
gume | 0:1f82672b8755 | 7441 | BNO055_CONFIG_MODE_SWITCHING_DELAY); |
gume | 0:1f82672b8755 | 7442 | } |
gume | 0:1f82672b8755 | 7443 | /* Write the operation mode */ |
gume | 0:1f82672b8755 | 7444 | if (operation_mode_u8 != |
gume | 0:1f82672b8755 | 7445 | BNO055_OPERATION_MODE_CONFIG) { |
gume | 0:1f82672b8755 | 7446 | com_rslt = |
gume | 0:1f82672b8755 | 7447 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 7448 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 7449 | BNO055_OPERATION_MODE_REG, |
gume | 0:1f82672b8755 | 7450 | &data_u8r, |
gume | 0:1f82672b8755 | 7451 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 7452 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 7453 | data_u8r = BNO055_SET_BITSLICE |
gume | 0:1f82672b8755 | 7454 | (data_u8r, |
gume | 0:1f82672b8755 | 7455 | BNO055_OPERATION_MODE, |
gume | 0:1f82672b8755 | 7456 | operation_mode_u8); |
gume | 0:1f82672b8755 | 7457 | com_rslt += |
gume | 0:1f82672b8755 | 7458 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 7459 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 7460 | BNO055_OPERATION_MODE_REG, |
gume | 0:1f82672b8755 | 7461 | &data_u8r, |
gume | 0:1f82672b8755 | 7462 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 7463 | /* Config mode to other |
gume | 0:1f82672b8755 | 7464 | operation mode switching |
gume | 0:1f82672b8755 | 7465 | required delay of 600ms*/ |
gume | 0:1f82672b8755 | 7466 | p_bno055->delay_msec( |
gume | 0:1f82672b8755 | 7467 | BNO055_MODE_SWITCHING_DELAY); |
gume | 0:1f82672b8755 | 7468 | } |
gume | 0:1f82672b8755 | 7469 | } |
gume | 0:1f82672b8755 | 7470 | } |
gume | 0:1f82672b8755 | 7471 | } else { |
gume | 0:1f82672b8755 | 7472 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 7473 | } |
gume | 0:1f82672b8755 | 7474 | } |
gume | 0:1f82672b8755 | 7475 | return com_rslt; |
gume | 0:1f82672b8755 | 7476 | } |
gume | 0:1f82672b8755 | 7477 | /*! @brief This API used to read the power mode |
gume | 0:1f82672b8755 | 7478 | * from register from 0x3E bit 0 to 1 |
gume | 0:1f82672b8755 | 7479 | * |
gume | 0:1f82672b8755 | 7480 | * @param power_mode_u8 : The value of power mode |
gume | 0:1f82672b8755 | 7481 | * |
gume | 0:1f82672b8755 | 7482 | * power_mode_u8| result | comments |
gume | 0:1f82672b8755 | 7483 | * ---------|---------------------------|------------------------------------- |
gume | 0:1f82672b8755 | 7484 | * 0x00 |BNO055_POWER_MODE_NORMAL | In the NORMAL mode the register |
gume | 0:1f82672b8755 | 7485 | * - | - | map and the internal peripherals |
gume | 0:1f82672b8755 | 7486 | * - | - | of the MCU are always |
gume | 0:1f82672b8755 | 7487 | * - | - | operative in this mode |
gume | 0:1f82672b8755 | 7488 | * 0x01 |BNO055_POWER_MODE_LOWPOWER | This is first level of power |
gume | 0:1f82672b8755 | 7489 | * | - | saving mode |
gume | 0:1f82672b8755 | 7490 | * 0x02 |BNO055_POWER_MODE_SUSPEND | In suspend mode the system is |
gume | 0:1f82672b8755 | 7491 | * - | - | paused and all the sensors and |
gume | 0:1f82672b8755 | 7492 | * - | - | the micro controller are |
gume | 0:1f82672b8755 | 7493 | * - | - | put into sleep mode. |
gume | 0:1f82672b8755 | 7494 | * |
gume | 0:1f82672b8755 | 7495 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 7496 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 7497 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 7498 | * |
gume | 0:1f82672b8755 | 7499 | * @note For detailed about LOWPOWER mode |
gume | 0:1f82672b8755 | 7500 | * refer data sheet 3.4.2 |
gume | 0:1f82672b8755 | 7501 | * |
gume | 0:1f82672b8755 | 7502 | */ |
gume | 0:1f82672b8755 | 7503 | BNO055_RETURN_FUNCTION_TYPE bno055_get_power_mode( |
gume | 0:1f82672b8755 | 7504 | u8 *power_mode_u8) |
gume | 0:1f82672b8755 | 7505 | { |
gume | 0:1f82672b8755 | 7506 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 7507 | communication routine*/ |
gume | 0:1f82672b8755 | 7508 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 7509 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 7510 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 7511 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 7512 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 7513 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 7514 | } else { |
gume | 0:1f82672b8755 | 7515 | /*condition check for page, power mode is |
gume | 0:1f82672b8755 | 7516 | available in the page zero*/ |
gume | 0:1f82672b8755 | 7517 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 7518 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 7519 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 7520 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 7521 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 7522 | /* Read the value of power mode */ |
gume | 0:1f82672b8755 | 7523 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 7524 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 7525 | BNO055_POWER_MODE_REG, |
gume | 0:1f82672b8755 | 7526 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 7527 | *power_mode_u8 = |
gume | 0:1f82672b8755 | 7528 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 7529 | BNO055_POWER_MODE); |
gume | 0:1f82672b8755 | 7530 | } else { |
gume | 0:1f82672b8755 | 7531 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 7532 | } |
gume | 0:1f82672b8755 | 7533 | } |
gume | 0:1f82672b8755 | 7534 | return com_rslt; |
gume | 0:1f82672b8755 | 7535 | } |
gume | 0:1f82672b8755 | 7536 | /*! @brief This API used to write the power mode |
gume | 0:1f82672b8755 | 7537 | * from register from 0x3E bit 0 to 1 |
gume | 0:1f82672b8755 | 7538 | * |
gume | 0:1f82672b8755 | 7539 | * @param power_mode_u8 : The value of power mode |
gume | 0:1f82672b8755 | 7540 | * |
gume | 0:1f82672b8755 | 7541 | * |
gume | 0:1f82672b8755 | 7542 | * power_mode_u8| result | comments |
gume | 0:1f82672b8755 | 7543 | * -------|----------------------------|--------------------------------- |
gume | 0:1f82672b8755 | 7544 | * 0x00 | BNO055_POWER_MODE_NORMAL | In the NORMAL mode the register |
gume | 0:1f82672b8755 | 7545 | * - | - | map and the internal peripherals |
gume | 0:1f82672b8755 | 7546 | * - | - | of the MCU are always |
gume | 0:1f82672b8755 | 7547 | * - | - | operative in this mode |
gume | 0:1f82672b8755 | 7548 | * 0x01 | BNO055_POWER_MODE_LOWPOWER | This is first level of power |
gume | 0:1f82672b8755 | 7549 | * | - | saving mode |
gume | 0:1f82672b8755 | 7550 | * 0x02 | BNO055_POWER_MODE_SUSPEND | In suspend mode the system is |
gume | 0:1f82672b8755 | 7551 | * - | - | paused and all the sensors and |
gume | 0:1f82672b8755 | 7552 | * - | - | the micro controller are |
gume | 0:1f82672b8755 | 7553 | * - | - | put into sleep mode. |
gume | 0:1f82672b8755 | 7554 | * |
gume | 0:1f82672b8755 | 7555 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 7556 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 7557 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 7558 | * |
gume | 0:1f82672b8755 | 7559 | * @note For detailed about LOWPOWER mode |
gume | 0:1f82672b8755 | 7560 | * refer data sheet 3.4.2 |
gume | 0:1f82672b8755 | 7561 | * |
gume | 0:1f82672b8755 | 7562 | */ |
gume | 0:1f82672b8755 | 7563 | BNO055_RETURN_FUNCTION_TYPE bno055_set_power_mode(u8 power_mode_u8) |
gume | 0:1f82672b8755 | 7564 | { |
gume | 0:1f82672b8755 | 7565 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 7566 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 7567 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 7568 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 7569 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 7570 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 7571 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 7572 | } else { |
gume | 0:1f82672b8755 | 7573 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 7574 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 7575 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 7576 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 7577 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 7578 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 7579 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 7580 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 7581 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 7582 | /* Write the value of power mode */ |
gume | 0:1f82672b8755 | 7583 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 7584 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 7585 | BNO055_POWER_MODE_REG, |
gume | 0:1f82672b8755 | 7586 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 7587 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 7588 | data_u8r = |
gume | 0:1f82672b8755 | 7589 | BNO055_SET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 7590 | BNO055_POWER_MODE, power_mode_u8); |
gume | 0:1f82672b8755 | 7591 | com_rslt += |
gume | 0:1f82672b8755 | 7592 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 7593 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 7594 | BNO055_POWER_MODE_REG, |
gume | 0:1f82672b8755 | 7595 | &data_u8r, |
gume | 0:1f82672b8755 | 7596 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 7597 | } |
gume | 0:1f82672b8755 | 7598 | } else { |
gume | 0:1f82672b8755 | 7599 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 7600 | } |
gume | 0:1f82672b8755 | 7601 | } else { |
gume | 0:1f82672b8755 | 7602 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 7603 | } |
gume | 0:1f82672b8755 | 7604 | } |
gume | 0:1f82672b8755 | 7605 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 7606 | /* set the operation mode |
gume | 0:1f82672b8755 | 7607 | of previous operation mode*/ |
gume | 0:1f82672b8755 | 7608 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 7609 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 7610 | return com_rslt; |
gume | 0:1f82672b8755 | 7611 | } |
gume | 0:1f82672b8755 | 7612 | /*! |
gume | 0:1f82672b8755 | 7613 | * @brief This API used to read the reset interrupt |
gume | 0:1f82672b8755 | 7614 | * from register from 0x3F bit 6 |
gume | 0:1f82672b8755 | 7615 | * It resets all the interrupt bit and interrupt output |
gume | 0:1f82672b8755 | 7616 | * |
gume | 0:1f82672b8755 | 7617 | * @param intr_rst_u8 : The value of reset interrupt |
gume | 0:1f82672b8755 | 7618 | * |
gume | 0:1f82672b8755 | 7619 | * intr_rst_u8 | result |
gume | 0:1f82672b8755 | 7620 | * ------------ |---------- |
gume | 0:1f82672b8755 | 7621 | * 0x01 | BNO055_BIT_ENABLE |
gume | 0:1f82672b8755 | 7622 | * 0x00 | BNO055_BIT_DISABLE |
gume | 0:1f82672b8755 | 7623 | * |
gume | 0:1f82672b8755 | 7624 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 7625 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 7626 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 7627 | * |
gume | 0:1f82672b8755 | 7628 | */ |
gume | 0:1f82672b8755 | 7629 | BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_rst( |
gume | 0:1f82672b8755 | 7630 | u8 *intr_rst_u8) |
gume | 0:1f82672b8755 | 7631 | { |
gume | 0:1f82672b8755 | 7632 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 7633 | communication routine*/ |
gume | 0:1f82672b8755 | 7634 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 7635 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 7636 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 7637 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 7638 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 7639 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 7640 | } else { |
gume | 0:1f82672b8755 | 7641 | /*condition check for page, reset interrupt is |
gume | 0:1f82672b8755 | 7642 | available in the page zero*/ |
gume | 0:1f82672b8755 | 7643 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 7644 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 7645 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 7646 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 7647 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 7648 | /* Read the value of reset interrupt*/ |
gume | 0:1f82672b8755 | 7649 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 7650 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 7651 | BNO055_INTR_RST_REG, |
gume | 0:1f82672b8755 | 7652 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 7653 | *intr_rst_u8 = |
gume | 0:1f82672b8755 | 7654 | BNO055_GET_BITSLICE(data_u8r, BNO055_INTR_RST); |
gume | 0:1f82672b8755 | 7655 | } else { |
gume | 0:1f82672b8755 | 7656 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 7657 | } |
gume | 0:1f82672b8755 | 7658 | } |
gume | 0:1f82672b8755 | 7659 | return com_rslt; |
gume | 0:1f82672b8755 | 7660 | } |
gume | 0:1f82672b8755 | 7661 | /*! |
gume | 0:1f82672b8755 | 7662 | * @brief This API used to write the reset interrupt |
gume | 0:1f82672b8755 | 7663 | * from register from 0x3F bit 6 |
gume | 0:1f82672b8755 | 7664 | * It resets all the interrupt bit and interrupt output |
gume | 0:1f82672b8755 | 7665 | * |
gume | 0:1f82672b8755 | 7666 | * @param intr_rst_u8 : The value of reset interrupt |
gume | 0:1f82672b8755 | 7667 | * |
gume | 0:1f82672b8755 | 7668 | * intr_rst_u8 | result |
gume | 0:1f82672b8755 | 7669 | * -------------- |---------- |
gume | 0:1f82672b8755 | 7670 | * 0x01 | BNO055_BIT_ENABLE |
gume | 0:1f82672b8755 | 7671 | * 0x00 | BNO055_BIT_DISABLE |
gume | 0:1f82672b8755 | 7672 | * |
gume | 0:1f82672b8755 | 7673 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 7674 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 7675 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 7676 | * |
gume | 0:1f82672b8755 | 7677 | */ |
gume | 0:1f82672b8755 | 7678 | BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_rst(u8 intr_rst_u8) |
gume | 0:1f82672b8755 | 7679 | { |
gume | 0:1f82672b8755 | 7680 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 7681 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 7682 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 7683 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 7684 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 7685 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 7686 | } else { |
gume | 0:1f82672b8755 | 7687 | /*condition check for page, reset interrupt |
gume | 0:1f82672b8755 | 7688 | available in the page zero*/ |
gume | 0:1f82672b8755 | 7689 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 7690 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 7691 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 7692 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 7693 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 7694 | /* Write the value of reset interrupt */ |
gume | 0:1f82672b8755 | 7695 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 7696 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 7697 | BNO055_INTR_RST_REG, |
gume | 0:1f82672b8755 | 7698 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 7699 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 7700 | data_u8r = |
gume | 0:1f82672b8755 | 7701 | BNO055_SET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 7702 | BNO055_INTR_RST, intr_rst_u8); |
gume | 0:1f82672b8755 | 7703 | com_rslt += |
gume | 0:1f82672b8755 | 7704 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 7705 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 7706 | BNO055_INTR_RST_REG, |
gume | 0:1f82672b8755 | 7707 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 7708 | } |
gume | 0:1f82672b8755 | 7709 | } else { |
gume | 0:1f82672b8755 | 7710 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 7711 | } |
gume | 0:1f82672b8755 | 7712 | } |
gume | 0:1f82672b8755 | 7713 | return com_rslt; |
gume | 0:1f82672b8755 | 7714 | } |
gume | 0:1f82672b8755 | 7715 | /*! |
gume | 0:1f82672b8755 | 7716 | * @brief This API used to read the clk source |
gume | 0:1f82672b8755 | 7717 | * from register from 0x3F bit 7 |
gume | 0:1f82672b8755 | 7718 | * |
gume | 0:1f82672b8755 | 7719 | * @param clk_src_u8 : The value of clk source |
gume | 0:1f82672b8755 | 7720 | * |
gume | 0:1f82672b8755 | 7721 | * clk_src_u8 | result |
gume | 0:1f82672b8755 | 7722 | * -------------- |---------- |
gume | 0:1f82672b8755 | 7723 | * 0x01 | BNO055_BIT_ENABLE |
gume | 0:1f82672b8755 | 7724 | * 0x00 | BNO055_BIT_DISABLE |
gume | 0:1f82672b8755 | 7725 | * |
gume | 0:1f82672b8755 | 7726 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 7727 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 7728 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 7729 | * |
gume | 0:1f82672b8755 | 7730 | */ |
gume | 0:1f82672b8755 | 7731 | BNO055_RETURN_FUNCTION_TYPE bno055_get_clk_src( |
gume | 0:1f82672b8755 | 7732 | u8 *clk_src_u8) |
gume | 0:1f82672b8755 | 7733 | { |
gume | 0:1f82672b8755 | 7734 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 7735 | communication routine*/ |
gume | 0:1f82672b8755 | 7736 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 7737 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 7738 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 7739 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 7740 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 7741 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 7742 | } else { |
gume | 0:1f82672b8755 | 7743 | /*condition check for page, clk source is |
gume | 0:1f82672b8755 | 7744 | available in the page zero*/ |
gume | 0:1f82672b8755 | 7745 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 7746 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 7747 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 7748 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 7749 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 7750 | /* Read the value of clk source */ |
gume | 0:1f82672b8755 | 7751 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 7752 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 7753 | BNO055_CLK_SRC_REG, |
gume | 0:1f82672b8755 | 7754 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 7755 | *clk_src_u8 = |
gume | 0:1f82672b8755 | 7756 | BNO055_GET_BITSLICE(data_u8r, BNO055_CLK_SRC); |
gume | 0:1f82672b8755 | 7757 | } else { |
gume | 0:1f82672b8755 | 7758 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 7759 | } |
gume | 0:1f82672b8755 | 7760 | } |
gume | 0:1f82672b8755 | 7761 | return com_rslt; |
gume | 0:1f82672b8755 | 7762 | } |
gume | 0:1f82672b8755 | 7763 | /*! |
gume | 0:1f82672b8755 | 7764 | * @brief This API used to write the clk source |
gume | 0:1f82672b8755 | 7765 | * from register from 0x3F bit 7 |
gume | 0:1f82672b8755 | 7766 | * |
gume | 0:1f82672b8755 | 7767 | * @param clk_src_u8 : The value of clk source |
gume | 0:1f82672b8755 | 7768 | * |
gume | 0:1f82672b8755 | 7769 | * clk_src_u8 | result |
gume | 0:1f82672b8755 | 7770 | * -------------- |---------- |
gume | 0:1f82672b8755 | 7771 | * 0x01 | BNO055_BIT_ENABLE |
gume | 0:1f82672b8755 | 7772 | * 0x00 | BNO055_BIT_DISABLE |
gume | 0:1f82672b8755 | 7773 | * |
gume | 0:1f82672b8755 | 7774 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 7775 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 7776 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 7777 | * |
gume | 0:1f82672b8755 | 7778 | */ |
gume | 0:1f82672b8755 | 7779 | BNO055_RETURN_FUNCTION_TYPE bno055_set_clk_src(u8 clk_src_u8) |
gume | 0:1f82672b8755 | 7780 | { |
gume | 0:1f82672b8755 | 7781 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 7782 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 7783 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 7784 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 7785 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 7786 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 7787 | } else { |
gume | 0:1f82672b8755 | 7788 | /*condition check for page, clk source is |
gume | 0:1f82672b8755 | 7789 | available in the page zero*/ |
gume | 0:1f82672b8755 | 7790 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 7791 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 7792 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 7793 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 7794 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 7795 | /* Write the value of clk source */ |
gume | 0:1f82672b8755 | 7796 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 7797 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 7798 | BNO055_CLK_SRC_REG, |
gume | 0:1f82672b8755 | 7799 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 7800 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 7801 | data_u8r = |
gume | 0:1f82672b8755 | 7802 | BNO055_SET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 7803 | BNO055_CLK_SRC, clk_src_u8); |
gume | 0:1f82672b8755 | 7804 | com_rslt += |
gume | 0:1f82672b8755 | 7805 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 7806 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 7807 | BNO055_CLK_SRC_REG, |
gume | 0:1f82672b8755 | 7808 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 7809 | } |
gume | 0:1f82672b8755 | 7810 | } else { |
gume | 0:1f82672b8755 | 7811 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 7812 | } |
gume | 0:1f82672b8755 | 7813 | } |
gume | 0:1f82672b8755 | 7814 | return com_rslt; |
gume | 0:1f82672b8755 | 7815 | } |
gume | 0:1f82672b8755 | 7816 | /*! |
gume | 0:1f82672b8755 | 7817 | * @brief This API used to read the reset system |
gume | 0:1f82672b8755 | 7818 | * from register from 0x3F bit 5 |
gume | 0:1f82672b8755 | 7819 | * |
gume | 0:1f82672b8755 | 7820 | * @param sys_rst_u8 : The value of reset system |
gume | 0:1f82672b8755 | 7821 | * |
gume | 0:1f82672b8755 | 7822 | * sys_rst_u8 | result |
gume | 0:1f82672b8755 | 7823 | * -------------- |---------- |
gume | 0:1f82672b8755 | 7824 | * 0x01 | BNO055_BIT_ENABLE |
gume | 0:1f82672b8755 | 7825 | * 0x00 | BNO055_BIT_DISABLE |
gume | 0:1f82672b8755 | 7826 | * |
gume | 0:1f82672b8755 | 7827 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 7828 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 7829 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 7830 | * |
gume | 0:1f82672b8755 | 7831 | * @note It resets the whole system |
gume | 0:1f82672b8755 | 7832 | */ |
gume | 0:1f82672b8755 | 7833 | BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_rst( |
gume | 0:1f82672b8755 | 7834 | u8 *sys_rst_u8) |
gume | 0:1f82672b8755 | 7835 | { |
gume | 0:1f82672b8755 | 7836 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 7837 | communication routine*/ |
gume | 0:1f82672b8755 | 7838 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 7839 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 7840 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 7841 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 7842 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 7843 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 7844 | } else { |
gume | 0:1f82672b8755 | 7845 | /*condition check for page, reset system is |
gume | 0:1f82672b8755 | 7846 | available in the page zero*/ |
gume | 0:1f82672b8755 | 7847 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 7848 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 7849 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 7850 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 7851 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 7852 | /* Read the value of reset system */ |
gume | 0:1f82672b8755 | 7853 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 7854 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 7855 | BNO055_SYS_RST_REG, |
gume | 0:1f82672b8755 | 7856 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 7857 | *sys_rst_u8 = |
gume | 0:1f82672b8755 | 7858 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 7859 | BNO055_SYS_RST); |
gume | 0:1f82672b8755 | 7860 | } else { |
gume | 0:1f82672b8755 | 7861 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 7862 | } |
gume | 0:1f82672b8755 | 7863 | } |
gume | 0:1f82672b8755 | 7864 | return com_rslt; |
gume | 0:1f82672b8755 | 7865 | } |
gume | 0:1f82672b8755 | 7866 | /*! |
gume | 0:1f82672b8755 | 7867 | * @brief This API used to write the reset system |
gume | 0:1f82672b8755 | 7868 | * from register from 0x3F bit 5 |
gume | 0:1f82672b8755 | 7869 | * |
gume | 0:1f82672b8755 | 7870 | * @param sys_rst_u8 : The value of reset system |
gume | 0:1f82672b8755 | 7871 | * |
gume | 0:1f82672b8755 | 7872 | * sys_rst_u8 | result |
gume | 0:1f82672b8755 | 7873 | * -------------- |---------- |
gume | 0:1f82672b8755 | 7874 | * 0x01 | BNO055_BIT_ENABLE |
gume | 0:1f82672b8755 | 7875 | * 0x00 | BNO055_BIT_DISABLE |
gume | 0:1f82672b8755 | 7876 | * |
gume | 0:1f82672b8755 | 7877 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 7878 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 7879 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 7880 | * |
gume | 0:1f82672b8755 | 7881 | * @note It resets the whole system |
gume | 0:1f82672b8755 | 7882 | */ |
gume | 0:1f82672b8755 | 7883 | BNO055_RETURN_FUNCTION_TYPE bno055_set_sys_rst(u8 sys_rst_u8) |
gume | 0:1f82672b8755 | 7884 | { |
gume | 0:1f82672b8755 | 7885 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 7886 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 7887 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 7888 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 7889 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 7890 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 7891 | } else { |
gume | 0:1f82672b8755 | 7892 | /*condition check for page, reset system is |
gume | 0:1f82672b8755 | 7893 | available in the page zero*/ |
gume | 0:1f82672b8755 | 7894 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 7895 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 7896 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 7897 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 7898 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 7899 | /* Write the value of reset system */ |
gume | 0:1f82672b8755 | 7900 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 7901 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 7902 | BNO055_SYS_RST_REG, |
gume | 0:1f82672b8755 | 7903 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 7904 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 7905 | data_u8r = |
gume | 0:1f82672b8755 | 7906 | BNO055_SET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 7907 | BNO055_SYS_RST, sys_rst_u8); |
gume | 0:1f82672b8755 | 7908 | com_rslt = |
gume | 0:1f82672b8755 | 7909 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 7910 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 7911 | BNO055_SYS_RST_REG, |
gume | 0:1f82672b8755 | 7912 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 7913 | } |
gume | 0:1f82672b8755 | 7914 | } else { |
gume | 0:1f82672b8755 | 7915 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 7916 | } |
gume | 0:1f82672b8755 | 7917 | } |
gume | 0:1f82672b8755 | 7918 | return com_rslt; |
gume | 0:1f82672b8755 | 7919 | } |
gume | 0:1f82672b8755 | 7920 | /*! |
gume | 0:1f82672b8755 | 7921 | * @brief This API used to read the self test |
gume | 0:1f82672b8755 | 7922 | * from register from 0x3F bit 0 |
gume | 0:1f82672b8755 | 7923 | * |
gume | 0:1f82672b8755 | 7924 | * @param selftest_u8 : The value of self test |
gume | 0:1f82672b8755 | 7925 | * |
gume | 0:1f82672b8755 | 7926 | * selftest_u8 | result |
gume | 0:1f82672b8755 | 7927 | * -------------- |---------- |
gume | 0:1f82672b8755 | 7928 | * 0x01 | BNO055_BIT_ENABLE |
gume | 0:1f82672b8755 | 7929 | * 0x00 | BNO055_BIT_DISABLE |
gume | 0:1f82672b8755 | 7930 | * |
gume | 0:1f82672b8755 | 7931 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 7932 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 7933 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 7934 | * |
gume | 0:1f82672b8755 | 7935 | * @note It triggers the self test |
gume | 0:1f82672b8755 | 7936 | */ |
gume | 0:1f82672b8755 | 7937 | BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest( |
gume | 0:1f82672b8755 | 7938 | u8 *selftest_u8) |
gume | 0:1f82672b8755 | 7939 | { |
gume | 0:1f82672b8755 | 7940 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 7941 | communication routine*/ |
gume | 0:1f82672b8755 | 7942 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 7943 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 7944 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 7945 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 7946 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 7947 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 7948 | } else { |
gume | 0:1f82672b8755 | 7949 | /*condition check for page, self test is |
gume | 0:1f82672b8755 | 7950 | available in the page zero*/ |
gume | 0:1f82672b8755 | 7951 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 7952 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 7953 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 7954 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 7955 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 7956 | /* Read the value of self test */ |
gume | 0:1f82672b8755 | 7957 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 7958 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 7959 | BNO055_SELFTEST_REG, |
gume | 0:1f82672b8755 | 7960 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 7961 | *selftest_u8 = |
gume | 0:1f82672b8755 | 7962 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 7963 | BNO055_SELFTEST); |
gume | 0:1f82672b8755 | 7964 | } else { |
gume | 0:1f82672b8755 | 7965 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 7966 | } |
gume | 0:1f82672b8755 | 7967 | } |
gume | 0:1f82672b8755 | 7968 | return com_rslt; |
gume | 0:1f82672b8755 | 7969 | } |
gume | 0:1f82672b8755 | 7970 | /*! |
gume | 0:1f82672b8755 | 7971 | * @brief This API used to write the self test |
gume | 0:1f82672b8755 | 7972 | * from register from 0x3F bit 0 |
gume | 0:1f82672b8755 | 7973 | * |
gume | 0:1f82672b8755 | 7974 | * @param selftest_u8 : The value of self test |
gume | 0:1f82672b8755 | 7975 | * |
gume | 0:1f82672b8755 | 7976 | * selftest_u8 | result |
gume | 0:1f82672b8755 | 7977 | * -------------- |---------- |
gume | 0:1f82672b8755 | 7978 | * 0x01 | BNO055_BIT_ENABLE |
gume | 0:1f82672b8755 | 7979 | * 0x00 | BNO055_BIT_DISABLE |
gume | 0:1f82672b8755 | 7980 | * |
gume | 0:1f82672b8755 | 7981 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 7982 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 7983 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 7984 | * |
gume | 0:1f82672b8755 | 7985 | * @note It triggers the self test |
gume | 0:1f82672b8755 | 7986 | * |
gume | 0:1f82672b8755 | 7987 | * |
gume | 0:1f82672b8755 | 7988 | */ |
gume | 0:1f82672b8755 | 7989 | BNO055_RETURN_FUNCTION_TYPE bno055_set_selftest(u8 selftest_u8) |
gume | 0:1f82672b8755 | 7990 | { |
gume | 0:1f82672b8755 | 7991 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 7992 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 7993 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 7994 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 7995 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 7996 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 7997 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 7998 | } else { |
gume | 0:1f82672b8755 | 7999 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 8000 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 8001 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 8002 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 8003 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 8004 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 8005 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 8006 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 8007 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 8008 | /* Write the value of self test */ |
gume | 0:1f82672b8755 | 8009 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 8010 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 8011 | BNO055_SELFTEST_REG, |
gume | 0:1f82672b8755 | 8012 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 8013 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 8014 | data_u8r = |
gume | 0:1f82672b8755 | 8015 | BNO055_SET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 8016 | BNO055_SELFTEST, |
gume | 0:1f82672b8755 | 8017 | selftest_u8); |
gume | 0:1f82672b8755 | 8018 | com_rslt += |
gume | 0:1f82672b8755 | 8019 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 8020 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 8021 | BNO055_SELFTEST_REG, |
gume | 0:1f82672b8755 | 8022 | &data_u8r, |
gume | 0:1f82672b8755 | 8023 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 8024 | } |
gume | 0:1f82672b8755 | 8025 | } else { |
gume | 0:1f82672b8755 | 8026 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 8027 | } |
gume | 0:1f82672b8755 | 8028 | } else { |
gume | 0:1f82672b8755 | 8029 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 8030 | } |
gume | 0:1f82672b8755 | 8031 | } |
gume | 0:1f82672b8755 | 8032 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 8033 | /* set the operation mode |
gume | 0:1f82672b8755 | 8034 | of previous operation mode*/ |
gume | 0:1f82672b8755 | 8035 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 8036 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 8037 | return com_rslt; |
gume | 0:1f82672b8755 | 8038 | } |
gume | 0:1f82672b8755 | 8039 | /*! |
gume | 0:1f82672b8755 | 8040 | * @brief This API used to read the temperature source |
gume | 0:1f82672b8755 | 8041 | * from register from 0x40 bit 0 and 1 |
gume | 0:1f82672b8755 | 8042 | * |
gume | 0:1f82672b8755 | 8043 | * @param temp_source_u8 : The value of selected temperature source |
gume | 0:1f82672b8755 | 8044 | * |
gume | 0:1f82672b8755 | 8045 | * temp_source_u8 | result |
gume | 0:1f82672b8755 | 8046 | * ---------------- |--------------- |
gume | 0:1f82672b8755 | 8047 | * 0x00 | BNO055_ACCEL_TEMP_EN |
gume | 0:1f82672b8755 | 8048 | * 0X01 | BNO055_GYRO_TEMP_EN |
gume | 0:1f82672b8755 | 8049 | * 0X03 | BNO055_MCU_TEMP_EN |
gume | 0:1f82672b8755 | 8050 | * |
gume | 0:1f82672b8755 | 8051 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 8052 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 8053 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 8054 | * |
gume | 0:1f82672b8755 | 8055 | */ |
gume | 0:1f82672b8755 | 8056 | BNO055_RETURN_FUNCTION_TYPE bno055_get_temp_source( |
gume | 0:1f82672b8755 | 8057 | u8 *temp_source_u8) |
gume | 0:1f82672b8755 | 8058 | { |
gume | 0:1f82672b8755 | 8059 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 8060 | communication routine*/ |
gume | 0:1f82672b8755 | 8061 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 8062 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 8063 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 8064 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 8065 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 8066 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 8067 | } else { |
gume | 0:1f82672b8755 | 8068 | /*condition check for page, temperature source is |
gume | 0:1f82672b8755 | 8069 | available in the page zero*/ |
gume | 0:1f82672b8755 | 8070 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 8071 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 8072 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 8073 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 8074 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 8075 | /* Read the value of temperature source */ |
gume | 0:1f82672b8755 | 8076 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 8077 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 8078 | BNO055_TEMP_SOURCE_REG, |
gume | 0:1f82672b8755 | 8079 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 8080 | *temp_source_u8 = |
gume | 0:1f82672b8755 | 8081 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 8082 | BNO055_TEMP_SOURCE); |
gume | 0:1f82672b8755 | 8083 | } else { |
gume | 0:1f82672b8755 | 8084 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 8085 | } |
gume | 0:1f82672b8755 | 8086 | } |
gume | 0:1f82672b8755 | 8087 | return com_rslt; |
gume | 0:1f82672b8755 | 8088 | } |
gume | 0:1f82672b8755 | 8089 | /*! |
gume | 0:1f82672b8755 | 8090 | * @brief This API used to write the temperature source |
gume | 0:1f82672b8755 | 8091 | * from register from 0x40 bit 0 and 1 |
gume | 0:1f82672b8755 | 8092 | * |
gume | 0:1f82672b8755 | 8093 | * @param temp_source_u8 : The value of selected temperature source |
gume | 0:1f82672b8755 | 8094 | * |
gume | 0:1f82672b8755 | 8095 | * temp_source_u8 | result |
gume | 0:1f82672b8755 | 8096 | * ---------------- |--------------- |
gume | 0:1f82672b8755 | 8097 | * 0x00 | BNO055_ACCEL_TEMP_EN |
gume | 0:1f82672b8755 | 8098 | * 0X01 | BNO055_GYRO_TEMP_EN |
gume | 0:1f82672b8755 | 8099 | * 0X03 | BNO055_MCU_TEMP_EN |
gume | 0:1f82672b8755 | 8100 | * |
gume | 0:1f82672b8755 | 8101 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 8102 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 8103 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 8104 | * |
gume | 0:1f82672b8755 | 8105 | */ |
gume | 0:1f82672b8755 | 8106 | BNO055_RETURN_FUNCTION_TYPE bno055_set_temp_source(u8 temp_source_u8) |
gume | 0:1f82672b8755 | 8107 | { |
gume | 0:1f82672b8755 | 8108 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 8109 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 8110 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 8111 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 8112 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 8113 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 8114 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 8115 | } else { |
gume | 0:1f82672b8755 | 8116 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 8117 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 8118 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 8119 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 8120 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 8121 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 8122 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 8123 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 8124 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 8125 | /* Write the value of temperature source*/ |
gume | 0:1f82672b8755 | 8126 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 8127 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 8128 | BNO055_TEMP_SOURCE_REG, |
gume | 0:1f82672b8755 | 8129 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 8130 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 8131 | data_u8r = |
gume | 0:1f82672b8755 | 8132 | BNO055_SET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 8133 | BNO055_TEMP_SOURCE, temp_source_u8); |
gume | 0:1f82672b8755 | 8134 | com_rslt += |
gume | 0:1f82672b8755 | 8135 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 8136 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 8137 | BNO055_TEMP_SOURCE_REG, |
gume | 0:1f82672b8755 | 8138 | &data_u8r, |
gume | 0:1f82672b8755 | 8139 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 8140 | } |
gume | 0:1f82672b8755 | 8141 | } else { |
gume | 0:1f82672b8755 | 8142 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 8143 | } |
gume | 0:1f82672b8755 | 8144 | } else { |
gume | 0:1f82672b8755 | 8145 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 8146 | } |
gume | 0:1f82672b8755 | 8147 | } |
gume | 0:1f82672b8755 | 8148 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 8149 | /* set the operation mode |
gume | 0:1f82672b8755 | 8150 | of previous operation mode*/ |
gume | 0:1f82672b8755 | 8151 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 8152 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 8153 | return com_rslt; |
gume | 0:1f82672b8755 | 8154 | } |
gume | 0:1f82672b8755 | 8155 | /*! |
gume | 0:1f82672b8755 | 8156 | * @brief This API used to read the axis remap value |
gume | 0:1f82672b8755 | 8157 | * from register from 0x41 bit 0 and 5 |
gume | 0:1f82672b8755 | 8158 | * |
gume | 0:1f82672b8755 | 8159 | * @param remap_axis_u8 : The value of axis remapping |
gume | 0:1f82672b8755 | 8160 | * |
gume | 0:1f82672b8755 | 8161 | * remap_axis_u8 | result | comments |
gume | 0:1f82672b8755 | 8162 | * ------------|-------------------|------------ |
gume | 0:1f82672b8755 | 8163 | * 0X21 | BNO055_REMAP_X_Y | Z=Z;X=Y;Y=X |
gume | 0:1f82672b8755 | 8164 | * 0X18 | BNO055_REMAP_Y_Z | X=X;Y=Z;Z=Y |
gume | 0:1f82672b8755 | 8165 | * 0X06 | BNO055_REMAP_Z_X | Y=Y;X=Z;Z=X |
gume | 0:1f82672b8755 | 8166 | * 0X12 | BNO055_REMAP_X_Y_Z_TYPE0 | X=Z;Y=X;Z=Y |
gume | 0:1f82672b8755 | 8167 | * 0X09 | BNO055_REMAP_X_Y_Z_TYPE1 | X=Y;Y=Z;Z=X |
gume | 0:1f82672b8755 | 8168 | * 0X24 | BNO055_DEFAULT_AXIS | X=X;Y=Y;Z=Z |
gume | 0:1f82672b8755 | 8169 | * |
gume | 0:1f82672b8755 | 8170 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 8171 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 8172 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 8173 | * |
gume | 0:1f82672b8755 | 8174 | * @note : For axis sign remap refer the following APIs |
gume | 0:1f82672b8755 | 8175 | * x-axis : |
gume | 0:1f82672b8755 | 8176 | * |
gume | 0:1f82672b8755 | 8177 | * bno055_set_x_remap_sign() |
gume | 0:1f82672b8755 | 8178 | * |
gume | 0:1f82672b8755 | 8179 | * y-axis : |
gume | 0:1f82672b8755 | 8180 | * |
gume | 0:1f82672b8755 | 8181 | * bno055_set_y_remap_sign() |
gume | 0:1f82672b8755 | 8182 | * |
gume | 0:1f82672b8755 | 8183 | * z-axis : |
gume | 0:1f82672b8755 | 8184 | * |
gume | 0:1f82672b8755 | 8185 | * bno055_set_z_remap_sign() |
gume | 0:1f82672b8755 | 8186 | * |
gume | 0:1f82672b8755 | 8187 | */ |
gume | 0:1f82672b8755 | 8188 | BNO055_RETURN_FUNCTION_TYPE bno055_get_axis_remap_value( |
gume | 0:1f82672b8755 | 8189 | u8 *remap_axis_u8) |
gume | 0:1f82672b8755 | 8190 | { |
gume | 0:1f82672b8755 | 8191 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 8192 | communication routine*/ |
gume | 0:1f82672b8755 | 8193 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 8194 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 8195 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 8196 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 8197 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 8198 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 8199 | } else { |
gume | 0:1f82672b8755 | 8200 | /*condition check for page, axis remap is |
gume | 0:1f82672b8755 | 8201 | available in the page zero*/ |
gume | 0:1f82672b8755 | 8202 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 8203 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 8204 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 8205 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 8206 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 8207 | /* Read the value of axis remap*/ |
gume | 0:1f82672b8755 | 8208 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 8209 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 8210 | BNO055_REMAP_AXIS_VALUE_REG, |
gume | 0:1f82672b8755 | 8211 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 8212 | *remap_axis_u8 = |
gume | 0:1f82672b8755 | 8213 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 8214 | BNO055_REMAP_AXIS_VALUE); |
gume | 0:1f82672b8755 | 8215 | } else { |
gume | 0:1f82672b8755 | 8216 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 8217 | } |
gume | 0:1f82672b8755 | 8218 | } |
gume | 0:1f82672b8755 | 8219 | return com_rslt; |
gume | 0:1f82672b8755 | 8220 | } |
gume | 0:1f82672b8755 | 8221 | /*! |
gume | 0:1f82672b8755 | 8222 | * @brief This API used to write the axis remap value |
gume | 0:1f82672b8755 | 8223 | * from register from 0x41 bit 0 and 5 |
gume | 0:1f82672b8755 | 8224 | * |
gume | 0:1f82672b8755 | 8225 | * @param remap_axis_u8 : The value of axis remapping |
gume | 0:1f82672b8755 | 8226 | * |
gume | 0:1f82672b8755 | 8227 | * remap_axis_u8 | result | comments |
gume | 0:1f82672b8755 | 8228 | * ------------|-------------------|------------ |
gume | 0:1f82672b8755 | 8229 | * 0X21 | BNO055_REMAP_X_Y | Z=Z;X=Y;Y=X |
gume | 0:1f82672b8755 | 8230 | * 0X18 | BNO055_REMAP_Y_Z | X=X;Y=Z;Z=Y |
gume | 0:1f82672b8755 | 8231 | * 0X06 | BNO055_REMAP_Z_X | Y=Y;X=Z;Z=X |
gume | 0:1f82672b8755 | 8232 | * 0X12 | BNO055_REMAP_X_Y_Z_TYPE0 | X=Z;Y=X;Z=Y |
gume | 0:1f82672b8755 | 8233 | * 0X09 | BNO055_REMAP_X_Y_Z_TYPE1 | X=Y;Y=Z;Z=X |
gume | 0:1f82672b8755 | 8234 | * 0X24 | BNO055_DEFAULT_AXIS | X=X;Y=Y;Z=Z |
gume | 0:1f82672b8755 | 8235 | * |
gume | 0:1f82672b8755 | 8236 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 8237 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 8238 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 8239 | * |
gume | 0:1f82672b8755 | 8240 | * @note : For axis sign remap refer the following APIs |
gume | 0:1f82672b8755 | 8241 | * x-axis : |
gume | 0:1f82672b8755 | 8242 | * |
gume | 0:1f82672b8755 | 8243 | * bno055_set_x_remap_sign() |
gume | 0:1f82672b8755 | 8244 | * |
gume | 0:1f82672b8755 | 8245 | * y-axis : |
gume | 0:1f82672b8755 | 8246 | * |
gume | 0:1f82672b8755 | 8247 | * bno055_set_y_remap_sign() |
gume | 0:1f82672b8755 | 8248 | * |
gume | 0:1f82672b8755 | 8249 | * z-axis : |
gume | 0:1f82672b8755 | 8250 | * |
gume | 0:1f82672b8755 | 8251 | * bno055_set_z_remap_sign() |
gume | 0:1f82672b8755 | 8252 | * |
gume | 0:1f82672b8755 | 8253 | */ |
gume | 0:1f82672b8755 | 8254 | BNO055_RETURN_FUNCTION_TYPE bno055_set_axis_remap_value( |
gume | 0:1f82672b8755 | 8255 | u8 remap_axis_u8) |
gume | 0:1f82672b8755 | 8256 | { |
gume | 0:1f82672b8755 | 8257 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 8258 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 8259 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 8260 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 8261 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 8262 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 8263 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 8264 | } else { |
gume | 0:1f82672b8755 | 8265 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 8266 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 8267 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 8268 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 8269 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 8270 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 8271 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 8272 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 8273 | /* Write the value of axis remap */ |
gume | 0:1f82672b8755 | 8274 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 8275 | switch (remap_axis_u8) { |
gume | 0:1f82672b8755 | 8276 | case BNO055_REMAP_X_Y: |
gume | 0:1f82672b8755 | 8277 | case BNO055_REMAP_Y_Z: |
gume | 0:1f82672b8755 | 8278 | case BNO055_REMAP_Z_X: |
gume | 0:1f82672b8755 | 8279 | case BNO055_REMAP_X_Y_Z_TYPE0: |
gume | 0:1f82672b8755 | 8280 | case BNO055_REMAP_X_Y_Z_TYPE1: |
gume | 0:1f82672b8755 | 8281 | case BNO055_DEFAULT_AXIS: |
gume | 0:1f82672b8755 | 8282 | com_rslt = |
gume | 0:1f82672b8755 | 8283 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 8284 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 8285 | BNO055_REMAP_AXIS_VALUE_REG, |
gume | 0:1f82672b8755 | 8286 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 8287 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 8288 | data_u8r = BNO055_SET_BITSLICE |
gume | 0:1f82672b8755 | 8289 | (data_u8r, |
gume | 0:1f82672b8755 | 8290 | BNO055_REMAP_AXIS_VALUE, |
gume | 0:1f82672b8755 | 8291 | remap_axis_u8); |
gume | 0:1f82672b8755 | 8292 | com_rslt += |
gume | 0:1f82672b8755 | 8293 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 8294 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 8295 | BNO055_REMAP_AXIS_VALUE_REG, |
gume | 0:1f82672b8755 | 8296 | &data_u8r, |
gume | 0:1f82672b8755 | 8297 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 8298 | } |
gume | 0:1f82672b8755 | 8299 | break; |
gume | 0:1f82672b8755 | 8300 | default: |
gume | 0:1f82672b8755 | 8301 | /* Write the default axis remap value */ |
gume | 0:1f82672b8755 | 8302 | com_rslt = |
gume | 0:1f82672b8755 | 8303 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 8304 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 8305 | BNO055_REMAP_AXIS_VALUE_REG, |
gume | 0:1f82672b8755 | 8306 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 8307 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 8308 | data_u8r = BNO055_SET_BITSLICE |
gume | 0:1f82672b8755 | 8309 | (data_u8r, |
gume | 0:1f82672b8755 | 8310 | BNO055_REMAP_AXIS_VALUE, |
gume | 0:1f82672b8755 | 8311 | BNO055_DEFAULT_AXIS); |
gume | 0:1f82672b8755 | 8312 | com_rslt += |
gume | 0:1f82672b8755 | 8313 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 8314 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 8315 | BNO055_REMAP_AXIS_VALUE_REG, |
gume | 0:1f82672b8755 | 8316 | &data_u8r, |
gume | 0:1f82672b8755 | 8317 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 8318 | } |
gume | 0:1f82672b8755 | 8319 | break; |
gume | 0:1f82672b8755 | 8320 | } |
gume | 0:1f82672b8755 | 8321 | } else { |
gume | 0:1f82672b8755 | 8322 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 8323 | } |
gume | 0:1f82672b8755 | 8324 | } else { |
gume | 0:1f82672b8755 | 8325 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 8326 | } |
gume | 0:1f82672b8755 | 8327 | } |
gume | 0:1f82672b8755 | 8328 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 8329 | /* set the operation mode |
gume | 0:1f82672b8755 | 8330 | of previous operation mode*/ |
gume | 0:1f82672b8755 | 8331 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 8332 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 8333 | return com_rslt; |
gume | 0:1f82672b8755 | 8334 | } |
gume | 0:1f82672b8755 | 8335 | /*! |
gume | 0:1f82672b8755 | 8336 | * @brief This API used to read the x-axis remap |
gume | 0:1f82672b8755 | 8337 | * sign from register from 0x42 bit 2 |
gume | 0:1f82672b8755 | 8338 | * |
gume | 0:1f82672b8755 | 8339 | * @param remap_x_sign_u8 : The value of x-axis remap sign |
gume | 0:1f82672b8755 | 8340 | * |
gume | 0:1f82672b8755 | 8341 | * remap_x_sign_u8 | result |
gume | 0:1f82672b8755 | 8342 | * ------------------- |-------------------- |
gume | 0:1f82672b8755 | 8343 | * 0X00 | BNO055_REMAP_AXIS_POSITIVE |
gume | 0:1f82672b8755 | 8344 | * 0X01 | BNO055_REMAP_AXIS_NEGATIVE |
gume | 0:1f82672b8755 | 8345 | * |
gume | 0:1f82672b8755 | 8346 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 8347 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 8348 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 8349 | * |
gume | 0:1f82672b8755 | 8350 | */ |
gume | 0:1f82672b8755 | 8351 | BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_x_sign( |
gume | 0:1f82672b8755 | 8352 | u8 *remap_x_sign_u8) |
gume | 0:1f82672b8755 | 8353 | { |
gume | 0:1f82672b8755 | 8354 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 8355 | communication routine*/ |
gume | 0:1f82672b8755 | 8356 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 8357 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 8358 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 8359 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 8360 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 8361 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 8362 | } else { |
gume | 0:1f82672b8755 | 8363 | /*condition check for page, x-axis remap sign is |
gume | 0:1f82672b8755 | 8364 | available in the page zero*/ |
gume | 0:1f82672b8755 | 8365 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 8366 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 8367 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 8368 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 8369 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 8370 | /* Read the value of x-axis remap sign */ |
gume | 0:1f82672b8755 | 8371 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 8372 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 8373 | BNO055_REMAP_X_SIGN_REG, |
gume | 0:1f82672b8755 | 8374 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 8375 | *remap_x_sign_u8 = |
gume | 0:1f82672b8755 | 8376 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 8377 | BNO055_REMAP_X_SIGN); |
gume | 0:1f82672b8755 | 8378 | } else { |
gume | 0:1f82672b8755 | 8379 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 8380 | } |
gume | 0:1f82672b8755 | 8381 | } |
gume | 0:1f82672b8755 | 8382 | return com_rslt; |
gume | 0:1f82672b8755 | 8383 | } |
gume | 0:1f82672b8755 | 8384 | /*! |
gume | 0:1f82672b8755 | 8385 | * @brief This API used to write the x-axis remap |
gume | 0:1f82672b8755 | 8386 | * sign from register from 0x42 bit 2 |
gume | 0:1f82672b8755 | 8387 | * |
gume | 0:1f82672b8755 | 8388 | * @param remap_x_sign_u8 : The value of x-axis remap sign |
gume | 0:1f82672b8755 | 8389 | * |
gume | 0:1f82672b8755 | 8390 | * remap_x_sign_u8 | result |
gume | 0:1f82672b8755 | 8391 | * ------------------- |-------------------- |
gume | 0:1f82672b8755 | 8392 | * 0X00 | BNO055_REMAP_AXIS_POSITIVE |
gume | 0:1f82672b8755 | 8393 | * 0X01 | BNO055_REMAP_AXIS_NEGATIVE |
gume | 0:1f82672b8755 | 8394 | * |
gume | 0:1f82672b8755 | 8395 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 8396 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 8397 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 8398 | * |
gume | 0:1f82672b8755 | 8399 | */ |
gume | 0:1f82672b8755 | 8400 | BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_x_sign( |
gume | 0:1f82672b8755 | 8401 | u8 remap_x_sign_u8) |
gume | 0:1f82672b8755 | 8402 | { |
gume | 0:1f82672b8755 | 8403 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 8404 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 8405 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 8406 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 8407 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 8408 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 8409 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 8410 | } else { |
gume | 0:1f82672b8755 | 8411 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 8412 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 8413 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 8414 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 8415 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 8416 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 8417 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 8418 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 8419 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 8420 | /* Write the value of x-axis remap */ |
gume | 0:1f82672b8755 | 8421 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 8422 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 8423 | BNO055_REMAP_X_SIGN_REG, |
gume | 0:1f82672b8755 | 8424 | &data_u8r, |
gume | 0:1f82672b8755 | 8425 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 8426 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 8427 | data_u8r = |
gume | 0:1f82672b8755 | 8428 | BNO055_SET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 8429 | BNO055_REMAP_X_SIGN, |
gume | 0:1f82672b8755 | 8430 | remap_x_sign_u8); |
gume | 0:1f82672b8755 | 8431 | com_rslt += |
gume | 0:1f82672b8755 | 8432 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 8433 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 8434 | BNO055_REMAP_X_SIGN_REG, |
gume | 0:1f82672b8755 | 8435 | &data_u8r, |
gume | 0:1f82672b8755 | 8436 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 8437 | } |
gume | 0:1f82672b8755 | 8438 | } else { |
gume | 0:1f82672b8755 | 8439 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 8440 | } |
gume | 0:1f82672b8755 | 8441 | } else { |
gume | 0:1f82672b8755 | 8442 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 8443 | } |
gume | 0:1f82672b8755 | 8444 | } |
gume | 0:1f82672b8755 | 8445 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 8446 | /* set the operation mode |
gume | 0:1f82672b8755 | 8447 | of previous operation mode*/ |
gume | 0:1f82672b8755 | 8448 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 8449 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 8450 | return com_rslt; |
gume | 0:1f82672b8755 | 8451 | } |
gume | 0:1f82672b8755 | 8452 | /*! |
gume | 0:1f82672b8755 | 8453 | * @brief This API used to read the y-axis remap |
gume | 0:1f82672b8755 | 8454 | * sign from register from 0x42 bit 1 |
gume | 0:1f82672b8755 | 8455 | * |
gume | 0:1f82672b8755 | 8456 | * @param remap_y_sign_u8 : The value of y-axis remap sign |
gume | 0:1f82672b8755 | 8457 | * |
gume | 0:1f82672b8755 | 8458 | * remap_y_sign_u8 | result |
gume | 0:1f82672b8755 | 8459 | * ------------------- |-------------------- |
gume | 0:1f82672b8755 | 8460 | * 0X00 | BNO055_REMAP_AXIS_POSITIVE |
gume | 0:1f82672b8755 | 8461 | * 0X01 | BNO055_REMAP_AXIS_NEGATIVE |
gume | 0:1f82672b8755 | 8462 | * |
gume | 0:1f82672b8755 | 8463 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 8464 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 8465 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 8466 | * |
gume | 0:1f82672b8755 | 8467 | */ |
gume | 0:1f82672b8755 | 8468 | BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_y_sign( |
gume | 0:1f82672b8755 | 8469 | u8 *remap_y_sign_u8) |
gume | 0:1f82672b8755 | 8470 | { |
gume | 0:1f82672b8755 | 8471 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 8472 | communication routine*/ |
gume | 0:1f82672b8755 | 8473 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 8474 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 8475 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 8476 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 8477 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 8478 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 8479 | } else { |
gume | 0:1f82672b8755 | 8480 | /*condition check for page, y-axis remap sign is |
gume | 0:1f82672b8755 | 8481 | available in the page zero*/ |
gume | 0:1f82672b8755 | 8482 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 8483 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 8484 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 8485 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 8486 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 8487 | /* Read the value of y-axis remap sign*/ |
gume | 0:1f82672b8755 | 8488 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 8489 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 8490 | BNO055_REMAP_Y_SIGN_REG, |
gume | 0:1f82672b8755 | 8491 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 8492 | *remap_y_sign_u8 = |
gume | 0:1f82672b8755 | 8493 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 8494 | BNO055_REMAP_Y_SIGN); |
gume | 0:1f82672b8755 | 8495 | } else { |
gume | 0:1f82672b8755 | 8496 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 8497 | } |
gume | 0:1f82672b8755 | 8498 | } |
gume | 0:1f82672b8755 | 8499 | return com_rslt; |
gume | 0:1f82672b8755 | 8500 | } |
gume | 0:1f82672b8755 | 8501 | /*! |
gume | 0:1f82672b8755 | 8502 | * @brief This API used to write the y-axis remap |
gume | 0:1f82672b8755 | 8503 | * sign from register from 0x42 bit 1 |
gume | 0:1f82672b8755 | 8504 | * |
gume | 0:1f82672b8755 | 8505 | * @param remap_y_sign_u8 : The value of y-axis remap sign |
gume | 0:1f82672b8755 | 8506 | * |
gume | 0:1f82672b8755 | 8507 | * remap_y_sign_u8 | result |
gume | 0:1f82672b8755 | 8508 | * ------------------- |-------------------- |
gume | 0:1f82672b8755 | 8509 | * 0X00 | BNO055_REMAP_AXIS_POSITIVE |
gume | 0:1f82672b8755 | 8510 | * 0X01 | BNO055_REMAP_AXIS_NEGATIVE |
gume | 0:1f82672b8755 | 8511 | * |
gume | 0:1f82672b8755 | 8512 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 8513 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 8514 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 8515 | * |
gume | 0:1f82672b8755 | 8516 | */ |
gume | 0:1f82672b8755 | 8517 | BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_y_sign( |
gume | 0:1f82672b8755 | 8518 | u8 remap_y_sign_u8) |
gume | 0:1f82672b8755 | 8519 | { |
gume | 0:1f82672b8755 | 8520 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 8521 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 8522 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 8523 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 8524 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 8525 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 8526 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 8527 | } else { |
gume | 0:1f82672b8755 | 8528 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 8529 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 8530 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 8531 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 8532 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 8533 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 8534 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 8535 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 8536 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 8537 | /* Write the value of y-axis remap sign*/ |
gume | 0:1f82672b8755 | 8538 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 8539 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 8540 | BNO055_REMAP_Y_SIGN_REG, |
gume | 0:1f82672b8755 | 8541 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 8542 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 8543 | data_u8r = |
gume | 0:1f82672b8755 | 8544 | BNO055_SET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 8545 | BNO055_REMAP_Y_SIGN, |
gume | 0:1f82672b8755 | 8546 | remap_y_sign_u8); |
gume | 0:1f82672b8755 | 8547 | com_rslt += |
gume | 0:1f82672b8755 | 8548 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 8549 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 8550 | BNO055_REMAP_Y_SIGN_REG, |
gume | 0:1f82672b8755 | 8551 | &data_u8r, |
gume | 0:1f82672b8755 | 8552 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 8553 | } |
gume | 0:1f82672b8755 | 8554 | } else { |
gume | 0:1f82672b8755 | 8555 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 8556 | } |
gume | 0:1f82672b8755 | 8557 | } else { |
gume | 0:1f82672b8755 | 8558 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 8559 | } |
gume | 0:1f82672b8755 | 8560 | } |
gume | 0:1f82672b8755 | 8561 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 8562 | /* set the operation mode |
gume | 0:1f82672b8755 | 8563 | of previous operation mode*/ |
gume | 0:1f82672b8755 | 8564 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 8565 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 8566 | return com_rslt; |
gume | 0:1f82672b8755 | 8567 | } |
gume | 0:1f82672b8755 | 8568 | /*! |
gume | 0:1f82672b8755 | 8569 | * @brief This API used to read the z-axis remap |
gume | 0:1f82672b8755 | 8570 | * sign from register from 0x42 bit 0 |
gume | 0:1f82672b8755 | 8571 | * |
gume | 0:1f82672b8755 | 8572 | * @param remap_z_sign_u8 : The value of z-axis remap sign |
gume | 0:1f82672b8755 | 8573 | * |
gume | 0:1f82672b8755 | 8574 | * remap_z_sign_u8 | result |
gume | 0:1f82672b8755 | 8575 | * ------------------- |-------------------- |
gume | 0:1f82672b8755 | 8576 | * 0X00 | BNO055_REMAP_AXIS_POSITIVE |
gume | 0:1f82672b8755 | 8577 | * 0X01 | BNO055_REMAP_AXIS_NEGATIVE |
gume | 0:1f82672b8755 | 8578 | * |
gume | 0:1f82672b8755 | 8579 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 8580 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 8581 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 8582 | * |
gume | 0:1f82672b8755 | 8583 | */ |
gume | 0:1f82672b8755 | 8584 | BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_z_sign( |
gume | 0:1f82672b8755 | 8585 | u8 *remap_z_sign_u8) |
gume | 0:1f82672b8755 | 8586 | { |
gume | 0:1f82672b8755 | 8587 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 8588 | communication routine*/ |
gume | 0:1f82672b8755 | 8589 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 8590 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 8591 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 8592 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 8593 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 8594 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 8595 | } else { |
gume | 0:1f82672b8755 | 8596 | /*condition check for page, z-axis remap sign is |
gume | 0:1f82672b8755 | 8597 | available in the page zero*/ |
gume | 0:1f82672b8755 | 8598 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 8599 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 8600 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 8601 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 8602 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 8603 | /* Read the value of z-axis remap sign*/ |
gume | 0:1f82672b8755 | 8604 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 8605 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 8606 | BNO055_REMAP_Z_SIGN_REG, |
gume | 0:1f82672b8755 | 8607 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 8608 | *remap_z_sign_u8 = |
gume | 0:1f82672b8755 | 8609 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 8610 | BNO055_REMAP_Z_SIGN); |
gume | 0:1f82672b8755 | 8611 | } else { |
gume | 0:1f82672b8755 | 8612 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 8613 | } |
gume | 0:1f82672b8755 | 8614 | } |
gume | 0:1f82672b8755 | 8615 | return com_rslt; |
gume | 0:1f82672b8755 | 8616 | } |
gume | 0:1f82672b8755 | 8617 | /*! |
gume | 0:1f82672b8755 | 8618 | * @brief This API used to write the z-axis remap |
gume | 0:1f82672b8755 | 8619 | * sign from register from 0x42 bit 0 |
gume | 0:1f82672b8755 | 8620 | * |
gume | 0:1f82672b8755 | 8621 | * @param remap_z_sign_u8 : The value of z-axis remap sign |
gume | 0:1f82672b8755 | 8622 | * |
gume | 0:1f82672b8755 | 8623 | * remap_z_sign_u8 | result |
gume | 0:1f82672b8755 | 8624 | * ------------------- |-------------------- |
gume | 0:1f82672b8755 | 8625 | * 0X00 | BNO055_REMAP_AXIS_POSITIVE |
gume | 0:1f82672b8755 | 8626 | * 0X01 | BNO055_REMAP_AXIS_NEGATIVE |
gume | 0:1f82672b8755 | 8627 | * |
gume | 0:1f82672b8755 | 8628 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 8629 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 8630 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 8631 | * |
gume | 0:1f82672b8755 | 8632 | */ |
gume | 0:1f82672b8755 | 8633 | BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_z_sign( |
gume | 0:1f82672b8755 | 8634 | u8 remap_z_sign_u8) |
gume | 0:1f82672b8755 | 8635 | { |
gume | 0:1f82672b8755 | 8636 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 8637 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 8638 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 8639 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 8640 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 8641 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 8642 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 8643 | } else { |
gume | 0:1f82672b8755 | 8644 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 8645 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 8646 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 8647 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 8648 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 8649 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 8650 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 8651 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 8652 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 8653 | /* Write the value of z-axis remap sign*/ |
gume | 0:1f82672b8755 | 8654 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 8655 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 8656 | BNO055_REMAP_Z_SIGN_REG, |
gume | 0:1f82672b8755 | 8657 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 8658 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 8659 | data_u8r = |
gume | 0:1f82672b8755 | 8660 | BNO055_SET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 8661 | BNO055_REMAP_Z_SIGN, |
gume | 0:1f82672b8755 | 8662 | remap_z_sign_u8); |
gume | 0:1f82672b8755 | 8663 | com_rslt += |
gume | 0:1f82672b8755 | 8664 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 8665 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 8666 | BNO055_REMAP_Z_SIGN_REG, |
gume | 0:1f82672b8755 | 8667 | &data_u8r, |
gume | 0:1f82672b8755 | 8668 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 8669 | } |
gume | 0:1f82672b8755 | 8670 | } else { |
gume | 0:1f82672b8755 | 8671 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 8672 | } |
gume | 0:1f82672b8755 | 8673 | } else { |
gume | 0:1f82672b8755 | 8674 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 8675 | } |
gume | 0:1f82672b8755 | 8676 | } |
gume | 0:1f82672b8755 | 8677 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 8678 | /* set the operation mode |
gume | 0:1f82672b8755 | 8679 | of previous operation mode*/ |
gume | 0:1f82672b8755 | 8680 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 8681 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 8682 | return com_rslt; |
gume | 0:1f82672b8755 | 8683 | } |
gume | 0:1f82672b8755 | 8684 | /*! |
gume | 0:1f82672b8755 | 8685 | * @brief This API is used to read soft iron calibration matrix |
gume | 0:1f82672b8755 | 8686 | * from the register 0x43 to 0x53 it is a 18 bytes of data |
gume | 0:1f82672b8755 | 8687 | * |
gume | 0:1f82672b8755 | 8688 | * @param sic_matrix : The value of soft iron calibration matrix |
gume | 0:1f82672b8755 | 8689 | * |
gume | 0:1f82672b8755 | 8690 | * sic_matrix | result |
gume | 0:1f82672b8755 | 8691 | * --------------------|---------------------------------- |
gume | 0:1f82672b8755 | 8692 | * sic_0 | soft iron calibration matrix zero |
gume | 0:1f82672b8755 | 8693 | * sic_1 | soft iron calibration matrix one |
gume | 0:1f82672b8755 | 8694 | * sic_2 | soft iron calibration matrix two |
gume | 0:1f82672b8755 | 8695 | * sic_3 | soft iron calibration matrix three |
gume | 0:1f82672b8755 | 8696 | * sic_4 | soft iron calibration matrix four |
gume | 0:1f82672b8755 | 8697 | * sic_5 | soft iron calibration matrix five |
gume | 0:1f82672b8755 | 8698 | * sic_6 | soft iron calibration matrix six |
gume | 0:1f82672b8755 | 8699 | * sic_7 | soft iron calibration matrix seven |
gume | 0:1f82672b8755 | 8700 | * sic_8 | soft iron calibration matrix eight |
gume | 0:1f82672b8755 | 8701 | * |
gume | 0:1f82672b8755 | 8702 | * |
gume | 0:1f82672b8755 | 8703 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 8704 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 8705 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 8706 | * |
gume | 0:1f82672b8755 | 8707 | * @note : Each soft iron calibration matrix range from -32768 to +32767 |
gume | 0:1f82672b8755 | 8708 | */ |
gume | 0:1f82672b8755 | 8709 | BNO055_RETURN_FUNCTION_TYPE bno055_read_sic_matrix( |
gume | 0:1f82672b8755 | 8710 | struct bno055_sic_matrix_t *sic_matrix) |
gume | 0:1f82672b8755 | 8711 | { |
gume | 0:1f82672b8755 | 8712 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 8713 | communication routine*/ |
gume | 0:1f82672b8755 | 8714 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 8715 | /* Array holding the soft iron calibration matrix values |
gume | 0:1f82672b8755 | 8716 | data_u8[BNO055_SOFT_IRON_CALIB_0_LSB] - sic_0->LSB |
gume | 0:1f82672b8755 | 8717 | data_u8[BNO055_SOFT_IRON_CALIB_0_MSB] - sic_0->MSB |
gume | 0:1f82672b8755 | 8718 | data_u8[BNO055_SOFT_IRON_CALIB_1_LSB] - sic_1->LSB |
gume | 0:1f82672b8755 | 8719 | data_u8[BNO055_SOFT_IRON_CALIB_1_MSB] - sic_1->MSB |
gume | 0:1f82672b8755 | 8720 | data_u8[BNO055_SOFT_IRON_CALIB_2_LSB] - sic_2->LSB |
gume | 0:1f82672b8755 | 8721 | data_u8[BNO055_SOFT_IRON_CALIB_2_MSB] - sic_2->MSB |
gume | 0:1f82672b8755 | 8722 | data_u8[BNO055_SOFT_IRON_CALIB_3_LSB] - sic_3->LSB |
gume | 0:1f82672b8755 | 8723 | data_u8[BNO055_SOFT_IRON_CALIB_3_MSB] - sic_3->MSB |
gume | 0:1f82672b8755 | 8724 | data_u8[BNO055_SOFT_IRON_CALIB_4_LSB] - sic_4->LSB |
gume | 0:1f82672b8755 | 8725 | data_u8[BNO055_SOFT_IRON_CALIB_4_MSB] - sic_4->MSB |
gume | 0:1f82672b8755 | 8726 | data_u8[BNO055_SOFT_IRON_CALIB_5_LSB] - sic_5->LSB |
gume | 0:1f82672b8755 | 8727 | data_u8[BNO055_SOFT_IRON_CALIB_5_MSB] - sic_5->MSB |
gume | 0:1f82672b8755 | 8728 | data_u8[BNO055_SOFT_IRON_CALIB_6_LSB] - sic_6->LSB |
gume | 0:1f82672b8755 | 8729 | data_u8[BNO055_SOFT_IRON_CALIB_6_MSB] - sic_6->MSB |
gume | 0:1f82672b8755 | 8730 | data_u8[BNO055_SOFT_IRON_CALIB_7_LSB] - sic_7->LSB |
gume | 0:1f82672b8755 | 8731 | data_u8[BNO055_SOFT_IRON_CALIB_7_MSB] - sic_7->MSB |
gume | 0:1f82672b8755 | 8732 | data_u8[BNO055_SOFT_IRON_CALIB_8_LSB] - sic_8->LSB |
gume | 0:1f82672b8755 | 8733 | data_u8[BNO055_SOFT_IRON_CALIB_8_MSB] - sic_8->MSB |
gume | 0:1f82672b8755 | 8734 | */ |
gume | 0:1f82672b8755 | 8735 | u8 data_u8[BNO055_SOFT_IRON_CALIBRATION_MATRIX_SIZE] = { |
gume | 0:1f82672b8755 | 8736 | BNO055_INIT_VALUE, BNO055_INIT_VALUE, |
gume | 0:1f82672b8755 | 8737 | BNO055_INIT_VALUE, BNO055_INIT_VALUE, |
gume | 0:1f82672b8755 | 8738 | BNO055_INIT_VALUE, BNO055_INIT_VALUE, |
gume | 0:1f82672b8755 | 8739 | BNO055_INIT_VALUE, BNO055_INIT_VALUE, |
gume | 0:1f82672b8755 | 8740 | BNO055_INIT_VALUE, BNO055_INIT_VALUE, |
gume | 0:1f82672b8755 | 8741 | BNO055_INIT_VALUE, BNO055_INIT_VALUE, |
gume | 0:1f82672b8755 | 8742 | BNO055_INIT_VALUE, BNO055_INIT_VALUE, |
gume | 0:1f82672b8755 | 8743 | BNO055_INIT_VALUE, BNO055_INIT_VALUE, |
gume | 0:1f82672b8755 | 8744 | BNO055_INIT_VALUE, BNO055_INIT_VALUE}; |
gume | 0:1f82672b8755 | 8745 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 8746 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 8747 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 8748 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 8749 | } else { |
gume | 0:1f82672b8755 | 8750 | /*condition check for page, soft iron calibration matrix is |
gume | 0:1f82672b8755 | 8751 | available in the page zero*/ |
gume | 0:1f82672b8755 | 8752 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 8753 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 8754 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 8755 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 8756 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 8757 | /* Read soft iron calibration matrix value |
gume | 0:1f82672b8755 | 8758 | it is eighteen bytes of data */ |
gume | 0:1f82672b8755 | 8759 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 8760 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 8761 | BNO055_SIC_MATRIX_0_LSB_REG, |
gume | 0:1f82672b8755 | 8762 | data_u8, BNO055_SOFT_IRON_CALIBRATION_MATRIX_SIZE); |
gume | 0:1f82672b8755 | 8763 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 8764 | /*soft iron calibration matrix zero*/ |
gume | 0:1f82672b8755 | 8765 | data_u8[BNO055_SOFT_IRON_CALIB_0_LSB] = |
gume | 0:1f82672b8755 | 8766 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 8767 | data_u8[BNO055_SOFT_IRON_CALIB_0_LSB], |
gume | 0:1f82672b8755 | 8768 | BNO055_SIC_MATRIX_0_LSB); |
gume | 0:1f82672b8755 | 8769 | data_u8[BNO055_SOFT_IRON_CALIB_0_MSB] = |
gume | 0:1f82672b8755 | 8770 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 8771 | data_u8[BNO055_SOFT_IRON_CALIB_0_MSB], |
gume | 0:1f82672b8755 | 8772 | BNO055_SIC_MATRIX_0_MSB); |
gume | 0:1f82672b8755 | 8773 | sic_matrix->sic_0 = (s16)((((s32) |
gume | 0:1f82672b8755 | 8774 | (s8)(data_u8[BNO055_SOFT_IRON_CALIB_0_MSB])) << |
gume | 0:1f82672b8755 | 8775 | (BNO055_SHIFT_EIGHT_BITS)) |
gume | 0:1f82672b8755 | 8776 | | (data_u8[BNO055_SOFT_IRON_CALIB_0_LSB])); |
gume | 0:1f82672b8755 | 8777 | |
gume | 0:1f82672b8755 | 8778 | /*soft iron calibration matrix one*/ |
gume | 0:1f82672b8755 | 8779 | data_u8[BNO055_SOFT_IRON_CALIB_1_LSB] = |
gume | 0:1f82672b8755 | 8780 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 8781 | data_u8[BNO055_SOFT_IRON_CALIB_1_LSB], |
gume | 0:1f82672b8755 | 8782 | BNO055_SIC_MATRIX_1_LSB); |
gume | 0:1f82672b8755 | 8783 | data_u8[BNO055_SOFT_IRON_CALIB_1_MSB] = |
gume | 0:1f82672b8755 | 8784 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 8785 | data_u8[BNO055_SOFT_IRON_CALIB_1_MSB], |
gume | 0:1f82672b8755 | 8786 | BNO055_SIC_MATRIX_1_MSB); |
gume | 0:1f82672b8755 | 8787 | sic_matrix->sic_1 = (s16)((((s32) |
gume | 0:1f82672b8755 | 8788 | (s8)(data_u8[BNO055_SOFT_IRON_CALIB_1_MSB])) << |
gume | 0:1f82672b8755 | 8789 | (BNO055_SHIFT_EIGHT_BITS)) |
gume | 0:1f82672b8755 | 8790 | | (data_u8[BNO055_SOFT_IRON_CALIB_1_LSB])); |
gume | 0:1f82672b8755 | 8791 | |
gume | 0:1f82672b8755 | 8792 | /*soft iron calibration matrix two*/ |
gume | 0:1f82672b8755 | 8793 | data_u8[BNO055_SOFT_IRON_CALIB_2_LSB] = |
gume | 0:1f82672b8755 | 8794 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 8795 | data_u8[BNO055_SOFT_IRON_CALIB_2_LSB], |
gume | 0:1f82672b8755 | 8796 | BNO055_SIC_MATRIX_2_LSB); |
gume | 0:1f82672b8755 | 8797 | data_u8[BNO055_SOFT_IRON_CALIB_2_MSB] = |
gume | 0:1f82672b8755 | 8798 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 8799 | data_u8[BNO055_SOFT_IRON_CALIB_2_MSB], |
gume | 0:1f82672b8755 | 8800 | BNO055_SIC_MATRIX_2_MSB); |
gume | 0:1f82672b8755 | 8801 | sic_matrix->sic_2 = (s16)((((s32) |
gume | 0:1f82672b8755 | 8802 | (s8)(data_u8[BNO055_SOFT_IRON_CALIB_2_MSB])) << |
gume | 0:1f82672b8755 | 8803 | (BNO055_SHIFT_EIGHT_BITS)) |
gume | 0:1f82672b8755 | 8804 | | (data_u8[BNO055_SOFT_IRON_CALIB_2_LSB])); |
gume | 0:1f82672b8755 | 8805 | |
gume | 0:1f82672b8755 | 8806 | /*soft iron calibration matrix three*/ |
gume | 0:1f82672b8755 | 8807 | data_u8[BNO055_SOFT_IRON_CALIB_3_LSB] = |
gume | 0:1f82672b8755 | 8808 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 8809 | data_u8[BNO055_SOFT_IRON_CALIB_3_LSB], |
gume | 0:1f82672b8755 | 8810 | BNO055_SIC_MATRIX_3_LSB); |
gume | 0:1f82672b8755 | 8811 | data_u8[BNO055_SOFT_IRON_CALIB_3_MSB] = |
gume | 0:1f82672b8755 | 8812 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 8813 | data_u8[BNO055_SOFT_IRON_CALIB_3_MSB], |
gume | 0:1f82672b8755 | 8814 | BNO055_SIC_MATRIX_3_LSB); |
gume | 0:1f82672b8755 | 8815 | sic_matrix->sic_3 = (s16)((((s32) |
gume | 0:1f82672b8755 | 8816 | (s8)(data_u8[BNO055_SOFT_IRON_CALIB_3_MSB])) << |
gume | 0:1f82672b8755 | 8817 | (BNO055_SHIFT_EIGHT_BITS)) | |
gume | 0:1f82672b8755 | 8818 | (data_u8[BNO055_SOFT_IRON_CALIB_3_LSB])); |
gume | 0:1f82672b8755 | 8819 | |
gume | 0:1f82672b8755 | 8820 | /*soft iron calibration matrix four*/ |
gume | 0:1f82672b8755 | 8821 | data_u8[BNO055_SOFT_IRON_CALIB_4_LSB] = |
gume | 0:1f82672b8755 | 8822 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 8823 | data_u8[BNO055_SOFT_IRON_CALIB_4_LSB], |
gume | 0:1f82672b8755 | 8824 | BNO055_SIC_MATRIX_4_LSB); |
gume | 0:1f82672b8755 | 8825 | data_u8[BNO055_SOFT_IRON_CALIB_4_MSB] = |
gume | 0:1f82672b8755 | 8826 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 8827 | data_u8[BNO055_SOFT_IRON_CALIB_4_MSB], |
gume | 0:1f82672b8755 | 8828 | BNO055_SIC_MATRIX_4_LSB); |
gume | 0:1f82672b8755 | 8829 | sic_matrix->sic_4 = (s16)((((s32) |
gume | 0:1f82672b8755 | 8830 | (s8)(data_u8[BNO055_SOFT_IRON_CALIB_4_MSB])) << |
gume | 0:1f82672b8755 | 8831 | (BNO055_SHIFT_EIGHT_BITS)) | |
gume | 0:1f82672b8755 | 8832 | (data_u8[BNO055_SOFT_IRON_CALIB_4_LSB])); |
gume | 0:1f82672b8755 | 8833 | |
gume | 0:1f82672b8755 | 8834 | /*soft iron calibration matrix five*/ |
gume | 0:1f82672b8755 | 8835 | data_u8[BNO055_SOFT_IRON_CALIB_5_LSB] = |
gume | 0:1f82672b8755 | 8836 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 8837 | data_u8[BNO055_SOFT_IRON_CALIB_5_LSB], |
gume | 0:1f82672b8755 | 8838 | BNO055_SIC_MATRIX_5_LSB); |
gume | 0:1f82672b8755 | 8839 | data_u8[BNO055_SOFT_IRON_CALIB_5_MSB] = |
gume | 0:1f82672b8755 | 8840 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 8841 | data_u8[BNO055_SOFT_IRON_CALIB_5_MSB], |
gume | 0:1f82672b8755 | 8842 | BNO055_SIC_MATRIX_5_LSB); |
gume | 0:1f82672b8755 | 8843 | sic_matrix->sic_5 = (s16)((((s32) |
gume | 0:1f82672b8755 | 8844 | (s8)(data_u8[BNO055_SOFT_IRON_CALIB_5_MSB])) << |
gume | 0:1f82672b8755 | 8845 | (BNO055_SHIFT_EIGHT_BITS)) | |
gume | 0:1f82672b8755 | 8846 | (data_u8[BNO055_SOFT_IRON_CALIB_5_LSB])); |
gume | 0:1f82672b8755 | 8847 | |
gume | 0:1f82672b8755 | 8848 | /*soft iron calibration matrix six*/ |
gume | 0:1f82672b8755 | 8849 | data_u8[BNO055_SOFT_IRON_CALIB_6_LSB] = |
gume | 0:1f82672b8755 | 8850 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 8851 | data_u8[BNO055_SOFT_IRON_CALIB_6_LSB], |
gume | 0:1f82672b8755 | 8852 | BNO055_SIC_MATRIX_6_LSB); |
gume | 0:1f82672b8755 | 8853 | data_u8[BNO055_SOFT_IRON_CALIB_6_MSB] = |
gume | 0:1f82672b8755 | 8854 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 8855 | data_u8[BNO055_SOFT_IRON_CALIB_6_MSB], |
gume | 0:1f82672b8755 | 8856 | BNO055_SIC_MATRIX_6_LSB); |
gume | 0:1f82672b8755 | 8857 | sic_matrix->sic_6 = (s16)((((s32) |
gume | 0:1f82672b8755 | 8858 | (s8)(data_u8[BNO055_SOFT_IRON_CALIB_6_MSB])) << |
gume | 0:1f82672b8755 | 8859 | (BNO055_SHIFT_EIGHT_BITS)) | |
gume | 0:1f82672b8755 | 8860 | (data_u8[BNO055_SOFT_IRON_CALIB_6_LSB])); |
gume | 0:1f82672b8755 | 8861 | |
gume | 0:1f82672b8755 | 8862 | /*soft iron calibration matrix seven*/ |
gume | 0:1f82672b8755 | 8863 | data_u8[BNO055_SOFT_IRON_CALIB_7_LSB] = |
gume | 0:1f82672b8755 | 8864 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 8865 | data_u8[BNO055_SOFT_IRON_CALIB_7_LSB], |
gume | 0:1f82672b8755 | 8866 | BNO055_SIC_MATRIX_7_LSB); |
gume | 0:1f82672b8755 | 8867 | data_u8[BNO055_SOFT_IRON_CALIB_7_MSB] = |
gume | 0:1f82672b8755 | 8868 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 8869 | data_u8[BNO055_SOFT_IRON_CALIB_7_MSB], |
gume | 0:1f82672b8755 | 8870 | BNO055_SIC_MATRIX_7_LSB); |
gume | 0:1f82672b8755 | 8871 | sic_matrix->sic_7 = (s16)((((s32) |
gume | 0:1f82672b8755 | 8872 | (s8)(data_u8[BNO055_SOFT_IRON_CALIB_7_MSB])) << |
gume | 0:1f82672b8755 | 8873 | (BNO055_SHIFT_EIGHT_BITS)) | |
gume | 0:1f82672b8755 | 8874 | (data_u8[BNO055_SOFT_IRON_CALIB_7_LSB])); |
gume | 0:1f82672b8755 | 8875 | |
gume | 0:1f82672b8755 | 8876 | /*soft iron calibration matrix eight*/ |
gume | 0:1f82672b8755 | 8877 | data_u8[BNO055_SOFT_IRON_CALIB_8_LSB] = |
gume | 0:1f82672b8755 | 8878 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 8879 | data_u8[BNO055_SOFT_IRON_CALIB_8_LSB], |
gume | 0:1f82672b8755 | 8880 | BNO055_SIC_MATRIX_8_LSB); |
gume | 0:1f82672b8755 | 8881 | data_u8[BNO055_SOFT_IRON_CALIB_8_MSB] = |
gume | 0:1f82672b8755 | 8882 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 8883 | data_u8[BNO055_SOFT_IRON_CALIB_8_MSB], |
gume | 0:1f82672b8755 | 8884 | BNO055_SIC_MATRIX_8_LSB); |
gume | 0:1f82672b8755 | 8885 | sic_matrix->sic_8 = (s16)((((s32) |
gume | 0:1f82672b8755 | 8886 | (s8)(data_u8[BNO055_SOFT_IRON_CALIB_8_MSB])) << |
gume | 0:1f82672b8755 | 8887 | (BNO055_SHIFT_EIGHT_BITS)) | |
gume | 0:1f82672b8755 | 8888 | (data_u8[BNO055_SOFT_IRON_CALIB_8_LSB])); |
gume | 0:1f82672b8755 | 8889 | } else { |
gume | 0:1f82672b8755 | 8890 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 8891 | } |
gume | 0:1f82672b8755 | 8892 | } else { |
gume | 0:1f82672b8755 | 8893 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 8894 | } |
gume | 0:1f82672b8755 | 8895 | } |
gume | 0:1f82672b8755 | 8896 | return com_rslt; |
gume | 0:1f82672b8755 | 8897 | } |
gume | 0:1f82672b8755 | 8898 | /*! |
gume | 0:1f82672b8755 | 8899 | * @brief This API is used to write soft iron calibration matrix |
gume | 0:1f82672b8755 | 8900 | * from the register 0x43 to 0x53 it is a 18 bytes of data |
gume | 0:1f82672b8755 | 8901 | * |
gume | 0:1f82672b8755 | 8902 | * @param sic_matrix : The value of soft iron calibration matrix |
gume | 0:1f82672b8755 | 8903 | * |
gume | 0:1f82672b8755 | 8904 | * sic_matrix | result |
gume | 0:1f82672b8755 | 8905 | * --------------------|---------------------------------- |
gume | 0:1f82672b8755 | 8906 | * sic_0 | soft iron calibration matrix zero |
gume | 0:1f82672b8755 | 8907 | * sic_1 | soft iron calibration matrix one |
gume | 0:1f82672b8755 | 8908 | * sic_2 | soft iron calibration matrix two |
gume | 0:1f82672b8755 | 8909 | * sic_3 | soft iron calibration matrix three |
gume | 0:1f82672b8755 | 8910 | * sic_4 | soft iron calibration matrix four |
gume | 0:1f82672b8755 | 8911 | * sic_5 | soft iron calibration matrix five |
gume | 0:1f82672b8755 | 8912 | * sic_6 | soft iron calibration matrix six |
gume | 0:1f82672b8755 | 8913 | * sic_7 | soft iron calibration matrix seven |
gume | 0:1f82672b8755 | 8914 | * sic_8 | soft iron calibration matrix eight |
gume | 0:1f82672b8755 | 8915 | * |
gume | 0:1f82672b8755 | 8916 | * |
gume | 0:1f82672b8755 | 8917 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 8918 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 8919 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 8920 | * |
gume | 0:1f82672b8755 | 8921 | * @note : Each soft iron calibration matrix range from -32768 to +32767 |
gume | 0:1f82672b8755 | 8922 | */ |
gume | 0:1f82672b8755 | 8923 | BNO055_RETURN_FUNCTION_TYPE bno055_write_sic_matrix( |
gume | 0:1f82672b8755 | 8924 | struct bno055_sic_matrix_t *sic_matrix) |
gume | 0:1f82672b8755 | 8925 | { |
gume | 0:1f82672b8755 | 8926 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 8927 | u8 data1_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 8928 | u8 data2_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 8929 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 8930 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 8931 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 8932 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 8933 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 8934 | } else { |
gume | 0:1f82672b8755 | 8935 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 8936 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 8937 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 8938 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 8939 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 8940 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 8941 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 8942 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 8943 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 8944 | /* write soft iron calibration |
gume | 0:1f82672b8755 | 8945 | matrix zero value*/ |
gume | 0:1f82672b8755 | 8946 | com_rslt = |
gume | 0:1f82672b8755 | 8947 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 8948 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 8949 | BNO055_SIC_MATRIX_0_LSB_REG, |
gume | 0:1f82672b8755 | 8950 | &data2_u8r, |
gume | 0:1f82672b8755 | 8951 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 8952 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 8953 | data1_u8r = ((s8) |
gume | 0:1f82672b8755 | 8954 | (sic_matrix->sic_0 |
gume | 0:1f82672b8755 | 8955 | & BNO055_SIC_HEX_0_0_F_F_DATA)); |
gume | 0:1f82672b8755 | 8956 | data2_u8r = |
gume | 0:1f82672b8755 | 8957 | BNO055_SET_BITSLICE(data2_u8r, |
gume | 0:1f82672b8755 | 8958 | BNO055_SIC_MATRIX_0_LSB, |
gume | 0:1f82672b8755 | 8959 | data1_u8r); |
gume | 0:1f82672b8755 | 8960 | com_rslt += |
gume | 0:1f82672b8755 | 8961 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 8962 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 8963 | BNO055_SIC_MATRIX_0_LSB_REG, |
gume | 0:1f82672b8755 | 8964 | &data2_u8r, |
gume | 0:1f82672b8755 | 8965 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 8966 | } |
gume | 0:1f82672b8755 | 8967 | |
gume | 0:1f82672b8755 | 8968 | com_rslt += |
gume | 0:1f82672b8755 | 8969 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 8970 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 8971 | BNO055_SIC_MATRIX_0_MSB_REG, |
gume | 0:1f82672b8755 | 8972 | &data2_u8r, |
gume | 0:1f82672b8755 | 8973 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 8974 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 8975 | data1_u8r = ((s8) |
gume | 0:1f82672b8755 | 8976 | (sic_matrix->sic_0 >> |
gume | 0:1f82672b8755 | 8977 | BNO055_SHIFT_EIGHT_BITS) |
gume | 0:1f82672b8755 | 8978 | & BNO055_SIC_HEX_0_0_F_F_DATA); |
gume | 0:1f82672b8755 | 8979 | data2_u8r = |
gume | 0:1f82672b8755 | 8980 | BNO055_SET_BITSLICE(data2_u8r, |
gume | 0:1f82672b8755 | 8981 | BNO055_SIC_MATRIX_0_MSB, |
gume | 0:1f82672b8755 | 8982 | data1_u8r); |
gume | 0:1f82672b8755 | 8983 | com_rslt += |
gume | 0:1f82672b8755 | 8984 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 8985 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 8986 | BNO055_SIC_MATRIX_0_MSB_REG, |
gume | 0:1f82672b8755 | 8987 | &data2_u8r, |
gume | 0:1f82672b8755 | 8988 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 8989 | } |
gume | 0:1f82672b8755 | 8990 | |
gume | 0:1f82672b8755 | 8991 | /* write soft iron calibration |
gume | 0:1f82672b8755 | 8992 | matrix one value*/ |
gume | 0:1f82672b8755 | 8993 | com_rslt += |
gume | 0:1f82672b8755 | 8994 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 8995 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 8996 | BNO055_SIC_MATRIX_1_LSB_REG, |
gume | 0:1f82672b8755 | 8997 | &data2_u8r, |
gume | 0:1f82672b8755 | 8998 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 8999 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 9000 | data1_u8r = ((s8) |
gume | 0:1f82672b8755 | 9001 | (sic_matrix->sic_1 |
gume | 0:1f82672b8755 | 9002 | & BNO055_SIC_HEX_0_0_F_F_DATA)); |
gume | 0:1f82672b8755 | 9003 | data2_u8r = |
gume | 0:1f82672b8755 | 9004 | BNO055_SET_BITSLICE(data2_u8r, |
gume | 0:1f82672b8755 | 9005 | BNO055_SIC_MATRIX_1_LSB, |
gume | 0:1f82672b8755 | 9006 | data1_u8r); |
gume | 0:1f82672b8755 | 9007 | com_rslt += |
gume | 0:1f82672b8755 | 9008 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 9009 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9010 | BNO055_SIC_MATRIX_1_LSB_REG, |
gume | 0:1f82672b8755 | 9011 | &data2_u8r, |
gume | 0:1f82672b8755 | 9012 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 9013 | } |
gume | 0:1f82672b8755 | 9014 | |
gume | 0:1f82672b8755 | 9015 | com_rslt += |
gume | 0:1f82672b8755 | 9016 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 9017 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9018 | BNO055_SIC_MATRIX_1_MSB_REG, |
gume | 0:1f82672b8755 | 9019 | &data2_u8r, |
gume | 0:1f82672b8755 | 9020 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 9021 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 9022 | data1_u8r = ((s8) |
gume | 0:1f82672b8755 | 9023 | (sic_matrix->sic_1 >> |
gume | 0:1f82672b8755 | 9024 | BNO055_SHIFT_EIGHT_BITS) |
gume | 0:1f82672b8755 | 9025 | & BNO055_SIC_HEX_0_0_F_F_DATA); |
gume | 0:1f82672b8755 | 9026 | data2_u8r = |
gume | 0:1f82672b8755 | 9027 | BNO055_SET_BITSLICE(data2_u8r, |
gume | 0:1f82672b8755 | 9028 | BNO055_SIC_MATRIX_1_MSB, |
gume | 0:1f82672b8755 | 9029 | data1_u8r); |
gume | 0:1f82672b8755 | 9030 | com_rslt += |
gume | 0:1f82672b8755 | 9031 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 9032 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9033 | BNO055_SIC_MATRIX_1_MSB_REG, |
gume | 0:1f82672b8755 | 9034 | &data2_u8r, |
gume | 0:1f82672b8755 | 9035 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 9036 | } |
gume | 0:1f82672b8755 | 9037 | |
gume | 0:1f82672b8755 | 9038 | /* write soft iron calibration |
gume | 0:1f82672b8755 | 9039 | matrix two value*/ |
gume | 0:1f82672b8755 | 9040 | com_rslt += |
gume | 0:1f82672b8755 | 9041 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 9042 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9043 | BNO055_SIC_MATRIX_2_LSB_REG, |
gume | 0:1f82672b8755 | 9044 | &data2_u8r, |
gume | 0:1f82672b8755 | 9045 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 9046 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 9047 | data1_u8r = ((s8) |
gume | 0:1f82672b8755 | 9048 | (sic_matrix->sic_2 |
gume | 0:1f82672b8755 | 9049 | & BNO055_SIC_HEX_0_0_F_F_DATA)); |
gume | 0:1f82672b8755 | 9050 | data2_u8r = |
gume | 0:1f82672b8755 | 9051 | BNO055_SET_BITSLICE(data2_u8r, |
gume | 0:1f82672b8755 | 9052 | BNO055_SIC_MATRIX_2_LSB, |
gume | 0:1f82672b8755 | 9053 | data1_u8r); |
gume | 0:1f82672b8755 | 9054 | com_rslt += |
gume | 0:1f82672b8755 | 9055 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 9056 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9057 | BNO055_SIC_MATRIX_2_LSB_REG, |
gume | 0:1f82672b8755 | 9058 | &data2_u8r, |
gume | 0:1f82672b8755 | 9059 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 9060 | } |
gume | 0:1f82672b8755 | 9061 | |
gume | 0:1f82672b8755 | 9062 | com_rslt += |
gume | 0:1f82672b8755 | 9063 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 9064 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9065 | BNO055_SIC_MATRIX_2_MSB_REG, |
gume | 0:1f82672b8755 | 9066 | &data2_u8r, |
gume | 0:1f82672b8755 | 9067 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 9068 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 9069 | data1_u8r = ((s8) |
gume | 0:1f82672b8755 | 9070 | (sic_matrix->sic_2 >> |
gume | 0:1f82672b8755 | 9071 | BNO055_SHIFT_EIGHT_BITS) |
gume | 0:1f82672b8755 | 9072 | & BNO055_SIC_HEX_0_0_F_F_DATA); |
gume | 0:1f82672b8755 | 9073 | data2_u8r = |
gume | 0:1f82672b8755 | 9074 | BNO055_SET_BITSLICE(data2_u8r, |
gume | 0:1f82672b8755 | 9075 | BNO055_SIC_MATRIX_2_MSB, |
gume | 0:1f82672b8755 | 9076 | data1_u8r); |
gume | 0:1f82672b8755 | 9077 | com_rslt += |
gume | 0:1f82672b8755 | 9078 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 9079 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9080 | BNO055_SIC_MATRIX_2_MSB_REG, |
gume | 0:1f82672b8755 | 9081 | &data2_u8r, |
gume | 0:1f82672b8755 | 9082 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 9083 | } |
gume | 0:1f82672b8755 | 9084 | |
gume | 0:1f82672b8755 | 9085 | /* write soft iron calibration |
gume | 0:1f82672b8755 | 9086 | matrix three value*/ |
gume | 0:1f82672b8755 | 9087 | com_rslt += |
gume | 0:1f82672b8755 | 9088 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 9089 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9090 | BNO055_SIC_MATRIX_3_LSB_REG, |
gume | 0:1f82672b8755 | 9091 | &data2_u8r, |
gume | 0:1f82672b8755 | 9092 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 9093 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 9094 | data1_u8r = ((s8) |
gume | 0:1f82672b8755 | 9095 | (sic_matrix->sic_3 |
gume | 0:1f82672b8755 | 9096 | & BNO055_SIC_HEX_0_0_F_F_DATA)); |
gume | 0:1f82672b8755 | 9097 | data2_u8r = |
gume | 0:1f82672b8755 | 9098 | BNO055_SET_BITSLICE(data2_u8r, |
gume | 0:1f82672b8755 | 9099 | BNO055_SIC_MATRIX_3_LSB, |
gume | 0:1f82672b8755 | 9100 | data1_u8r); |
gume | 0:1f82672b8755 | 9101 | com_rslt += |
gume | 0:1f82672b8755 | 9102 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 9103 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9104 | BNO055_SIC_MATRIX_3_LSB_REG, |
gume | 0:1f82672b8755 | 9105 | &data2_u8r, |
gume | 0:1f82672b8755 | 9106 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 9107 | } |
gume | 0:1f82672b8755 | 9108 | |
gume | 0:1f82672b8755 | 9109 | com_rslt += |
gume | 0:1f82672b8755 | 9110 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 9111 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9112 | BNO055_SIC_MATRIX_3_MSB_REG, |
gume | 0:1f82672b8755 | 9113 | &data2_u8r, |
gume | 0:1f82672b8755 | 9114 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 9115 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 9116 | data1_u8r = ((s8) |
gume | 0:1f82672b8755 | 9117 | (sic_matrix->sic_3 >> |
gume | 0:1f82672b8755 | 9118 | BNO055_SHIFT_EIGHT_BITS) |
gume | 0:1f82672b8755 | 9119 | & BNO055_SIC_HEX_0_0_F_F_DATA); |
gume | 0:1f82672b8755 | 9120 | data2_u8r = |
gume | 0:1f82672b8755 | 9121 | BNO055_SET_BITSLICE(data2_u8r, |
gume | 0:1f82672b8755 | 9122 | BNO055_SIC_MATRIX_3_MSB, |
gume | 0:1f82672b8755 | 9123 | data1_u8r); |
gume | 0:1f82672b8755 | 9124 | com_rslt += |
gume | 0:1f82672b8755 | 9125 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 9126 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9127 | BNO055_SIC_MATRIX_3_MSB_REG, |
gume | 0:1f82672b8755 | 9128 | &data2_u8r, |
gume | 0:1f82672b8755 | 9129 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 9130 | } |
gume | 0:1f82672b8755 | 9131 | |
gume | 0:1f82672b8755 | 9132 | /* write soft iron calibration |
gume | 0:1f82672b8755 | 9133 | matrix four value*/ |
gume | 0:1f82672b8755 | 9134 | com_rslt += |
gume | 0:1f82672b8755 | 9135 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 9136 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9137 | BNO055_SIC_MATRIX_4_LSB_REG, |
gume | 0:1f82672b8755 | 9138 | &data2_u8r, |
gume | 0:1f82672b8755 | 9139 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 9140 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 9141 | data1_u8r = ((s8) |
gume | 0:1f82672b8755 | 9142 | (sic_matrix->sic_4 |
gume | 0:1f82672b8755 | 9143 | & BNO055_SIC_HEX_0_0_F_F_DATA)); |
gume | 0:1f82672b8755 | 9144 | data2_u8r = |
gume | 0:1f82672b8755 | 9145 | BNO055_SET_BITSLICE(data2_u8r, |
gume | 0:1f82672b8755 | 9146 | BNO055_SIC_MATRIX_4_LSB, |
gume | 0:1f82672b8755 | 9147 | data1_u8r); |
gume | 0:1f82672b8755 | 9148 | com_rslt += |
gume | 0:1f82672b8755 | 9149 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 9150 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9151 | BNO055_SIC_MATRIX_4_LSB_REG, |
gume | 0:1f82672b8755 | 9152 | &data2_u8r, |
gume | 0:1f82672b8755 | 9153 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 9154 | } |
gume | 0:1f82672b8755 | 9155 | |
gume | 0:1f82672b8755 | 9156 | com_rslt += |
gume | 0:1f82672b8755 | 9157 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 9158 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9159 | BNO055_SIC_MATRIX_4_MSB_REG, |
gume | 0:1f82672b8755 | 9160 | &data2_u8r, |
gume | 0:1f82672b8755 | 9161 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 9162 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 9163 | data1_u8r = ((s8) |
gume | 0:1f82672b8755 | 9164 | (sic_matrix->sic_4 >> |
gume | 0:1f82672b8755 | 9165 | BNO055_SHIFT_EIGHT_BITS) |
gume | 0:1f82672b8755 | 9166 | & BNO055_SIC_HEX_0_0_F_F_DATA); |
gume | 0:1f82672b8755 | 9167 | data2_u8r = |
gume | 0:1f82672b8755 | 9168 | BNO055_SET_BITSLICE(data2_u8r, |
gume | 0:1f82672b8755 | 9169 | BNO055_SIC_MATRIX_4_MSB, |
gume | 0:1f82672b8755 | 9170 | data1_u8r); |
gume | 0:1f82672b8755 | 9171 | com_rslt += |
gume | 0:1f82672b8755 | 9172 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 9173 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9174 | BNO055_SIC_MATRIX_4_MSB_REG, |
gume | 0:1f82672b8755 | 9175 | &data2_u8r, |
gume | 0:1f82672b8755 | 9176 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 9177 | } |
gume | 0:1f82672b8755 | 9178 | |
gume | 0:1f82672b8755 | 9179 | /* write soft iron calibration |
gume | 0:1f82672b8755 | 9180 | matrix five value*/ |
gume | 0:1f82672b8755 | 9181 | com_rslt += |
gume | 0:1f82672b8755 | 9182 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 9183 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9184 | BNO055_SIC_MATRIX_5_LSB_REG, |
gume | 0:1f82672b8755 | 9185 | &data2_u8r, |
gume | 0:1f82672b8755 | 9186 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 9187 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 9188 | data1_u8r = ((s8) |
gume | 0:1f82672b8755 | 9189 | (sic_matrix->sic_5 |
gume | 0:1f82672b8755 | 9190 | & BNO055_SIC_HEX_0_0_F_F_DATA)); |
gume | 0:1f82672b8755 | 9191 | data2_u8r = |
gume | 0:1f82672b8755 | 9192 | BNO055_SET_BITSLICE(data2_u8r, |
gume | 0:1f82672b8755 | 9193 | BNO055_SIC_MATRIX_5_LSB, |
gume | 0:1f82672b8755 | 9194 | data1_u8r); |
gume | 0:1f82672b8755 | 9195 | com_rslt += |
gume | 0:1f82672b8755 | 9196 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 9197 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9198 | BNO055_SIC_MATRIX_5_LSB_REG, |
gume | 0:1f82672b8755 | 9199 | &data2_u8r, |
gume | 0:1f82672b8755 | 9200 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 9201 | } |
gume | 0:1f82672b8755 | 9202 | |
gume | 0:1f82672b8755 | 9203 | com_rslt += |
gume | 0:1f82672b8755 | 9204 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 9205 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9206 | BNO055_SIC_MATRIX_5_MSB_REG, |
gume | 0:1f82672b8755 | 9207 | &data2_u8r, |
gume | 0:1f82672b8755 | 9208 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 9209 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 9210 | data1_u8r = ((s8) |
gume | 0:1f82672b8755 | 9211 | (sic_matrix->sic_5 >> |
gume | 0:1f82672b8755 | 9212 | BNO055_SHIFT_EIGHT_BITS) |
gume | 0:1f82672b8755 | 9213 | & BNO055_SIC_HEX_0_0_F_F_DATA); |
gume | 0:1f82672b8755 | 9214 | data2_u8r = |
gume | 0:1f82672b8755 | 9215 | BNO055_SET_BITSLICE(data2_u8r, |
gume | 0:1f82672b8755 | 9216 | BNO055_SIC_MATRIX_5_MSB, |
gume | 0:1f82672b8755 | 9217 | data1_u8r); |
gume | 0:1f82672b8755 | 9218 | com_rslt += |
gume | 0:1f82672b8755 | 9219 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 9220 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9221 | BNO055_SIC_MATRIX_5_MSB_REG, |
gume | 0:1f82672b8755 | 9222 | &data2_u8r, |
gume | 0:1f82672b8755 | 9223 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 9224 | } |
gume | 0:1f82672b8755 | 9225 | |
gume | 0:1f82672b8755 | 9226 | /* write soft iron calibration |
gume | 0:1f82672b8755 | 9227 | matrix six value*/ |
gume | 0:1f82672b8755 | 9228 | com_rslt += |
gume | 0:1f82672b8755 | 9229 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 9230 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9231 | BNO055_SIC_MATRIX_6_LSB_REG, |
gume | 0:1f82672b8755 | 9232 | &data2_u8r, |
gume | 0:1f82672b8755 | 9233 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 9234 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 9235 | data1_u8r = ((s8) |
gume | 0:1f82672b8755 | 9236 | (sic_matrix->sic_6 |
gume | 0:1f82672b8755 | 9237 | & BNO055_SIC_HEX_0_0_F_F_DATA)); |
gume | 0:1f82672b8755 | 9238 | data2_u8r = |
gume | 0:1f82672b8755 | 9239 | BNO055_SET_BITSLICE(data2_u8r, |
gume | 0:1f82672b8755 | 9240 | BNO055_SIC_MATRIX_6_LSB, |
gume | 0:1f82672b8755 | 9241 | data1_u8r); |
gume | 0:1f82672b8755 | 9242 | com_rslt += |
gume | 0:1f82672b8755 | 9243 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 9244 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9245 | BNO055_SIC_MATRIX_6_LSB_REG, |
gume | 0:1f82672b8755 | 9246 | &data2_u8r, |
gume | 0:1f82672b8755 | 9247 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 9248 | } |
gume | 0:1f82672b8755 | 9249 | |
gume | 0:1f82672b8755 | 9250 | com_rslt += |
gume | 0:1f82672b8755 | 9251 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 9252 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9253 | BNO055_SIC_MATRIX_6_MSB_REG, |
gume | 0:1f82672b8755 | 9254 | &data2_u8r, |
gume | 0:1f82672b8755 | 9255 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 9256 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 9257 | data1_u8r = ((s8) |
gume | 0:1f82672b8755 | 9258 | (sic_matrix->sic_6 >> |
gume | 0:1f82672b8755 | 9259 | BNO055_SHIFT_EIGHT_BITS) |
gume | 0:1f82672b8755 | 9260 | & BNO055_SIC_HEX_0_0_F_F_DATA); |
gume | 0:1f82672b8755 | 9261 | data2_u8r = |
gume | 0:1f82672b8755 | 9262 | BNO055_SET_BITSLICE(data2_u8r, |
gume | 0:1f82672b8755 | 9263 | BNO055_SIC_MATRIX_6_MSB, |
gume | 0:1f82672b8755 | 9264 | data1_u8r); |
gume | 0:1f82672b8755 | 9265 | com_rslt += |
gume | 0:1f82672b8755 | 9266 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 9267 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9268 | BNO055_SIC_MATRIX_6_MSB_REG, |
gume | 0:1f82672b8755 | 9269 | &data2_u8r, |
gume | 0:1f82672b8755 | 9270 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 9271 | } |
gume | 0:1f82672b8755 | 9272 | |
gume | 0:1f82672b8755 | 9273 | /* write soft iron calibration |
gume | 0:1f82672b8755 | 9274 | matrix seven value*/ |
gume | 0:1f82672b8755 | 9275 | com_rslt += |
gume | 0:1f82672b8755 | 9276 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 9277 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9278 | BNO055_SIC_MATRIX_7_LSB_REG, |
gume | 0:1f82672b8755 | 9279 | &data2_u8r, |
gume | 0:1f82672b8755 | 9280 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 9281 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 9282 | data1_u8r = ((s8) |
gume | 0:1f82672b8755 | 9283 | (sic_matrix->sic_7 |
gume | 0:1f82672b8755 | 9284 | & BNO055_SIC_HEX_0_0_F_F_DATA)); |
gume | 0:1f82672b8755 | 9285 | data2_u8r = |
gume | 0:1f82672b8755 | 9286 | BNO055_SET_BITSLICE(data2_u8r, |
gume | 0:1f82672b8755 | 9287 | BNO055_SIC_MATRIX_7_LSB, |
gume | 0:1f82672b8755 | 9288 | data1_u8r); |
gume | 0:1f82672b8755 | 9289 | com_rslt += |
gume | 0:1f82672b8755 | 9290 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 9291 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9292 | BNO055_SIC_MATRIX_7_LSB_REG, |
gume | 0:1f82672b8755 | 9293 | &data2_u8r, |
gume | 0:1f82672b8755 | 9294 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 9295 | } |
gume | 0:1f82672b8755 | 9296 | |
gume | 0:1f82672b8755 | 9297 | com_rslt += |
gume | 0:1f82672b8755 | 9298 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 9299 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9300 | BNO055_SIC_MATRIX_7_MSB_REG, |
gume | 0:1f82672b8755 | 9301 | &data2_u8r, |
gume | 0:1f82672b8755 | 9302 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 9303 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 9304 | data1_u8r = ((s8) |
gume | 0:1f82672b8755 | 9305 | (sic_matrix->sic_7 >> |
gume | 0:1f82672b8755 | 9306 | BNO055_SHIFT_EIGHT_BITS) |
gume | 0:1f82672b8755 | 9307 | & BNO055_SIC_HEX_0_0_F_F_DATA); |
gume | 0:1f82672b8755 | 9308 | data2_u8r = |
gume | 0:1f82672b8755 | 9309 | BNO055_SET_BITSLICE(data2_u8r, |
gume | 0:1f82672b8755 | 9310 | BNO055_SIC_MATRIX_7_MSB, |
gume | 0:1f82672b8755 | 9311 | data1_u8r); |
gume | 0:1f82672b8755 | 9312 | com_rslt += |
gume | 0:1f82672b8755 | 9313 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 9314 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9315 | BNO055_SIC_MATRIX_7_MSB_REG, |
gume | 0:1f82672b8755 | 9316 | &data2_u8r, |
gume | 0:1f82672b8755 | 9317 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 9318 | } |
gume | 0:1f82672b8755 | 9319 | |
gume | 0:1f82672b8755 | 9320 | /* write soft iron calibration |
gume | 0:1f82672b8755 | 9321 | matrix eight value*/ |
gume | 0:1f82672b8755 | 9322 | com_rslt += |
gume | 0:1f82672b8755 | 9323 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 9324 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9325 | BNO055_SIC_MATRIX_8_LSB_REG, |
gume | 0:1f82672b8755 | 9326 | &data2_u8r, |
gume | 0:1f82672b8755 | 9327 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 9328 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 9329 | data1_u8r = ((s8) |
gume | 0:1f82672b8755 | 9330 | (sic_matrix->sic_8 |
gume | 0:1f82672b8755 | 9331 | & BNO055_SIC_HEX_0_0_F_F_DATA)); |
gume | 0:1f82672b8755 | 9332 | data2_u8r = |
gume | 0:1f82672b8755 | 9333 | BNO055_SET_BITSLICE(data2_u8r, |
gume | 0:1f82672b8755 | 9334 | BNO055_SIC_MATRIX_8_LSB, |
gume | 0:1f82672b8755 | 9335 | data1_u8r); |
gume | 0:1f82672b8755 | 9336 | com_rslt += |
gume | 0:1f82672b8755 | 9337 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 9338 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9339 | BNO055_SIC_MATRIX_8_LSB_REG, |
gume | 0:1f82672b8755 | 9340 | &data2_u8r, |
gume | 0:1f82672b8755 | 9341 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 9342 | } |
gume | 0:1f82672b8755 | 9343 | |
gume | 0:1f82672b8755 | 9344 | com_rslt += |
gume | 0:1f82672b8755 | 9345 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 9346 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9347 | BNO055_SIC_MATRIX_8_MSB_REG, |
gume | 0:1f82672b8755 | 9348 | &data2_u8r, |
gume | 0:1f82672b8755 | 9349 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 9350 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 9351 | data1_u8r = ((s8) |
gume | 0:1f82672b8755 | 9352 | (sic_matrix->sic_8 >> |
gume | 0:1f82672b8755 | 9353 | BNO055_SHIFT_EIGHT_BITS) |
gume | 0:1f82672b8755 | 9354 | & BNO055_SIC_HEX_0_0_F_F_DATA); |
gume | 0:1f82672b8755 | 9355 | data2_u8r = |
gume | 0:1f82672b8755 | 9356 | BNO055_SET_BITSLICE(data2_u8r, |
gume | 0:1f82672b8755 | 9357 | BNO055_SIC_MATRIX_8_MSB, |
gume | 0:1f82672b8755 | 9358 | data1_u8r); |
gume | 0:1f82672b8755 | 9359 | com_rslt += |
gume | 0:1f82672b8755 | 9360 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 9361 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9362 | BNO055_SIC_MATRIX_8_MSB_REG, |
gume | 0:1f82672b8755 | 9363 | &data2_u8r, |
gume | 0:1f82672b8755 | 9364 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 9365 | } |
gume | 0:1f82672b8755 | 9366 | } else { |
gume | 0:1f82672b8755 | 9367 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 9368 | } |
gume | 0:1f82672b8755 | 9369 | } else { |
gume | 0:1f82672b8755 | 9370 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 9371 | } |
gume | 0:1f82672b8755 | 9372 | } |
gume | 0:1f82672b8755 | 9373 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 9374 | /* set the operation mode |
gume | 0:1f82672b8755 | 9375 | of previous operation mode*/ |
gume | 0:1f82672b8755 | 9376 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 9377 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 9378 | return com_rslt; |
gume | 0:1f82672b8755 | 9379 | } |
gume | 0:1f82672b8755 | 9380 | /*! |
gume | 0:1f82672b8755 | 9381 | * @brief This API is used to read accel offset and accel radius |
gume | 0:1f82672b8755 | 9382 | * offset form register 0x55 to 0x5A and radius form 0x67 and 0x68 |
gume | 0:1f82672b8755 | 9383 | * |
gume | 0:1f82672b8755 | 9384 | * @param accel_offset : The value of accel offset and radius |
gume | 0:1f82672b8755 | 9385 | * |
gume | 0:1f82672b8755 | 9386 | * bno055_accel_offset_t | result |
gume | 0:1f82672b8755 | 9387 | * ------------------- | ---------------- |
gume | 0:1f82672b8755 | 9388 | * x | accel offset x |
gume | 0:1f82672b8755 | 9389 | * y | accel offset y |
gume | 0:1f82672b8755 | 9390 | * z | accel offset z |
gume | 0:1f82672b8755 | 9391 | * r | accel offset r |
gume | 0:1f82672b8755 | 9392 | * |
gume | 0:1f82672b8755 | 9393 | * |
gume | 0:1f82672b8755 | 9394 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 9395 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 9396 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 9397 | * |
gume | 0:1f82672b8755 | 9398 | * @note The range of the accel offset varies based on |
gume | 0:1f82672b8755 | 9399 | * the G-range of accel sensor. |
gume | 0:1f82672b8755 | 9400 | * |
gume | 0:1f82672b8755 | 9401 | * accel G range | offset range |
gume | 0:1f82672b8755 | 9402 | * --------------- | -------------- |
gume | 0:1f82672b8755 | 9403 | * BNO055_ACCEL_RANGE_2G | +/-2000 |
gume | 0:1f82672b8755 | 9404 | * BNO055_ACCEL_RANGE_4G | +/-4000 |
gume | 0:1f82672b8755 | 9405 | * BNO055_ACCEL_RANGE_8G | +/-8000 |
gume | 0:1f82672b8755 | 9406 | * BNO055_ACCEL_RANGE_16G | +/-16000 |
gume | 0:1f82672b8755 | 9407 | * |
gume | 0:1f82672b8755 | 9408 | * accel G range can be configured by using the |
gume | 0:1f82672b8755 | 9409 | * bno055_set_accel_range() API |
gume | 0:1f82672b8755 | 9410 | */ |
gume | 0:1f82672b8755 | 9411 | BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_offset( |
gume | 0:1f82672b8755 | 9412 | struct bno055_accel_offset_t *accel_offset) |
gume | 0:1f82672b8755 | 9413 | { |
gume | 0:1f82672b8755 | 9414 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 9415 | communication routine*/ |
gume | 0:1f82672b8755 | 9416 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 9417 | /* Array holding the accel offset values |
gume | 0:1f82672b8755 | 9418 | data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB] - offset x->LSB |
gume | 0:1f82672b8755 | 9419 | data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB] - offset x->MSB |
gume | 0:1f82672b8755 | 9420 | data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB] - offset y->LSB |
gume | 0:1f82672b8755 | 9421 | data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB] - offset y->MSB |
gume | 0:1f82672b8755 | 9422 | data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB] - offset z->LSB |
gume | 0:1f82672b8755 | 9423 | data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB] - offset z->MSB |
gume | 0:1f82672b8755 | 9424 | */ |
gume | 0:1f82672b8755 | 9425 | u8 data_u8[BNO055_ACCEL_OFFSET_ARRAY] = { |
gume | 0:1f82672b8755 | 9426 | BNO055_INIT_VALUE, BNO055_INIT_VALUE, |
gume | 0:1f82672b8755 | 9427 | BNO055_INIT_VALUE, BNO055_INIT_VALUE, |
gume | 0:1f82672b8755 | 9428 | BNO055_INIT_VALUE, BNO055_INIT_VALUE}; |
gume | 0:1f82672b8755 | 9429 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 9430 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 9431 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 9432 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 9433 | } else { |
gume | 0:1f82672b8755 | 9434 | /*condition check for page, accel offset is |
gume | 0:1f82672b8755 | 9435 | available in the page zero*/ |
gume | 0:1f82672b8755 | 9436 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 9437 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 9438 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 9439 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 9440 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 9441 | /* Read accel offset value it is six bytes of data*/ |
gume | 0:1f82672b8755 | 9442 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 9443 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9444 | BNO055_ACCEL_OFFSET_X_LSB_REG, |
gume | 0:1f82672b8755 | 9445 | data_u8, BNO055_ACCEL_OFFSET_ARRAY); |
gume | 0:1f82672b8755 | 9446 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 9447 | /* Read accel x offset value*/ |
gume | 0:1f82672b8755 | 9448 | data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB] = |
gume | 0:1f82672b8755 | 9449 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 9450 | data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB], |
gume | 0:1f82672b8755 | 9451 | BNO055_ACCEL_OFFSET_X_LSB); |
gume | 0:1f82672b8755 | 9452 | data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB] = |
gume | 0:1f82672b8755 | 9453 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 9454 | data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB], |
gume | 0:1f82672b8755 | 9455 | BNO055_ACCEL_OFFSET_X_MSB); |
gume | 0:1f82672b8755 | 9456 | accel_offset->x = (s16)((((s32)(s8) |
gume | 0:1f82672b8755 | 9457 | (data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB])) << |
gume | 0:1f82672b8755 | 9458 | (BNO055_SHIFT_EIGHT_BITS)) | |
gume | 0:1f82672b8755 | 9459 | (data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB])); |
gume | 0:1f82672b8755 | 9460 | |
gume | 0:1f82672b8755 | 9461 | /* Read accel y offset value*/ |
gume | 0:1f82672b8755 | 9462 | data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB] = |
gume | 0:1f82672b8755 | 9463 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 9464 | data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB], |
gume | 0:1f82672b8755 | 9465 | BNO055_ACCEL_OFFSET_Y_LSB); |
gume | 0:1f82672b8755 | 9466 | data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB] = |
gume | 0:1f82672b8755 | 9467 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 9468 | data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB], |
gume | 0:1f82672b8755 | 9469 | BNO055_ACCEL_OFFSET_Y_MSB); |
gume | 0:1f82672b8755 | 9470 | accel_offset->y = (s16)((((s32)(s8) |
gume | 0:1f82672b8755 | 9471 | (data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB])) << |
gume | 0:1f82672b8755 | 9472 | (BNO055_SHIFT_EIGHT_BITS)) |
gume | 0:1f82672b8755 | 9473 | | (data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB])); |
gume | 0:1f82672b8755 | 9474 | |
gume | 0:1f82672b8755 | 9475 | /* Read accel z offset value*/ |
gume | 0:1f82672b8755 | 9476 | data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB] = |
gume | 0:1f82672b8755 | 9477 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 9478 | data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB], |
gume | 0:1f82672b8755 | 9479 | BNO055_ACCEL_OFFSET_Z_LSB); |
gume | 0:1f82672b8755 | 9480 | data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB] = |
gume | 0:1f82672b8755 | 9481 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 9482 | data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB], |
gume | 0:1f82672b8755 | 9483 | BNO055_ACCEL_OFFSET_Z_MSB); |
gume | 0:1f82672b8755 | 9484 | accel_offset->z = (s16)((((s32)(s8) |
gume | 0:1f82672b8755 | 9485 | (data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB])) << |
gume | 0:1f82672b8755 | 9486 | (BNO055_SHIFT_EIGHT_BITS)) | |
gume | 0:1f82672b8755 | 9487 | (data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB])); |
gume | 0:1f82672b8755 | 9488 | |
gume | 0:1f82672b8755 | 9489 | /* Read accel radius value |
gume | 0:1f82672b8755 | 9490 | it is two bytes of data*/ |
gume | 0:1f82672b8755 | 9491 | com_rslt += p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 9492 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9493 | BNO055_ACCEL_RADIUS_LSB_REG, |
gume | 0:1f82672b8755 | 9494 | data_u8, |
gume | 0:1f82672b8755 | 9495 | BNO055_LSB_MSB_READ_LENGTH); |
gume | 0:1f82672b8755 | 9496 | /* Array holding the accel radius values |
gume | 0:1f82672b8755 | 9497 | data_u8[BNO055_OFFSET_RADIUS_LSB] - radius->LSB |
gume | 0:1f82672b8755 | 9498 | data_u8[BNO055_OFFSET_RADIUS_MSB] - radius->MSB |
gume | 0:1f82672b8755 | 9499 | */ |
gume | 0:1f82672b8755 | 9500 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 9501 | data_u8[BNO055_OFFSET_RADIUS_LSB] = |
gume | 0:1f82672b8755 | 9502 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 9503 | data_u8[BNO055_OFFSET_RADIUS_LSB], |
gume | 0:1f82672b8755 | 9504 | BNO055_ACCEL_RADIUS_LSB); |
gume | 0:1f82672b8755 | 9505 | data_u8[BNO055_OFFSET_RADIUS_MSB] = |
gume | 0:1f82672b8755 | 9506 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 9507 | data_u8[BNO055_OFFSET_RADIUS_MSB], |
gume | 0:1f82672b8755 | 9508 | BNO055_ACCEL_RADIUS_MSB); |
gume | 0:1f82672b8755 | 9509 | accel_offset->r = (s16)((((s32)(s8) |
gume | 0:1f82672b8755 | 9510 | (data_u8[BNO055_OFFSET_RADIUS_MSB])) << |
gume | 0:1f82672b8755 | 9511 | (BNO055_SHIFT_EIGHT_BITS)) | |
gume | 0:1f82672b8755 | 9512 | (data_u8[BNO055_OFFSET_RADIUS_LSB])); |
gume | 0:1f82672b8755 | 9513 | } else { |
gume | 0:1f82672b8755 | 9514 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 9515 | } |
gume | 0:1f82672b8755 | 9516 | } else { |
gume | 0:1f82672b8755 | 9517 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 9518 | } |
gume | 0:1f82672b8755 | 9519 | } else { |
gume | 0:1f82672b8755 | 9520 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 9521 | } |
gume | 0:1f82672b8755 | 9522 | } |
gume | 0:1f82672b8755 | 9523 | return com_rslt; |
gume | 0:1f82672b8755 | 9524 | } |
gume | 0:1f82672b8755 | 9525 | /*! |
gume | 0:1f82672b8755 | 9526 | * @brief This API is used to write accel offset and accel radius |
gume | 0:1f82672b8755 | 9527 | * offset form register 0x55 to 0x5A and radius form 0x67 and 0x68 |
gume | 0:1f82672b8755 | 9528 | * |
gume | 0:1f82672b8755 | 9529 | * @param accel_offset : The value of accel offset and radius |
gume | 0:1f82672b8755 | 9530 | * |
gume | 0:1f82672b8755 | 9531 | * bno055_accel_offset_t | result |
gume | 0:1f82672b8755 | 9532 | * ------------------- | ---------------- |
gume | 0:1f82672b8755 | 9533 | * x | accel offset x |
gume | 0:1f82672b8755 | 9534 | * y | accel offset y |
gume | 0:1f82672b8755 | 9535 | * z | accel offset z |
gume | 0:1f82672b8755 | 9536 | * r | accel offset r |
gume | 0:1f82672b8755 | 9537 | * |
gume | 0:1f82672b8755 | 9538 | * |
gume | 0:1f82672b8755 | 9539 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 9540 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 9541 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 9542 | * |
gume | 0:1f82672b8755 | 9543 | * @note The range of the accel offset varies based on |
gume | 0:1f82672b8755 | 9544 | * the G-range of accel sensor. |
gume | 0:1f82672b8755 | 9545 | * |
gume | 0:1f82672b8755 | 9546 | * accel G range | offset range |
gume | 0:1f82672b8755 | 9547 | * --------------- | -------------- |
gume | 0:1f82672b8755 | 9548 | * BNO055_ACCEL_RANGE_2G | +/-2000 |
gume | 0:1f82672b8755 | 9549 | * BNO055_ACCEL_RANGE_4G | +/-4000 |
gume | 0:1f82672b8755 | 9550 | * BNO055_ACCEL_RANGE_8G | +/-8000 |
gume | 0:1f82672b8755 | 9551 | * BNO055_ACCEL_RANGE_16G | +/-16000 |
gume | 0:1f82672b8755 | 9552 | * |
gume | 0:1f82672b8755 | 9553 | * accel G range can be configured by using the |
gume | 0:1f82672b8755 | 9554 | * bno055_set_accel_range() API |
gume | 0:1f82672b8755 | 9555 | */ |
gume | 0:1f82672b8755 | 9556 | BNO055_RETURN_FUNCTION_TYPE bno055_write_accel_offset( |
gume | 0:1f82672b8755 | 9557 | struct bno055_accel_offset_t *accel_offset) |
gume | 0:1f82672b8755 | 9558 | { |
gume | 0:1f82672b8755 | 9559 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 9560 | u8 data1_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 9561 | u8 data2_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 9562 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 9563 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 9564 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 9565 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 9566 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 9567 | } else { |
gume | 0:1f82672b8755 | 9568 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 9569 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 9570 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 9571 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 9572 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 9573 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 9574 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 9575 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 9576 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 9577 | /* write accel offset x value*/ |
gume | 0:1f82672b8755 | 9578 | com_rslt = |
gume | 0:1f82672b8755 | 9579 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 9580 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9581 | BNO055_ACCEL_OFFSET_X_LSB_REG, |
gume | 0:1f82672b8755 | 9582 | &data2_u8r, |
gume | 0:1f82672b8755 | 9583 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 9584 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 9585 | data1_u8r = ((s8) |
gume | 0:1f82672b8755 | 9586 | (accel_offset->x |
gume | 0:1f82672b8755 | 9587 | & BNO055_SIC_HEX_0_0_F_F_DATA)); |
gume | 0:1f82672b8755 | 9588 | data2_u8r = |
gume | 0:1f82672b8755 | 9589 | BNO055_SET_BITSLICE(data2_u8r, |
gume | 0:1f82672b8755 | 9590 | BNO055_ACCEL_OFFSET_X_LSB, |
gume | 0:1f82672b8755 | 9591 | data1_u8r); |
gume | 0:1f82672b8755 | 9592 | com_rslt += |
gume | 0:1f82672b8755 | 9593 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 9594 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9595 | BNO055_ACCEL_OFFSET_X_LSB_REG, |
gume | 0:1f82672b8755 | 9596 | &data2_u8r, |
gume | 0:1f82672b8755 | 9597 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 9598 | } |
gume | 0:1f82672b8755 | 9599 | |
gume | 0:1f82672b8755 | 9600 | com_rslt += |
gume | 0:1f82672b8755 | 9601 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 9602 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9603 | BNO055_ACCEL_OFFSET_X_MSB_REG, |
gume | 0:1f82672b8755 | 9604 | &data2_u8r, |
gume | 0:1f82672b8755 | 9605 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 9606 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 9607 | data1_u8r = ((s8) |
gume | 0:1f82672b8755 | 9608 | (accel_offset->x >> |
gume | 0:1f82672b8755 | 9609 | BNO055_SHIFT_EIGHT_BITS) |
gume | 0:1f82672b8755 | 9610 | & BNO055_SIC_HEX_0_0_F_F_DATA); |
gume | 0:1f82672b8755 | 9611 | data2_u8r = |
gume | 0:1f82672b8755 | 9612 | BNO055_SET_BITSLICE(data2_u8r, |
gume | 0:1f82672b8755 | 9613 | BNO055_ACCEL_OFFSET_X_MSB, |
gume | 0:1f82672b8755 | 9614 | data1_u8r); |
gume | 0:1f82672b8755 | 9615 | com_rslt += |
gume | 0:1f82672b8755 | 9616 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 9617 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9618 | BNO055_ACCEL_OFFSET_X_MSB_REG, |
gume | 0:1f82672b8755 | 9619 | &data2_u8r, |
gume | 0:1f82672b8755 | 9620 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 9621 | } |
gume | 0:1f82672b8755 | 9622 | |
gume | 0:1f82672b8755 | 9623 | /* write accel offset y value*/ |
gume | 0:1f82672b8755 | 9624 | com_rslt += |
gume | 0:1f82672b8755 | 9625 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 9626 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9627 | BNO055_ACCEL_OFFSET_Y_LSB_REG, |
gume | 0:1f82672b8755 | 9628 | &data2_u8r, |
gume | 0:1f82672b8755 | 9629 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 9630 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 9631 | data1_u8r = ((s8) |
gume | 0:1f82672b8755 | 9632 | (accel_offset->y |
gume | 0:1f82672b8755 | 9633 | & BNO055_SIC_HEX_0_0_F_F_DATA)); |
gume | 0:1f82672b8755 | 9634 | data2_u8r = |
gume | 0:1f82672b8755 | 9635 | BNO055_SET_BITSLICE(data2_u8r, |
gume | 0:1f82672b8755 | 9636 | BNO055_ACCEL_OFFSET_Y_LSB, |
gume | 0:1f82672b8755 | 9637 | data1_u8r); |
gume | 0:1f82672b8755 | 9638 | com_rslt += |
gume | 0:1f82672b8755 | 9639 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 9640 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9641 | BNO055_ACCEL_OFFSET_Y_LSB_REG, |
gume | 0:1f82672b8755 | 9642 | &data2_u8r, |
gume | 0:1f82672b8755 | 9643 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 9644 | } |
gume | 0:1f82672b8755 | 9645 | |
gume | 0:1f82672b8755 | 9646 | com_rslt += |
gume | 0:1f82672b8755 | 9647 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 9648 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9649 | BNO055_ACCEL_OFFSET_Y_MSB_REG, |
gume | 0:1f82672b8755 | 9650 | &data2_u8r, |
gume | 0:1f82672b8755 | 9651 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 9652 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 9653 | data1_u8r = ((s8) |
gume | 0:1f82672b8755 | 9654 | (accel_offset->y >> |
gume | 0:1f82672b8755 | 9655 | BNO055_SHIFT_EIGHT_BITS) |
gume | 0:1f82672b8755 | 9656 | & BNO055_SIC_HEX_0_0_F_F_DATA); |
gume | 0:1f82672b8755 | 9657 | data2_u8r = |
gume | 0:1f82672b8755 | 9658 | BNO055_SET_BITSLICE(data2_u8r, |
gume | 0:1f82672b8755 | 9659 | BNO055_ACCEL_OFFSET_Y_MSB, |
gume | 0:1f82672b8755 | 9660 | data1_u8r); |
gume | 0:1f82672b8755 | 9661 | com_rslt += |
gume | 0:1f82672b8755 | 9662 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 9663 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9664 | BNO055_ACCEL_OFFSET_Y_MSB_REG, |
gume | 0:1f82672b8755 | 9665 | &data2_u8r, |
gume | 0:1f82672b8755 | 9666 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 9667 | } |
gume | 0:1f82672b8755 | 9668 | /* write accel offset z value*/ |
gume | 0:1f82672b8755 | 9669 | com_rslt += |
gume | 0:1f82672b8755 | 9670 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 9671 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9672 | BNO055_ACCEL_OFFSET_Z_LSB_REG, |
gume | 0:1f82672b8755 | 9673 | &data2_u8r, |
gume | 0:1f82672b8755 | 9674 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 9675 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 9676 | data1_u8r = ((s8) |
gume | 0:1f82672b8755 | 9677 | (accel_offset->z |
gume | 0:1f82672b8755 | 9678 | & BNO055_SIC_HEX_0_0_F_F_DATA)); |
gume | 0:1f82672b8755 | 9679 | data2_u8r = |
gume | 0:1f82672b8755 | 9680 | BNO055_SET_BITSLICE(data2_u8r, |
gume | 0:1f82672b8755 | 9681 | BNO055_ACCEL_OFFSET_Z_LSB, |
gume | 0:1f82672b8755 | 9682 | data1_u8r); |
gume | 0:1f82672b8755 | 9683 | com_rslt += |
gume | 0:1f82672b8755 | 9684 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 9685 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9686 | BNO055_ACCEL_OFFSET_Z_LSB_REG, |
gume | 0:1f82672b8755 | 9687 | &data2_u8r, |
gume | 0:1f82672b8755 | 9688 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 9689 | } |
gume | 0:1f82672b8755 | 9690 | |
gume | 0:1f82672b8755 | 9691 | com_rslt += |
gume | 0:1f82672b8755 | 9692 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 9693 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9694 | BNO055_ACCEL_OFFSET_Z_MSB_REG, |
gume | 0:1f82672b8755 | 9695 | &data2_u8r, |
gume | 0:1f82672b8755 | 9696 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 9697 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 9698 | data1_u8r = ((s8) |
gume | 0:1f82672b8755 | 9699 | (accel_offset->z >> |
gume | 0:1f82672b8755 | 9700 | BNO055_SHIFT_EIGHT_BITS) |
gume | 0:1f82672b8755 | 9701 | & BNO055_SIC_HEX_0_0_F_F_DATA); |
gume | 0:1f82672b8755 | 9702 | data2_u8r = |
gume | 0:1f82672b8755 | 9703 | BNO055_SET_BITSLICE(data2_u8r, |
gume | 0:1f82672b8755 | 9704 | BNO055_ACCEL_OFFSET_Z_MSB, |
gume | 0:1f82672b8755 | 9705 | data1_u8r); |
gume | 0:1f82672b8755 | 9706 | com_rslt += |
gume | 0:1f82672b8755 | 9707 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 9708 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9709 | BNO055_ACCEL_OFFSET_Z_MSB_REG, |
gume | 0:1f82672b8755 | 9710 | &data2_u8r, |
gume | 0:1f82672b8755 | 9711 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 9712 | } |
gume | 0:1f82672b8755 | 9713 | |
gume | 0:1f82672b8755 | 9714 | /*write accel radius value*/ |
gume | 0:1f82672b8755 | 9715 | com_rslt += |
gume | 0:1f82672b8755 | 9716 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 9717 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9718 | BNO055_ACCEL_RADIUS_LSB_REG, |
gume | 0:1f82672b8755 | 9719 | &data2_u8r, |
gume | 0:1f82672b8755 | 9720 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 9721 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 9722 | data1_u8r = ((s8) |
gume | 0:1f82672b8755 | 9723 | (accel_offset->r |
gume | 0:1f82672b8755 | 9724 | & BNO055_SIC_HEX_0_0_F_F_DATA)); |
gume | 0:1f82672b8755 | 9725 | data2_u8r = |
gume | 0:1f82672b8755 | 9726 | BNO055_SET_BITSLICE(data2_u8r, |
gume | 0:1f82672b8755 | 9727 | BNO055_ACCEL_RADIUS_LSB, |
gume | 0:1f82672b8755 | 9728 | data1_u8r); |
gume | 0:1f82672b8755 | 9729 | com_rslt = |
gume | 0:1f82672b8755 | 9730 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 9731 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9732 | BNO055_ACCEL_RADIUS_LSB_REG, |
gume | 0:1f82672b8755 | 9733 | &data2_u8r, |
gume | 0:1f82672b8755 | 9734 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 9735 | } |
gume | 0:1f82672b8755 | 9736 | |
gume | 0:1f82672b8755 | 9737 | com_rslt += |
gume | 0:1f82672b8755 | 9738 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 9739 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9740 | BNO055_ACCEL_RADIUS_MSB_REG, |
gume | 0:1f82672b8755 | 9741 | &data2_u8r, |
gume | 0:1f82672b8755 | 9742 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 9743 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 9744 | data1_u8r = ((s8) |
gume | 0:1f82672b8755 | 9745 | (accel_offset->r >> |
gume | 0:1f82672b8755 | 9746 | BNO055_SHIFT_EIGHT_BITS) |
gume | 0:1f82672b8755 | 9747 | & BNO055_SIC_HEX_0_0_F_F_DATA); |
gume | 0:1f82672b8755 | 9748 | data2_u8r = |
gume | 0:1f82672b8755 | 9749 | BNO055_SET_BITSLICE(data2_u8r, |
gume | 0:1f82672b8755 | 9750 | BNO055_ACCEL_RADIUS_MSB, |
gume | 0:1f82672b8755 | 9751 | data1_u8r); |
gume | 0:1f82672b8755 | 9752 | com_rslt = |
gume | 0:1f82672b8755 | 9753 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 9754 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9755 | BNO055_ACCEL_RADIUS_MSB_REG, |
gume | 0:1f82672b8755 | 9756 | &data2_u8r, |
gume | 0:1f82672b8755 | 9757 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 9758 | } |
gume | 0:1f82672b8755 | 9759 | } else { |
gume | 0:1f82672b8755 | 9760 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 9761 | } |
gume | 0:1f82672b8755 | 9762 | } else { |
gume | 0:1f82672b8755 | 9763 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 9764 | } |
gume | 0:1f82672b8755 | 9765 | } |
gume | 0:1f82672b8755 | 9766 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 9767 | /* set the operation mode |
gume | 0:1f82672b8755 | 9768 | of previous operation mode*/ |
gume | 0:1f82672b8755 | 9769 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 9770 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 9771 | return com_rslt; |
gume | 0:1f82672b8755 | 9772 | } |
gume | 0:1f82672b8755 | 9773 | |
gume | 0:1f82672b8755 | 9774 | /*! |
gume | 0:1f82672b8755 | 9775 | * @brief This API is used to read mag offset |
gume | 0:1f82672b8755 | 9776 | * offset form register 0x69 to 0x6A |
gume | 0:1f82672b8755 | 9777 | * |
gume | 0:1f82672b8755 | 9778 | * @param mag_offset : The value of mag offset and radius |
gume | 0:1f82672b8755 | 9779 | * |
gume | 0:1f82672b8755 | 9780 | * bno055_mag_offset_t | result |
gume | 0:1f82672b8755 | 9781 | * ------------------- | ---------------- |
gume | 0:1f82672b8755 | 9782 | * x | mag offset x |
gume | 0:1f82672b8755 | 9783 | * y | mag offset y |
gume | 0:1f82672b8755 | 9784 | * z | mag offset z |
gume | 0:1f82672b8755 | 9785 | * r | mag radius r |
gume | 0:1f82672b8755 | 9786 | * |
gume | 0:1f82672b8755 | 9787 | * |
gume | 0:1f82672b8755 | 9788 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 9789 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 9790 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 9791 | * |
gume | 0:1f82672b8755 | 9792 | * @note The range of the magnetometer offset is +/-6400 in LSB |
gume | 0:1f82672b8755 | 9793 | */ |
gume | 0:1f82672b8755 | 9794 | |
gume | 0:1f82672b8755 | 9795 | BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_offset( |
gume | 0:1f82672b8755 | 9796 | struct bno055_mag_offset_t *mag_offset) |
gume | 0:1f82672b8755 | 9797 | { |
gume | 0:1f82672b8755 | 9798 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 9799 | communication routine*/ |
gume | 0:1f82672b8755 | 9800 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 9801 | /* Array holding the mag offset values |
gume | 0:1f82672b8755 | 9802 | data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB] - offset x->LSB |
gume | 0:1f82672b8755 | 9803 | data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB] - offset x->MSB |
gume | 0:1f82672b8755 | 9804 | data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB] - offset y->LSB |
gume | 0:1f82672b8755 | 9805 | data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB] - offset y->MSB |
gume | 0:1f82672b8755 | 9806 | data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB] - offset z->LSB |
gume | 0:1f82672b8755 | 9807 | data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB] - offset z->MSB |
gume | 0:1f82672b8755 | 9808 | */ |
gume | 0:1f82672b8755 | 9809 | u8 data_u8[BNO055_MAG_OFFSET_ARRAY] = { |
gume | 0:1f82672b8755 | 9810 | BNO055_INIT_VALUE, BNO055_INIT_VALUE, |
gume | 0:1f82672b8755 | 9811 | BNO055_INIT_VALUE, BNO055_INIT_VALUE, |
gume | 0:1f82672b8755 | 9812 | BNO055_INIT_VALUE, BNO055_INIT_VALUE}; |
gume | 0:1f82672b8755 | 9813 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 9814 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 9815 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 9816 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 9817 | } else { |
gume | 0:1f82672b8755 | 9818 | /*condition check for page, mag offset is |
gume | 0:1f82672b8755 | 9819 | available in the page zero*/ |
gume | 0:1f82672b8755 | 9820 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 9821 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 9822 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 9823 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 9824 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 9825 | /* Read mag offset value it the six bytes of data */ |
gume | 0:1f82672b8755 | 9826 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 9827 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9828 | BNO055_MAG_OFFSET_X_LSB_REG, |
gume | 0:1f82672b8755 | 9829 | data_u8, BNO055_MAG_OFFSET_ARRAY); |
gume | 0:1f82672b8755 | 9830 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 9831 | /* Read mag x offset value*/ |
gume | 0:1f82672b8755 | 9832 | data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB] = |
gume | 0:1f82672b8755 | 9833 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 9834 | data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB], |
gume | 0:1f82672b8755 | 9835 | BNO055_MAG_OFFSET_X_LSB); |
gume | 0:1f82672b8755 | 9836 | data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB] = |
gume | 0:1f82672b8755 | 9837 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 9838 | data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB], |
gume | 0:1f82672b8755 | 9839 | BNO055_MAG_OFFSET_X_MSB); |
gume | 0:1f82672b8755 | 9840 | mag_offset->x = (s16)((((s32)(s8) |
gume | 0:1f82672b8755 | 9841 | (data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB])) << |
gume | 0:1f82672b8755 | 9842 | (BNO055_SHIFT_EIGHT_BITS)) | |
gume | 0:1f82672b8755 | 9843 | (data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB])); |
gume | 0:1f82672b8755 | 9844 | |
gume | 0:1f82672b8755 | 9845 | /* Read mag y offset value*/ |
gume | 0:1f82672b8755 | 9846 | data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB] = |
gume | 0:1f82672b8755 | 9847 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 9848 | data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB], |
gume | 0:1f82672b8755 | 9849 | BNO055_MAG_OFFSET_Y_LSB); |
gume | 0:1f82672b8755 | 9850 | data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB] = |
gume | 0:1f82672b8755 | 9851 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 9852 | data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB], |
gume | 0:1f82672b8755 | 9853 | BNO055_MAG_OFFSET_Y_MSB); |
gume | 0:1f82672b8755 | 9854 | mag_offset->y = (s16)((((s32)(s8) |
gume | 0:1f82672b8755 | 9855 | (data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB])) << |
gume | 0:1f82672b8755 | 9856 | (BNO055_SHIFT_EIGHT_BITS)) |
gume | 0:1f82672b8755 | 9857 | | (data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB])); |
gume | 0:1f82672b8755 | 9858 | |
gume | 0:1f82672b8755 | 9859 | /* Read mag z offset value*/ |
gume | 0:1f82672b8755 | 9860 | data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB] = |
gume | 0:1f82672b8755 | 9861 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 9862 | data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB], |
gume | 0:1f82672b8755 | 9863 | BNO055_MAG_OFFSET_Z_LSB); |
gume | 0:1f82672b8755 | 9864 | data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB] = |
gume | 0:1f82672b8755 | 9865 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 9866 | data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB], |
gume | 0:1f82672b8755 | 9867 | BNO055_MAG_OFFSET_Z_MSB); |
gume | 0:1f82672b8755 | 9868 | mag_offset->z = (s16)((((s32)(s8) |
gume | 0:1f82672b8755 | 9869 | (data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB])) << |
gume | 0:1f82672b8755 | 9870 | (BNO055_SHIFT_EIGHT_BITS)) |
gume | 0:1f82672b8755 | 9871 | | (data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB])); |
gume | 0:1f82672b8755 | 9872 | |
gume | 0:1f82672b8755 | 9873 | /* Read mag radius value |
gume | 0:1f82672b8755 | 9874 | it the two bytes of data */ |
gume | 0:1f82672b8755 | 9875 | com_rslt += p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 9876 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9877 | BNO055_MAG_RADIUS_LSB_REG, |
gume | 0:1f82672b8755 | 9878 | data_u8, |
gume | 0:1f82672b8755 | 9879 | BNO055_LSB_MSB_READ_LENGTH); |
gume | 0:1f82672b8755 | 9880 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 9881 | /* Array holding the mag radius values |
gume | 0:1f82672b8755 | 9882 | data_u8[BNO055_OFFSET_RADIUS_LSB] - |
gume | 0:1f82672b8755 | 9883 | radius->LSB |
gume | 0:1f82672b8755 | 9884 | data_u8[BNO055_OFFSET_RADIUS_MSB] - |
gume | 0:1f82672b8755 | 9885 | radius->MSB |
gume | 0:1f82672b8755 | 9886 | */ |
gume | 0:1f82672b8755 | 9887 | data_u8[BNO055_OFFSET_RADIUS_LSB] = |
gume | 0:1f82672b8755 | 9888 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 9889 | data_u8[BNO055_OFFSET_RADIUS_LSB], |
gume | 0:1f82672b8755 | 9890 | BNO055_MAG_RADIUS_LSB); |
gume | 0:1f82672b8755 | 9891 | data_u8[BNO055_OFFSET_RADIUS_MSB] = |
gume | 0:1f82672b8755 | 9892 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 9893 | data_u8[BNO055_OFFSET_RADIUS_MSB], |
gume | 0:1f82672b8755 | 9894 | BNO055_MAG_RADIUS_MSB); |
gume | 0:1f82672b8755 | 9895 | mag_offset->r = (s16)((((s32)(s8) |
gume | 0:1f82672b8755 | 9896 | (data_u8[BNO055_OFFSET_RADIUS_MSB])) << |
gume | 0:1f82672b8755 | 9897 | (BNO055_SHIFT_EIGHT_BITS)) | |
gume | 0:1f82672b8755 | 9898 | (data_u8[BNO055_OFFSET_RADIUS_LSB])); |
gume | 0:1f82672b8755 | 9899 | } else { |
gume | 0:1f82672b8755 | 9900 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 9901 | } |
gume | 0:1f82672b8755 | 9902 | } else { |
gume | 0:1f82672b8755 | 9903 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 9904 | } |
gume | 0:1f82672b8755 | 9905 | } else { |
gume | 0:1f82672b8755 | 9906 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 9907 | } |
gume | 0:1f82672b8755 | 9908 | } |
gume | 0:1f82672b8755 | 9909 | return com_rslt; |
gume | 0:1f82672b8755 | 9910 | } |
gume | 0:1f82672b8755 | 9911 | |
gume | 0:1f82672b8755 | 9912 | /*! |
gume | 0:1f82672b8755 | 9913 | * @brief This API is used to read mag offset |
gume | 0:1f82672b8755 | 9914 | * offset form register 0x69 to 0x6A |
gume | 0:1f82672b8755 | 9915 | * |
gume | 0:1f82672b8755 | 9916 | * @param mag_offset : The value of mag offset and radius |
gume | 0:1f82672b8755 | 9917 | * |
gume | 0:1f82672b8755 | 9918 | * bno055_mag_offset_t | result |
gume | 0:1f82672b8755 | 9919 | * ------------------- | ---------------- |
gume | 0:1f82672b8755 | 9920 | * x | mag offset x |
gume | 0:1f82672b8755 | 9921 | * y | mag offset y |
gume | 0:1f82672b8755 | 9922 | * z | mag offset z |
gume | 0:1f82672b8755 | 9923 | * r | mag radius r |
gume | 0:1f82672b8755 | 9924 | * |
gume | 0:1f82672b8755 | 9925 | * |
gume | 0:1f82672b8755 | 9926 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 9927 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 9928 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 9929 | * |
gume | 0:1f82672b8755 | 9930 | * @note The range of the magnetometer offset is +/-6400 in LSB |
gume | 0:1f82672b8755 | 9931 | */ |
gume | 0:1f82672b8755 | 9932 | BNO055_RETURN_FUNCTION_TYPE bno055_write_mag_offset( |
gume | 0:1f82672b8755 | 9933 | struct bno055_mag_offset_t *mag_offset) |
gume | 0:1f82672b8755 | 9934 | { |
gume | 0:1f82672b8755 | 9935 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 9936 | u8 data1_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 9937 | u8 data2_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 9938 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 9939 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 9940 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 9941 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 9942 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 9943 | } else { |
gume | 0:1f82672b8755 | 9944 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 9945 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 9946 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 9947 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 9948 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 9949 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 9950 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 9951 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 9952 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 9953 | /* write Mag offset x value*/ |
gume | 0:1f82672b8755 | 9954 | com_rslt = |
gume | 0:1f82672b8755 | 9955 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 9956 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9957 | BNO055_MAG_OFFSET_X_LSB_REG, |
gume | 0:1f82672b8755 | 9958 | &data2_u8r, |
gume | 0:1f82672b8755 | 9959 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 9960 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 9961 | data1_u8r = ((s8) |
gume | 0:1f82672b8755 | 9962 | (mag_offset->x |
gume | 0:1f82672b8755 | 9963 | & BNO055_SIC_HEX_0_0_F_F_DATA)); |
gume | 0:1f82672b8755 | 9964 | data2_u8r = |
gume | 0:1f82672b8755 | 9965 | BNO055_SET_BITSLICE(data2_u8r, |
gume | 0:1f82672b8755 | 9966 | BNO055_MAG_OFFSET_X_LSB, |
gume | 0:1f82672b8755 | 9967 | data1_u8r); |
gume | 0:1f82672b8755 | 9968 | com_rslt += |
gume | 0:1f82672b8755 | 9969 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 9970 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9971 | BNO055_MAG_OFFSET_X_LSB_REG, |
gume | 0:1f82672b8755 | 9972 | &data2_u8r, |
gume | 0:1f82672b8755 | 9973 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 9974 | } |
gume | 0:1f82672b8755 | 9975 | |
gume | 0:1f82672b8755 | 9976 | com_rslt += |
gume | 0:1f82672b8755 | 9977 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 9978 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9979 | BNO055_MAG_OFFSET_X_MSB_REG, |
gume | 0:1f82672b8755 | 9980 | &data2_u8r, |
gume | 0:1f82672b8755 | 9981 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 9982 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 9983 | data1_u8r = ((s8) |
gume | 0:1f82672b8755 | 9984 | (mag_offset->x >> |
gume | 0:1f82672b8755 | 9985 | BNO055_SHIFT_EIGHT_BITS) |
gume | 0:1f82672b8755 | 9986 | & BNO055_SIC_HEX_0_0_F_F_DATA); |
gume | 0:1f82672b8755 | 9987 | data2_u8r = |
gume | 0:1f82672b8755 | 9988 | BNO055_SET_BITSLICE(data2_u8r, |
gume | 0:1f82672b8755 | 9989 | BNO055_MAG_OFFSET_X_MSB, |
gume | 0:1f82672b8755 | 9990 | data1_u8r); |
gume | 0:1f82672b8755 | 9991 | com_rslt += |
gume | 0:1f82672b8755 | 9992 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 9993 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 9994 | BNO055_MAG_OFFSET_X_MSB_REG, |
gume | 0:1f82672b8755 | 9995 | &data2_u8r, |
gume | 0:1f82672b8755 | 9996 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 9997 | } |
gume | 0:1f82672b8755 | 9998 | |
gume | 0:1f82672b8755 | 9999 | /* write Mag offset y value*/ |
gume | 0:1f82672b8755 | 10000 | com_rslt += |
gume | 0:1f82672b8755 | 10001 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 10002 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 10003 | BNO055_MAG_OFFSET_Y_LSB_REG, |
gume | 0:1f82672b8755 | 10004 | &data2_u8r, |
gume | 0:1f82672b8755 | 10005 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 10006 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 10007 | data1_u8r = ((s8) |
gume | 0:1f82672b8755 | 10008 | (mag_offset->y & |
gume | 0:1f82672b8755 | 10009 | BNO055_SIC_HEX_0_0_F_F_DATA)); |
gume | 0:1f82672b8755 | 10010 | data2_u8r = |
gume | 0:1f82672b8755 | 10011 | BNO055_SET_BITSLICE(data2_u8r, |
gume | 0:1f82672b8755 | 10012 | BNO055_MAG_OFFSET_Y_LSB, |
gume | 0:1f82672b8755 | 10013 | data1_u8r); |
gume | 0:1f82672b8755 | 10014 | com_rslt += |
gume | 0:1f82672b8755 | 10015 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 10016 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 10017 | BNO055_MAG_OFFSET_Y_LSB_REG, |
gume | 0:1f82672b8755 | 10018 | &data2_u8r, |
gume | 0:1f82672b8755 | 10019 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 10020 | } |
gume | 0:1f82672b8755 | 10021 | |
gume | 0:1f82672b8755 | 10022 | com_rslt += |
gume | 0:1f82672b8755 | 10023 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 10024 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 10025 | BNO055_MAG_OFFSET_Y_MSB_REG, |
gume | 0:1f82672b8755 | 10026 | &data2_u8r, |
gume | 0:1f82672b8755 | 10027 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 10028 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 10029 | data1_u8r = ((s8) |
gume | 0:1f82672b8755 | 10030 | (mag_offset->y >> |
gume | 0:1f82672b8755 | 10031 | BNO055_SHIFT_EIGHT_BITS) |
gume | 0:1f82672b8755 | 10032 | & BNO055_SIC_HEX_0_0_F_F_DATA); |
gume | 0:1f82672b8755 | 10033 | data2_u8r = |
gume | 0:1f82672b8755 | 10034 | BNO055_SET_BITSLICE(data2_u8r, |
gume | 0:1f82672b8755 | 10035 | BNO055_MAG_OFFSET_Y_MSB, |
gume | 0:1f82672b8755 | 10036 | data1_u8r); |
gume | 0:1f82672b8755 | 10037 | com_rslt += |
gume | 0:1f82672b8755 | 10038 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 10039 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 10040 | BNO055_MAG_OFFSET_Y_MSB_REG, |
gume | 0:1f82672b8755 | 10041 | &data2_u8r, |
gume | 0:1f82672b8755 | 10042 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 10043 | } |
gume | 0:1f82672b8755 | 10044 | /* write Mag offset z value*/ |
gume | 0:1f82672b8755 | 10045 | com_rslt += |
gume | 0:1f82672b8755 | 10046 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 10047 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 10048 | BNO055_MAG_OFFSET_Z_LSB_REG, |
gume | 0:1f82672b8755 | 10049 | &data2_u8r, |
gume | 0:1f82672b8755 | 10050 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 10051 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 10052 | data1_u8r = ((s8) |
gume | 0:1f82672b8755 | 10053 | (mag_offset->z & |
gume | 0:1f82672b8755 | 10054 | BNO055_SIC_HEX_0_0_F_F_DATA)); |
gume | 0:1f82672b8755 | 10055 | data2_u8r = |
gume | 0:1f82672b8755 | 10056 | BNO055_SET_BITSLICE(data2_u8r, |
gume | 0:1f82672b8755 | 10057 | BNO055_MAG_OFFSET_Z_LSB, |
gume | 0:1f82672b8755 | 10058 | data1_u8r); |
gume | 0:1f82672b8755 | 10059 | com_rslt += |
gume | 0:1f82672b8755 | 10060 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 10061 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 10062 | BNO055_MAG_OFFSET_Z_LSB_REG, |
gume | 0:1f82672b8755 | 10063 | &data2_u8r, |
gume | 0:1f82672b8755 | 10064 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 10065 | } |
gume | 0:1f82672b8755 | 10066 | |
gume | 0:1f82672b8755 | 10067 | com_rslt += |
gume | 0:1f82672b8755 | 10068 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 10069 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 10070 | BNO055_MAG_OFFSET_Z_MSB_REG, |
gume | 0:1f82672b8755 | 10071 | &data2_u8r, |
gume | 0:1f82672b8755 | 10072 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 10073 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 10074 | data1_u8r = ((s8) |
gume | 0:1f82672b8755 | 10075 | (mag_offset->z >> |
gume | 0:1f82672b8755 | 10076 | BNO055_SHIFT_EIGHT_BITS) |
gume | 0:1f82672b8755 | 10077 | & BNO055_SIC_HEX_0_0_F_F_DATA); |
gume | 0:1f82672b8755 | 10078 | data2_u8r = |
gume | 0:1f82672b8755 | 10079 | BNO055_SET_BITSLICE(data2_u8r, |
gume | 0:1f82672b8755 | 10080 | BNO055_MAG_OFFSET_Z_MSB, |
gume | 0:1f82672b8755 | 10081 | data1_u8r); |
gume | 0:1f82672b8755 | 10082 | com_rslt += |
gume | 0:1f82672b8755 | 10083 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 10084 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 10085 | BNO055_MAG_OFFSET_Z_MSB_REG, |
gume | 0:1f82672b8755 | 10086 | &data2_u8r, |
gume | 0:1f82672b8755 | 10087 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 10088 | } |
gume | 0:1f82672b8755 | 10089 | |
gume | 0:1f82672b8755 | 10090 | /* write Mag radius value*/ |
gume | 0:1f82672b8755 | 10091 | com_rslt += |
gume | 0:1f82672b8755 | 10092 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 10093 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 10094 | BNO055_MAG_RADIUS_LSB_REG, |
gume | 0:1f82672b8755 | 10095 | &data2_u8r, |
gume | 0:1f82672b8755 | 10096 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 10097 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 10098 | data1_u8r = ((s8) |
gume | 0:1f82672b8755 | 10099 | (mag_offset->r & |
gume | 0:1f82672b8755 | 10100 | BNO055_SIC_HEX_0_0_F_F_DATA)); |
gume | 0:1f82672b8755 | 10101 | data2_u8r = |
gume | 0:1f82672b8755 | 10102 | BNO055_SET_BITSLICE(data2_u8r, |
gume | 0:1f82672b8755 | 10103 | BNO055_MAG_RADIUS_LSB, |
gume | 0:1f82672b8755 | 10104 | data1_u8r); |
gume | 0:1f82672b8755 | 10105 | com_rslt += |
gume | 0:1f82672b8755 | 10106 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 10107 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 10108 | BNO055_MAG_RADIUS_LSB_REG, |
gume | 0:1f82672b8755 | 10109 | &data2_u8r, |
gume | 0:1f82672b8755 | 10110 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 10111 | } |
gume | 0:1f82672b8755 | 10112 | |
gume | 0:1f82672b8755 | 10113 | com_rslt += |
gume | 0:1f82672b8755 | 10114 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 10115 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 10116 | BNO055_MAG_RADIUS_MSB_REG, |
gume | 0:1f82672b8755 | 10117 | &data2_u8r, |
gume | 0:1f82672b8755 | 10118 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 10119 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 10120 | data1_u8r = ((s8) |
gume | 0:1f82672b8755 | 10121 | (mag_offset->r >> |
gume | 0:1f82672b8755 | 10122 | BNO055_SHIFT_EIGHT_BITS) |
gume | 0:1f82672b8755 | 10123 | & BNO055_SIC_HEX_0_0_F_F_DATA); |
gume | 0:1f82672b8755 | 10124 | data2_u8r = |
gume | 0:1f82672b8755 | 10125 | BNO055_SET_BITSLICE(data2_u8r, |
gume | 0:1f82672b8755 | 10126 | BNO055_MAG_RADIUS_MSB, |
gume | 0:1f82672b8755 | 10127 | data1_u8r); |
gume | 0:1f82672b8755 | 10128 | com_rslt += |
gume | 0:1f82672b8755 | 10129 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 10130 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 10131 | BNO055_MAG_RADIUS_MSB_REG, |
gume | 0:1f82672b8755 | 10132 | &data2_u8r, |
gume | 0:1f82672b8755 | 10133 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 10134 | } |
gume | 0:1f82672b8755 | 10135 | } else { |
gume | 0:1f82672b8755 | 10136 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 10137 | } |
gume | 0:1f82672b8755 | 10138 | } else { |
gume | 0:1f82672b8755 | 10139 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 10140 | } |
gume | 0:1f82672b8755 | 10141 | } |
gume | 0:1f82672b8755 | 10142 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 10143 | /* set the operation mode |
gume | 0:1f82672b8755 | 10144 | of previous operation mode*/ |
gume | 0:1f82672b8755 | 10145 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 10146 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 10147 | return com_rslt; |
gume | 0:1f82672b8755 | 10148 | } |
gume | 0:1f82672b8755 | 10149 | /*! |
gume | 0:1f82672b8755 | 10150 | * @brief This API is used to read gyro offset |
gume | 0:1f82672b8755 | 10151 | * offset form register 0x61 to 0x66 |
gume | 0:1f82672b8755 | 10152 | * |
gume | 0:1f82672b8755 | 10153 | * @param gyro_offset : The value of gyro offset |
gume | 0:1f82672b8755 | 10154 | * |
gume | 0:1f82672b8755 | 10155 | * bno055_gyro_offset_t | result |
gume | 0:1f82672b8755 | 10156 | * ------------------- | ---------------- |
gume | 0:1f82672b8755 | 10157 | * x | gyro offset x |
gume | 0:1f82672b8755 | 10158 | * y | gyro offset y |
gume | 0:1f82672b8755 | 10159 | * z | gyro offset z |
gume | 0:1f82672b8755 | 10160 | * |
gume | 0:1f82672b8755 | 10161 | * |
gume | 0:1f82672b8755 | 10162 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 10163 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 10164 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 10165 | * |
gume | 0:1f82672b8755 | 10166 | * @note The range of the gyro offset varies based on |
gume | 0:1f82672b8755 | 10167 | * the range of gyro sensor |
gume | 0:1f82672b8755 | 10168 | * |
gume | 0:1f82672b8755 | 10169 | * gyro G range | offset range |
gume | 0:1f82672b8755 | 10170 | * -------------------- | ------------ |
gume | 0:1f82672b8755 | 10171 | * BNO055_GYRO_RANGE_2000DPS | +/-32000 |
gume | 0:1f82672b8755 | 10172 | * BNO055_GYRO_RANGE_1000DPS | +/-16000 |
gume | 0:1f82672b8755 | 10173 | * BNO055_GYRO_RANGE_500DPS | +/-8000 |
gume | 0:1f82672b8755 | 10174 | * BNO055_GYRO_RANGE_250DPS | +/-4000 |
gume | 0:1f82672b8755 | 10175 | * BNO055_GYRO_RANGE_125DPS | +/-2000 |
gume | 0:1f82672b8755 | 10176 | * |
gume | 0:1f82672b8755 | 10177 | * Gyro range can be configured by using the |
gume | 0:1f82672b8755 | 10178 | * bno055_set_gyro_range() API |
gume | 0:1f82672b8755 | 10179 | */ |
gume | 0:1f82672b8755 | 10180 | BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_offset( |
gume | 0:1f82672b8755 | 10181 | struct bno055_gyro_offset_t *gyro_offset) |
gume | 0:1f82672b8755 | 10182 | { |
gume | 0:1f82672b8755 | 10183 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 10184 | communication routine*/ |
gume | 0:1f82672b8755 | 10185 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 10186 | /* Array holding the gyro offset values |
gume | 0:1f82672b8755 | 10187 | data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB] - offset x->LSB |
gume | 0:1f82672b8755 | 10188 | data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB] - offset x->MSB |
gume | 0:1f82672b8755 | 10189 | data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB] - offset y->LSB |
gume | 0:1f82672b8755 | 10190 | data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB] - offset y->MSB |
gume | 0:1f82672b8755 | 10191 | data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB] - offset z->LSB |
gume | 0:1f82672b8755 | 10192 | data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB] - offset z->MSB |
gume | 0:1f82672b8755 | 10193 | */ |
gume | 0:1f82672b8755 | 10194 | u8 data_u8[BNO055_GYRO_OFFSET_ARRAY] = { |
gume | 0:1f82672b8755 | 10195 | BNO055_INIT_VALUE, BNO055_INIT_VALUE, |
gume | 0:1f82672b8755 | 10196 | BNO055_INIT_VALUE, BNO055_INIT_VALUE, |
gume | 0:1f82672b8755 | 10197 | BNO055_INIT_VALUE, BNO055_INIT_VALUE}; |
gume | 0:1f82672b8755 | 10198 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 10199 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 10200 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 10201 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 10202 | } else { |
gume | 0:1f82672b8755 | 10203 | /*condition check for page, gyro offset is |
gume | 0:1f82672b8755 | 10204 | available in the page zero*/ |
gume | 0:1f82672b8755 | 10205 | if (p_bno055->page_id != BNO055_PAGE_ZERO) |
gume | 0:1f82672b8755 | 10206 | /* Write the page zero*/ |
gume | 0:1f82672b8755 | 10207 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); |
gume | 0:1f82672b8755 | 10208 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 10209 | (p_bno055->page_id == BNO055_PAGE_ZERO)) { |
gume | 0:1f82672b8755 | 10210 | /* Read gyro offset value it the six bytes of data*/ |
gume | 0:1f82672b8755 | 10211 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 10212 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 10213 | BNO055_GYRO_OFFSET_X_LSB_REG, |
gume | 0:1f82672b8755 | 10214 | data_u8, BNO055_GYRO_OFFSET_ARRAY); |
gume | 0:1f82672b8755 | 10215 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 10216 | /* Read gyro x offset value*/ |
gume | 0:1f82672b8755 | 10217 | data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB] = |
gume | 0:1f82672b8755 | 10218 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 10219 | data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB], |
gume | 0:1f82672b8755 | 10220 | BNO055_GYRO_OFFSET_X_LSB); |
gume | 0:1f82672b8755 | 10221 | data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB] = |
gume | 0:1f82672b8755 | 10222 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 10223 | data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB], |
gume | 0:1f82672b8755 | 10224 | BNO055_GYRO_OFFSET_X_MSB); |
gume | 0:1f82672b8755 | 10225 | gyro_offset->x = (s16)((((s32)(s8) |
gume | 0:1f82672b8755 | 10226 | (data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB])) << |
gume | 0:1f82672b8755 | 10227 | (BNO055_SHIFT_EIGHT_BITS)) | |
gume | 0:1f82672b8755 | 10228 | (data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB])); |
gume | 0:1f82672b8755 | 10229 | |
gume | 0:1f82672b8755 | 10230 | /* Read gyro y offset value*/ |
gume | 0:1f82672b8755 | 10231 | data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB] = |
gume | 0:1f82672b8755 | 10232 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 10233 | data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB], |
gume | 0:1f82672b8755 | 10234 | BNO055_GYRO_OFFSET_Y_LSB); |
gume | 0:1f82672b8755 | 10235 | data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB] = |
gume | 0:1f82672b8755 | 10236 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 10237 | data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB], |
gume | 0:1f82672b8755 | 10238 | BNO055_GYRO_OFFSET_Y_MSB); |
gume | 0:1f82672b8755 | 10239 | gyro_offset->y = (s16)((((s32)(s8) |
gume | 0:1f82672b8755 | 10240 | (data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB])) << |
gume | 0:1f82672b8755 | 10241 | (BNO055_SHIFT_EIGHT_BITS)) | |
gume | 0:1f82672b8755 | 10242 | (data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB])); |
gume | 0:1f82672b8755 | 10243 | |
gume | 0:1f82672b8755 | 10244 | /* Read gyro z offset value*/ |
gume | 0:1f82672b8755 | 10245 | data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB] = |
gume | 0:1f82672b8755 | 10246 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 10247 | data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB], |
gume | 0:1f82672b8755 | 10248 | BNO055_GYRO_OFFSET_Z_LSB); |
gume | 0:1f82672b8755 | 10249 | data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB] = |
gume | 0:1f82672b8755 | 10250 | BNO055_GET_BITSLICE( |
gume | 0:1f82672b8755 | 10251 | data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB], |
gume | 0:1f82672b8755 | 10252 | BNO055_GYRO_OFFSET_Z_MSB); |
gume | 0:1f82672b8755 | 10253 | gyro_offset->z = (s16)((((s32)(s8) |
gume | 0:1f82672b8755 | 10254 | (data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB])) << |
gume | 0:1f82672b8755 | 10255 | (BNO055_SHIFT_EIGHT_BITS)) | |
gume | 0:1f82672b8755 | 10256 | (data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB])); |
gume | 0:1f82672b8755 | 10257 | } else { |
gume | 0:1f82672b8755 | 10258 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 10259 | } |
gume | 0:1f82672b8755 | 10260 | } else { |
gume | 0:1f82672b8755 | 10261 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 10262 | } |
gume | 0:1f82672b8755 | 10263 | } |
gume | 0:1f82672b8755 | 10264 | return com_rslt; |
gume | 0:1f82672b8755 | 10265 | } |
gume | 0:1f82672b8755 | 10266 | /*! |
gume | 0:1f82672b8755 | 10267 | * @brief This API is used to read gyro offset |
gume | 0:1f82672b8755 | 10268 | * offset form register 0x61 to 0x66 |
gume | 0:1f82672b8755 | 10269 | * |
gume | 0:1f82672b8755 | 10270 | * @param gyro_offset : The value of gyro offset |
gume | 0:1f82672b8755 | 10271 | * |
gume | 0:1f82672b8755 | 10272 | * bno055_gyro_offset_t | result |
gume | 0:1f82672b8755 | 10273 | * ------------------- | ---------------- |
gume | 0:1f82672b8755 | 10274 | * x | gyro offset x |
gume | 0:1f82672b8755 | 10275 | * y | gyro offset y |
gume | 0:1f82672b8755 | 10276 | * z | gyro offset z |
gume | 0:1f82672b8755 | 10277 | * |
gume | 0:1f82672b8755 | 10278 | * |
gume | 0:1f82672b8755 | 10279 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 10280 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 10281 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 10282 | * |
gume | 0:1f82672b8755 | 10283 | * @note The range of the gyro offset varies based on |
gume | 0:1f82672b8755 | 10284 | * the range of gyro sensor |
gume | 0:1f82672b8755 | 10285 | * |
gume | 0:1f82672b8755 | 10286 | * gyro G range | offset range |
gume | 0:1f82672b8755 | 10287 | * -------------------- | ------------ |
gume | 0:1f82672b8755 | 10288 | * BNO055_GYRO_RANGE_2000DPS | +/-32000 |
gume | 0:1f82672b8755 | 10289 | * BNO055_GYRO_RANGE_1000DPS | +/-16000 |
gume | 0:1f82672b8755 | 10290 | * BNO055_GYRO_RANGE_500DPS | +/-8000 |
gume | 0:1f82672b8755 | 10291 | * BNO055_GYRO_RANGE_250DPS | +/-4000 |
gume | 0:1f82672b8755 | 10292 | * BNO055_GYRO_RANGE_125DPS | +/-2000 |
gume | 0:1f82672b8755 | 10293 | * |
gume | 0:1f82672b8755 | 10294 | * Gyro range can be configured by using the |
gume | 0:1f82672b8755 | 10295 | * bno055_set_gyro_range() API |
gume | 0:1f82672b8755 | 10296 | */ |
gume | 0:1f82672b8755 | 10297 | BNO055_RETURN_FUNCTION_TYPE bno055_write_gyro_offset( |
gume | 0:1f82672b8755 | 10298 | struct bno055_gyro_offset_t *gyro_offset) |
gume | 0:1f82672b8755 | 10299 | { |
gume | 0:1f82672b8755 | 10300 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 10301 | u8 data1_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 10302 | u8 data2_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 10303 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 10304 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 10305 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 10306 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 10307 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 10308 | } else { |
gume | 0:1f82672b8755 | 10309 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 10310 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 10311 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 10312 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 10313 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 10314 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 10315 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 10316 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 10317 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 10318 | /* write gryo offset x value*/ |
gume | 0:1f82672b8755 | 10319 | com_rslt = |
gume | 0:1f82672b8755 | 10320 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 10321 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 10322 | BNO055_GYRO_OFFSET_X_LSB_REG, |
gume | 0:1f82672b8755 | 10323 | &data2_u8r, |
gume | 0:1f82672b8755 | 10324 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 10325 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 10326 | data1_u8r = ((s8) |
gume | 0:1f82672b8755 | 10327 | (gyro_offset->x |
gume | 0:1f82672b8755 | 10328 | & BNO055_SIC_HEX_0_0_F_F_DATA)); |
gume | 0:1f82672b8755 | 10329 | data2_u8r = |
gume | 0:1f82672b8755 | 10330 | BNO055_SET_BITSLICE(data2_u8r, |
gume | 0:1f82672b8755 | 10331 | BNO055_GYRO_OFFSET_X_LSB, |
gume | 0:1f82672b8755 | 10332 | data1_u8r); |
gume | 0:1f82672b8755 | 10333 | com_rslt += |
gume | 0:1f82672b8755 | 10334 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 10335 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 10336 | BNO055_GYRO_OFFSET_X_LSB_REG, |
gume | 0:1f82672b8755 | 10337 | &data2_u8r, |
gume | 0:1f82672b8755 | 10338 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 10339 | } |
gume | 0:1f82672b8755 | 10340 | |
gume | 0:1f82672b8755 | 10341 | com_rslt += |
gume | 0:1f82672b8755 | 10342 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 10343 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 10344 | BNO055_GYRO_OFFSET_X_MSB_REG, |
gume | 0:1f82672b8755 | 10345 | &data2_u8r, |
gume | 0:1f82672b8755 | 10346 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 10347 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 10348 | data1_u8r = ((s8) |
gume | 0:1f82672b8755 | 10349 | (gyro_offset->x >> |
gume | 0:1f82672b8755 | 10350 | BNO055_SHIFT_EIGHT_BITS) |
gume | 0:1f82672b8755 | 10351 | & BNO055_SIC_HEX_0_0_F_F_DATA); |
gume | 0:1f82672b8755 | 10352 | data2_u8r = |
gume | 0:1f82672b8755 | 10353 | BNO055_SET_BITSLICE(data2_u8r, |
gume | 0:1f82672b8755 | 10354 | BNO055_GYRO_OFFSET_X_MSB, |
gume | 0:1f82672b8755 | 10355 | data1_u8r); |
gume | 0:1f82672b8755 | 10356 | com_rslt += |
gume | 0:1f82672b8755 | 10357 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 10358 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 10359 | BNO055_GYRO_OFFSET_X_MSB_REG, |
gume | 0:1f82672b8755 | 10360 | &data2_u8r, |
gume | 0:1f82672b8755 | 10361 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 10362 | } |
gume | 0:1f82672b8755 | 10363 | |
gume | 0:1f82672b8755 | 10364 | /* write gryo offset y value*/ |
gume | 0:1f82672b8755 | 10365 | com_rslt += |
gume | 0:1f82672b8755 | 10366 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 10367 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 10368 | BNO055_GYRO_OFFSET_Y_LSB_REG, |
gume | 0:1f82672b8755 | 10369 | &data2_u8r, |
gume | 0:1f82672b8755 | 10370 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 10371 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 10372 | data1_u8r = ((s8) |
gume | 0:1f82672b8755 | 10373 | (gyro_offset->y |
gume | 0:1f82672b8755 | 10374 | & BNO055_SIC_HEX_0_0_F_F_DATA)); |
gume | 0:1f82672b8755 | 10375 | data2_u8r = |
gume | 0:1f82672b8755 | 10376 | BNO055_SET_BITSLICE(data2_u8r, |
gume | 0:1f82672b8755 | 10377 | BNO055_GYRO_OFFSET_Y_LSB, |
gume | 0:1f82672b8755 | 10378 | data1_u8r); |
gume | 0:1f82672b8755 | 10379 | com_rslt += |
gume | 0:1f82672b8755 | 10380 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 10381 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 10382 | BNO055_GYRO_OFFSET_Y_LSB_REG, |
gume | 0:1f82672b8755 | 10383 | &data2_u8r, |
gume | 0:1f82672b8755 | 10384 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 10385 | } |
gume | 0:1f82672b8755 | 10386 | |
gume | 0:1f82672b8755 | 10387 | com_rslt += |
gume | 0:1f82672b8755 | 10388 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 10389 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 10390 | BNO055_GYRO_OFFSET_Y_MSB_REG, |
gume | 0:1f82672b8755 | 10391 | &data2_u8r, |
gume | 0:1f82672b8755 | 10392 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 10393 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 10394 | data1_u8r = ((s8) |
gume | 0:1f82672b8755 | 10395 | (gyro_offset->y >> |
gume | 0:1f82672b8755 | 10396 | BNO055_SHIFT_EIGHT_BITS) |
gume | 0:1f82672b8755 | 10397 | & BNO055_SIC_HEX_0_0_F_F_DATA); |
gume | 0:1f82672b8755 | 10398 | data2_u8r = |
gume | 0:1f82672b8755 | 10399 | BNO055_SET_BITSLICE(data2_u8r, |
gume | 0:1f82672b8755 | 10400 | BNO055_GYRO_OFFSET_Y_MSB, |
gume | 0:1f82672b8755 | 10401 | data1_u8r); |
gume | 0:1f82672b8755 | 10402 | com_rslt += |
gume | 0:1f82672b8755 | 10403 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 10404 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 10405 | BNO055_GYRO_OFFSET_Y_MSB_REG, |
gume | 0:1f82672b8755 | 10406 | &data2_u8r, |
gume | 0:1f82672b8755 | 10407 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 10408 | } |
gume | 0:1f82672b8755 | 10409 | /* write gryo offset z value*/ |
gume | 0:1f82672b8755 | 10410 | com_rslt += |
gume | 0:1f82672b8755 | 10411 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 10412 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 10413 | BNO055_GYRO_OFFSET_Z_LSB_REG, |
gume | 0:1f82672b8755 | 10414 | &data2_u8r, |
gume | 0:1f82672b8755 | 10415 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 10416 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 10417 | data1_u8r = ((s8) |
gume | 0:1f82672b8755 | 10418 | (gyro_offset->z |
gume | 0:1f82672b8755 | 10419 | & BNO055_SIC_HEX_0_0_F_F_DATA)); |
gume | 0:1f82672b8755 | 10420 | data2_u8r = |
gume | 0:1f82672b8755 | 10421 | BNO055_SET_BITSLICE(data2_u8r, |
gume | 0:1f82672b8755 | 10422 | BNO055_GYRO_OFFSET_Z_LSB, |
gume | 0:1f82672b8755 | 10423 | data1_u8r); |
gume | 0:1f82672b8755 | 10424 | com_rslt += |
gume | 0:1f82672b8755 | 10425 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 10426 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 10427 | BNO055_GYRO_OFFSET_Z_LSB_REG, |
gume | 0:1f82672b8755 | 10428 | &data2_u8r, |
gume | 0:1f82672b8755 | 10429 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 10430 | } |
gume | 0:1f82672b8755 | 10431 | |
gume | 0:1f82672b8755 | 10432 | com_rslt += |
gume | 0:1f82672b8755 | 10433 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 10434 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 10435 | BNO055_GYRO_OFFSET_Z_MSB_REG, |
gume | 0:1f82672b8755 | 10436 | &data2_u8r, |
gume | 0:1f82672b8755 | 10437 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 10438 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 10439 | data1_u8r = ((s8) |
gume | 0:1f82672b8755 | 10440 | (gyro_offset->z >> |
gume | 0:1f82672b8755 | 10441 | BNO055_SHIFT_EIGHT_BITS) |
gume | 0:1f82672b8755 | 10442 | & BNO055_SIC_HEX_0_0_F_F_DATA); |
gume | 0:1f82672b8755 | 10443 | data2_u8r = |
gume | 0:1f82672b8755 | 10444 | BNO055_SET_BITSLICE(data2_u8r, |
gume | 0:1f82672b8755 | 10445 | BNO055_GYRO_OFFSET_Z_MSB, |
gume | 0:1f82672b8755 | 10446 | data1_u8r); |
gume | 0:1f82672b8755 | 10447 | com_rslt += |
gume | 0:1f82672b8755 | 10448 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 10449 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 10450 | BNO055_GYRO_OFFSET_Z_MSB_REG, |
gume | 0:1f82672b8755 | 10451 | &data2_u8r, |
gume | 0:1f82672b8755 | 10452 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 10453 | } |
gume | 0:1f82672b8755 | 10454 | } else { |
gume | 0:1f82672b8755 | 10455 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 10456 | } |
gume | 0:1f82672b8755 | 10457 | } else { |
gume | 0:1f82672b8755 | 10458 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 10459 | } |
gume | 0:1f82672b8755 | 10460 | } |
gume | 0:1f82672b8755 | 10461 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 10462 | /* set the operation mode |
gume | 0:1f82672b8755 | 10463 | of previous operation mode*/ |
gume | 0:1f82672b8755 | 10464 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 10465 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 10466 | return com_rslt; |
gume | 0:1f82672b8755 | 10467 | } |
gume | 0:1f82672b8755 | 10468 | /********************************************************/ |
gume | 0:1f82672b8755 | 10469 | /************** PAGE1 Functions *********************/ |
gume | 0:1f82672b8755 | 10470 | /********************************************************/ |
gume | 0:1f82672b8755 | 10471 | /*! |
gume | 0:1f82672b8755 | 10472 | * @brief This API used to read the accel range |
gume | 0:1f82672b8755 | 10473 | * from page one register from 0x08 bit 0 and 1 |
gume | 0:1f82672b8755 | 10474 | * |
gume | 0:1f82672b8755 | 10475 | * @param accel_range_u8 : The value of accel range |
gume | 0:1f82672b8755 | 10476 | * accel_range_u8 | result |
gume | 0:1f82672b8755 | 10477 | * ----------------- | -------------- |
gume | 0:1f82672b8755 | 10478 | * 0x00 | BNO055_ACCEL_RANGE_2G |
gume | 0:1f82672b8755 | 10479 | * 0x01 | BNO055_ACCEL_RANGE_4G |
gume | 0:1f82672b8755 | 10480 | * 0x02 | BNO055_ACCEL_RANGE_8G |
gume | 0:1f82672b8755 | 10481 | * 0x03 | BNO055_ACCEL_RANGE_16G |
gume | 0:1f82672b8755 | 10482 | * |
gume | 0:1f82672b8755 | 10483 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 10484 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 10485 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 10486 | * |
gume | 0:1f82672b8755 | 10487 | * |
gume | 0:1f82672b8755 | 10488 | */ |
gume | 0:1f82672b8755 | 10489 | BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_range( |
gume | 0:1f82672b8755 | 10490 | u8 *accel_range_u8) |
gume | 0:1f82672b8755 | 10491 | { |
gume | 0:1f82672b8755 | 10492 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 10493 | communication routine*/ |
gume | 0:1f82672b8755 | 10494 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 10495 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 10496 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 10497 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 10498 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 10499 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 10500 | } else { |
gume | 0:1f82672b8755 | 10501 | /*condition check for page, accel range is |
gume | 0:1f82672b8755 | 10502 | available in the page one*/ |
gume | 0:1f82672b8755 | 10503 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 10504 | /* Write page as one */ |
gume | 0:1f82672b8755 | 10505 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 10506 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 10507 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 10508 | /* Read the value of accel g range */ |
gume | 0:1f82672b8755 | 10509 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 10510 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 10511 | BNO055_ACCEL_RANGE_REG, |
gume | 0:1f82672b8755 | 10512 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 10513 | *accel_range_u8 = |
gume | 0:1f82672b8755 | 10514 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 10515 | BNO055_ACCEL_RANGE); |
gume | 0:1f82672b8755 | 10516 | } else { |
gume | 0:1f82672b8755 | 10517 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 10518 | } |
gume | 0:1f82672b8755 | 10519 | } |
gume | 0:1f82672b8755 | 10520 | return com_rslt; |
gume | 0:1f82672b8755 | 10521 | } |
gume | 0:1f82672b8755 | 10522 | /*! |
gume | 0:1f82672b8755 | 10523 | * @brief This API used to write the accel range |
gume | 0:1f82672b8755 | 10524 | * from page one register from 0x08 bit 0 and 1 |
gume | 0:1f82672b8755 | 10525 | * |
gume | 0:1f82672b8755 | 10526 | * @param accel_range_u8 : The value of accel range |
gume | 0:1f82672b8755 | 10527 | * |
gume | 0:1f82672b8755 | 10528 | * accel_range_u8 | result |
gume | 0:1f82672b8755 | 10529 | * ----------------- | -------------- |
gume | 0:1f82672b8755 | 10530 | * 0x00 | BNO055_ACCEL_RANGE_2G |
gume | 0:1f82672b8755 | 10531 | * 0x01 | BNO055_ACCEL_RANGE_4G |
gume | 0:1f82672b8755 | 10532 | * 0x02 | BNO055_ACCEL_RANGE_8G |
gume | 0:1f82672b8755 | 10533 | * 0x03 | BNO055_ACCEL_RANGE_16G |
gume | 0:1f82672b8755 | 10534 | * |
gume | 0:1f82672b8755 | 10535 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 10536 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 10537 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 10538 | * |
gume | 0:1f82672b8755 | 10539 | * |
gume | 0:1f82672b8755 | 10540 | */ |
gume | 0:1f82672b8755 | 10541 | BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_range( |
gume | 0:1f82672b8755 | 10542 | u8 accel_range_u8) |
gume | 0:1f82672b8755 | 10543 | { |
gume | 0:1f82672b8755 | 10544 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 10545 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 10546 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 10547 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 10548 | s8 pg_stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 10549 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 10550 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 10551 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 10552 | } else { |
gume | 0:1f82672b8755 | 10553 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 10554 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 10555 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 10556 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 10557 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 10558 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 10559 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 10560 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 10561 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 10562 | /* Write page as one */ |
gume | 0:1f82672b8755 | 10563 | pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 10564 | if (pg_stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 10565 | if (accel_range_u8 < BNO055_ACCEL_RANGE) { |
gume | 0:1f82672b8755 | 10566 | /* Write the value of accel range*/ |
gume | 0:1f82672b8755 | 10567 | com_rslt = |
gume | 0:1f82672b8755 | 10568 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 10569 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 10570 | BNO055_ACCEL_RANGE_REG, |
gume | 0:1f82672b8755 | 10571 | &data_u8r, |
gume | 0:1f82672b8755 | 10572 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 10573 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 10574 | data_u8r = BNO055_SET_BITSLICE |
gume | 0:1f82672b8755 | 10575 | (data_u8r, |
gume | 0:1f82672b8755 | 10576 | BNO055_ACCEL_RANGE, |
gume | 0:1f82672b8755 | 10577 | accel_range_u8); |
gume | 0:1f82672b8755 | 10578 | com_rslt += |
gume | 0:1f82672b8755 | 10579 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 10580 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 10581 | BNO055_ACCEL_RANGE_REG, |
gume | 0:1f82672b8755 | 10582 | &data_u8r, |
gume | 0:1f82672b8755 | 10583 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 10584 | } |
gume | 0:1f82672b8755 | 10585 | } else { |
gume | 0:1f82672b8755 | 10586 | com_rslt = BNO055_OUT_OF_RANGE; |
gume | 0:1f82672b8755 | 10587 | } |
gume | 0:1f82672b8755 | 10588 | } else { |
gume | 0:1f82672b8755 | 10589 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 10590 | } |
gume | 0:1f82672b8755 | 10591 | } else { |
gume | 0:1f82672b8755 | 10592 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 10593 | } |
gume | 0:1f82672b8755 | 10594 | } else { |
gume | 0:1f82672b8755 | 10595 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 10596 | } |
gume | 0:1f82672b8755 | 10597 | } |
gume | 0:1f82672b8755 | 10598 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 10599 | /* set the operation mode of |
gume | 0:1f82672b8755 | 10600 | previous operation mode*/ |
gume | 0:1f82672b8755 | 10601 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 10602 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 10603 | return com_rslt; |
gume | 0:1f82672b8755 | 10604 | } |
gume | 0:1f82672b8755 | 10605 | /*! |
gume | 0:1f82672b8755 | 10606 | * @brief This API used to read the accel bandwidth |
gume | 0:1f82672b8755 | 10607 | * from page one register from 0x08 bit 2 to 4 |
gume | 0:1f82672b8755 | 10608 | * |
gume | 0:1f82672b8755 | 10609 | * @param accel_bw_u8 : The value of accel bandwidth |
gume | 0:1f82672b8755 | 10610 | * |
gume | 0:1f82672b8755 | 10611 | * accel_bw_u8 | result |
gume | 0:1f82672b8755 | 10612 | * ----------------- | --------------- |
gume | 0:1f82672b8755 | 10613 | * 0x00 | BNO055_ACCEL_BW_7_81HZ |
gume | 0:1f82672b8755 | 10614 | * 0x01 | BNO055_ACCEL_BW_15_63HZ |
gume | 0:1f82672b8755 | 10615 | * 0x02 | BNO055_ACCEL_BW_31_25HZ |
gume | 0:1f82672b8755 | 10616 | * 0x03 | BNO055_ACCEL_BW_62_5HZ |
gume | 0:1f82672b8755 | 10617 | * 0x04 | BNO055_ACCEL_BW_125HZ |
gume | 0:1f82672b8755 | 10618 | * 0x05 | BNO055_ACCEL_BW_250HZ |
gume | 0:1f82672b8755 | 10619 | * 0x06 | BNO055_ACCEL_BW_500HZ |
gume | 0:1f82672b8755 | 10620 | * 0x07 | BNO055_ACCEL_BW_1000HZ |
gume | 0:1f82672b8755 | 10621 | * |
gume | 0:1f82672b8755 | 10622 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 10623 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 10624 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 10625 | * |
gume | 0:1f82672b8755 | 10626 | * |
gume | 0:1f82672b8755 | 10627 | */ |
gume | 0:1f82672b8755 | 10628 | BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_bw( |
gume | 0:1f82672b8755 | 10629 | u8 *accel_bw_u8) |
gume | 0:1f82672b8755 | 10630 | { |
gume | 0:1f82672b8755 | 10631 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 10632 | communication routine*/ |
gume | 0:1f82672b8755 | 10633 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 10634 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 10635 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 10636 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 10637 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 10638 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 10639 | } else { |
gume | 0:1f82672b8755 | 10640 | /*condition check for page, accel bandwidth is |
gume | 0:1f82672b8755 | 10641 | available in the page one*/ |
gume | 0:1f82672b8755 | 10642 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 10643 | /* Write page as one */ |
gume | 0:1f82672b8755 | 10644 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 10645 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 10646 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 10647 | /* Read the value of accel bandwidth */ |
gume | 0:1f82672b8755 | 10648 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 10649 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 10650 | BNO055_ACCEL_BW_REG, |
gume | 0:1f82672b8755 | 10651 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 10652 | *accel_bw_u8 = |
gume | 0:1f82672b8755 | 10653 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 10654 | BNO055_ACCEL_BW); |
gume | 0:1f82672b8755 | 10655 | } else { |
gume | 0:1f82672b8755 | 10656 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 10657 | } |
gume | 0:1f82672b8755 | 10658 | } |
gume | 0:1f82672b8755 | 10659 | return com_rslt; |
gume | 0:1f82672b8755 | 10660 | } |
gume | 0:1f82672b8755 | 10661 | /*! |
gume | 0:1f82672b8755 | 10662 | * @brief This API used to write the accel bandwidth |
gume | 0:1f82672b8755 | 10663 | * from page one register from 0x08 bit 2 to 4 |
gume | 0:1f82672b8755 | 10664 | * |
gume | 0:1f82672b8755 | 10665 | * @param accel_bw_u8 : The value of accel bandwidth |
gume | 0:1f82672b8755 | 10666 | * |
gume | 0:1f82672b8755 | 10667 | * accel_bw_u8 | result |
gume | 0:1f82672b8755 | 10668 | * ----------------- | --------------- |
gume | 0:1f82672b8755 | 10669 | * 0x00 | BNO055_ACCEL_BW_7_81HZ |
gume | 0:1f82672b8755 | 10670 | * 0x01 | BNO055_ACCEL_BW_15_63HZ |
gume | 0:1f82672b8755 | 10671 | * 0x02 | BNO055_ACCEL_BW_31_25HZ |
gume | 0:1f82672b8755 | 10672 | * 0x03 | BNO055_ACCEL_BW_62_5HZ |
gume | 0:1f82672b8755 | 10673 | * 0x04 | BNO055_ACCEL_BW_125HZ |
gume | 0:1f82672b8755 | 10674 | * 0x05 | BNO055_ACCEL_BW_250HZ |
gume | 0:1f82672b8755 | 10675 | * 0x06 | BNO055_ACCEL_BW_500HZ |
gume | 0:1f82672b8755 | 10676 | * 0x07 | BNO055_ACCEL_BW_1000HZ |
gume | 0:1f82672b8755 | 10677 | * |
gume | 0:1f82672b8755 | 10678 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 10679 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 10680 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 10681 | * |
gume | 0:1f82672b8755 | 10682 | * |
gume | 0:1f82672b8755 | 10683 | */ |
gume | 0:1f82672b8755 | 10684 | BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_bw( |
gume | 0:1f82672b8755 | 10685 | u8 accel_bw_u8) |
gume | 0:1f82672b8755 | 10686 | { |
gume | 0:1f82672b8755 | 10687 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 10688 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 10689 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 10690 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 10691 | s8 pg_stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 10692 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 10693 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 10694 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 10695 | } else { |
gume | 0:1f82672b8755 | 10696 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 10697 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 10698 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 10699 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 10700 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 10701 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 10702 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 10703 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 10704 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 10705 | /* Write page as one */ |
gume | 0:1f82672b8755 | 10706 | pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 10707 | if (pg_stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 10708 | if (accel_bw_u8 < |
gume | 0:1f82672b8755 | 10709 | BNO055_ACCEL_GYRO_BW_RANGE) { |
gume | 0:1f82672b8755 | 10710 | /* Write the accel */ |
gume | 0:1f82672b8755 | 10711 | com_rslt = |
gume | 0:1f82672b8755 | 10712 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 10713 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 10714 | BNO055_ACCEL_BW_REG, |
gume | 0:1f82672b8755 | 10715 | &data_u8r, |
gume | 0:1f82672b8755 | 10716 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 10717 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 10718 | data_u8r = BNO055_SET_BITSLICE |
gume | 0:1f82672b8755 | 10719 | (data_u8r, BNO055_ACCEL_BW, |
gume | 0:1f82672b8755 | 10720 | accel_bw_u8); |
gume | 0:1f82672b8755 | 10721 | com_rslt += |
gume | 0:1f82672b8755 | 10722 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 10723 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 10724 | BNO055_ACCEL_BW_REG, |
gume | 0:1f82672b8755 | 10725 | &data_u8r, |
gume | 0:1f82672b8755 | 10726 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 10727 | } |
gume | 0:1f82672b8755 | 10728 | } else { |
gume | 0:1f82672b8755 | 10729 | com_rslt = BNO055_OUT_OF_RANGE; |
gume | 0:1f82672b8755 | 10730 | } |
gume | 0:1f82672b8755 | 10731 | } else { |
gume | 0:1f82672b8755 | 10732 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 10733 | } |
gume | 0:1f82672b8755 | 10734 | } else { |
gume | 0:1f82672b8755 | 10735 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 10736 | } |
gume | 0:1f82672b8755 | 10737 | } else { |
gume | 0:1f82672b8755 | 10738 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 10739 | } |
gume | 0:1f82672b8755 | 10740 | } |
gume | 0:1f82672b8755 | 10741 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 10742 | /* set the operation mode of |
gume | 0:1f82672b8755 | 10743 | previous operation mode*/ |
gume | 0:1f82672b8755 | 10744 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 10745 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 10746 | return com_rslt; |
gume | 0:1f82672b8755 | 10747 | } |
gume | 0:1f82672b8755 | 10748 | /*! |
gume | 0:1f82672b8755 | 10749 | * @brief This API used to read the accel power mode |
gume | 0:1f82672b8755 | 10750 | * from page one register from 0x08 bit 5 to 7 |
gume | 0:1f82672b8755 | 10751 | * |
gume | 0:1f82672b8755 | 10752 | * @param accel_power_mode_u8 : The value of accel power mode |
gume | 0:1f82672b8755 | 10753 | * accel_power_mode_u8 | result |
gume | 0:1f82672b8755 | 10754 | * ----------------- | ------------- |
gume | 0:1f82672b8755 | 10755 | * 0x00 | BNO055_ACCEL_NORMAL |
gume | 0:1f82672b8755 | 10756 | * 0x01 | BNO055_ACCEL_SUSPEND |
gume | 0:1f82672b8755 | 10757 | * 0x02 | BNO055_ACCEL_LOWPOWER_1 |
gume | 0:1f82672b8755 | 10758 | * 0x03 | BNO055_ACCEL_STANDBY |
gume | 0:1f82672b8755 | 10759 | * 0x04 | BNO055_ACCEL_LOWPOWER_2 |
gume | 0:1f82672b8755 | 10760 | * 0x05 | BNO055_ACCEL_DEEPSUSPEND |
gume | 0:1f82672b8755 | 10761 | * |
gume | 0:1f82672b8755 | 10762 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 10763 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 10764 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 10765 | * |
gume | 0:1f82672b8755 | 10766 | * |
gume | 0:1f82672b8755 | 10767 | */ |
gume | 0:1f82672b8755 | 10768 | BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_power_mode( |
gume | 0:1f82672b8755 | 10769 | u8 *accel_power_mode_u8) |
gume | 0:1f82672b8755 | 10770 | { |
gume | 0:1f82672b8755 | 10771 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 10772 | communication routine*/ |
gume | 0:1f82672b8755 | 10773 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 10774 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 10775 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 10776 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 10777 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 10778 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 10779 | } else { |
gume | 0:1f82672b8755 | 10780 | /*condition check for page, accel power mode is |
gume | 0:1f82672b8755 | 10781 | available in the page one*/ |
gume | 0:1f82672b8755 | 10782 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 10783 | /* Write page as one */ |
gume | 0:1f82672b8755 | 10784 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 10785 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 10786 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 10787 | /* Read the value of accel bandwidth */ |
gume | 0:1f82672b8755 | 10788 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 10789 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 10790 | BNO055_ACCEL_POWER_MODE_REG, |
gume | 0:1f82672b8755 | 10791 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 10792 | *accel_power_mode_u8 = |
gume | 0:1f82672b8755 | 10793 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 10794 | BNO055_ACCEL_POWER_MODE); |
gume | 0:1f82672b8755 | 10795 | } else { |
gume | 0:1f82672b8755 | 10796 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 10797 | } |
gume | 0:1f82672b8755 | 10798 | } |
gume | 0:1f82672b8755 | 10799 | return com_rslt; |
gume | 0:1f82672b8755 | 10800 | } |
gume | 0:1f82672b8755 | 10801 | /*! |
gume | 0:1f82672b8755 | 10802 | * @brief This API used to write the accel power mode |
gume | 0:1f82672b8755 | 10803 | * from page one register from 0x08 bit 5 to 7 |
gume | 0:1f82672b8755 | 10804 | * |
gume | 0:1f82672b8755 | 10805 | * @param accel_power_mode_u8 : The value of accel power mode |
gume | 0:1f82672b8755 | 10806 | * accel_power_mode_u8 | result |
gume | 0:1f82672b8755 | 10807 | * ----------------- | ------------- |
gume | 0:1f82672b8755 | 10808 | * 0x00 | BNO055_ACCEL_NORMAL |
gume | 0:1f82672b8755 | 10809 | * 0x01 | BNO055_ACCEL_SUSPEND |
gume | 0:1f82672b8755 | 10810 | * 0x02 | BNO055_ACCEL_LOWPOWER_1 |
gume | 0:1f82672b8755 | 10811 | * 0x03 | BNO055_ACCEL_STANDBY |
gume | 0:1f82672b8755 | 10812 | * 0x04 | BNO055_ACCEL_LOWPOWER_2 |
gume | 0:1f82672b8755 | 10813 | * 0x05 | BNO055_ACCEL_DEEPSUSPEND |
gume | 0:1f82672b8755 | 10814 | * |
gume | 0:1f82672b8755 | 10815 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 10816 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 10817 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 10818 | * |
gume | 0:1f82672b8755 | 10819 | * |
gume | 0:1f82672b8755 | 10820 | */ |
gume | 0:1f82672b8755 | 10821 | BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_power_mode( |
gume | 0:1f82672b8755 | 10822 | u8 accel_power_mode_u8) |
gume | 0:1f82672b8755 | 10823 | { |
gume | 0:1f82672b8755 | 10824 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 10825 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 10826 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 10827 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 10828 | s8 pg_stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 10829 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 10830 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 10831 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 10832 | } else { |
gume | 0:1f82672b8755 | 10833 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 10834 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 10835 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 10836 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 10837 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 10838 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 10839 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 10840 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 10841 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 10842 | /* Write page as one */ |
gume | 0:1f82672b8755 | 10843 | pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 10844 | if (pg_stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 10845 | if (accel_power_mode_u8 < |
gume | 0:1f82672b8755 | 10846 | BNO055_ACCEL_POWER_MODE_RANGE) { |
gume | 0:1f82672b8755 | 10847 | /* Write the value of accel bandwidth*/ |
gume | 0:1f82672b8755 | 10848 | com_rslt = |
gume | 0:1f82672b8755 | 10849 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 10850 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 10851 | BNO055_ACCEL_POWER_MODE_REG, |
gume | 0:1f82672b8755 | 10852 | &data_u8r, |
gume | 0:1f82672b8755 | 10853 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 10854 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 10855 | data_u8r = BNO055_SET_BITSLICE |
gume | 0:1f82672b8755 | 10856 | (data_u8r, |
gume | 0:1f82672b8755 | 10857 | BNO055_ACCEL_POWER_MODE, |
gume | 0:1f82672b8755 | 10858 | accel_power_mode_u8); |
gume | 0:1f82672b8755 | 10859 | com_rslt += |
gume | 0:1f82672b8755 | 10860 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 10861 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 10862 | BNO055_ACCEL_POWER_MODE_REG, |
gume | 0:1f82672b8755 | 10863 | &data_u8r, |
gume | 0:1f82672b8755 | 10864 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 10865 | } |
gume | 0:1f82672b8755 | 10866 | } else { |
gume | 0:1f82672b8755 | 10867 | com_rslt = BNO055_OUT_OF_RANGE; |
gume | 0:1f82672b8755 | 10868 | } |
gume | 0:1f82672b8755 | 10869 | } else { |
gume | 0:1f82672b8755 | 10870 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 10871 | } |
gume | 0:1f82672b8755 | 10872 | } else { |
gume | 0:1f82672b8755 | 10873 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 10874 | } |
gume | 0:1f82672b8755 | 10875 | } else { |
gume | 0:1f82672b8755 | 10876 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 10877 | } |
gume | 0:1f82672b8755 | 10878 | } |
gume | 0:1f82672b8755 | 10879 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 10880 | /* set the operation mode of |
gume | 0:1f82672b8755 | 10881 | previous operation mode*/ |
gume | 0:1f82672b8755 | 10882 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 10883 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 10884 | return com_rslt; |
gume | 0:1f82672b8755 | 10885 | } |
gume | 0:1f82672b8755 | 10886 | /*! |
gume | 0:1f82672b8755 | 10887 | * @brief This API used to read the mag output data rate |
gume | 0:1f82672b8755 | 10888 | * from page one register from 0x09 bit 0 to 2 |
gume | 0:1f82672b8755 | 10889 | * |
gume | 0:1f82672b8755 | 10890 | * @param mag_data_output_rate_u8 : The value of mag output data rate |
gume | 0:1f82672b8755 | 10891 | * |
gume | 0:1f82672b8755 | 10892 | * mag_data_output_rate_u8 | result |
gume | 0:1f82672b8755 | 10893 | * ---------------------- |---------------------- |
gume | 0:1f82672b8755 | 10894 | * 0x00 | MAG_DATA_OUTPUT_RATE_2HZ |
gume | 0:1f82672b8755 | 10895 | * 0x01 | MAG_DATA_OUTPUT_RATE_6HZ |
gume | 0:1f82672b8755 | 10896 | * 0x02 | MAG_DATA_OUTPUT_RATE_8HZ |
gume | 0:1f82672b8755 | 10897 | * 0x03 | MAG_DATA_OUTPUT_RATE_10HZ |
gume | 0:1f82672b8755 | 10898 | * 0x04 | MAG_DATA_OUTPUT_RATE_15HZ |
gume | 0:1f82672b8755 | 10899 | * 0x05 | MAG_DATA_OUTPUT_RATE_20HZ |
gume | 0:1f82672b8755 | 10900 | * 0x06 | MAG_DATA_OUTPUT_RATE_25HZ |
gume | 0:1f82672b8755 | 10901 | * 0x07 | MAG_DATA_OUTPUT_RATE_30HZ |
gume | 0:1f82672b8755 | 10902 | * |
gume | 0:1f82672b8755 | 10903 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 10904 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 10905 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 10906 | * |
gume | 0:1f82672b8755 | 10907 | * |
gume | 0:1f82672b8755 | 10908 | */ |
gume | 0:1f82672b8755 | 10909 | BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_data_output_rate( |
gume | 0:1f82672b8755 | 10910 | u8 *mag_data_output_rate_u8) |
gume | 0:1f82672b8755 | 10911 | { |
gume | 0:1f82672b8755 | 10912 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 10913 | communication routine*/ |
gume | 0:1f82672b8755 | 10914 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 10915 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 10916 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 10917 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 10918 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 10919 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 10920 | } else { |
gume | 0:1f82672b8755 | 10921 | /*condition check for page, output data rate |
gume | 0:1f82672b8755 | 10922 | available in the page one*/ |
gume | 0:1f82672b8755 | 10923 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 10924 | /* Write page as one */ |
gume | 0:1f82672b8755 | 10925 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 10926 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 10927 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 10928 | /* Read the mag output data rate*/ |
gume | 0:1f82672b8755 | 10929 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 10930 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 10931 | BNO055_MAG_DATA_OUTPUT_RATE_REG, |
gume | 0:1f82672b8755 | 10932 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 10933 | *mag_data_output_rate_u8 = |
gume | 0:1f82672b8755 | 10934 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 10935 | BNO055_MAG_DATA_OUTPUT_RATE); |
gume | 0:1f82672b8755 | 10936 | } else { |
gume | 0:1f82672b8755 | 10937 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 10938 | } |
gume | 0:1f82672b8755 | 10939 | } |
gume | 0:1f82672b8755 | 10940 | return com_rslt; |
gume | 0:1f82672b8755 | 10941 | } |
gume | 0:1f82672b8755 | 10942 | /*! |
gume | 0:1f82672b8755 | 10943 | * @brief This API used to write the mag output data rate |
gume | 0:1f82672b8755 | 10944 | * from page one register from 0x09 bit 0 to 2 |
gume | 0:1f82672b8755 | 10945 | * |
gume | 0:1f82672b8755 | 10946 | * @param mag_data_output_rate_u8 : The value of mag output data rate |
gume | 0:1f82672b8755 | 10947 | * |
gume | 0:1f82672b8755 | 10948 | * mag_data_output_rate_u8 | result |
gume | 0:1f82672b8755 | 10949 | * ---------------------- |---------------------- |
gume | 0:1f82672b8755 | 10950 | * 0x00 | MAG_DATA_OUTPUT_RATE_2HZ |
gume | 0:1f82672b8755 | 10951 | * 0x01 | MAG_DATA_OUTPUT_RATE_6HZ |
gume | 0:1f82672b8755 | 10952 | * 0x02 | MAG_DATA_OUTPUT_RATE_8HZ |
gume | 0:1f82672b8755 | 10953 | * 0x03 | MAG_DATA_OUTPUT_RATE_10HZ |
gume | 0:1f82672b8755 | 10954 | * 0x04 | MAG_DATA_OUTPUT_RATE_15HZ |
gume | 0:1f82672b8755 | 10955 | * 0x05 | MAG_DATA_OUTPUT_RATE_20HZ |
gume | 0:1f82672b8755 | 10956 | * 0x06 | MAG_DATA_OUTPUT_RATE_25HZ |
gume | 0:1f82672b8755 | 10957 | * 0x07 | MAG_DATA_OUTPUT_RATE_30HZ |
gume | 0:1f82672b8755 | 10958 | * |
gume | 0:1f82672b8755 | 10959 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 10960 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 10961 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 10962 | * |
gume | 0:1f82672b8755 | 10963 | * |
gume | 0:1f82672b8755 | 10964 | */ |
gume | 0:1f82672b8755 | 10965 | BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_data_output_rate( |
gume | 0:1f82672b8755 | 10966 | u8 mag_data_output_rate_u8) |
gume | 0:1f82672b8755 | 10967 | { |
gume | 0:1f82672b8755 | 10968 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 10969 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 10970 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 10971 | s8 pg_stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 10972 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 10973 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 10974 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 10975 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 10976 | } else { |
gume | 0:1f82672b8755 | 10977 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 10978 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 10979 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 10980 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 10981 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 10982 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 10983 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 10984 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 10985 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 10986 | /* Write page as one */ |
gume | 0:1f82672b8755 | 10987 | pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 10988 | if (pg_stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 10989 | if (mag_data_output_rate_u8 |
gume | 0:1f82672b8755 | 10990 | < BNO055_MAG_OUTPUT_RANGE) { |
gume | 0:1f82672b8755 | 10991 | /* Write the value of |
gume | 0:1f82672b8755 | 10992 | mag output data rate*/ |
gume | 0:1f82672b8755 | 10993 | com_rslt = |
gume | 0:1f82672b8755 | 10994 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 10995 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 10996 | BNO055_MAG_DATA_OUTPUT_RATE_REG, |
gume | 0:1f82672b8755 | 10997 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 10998 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 10999 | data_u8r = BNO055_SET_BITSLICE |
gume | 0:1f82672b8755 | 11000 | (data_u8r, |
gume | 0:1f82672b8755 | 11001 | BNO055_MAG_DATA_OUTPUT_RATE, |
gume | 0:1f82672b8755 | 11002 | mag_data_output_rate_u8); |
gume | 0:1f82672b8755 | 11003 | com_rslt += |
gume | 0:1f82672b8755 | 11004 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 11005 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 11006 | BNO055_MAG_DATA_OUTPUT_RATE_REG, |
gume | 0:1f82672b8755 | 11007 | &data_u8r, |
gume | 0:1f82672b8755 | 11008 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 11009 | } |
gume | 0:1f82672b8755 | 11010 | } else { |
gume | 0:1f82672b8755 | 11011 | com_rslt = BNO055_OUT_OF_RANGE; |
gume | 0:1f82672b8755 | 11012 | } |
gume | 0:1f82672b8755 | 11013 | } else { |
gume | 0:1f82672b8755 | 11014 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11015 | } |
gume | 0:1f82672b8755 | 11016 | } else { |
gume | 0:1f82672b8755 | 11017 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11018 | } |
gume | 0:1f82672b8755 | 11019 | } else { |
gume | 0:1f82672b8755 | 11020 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11021 | } |
gume | 0:1f82672b8755 | 11022 | } |
gume | 0:1f82672b8755 | 11023 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 11024 | /* set the operation mode of |
gume | 0:1f82672b8755 | 11025 | previous operation mode*/ |
gume | 0:1f82672b8755 | 11026 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 11027 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 11028 | return com_rslt; |
gume | 0:1f82672b8755 | 11029 | } |
gume | 0:1f82672b8755 | 11030 | /*! |
gume | 0:1f82672b8755 | 11031 | * @brief This API used to read the mag operation mode |
gume | 0:1f82672b8755 | 11032 | * from page one register from 0x09 bit 3 to 4 |
gume | 0:1f82672b8755 | 11033 | * |
gume | 0:1f82672b8755 | 11034 | * @param mag_operation_mode_u8 : The value of mag operation mode |
gume | 0:1f82672b8755 | 11035 | * |
gume | 0:1f82672b8755 | 11036 | * mag_operation_mode_u8 | result |
gume | 0:1f82672b8755 | 11037 | * ------------------------- |-------------------------- |
gume | 0:1f82672b8755 | 11038 | * 0x00 | MAG_OPR_MODE_LOWPOWER |
gume | 0:1f82672b8755 | 11039 | * 0x01 | MAG_OPR_MODE_REGULAR |
gume | 0:1f82672b8755 | 11040 | * 0x02 | MAG_OPR_MODE_ENHANCED_REGULAR |
gume | 0:1f82672b8755 | 11041 | * 0x03 | MAG_OPR_MODE_HIGH_ACCURACY |
gume | 0:1f82672b8755 | 11042 | * |
gume | 0:1f82672b8755 | 11043 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 11044 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 11045 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 11046 | * |
gume | 0:1f82672b8755 | 11047 | * |
gume | 0:1f82672b8755 | 11048 | */ |
gume | 0:1f82672b8755 | 11049 | BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_operation_mode( |
gume | 0:1f82672b8755 | 11050 | u8 *mag_operation_mode_u8) |
gume | 0:1f82672b8755 | 11051 | { |
gume | 0:1f82672b8755 | 11052 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 11053 | communication routine*/ |
gume | 0:1f82672b8755 | 11054 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11055 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 11056 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11057 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 11058 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 11059 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 11060 | } else { |
gume | 0:1f82672b8755 | 11061 | /*condition check for page, mag operation mode is |
gume | 0:1f82672b8755 | 11062 | available in the page one*/ |
gume | 0:1f82672b8755 | 11063 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 11064 | /* Write page as one */ |
gume | 0:1f82672b8755 | 11065 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 11066 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 11067 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 11068 | /* Read the value of mag operation mode*/ |
gume | 0:1f82672b8755 | 11069 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 11070 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 11071 | BNO055_MAG_OPERATION_MODE_REG, |
gume | 0:1f82672b8755 | 11072 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 11073 | *mag_operation_mode_u8 = |
gume | 0:1f82672b8755 | 11074 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 11075 | BNO055_MAG_OPERATION_MODE); |
gume | 0:1f82672b8755 | 11076 | } else { |
gume | 0:1f82672b8755 | 11077 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11078 | } |
gume | 0:1f82672b8755 | 11079 | } |
gume | 0:1f82672b8755 | 11080 | return com_rslt; |
gume | 0:1f82672b8755 | 11081 | } |
gume | 0:1f82672b8755 | 11082 | /*! |
gume | 0:1f82672b8755 | 11083 | * @brief This API used to write the mag operation mode |
gume | 0:1f82672b8755 | 11084 | * from page one register from 0x09 bit 3 to 4 |
gume | 0:1f82672b8755 | 11085 | * |
gume | 0:1f82672b8755 | 11086 | * @param mag_operation_mode_u8 : The value of mag operation mode |
gume | 0:1f82672b8755 | 11087 | * |
gume | 0:1f82672b8755 | 11088 | * mag_operation_mode_u8 | result |
gume | 0:1f82672b8755 | 11089 | * ------------------------- |-------------------------- |
gume | 0:1f82672b8755 | 11090 | * 0x00 | MAG_OPR_MODE_LOWPOWER |
gume | 0:1f82672b8755 | 11091 | * 0x01 | MAG_OPR_MODE_REGULAR |
gume | 0:1f82672b8755 | 11092 | * 0x02 | MAG_OPR_MODE_ENHANCED_REGULAR |
gume | 0:1f82672b8755 | 11093 | * 0x03 | MAG_OPR_MODE_HIGH_ACCURACY |
gume | 0:1f82672b8755 | 11094 | * |
gume | 0:1f82672b8755 | 11095 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 11096 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 11097 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 11098 | * |
gume | 0:1f82672b8755 | 11099 | * |
gume | 0:1f82672b8755 | 11100 | */ |
gume | 0:1f82672b8755 | 11101 | BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_operation_mode( |
gume | 0:1f82672b8755 | 11102 | u8 mag_operation_mode_u8) |
gume | 0:1f82672b8755 | 11103 | { |
gume | 0:1f82672b8755 | 11104 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11105 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 11106 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11107 | s8 pg_stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11108 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 11109 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 11110 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 11111 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 11112 | } else { |
gume | 0:1f82672b8755 | 11113 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 11114 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 11115 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 11116 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 11117 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 11118 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 11119 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 11120 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 11121 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 11122 | /* Write page as one */ |
gume | 0:1f82672b8755 | 11123 | pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 11124 | if (pg_stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 11125 | if (mag_operation_mode_u8 |
gume | 0:1f82672b8755 | 11126 | < BNO055_MAG_OPR_MODE_RANGE) { |
gume | 0:1f82672b8755 | 11127 | /* Write the value |
gume | 0:1f82672b8755 | 11128 | of mag operation mode*/ |
gume | 0:1f82672b8755 | 11129 | com_rslt = |
gume | 0:1f82672b8755 | 11130 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 11131 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 11132 | BNO055_MAG_OPERATION_MODE_REG, |
gume | 0:1f82672b8755 | 11133 | &data_u8r, |
gume | 0:1f82672b8755 | 11134 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 11135 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 11136 | data_u8r = BNO055_SET_BITSLICE |
gume | 0:1f82672b8755 | 11137 | (data_u8r, |
gume | 0:1f82672b8755 | 11138 | BNO055_MAG_OPERATION_MODE, |
gume | 0:1f82672b8755 | 11139 | mag_operation_mode_u8); |
gume | 0:1f82672b8755 | 11140 | com_rslt += |
gume | 0:1f82672b8755 | 11141 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 11142 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 11143 | BNO055_MAG_OPERATION_MODE_REG, |
gume | 0:1f82672b8755 | 11144 | &data_u8r, |
gume | 0:1f82672b8755 | 11145 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 11146 | } |
gume | 0:1f82672b8755 | 11147 | } else { |
gume | 0:1f82672b8755 | 11148 | com_rslt = BNO055_OUT_OF_RANGE; |
gume | 0:1f82672b8755 | 11149 | } |
gume | 0:1f82672b8755 | 11150 | } else { |
gume | 0:1f82672b8755 | 11151 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11152 | } |
gume | 0:1f82672b8755 | 11153 | } else { |
gume | 0:1f82672b8755 | 11154 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11155 | } |
gume | 0:1f82672b8755 | 11156 | } else { |
gume | 0:1f82672b8755 | 11157 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11158 | } |
gume | 0:1f82672b8755 | 11159 | } |
gume | 0:1f82672b8755 | 11160 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 11161 | /* set the operation mode of |
gume | 0:1f82672b8755 | 11162 | previous operation mode*/ |
gume | 0:1f82672b8755 | 11163 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 11164 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 11165 | return com_rslt; |
gume | 0:1f82672b8755 | 11166 | } |
gume | 0:1f82672b8755 | 11167 | /*! |
gume | 0:1f82672b8755 | 11168 | * @brief This API used to read the mag power mode |
gume | 0:1f82672b8755 | 11169 | * from page one register from 0x09 bit 4 to 6 |
gume | 0:1f82672b8755 | 11170 | * |
gume | 0:1f82672b8755 | 11171 | * @param mag_power_mode_u8 : The value of mag power mode |
gume | 0:1f82672b8755 | 11172 | * |
gume | 0:1f82672b8755 | 11173 | * mag_power_mode_u8 | result |
gume | 0:1f82672b8755 | 11174 | * --------------------|----------------- |
gume | 0:1f82672b8755 | 11175 | * 0x00 | BNO055_MAG_POWER_MODE_NORMAL |
gume | 0:1f82672b8755 | 11176 | * 0x01 | BNO055_MAG_POWER_MODE_SLEEP |
gume | 0:1f82672b8755 | 11177 | * 0x02 | BNO055_MAG_POWER_MODE_SUSPEND |
gume | 0:1f82672b8755 | 11178 | * 0x03 | BNO055_MAG_POWER_MODE_FORCE_MODE |
gume | 0:1f82672b8755 | 11179 | * |
gume | 0:1f82672b8755 | 11180 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 11181 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 11182 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 11183 | * |
gume | 0:1f82672b8755 | 11184 | * |
gume | 0:1f82672b8755 | 11185 | */ |
gume | 0:1f82672b8755 | 11186 | BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_power_mode( |
gume | 0:1f82672b8755 | 11187 | u8 *mag_power_mode_u8) |
gume | 0:1f82672b8755 | 11188 | { |
gume | 0:1f82672b8755 | 11189 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 11190 | communication routine*/ |
gume | 0:1f82672b8755 | 11191 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11192 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 11193 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11194 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 11195 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 11196 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 11197 | } else { |
gume | 0:1f82672b8755 | 11198 | /*condition check for page, mag power mode is |
gume | 0:1f82672b8755 | 11199 | available in the page one*/ |
gume | 0:1f82672b8755 | 11200 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 11201 | /* Write page as one */ |
gume | 0:1f82672b8755 | 11202 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 11203 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 11204 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 11205 | /* Read the value of mag power mode */ |
gume | 0:1f82672b8755 | 11206 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 11207 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 11208 | BNO055_MAG_POWER_MODE_REG, |
gume | 0:1f82672b8755 | 11209 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 11210 | *mag_power_mode_u8 = |
gume | 0:1f82672b8755 | 11211 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 11212 | BNO055_MAG_POWER_MODE); |
gume | 0:1f82672b8755 | 11213 | } else { |
gume | 0:1f82672b8755 | 11214 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11215 | } |
gume | 0:1f82672b8755 | 11216 | } |
gume | 0:1f82672b8755 | 11217 | return com_rslt; |
gume | 0:1f82672b8755 | 11218 | } |
gume | 0:1f82672b8755 | 11219 | /*! |
gume | 0:1f82672b8755 | 11220 | * @brief This API used to write the mag power mode |
gume | 0:1f82672b8755 | 11221 | * from page one register from 0x09 bit 4 to 6 |
gume | 0:1f82672b8755 | 11222 | * |
gume | 0:1f82672b8755 | 11223 | * @param mag_power_mode_u8 : The value of mag power mode |
gume | 0:1f82672b8755 | 11224 | * |
gume | 0:1f82672b8755 | 11225 | * mag_power_mode_u8 | result |
gume | 0:1f82672b8755 | 11226 | * --------------------|----------------- |
gume | 0:1f82672b8755 | 11227 | * 0x00 | BNO055_MAG_POWER_MODE_NORMAL |
gume | 0:1f82672b8755 | 11228 | * 0x01 | BNO055_MAG_POWER_MODE_SLEEP |
gume | 0:1f82672b8755 | 11229 | * 0x02 | BNO055_MAG_POWER_MODE_SUSPEND |
gume | 0:1f82672b8755 | 11230 | * 0x03 | BNO055_MAG_POWER_MODE_FORCE_MODE |
gume | 0:1f82672b8755 | 11231 | * |
gume | 0:1f82672b8755 | 11232 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 11233 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 11234 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 11235 | * |
gume | 0:1f82672b8755 | 11236 | * |
gume | 0:1f82672b8755 | 11237 | */ |
gume | 0:1f82672b8755 | 11238 | BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_power_mode( |
gume | 0:1f82672b8755 | 11239 | u8 mag_power_mode_u8) |
gume | 0:1f82672b8755 | 11240 | { |
gume | 0:1f82672b8755 | 11241 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11242 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 11243 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11244 | s8 pg_stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11245 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 11246 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 11247 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 11248 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 11249 | } else { |
gume | 0:1f82672b8755 | 11250 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 11251 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 11252 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 11253 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 11254 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 11255 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 11256 | stat_s8 += bno055_set_operation_mode( |
gume | 0:1f82672b8755 | 11257 | BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 11258 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 11259 | /* Write page as one */ |
gume | 0:1f82672b8755 | 11260 | pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 11261 | if (pg_stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 11262 | if (mag_power_mode_u8 < |
gume | 0:1f82672b8755 | 11263 | BNO055_MAG_POWER_MODE_RANGE) { |
gume | 0:1f82672b8755 | 11264 | /* Write the value of mag power mode*/ |
gume | 0:1f82672b8755 | 11265 | com_rslt = |
gume | 0:1f82672b8755 | 11266 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 11267 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 11268 | BNO055_MAG_POWER_MODE_REG, |
gume | 0:1f82672b8755 | 11269 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 11270 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 11271 | data_u8r = BNO055_SET_BITSLICE |
gume | 0:1f82672b8755 | 11272 | (data_u8r, |
gume | 0:1f82672b8755 | 11273 | BNO055_MAG_POWER_MODE, |
gume | 0:1f82672b8755 | 11274 | mag_power_mode_u8); |
gume | 0:1f82672b8755 | 11275 | com_rslt += |
gume | 0:1f82672b8755 | 11276 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 11277 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 11278 | BNO055_MAG_POWER_MODE_REG, |
gume | 0:1f82672b8755 | 11279 | &data_u8r, |
gume | 0:1f82672b8755 | 11280 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 11281 | } |
gume | 0:1f82672b8755 | 11282 | } else { |
gume | 0:1f82672b8755 | 11283 | com_rslt = BNO055_OUT_OF_RANGE; |
gume | 0:1f82672b8755 | 11284 | } |
gume | 0:1f82672b8755 | 11285 | } else { |
gume | 0:1f82672b8755 | 11286 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11287 | } |
gume | 0:1f82672b8755 | 11288 | } else { |
gume | 0:1f82672b8755 | 11289 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11290 | } |
gume | 0:1f82672b8755 | 11291 | } else { |
gume | 0:1f82672b8755 | 11292 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11293 | } |
gume | 0:1f82672b8755 | 11294 | } |
gume | 0:1f82672b8755 | 11295 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 11296 | /* set the operation mode of |
gume | 0:1f82672b8755 | 11297 | previous operation mode*/ |
gume | 0:1f82672b8755 | 11298 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 11299 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 11300 | return com_rslt; |
gume | 0:1f82672b8755 | 11301 | } |
gume | 0:1f82672b8755 | 11302 | /*! |
gume | 0:1f82672b8755 | 11303 | * @brief This API used to read the gyro range |
gume | 0:1f82672b8755 | 11304 | * from page one register from 0x0A bit 0 to 3 |
gume | 0:1f82672b8755 | 11305 | * |
gume | 0:1f82672b8755 | 11306 | * @param gyro_range_u8 : The value of gyro range |
gume | 0:1f82672b8755 | 11307 | * |
gume | 0:1f82672b8755 | 11308 | * gyro_range_u8 | result |
gume | 0:1f82672b8755 | 11309 | * --------------------|----------------- |
gume | 0:1f82672b8755 | 11310 | * 0x00 | BNO055_GYRO_RANGE_2000DPS |
gume | 0:1f82672b8755 | 11311 | * 0x01 | BNO055_GYRO_RANGE_1000DPS |
gume | 0:1f82672b8755 | 11312 | * 0x02 | BNO055_GYRO_RANGE_500DPS |
gume | 0:1f82672b8755 | 11313 | * 0x03 | BNO055_GYRO_RANGE_250DPS |
gume | 0:1f82672b8755 | 11314 | * 0x04 | BNO055_GYRO_RANGE_125DPS |
gume | 0:1f82672b8755 | 11315 | * |
gume | 0:1f82672b8755 | 11316 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 11317 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 11318 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 11319 | * |
gume | 0:1f82672b8755 | 11320 | * |
gume | 0:1f82672b8755 | 11321 | */ |
gume | 0:1f82672b8755 | 11322 | BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_range( |
gume | 0:1f82672b8755 | 11323 | u8 *gyro_range_u8) |
gume | 0:1f82672b8755 | 11324 | { |
gume | 0:1f82672b8755 | 11325 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 11326 | communication routine*/ |
gume | 0:1f82672b8755 | 11327 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11328 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 11329 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11330 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 11331 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 11332 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 11333 | } else { |
gume | 0:1f82672b8755 | 11334 | /*condition check for page, gyro range is |
gume | 0:1f82672b8755 | 11335 | available in the page one*/ |
gume | 0:1f82672b8755 | 11336 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 11337 | /* Write page as one */ |
gume | 0:1f82672b8755 | 11338 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 11339 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 11340 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 11341 | /* Read the value of gyro range */ |
gume | 0:1f82672b8755 | 11342 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 11343 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 11344 | BNO055_GYRO_RANGE_REG, |
gume | 0:1f82672b8755 | 11345 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 11346 | *gyro_range_u8 = |
gume | 0:1f82672b8755 | 11347 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 11348 | BNO055_GYRO_RANGE); |
gume | 0:1f82672b8755 | 11349 | } else { |
gume | 0:1f82672b8755 | 11350 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11351 | } |
gume | 0:1f82672b8755 | 11352 | } |
gume | 0:1f82672b8755 | 11353 | return com_rslt; |
gume | 0:1f82672b8755 | 11354 | } |
gume | 0:1f82672b8755 | 11355 | /*! |
gume | 0:1f82672b8755 | 11356 | * @brief This API used to write the gyro range |
gume | 0:1f82672b8755 | 11357 | * from page one register from 0x0A bit 0 to 3 |
gume | 0:1f82672b8755 | 11358 | * |
gume | 0:1f82672b8755 | 11359 | * @param gyro_range_u8 : The value of gyro range |
gume | 0:1f82672b8755 | 11360 | * |
gume | 0:1f82672b8755 | 11361 | * gyro_range_u8 | result |
gume | 0:1f82672b8755 | 11362 | * --------------------|----------------- |
gume | 0:1f82672b8755 | 11363 | * 0x00 | BNO055_GYRO_RANGE_2000DPS |
gume | 0:1f82672b8755 | 11364 | * 0x01 | BNO055_GYRO_RANGE_1000DPS |
gume | 0:1f82672b8755 | 11365 | * 0x02 | BNO055_GYRO_RANGE_500DPS |
gume | 0:1f82672b8755 | 11366 | * 0x03 | BNO055_GYRO_RANGE_250DPS |
gume | 0:1f82672b8755 | 11367 | * 0x04 | BNO055_GYRO_RANGE_125DPS |
gume | 0:1f82672b8755 | 11368 | * |
gume | 0:1f82672b8755 | 11369 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 11370 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 11371 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 11372 | * |
gume | 0:1f82672b8755 | 11373 | * |
gume | 0:1f82672b8755 | 11374 | */ |
gume | 0:1f82672b8755 | 11375 | BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_range( |
gume | 0:1f82672b8755 | 11376 | u8 gyro_range_u8) |
gume | 0:1f82672b8755 | 11377 | { |
gume | 0:1f82672b8755 | 11378 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11379 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 11380 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11381 | s8 pg_stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11382 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 11383 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 11384 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 11385 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 11386 | } else { |
gume | 0:1f82672b8755 | 11387 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 11388 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 11389 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 11390 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 11391 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 11392 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 11393 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 11394 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 11395 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 11396 | /* Write page as one */ |
gume | 0:1f82672b8755 | 11397 | pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 11398 | if (pg_stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 11399 | if (gyro_range_u8 < BNO055_GYRO_RANGE) { |
gume | 0:1f82672b8755 | 11400 | /* Write the value of gyro range*/ |
gume | 0:1f82672b8755 | 11401 | com_rslt = |
gume | 0:1f82672b8755 | 11402 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 11403 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 11404 | BNO055_GYRO_RANGE_REG, |
gume | 0:1f82672b8755 | 11405 | &data_u8r, |
gume | 0:1f82672b8755 | 11406 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 11407 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 11408 | data_u8r = BNO055_SET_BITSLICE |
gume | 0:1f82672b8755 | 11409 | (data_u8r, |
gume | 0:1f82672b8755 | 11410 | BNO055_GYRO_RANGE, |
gume | 0:1f82672b8755 | 11411 | gyro_range_u8); |
gume | 0:1f82672b8755 | 11412 | com_rslt += |
gume | 0:1f82672b8755 | 11413 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 11414 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 11415 | BNO055_GYRO_RANGE_REG, |
gume | 0:1f82672b8755 | 11416 | &data_u8r, |
gume | 0:1f82672b8755 | 11417 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 11418 | } |
gume | 0:1f82672b8755 | 11419 | } else { |
gume | 0:1f82672b8755 | 11420 | com_rslt = BNO055_OUT_OF_RANGE; |
gume | 0:1f82672b8755 | 11421 | } |
gume | 0:1f82672b8755 | 11422 | } else { |
gume | 0:1f82672b8755 | 11423 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11424 | } |
gume | 0:1f82672b8755 | 11425 | } else { |
gume | 0:1f82672b8755 | 11426 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11427 | } |
gume | 0:1f82672b8755 | 11428 | } else { |
gume | 0:1f82672b8755 | 11429 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11430 | } |
gume | 0:1f82672b8755 | 11431 | } |
gume | 0:1f82672b8755 | 11432 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 11433 | /* set the operation mode of |
gume | 0:1f82672b8755 | 11434 | previous operation mode*/ |
gume | 0:1f82672b8755 | 11435 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 11436 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 11437 | return com_rslt; |
gume | 0:1f82672b8755 | 11438 | } |
gume | 0:1f82672b8755 | 11439 | /*! |
gume | 0:1f82672b8755 | 11440 | * @brief This API used to read the gyro bandwidth |
gume | 0:1f82672b8755 | 11441 | * from page one register from 0x0A bit 3 to 5 |
gume | 0:1f82672b8755 | 11442 | * |
gume | 0:1f82672b8755 | 11443 | * @param gyro_bw_u8 : The value of gyro bandwidth |
gume | 0:1f82672b8755 | 11444 | * |
gume | 0:1f82672b8755 | 11445 | * gyro_bw_u8 | result |
gume | 0:1f82672b8755 | 11446 | * --------------------|----------------- |
gume | 0:1f82672b8755 | 11447 | * 0x00 | BNO055_GYRO_BW_523HZ |
gume | 0:1f82672b8755 | 11448 | * 0x01 | BNO055_GYRO_BW_230HZ |
gume | 0:1f82672b8755 | 11449 | * 0x02 | BNO055_GYRO_BW_116HZ |
gume | 0:1f82672b8755 | 11450 | * 0x03 | BNO055_GYRO_BW_47HZ |
gume | 0:1f82672b8755 | 11451 | * 0x04 | BNO055_GYRO_BW_23HZ |
gume | 0:1f82672b8755 | 11452 | * 0x05 | BNO055_GYRO_BW_12HZ |
gume | 0:1f82672b8755 | 11453 | * 0x06 | BNO055_GYRO_BW_64HZ |
gume | 0:1f82672b8755 | 11454 | * 0x07 | BNO055_GYRO_BW_32HZ |
gume | 0:1f82672b8755 | 11455 | * |
gume | 0:1f82672b8755 | 11456 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 11457 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 11458 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 11459 | * |
gume | 0:1f82672b8755 | 11460 | * |
gume | 0:1f82672b8755 | 11461 | */ |
gume | 0:1f82672b8755 | 11462 | BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_bw( |
gume | 0:1f82672b8755 | 11463 | u8 *gyro_bw_u8) |
gume | 0:1f82672b8755 | 11464 | { |
gume | 0:1f82672b8755 | 11465 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 11466 | communication routine*/ |
gume | 0:1f82672b8755 | 11467 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11468 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 11469 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11470 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 11471 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 11472 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 11473 | } else { |
gume | 0:1f82672b8755 | 11474 | /*condition check for page, gyro bandwidth is |
gume | 0:1f82672b8755 | 11475 | available in the page one*/ |
gume | 0:1f82672b8755 | 11476 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 11477 | /* Write page as one */ |
gume | 0:1f82672b8755 | 11478 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 11479 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 11480 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 11481 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 11482 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 11483 | BNO055_GYRO_BW_REG, |
gume | 0:1f82672b8755 | 11484 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 11485 | *gyro_bw_u8 = |
gume | 0:1f82672b8755 | 11486 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 11487 | BNO055_GYRO_BW); |
gume | 0:1f82672b8755 | 11488 | } else { |
gume | 0:1f82672b8755 | 11489 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11490 | } |
gume | 0:1f82672b8755 | 11491 | } |
gume | 0:1f82672b8755 | 11492 | return com_rslt; |
gume | 0:1f82672b8755 | 11493 | } |
gume | 0:1f82672b8755 | 11494 | /*! |
gume | 0:1f82672b8755 | 11495 | * @brief This API used to write the gyro bandwidth |
gume | 0:1f82672b8755 | 11496 | * from page one register from 0x0A bit 3 to 5 |
gume | 0:1f82672b8755 | 11497 | * |
gume | 0:1f82672b8755 | 11498 | * @param gyro_bw_u8 : The value of gyro bandwidth |
gume | 0:1f82672b8755 | 11499 | * |
gume | 0:1f82672b8755 | 11500 | * gyro_bw_u8 | result |
gume | 0:1f82672b8755 | 11501 | * --------------------|----------------- |
gume | 0:1f82672b8755 | 11502 | * 0x00 | BNO055_GYRO_BW_523HZ |
gume | 0:1f82672b8755 | 11503 | * 0x01 | BNO055_GYRO_BW_230HZ |
gume | 0:1f82672b8755 | 11504 | * 0x02 | BNO055_GYRO_BW_116HZ |
gume | 0:1f82672b8755 | 11505 | * 0x03 | BNO055_GYRO_BW_47HZ |
gume | 0:1f82672b8755 | 11506 | * 0x04 | BNO055_GYRO_BW_23HZ |
gume | 0:1f82672b8755 | 11507 | * 0x05 | BNO055_GYRO_BW_12HZ |
gume | 0:1f82672b8755 | 11508 | * 0x06 | BNO055_GYRO_BW_64HZ |
gume | 0:1f82672b8755 | 11509 | * 0x07 | BNO055_GYRO_BW_32HZ |
gume | 0:1f82672b8755 | 11510 | * |
gume | 0:1f82672b8755 | 11511 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 11512 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 11513 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 11514 | * |
gume | 0:1f82672b8755 | 11515 | * |
gume | 0:1f82672b8755 | 11516 | */ |
gume | 0:1f82672b8755 | 11517 | BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_bw( |
gume | 0:1f82672b8755 | 11518 | u8 gyro_bw_u8) |
gume | 0:1f82672b8755 | 11519 | { |
gume | 0:1f82672b8755 | 11520 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11521 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 11522 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11523 | u8 gyro_opmode = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 11524 | u8 gyro_auto_sleep_durn = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 11525 | s8 pg_stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11526 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 11527 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 11528 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 11529 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 11530 | } else { |
gume | 0:1f82672b8755 | 11531 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 11532 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 11533 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 11534 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 11535 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 11536 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 11537 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 11538 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 11539 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 11540 | /* Write page as one */ |
gume | 0:1f82672b8755 | 11541 | pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 11542 | if (pg_stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 11543 | /* Write the value of gyro bandwidth */ |
gume | 0:1f82672b8755 | 11544 | if ((gyro_bw_u8 == BNO055_INIT_VALUE || |
gume | 0:1f82672b8755 | 11545 | gyro_bw_u8 > BNO055_INIT_VALUE) && |
gume | 0:1f82672b8755 | 11546 | gyro_bw_u8 < BNO055_ACCEL_GYRO_BW_RANGE) { |
gume | 0:1f82672b8755 | 11547 | switch (gyro_bw_u8) { |
gume | 0:1f82672b8755 | 11548 | case BNO055_GYRO_BW_523HZ: |
gume | 0:1f82672b8755 | 11549 | gyro_bw_u8 = BNO055_GYRO_BW_523HZ; |
gume | 0:1f82672b8755 | 11550 | break; |
gume | 0:1f82672b8755 | 11551 | case BNO055_GYRO_BW_230HZ: |
gume | 0:1f82672b8755 | 11552 | gyro_bw_u8 = BNO055_GYRO_BW_230HZ; |
gume | 0:1f82672b8755 | 11553 | break; |
gume | 0:1f82672b8755 | 11554 | case BNO055_GYRO_BW_116HZ: |
gume | 0:1f82672b8755 | 11555 | gyro_bw_u8 = BNO055_GYRO_BW_116HZ; |
gume | 0:1f82672b8755 | 11556 | break; |
gume | 0:1f82672b8755 | 11557 | case BNO055_GYRO_BW_47HZ: |
gume | 0:1f82672b8755 | 11558 | gyro_bw_u8 = BNO055_GYRO_BW_47HZ; |
gume | 0:1f82672b8755 | 11559 | break; |
gume | 0:1f82672b8755 | 11560 | case BNO055_GYRO_BW_23HZ: |
gume | 0:1f82672b8755 | 11561 | gyro_bw_u8 = BNO055_GYRO_BW_23HZ; |
gume | 0:1f82672b8755 | 11562 | break; |
gume | 0:1f82672b8755 | 11563 | case BNO055_GYRO_BW_12HZ: |
gume | 0:1f82672b8755 | 11564 | gyro_bw_u8 = BNO055_GYRO_BW_12HZ; |
gume | 0:1f82672b8755 | 11565 | break; |
gume | 0:1f82672b8755 | 11566 | case BNO055_GYRO_BW_64HZ: |
gume | 0:1f82672b8755 | 11567 | gyro_bw_u8 = BNO055_GYRO_BW_64HZ; |
gume | 0:1f82672b8755 | 11568 | break; |
gume | 0:1f82672b8755 | 11569 | case BNO055_GYRO_BW_32HZ: |
gume | 0:1f82672b8755 | 11570 | gyro_bw_u8 = BNO055_GYRO_BW_32HZ; |
gume | 0:1f82672b8755 | 11571 | break; |
gume | 0:1f82672b8755 | 11572 | default: |
gume | 0:1f82672b8755 | 11573 | break; |
gume | 0:1f82672b8755 | 11574 | } |
gume | 0:1f82672b8755 | 11575 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 11576 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 11577 | BNO055_GYRO_BW_REG, |
gume | 0:1f82672b8755 | 11578 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 11579 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 11580 | data_u8r = BNO055_SET_BITSLICE |
gume | 0:1f82672b8755 | 11581 | (data_u8r, |
gume | 0:1f82672b8755 | 11582 | BNO055_GYRO_BW, |
gume | 0:1f82672b8755 | 11583 | gyro_bw_u8); |
gume | 0:1f82672b8755 | 11584 | com_rslt += |
gume | 0:1f82672b8755 | 11585 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 11586 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 11587 | BNO055_GYRO_BW_REG, |
gume | 0:1f82672b8755 | 11588 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 11589 | } |
gume | 0:1f82672b8755 | 11590 | com_rslt = bno055_get_gyro_power_mode |
gume | 0:1f82672b8755 | 11591 | (&gyro_opmode); |
gume | 0:1f82672b8755 | 11592 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 11593 | if (gyro_opmode == |
gume | 0:1f82672b8755 | 11594 | BNO055_GYRO_POWER_MODE_ADVANCE_POWERSAVE) { |
gume | 0:1f82672b8755 | 11595 | com_rslt += |
gume | 0:1f82672b8755 | 11596 | bno055_get_gyro_auto_sleep_durn |
gume | 0:1f82672b8755 | 11597 | (&gyro_auto_sleep_durn); |
gume | 0:1f82672b8755 | 11598 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 11599 | com_rslt += |
gume | 0:1f82672b8755 | 11600 | bno055_gyro_set_auto_sleep_durn |
gume | 0:1f82672b8755 | 11601 | (gyro_auto_sleep_durn, |
gume | 0:1f82672b8755 | 11602 | gyro_bw_u8); |
gume | 0:1f82672b8755 | 11603 | } |
gume | 0:1f82672b8755 | 11604 | } |
gume | 0:1f82672b8755 | 11605 | } |
gume | 0:1f82672b8755 | 11606 | } else { |
gume | 0:1f82672b8755 | 11607 | com_rslt = BNO055_OUT_OF_RANGE; |
gume | 0:1f82672b8755 | 11608 | } |
gume | 0:1f82672b8755 | 11609 | } else { |
gume | 0:1f82672b8755 | 11610 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11611 | } |
gume | 0:1f82672b8755 | 11612 | } else { |
gume | 0:1f82672b8755 | 11613 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11614 | } |
gume | 0:1f82672b8755 | 11615 | } else { |
gume | 0:1f82672b8755 | 11616 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11617 | } |
gume | 0:1f82672b8755 | 11618 | } |
gume | 0:1f82672b8755 | 11619 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 11620 | /* set the operation mode of |
gume | 0:1f82672b8755 | 11621 | previous operation mode*/ |
gume | 0:1f82672b8755 | 11622 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 11623 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 11624 | return com_rslt; |
gume | 0:1f82672b8755 | 11625 | } |
gume | 0:1f82672b8755 | 11626 | /*! |
gume | 0:1f82672b8755 | 11627 | * @brief This API used to read the gyro power mode |
gume | 0:1f82672b8755 | 11628 | * from page one register from 0x0B bit 0 to 2 |
gume | 0:1f82672b8755 | 11629 | * |
gume | 0:1f82672b8755 | 11630 | * @param gyro_power_mode_u8 : The value of gyro power mode |
gume | 0:1f82672b8755 | 11631 | * |
gume | 0:1f82672b8755 | 11632 | * gyro_power_mode_u8 | result |
gume | 0:1f82672b8755 | 11633 | * ----------------------|---------------------------- |
gume | 0:1f82672b8755 | 11634 | * 0x00 | GYRO_OPR_MODE_NORMAL |
gume | 0:1f82672b8755 | 11635 | * 0x01 | GYRO_OPR_MODE_FASTPOWERUP |
gume | 0:1f82672b8755 | 11636 | * 0x02 | GYRO_OPR_MODE_DEEPSUSPEND |
gume | 0:1f82672b8755 | 11637 | * 0x03 | GYRO_OPR_MODE_SUSPEND |
gume | 0:1f82672b8755 | 11638 | * 0x04 | GYRO_OPR_MODE_ADVANCE_POWERSAVE |
gume | 0:1f82672b8755 | 11639 | * |
gume | 0:1f82672b8755 | 11640 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 11641 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 11642 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 11643 | * |
gume | 0:1f82672b8755 | 11644 | * |
gume | 0:1f82672b8755 | 11645 | */ |
gume | 0:1f82672b8755 | 11646 | BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_power_mode( |
gume | 0:1f82672b8755 | 11647 | u8 *gyro_power_mode_u8) |
gume | 0:1f82672b8755 | 11648 | { |
gume | 0:1f82672b8755 | 11649 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 11650 | communication routine*/ |
gume | 0:1f82672b8755 | 11651 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11652 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 11653 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11654 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 11655 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 11656 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 11657 | } else { |
gume | 0:1f82672b8755 | 11658 | /*condition check for page, gyro power mode is |
gume | 0:1f82672b8755 | 11659 | available in the page one*/ |
gume | 0:1f82672b8755 | 11660 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 11661 | /* Write page as one */ |
gume | 0:1f82672b8755 | 11662 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 11663 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 11664 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 11665 | /* Write the value of gyro power mode*/ |
gume | 0:1f82672b8755 | 11666 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 11667 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 11668 | BNO055_GYRO_POWER_MODE_REG, |
gume | 0:1f82672b8755 | 11669 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 11670 | *gyro_power_mode_u8 = |
gume | 0:1f82672b8755 | 11671 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 11672 | BNO055_GYRO_POWER_MODE); |
gume | 0:1f82672b8755 | 11673 | } else { |
gume | 0:1f82672b8755 | 11674 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11675 | } |
gume | 0:1f82672b8755 | 11676 | } |
gume | 0:1f82672b8755 | 11677 | return com_rslt; |
gume | 0:1f82672b8755 | 11678 | } |
gume | 0:1f82672b8755 | 11679 | /*! |
gume | 0:1f82672b8755 | 11680 | * @brief This API used to write the gyro power mode |
gume | 0:1f82672b8755 | 11681 | * from page one register from 0x0B bit 0 to 2 |
gume | 0:1f82672b8755 | 11682 | * |
gume | 0:1f82672b8755 | 11683 | * @param gyro_power_mode_u8 : The value of gyro power mode |
gume | 0:1f82672b8755 | 11684 | * |
gume | 0:1f82672b8755 | 11685 | * gyro_power_mode_u8 | result |
gume | 0:1f82672b8755 | 11686 | * ----------------------|---------------------------- |
gume | 0:1f82672b8755 | 11687 | * 0x00 | GYRO_OPR_MODE_NORMAL |
gume | 0:1f82672b8755 | 11688 | * 0x01 | GYRO_OPR_MODE_FASTPOWERUP |
gume | 0:1f82672b8755 | 11689 | * 0x02 | GYRO_OPR_MODE_DEEPSUSPEND |
gume | 0:1f82672b8755 | 11690 | * 0x03 | GYRO_OPR_MODE_SUSPEND |
gume | 0:1f82672b8755 | 11691 | * 0x04 | GYRO_OPR_MODE_ADVANCE_POWERSAVE |
gume | 0:1f82672b8755 | 11692 | * |
gume | 0:1f82672b8755 | 11693 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 11694 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 11695 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 11696 | * |
gume | 0:1f82672b8755 | 11697 | * |
gume | 0:1f82672b8755 | 11698 | */ |
gume | 0:1f82672b8755 | 11699 | BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_power_mode( |
gume | 0:1f82672b8755 | 11700 | u8 gyro_power_mode_u8) |
gume | 0:1f82672b8755 | 11701 | { |
gume | 0:1f82672b8755 | 11702 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11703 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 11704 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11705 | u8 gyro_auto_sleep_durn = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 11706 | u8 gyro_bw_u8 = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 11707 | s8 pg_stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11708 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 11709 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 11710 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 11711 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 11712 | } else { |
gume | 0:1f82672b8755 | 11713 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 11714 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 11715 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 11716 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 11717 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 11718 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 11719 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 11720 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 11721 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 11722 | /* Write page as one */ |
gume | 0:1f82672b8755 | 11723 | pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 11724 | if (pg_stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 11725 | /* Write the value of power mode*/ |
gume | 0:1f82672b8755 | 11726 | if ((gyro_power_mode_u8 == BNO055_INIT_VALUE || |
gume | 0:1f82672b8755 | 11727 | gyro_power_mode_u8 > BNO055_INIT_VALUE) && |
gume | 0:1f82672b8755 | 11728 | gyro_power_mode_u8 < BNO055_GYRO_RANGE) { |
gume | 0:1f82672b8755 | 11729 | switch (gyro_power_mode_u8) { |
gume | 0:1f82672b8755 | 11730 | case BNO055_GYRO_POWER_MODE_NORMAL: |
gume | 0:1f82672b8755 | 11731 | gyro_power_mode_u8 = |
gume | 0:1f82672b8755 | 11732 | BNO055_GYRO_POWER_MODE_NORMAL; |
gume | 0:1f82672b8755 | 11733 | break; |
gume | 0:1f82672b8755 | 11734 | case BNO055_GYRO_POWER_MODE_FASTPOWERUP: |
gume | 0:1f82672b8755 | 11735 | gyro_power_mode_u8 = |
gume | 0:1f82672b8755 | 11736 | BNO055_GYRO_POWER_MODE_FASTPOWERUP; |
gume | 0:1f82672b8755 | 11737 | break; |
gume | 0:1f82672b8755 | 11738 | case BNO055_GYRO_POWER_MODE_DEEPSUSPEND: |
gume | 0:1f82672b8755 | 11739 | gyro_power_mode_u8 = |
gume | 0:1f82672b8755 | 11740 | BNO055_GYRO_POWER_MODE_DEEPSUSPEND; |
gume | 0:1f82672b8755 | 11741 | break; |
gume | 0:1f82672b8755 | 11742 | case BNO055_GYRO_POWER_MODE_SUSPEND: |
gume | 0:1f82672b8755 | 11743 | gyro_power_mode_u8 = |
gume | 0:1f82672b8755 | 11744 | BNO055_GYRO_POWER_MODE_SUSPEND; |
gume | 0:1f82672b8755 | 11745 | break; |
gume | 0:1f82672b8755 | 11746 | case BNO055_GYRO_POWER_MODE_ADVANCE_POWERSAVE: |
gume | 0:1f82672b8755 | 11747 | com_rslt = bno055_get_gyro_bw |
gume | 0:1f82672b8755 | 11748 | (&gyro_bw_u8); |
gume | 0:1f82672b8755 | 11749 | com_rslt += bno055_get_gyro_auto_sleep_durn |
gume | 0:1f82672b8755 | 11750 | (&gyro_auto_sleep_durn); |
gume | 0:1f82672b8755 | 11751 | if (com_rslt == BNO055_SUCCESS) |
gume | 0:1f82672b8755 | 11752 | bno055_gyro_set_auto_sleep_durn |
gume | 0:1f82672b8755 | 11753 | (gyro_auto_sleep_durn, |
gume | 0:1f82672b8755 | 11754 | gyro_bw_u8); |
gume | 0:1f82672b8755 | 11755 | com_rslt += |
gume | 0:1f82672b8755 | 11756 | bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 11757 | gyro_power_mode_u8 = |
gume | 0:1f82672b8755 | 11758 | BNO055_GYRO_POWER_MODE_ADVANCE_POWERSAVE; |
gume | 0:1f82672b8755 | 11759 | break; |
gume | 0:1f82672b8755 | 11760 | default: |
gume | 0:1f82672b8755 | 11761 | break; |
gume | 0:1f82672b8755 | 11762 | } |
gume | 0:1f82672b8755 | 11763 | com_rslt = |
gume | 0:1f82672b8755 | 11764 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 11765 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 11766 | BNO055_GYRO_POWER_MODE_REG, |
gume | 0:1f82672b8755 | 11767 | &data_u8r, |
gume | 0:1f82672b8755 | 11768 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 11769 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 11770 | data_u8r = BNO055_SET_BITSLICE |
gume | 0:1f82672b8755 | 11771 | (data_u8r, |
gume | 0:1f82672b8755 | 11772 | BNO055_GYRO_POWER_MODE, |
gume | 0:1f82672b8755 | 11773 | gyro_power_mode_u8); |
gume | 0:1f82672b8755 | 11774 | com_rslt += |
gume | 0:1f82672b8755 | 11775 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 11776 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 11777 | BNO055_GYRO_POWER_MODE_REG, |
gume | 0:1f82672b8755 | 11778 | &data_u8r, |
gume | 0:1f82672b8755 | 11779 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 11780 | } |
gume | 0:1f82672b8755 | 11781 | } else { |
gume | 0:1f82672b8755 | 11782 | com_rslt = BNO055_OUT_OF_RANGE; |
gume | 0:1f82672b8755 | 11783 | } |
gume | 0:1f82672b8755 | 11784 | } else { |
gume | 0:1f82672b8755 | 11785 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11786 | } |
gume | 0:1f82672b8755 | 11787 | } else { |
gume | 0:1f82672b8755 | 11788 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11789 | } |
gume | 0:1f82672b8755 | 11790 | } else { |
gume | 0:1f82672b8755 | 11791 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11792 | } |
gume | 0:1f82672b8755 | 11793 | } |
gume | 0:1f82672b8755 | 11794 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 11795 | /* set the operation mode of |
gume | 0:1f82672b8755 | 11796 | previous operation mode*/ |
gume | 0:1f82672b8755 | 11797 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 11798 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 11799 | return com_rslt; |
gume | 0:1f82672b8755 | 11800 | } |
gume | 0:1f82672b8755 | 11801 | /*! |
gume | 0:1f82672b8755 | 11802 | * @brief This API used to read the accel sleep mode |
gume | 0:1f82672b8755 | 11803 | * from page one register from 0x0C bit 0 |
gume | 0:1f82672b8755 | 11804 | * |
gume | 0:1f82672b8755 | 11805 | * @param sleep_tmr_u8 : The value of accel sleep mode |
gume | 0:1f82672b8755 | 11806 | * |
gume | 0:1f82672b8755 | 11807 | * sleep_tmr_u8 | result |
gume | 0:1f82672b8755 | 11808 | * ----------------- |------------------------------------ |
gume | 0:1f82672b8755 | 11809 | * 0x00 | enable EventDrivenSampling(EDT) |
gume | 0:1f82672b8755 | 11810 | * 0x01 | enable Equidistant sampling mode(EST) |
gume | 0:1f82672b8755 | 11811 | * |
gume | 0:1f82672b8755 | 11812 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 11813 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 11814 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 11815 | * |
gume | 0:1f82672b8755 | 11816 | * |
gume | 0:1f82672b8755 | 11817 | */ |
gume | 0:1f82672b8755 | 11818 | BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_sleep_tmr_mode( |
gume | 0:1f82672b8755 | 11819 | u8 *sleep_tmr_u8) |
gume | 0:1f82672b8755 | 11820 | { |
gume | 0:1f82672b8755 | 11821 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 11822 | communication routine*/ |
gume | 0:1f82672b8755 | 11823 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11824 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 11825 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11826 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 11827 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 11828 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 11829 | } else { |
gume | 0:1f82672b8755 | 11830 | /*condition check for page, accel sleep mode is |
gume | 0:1f82672b8755 | 11831 | available in the page one*/ |
gume | 0:1f82672b8755 | 11832 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 11833 | /* Write page as one */ |
gume | 0:1f82672b8755 | 11834 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 11835 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 11836 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 11837 | /* read the value of accel sleep mode */ |
gume | 0:1f82672b8755 | 11838 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 11839 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 11840 | BNO055_ACCEL_SLEEP_MODE_REG, |
gume | 0:1f82672b8755 | 11841 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 11842 | *sleep_tmr_u8 = |
gume | 0:1f82672b8755 | 11843 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 11844 | BNO055_ACCEL_SLEEP_MODE); |
gume | 0:1f82672b8755 | 11845 | } else { |
gume | 0:1f82672b8755 | 11846 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11847 | } |
gume | 0:1f82672b8755 | 11848 | } |
gume | 0:1f82672b8755 | 11849 | return com_rslt; |
gume | 0:1f82672b8755 | 11850 | } |
gume | 0:1f82672b8755 | 11851 | /*! |
gume | 0:1f82672b8755 | 11852 | * @brief This API used to write the accel sleep mode |
gume | 0:1f82672b8755 | 11853 | * from page one register from 0x0C bit 0 |
gume | 0:1f82672b8755 | 11854 | * |
gume | 0:1f82672b8755 | 11855 | * @param sleep_tmr_u8 : The value of accel sleep mode |
gume | 0:1f82672b8755 | 11856 | * |
gume | 0:1f82672b8755 | 11857 | * sleep_tmr_u8 | result |
gume | 0:1f82672b8755 | 11858 | * ----------------- |------------------------------------ |
gume | 0:1f82672b8755 | 11859 | * 0x00 | enable EventDrivenSampling(EDT) |
gume | 0:1f82672b8755 | 11860 | * 0x01 | enable Equidistant sampling mode(EST) |
gume | 0:1f82672b8755 | 11861 | * |
gume | 0:1f82672b8755 | 11862 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 11863 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 11864 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 11865 | * |
gume | 0:1f82672b8755 | 11866 | * |
gume | 0:1f82672b8755 | 11867 | */ |
gume | 0:1f82672b8755 | 11868 | BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_sleep_tmr_mode( |
gume | 0:1f82672b8755 | 11869 | u8 sleep_tmr_u8) |
gume | 0:1f82672b8755 | 11870 | { |
gume | 0:1f82672b8755 | 11871 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11872 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 11873 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11874 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 11875 | s8 pg_stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11876 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 11877 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 11878 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 11879 | } else { |
gume | 0:1f82672b8755 | 11880 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 11881 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 11882 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 11883 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 11884 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 11885 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 11886 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 11887 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 11888 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 11889 | /* Write page as one */ |
gume | 0:1f82672b8755 | 11890 | pg_stat_s8 = bno055_write_page_id( |
gume | 0:1f82672b8755 | 11891 | BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 11892 | if (pg_stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 11893 | if (sleep_tmr_u8 < |
gume | 0:1f82672b8755 | 11894 | BNO055_ACCEL_SLEEP_MODE_RANGE) { |
gume | 0:1f82672b8755 | 11895 | /*Write the value |
gume | 0:1f82672b8755 | 11896 | of accel sleep mode*/ |
gume | 0:1f82672b8755 | 11897 | com_rslt = |
gume | 0:1f82672b8755 | 11898 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 11899 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 11900 | BNO055_ACCEL_SLEEP_MODE_REG, |
gume | 0:1f82672b8755 | 11901 | &data_u8r, |
gume | 0:1f82672b8755 | 11902 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 11903 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 11904 | data_u8r = BNO055_SET_BITSLICE |
gume | 0:1f82672b8755 | 11905 | (data_u8r, |
gume | 0:1f82672b8755 | 11906 | BNO055_ACCEL_SLEEP_MODE, |
gume | 0:1f82672b8755 | 11907 | sleep_tmr_u8); |
gume | 0:1f82672b8755 | 11908 | com_rslt += |
gume | 0:1f82672b8755 | 11909 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 11910 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 11911 | BNO055_ACCEL_SLEEP_MODE_REG, |
gume | 0:1f82672b8755 | 11912 | &data_u8r, |
gume | 0:1f82672b8755 | 11913 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 11914 | } |
gume | 0:1f82672b8755 | 11915 | } else { |
gume | 0:1f82672b8755 | 11916 | com_rslt = BNO055_OUT_OF_RANGE; |
gume | 0:1f82672b8755 | 11917 | } |
gume | 0:1f82672b8755 | 11918 | } else { |
gume | 0:1f82672b8755 | 11919 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11920 | } |
gume | 0:1f82672b8755 | 11921 | } else { |
gume | 0:1f82672b8755 | 11922 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11923 | } |
gume | 0:1f82672b8755 | 11924 | } else { |
gume | 0:1f82672b8755 | 11925 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11926 | } |
gume | 0:1f82672b8755 | 11927 | } |
gume | 0:1f82672b8755 | 11928 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 11929 | /* set the operation mode of |
gume | 0:1f82672b8755 | 11930 | previous operation mode*/ |
gume | 0:1f82672b8755 | 11931 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 11932 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 11933 | return com_rslt; |
gume | 0:1f82672b8755 | 11934 | } |
gume | 0:1f82672b8755 | 11935 | /*! |
gume | 0:1f82672b8755 | 11936 | * @brief This API used to read the accel sleep duration |
gume | 0:1f82672b8755 | 11937 | * from page one register from 0x0C bit 1 to 4 |
gume | 0:1f82672b8755 | 11938 | * |
gume | 0:1f82672b8755 | 11939 | * @param sleep_durn_u8 : The value of accel sleep duration |
gume | 0:1f82672b8755 | 11940 | * |
gume | 0:1f82672b8755 | 11941 | * sleep_durn_u8 | result |
gume | 0:1f82672b8755 | 11942 | * ---------------- |----------------------------- |
gume | 0:1f82672b8755 | 11943 | * 0x05 | BNO055_ACCEL_SLEEP_DURN_0_5MS |
gume | 0:1f82672b8755 | 11944 | * 0x06 | BNO055_ACCEL_SLEEP_DURN_1MS |
gume | 0:1f82672b8755 | 11945 | * 0x07 | BNO055_ACCEL_SLEEP_DURN_2MS |
gume | 0:1f82672b8755 | 11946 | * 0x08 | BNO055_ACCEL_SLEEP_DURN_4MS |
gume | 0:1f82672b8755 | 11947 | * 0x09 | BNO055_ACCEL_SLEEP_DURN_6MS |
gume | 0:1f82672b8755 | 11948 | * 0x0A | BNO055_ACCEL_SLEEP_DURN_10MS |
gume | 0:1f82672b8755 | 11949 | * 0x0B | BNO055_ACCEL_SLEEP_DURN_25MS |
gume | 0:1f82672b8755 | 11950 | * 0x0C | BNO055_ACCEL_SLEEP_DURN_50MS |
gume | 0:1f82672b8755 | 11951 | * 0x0D | BNO055_ACCEL_SLEEP_DURN_100MS |
gume | 0:1f82672b8755 | 11952 | * 0x0E | BNO055_ACCEL_SLEEP_DURN_500MS |
gume | 0:1f82672b8755 | 11953 | * 0x0F | BNO055_ACCEL_SLEEP_DURN_1S |
gume | 0:1f82672b8755 | 11954 | * |
gume | 0:1f82672b8755 | 11955 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 11956 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 11957 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 11958 | * |
gume | 0:1f82672b8755 | 11959 | * |
gume | 0:1f82672b8755 | 11960 | */ |
gume | 0:1f82672b8755 | 11961 | BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_sleep_durn( |
gume | 0:1f82672b8755 | 11962 | u8 *sleep_durn_u8) |
gume | 0:1f82672b8755 | 11963 | { |
gume | 0:1f82672b8755 | 11964 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 11965 | communication routine*/ |
gume | 0:1f82672b8755 | 11966 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11967 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 11968 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11969 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 11970 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 11971 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 11972 | } else { |
gume | 0:1f82672b8755 | 11973 | /*condition check for page, accel sleep duration |
gume | 0:1f82672b8755 | 11974 | available in the page one*/ |
gume | 0:1f82672b8755 | 11975 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 11976 | /* Write page as one */ |
gume | 0:1f82672b8755 | 11977 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 11978 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 11979 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 11980 | /* Read the value of accel sleep duration */ |
gume | 0:1f82672b8755 | 11981 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 11982 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 11983 | BNO055_ACCEL_SLEEP_DURN_REG, |
gume | 0:1f82672b8755 | 11984 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 11985 | *sleep_durn_u8 = |
gume | 0:1f82672b8755 | 11986 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 11987 | BNO055_ACCEL_SLEEP_DURN); |
gume | 0:1f82672b8755 | 11988 | } else { |
gume | 0:1f82672b8755 | 11989 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 11990 | } |
gume | 0:1f82672b8755 | 11991 | } |
gume | 0:1f82672b8755 | 11992 | return com_rslt; |
gume | 0:1f82672b8755 | 11993 | } |
gume | 0:1f82672b8755 | 11994 | /*! |
gume | 0:1f82672b8755 | 11995 | * @brief This API used to write the accel sleep duration |
gume | 0:1f82672b8755 | 11996 | * from page one register from 0x0C bit 1 to 4 |
gume | 0:1f82672b8755 | 11997 | * |
gume | 0:1f82672b8755 | 11998 | * @param sleep_durn_u8 : The value of accel sleep duration |
gume | 0:1f82672b8755 | 11999 | * |
gume | 0:1f82672b8755 | 12000 | * sleep_durn_u8 | result |
gume | 0:1f82672b8755 | 12001 | * ---------------|----------------------------- |
gume | 0:1f82672b8755 | 12002 | * 0x05 | BNO055_ACCEL_SLEEP_DURN_0_5MS |
gume | 0:1f82672b8755 | 12003 | * 0x06 | BNO055_ACCEL_SLEEP_DURN_1MS |
gume | 0:1f82672b8755 | 12004 | * 0x07 | BNO055_ACCEL_SLEEP_DURN_2MS |
gume | 0:1f82672b8755 | 12005 | * 0x08 | BNO055_ACCEL_SLEEP_DURN_4MS |
gume | 0:1f82672b8755 | 12006 | * 0x09 | BNO055_ACCEL_SLEEP_DURN_6MS |
gume | 0:1f82672b8755 | 12007 | * 0x0A | BNO055_ACCEL_SLEEP_DURN_10MS |
gume | 0:1f82672b8755 | 12008 | * 0x0B | BNO055_ACCEL_SLEEP_DURN_25MS |
gume | 0:1f82672b8755 | 12009 | * 0x0C | BNO055_ACCEL_SLEEP_DURN_50MS |
gume | 0:1f82672b8755 | 12010 | * 0x0D | BNO055_ACCEL_SLEEP_DURN_100MS |
gume | 0:1f82672b8755 | 12011 | * 0x0E | BNO055_ACCEL_SLEEP_DURN_500MS |
gume | 0:1f82672b8755 | 12012 | * 0x0F | BNO055_ACCEL_SLEEP_DURN_1S |
gume | 0:1f82672b8755 | 12013 | * |
gume | 0:1f82672b8755 | 12014 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 12015 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 12016 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 12017 | * |
gume | 0:1f82672b8755 | 12018 | * |
gume | 0:1f82672b8755 | 12019 | */ |
gume | 0:1f82672b8755 | 12020 | BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_sleep_durn( |
gume | 0:1f82672b8755 | 12021 | u8 sleep_durn_u8) |
gume | 0:1f82672b8755 | 12022 | { |
gume | 0:1f82672b8755 | 12023 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 12024 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 12025 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 12026 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 12027 | s8 pg_stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 12028 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 12029 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 12030 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 12031 | } else { |
gume | 0:1f82672b8755 | 12032 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 12033 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 12034 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 12035 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 12036 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 12037 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 12038 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 12039 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 12040 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 12041 | /* Write page as one */ |
gume | 0:1f82672b8755 | 12042 | pg_stat_s8 = bno055_write_page_id( |
gume | 0:1f82672b8755 | 12043 | BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 12044 | if (pg_stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 12045 | if (sleep_durn_u8 < |
gume | 0:1f82672b8755 | 12046 | BNO055_ACCEL_SLEEP_DURATION_RANGE) { |
gume | 0:1f82672b8755 | 12047 | /* Write the accel |
gume | 0:1f82672b8755 | 12048 | sleep duration*/ |
gume | 0:1f82672b8755 | 12049 | com_rslt = |
gume | 0:1f82672b8755 | 12050 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 12051 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 12052 | BNO055_ACCEL_SLEEP_DURN_REG, |
gume | 0:1f82672b8755 | 12053 | &data_u8r, |
gume | 0:1f82672b8755 | 12054 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 12055 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 12056 | data_u8r = BNO055_SET_BITSLICE |
gume | 0:1f82672b8755 | 12057 | (data_u8r, |
gume | 0:1f82672b8755 | 12058 | BNO055_ACCEL_SLEEP_DURN, |
gume | 0:1f82672b8755 | 12059 | sleep_durn_u8); |
gume | 0:1f82672b8755 | 12060 | com_rslt += |
gume | 0:1f82672b8755 | 12061 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 12062 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 12063 | BNO055_ACCEL_SLEEP_DURN_REG, |
gume | 0:1f82672b8755 | 12064 | &data_u8r, |
gume | 0:1f82672b8755 | 12065 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 12066 | } |
gume | 0:1f82672b8755 | 12067 | } else { |
gume | 0:1f82672b8755 | 12068 | com_rslt = BNO055_OUT_OF_RANGE; |
gume | 0:1f82672b8755 | 12069 | } |
gume | 0:1f82672b8755 | 12070 | } else { |
gume | 0:1f82672b8755 | 12071 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 12072 | } |
gume | 0:1f82672b8755 | 12073 | } else { |
gume | 0:1f82672b8755 | 12074 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 12075 | } |
gume | 0:1f82672b8755 | 12076 | } else { |
gume | 0:1f82672b8755 | 12077 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 12078 | } |
gume | 0:1f82672b8755 | 12079 | } |
gume | 0:1f82672b8755 | 12080 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 12081 | /* set the operation mode of |
gume | 0:1f82672b8755 | 12082 | previous operation mode*/ |
gume | 0:1f82672b8755 | 12083 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 12084 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 12085 | return com_rslt; |
gume | 0:1f82672b8755 | 12086 | } |
gume | 0:1f82672b8755 | 12087 | /*! |
gume | 0:1f82672b8755 | 12088 | * @brief This API used to write the gyro sleep duration |
gume | 0:1f82672b8755 | 12089 | * from page one register from 0x0D bit 0 to 2 |
gume | 0:1f82672b8755 | 12090 | * |
gume | 0:1f82672b8755 | 12091 | * @param sleep_durn_u8 : The value of gyro sleep duration |
gume | 0:1f82672b8755 | 12092 | * |
gume | 0:1f82672b8755 | 12093 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 12094 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 12095 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 12096 | * |
gume | 0:1f82672b8755 | 12097 | * |
gume | 0:1f82672b8755 | 12098 | */ |
gume | 0:1f82672b8755 | 12099 | BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_sleep_durn(u8 *sleep_durn_u8) |
gume | 0:1f82672b8755 | 12100 | { |
gume | 0:1f82672b8755 | 12101 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 12102 | communication routine*/ |
gume | 0:1f82672b8755 | 12103 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 12104 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 12105 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 12106 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 12107 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 12108 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 12109 | } else { |
gume | 0:1f82672b8755 | 12110 | /*condition check for page, accel range is |
gume | 0:1f82672b8755 | 12111 | available in the page one*/ |
gume | 0:1f82672b8755 | 12112 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 12113 | /* Write page as one */ |
gume | 0:1f82672b8755 | 12114 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 12115 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 12116 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 12117 | /* Read the gyro sleep duration */ |
gume | 0:1f82672b8755 | 12118 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 12119 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 12120 | BNO055_GYRO_SLEEP_DURN_REG, |
gume | 0:1f82672b8755 | 12121 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 12122 | *sleep_durn_u8 = |
gume | 0:1f82672b8755 | 12123 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 12124 | BNO055_GYRO_SLEEP_DURN); |
gume | 0:1f82672b8755 | 12125 | } else { |
gume | 0:1f82672b8755 | 12126 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 12127 | } |
gume | 0:1f82672b8755 | 12128 | } |
gume | 0:1f82672b8755 | 12129 | return com_rslt; |
gume | 0:1f82672b8755 | 12130 | } |
gume | 0:1f82672b8755 | 12131 | /*! |
gume | 0:1f82672b8755 | 12132 | * @brief This API used to write the gyro sleep duration |
gume | 0:1f82672b8755 | 12133 | * from page one register from 0x0D bit 0 to 2 |
gume | 0:1f82672b8755 | 12134 | * |
gume | 0:1f82672b8755 | 12135 | * @param sleep_durn_u8 : The value of gyro sleep duration |
gume | 0:1f82672b8755 | 12136 | * |
gume | 0:1f82672b8755 | 12137 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 12138 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 12139 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 12140 | * |
gume | 0:1f82672b8755 | 12141 | * |
gume | 0:1f82672b8755 | 12142 | */ |
gume | 0:1f82672b8755 | 12143 | BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_sleep_durn(u8 sleep_durn_u8) |
gume | 0:1f82672b8755 | 12144 | { |
gume | 0:1f82672b8755 | 12145 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 12146 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 12147 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 12148 | s8 pg_stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 12149 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 12150 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 12151 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 12152 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 12153 | } else { |
gume | 0:1f82672b8755 | 12154 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 12155 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 12156 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 12157 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 12158 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 12159 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 12160 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 12161 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 12162 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 12163 | /* Write page as one */ |
gume | 0:1f82672b8755 | 12164 | pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 12165 | if (pg_stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 12166 | if (sleep_durn_u8 < |
gume | 0:1f82672b8755 | 12167 | BNO055_GYRO_AUTO_SLEEP_DURATION_RANGE) { |
gume | 0:1f82672b8755 | 12168 | com_rslt = |
gume | 0:1f82672b8755 | 12169 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 12170 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 12171 | BNO055_GYRO_SLEEP_DURN_REG, |
gume | 0:1f82672b8755 | 12172 | &data_u8r, |
gume | 0:1f82672b8755 | 12173 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 12174 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 12175 | /* Write the gyro |
gume | 0:1f82672b8755 | 12176 | sleep duration */ |
gume | 0:1f82672b8755 | 12177 | data_u8r = BNO055_SET_BITSLICE |
gume | 0:1f82672b8755 | 12178 | (data_u8r, |
gume | 0:1f82672b8755 | 12179 | BNO055_GYRO_SLEEP_DURN, |
gume | 0:1f82672b8755 | 12180 | sleep_durn_u8); |
gume | 0:1f82672b8755 | 12181 | com_rslt += |
gume | 0:1f82672b8755 | 12182 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 12183 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 12184 | BNO055_GYRO_SLEEP_DURN_REG, |
gume | 0:1f82672b8755 | 12185 | &data_u8r, |
gume | 0:1f82672b8755 | 12186 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 12187 | } |
gume | 0:1f82672b8755 | 12188 | } else { |
gume | 0:1f82672b8755 | 12189 | com_rslt = BNO055_OUT_OF_RANGE; |
gume | 0:1f82672b8755 | 12190 | } |
gume | 0:1f82672b8755 | 12191 | } else { |
gume | 0:1f82672b8755 | 12192 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 12193 | } |
gume | 0:1f82672b8755 | 12194 | } else { |
gume | 0:1f82672b8755 | 12195 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 12196 | } |
gume | 0:1f82672b8755 | 12197 | } else { |
gume | 0:1f82672b8755 | 12198 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 12199 | } |
gume | 0:1f82672b8755 | 12200 | } |
gume | 0:1f82672b8755 | 12201 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 12202 | /* set the operation mode of |
gume | 0:1f82672b8755 | 12203 | previous operation mode*/ |
gume | 0:1f82672b8755 | 12204 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 12205 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 12206 | return com_rslt; |
gume | 0:1f82672b8755 | 12207 | } |
gume | 0:1f82672b8755 | 12208 | /*! |
gume | 0:1f82672b8755 | 12209 | * @brief This API used to read the gyro auto sleep duration |
gume | 0:1f82672b8755 | 12210 | * from page one register from 0x0D bit 3 to 5 |
gume | 0:1f82672b8755 | 12211 | * |
gume | 0:1f82672b8755 | 12212 | * @param auto_sleep_durn_u8 : The value of gyro auto sleep duration |
gume | 0:1f82672b8755 | 12213 | * |
gume | 0:1f82672b8755 | 12214 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 12215 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 12216 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 12217 | * |
gume | 0:1f82672b8755 | 12218 | * |
gume | 0:1f82672b8755 | 12219 | */ |
gume | 0:1f82672b8755 | 12220 | BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_auto_sleep_durn( |
gume | 0:1f82672b8755 | 12221 | u8 *auto_sleep_durn_u8) |
gume | 0:1f82672b8755 | 12222 | { |
gume | 0:1f82672b8755 | 12223 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 12224 | communication routine*/ |
gume | 0:1f82672b8755 | 12225 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 12226 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 12227 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 12228 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 12229 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 12230 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 12231 | } else { |
gume | 0:1f82672b8755 | 12232 | /*condition check for page, accel range is |
gume | 0:1f82672b8755 | 12233 | available in the page one*/ |
gume | 0:1f82672b8755 | 12234 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 12235 | /* Write page as one */ |
gume | 0:1f82672b8755 | 12236 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 12237 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 12238 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 12239 | /* Read the value of gyro auto sleep duration */ |
gume | 0:1f82672b8755 | 12240 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 12241 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 12242 | BNO055_GYRO_AUTO_SLEEP_DURN_REG, |
gume | 0:1f82672b8755 | 12243 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 12244 | *auto_sleep_durn_u8 = |
gume | 0:1f82672b8755 | 12245 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 12246 | BNO055_GYRO_AUTO_SLEEP_DURN); |
gume | 0:1f82672b8755 | 12247 | } else { |
gume | 0:1f82672b8755 | 12248 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 12249 | } |
gume | 0:1f82672b8755 | 12250 | } |
gume | 0:1f82672b8755 | 12251 | return com_rslt; |
gume | 0:1f82672b8755 | 12252 | } |
gume | 0:1f82672b8755 | 12253 | /*! |
gume | 0:1f82672b8755 | 12254 | * @brief This API used to write the gyro auto sleep duration |
gume | 0:1f82672b8755 | 12255 | * from page one register from 0x0D bit 3 to 5 |
gume | 0:1f82672b8755 | 12256 | * |
gume | 0:1f82672b8755 | 12257 | * @param auto_sleep_durn_u8 : The value of gyro auto sleep duration |
gume | 0:1f82672b8755 | 12258 | * @param bw : The value of gyro bandwidth |
gume | 0:1f82672b8755 | 12259 | * |
gume | 0:1f82672b8755 | 12260 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 12261 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 12262 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 12263 | * |
gume | 0:1f82672b8755 | 12264 | * |
gume | 0:1f82672b8755 | 12265 | */ |
gume | 0:1f82672b8755 | 12266 | BNO055_RETURN_FUNCTION_TYPE bno055_gyro_set_auto_sleep_durn( |
gume | 0:1f82672b8755 | 12267 | u8 auto_sleep_durn_u8, u8 bw) |
gume | 0:1f82672b8755 | 12268 | { |
gume | 0:1f82672b8755 | 12269 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 12270 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 12271 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 12272 | u8 auto_sleep_durn_u8r; |
gume | 0:1f82672b8755 | 12273 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 12274 | s8 pg_stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 12275 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 12276 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 12277 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 12278 | } else { |
gume | 0:1f82672b8755 | 12279 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 12280 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 12281 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 12282 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 12283 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 12284 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 12285 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 12286 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 12287 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 12288 | /* Write page as one */ |
gume | 0:1f82672b8755 | 12289 | pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 12290 | if (pg_stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 12291 | /* Write the value of gyro sleep duration */ |
gume | 0:1f82672b8755 | 12292 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 12293 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 12294 | BNO055_GYRO_AUTO_SLEEP_DURN_REG, |
gume | 0:1f82672b8755 | 12295 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 12296 | if (auto_sleep_durn_u8 < |
gume | 0:1f82672b8755 | 12297 | BNO055_GYRO_AUTO_SLEEP_DURATION_RANGE) { |
gume | 0:1f82672b8755 | 12298 | switch (bw) { |
gume | 0:1f82672b8755 | 12299 | case BNO055_GYRO_BW_523HZ: |
gume | 0:1f82672b8755 | 12300 | if (auto_sleep_durn_u8 > |
gume | 0:1f82672b8755 | 12301 | BNO055_GYRO_4MS_AUTOSLPDUR) |
gume | 0:1f82672b8755 | 12302 | auto_sleep_durn_u8r = |
gume | 0:1f82672b8755 | 12303 | auto_sleep_durn_u8; |
gume | 0:1f82672b8755 | 12304 | else |
gume | 0:1f82672b8755 | 12305 | auto_sleep_durn_u8r = |
gume | 0:1f82672b8755 | 12306 | BNO055_GYRO_4MS_AUTOSLPDUR; |
gume | 0:1f82672b8755 | 12307 | break; |
gume | 0:1f82672b8755 | 12308 | case BNO055_GYRO_BW_230HZ: |
gume | 0:1f82672b8755 | 12309 | if (auto_sleep_durn_u8 > |
gume | 0:1f82672b8755 | 12310 | BNO055_GYRO_4MS_AUTOSLPDUR) |
gume | 0:1f82672b8755 | 12311 | auto_sleep_durn_u8r = |
gume | 0:1f82672b8755 | 12312 | auto_sleep_durn_u8; |
gume | 0:1f82672b8755 | 12313 | else |
gume | 0:1f82672b8755 | 12314 | auto_sleep_durn_u8r = |
gume | 0:1f82672b8755 | 12315 | BNO055_GYRO_4MS_AUTOSLPDUR; |
gume | 0:1f82672b8755 | 12316 | break; |
gume | 0:1f82672b8755 | 12317 | case BNO055_GYRO_BW_116HZ: |
gume | 0:1f82672b8755 | 12318 | if (auto_sleep_durn_u8 > |
gume | 0:1f82672b8755 | 12319 | BNO055_GYRO_4MS_AUTOSLPDUR) |
gume | 0:1f82672b8755 | 12320 | auto_sleep_durn_u8r = |
gume | 0:1f82672b8755 | 12321 | auto_sleep_durn_u8; |
gume | 0:1f82672b8755 | 12322 | else |
gume | 0:1f82672b8755 | 12323 | auto_sleep_durn_u8r = |
gume | 0:1f82672b8755 | 12324 | BNO055_GYRO_4MS_AUTOSLPDUR; |
gume | 0:1f82672b8755 | 12325 | break; |
gume | 0:1f82672b8755 | 12326 | case BNO055_GYRO_BW_47HZ: |
gume | 0:1f82672b8755 | 12327 | if (auto_sleep_durn_u8 > |
gume | 0:1f82672b8755 | 12328 | BNO055_GYRO_5MS_AUTOSLPDUR) |
gume | 0:1f82672b8755 | 12329 | auto_sleep_durn_u8r = |
gume | 0:1f82672b8755 | 12330 | auto_sleep_durn_u8; |
gume | 0:1f82672b8755 | 12331 | else |
gume | 0:1f82672b8755 | 12332 | auto_sleep_durn_u8r = |
gume | 0:1f82672b8755 | 12333 | BNO055_GYRO_5MS_AUTOSLPDUR; |
gume | 0:1f82672b8755 | 12334 | break; |
gume | 0:1f82672b8755 | 12335 | case BNO055_GYRO_BW_23HZ: |
gume | 0:1f82672b8755 | 12336 | if (auto_sleep_durn_u8 > |
gume | 0:1f82672b8755 | 12337 | BNO055_GYRO_10MS_AUTOSLPDUR) |
gume | 0:1f82672b8755 | 12338 | auto_sleep_durn_u8r = |
gume | 0:1f82672b8755 | 12339 | auto_sleep_durn_u8; |
gume | 0:1f82672b8755 | 12340 | else |
gume | 0:1f82672b8755 | 12341 | auto_sleep_durn_u8r = |
gume | 0:1f82672b8755 | 12342 | BNO055_GYRO_10MS_AUTOSLPDUR; |
gume | 0:1f82672b8755 | 12343 | break; |
gume | 0:1f82672b8755 | 12344 | case BNO055_GYRO_BW_12HZ: |
gume | 0:1f82672b8755 | 12345 | if (auto_sleep_durn_u8 > |
gume | 0:1f82672b8755 | 12346 | BNO055_GYRO_20MS_AUTOSLPDUR) |
gume | 0:1f82672b8755 | 12347 | auto_sleep_durn_u8r = |
gume | 0:1f82672b8755 | 12348 | auto_sleep_durn_u8; |
gume | 0:1f82672b8755 | 12349 | else |
gume | 0:1f82672b8755 | 12350 | auto_sleep_durn_u8r = |
gume | 0:1f82672b8755 | 12351 | BNO055_GYRO_20MS_AUTOSLPDUR; |
gume | 0:1f82672b8755 | 12352 | break; |
gume | 0:1f82672b8755 | 12353 | case BNO055_GYRO_BW_64HZ: |
gume | 0:1f82672b8755 | 12354 | if (auto_sleep_durn_u8 > |
gume | 0:1f82672b8755 | 12355 | BNO055_GYRO_10MS_AUTOSLPDUR) |
gume | 0:1f82672b8755 | 12356 | auto_sleep_durn_u8r = |
gume | 0:1f82672b8755 | 12357 | auto_sleep_durn_u8; |
gume | 0:1f82672b8755 | 12358 | else |
gume | 0:1f82672b8755 | 12359 | auto_sleep_durn_u8r = |
gume | 0:1f82672b8755 | 12360 | BNO055_GYRO_10MS_AUTOSLPDUR; |
gume | 0:1f82672b8755 | 12361 | break; |
gume | 0:1f82672b8755 | 12362 | case BNO055_GYRO_BW_32HZ: |
gume | 0:1f82672b8755 | 12363 | if (auto_sleep_durn_u8 > |
gume | 0:1f82672b8755 | 12364 | BNO055_GYRO_20MS_AUTOSLPDUR) |
gume | 0:1f82672b8755 | 12365 | auto_sleep_durn_u8r = |
gume | 0:1f82672b8755 | 12366 | auto_sleep_durn_u8; |
gume | 0:1f82672b8755 | 12367 | else |
gume | 0:1f82672b8755 | 12368 | auto_sleep_durn_u8r = |
gume | 0:1f82672b8755 | 12369 | BNO055_GYRO_20MS_AUTOSLPDUR; |
gume | 0:1f82672b8755 | 12370 | break; |
gume | 0:1f82672b8755 | 12371 | default: |
gume | 0:1f82672b8755 | 12372 | if (auto_sleep_durn_u8 > |
gume | 0:1f82672b8755 | 12373 | BNO055_GYRO_4MS_AUTOSLPDUR) |
gume | 0:1f82672b8755 | 12374 | auto_sleep_durn_u8r = |
gume | 0:1f82672b8755 | 12375 | auto_sleep_durn_u8; |
gume | 0:1f82672b8755 | 12376 | else |
gume | 0:1f82672b8755 | 12377 | auto_sleep_durn_u8r = |
gume | 0:1f82672b8755 | 12378 | BNO055_GYRO_4MS_AUTOSLPDUR; |
gume | 0:1f82672b8755 | 12379 | break; |
gume | 0:1f82672b8755 | 12380 | } |
gume | 0:1f82672b8755 | 12381 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 12382 | data_u8r = BNO055_SET_BITSLICE |
gume | 0:1f82672b8755 | 12383 | (data_u8r, |
gume | 0:1f82672b8755 | 12384 | BNO055_GYRO_AUTO_SLEEP_DURN, |
gume | 0:1f82672b8755 | 12385 | auto_sleep_durn_u8r); |
gume | 0:1f82672b8755 | 12386 | com_rslt += |
gume | 0:1f82672b8755 | 12387 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 12388 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 12389 | BNO055_GYRO_AUTO_SLEEP_DURN_REG, |
gume | 0:1f82672b8755 | 12390 | &data_u8r, |
gume | 0:1f82672b8755 | 12391 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 12392 | } |
gume | 0:1f82672b8755 | 12393 | } else { |
gume | 0:1f82672b8755 | 12394 | com_rslt = BNO055_OUT_OF_RANGE; |
gume | 0:1f82672b8755 | 12395 | } |
gume | 0:1f82672b8755 | 12396 | } else { |
gume | 0:1f82672b8755 | 12397 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 12398 | } |
gume | 0:1f82672b8755 | 12399 | } else { |
gume | 0:1f82672b8755 | 12400 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 12401 | } |
gume | 0:1f82672b8755 | 12402 | } else { |
gume | 0:1f82672b8755 | 12403 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 12404 | } |
gume | 0:1f82672b8755 | 12405 | } |
gume | 0:1f82672b8755 | 12406 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 12407 | /* set the operation mode of |
gume | 0:1f82672b8755 | 12408 | previous operation mode*/ |
gume | 0:1f82672b8755 | 12409 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 12410 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 12411 | return com_rslt; |
gume | 0:1f82672b8755 | 12412 | } |
gume | 0:1f82672b8755 | 12413 | /*! |
gume | 0:1f82672b8755 | 12414 | * @brief This API used to read the mag sleep mode |
gume | 0:1f82672b8755 | 12415 | * from page one register from 0x0E bit 0 |
gume | 0:1f82672b8755 | 12416 | * |
gume | 0:1f82672b8755 | 12417 | * @param sleep_mode_u8 : The value of mag sleep mode |
gume | 0:1f82672b8755 | 12418 | * |
gume | 0:1f82672b8755 | 12419 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 12420 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 12421 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 12422 | * |
gume | 0:1f82672b8755 | 12423 | * |
gume | 0:1f82672b8755 | 12424 | */ |
gume | 0:1f82672b8755 | 12425 | BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_sleep_mode( |
gume | 0:1f82672b8755 | 12426 | u8 *sleep_mode_u8) |
gume | 0:1f82672b8755 | 12427 | { |
gume | 0:1f82672b8755 | 12428 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 12429 | communication routine*/ |
gume | 0:1f82672b8755 | 12430 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 12431 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 12432 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 12433 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 12434 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 12435 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 12436 | } else { |
gume | 0:1f82672b8755 | 12437 | /*condition check for page,mag sleep mode is |
gume | 0:1f82672b8755 | 12438 | available in the page one*/ |
gume | 0:1f82672b8755 | 12439 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 12440 | /* Write page as one */ |
gume | 0:1f82672b8755 | 12441 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 12442 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 12443 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 12444 | /* Read the value of mag sleep mode*/ |
gume | 0:1f82672b8755 | 12445 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 12446 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 12447 | BNO055_MAG_SLEEP_MODE_REG, |
gume | 0:1f82672b8755 | 12448 | &data_u8r, |
gume | 0:1f82672b8755 | 12449 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 12450 | *sleep_mode_u8 = |
gume | 0:1f82672b8755 | 12451 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 12452 | BNO055_MAG_SLEEP_MODE); |
gume | 0:1f82672b8755 | 12453 | } else { |
gume | 0:1f82672b8755 | 12454 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 12455 | } |
gume | 0:1f82672b8755 | 12456 | } |
gume | 0:1f82672b8755 | 12457 | return com_rslt; |
gume | 0:1f82672b8755 | 12458 | } |
gume | 0:1f82672b8755 | 12459 | /*! |
gume | 0:1f82672b8755 | 12460 | * @brief This API used to write the mag sleep mode |
gume | 0:1f82672b8755 | 12461 | * from page one register from 0x0E bit 0 |
gume | 0:1f82672b8755 | 12462 | * |
gume | 0:1f82672b8755 | 12463 | * @param sleep_mode_u8 : The value of mag sleep mode |
gume | 0:1f82672b8755 | 12464 | * |
gume | 0:1f82672b8755 | 12465 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 12466 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 12467 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 12468 | * |
gume | 0:1f82672b8755 | 12469 | * |
gume | 0:1f82672b8755 | 12470 | */ |
gume | 0:1f82672b8755 | 12471 | BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_sleep_mode( |
gume | 0:1f82672b8755 | 12472 | u8 sleep_mode_u8) |
gume | 0:1f82672b8755 | 12473 | { |
gume | 0:1f82672b8755 | 12474 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 12475 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 12476 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 12477 | s8 pg_stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 12478 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 12479 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 12480 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 12481 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 12482 | } else { |
gume | 0:1f82672b8755 | 12483 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 12484 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 12485 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 12486 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 12487 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 12488 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 12489 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 12490 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 12491 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 12492 | /* Write page as one */ |
gume | 0:1f82672b8755 | 12493 | pg_stat_s8 = bno055_write_page_id( |
gume | 0:1f82672b8755 | 12494 | BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 12495 | if (pg_stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 12496 | com_rslt = |
gume | 0:1f82672b8755 | 12497 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 12498 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 12499 | BNO055_MAG_SLEEP_MODE_REG, |
gume | 0:1f82672b8755 | 12500 | &data_u8r, |
gume | 0:1f82672b8755 | 12501 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 12502 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 12503 | /* Write the value |
gume | 0:1f82672b8755 | 12504 | of mag sleep mode*/ |
gume | 0:1f82672b8755 | 12505 | data_u8r = |
gume | 0:1f82672b8755 | 12506 | BNO055_SET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 12507 | BNO055_MAG_SLEEP_MODE, |
gume | 0:1f82672b8755 | 12508 | sleep_mode_u8); |
gume | 0:1f82672b8755 | 12509 | com_rslt += |
gume | 0:1f82672b8755 | 12510 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 12511 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 12512 | BNO055_MAG_SLEEP_MODE_REG, |
gume | 0:1f82672b8755 | 12513 | &data_u8r, |
gume | 0:1f82672b8755 | 12514 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 12515 | } |
gume | 0:1f82672b8755 | 12516 | } else { |
gume | 0:1f82672b8755 | 12517 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 12518 | } |
gume | 0:1f82672b8755 | 12519 | } else { |
gume | 0:1f82672b8755 | 12520 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 12521 | } |
gume | 0:1f82672b8755 | 12522 | } else { |
gume | 0:1f82672b8755 | 12523 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 12524 | } |
gume | 0:1f82672b8755 | 12525 | } |
gume | 0:1f82672b8755 | 12526 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 12527 | /* set the operation mode of |
gume | 0:1f82672b8755 | 12528 | previous operation mode*/ |
gume | 0:1f82672b8755 | 12529 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 12530 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 12531 | return com_rslt; |
gume | 0:1f82672b8755 | 12532 | } |
gume | 0:1f82672b8755 | 12533 | /*! |
gume | 0:1f82672b8755 | 12534 | * @brief This API used to read the mag sleep duration |
gume | 0:1f82672b8755 | 12535 | * from page one register from 0x0E bit 1 to 4 |
gume | 0:1f82672b8755 | 12536 | * |
gume | 0:1f82672b8755 | 12537 | * @param sleep_durn_u8 : The value of mag sleep duration |
gume | 0:1f82672b8755 | 12538 | * |
gume | 0:1f82672b8755 | 12539 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 12540 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 12541 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 12542 | * |
gume | 0:1f82672b8755 | 12543 | * |
gume | 0:1f82672b8755 | 12544 | */ |
gume | 0:1f82672b8755 | 12545 | BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_sleep_durn( |
gume | 0:1f82672b8755 | 12546 | u8 *sleep_durn_u8) |
gume | 0:1f82672b8755 | 12547 | { |
gume | 0:1f82672b8755 | 12548 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 12549 | communication routine*/ |
gume | 0:1f82672b8755 | 12550 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 12551 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 12552 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 12553 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 12554 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 12555 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 12556 | } else { |
gume | 0:1f82672b8755 | 12557 | /*condition check for page,mag sleep duration is |
gume | 0:1f82672b8755 | 12558 | available in the page one*/ |
gume | 0:1f82672b8755 | 12559 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 12560 | /* Write page as one */ |
gume | 0:1f82672b8755 | 12561 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 12562 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 12563 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 12564 | /* Read the value of mag sleep duration*/ |
gume | 0:1f82672b8755 | 12565 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 12566 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 12567 | BNO055_MAG_SLEEP_DURN_REG, |
gume | 0:1f82672b8755 | 12568 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 12569 | *sleep_durn_u8 = |
gume | 0:1f82672b8755 | 12570 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 12571 | BNO055_MAG_SLEEP_DURN); |
gume | 0:1f82672b8755 | 12572 | } else { |
gume | 0:1f82672b8755 | 12573 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 12574 | } |
gume | 0:1f82672b8755 | 12575 | } |
gume | 0:1f82672b8755 | 12576 | return com_rslt; |
gume | 0:1f82672b8755 | 12577 | } |
gume | 0:1f82672b8755 | 12578 | /*! |
gume | 0:1f82672b8755 | 12579 | * @brief This API used to write the mag sleep duration |
gume | 0:1f82672b8755 | 12580 | * from page one register from 0x0E bit 1 to 4 |
gume | 0:1f82672b8755 | 12581 | * |
gume | 0:1f82672b8755 | 12582 | * @param sleep_durn_u8 : The value of mag sleep duration |
gume | 0:1f82672b8755 | 12583 | * |
gume | 0:1f82672b8755 | 12584 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 12585 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 12586 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 12587 | * |
gume | 0:1f82672b8755 | 12588 | * |
gume | 0:1f82672b8755 | 12589 | */ |
gume | 0:1f82672b8755 | 12590 | BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_sleep_durn( |
gume | 0:1f82672b8755 | 12591 | u8 sleep_durn_u8) |
gume | 0:1f82672b8755 | 12592 | { |
gume | 0:1f82672b8755 | 12593 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 12594 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 12595 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 12596 | s8 pg_stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 12597 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 12598 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 12599 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 12600 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 12601 | } else { |
gume | 0:1f82672b8755 | 12602 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 12603 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 12604 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 12605 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 12606 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 12607 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 12608 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 12609 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 12610 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 12611 | /* Write page as one */ |
gume | 0:1f82672b8755 | 12612 | pg_stat_s8 = bno055_write_page_id( |
gume | 0:1f82672b8755 | 12613 | BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 12614 | if (pg_stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 12615 | com_rslt = |
gume | 0:1f82672b8755 | 12616 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 12617 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 12618 | BNO055_MAG_SLEEP_DURN_REG, |
gume | 0:1f82672b8755 | 12619 | &data_u8r, |
gume | 0:1f82672b8755 | 12620 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 12621 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 12622 | /* Write the value of |
gume | 0:1f82672b8755 | 12623 | mag sleep duration */ |
gume | 0:1f82672b8755 | 12624 | data_u8r = |
gume | 0:1f82672b8755 | 12625 | BNO055_SET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 12626 | BNO055_MAG_SLEEP_DURN, |
gume | 0:1f82672b8755 | 12627 | sleep_durn_u8); |
gume | 0:1f82672b8755 | 12628 | com_rslt += |
gume | 0:1f82672b8755 | 12629 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 12630 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 12631 | BNO055_MAG_SLEEP_DURN_REG, |
gume | 0:1f82672b8755 | 12632 | &data_u8r, |
gume | 0:1f82672b8755 | 12633 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 12634 | } |
gume | 0:1f82672b8755 | 12635 | } else { |
gume | 0:1f82672b8755 | 12636 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 12637 | } |
gume | 0:1f82672b8755 | 12638 | } else { |
gume | 0:1f82672b8755 | 12639 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 12640 | } |
gume | 0:1f82672b8755 | 12641 | } else { |
gume | 0:1f82672b8755 | 12642 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 12643 | } |
gume | 0:1f82672b8755 | 12644 | } |
gume | 0:1f82672b8755 | 12645 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 12646 | /* set the operation mode of |
gume | 0:1f82672b8755 | 12647 | previous operation mode*/ |
gume | 0:1f82672b8755 | 12648 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 12649 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 12650 | return com_rslt; |
gume | 0:1f82672b8755 | 12651 | } |
gume | 0:1f82672b8755 | 12652 | /*! |
gume | 0:1f82672b8755 | 12653 | * @brief This API used to read the gyro anymotion interrupt mask |
gume | 0:1f82672b8755 | 12654 | * from page one register from 0x0F bit 2 |
gume | 0:1f82672b8755 | 12655 | * |
gume | 0:1f82672b8755 | 12656 | * @param gyro_any_motion_u8 : The value of gyro anymotion interrupt mask |
gume | 0:1f82672b8755 | 12657 | * gyro_any_motion_u8 | result |
gume | 0:1f82672b8755 | 12658 | * -------------------- |------------ |
gume | 0:1f82672b8755 | 12659 | * 0x01 | BNO055_BIT_ENABLE |
gume | 0:1f82672b8755 | 12660 | * 0x00 | BNO055_BIT_DISABLE |
gume | 0:1f82672b8755 | 12661 | * |
gume | 0:1f82672b8755 | 12662 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 12663 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 12664 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 12665 | * |
gume | 0:1f82672b8755 | 12666 | * @note While enabling the gyro anymotion interrupt |
gume | 0:1f82672b8755 | 12667 | * configure the following settings |
gume | 0:1f82672b8755 | 12668 | * |
gume | 0:1f82672b8755 | 12669 | * Axis: |
gume | 0:1f82672b8755 | 12670 | * bno055_set_gyro_any_motion_axis_enable() |
gume | 0:1f82672b8755 | 12671 | * |
gume | 0:1f82672b8755 | 12672 | * Filter setting: |
gume | 0:1f82672b8755 | 12673 | * bno055_set_gyro_any_motion_filter() |
gume | 0:1f82672b8755 | 12674 | * |
gume | 0:1f82672b8755 | 12675 | * Threshold : |
gume | 0:1f82672b8755 | 12676 | * |
gume | 0:1f82672b8755 | 12677 | * bno055_set_gyro_any_motion_thres() |
gume | 0:1f82672b8755 | 12678 | * |
gume | 0:1f82672b8755 | 12679 | * Slope samples : |
gume | 0:1f82672b8755 | 12680 | * |
gume | 0:1f82672b8755 | 12681 | * bno055_set_gyro_any_motion_slope_samples() |
gume | 0:1f82672b8755 | 12682 | * |
gume | 0:1f82672b8755 | 12683 | * Awake duration : |
gume | 0:1f82672b8755 | 12684 | * |
gume | 0:1f82672b8755 | 12685 | * bno055_set_gyro_any_motion_awake_durn() |
gume | 0:1f82672b8755 | 12686 | * |
gume | 0:1f82672b8755 | 12687 | */ |
gume | 0:1f82672b8755 | 12688 | BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_gyro_any_motion( |
gume | 0:1f82672b8755 | 12689 | u8 *gyro_any_motion_u8) |
gume | 0:1f82672b8755 | 12690 | { |
gume | 0:1f82672b8755 | 12691 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 12692 | communication routine*/ |
gume | 0:1f82672b8755 | 12693 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 12694 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 12695 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 12696 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 12697 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 12698 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 12699 | } else { |
gume | 0:1f82672b8755 | 12700 | /*condition check for page, gyro anymotion interrupt mask is |
gume | 0:1f82672b8755 | 12701 | available in the page one*/ |
gume | 0:1f82672b8755 | 12702 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 12703 | /* Write page as one */ |
gume | 0:1f82672b8755 | 12704 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 12705 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 12706 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 12707 | /* Read the value of gyro anymotion interrupt mask*/ |
gume | 0:1f82672b8755 | 12708 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 12709 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 12710 | BNO055_GYRO_ANY_MOTION_INTR_MASK_REG, |
gume | 0:1f82672b8755 | 12711 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 12712 | *gyro_any_motion_u8 = |
gume | 0:1f82672b8755 | 12713 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 12714 | BNO055_GYRO_ANY_MOTION_INTR_MASK); |
gume | 0:1f82672b8755 | 12715 | } else { |
gume | 0:1f82672b8755 | 12716 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 12717 | } |
gume | 0:1f82672b8755 | 12718 | } |
gume | 0:1f82672b8755 | 12719 | return com_rslt; |
gume | 0:1f82672b8755 | 12720 | } |
gume | 0:1f82672b8755 | 12721 | /*! |
gume | 0:1f82672b8755 | 12722 | * @brief This API used to write the gyro anymotion interrupt mask |
gume | 0:1f82672b8755 | 12723 | * from page one register from 0x0F bit 2 |
gume | 0:1f82672b8755 | 12724 | * |
gume | 0:1f82672b8755 | 12725 | * @param gyro_any_motion_u8 : The value of gyro anymotion interrupt mask |
gume | 0:1f82672b8755 | 12726 | * gyro_any_motion_u8 | result |
gume | 0:1f82672b8755 | 12727 | * -------------------- |------------ |
gume | 0:1f82672b8755 | 12728 | * 0x01 | BNO055_BIT_ENABLE |
gume | 0:1f82672b8755 | 12729 | * 0x00 | BNO055_BIT_DISABLE |
gume | 0:1f82672b8755 | 12730 | * |
gume | 0:1f82672b8755 | 12731 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 12732 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 12733 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 12734 | * |
gume | 0:1f82672b8755 | 12735 | * @note While enabling the gyro anymotion interrupt |
gume | 0:1f82672b8755 | 12736 | * configure the following settings |
gume | 0:1f82672b8755 | 12737 | * |
gume | 0:1f82672b8755 | 12738 | * Axis: |
gume | 0:1f82672b8755 | 12739 | * bno055_set_gyro_any_motion_axis_enable() |
gume | 0:1f82672b8755 | 12740 | * |
gume | 0:1f82672b8755 | 12741 | * Filter setting: |
gume | 0:1f82672b8755 | 12742 | * bno055_set_gyro_any_motion_filter() |
gume | 0:1f82672b8755 | 12743 | * |
gume | 0:1f82672b8755 | 12744 | * Threshold : |
gume | 0:1f82672b8755 | 12745 | * |
gume | 0:1f82672b8755 | 12746 | * bno055_set_gyro_any_motion_thres() |
gume | 0:1f82672b8755 | 12747 | * |
gume | 0:1f82672b8755 | 12748 | * Slope samples : |
gume | 0:1f82672b8755 | 12749 | * |
gume | 0:1f82672b8755 | 12750 | * bno055_set_gyro_any_motion_slope_samples() |
gume | 0:1f82672b8755 | 12751 | * |
gume | 0:1f82672b8755 | 12752 | * Awake duration : |
gume | 0:1f82672b8755 | 12753 | * |
gume | 0:1f82672b8755 | 12754 | * bno055_set_gyro_any_motion_awake_durn() |
gume | 0:1f82672b8755 | 12755 | * |
gume | 0:1f82672b8755 | 12756 | */ |
gume | 0:1f82672b8755 | 12757 | BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_gyro_any_motion( |
gume | 0:1f82672b8755 | 12758 | u8 gyro_any_motion_u8) |
gume | 0:1f82672b8755 | 12759 | { |
gume | 0:1f82672b8755 | 12760 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 12761 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 12762 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 12763 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 12764 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 12765 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 12766 | } else { |
gume | 0:1f82672b8755 | 12767 | /*condition check for page, accel range is |
gume | 0:1f82672b8755 | 12768 | available in the page one*/ |
gume | 0:1f82672b8755 | 12769 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 12770 | /* Write page as one */ |
gume | 0:1f82672b8755 | 12771 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 12772 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 12773 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 12774 | /* Write the value of gyro anymotion interrupt mask*/ |
gume | 0:1f82672b8755 | 12775 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 12776 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 12777 | BNO055_GYRO_ANY_MOTION_INTR_MASK_REG, |
gume | 0:1f82672b8755 | 12778 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 12779 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 12780 | data_u8r = |
gume | 0:1f82672b8755 | 12781 | BNO055_SET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 12782 | BNO055_GYRO_ANY_MOTION_INTR_MASK, |
gume | 0:1f82672b8755 | 12783 | gyro_any_motion_u8); |
gume | 0:1f82672b8755 | 12784 | com_rslt += |
gume | 0:1f82672b8755 | 12785 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 12786 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 12787 | BNO055_GYRO_ANY_MOTION_INTR_MASK_REG, |
gume | 0:1f82672b8755 | 12788 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 12789 | } |
gume | 0:1f82672b8755 | 12790 | } else { |
gume | 0:1f82672b8755 | 12791 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 12792 | } |
gume | 0:1f82672b8755 | 12793 | } |
gume | 0:1f82672b8755 | 12794 | return com_rslt; |
gume | 0:1f82672b8755 | 12795 | } |
gume | 0:1f82672b8755 | 12796 | /*! |
gume | 0:1f82672b8755 | 12797 | * @brief This API used to read the gyro highrate interrupt mask |
gume | 0:1f82672b8755 | 12798 | * from page one register from 0x0F bit 3 |
gume | 0:1f82672b8755 | 12799 | * |
gume | 0:1f82672b8755 | 12800 | * @param gyro_highrate_u8 : The value of gyro highrate interrupt mask |
gume | 0:1f82672b8755 | 12801 | * gyro_highrate_u8 | result |
gume | 0:1f82672b8755 | 12802 | * -------------------- |------------ |
gume | 0:1f82672b8755 | 12803 | * 0x01 | BNO055_BIT_ENABLE |
gume | 0:1f82672b8755 | 12804 | * 0x00 | BNO055_BIT_DISABLE |
gume | 0:1f82672b8755 | 12805 | * |
gume | 0:1f82672b8755 | 12806 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 12807 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 12808 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 12809 | * |
gume | 0:1f82672b8755 | 12810 | * @note While enabling the gyro highrate interrupt |
gume | 0:1f82672b8755 | 12811 | * configure the below settings by using |
gume | 0:1f82672b8755 | 12812 | * the following API |
gume | 0:1f82672b8755 | 12813 | * |
gume | 0:1f82672b8755 | 12814 | * Axis : |
gume | 0:1f82672b8755 | 12815 | * |
gume | 0:1f82672b8755 | 12816 | * bno055_set_gyro_highrate_axis_enable() |
gume | 0:1f82672b8755 | 12817 | * |
gume | 0:1f82672b8755 | 12818 | * Filter : |
gume | 0:1f82672b8755 | 12819 | * |
gume | 0:1f82672b8755 | 12820 | * bno055_set_gyro_highrate_filter() |
gume | 0:1f82672b8755 | 12821 | * |
gume | 0:1f82672b8755 | 12822 | * Threshold : |
gume | 0:1f82672b8755 | 12823 | * |
gume | 0:1f82672b8755 | 12824 | * bno055_get_gyro_highrate_x_thres() |
gume | 0:1f82672b8755 | 12825 | * |
gume | 0:1f82672b8755 | 12826 | * bno055_get_gyro_highrate_y_thres() |
gume | 0:1f82672b8755 | 12827 | * |
gume | 0:1f82672b8755 | 12828 | * bno055_get_gyro_highrate_z_thres() |
gume | 0:1f82672b8755 | 12829 | * |
gume | 0:1f82672b8755 | 12830 | * Hysteresis : |
gume | 0:1f82672b8755 | 12831 | * |
gume | 0:1f82672b8755 | 12832 | * bno055_set_gyro_highrate_x_hyst() |
gume | 0:1f82672b8755 | 12833 | * |
gume | 0:1f82672b8755 | 12834 | * bno055_set_gyro_highrate_y_hyst() |
gume | 0:1f82672b8755 | 12835 | * |
gume | 0:1f82672b8755 | 12836 | * bno055_set_gyro_highrate_z_hyst() |
gume | 0:1f82672b8755 | 12837 | * |
gume | 0:1f82672b8755 | 12838 | * Duration : |
gume | 0:1f82672b8755 | 12839 | * |
gume | 0:1f82672b8755 | 12840 | * bno055_set_gyro_highrate_x_durn() |
gume | 0:1f82672b8755 | 12841 | * |
gume | 0:1f82672b8755 | 12842 | * bno055_set_gyro_highrate_y_durn() |
gume | 0:1f82672b8755 | 12843 | * |
gume | 0:1f82672b8755 | 12844 | * bno055_set_gyro_highrate_z_durn() |
gume | 0:1f82672b8755 | 12845 | * |
gume | 0:1f82672b8755 | 12846 | */ |
gume | 0:1f82672b8755 | 12847 | BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_gyro_highrate( |
gume | 0:1f82672b8755 | 12848 | u8 *gyro_highrate_u8) |
gume | 0:1f82672b8755 | 12849 | { |
gume | 0:1f82672b8755 | 12850 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 12851 | communication routine*/ |
gume | 0:1f82672b8755 | 12852 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 12853 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 12854 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 12855 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 12856 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 12857 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 12858 | } else { |
gume | 0:1f82672b8755 | 12859 | /*condition check for page, gyro highrate interrupt mask is |
gume | 0:1f82672b8755 | 12860 | available in the page one*/ |
gume | 0:1f82672b8755 | 12861 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 12862 | /* Write page as one */ |
gume | 0:1f82672b8755 | 12863 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 12864 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 12865 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 12866 | /* Read the value of gyro highrate interrupt mask*/ |
gume | 0:1f82672b8755 | 12867 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 12868 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 12869 | BNO055_GYRO_HIGHRATE_INTR_MASK_REG, |
gume | 0:1f82672b8755 | 12870 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 12871 | *gyro_highrate_u8 = |
gume | 0:1f82672b8755 | 12872 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 12873 | BNO055_GYRO_HIGHRATE_INTR_MASK); |
gume | 0:1f82672b8755 | 12874 | } else { |
gume | 0:1f82672b8755 | 12875 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 12876 | } |
gume | 0:1f82672b8755 | 12877 | } |
gume | 0:1f82672b8755 | 12878 | return com_rslt; |
gume | 0:1f82672b8755 | 12879 | } |
gume | 0:1f82672b8755 | 12880 | /*! |
gume | 0:1f82672b8755 | 12881 | * @brief This API used to write the gyro highrate interrupt mask |
gume | 0:1f82672b8755 | 12882 | * from page one register from 0x0F bit 3 |
gume | 0:1f82672b8755 | 12883 | * |
gume | 0:1f82672b8755 | 12884 | * @param gyro_highrate_u8 : The value of gyro highrate interrupt mask |
gume | 0:1f82672b8755 | 12885 | * gyro_highrate_u8 | result |
gume | 0:1f82672b8755 | 12886 | * -------------------- |------------ |
gume | 0:1f82672b8755 | 12887 | * 0x01 | BNO055_BIT_ENABLE |
gume | 0:1f82672b8755 | 12888 | * 0x00 | BNO055_BIT_DISABLE |
gume | 0:1f82672b8755 | 12889 | * |
gume | 0:1f82672b8755 | 12890 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 12891 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 12892 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 12893 | * |
gume | 0:1f82672b8755 | 12894 | * @note While enabling the gyro highrate interrupt |
gume | 0:1f82672b8755 | 12895 | * configure the below settings by using |
gume | 0:1f82672b8755 | 12896 | * the following APIs |
gume | 0:1f82672b8755 | 12897 | * |
gume | 0:1f82672b8755 | 12898 | * Axis : |
gume | 0:1f82672b8755 | 12899 | * |
gume | 0:1f82672b8755 | 12900 | * bno055_set_gyro_highrate_axis_enable() |
gume | 0:1f82672b8755 | 12901 | * |
gume | 0:1f82672b8755 | 12902 | * Filter : |
gume | 0:1f82672b8755 | 12903 | * |
gume | 0:1f82672b8755 | 12904 | * bno055_set_gyro_highrate_filter() |
gume | 0:1f82672b8755 | 12905 | * |
gume | 0:1f82672b8755 | 12906 | * Threshold : |
gume | 0:1f82672b8755 | 12907 | * |
gume | 0:1f82672b8755 | 12908 | * bno055_get_gyro_highrate_x_thres() |
gume | 0:1f82672b8755 | 12909 | * |
gume | 0:1f82672b8755 | 12910 | * bno055_get_gyro_highrate_y_thres() |
gume | 0:1f82672b8755 | 12911 | * |
gume | 0:1f82672b8755 | 12912 | * bno055_get_gyro_highrate_z_thres() |
gume | 0:1f82672b8755 | 12913 | * |
gume | 0:1f82672b8755 | 12914 | * Hysteresis : |
gume | 0:1f82672b8755 | 12915 | * |
gume | 0:1f82672b8755 | 12916 | * bno055_set_gyro_highrate_x_hyst() |
gume | 0:1f82672b8755 | 12917 | * |
gume | 0:1f82672b8755 | 12918 | * bno055_set_gyro_highrate_y_hyst() |
gume | 0:1f82672b8755 | 12919 | * |
gume | 0:1f82672b8755 | 12920 | * bno055_set_gyro_highrate_z_hyst() |
gume | 0:1f82672b8755 | 12921 | * |
gume | 0:1f82672b8755 | 12922 | * Duration : |
gume | 0:1f82672b8755 | 12923 | * |
gume | 0:1f82672b8755 | 12924 | * bno055_set_gyro_highrate_x_durn() |
gume | 0:1f82672b8755 | 12925 | * |
gume | 0:1f82672b8755 | 12926 | * bno055_set_gyro_highrate_y_durn() |
gume | 0:1f82672b8755 | 12927 | * |
gume | 0:1f82672b8755 | 12928 | * bno055_set_gyro_highrate_z_durn() |
gume | 0:1f82672b8755 | 12929 | * |
gume | 0:1f82672b8755 | 12930 | */ |
gume | 0:1f82672b8755 | 12931 | BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_gyro_highrate( |
gume | 0:1f82672b8755 | 12932 | u8 gyro_highrate_u8) |
gume | 0:1f82672b8755 | 12933 | { |
gume | 0:1f82672b8755 | 12934 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 12935 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 12936 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 12937 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 12938 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 12939 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 12940 | } else { |
gume | 0:1f82672b8755 | 12941 | /*condition check for page, gyro highrate interrupt mask is |
gume | 0:1f82672b8755 | 12942 | available in the page one*/ |
gume | 0:1f82672b8755 | 12943 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 12944 | /* Write page as one */ |
gume | 0:1f82672b8755 | 12945 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 12946 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 12947 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 12948 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 12949 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 12950 | BNO055_GYRO_HIGHRATE_INTR_MASK_REG, |
gume | 0:1f82672b8755 | 12951 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 12952 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 12953 | /* Write the value of gyro |
gume | 0:1f82672b8755 | 12954 | highrate interrupt mask*/ |
gume | 0:1f82672b8755 | 12955 | data_u8r = |
gume | 0:1f82672b8755 | 12956 | BNO055_SET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 12957 | BNO055_GYRO_HIGHRATE_INTR_MASK, |
gume | 0:1f82672b8755 | 12958 | gyro_highrate_u8); |
gume | 0:1f82672b8755 | 12959 | com_rslt += |
gume | 0:1f82672b8755 | 12960 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 12961 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 12962 | BNO055_GYRO_HIGHRATE_INTR_MASK_REG, |
gume | 0:1f82672b8755 | 12963 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 12964 | } |
gume | 0:1f82672b8755 | 12965 | } else { |
gume | 0:1f82672b8755 | 12966 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 12967 | } |
gume | 0:1f82672b8755 | 12968 | } |
gume | 0:1f82672b8755 | 12969 | return com_rslt; |
gume | 0:1f82672b8755 | 12970 | } |
gume | 0:1f82672b8755 | 12971 | /*! |
gume | 0:1f82672b8755 | 12972 | * @brief This API used to read the accel highg interrupt mask |
gume | 0:1f82672b8755 | 12973 | * from page one register from 0x0F bit 5 |
gume | 0:1f82672b8755 | 12974 | * |
gume | 0:1f82672b8755 | 12975 | * @param accel_high_g_u8 : The value of accel highg interrupt mask |
gume | 0:1f82672b8755 | 12976 | * accel_high_g_u8 | result |
gume | 0:1f82672b8755 | 12977 | * -------------------- |------------ |
gume | 0:1f82672b8755 | 12978 | * 0x01 | BNO055_BIT_ENABLE |
gume | 0:1f82672b8755 | 12979 | * 0x00 | BNO055_BIT_DISABLE |
gume | 0:1f82672b8755 | 12980 | * |
gume | 0:1f82672b8755 | 12981 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 12982 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 12983 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 12984 | * |
gume | 0:1f82672b8755 | 12985 | * @note While enabling the accel highg interrupt |
gume | 0:1f82672b8755 | 12986 | * configure the below settings by using |
gume | 0:1f82672b8755 | 12987 | * the following APIs |
gume | 0:1f82672b8755 | 12988 | * |
gume | 0:1f82672b8755 | 12989 | * Axis : |
gume | 0:1f82672b8755 | 12990 | * |
gume | 0:1f82672b8755 | 12991 | * bno055_set_accel_high_g_axis_enable() |
gume | 0:1f82672b8755 | 12992 | * |
gume | 0:1f82672b8755 | 12993 | * Threshold : |
gume | 0:1f82672b8755 | 12994 | * |
gume | 0:1f82672b8755 | 12995 | * bno055_set_accel_high_g_thres() |
gume | 0:1f82672b8755 | 12996 | * |
gume | 0:1f82672b8755 | 12997 | * Duration : |
gume | 0:1f82672b8755 | 12998 | * |
gume | 0:1f82672b8755 | 12999 | * bno055_set_accel_high_g_durn() |
gume | 0:1f82672b8755 | 13000 | * |
gume | 0:1f82672b8755 | 13001 | */ |
gume | 0:1f82672b8755 | 13002 | BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_high_g( |
gume | 0:1f82672b8755 | 13003 | u8 *accel_high_g_u8) |
gume | 0:1f82672b8755 | 13004 | { |
gume | 0:1f82672b8755 | 13005 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 13006 | communication routine*/ |
gume | 0:1f82672b8755 | 13007 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 13008 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 13009 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 13010 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 13011 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 13012 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 13013 | } else { |
gume | 0:1f82672b8755 | 13014 | /*condition check for page, accel highg interrupt mask is |
gume | 0:1f82672b8755 | 13015 | available in the page one*/ |
gume | 0:1f82672b8755 | 13016 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 13017 | /* Write page as one */ |
gume | 0:1f82672b8755 | 13018 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 13019 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 13020 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 13021 | /* Read the value of accel highg interrupt mask*/ |
gume | 0:1f82672b8755 | 13022 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 13023 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 13024 | BNO055_ACCEL_HIGH_G_INTR_MASK_REG, |
gume | 0:1f82672b8755 | 13025 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 13026 | *accel_high_g_u8 = |
gume | 0:1f82672b8755 | 13027 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 13028 | BNO055_ACCEL_HIGH_G_INTR_MASK); |
gume | 0:1f82672b8755 | 13029 | } else { |
gume | 0:1f82672b8755 | 13030 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 13031 | } |
gume | 0:1f82672b8755 | 13032 | } |
gume | 0:1f82672b8755 | 13033 | return com_rslt; |
gume | 0:1f82672b8755 | 13034 | } |
gume | 0:1f82672b8755 | 13035 | /*! |
gume | 0:1f82672b8755 | 13036 | * @brief This API used to write the accel highg interrupt mask |
gume | 0:1f82672b8755 | 13037 | * from page one register from 0x0F bit 5 |
gume | 0:1f82672b8755 | 13038 | * |
gume | 0:1f82672b8755 | 13039 | * @param accel_high_g_u8 : The value of accel highg interrupt mask |
gume | 0:1f82672b8755 | 13040 | * accel_high_g_u8 | result |
gume | 0:1f82672b8755 | 13041 | * -------------------- |------------ |
gume | 0:1f82672b8755 | 13042 | * 0x01 | BNO055_BIT_ENABLE |
gume | 0:1f82672b8755 | 13043 | * 0x00 | BNO055_BIT_DISABLE |
gume | 0:1f82672b8755 | 13044 | * |
gume | 0:1f82672b8755 | 13045 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 13046 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 13047 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 13048 | * |
gume | 0:1f82672b8755 | 13049 | * @note While enabling the accel highg interrupt |
gume | 0:1f82672b8755 | 13050 | * configure the below settings by using |
gume | 0:1f82672b8755 | 13051 | * the following APIs |
gume | 0:1f82672b8755 | 13052 | * |
gume | 0:1f82672b8755 | 13053 | * Axis : |
gume | 0:1f82672b8755 | 13054 | * |
gume | 0:1f82672b8755 | 13055 | * bno055_set_accel_high_g_axis_enable() |
gume | 0:1f82672b8755 | 13056 | * |
gume | 0:1f82672b8755 | 13057 | * Threshold : |
gume | 0:1f82672b8755 | 13058 | * |
gume | 0:1f82672b8755 | 13059 | * bno055_set_accel_high_g_thres() |
gume | 0:1f82672b8755 | 13060 | * |
gume | 0:1f82672b8755 | 13061 | * Duration : |
gume | 0:1f82672b8755 | 13062 | * |
gume | 0:1f82672b8755 | 13063 | * bno055_set_accel_high_g_durn() |
gume | 0:1f82672b8755 | 13064 | * |
gume | 0:1f82672b8755 | 13065 | */ |
gume | 0:1f82672b8755 | 13066 | BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_high_g( |
gume | 0:1f82672b8755 | 13067 | u8 accel_high_g_u8) |
gume | 0:1f82672b8755 | 13068 | { |
gume | 0:1f82672b8755 | 13069 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 13070 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 13071 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 13072 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 13073 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 13074 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 13075 | } else { |
gume | 0:1f82672b8755 | 13076 | /*condition check for page, accel highg interrupt mask is |
gume | 0:1f82672b8755 | 13077 | available in the page one*/ |
gume | 0:1f82672b8755 | 13078 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 13079 | /* Write page as one */ |
gume | 0:1f82672b8755 | 13080 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 13081 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 13082 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 13083 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 13084 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 13085 | BNO055_ACCEL_HIGH_G_INTR_MASK_REG, |
gume | 0:1f82672b8755 | 13086 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 13087 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 13088 | /* Write the value of accel |
gume | 0:1f82672b8755 | 13089 | highg interrupt mask*/ |
gume | 0:1f82672b8755 | 13090 | data_u8r = |
gume | 0:1f82672b8755 | 13091 | BNO055_SET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 13092 | BNO055_ACCEL_HIGH_G_INTR_MASK, |
gume | 0:1f82672b8755 | 13093 | accel_high_g_u8); |
gume | 0:1f82672b8755 | 13094 | com_rslt += |
gume | 0:1f82672b8755 | 13095 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 13096 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 13097 | BNO055_ACCEL_HIGH_G_INTR_MASK_REG, |
gume | 0:1f82672b8755 | 13098 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 13099 | } |
gume | 0:1f82672b8755 | 13100 | } else { |
gume | 0:1f82672b8755 | 13101 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 13102 | } |
gume | 0:1f82672b8755 | 13103 | } |
gume | 0:1f82672b8755 | 13104 | return com_rslt; |
gume | 0:1f82672b8755 | 13105 | } |
gume | 0:1f82672b8755 | 13106 | /*! |
gume | 0:1f82672b8755 | 13107 | * @brief This API used to read the accel anymotion interrupt mask |
gume | 0:1f82672b8755 | 13108 | * from page one register from 0x0F bit 6 |
gume | 0:1f82672b8755 | 13109 | * |
gume | 0:1f82672b8755 | 13110 | * @param accel_any_motion_u8 : The value of accel anymotion interrupt mask |
gume | 0:1f82672b8755 | 13111 | * accel_any_motion_u8 | result |
gume | 0:1f82672b8755 | 13112 | * -------------------- |------------ |
gume | 0:1f82672b8755 | 13113 | * 0x01 | BNO055_BIT_ENABLE |
gume | 0:1f82672b8755 | 13114 | * 0x00 | BNO055_BIT_DISABLE |
gume | 0:1f82672b8755 | 13115 | * |
gume | 0:1f82672b8755 | 13116 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 13117 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 13118 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 13119 | * |
gume | 0:1f82672b8755 | 13120 | * @note While enabling the accel highg interrupt |
gume | 0:1f82672b8755 | 13121 | * configure the below settings by using |
gume | 0:1f82672b8755 | 13122 | * the following APIs |
gume | 0:1f82672b8755 | 13123 | * |
gume | 0:1f82672b8755 | 13124 | * Axis : |
gume | 0:1f82672b8755 | 13125 | * |
gume | 0:1f82672b8755 | 13126 | * bno055_set_accel_high_g_axis_enable() |
gume | 0:1f82672b8755 | 13127 | * |
gume | 0:1f82672b8755 | 13128 | * Threshold : |
gume | 0:1f82672b8755 | 13129 | * |
gume | 0:1f82672b8755 | 13130 | * bno055_set_accel_high_g_thres() |
gume | 0:1f82672b8755 | 13131 | * |
gume | 0:1f82672b8755 | 13132 | * Duration : |
gume | 0:1f82672b8755 | 13133 | * |
gume | 0:1f82672b8755 | 13134 | * bno055_set_accel_high_g_durn() |
gume | 0:1f82672b8755 | 13135 | * |
gume | 0:1f82672b8755 | 13136 | */ |
gume | 0:1f82672b8755 | 13137 | BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_any_motion( |
gume | 0:1f82672b8755 | 13138 | u8 *accel_any_motion_u8) |
gume | 0:1f82672b8755 | 13139 | { |
gume | 0:1f82672b8755 | 13140 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 13141 | communication routine*/ |
gume | 0:1f82672b8755 | 13142 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 13143 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 13144 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 13145 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 13146 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 13147 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 13148 | } else { |
gume | 0:1f82672b8755 | 13149 | /*condition check for page, accel anymotion interrupt mask is |
gume | 0:1f82672b8755 | 13150 | available in the page one*/ |
gume | 0:1f82672b8755 | 13151 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 13152 | /* Write page as one */ |
gume | 0:1f82672b8755 | 13153 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 13154 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 13155 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 13156 | /* The value of accel anymotion interrupt mask*/ |
gume | 0:1f82672b8755 | 13157 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 13158 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 13159 | BNO055_ACCEL_ANY_MOTION_INTR_MASK_REG, |
gume | 0:1f82672b8755 | 13160 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 13161 | *accel_any_motion_u8 = |
gume | 0:1f82672b8755 | 13162 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 13163 | BNO055_ACCEL_ANY_MOTION_INTR_MASK); |
gume | 0:1f82672b8755 | 13164 | } else { |
gume | 0:1f82672b8755 | 13165 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 13166 | } |
gume | 0:1f82672b8755 | 13167 | } |
gume | 0:1f82672b8755 | 13168 | return com_rslt; |
gume | 0:1f82672b8755 | 13169 | } |
gume | 0:1f82672b8755 | 13170 | /*! |
gume | 0:1f82672b8755 | 13171 | * @brief This API used to write the accel anymotion interrupt mask |
gume | 0:1f82672b8755 | 13172 | * from page one register from 0x0F bit 6 |
gume | 0:1f82672b8755 | 13173 | * |
gume | 0:1f82672b8755 | 13174 | * @param accel_any_motion_u8 : The value of accel anymotion interrupt mask |
gume | 0:1f82672b8755 | 13175 | * accel_any_motion_u8 | result |
gume | 0:1f82672b8755 | 13176 | * -------------------- |------------ |
gume | 0:1f82672b8755 | 13177 | * 0x01 | BNO055_BIT_ENABLE |
gume | 0:1f82672b8755 | 13178 | * 0x00 | BNO055_BIT_DISABLE |
gume | 0:1f82672b8755 | 13179 | * |
gume | 0:1f82672b8755 | 13180 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 13181 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 13182 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 13183 | * |
gume | 0:1f82672b8755 | 13184 | * @note While enabling the accel anymotion interrupt |
gume | 0:1f82672b8755 | 13185 | * configure the following settings |
gume | 0:1f82672b8755 | 13186 | * |
gume | 0:1f82672b8755 | 13187 | * Axis: |
gume | 0:1f82672b8755 | 13188 | * |
gume | 0:1f82672b8755 | 13189 | * bno055_set_accel_any_motion_no_motion_axis_enable() |
gume | 0:1f82672b8755 | 13190 | * |
gume | 0:1f82672b8755 | 13191 | * Duration: |
gume | 0:1f82672b8755 | 13192 | * |
gume | 0:1f82672b8755 | 13193 | * bno055_set_accel_any_motion_durn() |
gume | 0:1f82672b8755 | 13194 | * |
gume | 0:1f82672b8755 | 13195 | * Threshold: |
gume | 0:1f82672b8755 | 13196 | * |
gume | 0:1f82672b8755 | 13197 | * bno055_set_accel_any_motion_thres() |
gume | 0:1f82672b8755 | 13198 | * |
gume | 0:1f82672b8755 | 13199 | */ |
gume | 0:1f82672b8755 | 13200 | BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_any_motion( |
gume | 0:1f82672b8755 | 13201 | u8 accel_any_motion_u8) |
gume | 0:1f82672b8755 | 13202 | { |
gume | 0:1f82672b8755 | 13203 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 13204 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 13205 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 13206 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 13207 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 13208 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 13209 | } else { |
gume | 0:1f82672b8755 | 13210 | /*condition check for page, accel anymotion interrupt mask is |
gume | 0:1f82672b8755 | 13211 | available in the page one*/ |
gume | 0:1f82672b8755 | 13212 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 13213 | /* Write page as one */ |
gume | 0:1f82672b8755 | 13214 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 13215 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 13216 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 13217 | /* Write the value of accel anymotion interrupt mask*/ |
gume | 0:1f82672b8755 | 13218 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 13219 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 13220 | BNO055_ACCEL_ANY_MOTION_INTR_MASK_REG, |
gume | 0:1f82672b8755 | 13221 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 13222 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 13223 | data_u8r = |
gume | 0:1f82672b8755 | 13224 | BNO055_SET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 13225 | BNO055_ACCEL_ANY_MOTION_INTR_MASK, |
gume | 0:1f82672b8755 | 13226 | accel_any_motion_u8); |
gume | 0:1f82672b8755 | 13227 | com_rslt += |
gume | 0:1f82672b8755 | 13228 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 13229 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 13230 | BNO055_ACCEL_ANY_MOTION_INTR_MASK_REG, |
gume | 0:1f82672b8755 | 13231 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 13232 | } |
gume | 0:1f82672b8755 | 13233 | } else { |
gume | 0:1f82672b8755 | 13234 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 13235 | } |
gume | 0:1f82672b8755 | 13236 | } |
gume | 0:1f82672b8755 | 13237 | return com_rslt; |
gume | 0:1f82672b8755 | 13238 | } |
gume | 0:1f82672b8755 | 13239 | /*! |
gume | 0:1f82672b8755 | 13240 | * @brief This API used to read the accel nomotion interrupt mask |
gume | 0:1f82672b8755 | 13241 | * from page one register from 0x0F bit 7 |
gume | 0:1f82672b8755 | 13242 | * |
gume | 0:1f82672b8755 | 13243 | * @param accel_nomotion_u8 : The value of accel nomotion interrupt mask |
gume | 0:1f82672b8755 | 13244 | * accel_nomotion_u8 | result |
gume | 0:1f82672b8755 | 13245 | * -------------------- |------------ |
gume | 0:1f82672b8755 | 13246 | * 0x01 | BNO055_BIT_ENABLE |
gume | 0:1f82672b8755 | 13247 | * 0x00 | BNO055_BIT_DISABLE |
gume | 0:1f82672b8755 | 13248 | * |
gume | 0:1f82672b8755 | 13249 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 13250 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 13251 | * |
gume | 0:1f82672b8755 | 13252 | * @note While enabling the accel anymotion interrupt |
gume | 0:1f82672b8755 | 13253 | * configure the following settings |
gume | 0:1f82672b8755 | 13254 | * |
gume | 0:1f82672b8755 | 13255 | * Axis: |
gume | 0:1f82672b8755 | 13256 | * |
gume | 0:1f82672b8755 | 13257 | * bno055_set_accel_any_motion_no_motion_axis_enable() |
gume | 0:1f82672b8755 | 13258 | * |
gume | 0:1f82672b8755 | 13259 | * Duration: |
gume | 0:1f82672b8755 | 13260 | * |
gume | 0:1f82672b8755 | 13261 | * bno055_set_accel_any_motion_durn() |
gume | 0:1f82672b8755 | 13262 | * |
gume | 0:1f82672b8755 | 13263 | * Threshold: |
gume | 0:1f82672b8755 | 13264 | * |
gume | 0:1f82672b8755 | 13265 | * bno055_set_accel_any_motion_thres()) |
gume | 0:1f82672b8755 | 13266 | * |
gume | 0:1f82672b8755 | 13267 | */ |
gume | 0:1f82672b8755 | 13268 | BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_no_motion( |
gume | 0:1f82672b8755 | 13269 | u8 *accel_nomotion_u8) |
gume | 0:1f82672b8755 | 13270 | { |
gume | 0:1f82672b8755 | 13271 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 13272 | communication routine*/ |
gume | 0:1f82672b8755 | 13273 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 13274 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 13275 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 13276 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 13277 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 13278 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 13279 | } else { |
gume | 0:1f82672b8755 | 13280 | /*condition check for page, accel nomotion interrupt mask is |
gume | 0:1f82672b8755 | 13281 | available in the page one*/ |
gume | 0:1f82672b8755 | 13282 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 13283 | /* Write page as one */ |
gume | 0:1f82672b8755 | 13284 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 13285 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 13286 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 13287 | /* Read the value of accel nomotion interrupt mask*/ |
gume | 0:1f82672b8755 | 13288 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 13289 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 13290 | BNO055_ACCEL_NO_MOTION_INTR_MASK_REG, |
gume | 0:1f82672b8755 | 13291 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 13292 | *accel_nomotion_u8 = |
gume | 0:1f82672b8755 | 13293 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 13294 | BNO055_ACCEL_NO_MOTION_INTR_MASK); |
gume | 0:1f82672b8755 | 13295 | } else { |
gume | 0:1f82672b8755 | 13296 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 13297 | } |
gume | 0:1f82672b8755 | 13298 | } |
gume | 0:1f82672b8755 | 13299 | return com_rslt; |
gume | 0:1f82672b8755 | 13300 | } |
gume | 0:1f82672b8755 | 13301 | /*! |
gume | 0:1f82672b8755 | 13302 | * @brief This API used to write the accel nomotion interrupt mask |
gume | 0:1f82672b8755 | 13303 | * from page one register from 0x0F bit 7 |
gume | 0:1f82672b8755 | 13304 | * |
gume | 0:1f82672b8755 | 13305 | * @param accel_nomotion_u8 : The value of accel nomotion interrupt mask |
gume | 0:1f82672b8755 | 13306 | * accel_nomotion_u8 | result |
gume | 0:1f82672b8755 | 13307 | * -------------------- |------------ |
gume | 0:1f82672b8755 | 13308 | * 0x01 | BNO055_BIT_ENABLE |
gume | 0:1f82672b8755 | 13309 | * 0x00 | BNO055_BIT_DISABLE |
gume | 0:1f82672b8755 | 13310 | * |
gume | 0:1f82672b8755 | 13311 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 13312 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 13313 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 13314 | * |
gume | 0:1f82672b8755 | 13315 | * @note While enabling the accel nomotion interrupt |
gume | 0:1f82672b8755 | 13316 | * configure the following settings |
gume | 0:1f82672b8755 | 13317 | * |
gume | 0:1f82672b8755 | 13318 | * Axis: |
gume | 0:1f82672b8755 | 13319 | * |
gume | 0:1f82672b8755 | 13320 | * bno055_set_accel_any_motion_no_motion_axis_enable() |
gume | 0:1f82672b8755 | 13321 | * |
gume | 0:1f82672b8755 | 13322 | * Threshold : |
gume | 0:1f82672b8755 | 13323 | * |
gume | 0:1f82672b8755 | 13324 | * bno055_set_accel_slow_no_motion_thres() |
gume | 0:1f82672b8755 | 13325 | * |
gume | 0:1f82672b8755 | 13326 | * Duration : |
gume | 0:1f82672b8755 | 13327 | * |
gume | 0:1f82672b8755 | 13328 | * bno055_set_accel_slow_no_motion_durn() |
gume | 0:1f82672b8755 | 13329 | * |
gume | 0:1f82672b8755 | 13330 | * Slow/no motion enable: |
gume | 0:1f82672b8755 | 13331 | * |
gume | 0:1f82672b8755 | 13332 | * bno055_set_accel_slow_no_motion_enable() |
gume | 0:1f82672b8755 | 13333 | * |
gume | 0:1f82672b8755 | 13334 | */ |
gume | 0:1f82672b8755 | 13335 | BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_no_motion( |
gume | 0:1f82672b8755 | 13336 | u8 accel_nomotion_u8) |
gume | 0:1f82672b8755 | 13337 | { |
gume | 0:1f82672b8755 | 13338 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 13339 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 13340 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 13341 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 13342 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 13343 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 13344 | } else { |
gume | 0:1f82672b8755 | 13345 | /*condition check for page, accel |
gume | 0:1f82672b8755 | 13346 | nomotion interrupt mask is |
gume | 0:1f82672b8755 | 13347 | available in the page one*/ |
gume | 0:1f82672b8755 | 13348 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 13349 | /* Write page as one */ |
gume | 0:1f82672b8755 | 13350 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 13351 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 13352 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 13353 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 13354 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 13355 | BNO055_ACCEL_NO_MOTION_INTR_MASK_REG, |
gume | 0:1f82672b8755 | 13356 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 13357 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 13358 | /* Write the value of accel |
gume | 0:1f82672b8755 | 13359 | nomotion interrupt mask*/ |
gume | 0:1f82672b8755 | 13360 | data_u8r = |
gume | 0:1f82672b8755 | 13361 | BNO055_SET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 13362 | BNO055_ACCEL_NO_MOTION_INTR_MASK, |
gume | 0:1f82672b8755 | 13363 | accel_nomotion_u8); |
gume | 0:1f82672b8755 | 13364 | com_rslt += |
gume | 0:1f82672b8755 | 13365 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 13366 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 13367 | BNO055_ACCEL_NO_MOTION_INTR_MASK_REG, |
gume | 0:1f82672b8755 | 13368 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 13369 | } |
gume | 0:1f82672b8755 | 13370 | } else { |
gume | 0:1f82672b8755 | 13371 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 13372 | } |
gume | 0:1f82672b8755 | 13373 | } |
gume | 0:1f82672b8755 | 13374 | return com_rslt; |
gume | 0:1f82672b8755 | 13375 | } |
gume | 0:1f82672b8755 | 13376 | /*! |
gume | 0:1f82672b8755 | 13377 | * @brief This API used to read the gyro anymotion interrupt |
gume | 0:1f82672b8755 | 13378 | * from page one register from 0x10 bit 2 |
gume | 0:1f82672b8755 | 13379 | * |
gume | 0:1f82672b8755 | 13380 | * @param gyro_any_motion_u8 : The value of gyro anymotion interrupt |
gume | 0:1f82672b8755 | 13381 | * gyro_any_motion_u8 | result |
gume | 0:1f82672b8755 | 13382 | * -------------------- |------------ |
gume | 0:1f82672b8755 | 13383 | * 0x01 | BNO055_BIT_ENABLE |
gume | 0:1f82672b8755 | 13384 | * 0x00 | BNO055_BIT_DISABLE |
gume | 0:1f82672b8755 | 13385 | * |
gume | 0:1f82672b8755 | 13386 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 13387 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 13388 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 13389 | * |
gume | 0:1f82672b8755 | 13390 | * @note While enabling the gyro anymotion interrupt |
gume | 0:1f82672b8755 | 13391 | * configure the following settings |
gume | 0:1f82672b8755 | 13392 | * |
gume | 0:1f82672b8755 | 13393 | * Axis: |
gume | 0:1f82672b8755 | 13394 | * bno055_set_gyro_any_motion_axis_enable() |
gume | 0:1f82672b8755 | 13395 | * |
gume | 0:1f82672b8755 | 13396 | * Filter setting: |
gume | 0:1f82672b8755 | 13397 | * bno055_set_gyro_any_motion_filter() |
gume | 0:1f82672b8755 | 13398 | * |
gume | 0:1f82672b8755 | 13399 | * Threshold : |
gume | 0:1f82672b8755 | 13400 | * |
gume | 0:1f82672b8755 | 13401 | * bno055_set_gyro_any_motion_thres() |
gume | 0:1f82672b8755 | 13402 | * |
gume | 0:1f82672b8755 | 13403 | * Slope samples : |
gume | 0:1f82672b8755 | 13404 | * |
gume | 0:1f82672b8755 | 13405 | * bno055_set_gyro_any_motion_slope_samples() |
gume | 0:1f82672b8755 | 13406 | * |
gume | 0:1f82672b8755 | 13407 | * Awake duration : |
gume | 0:1f82672b8755 | 13408 | * |
gume | 0:1f82672b8755 | 13409 | * bno055_set_gyro_any_motion_awake_durn() |
gume | 0:1f82672b8755 | 13410 | */ |
gume | 0:1f82672b8755 | 13411 | BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_gyro_any_motion( |
gume | 0:1f82672b8755 | 13412 | u8 *gyro_any_motion_u8) |
gume | 0:1f82672b8755 | 13413 | { |
gume | 0:1f82672b8755 | 13414 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 13415 | communication routine*/ |
gume | 0:1f82672b8755 | 13416 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 13417 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 13418 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 13419 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 13420 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 13421 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 13422 | } else { |
gume | 0:1f82672b8755 | 13423 | /*condition check for page, gyro anymotion interrupt is |
gume | 0:1f82672b8755 | 13424 | available in the page one*/ |
gume | 0:1f82672b8755 | 13425 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 13426 | /* Write page as one */ |
gume | 0:1f82672b8755 | 13427 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 13428 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 13429 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 13430 | /* Read the value of gyro anymotion interrupt */ |
gume | 0:1f82672b8755 | 13431 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 13432 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 13433 | BNO055_GYRO_ANY_MOTION_INTR_REG, |
gume | 0:1f82672b8755 | 13434 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 13435 | *gyro_any_motion_u8 = |
gume | 0:1f82672b8755 | 13436 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 13437 | BNO055_GYRO_ANY_MOTION_INTR); |
gume | 0:1f82672b8755 | 13438 | } else { |
gume | 0:1f82672b8755 | 13439 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 13440 | } |
gume | 0:1f82672b8755 | 13441 | } |
gume | 0:1f82672b8755 | 13442 | return com_rslt; |
gume | 0:1f82672b8755 | 13443 | } |
gume | 0:1f82672b8755 | 13444 | /*! |
gume | 0:1f82672b8755 | 13445 | * @brief This API used to write the gyro anymotion interrupt |
gume | 0:1f82672b8755 | 13446 | * from page one register from 0x10 bit 2 |
gume | 0:1f82672b8755 | 13447 | * |
gume | 0:1f82672b8755 | 13448 | * @param gyro_any_motion_u8 : The value of gyro anymotion interrupt |
gume | 0:1f82672b8755 | 13449 | * gyro_any_motion_u8 | result |
gume | 0:1f82672b8755 | 13450 | * -------------------- |------------ |
gume | 0:1f82672b8755 | 13451 | * 0x01 | BNO055_BIT_ENABLE |
gume | 0:1f82672b8755 | 13452 | * 0x00 | BNO055_BIT_DISABLE |
gume | 0:1f82672b8755 | 13453 | * |
gume | 0:1f82672b8755 | 13454 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 13455 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 13456 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 13457 | * |
gume | 0:1f82672b8755 | 13458 | * @note While enabling the gyro anymotion interrupt |
gume | 0:1f82672b8755 | 13459 | * configure the following settings |
gume | 0:1f82672b8755 | 13460 | * |
gume | 0:1f82672b8755 | 13461 | * Axis: |
gume | 0:1f82672b8755 | 13462 | * bno055_set_gyro_any_motion_axis_enable() |
gume | 0:1f82672b8755 | 13463 | * |
gume | 0:1f82672b8755 | 13464 | * Filter setting: |
gume | 0:1f82672b8755 | 13465 | * bno055_set_gyro_any_motion_filter() |
gume | 0:1f82672b8755 | 13466 | * |
gume | 0:1f82672b8755 | 13467 | * Threshold : |
gume | 0:1f82672b8755 | 13468 | * |
gume | 0:1f82672b8755 | 13469 | * bno055_set_gyro_any_motion_thres() |
gume | 0:1f82672b8755 | 13470 | * |
gume | 0:1f82672b8755 | 13471 | * Slope samples : |
gume | 0:1f82672b8755 | 13472 | * |
gume | 0:1f82672b8755 | 13473 | * bno055_set_gyro_any_motion_slope_samples() |
gume | 0:1f82672b8755 | 13474 | * |
gume | 0:1f82672b8755 | 13475 | * Awake duration : |
gume | 0:1f82672b8755 | 13476 | * |
gume | 0:1f82672b8755 | 13477 | * bno055_set_gyro_any_motion_awake_durn() |
gume | 0:1f82672b8755 | 13478 | */ |
gume | 0:1f82672b8755 | 13479 | BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_gyro_any_motion( |
gume | 0:1f82672b8755 | 13480 | u8 gyro_any_motion_u8) |
gume | 0:1f82672b8755 | 13481 | { |
gume | 0:1f82672b8755 | 13482 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 13483 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 13484 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 13485 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 13486 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 13487 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 13488 | } else { |
gume | 0:1f82672b8755 | 13489 | /*condition check for page, gyro anymotion interrupt is |
gume | 0:1f82672b8755 | 13490 | available in the page one*/ |
gume | 0:1f82672b8755 | 13491 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 13492 | /* Write page as one */ |
gume | 0:1f82672b8755 | 13493 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 13494 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 13495 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 13496 | /* Write the value of gyro anymotion interrupt */ |
gume | 0:1f82672b8755 | 13497 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 13498 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 13499 | BNO055_GYRO_ANY_MOTION_INTR_REG, |
gume | 0:1f82672b8755 | 13500 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 13501 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 13502 | data_u8r = |
gume | 0:1f82672b8755 | 13503 | BNO055_SET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 13504 | BNO055_GYRO_ANY_MOTION_INTR, |
gume | 0:1f82672b8755 | 13505 | gyro_any_motion_u8); |
gume | 0:1f82672b8755 | 13506 | com_rslt += |
gume | 0:1f82672b8755 | 13507 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 13508 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 13509 | BNO055_GYRO_ANY_MOTION_INTR_REG, |
gume | 0:1f82672b8755 | 13510 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 13511 | } |
gume | 0:1f82672b8755 | 13512 | } else { |
gume | 0:1f82672b8755 | 13513 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 13514 | } |
gume | 0:1f82672b8755 | 13515 | } |
gume | 0:1f82672b8755 | 13516 | return com_rslt; |
gume | 0:1f82672b8755 | 13517 | } |
gume | 0:1f82672b8755 | 13518 | /*! |
gume | 0:1f82672b8755 | 13519 | * @brief This API used to read the gyro highrate interrupt |
gume | 0:1f82672b8755 | 13520 | * from page one register from 0x10 bit 3 |
gume | 0:1f82672b8755 | 13521 | * |
gume | 0:1f82672b8755 | 13522 | * @param gyro_highrate_u8 : The value of gyro highrate interrupt |
gume | 0:1f82672b8755 | 13523 | * gyro_highrate_u8 | result |
gume | 0:1f82672b8755 | 13524 | * -------------------- |------------ |
gume | 0:1f82672b8755 | 13525 | * 0x01 | BNO055_BIT_ENABLE |
gume | 0:1f82672b8755 | 13526 | * 0x00 | BNO055_BIT_DISABLE |
gume | 0:1f82672b8755 | 13527 | * |
gume | 0:1f82672b8755 | 13528 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 13529 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 13530 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 13531 | * |
gume | 0:1f82672b8755 | 13532 | * @note While enabling the gyro highrate interrupt |
gume | 0:1f82672b8755 | 13533 | * configure the below settings by using |
gume | 0:1f82672b8755 | 13534 | * the following APIs |
gume | 0:1f82672b8755 | 13535 | * |
gume | 0:1f82672b8755 | 13536 | * Axis : |
gume | 0:1f82672b8755 | 13537 | * |
gume | 0:1f82672b8755 | 13538 | * bno055_set_gyro_highrate_axis_enable() |
gume | 0:1f82672b8755 | 13539 | * |
gume | 0:1f82672b8755 | 13540 | * Filter : |
gume | 0:1f82672b8755 | 13541 | * |
gume | 0:1f82672b8755 | 13542 | * bno055_set_gyro_highrate_filter() |
gume | 0:1f82672b8755 | 13543 | * |
gume | 0:1f82672b8755 | 13544 | * Threshold : |
gume | 0:1f82672b8755 | 13545 | * |
gume | 0:1f82672b8755 | 13546 | * bno055_get_gyro_highrate_x_thres() |
gume | 0:1f82672b8755 | 13547 | * |
gume | 0:1f82672b8755 | 13548 | * bno055_get_gyro_highrate_y_thres() |
gume | 0:1f82672b8755 | 13549 | * |
gume | 0:1f82672b8755 | 13550 | * bno055_get_gyro_highrate_z_thres() |
gume | 0:1f82672b8755 | 13551 | * |
gume | 0:1f82672b8755 | 13552 | * Hysteresis : |
gume | 0:1f82672b8755 | 13553 | * |
gume | 0:1f82672b8755 | 13554 | * bno055_set_gyro_highrate_x_hyst() |
gume | 0:1f82672b8755 | 13555 | * |
gume | 0:1f82672b8755 | 13556 | * bno055_set_gyro_highrate_y_hyst() |
gume | 0:1f82672b8755 | 13557 | * |
gume | 0:1f82672b8755 | 13558 | * bno055_set_gyro_highrate_z_hyst() |
gume | 0:1f82672b8755 | 13559 | * |
gume | 0:1f82672b8755 | 13560 | * Duration : |
gume | 0:1f82672b8755 | 13561 | * |
gume | 0:1f82672b8755 | 13562 | * bno055_set_gyro_highrate_x_durn() |
gume | 0:1f82672b8755 | 13563 | * |
gume | 0:1f82672b8755 | 13564 | * bno055_set_gyro_highrate_y_durn() |
gume | 0:1f82672b8755 | 13565 | * |
gume | 0:1f82672b8755 | 13566 | * bno055_set_gyro_highrate_z_durn() |
gume | 0:1f82672b8755 | 13567 | * |
gume | 0:1f82672b8755 | 13568 | */ |
gume | 0:1f82672b8755 | 13569 | BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_gyro_highrate( |
gume | 0:1f82672b8755 | 13570 | u8 *gyro_highrate_u8) |
gume | 0:1f82672b8755 | 13571 | { |
gume | 0:1f82672b8755 | 13572 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 13573 | communication routine*/ |
gume | 0:1f82672b8755 | 13574 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 13575 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 13576 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 13577 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 13578 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 13579 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 13580 | } else { |
gume | 0:1f82672b8755 | 13581 | /*condition check for page, gyro highrate interrupt is |
gume | 0:1f82672b8755 | 13582 | available in the page one*/ |
gume | 0:1f82672b8755 | 13583 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 13584 | /* Write page as one */ |
gume | 0:1f82672b8755 | 13585 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 13586 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 13587 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 13588 | /* Read the value of gyro highrate interrupt */ |
gume | 0:1f82672b8755 | 13589 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 13590 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 13591 | BNO055_GYRO_HIGHRATE_INTR_REG, |
gume | 0:1f82672b8755 | 13592 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 13593 | *gyro_highrate_u8 = |
gume | 0:1f82672b8755 | 13594 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 13595 | BNO055_GYRO_HIGHRATE_INTR); |
gume | 0:1f82672b8755 | 13596 | } else { |
gume | 0:1f82672b8755 | 13597 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 13598 | } |
gume | 0:1f82672b8755 | 13599 | } |
gume | 0:1f82672b8755 | 13600 | return com_rslt; |
gume | 0:1f82672b8755 | 13601 | } |
gume | 0:1f82672b8755 | 13602 | /*! |
gume | 0:1f82672b8755 | 13603 | * @brief This API used to write the gyro highrate interrupt |
gume | 0:1f82672b8755 | 13604 | * from page one register from 0x10 bit 3 |
gume | 0:1f82672b8755 | 13605 | * |
gume | 0:1f82672b8755 | 13606 | * @param gyro_highrate_u8 : The value of gyro highrate interrupt |
gume | 0:1f82672b8755 | 13607 | * gyro_highrate_u8 | result |
gume | 0:1f82672b8755 | 13608 | * -------------------- |------------ |
gume | 0:1f82672b8755 | 13609 | * 0x01 | BNO055_BIT_ENABLE |
gume | 0:1f82672b8755 | 13610 | * 0x00 | BNO055_BIT_DISABLE |
gume | 0:1f82672b8755 | 13611 | * |
gume | 0:1f82672b8755 | 13612 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 13613 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 13614 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 13615 | * |
gume | 0:1f82672b8755 | 13616 | * @note While enabling the gyro highrate interrupt |
gume | 0:1f82672b8755 | 13617 | * configure the below settings by using |
gume | 0:1f82672b8755 | 13618 | * the following APIs |
gume | 0:1f82672b8755 | 13619 | * |
gume | 0:1f82672b8755 | 13620 | * Axis : |
gume | 0:1f82672b8755 | 13621 | * |
gume | 0:1f82672b8755 | 13622 | * bno055_set_gyro_highrate_axis_enable() |
gume | 0:1f82672b8755 | 13623 | * |
gume | 0:1f82672b8755 | 13624 | * Filter : |
gume | 0:1f82672b8755 | 13625 | * |
gume | 0:1f82672b8755 | 13626 | * bno055_set_gyro_highrate_filter() |
gume | 0:1f82672b8755 | 13627 | * |
gume | 0:1f82672b8755 | 13628 | * Threshold : |
gume | 0:1f82672b8755 | 13629 | * |
gume | 0:1f82672b8755 | 13630 | * bno055_get_gyro_highrate_x_thres() |
gume | 0:1f82672b8755 | 13631 | * |
gume | 0:1f82672b8755 | 13632 | * bno055_get_gyro_highrate_y_thres() |
gume | 0:1f82672b8755 | 13633 | * |
gume | 0:1f82672b8755 | 13634 | * bno055_get_gyro_highrate_z_thres() |
gume | 0:1f82672b8755 | 13635 | * |
gume | 0:1f82672b8755 | 13636 | * Hysteresis : |
gume | 0:1f82672b8755 | 13637 | * |
gume | 0:1f82672b8755 | 13638 | * bno055_set_gyro_highrate_x_hyst() |
gume | 0:1f82672b8755 | 13639 | * |
gume | 0:1f82672b8755 | 13640 | * bno055_set_gyro_highrate_y_hyst() |
gume | 0:1f82672b8755 | 13641 | * |
gume | 0:1f82672b8755 | 13642 | * bno055_set_gyro_highrate_z_hyst() |
gume | 0:1f82672b8755 | 13643 | * |
gume | 0:1f82672b8755 | 13644 | * Duration : |
gume | 0:1f82672b8755 | 13645 | * |
gume | 0:1f82672b8755 | 13646 | * bno055_set_gyro_highrate_x_durn() |
gume | 0:1f82672b8755 | 13647 | * |
gume | 0:1f82672b8755 | 13648 | * bno055_set_gyro_highrate_y_durn() |
gume | 0:1f82672b8755 | 13649 | * |
gume | 0:1f82672b8755 | 13650 | * bno055_set_gyro_highrate_z_durn() |
gume | 0:1f82672b8755 | 13651 | * |
gume | 0:1f82672b8755 | 13652 | */ |
gume | 0:1f82672b8755 | 13653 | BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_gyro_highrate( |
gume | 0:1f82672b8755 | 13654 | u8 gyro_highrate_u8) |
gume | 0:1f82672b8755 | 13655 | { |
gume | 0:1f82672b8755 | 13656 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 13657 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 13658 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 13659 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 13660 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 13661 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 13662 | } else { |
gume | 0:1f82672b8755 | 13663 | /*condition check for page, gyro highrate interrupt is |
gume | 0:1f82672b8755 | 13664 | available in the page one*/ |
gume | 0:1f82672b8755 | 13665 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 13666 | /* Write page as one */ |
gume | 0:1f82672b8755 | 13667 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 13668 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 13669 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 13670 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 13671 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 13672 | BNO055_GYRO_HIGHRATE_INTR_REG, |
gume | 0:1f82672b8755 | 13673 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 13674 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 13675 | /* Write the value of gyro highrate interrupt */ |
gume | 0:1f82672b8755 | 13676 | data_u8r = |
gume | 0:1f82672b8755 | 13677 | BNO055_SET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 13678 | BNO055_GYRO_HIGHRATE_INTR, gyro_highrate_u8); |
gume | 0:1f82672b8755 | 13679 | com_rslt += |
gume | 0:1f82672b8755 | 13680 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 13681 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 13682 | BNO055_GYRO_HIGHRATE_INTR_REG, |
gume | 0:1f82672b8755 | 13683 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 13684 | } |
gume | 0:1f82672b8755 | 13685 | } else { |
gume | 0:1f82672b8755 | 13686 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 13687 | } |
gume | 0:1f82672b8755 | 13688 | } |
gume | 0:1f82672b8755 | 13689 | return com_rslt; |
gume | 0:1f82672b8755 | 13690 | } |
gume | 0:1f82672b8755 | 13691 | /*! |
gume | 0:1f82672b8755 | 13692 | * @brief This API used to read the accel highg interrupt |
gume | 0:1f82672b8755 | 13693 | * from page one register from 0x10 bit 5 |
gume | 0:1f82672b8755 | 13694 | * |
gume | 0:1f82672b8755 | 13695 | * @param accel_high_g_u8 : The value of accel highg interrupt |
gume | 0:1f82672b8755 | 13696 | * accel_high_g_u8 | result |
gume | 0:1f82672b8755 | 13697 | * -------------------- |------------ |
gume | 0:1f82672b8755 | 13698 | * 0x01 | BNO055_BIT_ENABLE |
gume | 0:1f82672b8755 | 13699 | * 0x00 | BNO055_BIT_DISABLE |
gume | 0:1f82672b8755 | 13700 | * |
gume | 0:1f82672b8755 | 13701 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 13702 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 13703 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 13704 | * |
gume | 0:1f82672b8755 | 13705 | * @note While enabling the accel highg interrupt |
gume | 0:1f82672b8755 | 13706 | * configure the below settings by using |
gume | 0:1f82672b8755 | 13707 | * the following APIs |
gume | 0:1f82672b8755 | 13708 | * |
gume | 0:1f82672b8755 | 13709 | * Axis : |
gume | 0:1f82672b8755 | 13710 | * |
gume | 0:1f82672b8755 | 13711 | * bno055_set_accel_high_g_axis_enable() |
gume | 0:1f82672b8755 | 13712 | * |
gume | 0:1f82672b8755 | 13713 | * Threshold : |
gume | 0:1f82672b8755 | 13714 | * |
gume | 0:1f82672b8755 | 13715 | * bno055_set_accel_high_g_thres() |
gume | 0:1f82672b8755 | 13716 | * |
gume | 0:1f82672b8755 | 13717 | * Duration : |
gume | 0:1f82672b8755 | 13718 | * |
gume | 0:1f82672b8755 | 13719 | * bno055_set_accel_high_g_durn() |
gume | 0:1f82672b8755 | 13720 | * |
gume | 0:1f82672b8755 | 13721 | */ |
gume | 0:1f82672b8755 | 13722 | BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_high_g( |
gume | 0:1f82672b8755 | 13723 | u8 *accel_high_g_u8) |
gume | 0:1f82672b8755 | 13724 | { |
gume | 0:1f82672b8755 | 13725 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 13726 | communication routine*/ |
gume | 0:1f82672b8755 | 13727 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 13728 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 13729 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 13730 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 13731 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 13732 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 13733 | } else { |
gume | 0:1f82672b8755 | 13734 | /*condition check for page, accel highg interrupt is |
gume | 0:1f82672b8755 | 13735 | available in the page one*/ |
gume | 0:1f82672b8755 | 13736 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 13737 | /* Write page as one */ |
gume | 0:1f82672b8755 | 13738 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 13739 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 13740 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 13741 | /* Read the value of accel highg interrupt*/ |
gume | 0:1f82672b8755 | 13742 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 13743 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 13744 | BNO055_ACCEL_HIGH_G_INTR_REG, |
gume | 0:1f82672b8755 | 13745 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 13746 | *accel_high_g_u8 = |
gume | 0:1f82672b8755 | 13747 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 13748 | BNO055_ACCEL_HIGH_G_INTR); |
gume | 0:1f82672b8755 | 13749 | } else { |
gume | 0:1f82672b8755 | 13750 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 13751 | } |
gume | 0:1f82672b8755 | 13752 | } |
gume | 0:1f82672b8755 | 13753 | return com_rslt; |
gume | 0:1f82672b8755 | 13754 | } |
gume | 0:1f82672b8755 | 13755 | /*! |
gume | 0:1f82672b8755 | 13756 | * @brief This API used to write the accel highg interrupt |
gume | 0:1f82672b8755 | 13757 | * from page one register from 0x10 bit 5 |
gume | 0:1f82672b8755 | 13758 | * |
gume | 0:1f82672b8755 | 13759 | * @param accel_high_g_u8 : The value of accel highg interrupt |
gume | 0:1f82672b8755 | 13760 | * accel_high_g_u8 | result |
gume | 0:1f82672b8755 | 13761 | * -------------------- |------------ |
gume | 0:1f82672b8755 | 13762 | * 0x01 | BNO055_BIT_ENABLE |
gume | 0:1f82672b8755 | 13763 | * 0x00 | BNO055_BIT_DISABLE |
gume | 0:1f82672b8755 | 13764 | * |
gume | 0:1f82672b8755 | 13765 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 13766 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 13767 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 13768 | * |
gume | 0:1f82672b8755 | 13769 | * @note While enabling the accel highg interrupt |
gume | 0:1f82672b8755 | 13770 | * configure the below settings by using |
gume | 0:1f82672b8755 | 13771 | * the following APIs |
gume | 0:1f82672b8755 | 13772 | * |
gume | 0:1f82672b8755 | 13773 | * Axis : |
gume | 0:1f82672b8755 | 13774 | * |
gume | 0:1f82672b8755 | 13775 | * bno055_set_accel_high_g_axis_enable() |
gume | 0:1f82672b8755 | 13776 | * |
gume | 0:1f82672b8755 | 13777 | * Threshold : |
gume | 0:1f82672b8755 | 13778 | * |
gume | 0:1f82672b8755 | 13779 | * bno055_set_accel_high_g_thres() |
gume | 0:1f82672b8755 | 13780 | * |
gume | 0:1f82672b8755 | 13781 | * Duration : |
gume | 0:1f82672b8755 | 13782 | * |
gume | 0:1f82672b8755 | 13783 | * bno055_set_accel_high_g_durn() |
gume | 0:1f82672b8755 | 13784 | * |
gume | 0:1f82672b8755 | 13785 | */ |
gume | 0:1f82672b8755 | 13786 | BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_high_g( |
gume | 0:1f82672b8755 | 13787 | u8 accel_high_g_u8) |
gume | 0:1f82672b8755 | 13788 | { |
gume | 0:1f82672b8755 | 13789 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 13790 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 13791 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 13792 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 13793 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 13794 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 13795 | } else { |
gume | 0:1f82672b8755 | 13796 | /*condition check for page, accel highg interrupt is |
gume | 0:1f82672b8755 | 13797 | available in the page one*/ |
gume | 0:1f82672b8755 | 13798 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 13799 | /* Write page as one */ |
gume | 0:1f82672b8755 | 13800 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 13801 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 13802 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 13803 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 13804 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 13805 | BNO055_ACCEL_HIGH_G_INTR_REG, |
gume | 0:1f82672b8755 | 13806 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 13807 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 13808 | /* Write the value of accel highg interrupt*/ |
gume | 0:1f82672b8755 | 13809 | data_u8r = |
gume | 0:1f82672b8755 | 13810 | BNO055_SET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 13811 | BNO055_ACCEL_HIGH_G_INTR, |
gume | 0:1f82672b8755 | 13812 | accel_high_g_u8); |
gume | 0:1f82672b8755 | 13813 | com_rslt += |
gume | 0:1f82672b8755 | 13814 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 13815 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 13816 | BNO055_ACCEL_HIGH_G_INTR_REG, |
gume | 0:1f82672b8755 | 13817 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 13818 | } |
gume | 0:1f82672b8755 | 13819 | } else { |
gume | 0:1f82672b8755 | 13820 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 13821 | } |
gume | 0:1f82672b8755 | 13822 | } |
gume | 0:1f82672b8755 | 13823 | return com_rslt; |
gume | 0:1f82672b8755 | 13824 | } |
gume | 0:1f82672b8755 | 13825 | /*! |
gume | 0:1f82672b8755 | 13826 | * @brief This API used to read the accel anymotion interrupt |
gume | 0:1f82672b8755 | 13827 | * from page one register from 0x10 bit 6 |
gume | 0:1f82672b8755 | 13828 | * |
gume | 0:1f82672b8755 | 13829 | * @param accel_any_motion_u8 : The value of accel anymotion interrupt |
gume | 0:1f82672b8755 | 13830 | * accel_any_motion_u8 | result |
gume | 0:1f82672b8755 | 13831 | * -------------------- |------------ |
gume | 0:1f82672b8755 | 13832 | * 0x01 | BNO055_BIT_ENABLE |
gume | 0:1f82672b8755 | 13833 | * 0x00 | BNO055_BIT_DISABLE |
gume | 0:1f82672b8755 | 13834 | * |
gume | 0:1f82672b8755 | 13835 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 13836 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 13837 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 13838 | * |
gume | 0:1f82672b8755 | 13839 | * @note While enabling the accel anymotion interrupt |
gume | 0:1f82672b8755 | 13840 | * configure the following settings |
gume | 0:1f82672b8755 | 13841 | * |
gume | 0:1f82672b8755 | 13842 | * Axis: |
gume | 0:1f82672b8755 | 13843 | * |
gume | 0:1f82672b8755 | 13844 | * bno055_set_accel_any_motion_no_motion_axis_enable() |
gume | 0:1f82672b8755 | 13845 | * |
gume | 0:1f82672b8755 | 13846 | * Duration: |
gume | 0:1f82672b8755 | 13847 | * |
gume | 0:1f82672b8755 | 13848 | * bno055_set_accel_any_motion_durn() |
gume | 0:1f82672b8755 | 13849 | * |
gume | 0:1f82672b8755 | 13850 | * Threshold: |
gume | 0:1f82672b8755 | 13851 | * |
gume | 0:1f82672b8755 | 13852 | * bno055_set_accel_any_motion_thres() |
gume | 0:1f82672b8755 | 13853 | * |
gume | 0:1f82672b8755 | 13854 | */ |
gume | 0:1f82672b8755 | 13855 | BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_any_motion( |
gume | 0:1f82672b8755 | 13856 | u8 *accel_any_motion_u8) |
gume | 0:1f82672b8755 | 13857 | { |
gume | 0:1f82672b8755 | 13858 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 13859 | communication routine*/ |
gume | 0:1f82672b8755 | 13860 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 13861 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 13862 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 13863 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 13864 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 13865 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 13866 | } else { |
gume | 0:1f82672b8755 | 13867 | /*condition check for page, accel anymotion interrupt is |
gume | 0:1f82672b8755 | 13868 | available in the page one*/ |
gume | 0:1f82672b8755 | 13869 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 13870 | /* Write page as one */ |
gume | 0:1f82672b8755 | 13871 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 13872 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 13873 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 13874 | /* Read the value of accel anymotion interrupt */ |
gume | 0:1f82672b8755 | 13875 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 13876 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 13877 | BNO055_ACCEL_ANY_MOTION_INTR_REG, |
gume | 0:1f82672b8755 | 13878 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 13879 | *accel_any_motion_u8 = |
gume | 0:1f82672b8755 | 13880 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 13881 | BNO055_ACCEL_ANY_MOTION_INTR); |
gume | 0:1f82672b8755 | 13882 | } else { |
gume | 0:1f82672b8755 | 13883 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 13884 | } |
gume | 0:1f82672b8755 | 13885 | } |
gume | 0:1f82672b8755 | 13886 | return com_rslt; |
gume | 0:1f82672b8755 | 13887 | } |
gume | 0:1f82672b8755 | 13888 | /*! |
gume | 0:1f82672b8755 | 13889 | * @brief This API used to write the accel anymotion interrupt |
gume | 0:1f82672b8755 | 13890 | * from page one register from 0x10 bit 6 |
gume | 0:1f82672b8755 | 13891 | * |
gume | 0:1f82672b8755 | 13892 | * @param accel_any_motion_u8 : The value of accel anymotion interrupt |
gume | 0:1f82672b8755 | 13893 | * accel_any_motion_u8 | result |
gume | 0:1f82672b8755 | 13894 | * -------------------- |------------ |
gume | 0:1f82672b8755 | 13895 | * 0x01 | BNO055_BIT_ENABLE |
gume | 0:1f82672b8755 | 13896 | * 0x00 | BNO055_BIT_DISABLE |
gume | 0:1f82672b8755 | 13897 | * |
gume | 0:1f82672b8755 | 13898 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 13899 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 13900 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 13901 | * |
gume | 0:1f82672b8755 | 13902 | * @note While enabling the accel anymotion interrupt |
gume | 0:1f82672b8755 | 13903 | * configure the following settings |
gume | 0:1f82672b8755 | 13904 | * |
gume | 0:1f82672b8755 | 13905 | * Axis: |
gume | 0:1f82672b8755 | 13906 | * |
gume | 0:1f82672b8755 | 13907 | * bno055_set_accel_any_motion_no_motion_axis_enable() |
gume | 0:1f82672b8755 | 13908 | * |
gume | 0:1f82672b8755 | 13909 | * Duration: |
gume | 0:1f82672b8755 | 13910 | * |
gume | 0:1f82672b8755 | 13911 | * bno055_set_accel_any_motion_durn() |
gume | 0:1f82672b8755 | 13912 | * |
gume | 0:1f82672b8755 | 13913 | * Threshold: |
gume | 0:1f82672b8755 | 13914 | * |
gume | 0:1f82672b8755 | 13915 | * bno055_set_accel_any_motion_thres() |
gume | 0:1f82672b8755 | 13916 | * |
gume | 0:1f82672b8755 | 13917 | */ |
gume | 0:1f82672b8755 | 13918 | BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_any_motion( |
gume | 0:1f82672b8755 | 13919 | u8 accel_any_motion_u8) |
gume | 0:1f82672b8755 | 13920 | { |
gume | 0:1f82672b8755 | 13921 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 13922 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 13923 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 13924 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 13925 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 13926 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 13927 | } else { |
gume | 0:1f82672b8755 | 13928 | /*condition check for page, accel range is |
gume | 0:1f82672b8755 | 13929 | available in the page one*/ |
gume | 0:1f82672b8755 | 13930 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 13931 | /* Write page as one */ |
gume | 0:1f82672b8755 | 13932 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 13933 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 13934 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 13935 | /* Write the value of accel anymotion interrupt */ |
gume | 0:1f82672b8755 | 13936 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 13937 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 13938 | BNO055_ACCEL_ANY_MOTION_INTR_REG, |
gume | 0:1f82672b8755 | 13939 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 13940 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 13941 | data_u8r = |
gume | 0:1f82672b8755 | 13942 | BNO055_SET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 13943 | BNO055_ACCEL_ANY_MOTION_INTR, |
gume | 0:1f82672b8755 | 13944 | accel_any_motion_u8); |
gume | 0:1f82672b8755 | 13945 | com_rslt += |
gume | 0:1f82672b8755 | 13946 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 13947 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 13948 | BNO055_ACCEL_ANY_MOTION_INTR_REG, |
gume | 0:1f82672b8755 | 13949 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 13950 | } |
gume | 0:1f82672b8755 | 13951 | } else { |
gume | 0:1f82672b8755 | 13952 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 13953 | } |
gume | 0:1f82672b8755 | 13954 | } |
gume | 0:1f82672b8755 | 13955 | return com_rslt; |
gume | 0:1f82672b8755 | 13956 | } |
gume | 0:1f82672b8755 | 13957 | /*! |
gume | 0:1f82672b8755 | 13958 | * @brief This API used to read the accel nomotion interrupt |
gume | 0:1f82672b8755 | 13959 | * from page one register from 0x10 bit 6 |
gume | 0:1f82672b8755 | 13960 | * |
gume | 0:1f82672b8755 | 13961 | * @param accel_nomotion_u8 : The value of accel nomotion interrupt |
gume | 0:1f82672b8755 | 13962 | * accel_nomotion_u8 | result |
gume | 0:1f82672b8755 | 13963 | * -------------------- |------------ |
gume | 0:1f82672b8755 | 13964 | * 0x01 | BNO055_BIT_ENABLE |
gume | 0:1f82672b8755 | 13965 | * 0x00 | BNO055_BIT_DISABLE |
gume | 0:1f82672b8755 | 13966 | * |
gume | 0:1f82672b8755 | 13967 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 13968 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 13969 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 13970 | * |
gume | 0:1f82672b8755 | 13971 | * @note While enabling the accel nomotion interrupt |
gume | 0:1f82672b8755 | 13972 | * configure the following settings |
gume | 0:1f82672b8755 | 13973 | * |
gume | 0:1f82672b8755 | 13974 | * Axis: |
gume | 0:1f82672b8755 | 13975 | * |
gume | 0:1f82672b8755 | 13976 | * bno055_set_accel_any_motion_no_motion_axis_enable() |
gume | 0:1f82672b8755 | 13977 | * |
gume | 0:1f82672b8755 | 13978 | * Threshold : |
gume | 0:1f82672b8755 | 13979 | * |
gume | 0:1f82672b8755 | 13980 | * bno055_set_accel_slow_no_motion_thres() |
gume | 0:1f82672b8755 | 13981 | * |
gume | 0:1f82672b8755 | 13982 | * Duration : |
gume | 0:1f82672b8755 | 13983 | * |
gume | 0:1f82672b8755 | 13984 | * bno055_set_accel_slow_no_motion_durn() |
gume | 0:1f82672b8755 | 13985 | * |
gume | 0:1f82672b8755 | 13986 | * Slow/no motion enable: |
gume | 0:1f82672b8755 | 13987 | * |
gume | 0:1f82672b8755 | 13988 | * bno055_set_accel_slow_no_motion_enable() |
gume | 0:1f82672b8755 | 13989 | * |
gume | 0:1f82672b8755 | 13990 | */ |
gume | 0:1f82672b8755 | 13991 | BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_no_motion( |
gume | 0:1f82672b8755 | 13992 | u8 *accel_nomotion_u8) |
gume | 0:1f82672b8755 | 13993 | { |
gume | 0:1f82672b8755 | 13994 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 13995 | communication routine*/ |
gume | 0:1f82672b8755 | 13996 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 13997 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 13998 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 13999 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 14000 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 14001 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 14002 | } else { |
gume | 0:1f82672b8755 | 14003 | /*condition check for page, accel nomotion interrupt is |
gume | 0:1f82672b8755 | 14004 | available in the page one*/ |
gume | 0:1f82672b8755 | 14005 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 14006 | /* Write page as one */ |
gume | 0:1f82672b8755 | 14007 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 14008 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 14009 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 14010 | /* Read the value of accel nomotion interrupt*/ |
gume | 0:1f82672b8755 | 14011 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 14012 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 14013 | BNO055_ACCEL_NO_MOTION_INTR_REG, |
gume | 0:1f82672b8755 | 14014 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 14015 | *accel_nomotion_u8 = |
gume | 0:1f82672b8755 | 14016 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 14017 | BNO055_ACCEL_NO_MOTION_INTR); |
gume | 0:1f82672b8755 | 14018 | } else { |
gume | 0:1f82672b8755 | 14019 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14020 | } |
gume | 0:1f82672b8755 | 14021 | } |
gume | 0:1f82672b8755 | 14022 | return com_rslt; |
gume | 0:1f82672b8755 | 14023 | } |
gume | 0:1f82672b8755 | 14024 | /*! |
gume | 0:1f82672b8755 | 14025 | * @brief This API used to write the accel nomotion interrupt |
gume | 0:1f82672b8755 | 14026 | * from page one register from 0x10 bit 6 |
gume | 0:1f82672b8755 | 14027 | * |
gume | 0:1f82672b8755 | 14028 | * @param accel_nomotion_u8 : The value of accel nomotion interrupt |
gume | 0:1f82672b8755 | 14029 | * accel_nomotion_u8 | result |
gume | 0:1f82672b8755 | 14030 | * -------------------- |------------ |
gume | 0:1f82672b8755 | 14031 | * 0x01 | BNO055_BIT_ENABLE |
gume | 0:1f82672b8755 | 14032 | * 0x00 | BNO055_BIT_DISABLE |
gume | 0:1f82672b8755 | 14033 | * |
gume | 0:1f82672b8755 | 14034 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 14035 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 14036 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 14037 | * |
gume | 0:1f82672b8755 | 14038 | * @note While enabling the accel nomotion interrupt |
gume | 0:1f82672b8755 | 14039 | * configure the following settings |
gume | 0:1f82672b8755 | 14040 | * |
gume | 0:1f82672b8755 | 14041 | * Axis: |
gume | 0:1f82672b8755 | 14042 | * |
gume | 0:1f82672b8755 | 14043 | * bno055_set_accel_any_motion_no_motion_axis_enable() |
gume | 0:1f82672b8755 | 14044 | * |
gume | 0:1f82672b8755 | 14045 | * Threshold : |
gume | 0:1f82672b8755 | 14046 | * |
gume | 0:1f82672b8755 | 14047 | * bno055_set_accel_slow_no_motion_thres() |
gume | 0:1f82672b8755 | 14048 | * |
gume | 0:1f82672b8755 | 14049 | * Duration : |
gume | 0:1f82672b8755 | 14050 | * |
gume | 0:1f82672b8755 | 14051 | * bno055_set_accel_slow_no_motion_durn() |
gume | 0:1f82672b8755 | 14052 | * |
gume | 0:1f82672b8755 | 14053 | * Slow/no motion enable: |
gume | 0:1f82672b8755 | 14054 | * |
gume | 0:1f82672b8755 | 14055 | * bno055_set_accel_slow_no_motion_enable() |
gume | 0:1f82672b8755 | 14056 | * |
gume | 0:1f82672b8755 | 14057 | */ |
gume | 0:1f82672b8755 | 14058 | BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_no_motion( |
gume | 0:1f82672b8755 | 14059 | u8 accel_nomotion_u8) |
gume | 0:1f82672b8755 | 14060 | { |
gume | 0:1f82672b8755 | 14061 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14062 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 14063 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14064 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 14065 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 14066 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 14067 | } else { |
gume | 0:1f82672b8755 | 14068 | /*condition check for page, |
gume | 0:1f82672b8755 | 14069 | accel nomotion interrupt is |
gume | 0:1f82672b8755 | 14070 | available in the page one*/ |
gume | 0:1f82672b8755 | 14071 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 14072 | /* Write page as one */ |
gume | 0:1f82672b8755 | 14073 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 14074 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 14075 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 14076 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 14077 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 14078 | BNO055_ACCEL_NO_MOTION_INTR_REG, |
gume | 0:1f82672b8755 | 14079 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 14080 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 14081 | /* Write the value of |
gume | 0:1f82672b8755 | 14082 | accel nomotion interrupt */ |
gume | 0:1f82672b8755 | 14083 | data_u8r = BNO055_SET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 14084 | BNO055_ACCEL_NO_MOTION_INTR, |
gume | 0:1f82672b8755 | 14085 | accel_nomotion_u8); |
gume | 0:1f82672b8755 | 14086 | com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 14087 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 14088 | BNO055_ACCEL_NO_MOTION_INTR_REG, |
gume | 0:1f82672b8755 | 14089 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 14090 | } |
gume | 0:1f82672b8755 | 14091 | } else { |
gume | 0:1f82672b8755 | 14092 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14093 | } |
gume | 0:1f82672b8755 | 14094 | } |
gume | 0:1f82672b8755 | 14095 | return com_rslt; |
gume | 0:1f82672b8755 | 14096 | } |
gume | 0:1f82672b8755 | 14097 | /*! |
gume | 0:1f82672b8755 | 14098 | * @brief This API used to read the accel any motion threshold |
gume | 0:1f82672b8755 | 14099 | * from page one register from 0x11 bit 0 to 7 |
gume | 0:1f82672b8755 | 14100 | * |
gume | 0:1f82672b8755 | 14101 | * @param accel_any_motion_thres_u8 : The value of any motion threshold |
gume | 0:1f82672b8755 | 14102 | * accel_any_motion_thres_u8 | result |
gume | 0:1f82672b8755 | 14103 | * ------------------------ | ------------- |
gume | 0:1f82672b8755 | 14104 | * 0x01 | BNO055_BIT_ENABLE |
gume | 0:1f82672b8755 | 14105 | * 0x00 | BNO055_BIT_DISABLE |
gume | 0:1f82672b8755 | 14106 | * |
gume | 0:1f82672b8755 | 14107 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 14108 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 14109 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 14110 | * |
gume | 0:1f82672b8755 | 14111 | * @note Accel anymotion threshold dependent on the |
gume | 0:1f82672b8755 | 14112 | * range values |
gume | 0:1f82672b8755 | 14113 | * |
gume | 0:1f82672b8755 | 14114 | * accel_range_u8 | threshold | LSB |
gume | 0:1f82672b8755 | 14115 | * ------------- | ------------- | --------- |
gume | 0:1f82672b8755 | 14116 | * 2g | 3.19mg | 1LSB |
gume | 0:1f82672b8755 | 14117 | * 4g | 7.81mg | 1LSB |
gume | 0:1f82672b8755 | 14118 | * 8g | 15.63mg | 1LSB |
gume | 0:1f82672b8755 | 14119 | * 16g | 31.25mg | 1LSB |
gume | 0:1f82672b8755 | 14120 | * |
gume | 0:1f82672b8755 | 14121 | */ |
gume | 0:1f82672b8755 | 14122 | BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_thres( |
gume | 0:1f82672b8755 | 14123 | u8 *accel_any_motion_thres_u8) |
gume | 0:1f82672b8755 | 14124 | { |
gume | 0:1f82672b8755 | 14125 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 14126 | communication routine*/ |
gume | 0:1f82672b8755 | 14127 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14128 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 14129 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14130 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 14131 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 14132 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 14133 | } else { |
gume | 0:1f82672b8755 | 14134 | /*condition check for page, accel any motion threshold is |
gume | 0:1f82672b8755 | 14135 | available in the page one*/ |
gume | 0:1f82672b8755 | 14136 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 14137 | /* Write page as one */ |
gume | 0:1f82672b8755 | 14138 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 14139 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 14140 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 14141 | /* Read the value of accel any motion threshold */ |
gume | 0:1f82672b8755 | 14142 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 14143 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 14144 | BNO055_ACCEL_ANY_MOTION_THRES_REG, |
gume | 0:1f82672b8755 | 14145 | &data_u8r, |
gume | 0:1f82672b8755 | 14146 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 14147 | *accel_any_motion_thres_u8 = |
gume | 0:1f82672b8755 | 14148 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 14149 | BNO055_ACCEL_ANY_MOTION_THRES); |
gume | 0:1f82672b8755 | 14150 | } else { |
gume | 0:1f82672b8755 | 14151 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14152 | } |
gume | 0:1f82672b8755 | 14153 | } |
gume | 0:1f82672b8755 | 14154 | return com_rslt; |
gume | 0:1f82672b8755 | 14155 | } |
gume | 0:1f82672b8755 | 14156 | /*! |
gume | 0:1f82672b8755 | 14157 | * @brief This API used to write the accel any motion threshold |
gume | 0:1f82672b8755 | 14158 | * from page one register from 0x11 bit 0 to 7 |
gume | 0:1f82672b8755 | 14159 | * |
gume | 0:1f82672b8755 | 14160 | * @param accel_any_motion_thres_u8 : The value of any motion threshold |
gume | 0:1f82672b8755 | 14161 | * accel_any_motion_thres_u8 | result |
gume | 0:1f82672b8755 | 14162 | * ------------------------ | ------------- |
gume | 0:1f82672b8755 | 14163 | * 0x01 | BNO055_BIT_ENABLE |
gume | 0:1f82672b8755 | 14164 | * 0x00 | BNO055_BIT_DISABLE |
gume | 0:1f82672b8755 | 14165 | * |
gume | 0:1f82672b8755 | 14166 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 14167 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 14168 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 14169 | * |
gume | 0:1f82672b8755 | 14170 | * @note Accel anymotion threshold dependent on the |
gume | 0:1f82672b8755 | 14171 | * range values |
gume | 0:1f82672b8755 | 14172 | * |
gume | 0:1f82672b8755 | 14173 | * accel_range_u8 | threshold | LSB |
gume | 0:1f82672b8755 | 14174 | * ------------- | ------------- | --------- |
gume | 0:1f82672b8755 | 14175 | * 2g | 3.19mg | 1LSB |
gume | 0:1f82672b8755 | 14176 | * 4g | 7.81mg | 1LSB |
gume | 0:1f82672b8755 | 14177 | * 8g | 15.63mg | 1LSB |
gume | 0:1f82672b8755 | 14178 | * 16g | 31.25mg | 1LSB |
gume | 0:1f82672b8755 | 14179 | * |
gume | 0:1f82672b8755 | 14180 | */ |
gume | 0:1f82672b8755 | 14181 | BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_thres( |
gume | 0:1f82672b8755 | 14182 | u8 accel_any_motion_thres_u8) |
gume | 0:1f82672b8755 | 14183 | { |
gume | 0:1f82672b8755 | 14184 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14185 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 14186 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14187 | s8 pg_stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14188 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 14189 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 14190 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 14191 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 14192 | } else { |
gume | 0:1f82672b8755 | 14193 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 14194 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 14195 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 14196 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 14197 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 14198 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 14199 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 14200 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 14201 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 14202 | /* Write page as one */ |
gume | 0:1f82672b8755 | 14203 | pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 14204 | if (pg_stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 14205 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 14206 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 14207 | BNO055_ACCEL_ANY_MOTION_THRES_REG, |
gume | 0:1f82672b8755 | 14208 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 14209 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 14210 | /* Write the value of |
gume | 0:1f82672b8755 | 14211 | accel any motion threshold*/ |
gume | 0:1f82672b8755 | 14212 | data_u8r = |
gume | 0:1f82672b8755 | 14213 | BNO055_SET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 14214 | BNO055_ACCEL_ANY_MOTION_THRES, |
gume | 0:1f82672b8755 | 14215 | accel_any_motion_thres_u8); |
gume | 0:1f82672b8755 | 14216 | com_rslt += |
gume | 0:1f82672b8755 | 14217 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 14218 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 14219 | BNO055_ACCEL_ANY_MOTION_THRES_REG, |
gume | 0:1f82672b8755 | 14220 | &data_u8r, |
gume | 0:1f82672b8755 | 14221 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 14222 | } |
gume | 0:1f82672b8755 | 14223 | } else { |
gume | 0:1f82672b8755 | 14224 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14225 | } |
gume | 0:1f82672b8755 | 14226 | } else { |
gume | 0:1f82672b8755 | 14227 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14228 | } |
gume | 0:1f82672b8755 | 14229 | } else { |
gume | 0:1f82672b8755 | 14230 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14231 | } |
gume | 0:1f82672b8755 | 14232 | } |
gume | 0:1f82672b8755 | 14233 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 14234 | /* set the operation mode of |
gume | 0:1f82672b8755 | 14235 | previous operation mode*/ |
gume | 0:1f82672b8755 | 14236 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 14237 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 14238 | return com_rslt; |
gume | 0:1f82672b8755 | 14239 | } |
gume | 0:1f82672b8755 | 14240 | /*! |
gume | 0:1f82672b8755 | 14241 | * @brief This API used to read the accel anymotion duration |
gume | 0:1f82672b8755 | 14242 | * from page one register from 0x12 bit 0 to 1 |
gume | 0:1f82672b8755 | 14243 | * |
gume | 0:1f82672b8755 | 14244 | * @param accel_any_motion_durn_u8 : The value of accel anymotion duration |
gume | 0:1f82672b8755 | 14245 | * accel_any_motion_durn_u8 | result |
gume | 0:1f82672b8755 | 14246 | * ------------------------- | ------------- |
gume | 0:1f82672b8755 | 14247 | * 0x01 | BNO055_BIT_ENABLE |
gume | 0:1f82672b8755 | 14248 | * 0x00 | BNO055_BIT_DISABLE |
gume | 0:1f82672b8755 | 14249 | * |
gume | 0:1f82672b8755 | 14250 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 14251 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 14252 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 14253 | * |
gume | 0:1f82672b8755 | 14254 | * |
gume | 0:1f82672b8755 | 14255 | */ |
gume | 0:1f82672b8755 | 14256 | BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_durn( |
gume | 0:1f82672b8755 | 14257 | u8 *accel_any_motion_durn_u8) |
gume | 0:1f82672b8755 | 14258 | { |
gume | 0:1f82672b8755 | 14259 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 14260 | communication routine*/ |
gume | 0:1f82672b8755 | 14261 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14262 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 14263 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14264 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 14265 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 14266 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 14267 | } else { |
gume | 0:1f82672b8755 | 14268 | /*condition check for page, accel anymotion duration is |
gume | 0:1f82672b8755 | 14269 | available in the page one*/ |
gume | 0:1f82672b8755 | 14270 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 14271 | /* Write page as one */ |
gume | 0:1f82672b8755 | 14272 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 14273 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 14274 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 14275 | /* Read the value of accel anymotion duration */ |
gume | 0:1f82672b8755 | 14276 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 14277 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 14278 | BNO055_ACCEL_ANY_MOTION_DURN_SET_REG, |
gume | 0:1f82672b8755 | 14279 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 14280 | *accel_any_motion_durn_u8 = |
gume | 0:1f82672b8755 | 14281 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 14282 | BNO055_ACCEL_ANY_MOTION_DURN_SET); |
gume | 0:1f82672b8755 | 14283 | } else { |
gume | 0:1f82672b8755 | 14284 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14285 | } |
gume | 0:1f82672b8755 | 14286 | } |
gume | 0:1f82672b8755 | 14287 | return com_rslt; |
gume | 0:1f82672b8755 | 14288 | } |
gume | 0:1f82672b8755 | 14289 | /*! |
gume | 0:1f82672b8755 | 14290 | * @brief This API used to write the accel anymotion duration |
gume | 0:1f82672b8755 | 14291 | * from page one register from 0x12 bit 0 to 1 |
gume | 0:1f82672b8755 | 14292 | * |
gume | 0:1f82672b8755 | 14293 | * @param accel_any_motion_durn_u8 : The value of accel anymotion duration |
gume | 0:1f82672b8755 | 14294 | * |
gume | 0:1f82672b8755 | 14295 | * accel_any_motion_durn_u8 | result |
gume | 0:1f82672b8755 | 14296 | * ------------------------- | ------------- |
gume | 0:1f82672b8755 | 14297 | * 0x01 | BNO055_BIT_ENABLE |
gume | 0:1f82672b8755 | 14298 | * 0x00 | BNO055_BIT_DISABLE |
gume | 0:1f82672b8755 | 14299 | * |
gume | 0:1f82672b8755 | 14300 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 14301 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 14302 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 14303 | * |
gume | 0:1f82672b8755 | 14304 | * |
gume | 0:1f82672b8755 | 14305 | */ |
gume | 0:1f82672b8755 | 14306 | BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_durn( |
gume | 0:1f82672b8755 | 14307 | u8 accel_any_motion_durn_u8) |
gume | 0:1f82672b8755 | 14308 | { |
gume | 0:1f82672b8755 | 14309 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14310 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 14311 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14312 | s8 pg_stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14313 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 14314 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 14315 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 14316 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 14317 | } else { |
gume | 0:1f82672b8755 | 14318 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 14319 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 14320 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 14321 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 14322 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 14323 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 14324 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 14325 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 14326 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 14327 | /* Write page as one */ |
gume | 0:1f82672b8755 | 14328 | pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 14329 | if (pg_stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 14330 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 14331 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 14332 | BNO055_ACCEL_ANY_MOTION_DURN_SET_REG, |
gume | 0:1f82672b8755 | 14333 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 14334 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 14335 | /* Write the value of |
gume | 0:1f82672b8755 | 14336 | accel anymotion duration*/ |
gume | 0:1f82672b8755 | 14337 | data_u8r = |
gume | 0:1f82672b8755 | 14338 | BNO055_SET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 14339 | BNO055_ACCEL_ANY_MOTION_DURN_SET, |
gume | 0:1f82672b8755 | 14340 | accel_any_motion_durn_u8); |
gume | 0:1f82672b8755 | 14341 | com_rslt += |
gume | 0:1f82672b8755 | 14342 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 14343 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 14344 | BNO055_ACCEL_ANY_MOTION_DURN_SET_REG, |
gume | 0:1f82672b8755 | 14345 | &data_u8r, |
gume | 0:1f82672b8755 | 14346 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 14347 | } |
gume | 0:1f82672b8755 | 14348 | } else { |
gume | 0:1f82672b8755 | 14349 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14350 | } |
gume | 0:1f82672b8755 | 14351 | } else { |
gume | 0:1f82672b8755 | 14352 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14353 | } |
gume | 0:1f82672b8755 | 14354 | } else { |
gume | 0:1f82672b8755 | 14355 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14356 | } |
gume | 0:1f82672b8755 | 14357 | } |
gume | 0:1f82672b8755 | 14358 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 14359 | /* set the operation mode of |
gume | 0:1f82672b8755 | 14360 | previous operation mode*/ |
gume | 0:1f82672b8755 | 14361 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 14362 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 14363 | return com_rslt; |
gume | 0:1f82672b8755 | 14364 | } |
gume | 0:1f82672b8755 | 14365 | /*! |
gume | 0:1f82672b8755 | 14366 | * @brief This API used to read the accel anymotion enable |
gume | 0:1f82672b8755 | 14367 | * from page one register from 0x12 bit 2 to 4 |
gume | 0:1f82672b8755 | 14368 | * |
gume | 0:1f82672b8755 | 14369 | * @param data_u8 : The value of accel anymotion enable |
gume | 0:1f82672b8755 | 14370 | * data_u8 | result |
gume | 0:1f82672b8755 | 14371 | * ------------ | ------------- |
gume | 0:1f82672b8755 | 14372 | * 0x01 | BNO055_BIT_ENABLE |
gume | 0:1f82672b8755 | 14373 | * 0x00 | BNO055_BIT_DISABLE |
gume | 0:1f82672b8755 | 14374 | * @param channel_u8 : The value of accel anymotion axis selection |
gume | 0:1f82672b8755 | 14375 | * channel_u8 | value |
gume | 0:1f82672b8755 | 14376 | * -------------------------- | ---------- |
gume | 0:1f82672b8755 | 14377 | * BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS | 0 |
gume | 0:1f82672b8755 | 14378 | * BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS | 1 |
gume | 0:1f82672b8755 | 14379 | * BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS | 2 |
gume | 0:1f82672b8755 | 14380 | * |
gume | 0:1f82672b8755 | 14381 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 14382 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 14383 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 14384 | * |
gume | 0:1f82672b8755 | 14385 | * |
gume | 0:1f82672b8755 | 14386 | */ |
gume | 0:1f82672b8755 | 14387 | BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_no_motion_axis_enable( |
gume | 0:1f82672b8755 | 14388 | u8 channel_u8, u8 *data_u8) |
gume | 0:1f82672b8755 | 14389 | { |
gume | 0:1f82672b8755 | 14390 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 14391 | communication routine*/ |
gume | 0:1f82672b8755 | 14392 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14393 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 14394 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14395 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 14396 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 14397 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 14398 | } else { |
gume | 0:1f82672b8755 | 14399 | /*condition check for page, accel anymotion enable is |
gume | 0:1f82672b8755 | 14400 | available in the page one*/ |
gume | 0:1f82672b8755 | 14401 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 14402 | /* Write page as one */ |
gume | 0:1f82672b8755 | 14403 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 14404 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 14405 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 14406 | switch (channel_u8) { |
gume | 0:1f82672b8755 | 14407 | case BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS: |
gume | 0:1f82672b8755 | 14408 | /* Read the value of accel anymotion x enable*/ |
gume | 0:1f82672b8755 | 14409 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 14410 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 14411 | BNO055_ACCEL_ANY_MOTION_X_AXIS_REG, |
gume | 0:1f82672b8755 | 14412 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 14413 | *data_u8 = |
gume | 0:1f82672b8755 | 14414 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 14415 | BNO055_ACCEL_ANY_MOTION_X_AXIS); |
gume | 0:1f82672b8755 | 14416 | break; |
gume | 0:1f82672b8755 | 14417 | case BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS: |
gume | 0:1f82672b8755 | 14418 | /* Read the value of accel anymotion y enable*/ |
gume | 0:1f82672b8755 | 14419 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 14420 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 14421 | BNO055_ACCEL_ANY_MOTION_Y_AXIS_REG, |
gume | 0:1f82672b8755 | 14422 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 14423 | *data_u8 = |
gume | 0:1f82672b8755 | 14424 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 14425 | BNO055_ACCEL_ANY_MOTION_Y_AXIS); |
gume | 0:1f82672b8755 | 14426 | break; |
gume | 0:1f82672b8755 | 14427 | case BNO055_ACCEL_ANY_MOTION_NO_MOTION_Z_AXIS: |
gume | 0:1f82672b8755 | 14428 | /* Read the value of accel anymotion z enable*/ |
gume | 0:1f82672b8755 | 14429 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 14430 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 14431 | BNO055_ACCEL_ANY_MOTION_Z_AXIS_REG, |
gume | 0:1f82672b8755 | 14432 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 14433 | *data_u8 = |
gume | 0:1f82672b8755 | 14434 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 14435 | BNO055_ACCEL_ANY_MOTION_Z_AXIS); |
gume | 0:1f82672b8755 | 14436 | break; |
gume | 0:1f82672b8755 | 14437 | default: |
gume | 0:1f82672b8755 | 14438 | com_rslt = BNO055_OUT_OF_RANGE; |
gume | 0:1f82672b8755 | 14439 | break; |
gume | 0:1f82672b8755 | 14440 | } |
gume | 0:1f82672b8755 | 14441 | } else { |
gume | 0:1f82672b8755 | 14442 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14443 | } |
gume | 0:1f82672b8755 | 14444 | } |
gume | 0:1f82672b8755 | 14445 | return com_rslt; |
gume | 0:1f82672b8755 | 14446 | } |
gume | 0:1f82672b8755 | 14447 | /*! |
gume | 0:1f82672b8755 | 14448 | * @brief This API used to write the accel anymotion enable |
gume | 0:1f82672b8755 | 14449 | * from page one register from 0x12 bit 2 to 4 |
gume | 0:1f82672b8755 | 14450 | * |
gume | 0:1f82672b8755 | 14451 | * @param data_u8 : The value of accel anymotion enable |
gume | 0:1f82672b8755 | 14452 | * data_u8 | result |
gume | 0:1f82672b8755 | 14453 | * ------------ | ------------- |
gume | 0:1f82672b8755 | 14454 | * 0x01 | BNO055_BIT_ENABLE |
gume | 0:1f82672b8755 | 14455 | * 0x00 | BNO055_BIT_DISABLE |
gume | 0:1f82672b8755 | 14456 | * @param channel_u8 : The value of accel anymotion axis selection |
gume | 0:1f82672b8755 | 14457 | * channel_u8 | value |
gume | 0:1f82672b8755 | 14458 | * -------------------------- | ---------- |
gume | 0:1f82672b8755 | 14459 | * BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS | 0 |
gume | 0:1f82672b8755 | 14460 | * BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS | 1 |
gume | 0:1f82672b8755 | 14461 | * BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS | 2 |
gume | 0:1f82672b8755 | 14462 | * |
gume | 0:1f82672b8755 | 14463 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 14464 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 14465 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 14466 | * |
gume | 0:1f82672b8755 | 14467 | * |
gume | 0:1f82672b8755 | 14468 | */ |
gume | 0:1f82672b8755 | 14469 | BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_no_motion_axis_enable( |
gume | 0:1f82672b8755 | 14470 | u8 channel_u8, u8 data_u8) |
gume | 0:1f82672b8755 | 14471 | { |
gume | 0:1f82672b8755 | 14472 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14473 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 14474 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14475 | s8 pg_stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14476 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 14477 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 14478 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 14479 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 14480 | } else { |
gume | 0:1f82672b8755 | 14481 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 14482 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 14483 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 14484 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 14485 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 14486 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 14487 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 14488 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 14489 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 14490 | /* Write page as one */ |
gume | 0:1f82672b8755 | 14491 | pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 14492 | if (pg_stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 14493 | switch (channel_u8) { |
gume | 0:1f82672b8755 | 14494 | case BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS: |
gume | 0:1f82672b8755 | 14495 | /* Write the value of |
gume | 0:1f82672b8755 | 14496 | accel anymotion x enable*/ |
gume | 0:1f82672b8755 | 14497 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 14498 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 14499 | BNO055_ACCEL_ANY_MOTION_X_AXIS_REG, |
gume | 0:1f82672b8755 | 14500 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 14501 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 14502 | data_u8r = BNO055_SET_BITSLICE |
gume | 0:1f82672b8755 | 14503 | (data_u8r, |
gume | 0:1f82672b8755 | 14504 | BNO055_ACCEL_ANY_MOTION_X_AXIS, |
gume | 0:1f82672b8755 | 14505 | data_u8); |
gume | 0:1f82672b8755 | 14506 | com_rslt += |
gume | 0:1f82672b8755 | 14507 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 14508 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 14509 | BNO055_ACCEL_ANY_MOTION_X_AXIS_REG, |
gume | 0:1f82672b8755 | 14510 | &data_u8r, |
gume | 0:1f82672b8755 | 14511 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 14512 | } |
gume | 0:1f82672b8755 | 14513 | break; |
gume | 0:1f82672b8755 | 14514 | case BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS: |
gume | 0:1f82672b8755 | 14515 | /* Write the value of |
gume | 0:1f82672b8755 | 14516 | accel anymotion y enable*/ |
gume | 0:1f82672b8755 | 14517 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 14518 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 14519 | BNO055_ACCEL_ANY_MOTION_Y_AXIS_REG, |
gume | 0:1f82672b8755 | 14520 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 14521 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 14522 | data_u8r = BNO055_SET_BITSLICE |
gume | 0:1f82672b8755 | 14523 | (data_u8r, |
gume | 0:1f82672b8755 | 14524 | BNO055_ACCEL_ANY_MOTION_Y_AXIS, |
gume | 0:1f82672b8755 | 14525 | data_u8); |
gume | 0:1f82672b8755 | 14526 | com_rslt += |
gume | 0:1f82672b8755 | 14527 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 14528 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 14529 | BNO055_ACCEL_ANY_MOTION_Y_AXIS_REG, |
gume | 0:1f82672b8755 | 14530 | &data_u8r, |
gume | 0:1f82672b8755 | 14531 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 14532 | } |
gume | 0:1f82672b8755 | 14533 | break; |
gume | 0:1f82672b8755 | 14534 | case BNO055_ACCEL_ANY_MOTION_NO_MOTION_Z_AXIS: |
gume | 0:1f82672b8755 | 14535 | /* Write the value of |
gume | 0:1f82672b8755 | 14536 | accel anymotion z enable*/ |
gume | 0:1f82672b8755 | 14537 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 14538 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 14539 | BNO055_ACCEL_ANY_MOTION_Z_AXIS_REG, |
gume | 0:1f82672b8755 | 14540 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 14541 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 14542 | data_u8r = BNO055_SET_BITSLICE |
gume | 0:1f82672b8755 | 14543 | (data_u8r, |
gume | 0:1f82672b8755 | 14544 | BNO055_ACCEL_ANY_MOTION_Z_AXIS, |
gume | 0:1f82672b8755 | 14545 | data_u8); |
gume | 0:1f82672b8755 | 14546 | com_rslt += |
gume | 0:1f82672b8755 | 14547 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 14548 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 14549 | BNO055_ACCEL_ANY_MOTION_Z_AXIS_REG, |
gume | 0:1f82672b8755 | 14550 | &data_u8r, |
gume | 0:1f82672b8755 | 14551 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 14552 | } |
gume | 0:1f82672b8755 | 14553 | break; |
gume | 0:1f82672b8755 | 14554 | default: |
gume | 0:1f82672b8755 | 14555 | com_rslt = BNO055_OUT_OF_RANGE; |
gume | 0:1f82672b8755 | 14556 | break; |
gume | 0:1f82672b8755 | 14557 | } |
gume | 0:1f82672b8755 | 14558 | } else { |
gume | 0:1f82672b8755 | 14559 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14560 | } |
gume | 0:1f82672b8755 | 14561 | } else { |
gume | 0:1f82672b8755 | 14562 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14563 | } |
gume | 0:1f82672b8755 | 14564 | } else { |
gume | 0:1f82672b8755 | 14565 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14566 | } |
gume | 0:1f82672b8755 | 14567 | } |
gume | 0:1f82672b8755 | 14568 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 14569 | /* set the operation mode of |
gume | 0:1f82672b8755 | 14570 | previous operation mode*/ |
gume | 0:1f82672b8755 | 14571 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 14572 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 14573 | return com_rslt; |
gume | 0:1f82672b8755 | 14574 | } |
gume | 0:1f82672b8755 | 14575 | /*! |
gume | 0:1f82672b8755 | 14576 | * @brief This API used to read the accel highg enable |
gume | 0:1f82672b8755 | 14577 | * from page one register from 0x12 bit 5 to 7 |
gume | 0:1f82672b8755 | 14578 | * |
gume | 0:1f82672b8755 | 14579 | * @param data_u8 : The value of accel highg enable |
gume | 0:1f82672b8755 | 14580 | * data_u8| result |
gume | 0:1f82672b8755 | 14581 | * ------------ | ------------- |
gume | 0:1f82672b8755 | 14582 | * 0x01 | BNO055_BIT_ENABLE |
gume | 0:1f82672b8755 | 14583 | * 0x00 | BNO055_BIT_DISABLE |
gume | 0:1f82672b8755 | 14584 | * @param channel_u8 : The value of accel highg axis selection |
gume | 0:1f82672b8755 | 14585 | * channel_u8 | value |
gume | 0:1f82672b8755 | 14586 | * -------------------------- | ---------- |
gume | 0:1f82672b8755 | 14587 | * BNO055_ACCEL_HIGH_G_X_AXIS | 0 |
gume | 0:1f82672b8755 | 14588 | * BNO055_ACCEL_HIGH_G_Y_AXIS | 1 |
gume | 0:1f82672b8755 | 14589 | * BNO055_ACCEL_HIGH_G_Z_AXIS | 2 |
gume | 0:1f82672b8755 | 14590 | * |
gume | 0:1f82672b8755 | 14591 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 14592 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 14593 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 14594 | * |
gume | 0:1f82672b8755 | 14595 | * |
gume | 0:1f82672b8755 | 14596 | */ |
gume | 0:1f82672b8755 | 14597 | BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_axis_enable( |
gume | 0:1f82672b8755 | 14598 | u8 channel_u8, u8 *data_u8) |
gume | 0:1f82672b8755 | 14599 | { |
gume | 0:1f82672b8755 | 14600 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 14601 | communication routine*/ |
gume | 0:1f82672b8755 | 14602 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14603 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 14604 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14605 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 14606 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 14607 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 14608 | } else { |
gume | 0:1f82672b8755 | 14609 | /*condition check for page, accel highg enable is |
gume | 0:1f82672b8755 | 14610 | available in the page one*/ |
gume | 0:1f82672b8755 | 14611 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 14612 | /* Write page as one */ |
gume | 0:1f82672b8755 | 14613 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 14614 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 14615 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 14616 | switch (channel_u8) { |
gume | 0:1f82672b8755 | 14617 | case BNO055_ACCEL_HIGH_G_X_AXIS: |
gume | 0:1f82672b8755 | 14618 | /* Read the value of accel x highg enable*/ |
gume | 0:1f82672b8755 | 14619 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 14620 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 14621 | BNO055_ACCEL_HIGH_G_X_AXIS_REG, |
gume | 0:1f82672b8755 | 14622 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 14623 | *data_u8 = |
gume | 0:1f82672b8755 | 14624 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 14625 | BNO055_ACCEL_HIGH_G_X_AXIS); |
gume | 0:1f82672b8755 | 14626 | break; |
gume | 0:1f82672b8755 | 14627 | case BNO055_ACCEL_HIGH_G_Y_AXIS: |
gume | 0:1f82672b8755 | 14628 | /* Read the value of accel y highg enable*/ |
gume | 0:1f82672b8755 | 14629 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 14630 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 14631 | BNO055_ACCEL_HIGH_G_Y_AXIS_REG, |
gume | 0:1f82672b8755 | 14632 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 14633 | *data_u8 = |
gume | 0:1f82672b8755 | 14634 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 14635 | BNO055_ACCEL_HIGH_G_Y_AXIS); |
gume | 0:1f82672b8755 | 14636 | break; |
gume | 0:1f82672b8755 | 14637 | case BNO055_ACCEL_HIGH_G_Z_AXIS: |
gume | 0:1f82672b8755 | 14638 | /* Read the value of accel z highg enable*/ |
gume | 0:1f82672b8755 | 14639 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 14640 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 14641 | BNO055_ACCEL_HIGH_G_Z_AXIS_REG, |
gume | 0:1f82672b8755 | 14642 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 14643 | *data_u8 = |
gume | 0:1f82672b8755 | 14644 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 14645 | BNO055_ACCEL_HIGH_G_Z_AXIS); |
gume | 0:1f82672b8755 | 14646 | break; |
gume | 0:1f82672b8755 | 14647 | default: |
gume | 0:1f82672b8755 | 14648 | com_rslt = BNO055_OUT_OF_RANGE; |
gume | 0:1f82672b8755 | 14649 | break; |
gume | 0:1f82672b8755 | 14650 | } |
gume | 0:1f82672b8755 | 14651 | } else { |
gume | 0:1f82672b8755 | 14652 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14653 | } |
gume | 0:1f82672b8755 | 14654 | } |
gume | 0:1f82672b8755 | 14655 | return com_rslt; |
gume | 0:1f82672b8755 | 14656 | } |
gume | 0:1f82672b8755 | 14657 | /*! |
gume | 0:1f82672b8755 | 14658 | * @brief This API used to write the accel highg enable |
gume | 0:1f82672b8755 | 14659 | * from page one register from 0x12 bit 5 to 7 |
gume | 0:1f82672b8755 | 14660 | * |
gume | 0:1f82672b8755 | 14661 | * @param data_u8 : The value of accel highg enable |
gume | 0:1f82672b8755 | 14662 | * data_u8| result |
gume | 0:1f82672b8755 | 14663 | * ------------ | ------------- |
gume | 0:1f82672b8755 | 14664 | * 0x01 | BNO055_BIT_ENABLE |
gume | 0:1f82672b8755 | 14665 | * 0x00 | BNO055_BIT_DISABLE |
gume | 0:1f82672b8755 | 14666 | * @param channel_u8 : The value of accel highg axis selection |
gume | 0:1f82672b8755 | 14667 | * channel_u8 | value |
gume | 0:1f82672b8755 | 14668 | * -------------------------- | ---------- |
gume | 0:1f82672b8755 | 14669 | * BNO055_ACCEL_HIGH_G_X_AXIS | 0 |
gume | 0:1f82672b8755 | 14670 | * BNO055_ACCEL_HIGH_G_Y_AXIS | 1 |
gume | 0:1f82672b8755 | 14671 | * BNO055_ACCEL_HIGH_G_Z_AXIS | 2 |
gume | 0:1f82672b8755 | 14672 | * |
gume | 0:1f82672b8755 | 14673 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 14674 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 14675 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 14676 | * |
gume | 0:1f82672b8755 | 14677 | * |
gume | 0:1f82672b8755 | 14678 | */ |
gume | 0:1f82672b8755 | 14679 | BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_axis_enable( |
gume | 0:1f82672b8755 | 14680 | u8 channel_u8, u8 data_u8) |
gume | 0:1f82672b8755 | 14681 | { |
gume | 0:1f82672b8755 | 14682 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14683 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 14684 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14685 | s8 pg_stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14686 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 14687 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 14688 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 14689 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 14690 | } else { |
gume | 0:1f82672b8755 | 14691 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 14692 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 14693 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 14694 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 14695 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 14696 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 14697 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 14698 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 14699 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 14700 | /* Write page as one */ |
gume | 0:1f82672b8755 | 14701 | pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 14702 | if (pg_stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 14703 | switch (channel_u8) { |
gume | 0:1f82672b8755 | 14704 | case BNO055_ACCEL_HIGH_G_X_AXIS: |
gume | 0:1f82672b8755 | 14705 | /* Write the value of |
gume | 0:1f82672b8755 | 14706 | accel x highg enable*/ |
gume | 0:1f82672b8755 | 14707 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 14708 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 14709 | BNO055_ACCEL_HIGH_G_X_AXIS_REG, |
gume | 0:1f82672b8755 | 14710 | &data_u8r, |
gume | 0:1f82672b8755 | 14711 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 14712 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 14713 | data_u8r = |
gume | 0:1f82672b8755 | 14714 | BNO055_SET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 14715 | BNO055_ACCEL_HIGH_G_X_AXIS, data_u8); |
gume | 0:1f82672b8755 | 14716 | com_rslt += |
gume | 0:1f82672b8755 | 14717 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 14718 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 14719 | BNO055_ACCEL_HIGH_G_X_AXIS_REG, |
gume | 0:1f82672b8755 | 14720 | &data_u8r, |
gume | 0:1f82672b8755 | 14721 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 14722 | } |
gume | 0:1f82672b8755 | 14723 | break; |
gume | 0:1f82672b8755 | 14724 | case BNO055_ACCEL_HIGH_G_Y_AXIS: |
gume | 0:1f82672b8755 | 14725 | /* Write the value of |
gume | 0:1f82672b8755 | 14726 | accel y highg enable*/ |
gume | 0:1f82672b8755 | 14727 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 14728 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 14729 | BNO055_ACCEL_HIGH_G_Y_AXIS_REG, |
gume | 0:1f82672b8755 | 14730 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 14731 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 14732 | data_u8r = |
gume | 0:1f82672b8755 | 14733 | BNO055_SET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 14734 | BNO055_ACCEL_HIGH_G_Y_AXIS, |
gume | 0:1f82672b8755 | 14735 | data_u8); |
gume | 0:1f82672b8755 | 14736 | com_rslt += |
gume | 0:1f82672b8755 | 14737 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 14738 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 14739 | BNO055_ACCEL_HIGH_G_Y_AXIS_REG, |
gume | 0:1f82672b8755 | 14740 | &data_u8r, |
gume | 0:1f82672b8755 | 14741 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 14742 | } |
gume | 0:1f82672b8755 | 14743 | break; |
gume | 0:1f82672b8755 | 14744 | case BNO055_ACCEL_HIGH_G_Z_AXIS: |
gume | 0:1f82672b8755 | 14745 | /* Write the value of |
gume | 0:1f82672b8755 | 14746 | accel z highg enable*/ |
gume | 0:1f82672b8755 | 14747 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 14748 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 14749 | BNO055_ACCEL_HIGH_G_Z_AXIS_REG, |
gume | 0:1f82672b8755 | 14750 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 14751 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 14752 | data_u8r = |
gume | 0:1f82672b8755 | 14753 | BNO055_SET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 14754 | BNO055_ACCEL_HIGH_G_Z_AXIS, data_u8); |
gume | 0:1f82672b8755 | 14755 | com_rslt += |
gume | 0:1f82672b8755 | 14756 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 14757 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 14758 | BNO055_ACCEL_HIGH_G_Z_AXIS_REG, |
gume | 0:1f82672b8755 | 14759 | &data_u8r, |
gume | 0:1f82672b8755 | 14760 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 14761 | } |
gume | 0:1f82672b8755 | 14762 | break; |
gume | 0:1f82672b8755 | 14763 | default: |
gume | 0:1f82672b8755 | 14764 | com_rslt = BNO055_OUT_OF_RANGE; |
gume | 0:1f82672b8755 | 14765 | break; |
gume | 0:1f82672b8755 | 14766 | } |
gume | 0:1f82672b8755 | 14767 | } else { |
gume | 0:1f82672b8755 | 14768 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14769 | } |
gume | 0:1f82672b8755 | 14770 | } else { |
gume | 0:1f82672b8755 | 14771 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14772 | } |
gume | 0:1f82672b8755 | 14773 | } else { |
gume | 0:1f82672b8755 | 14774 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14775 | } |
gume | 0:1f82672b8755 | 14776 | } |
gume | 0:1f82672b8755 | 14777 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 14778 | /* set the operation mode of |
gume | 0:1f82672b8755 | 14779 | previous operation mode*/ |
gume | 0:1f82672b8755 | 14780 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 14781 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 14782 | return com_rslt; |
gume | 0:1f82672b8755 | 14783 | } |
gume | 0:1f82672b8755 | 14784 | /*! |
gume | 0:1f82672b8755 | 14785 | * @brief This API used to read the accel highg duration |
gume | 0:1f82672b8755 | 14786 | * from page one register from 0x13 bit 0 to 7 |
gume | 0:1f82672b8755 | 14787 | * |
gume | 0:1f82672b8755 | 14788 | * @param accel_high_g_durn_u8 : The value of accel highg duration |
gume | 0:1f82672b8755 | 14789 | * |
gume | 0:1f82672b8755 | 14790 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 14791 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 14792 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 14793 | * |
gume | 0:1f82672b8755 | 14794 | * @note The high-g interrupt trigger delay according |
gume | 0:1f82672b8755 | 14795 | * to [highg duration + 1] * 2 ms |
gume | 0:1f82672b8755 | 14796 | * |
gume | 0:1f82672b8755 | 14797 | * in a range from 2 ms to 512 ms |
gume | 0:1f82672b8755 | 14798 | * |
gume | 0:1f82672b8755 | 14799 | */ |
gume | 0:1f82672b8755 | 14800 | BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_durn( |
gume | 0:1f82672b8755 | 14801 | u8 *accel_high_g_durn_u8) |
gume | 0:1f82672b8755 | 14802 | { |
gume | 0:1f82672b8755 | 14803 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 14804 | communication routine*/ |
gume | 0:1f82672b8755 | 14805 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14806 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 14807 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14808 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 14809 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 14810 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 14811 | } else { |
gume | 0:1f82672b8755 | 14812 | /*condition check for page, accel highg duration is |
gume | 0:1f82672b8755 | 14813 | available in the page one*/ |
gume | 0:1f82672b8755 | 14814 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 14815 | /* Write page as one */ |
gume | 0:1f82672b8755 | 14816 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 14817 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 14818 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 14819 | /* Read the value of accel highg duration*/ |
gume | 0:1f82672b8755 | 14820 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 14821 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 14822 | BNO055_ACCEL_HIGH_G_DURN_REG, |
gume | 0:1f82672b8755 | 14823 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 14824 | *accel_high_g_durn_u8 = |
gume | 0:1f82672b8755 | 14825 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 14826 | BNO055_ACCEL_HIGH_G_DURN); |
gume | 0:1f82672b8755 | 14827 | } else { |
gume | 0:1f82672b8755 | 14828 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14829 | } |
gume | 0:1f82672b8755 | 14830 | } |
gume | 0:1f82672b8755 | 14831 | return com_rslt; |
gume | 0:1f82672b8755 | 14832 | } |
gume | 0:1f82672b8755 | 14833 | /*! |
gume | 0:1f82672b8755 | 14834 | * @brief This API used to write the accel highg duration |
gume | 0:1f82672b8755 | 14835 | * from page one register from 0x13 bit 0 to 7 |
gume | 0:1f82672b8755 | 14836 | * |
gume | 0:1f82672b8755 | 14837 | * @param accel_high_g_durn_u8 : The value of accel highg duration |
gume | 0:1f82672b8755 | 14838 | * |
gume | 0:1f82672b8755 | 14839 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 14840 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 14841 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 14842 | * |
gume | 0:1f82672b8755 | 14843 | * @note The high-g interrupt trigger delay according |
gume | 0:1f82672b8755 | 14844 | * to [highg duration + 1] * 2 ms |
gume | 0:1f82672b8755 | 14845 | * |
gume | 0:1f82672b8755 | 14846 | * in a range from 2 ms to 512 ms |
gume | 0:1f82672b8755 | 14847 | * |
gume | 0:1f82672b8755 | 14848 | */ |
gume | 0:1f82672b8755 | 14849 | BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_durn( |
gume | 0:1f82672b8755 | 14850 | u8 accel_high_g_durn_u8) |
gume | 0:1f82672b8755 | 14851 | { |
gume | 0:1f82672b8755 | 14852 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14853 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 14854 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14855 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 14856 | s8 pg_stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14857 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 14858 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 14859 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 14860 | } else { |
gume | 0:1f82672b8755 | 14861 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 14862 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 14863 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 14864 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 14865 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 14866 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 14867 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 14868 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 14869 | |
gume | 0:1f82672b8755 | 14870 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 14871 | /* Write page as one */ |
gume | 0:1f82672b8755 | 14872 | pg_stat_s8 = bno055_write_page_id( |
gume | 0:1f82672b8755 | 14873 | BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 14874 | if (pg_stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 14875 | com_rslt = |
gume | 0:1f82672b8755 | 14876 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 14877 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 14878 | BNO055_ACCEL_HIGH_G_DURN_REG, |
gume | 0:1f82672b8755 | 14879 | &data_u8r, |
gume | 0:1f82672b8755 | 14880 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 14881 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 14882 | /* Write the value of |
gume | 0:1f82672b8755 | 14883 | accel highg duration*/ |
gume | 0:1f82672b8755 | 14884 | data_u8r = |
gume | 0:1f82672b8755 | 14885 | BNO055_SET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 14886 | BNO055_ACCEL_HIGH_G_DURN, |
gume | 0:1f82672b8755 | 14887 | accel_high_g_durn_u8); |
gume | 0:1f82672b8755 | 14888 | com_rslt += |
gume | 0:1f82672b8755 | 14889 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 14890 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 14891 | BNO055_ACCEL_HIGH_G_DURN_REG, |
gume | 0:1f82672b8755 | 14892 | &data_u8r, |
gume | 0:1f82672b8755 | 14893 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 14894 | } |
gume | 0:1f82672b8755 | 14895 | } else { |
gume | 0:1f82672b8755 | 14896 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14897 | } |
gume | 0:1f82672b8755 | 14898 | } else { |
gume | 0:1f82672b8755 | 14899 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14900 | } |
gume | 0:1f82672b8755 | 14901 | } else { |
gume | 0:1f82672b8755 | 14902 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14903 | } |
gume | 0:1f82672b8755 | 14904 | } |
gume | 0:1f82672b8755 | 14905 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 14906 | /* set the operation mode of |
gume | 0:1f82672b8755 | 14907 | previous operation mode*/ |
gume | 0:1f82672b8755 | 14908 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 14909 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 14910 | return com_rslt; |
gume | 0:1f82672b8755 | 14911 | } |
gume | 0:1f82672b8755 | 14912 | /*! |
gume | 0:1f82672b8755 | 14913 | * @brief This API used to read the accel highg threshold |
gume | 0:1f82672b8755 | 14914 | * from page one register from 0x14 bit 0 to 7 |
gume | 0:1f82672b8755 | 14915 | * |
gume | 0:1f82672b8755 | 14916 | * @param accel_high_g_thres_u8 : The value of accel highg threshold |
gume | 0:1f82672b8755 | 14917 | * |
gume | 0:1f82672b8755 | 14918 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 14919 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 14920 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 14921 | * |
gume | 0:1f82672b8755 | 14922 | * @note Accel highg interrupt threshold dependent |
gume | 0:1f82672b8755 | 14923 | * for accel g range |
gume | 0:1f82672b8755 | 14924 | * |
gume | 0:1f82672b8755 | 14925 | * accel_range_u8 | threshold | LSB |
gume | 0:1f82672b8755 | 14926 | * ------------- | ------------- | --------- |
gume | 0:1f82672b8755 | 14927 | * 2g | 7.81mg | 1LSB |
gume | 0:1f82672b8755 | 14928 | * 4g | 15.63mg | 1LSB |
gume | 0:1f82672b8755 | 14929 | * 8g | 31.25mg | 1LSB |
gume | 0:1f82672b8755 | 14930 | * 16g | 62.5mg | 1LSB |
gume | 0:1f82672b8755 | 14931 | * |
gume | 0:1f82672b8755 | 14932 | */ |
gume | 0:1f82672b8755 | 14933 | BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_thres( |
gume | 0:1f82672b8755 | 14934 | u8 *accel_high_g_thres_u8) |
gume | 0:1f82672b8755 | 14935 | { |
gume | 0:1f82672b8755 | 14936 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 14937 | communication routine*/ |
gume | 0:1f82672b8755 | 14938 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14939 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 14940 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14941 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 14942 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 14943 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 14944 | } else { |
gume | 0:1f82672b8755 | 14945 | /*condition check for page, highg threshold is |
gume | 0:1f82672b8755 | 14946 | available in the page one*/ |
gume | 0:1f82672b8755 | 14947 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 14948 | /* Write page as one */ |
gume | 0:1f82672b8755 | 14949 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 14950 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 14951 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 14952 | /* Read the value of highg threshold */ |
gume | 0:1f82672b8755 | 14953 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 14954 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 14955 | BNO055_ACCEL_HIGH_G_THRES_REG, |
gume | 0:1f82672b8755 | 14956 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 14957 | *accel_high_g_thres_u8 = |
gume | 0:1f82672b8755 | 14958 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 14959 | BNO055_ACCEL_HIGH_G_THRES); |
gume | 0:1f82672b8755 | 14960 | } else { |
gume | 0:1f82672b8755 | 14961 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14962 | } |
gume | 0:1f82672b8755 | 14963 | } |
gume | 0:1f82672b8755 | 14964 | return com_rslt; |
gume | 0:1f82672b8755 | 14965 | } |
gume | 0:1f82672b8755 | 14966 | /*! |
gume | 0:1f82672b8755 | 14967 | * @brief This API used to write the accel highg threshold |
gume | 0:1f82672b8755 | 14968 | * from page one register from 0x14 bit 0 to 7 |
gume | 0:1f82672b8755 | 14969 | * |
gume | 0:1f82672b8755 | 14970 | * @param accel_high_g_thres_u8 : The value of accel highg threshold |
gume | 0:1f82672b8755 | 14971 | * |
gume | 0:1f82672b8755 | 14972 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 14973 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 14974 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 14975 | * |
gume | 0:1f82672b8755 | 14976 | * @note Accel highg interrupt threshold dependent |
gume | 0:1f82672b8755 | 14977 | * for accel g range |
gume | 0:1f82672b8755 | 14978 | * |
gume | 0:1f82672b8755 | 14979 | * accel_range_u8 | threshold | LSB |
gume | 0:1f82672b8755 | 14980 | * ------------- | ------------- | --------- |
gume | 0:1f82672b8755 | 14981 | * 2g | 7.81mg | 1LSB |
gume | 0:1f82672b8755 | 14982 | * 4g | 15.63mg | 1LSB |
gume | 0:1f82672b8755 | 14983 | * 8g | 31.25mg | 1LSB |
gume | 0:1f82672b8755 | 14984 | * 16g | 62.5mg | 1LSB |
gume | 0:1f82672b8755 | 14985 | * |
gume | 0:1f82672b8755 | 14986 | */ |
gume | 0:1f82672b8755 | 14987 | BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_thres( |
gume | 0:1f82672b8755 | 14988 | u8 accel_high_g_thres_u8) |
gume | 0:1f82672b8755 | 14989 | { |
gume | 0:1f82672b8755 | 14990 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14991 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 14992 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14993 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 14994 | s8 pg_stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 14995 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 14996 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 14997 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 14998 | } else { |
gume | 0:1f82672b8755 | 14999 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 15000 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 15001 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 15002 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 15003 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 15004 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 15005 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 15006 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 15007 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 15008 | /* Write page as one */ |
gume | 0:1f82672b8755 | 15009 | pg_stat_s8 = bno055_write_page_id( |
gume | 0:1f82672b8755 | 15010 | BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 15011 | if (pg_stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 15012 | com_rslt = |
gume | 0:1f82672b8755 | 15013 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 15014 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 15015 | BNO055_ACCEL_HIGH_G_THRES_REG, |
gume | 0:1f82672b8755 | 15016 | &data_u8r, |
gume | 0:1f82672b8755 | 15017 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 15018 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 15019 | /* Write the value of |
gume | 0:1f82672b8755 | 15020 | accel highg threshold */ |
gume | 0:1f82672b8755 | 15021 | data_u8r = |
gume | 0:1f82672b8755 | 15022 | BNO055_SET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 15023 | BNO055_ACCEL_HIGH_G_THRES, |
gume | 0:1f82672b8755 | 15024 | accel_high_g_thres_u8); |
gume | 0:1f82672b8755 | 15025 | com_rslt += |
gume | 0:1f82672b8755 | 15026 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 15027 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 15028 | BNO055_ACCEL_HIGH_G_THRES_REG, |
gume | 0:1f82672b8755 | 15029 | &data_u8r, |
gume | 0:1f82672b8755 | 15030 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 15031 | } |
gume | 0:1f82672b8755 | 15032 | } else { |
gume | 0:1f82672b8755 | 15033 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15034 | } |
gume | 0:1f82672b8755 | 15035 | } else { |
gume | 0:1f82672b8755 | 15036 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15037 | } |
gume | 0:1f82672b8755 | 15038 | } else { |
gume | 0:1f82672b8755 | 15039 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15040 | } |
gume | 0:1f82672b8755 | 15041 | } |
gume | 0:1f82672b8755 | 15042 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 15043 | /* set the operation mode of |
gume | 0:1f82672b8755 | 15044 | previous operation mode*/ |
gume | 0:1f82672b8755 | 15045 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 15046 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 15047 | return com_rslt; |
gume | 0:1f82672b8755 | 15048 | } |
gume | 0:1f82672b8755 | 15049 | /*! |
gume | 0:1f82672b8755 | 15050 | * @brief This API used to read the accel slownomotion threshold |
gume | 0:1f82672b8755 | 15051 | * from page one register from 0x15 bit 0 to 7 |
gume | 0:1f82672b8755 | 15052 | * |
gume | 0:1f82672b8755 | 15053 | * @param accel_slow_no_motion_thres_u8 : |
gume | 0:1f82672b8755 | 15054 | * The value of accel slownomotion threshold |
gume | 0:1f82672b8755 | 15055 | * |
gume | 0:1f82672b8755 | 15056 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 15057 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 15058 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 15059 | * |
gume | 0:1f82672b8755 | 15060 | * @note Accel slow no motion interrupt threshold dependent |
gume | 0:1f82672b8755 | 15061 | * for accel g range |
gume | 0:1f82672b8755 | 15062 | * |
gume | 0:1f82672b8755 | 15063 | * accel_range_u8 | threshold | LSB |
gume | 0:1f82672b8755 | 15064 | * ------------- | ------------- | --------- |
gume | 0:1f82672b8755 | 15065 | * 2g | 3.19mg | 1LSB |
gume | 0:1f82672b8755 | 15066 | * 4g | 7.81mg | 1LSB |
gume | 0:1f82672b8755 | 15067 | * 8g | 15.63mg | 1LSB |
gume | 0:1f82672b8755 | 15068 | * 16g | 31.25mg | 1LSB |
gume | 0:1f82672b8755 | 15069 | */ |
gume | 0:1f82672b8755 | 15070 | BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_thres( |
gume | 0:1f82672b8755 | 15071 | u8 *accel_slow_no_motion_thres_u8) |
gume | 0:1f82672b8755 | 15072 | { |
gume | 0:1f82672b8755 | 15073 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 15074 | communication routine*/ |
gume | 0:1f82672b8755 | 15075 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15076 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 15077 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15078 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 15079 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 15080 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 15081 | } else { |
gume | 0:1f82672b8755 | 15082 | /*condition check for page, accel slownomotion threshold is |
gume | 0:1f82672b8755 | 15083 | available in the page one*/ |
gume | 0:1f82672b8755 | 15084 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 15085 | /* Write page as one */ |
gume | 0:1f82672b8755 | 15086 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 15087 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 15088 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 15089 | /* Read the value of slownomotion threshold */ |
gume | 0:1f82672b8755 | 15090 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 15091 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 15092 | BNO055_ACCEL_SLOW_NO_MOTION_THRES_REG, |
gume | 0:1f82672b8755 | 15093 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 15094 | *accel_slow_no_motion_thres_u8 = |
gume | 0:1f82672b8755 | 15095 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 15096 | BNO055_ACCEL_SLOW_NO_MOTION_THRES); |
gume | 0:1f82672b8755 | 15097 | } else { |
gume | 0:1f82672b8755 | 15098 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15099 | } |
gume | 0:1f82672b8755 | 15100 | } |
gume | 0:1f82672b8755 | 15101 | return com_rslt; |
gume | 0:1f82672b8755 | 15102 | } |
gume | 0:1f82672b8755 | 15103 | /*! |
gume | 0:1f82672b8755 | 15104 | * @brief This API used to write the accel slownomotion threshold |
gume | 0:1f82672b8755 | 15105 | * from page one register from 0x15 bit 0 to 7 |
gume | 0:1f82672b8755 | 15106 | * |
gume | 0:1f82672b8755 | 15107 | * @param accel_slow_no_motion_thres_u8 : |
gume | 0:1f82672b8755 | 15108 | * The value of accel slownomotion threshold |
gume | 0:1f82672b8755 | 15109 | * |
gume | 0:1f82672b8755 | 15110 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 15111 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 15112 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 15113 | * |
gume | 0:1f82672b8755 | 15114 | * @note Accel slow no motion interrupt threshold dependent |
gume | 0:1f82672b8755 | 15115 | * for accel g range |
gume | 0:1f82672b8755 | 15116 | * |
gume | 0:1f82672b8755 | 15117 | * accel_range_u8 | threshold | LSB |
gume | 0:1f82672b8755 | 15118 | * ------------- | ------------- | --------- |
gume | 0:1f82672b8755 | 15119 | * 2g | 3.19mg | 1LSB |
gume | 0:1f82672b8755 | 15120 | * 4g | 7.81mg | 1LSB |
gume | 0:1f82672b8755 | 15121 | * 8g | 15.63mg | 1LSB |
gume | 0:1f82672b8755 | 15122 | * 16g | 31.25mg | 1LSB |
gume | 0:1f82672b8755 | 15123 | */ |
gume | 0:1f82672b8755 | 15124 | BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_thres( |
gume | 0:1f82672b8755 | 15125 | u8 accel_slow_no_motion_thres_u8) |
gume | 0:1f82672b8755 | 15126 | { |
gume | 0:1f82672b8755 | 15127 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15128 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 15129 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15130 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 15131 | s8 pg_stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15132 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 15133 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 15134 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 15135 | } else { |
gume | 0:1f82672b8755 | 15136 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 15137 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 15138 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 15139 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 15140 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 15141 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 15142 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 15143 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 15144 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 15145 | /* Write page as one */ |
gume | 0:1f82672b8755 | 15146 | pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 15147 | if (pg_stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 15148 | /* Write the value of |
gume | 0:1f82672b8755 | 15149 | slownomotion threshold */ |
gume | 0:1f82672b8755 | 15150 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 15151 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 15152 | BNO055_ACCEL_SLOW_NO_MOTION_THRES_REG, |
gume | 0:1f82672b8755 | 15153 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 15154 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 15155 | data_u8r = |
gume | 0:1f82672b8755 | 15156 | BNO055_SET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 15157 | BNO055_ACCEL_SLOW_NO_MOTION_THRES, |
gume | 0:1f82672b8755 | 15158 | accel_slow_no_motion_thres_u8); |
gume | 0:1f82672b8755 | 15159 | com_rslt += |
gume | 0:1f82672b8755 | 15160 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 15161 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 15162 | BNO055_ACCEL_SLOW_NO_MOTION_THRES_REG, |
gume | 0:1f82672b8755 | 15163 | &data_u8r, |
gume | 0:1f82672b8755 | 15164 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 15165 | } |
gume | 0:1f82672b8755 | 15166 | } else { |
gume | 0:1f82672b8755 | 15167 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15168 | } |
gume | 0:1f82672b8755 | 15169 | } else { |
gume | 0:1f82672b8755 | 15170 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15171 | } |
gume | 0:1f82672b8755 | 15172 | } else { |
gume | 0:1f82672b8755 | 15173 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15174 | } |
gume | 0:1f82672b8755 | 15175 | } |
gume | 0:1f82672b8755 | 15176 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 15177 | /* set the operation mode of |
gume | 0:1f82672b8755 | 15178 | previous operation mode*/ |
gume | 0:1f82672b8755 | 15179 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 15180 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 15181 | return com_rslt; |
gume | 0:1f82672b8755 | 15182 | } |
gume | 0:1f82672b8755 | 15183 | /*! |
gume | 0:1f82672b8755 | 15184 | * @brief This API used to read accel slownomotion enable |
gume | 0:1f82672b8755 | 15185 | * from page one register from 0x16 bit 0 |
gume | 0:1f82672b8755 | 15186 | * |
gume | 0:1f82672b8755 | 15187 | * @param accel_slow_no_motion_en_u8 : The value of accel slownomotion enable |
gume | 0:1f82672b8755 | 15188 | * accel_slow_no_motion_en_u8 | result |
gume | 0:1f82672b8755 | 15189 | * ------------------------ | -------- |
gume | 0:1f82672b8755 | 15190 | * 0x01 | Slow motion |
gume | 0:1f82672b8755 | 15191 | * 0x00 | No motion |
gume | 0:1f82672b8755 | 15192 | * |
gume | 0:1f82672b8755 | 15193 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 15194 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 15195 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 15196 | * |
gume | 0:1f82672b8755 | 15197 | */ |
gume | 0:1f82672b8755 | 15198 | BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_enable( |
gume | 0:1f82672b8755 | 15199 | u8 *accel_slow_no_motion_en_u8) |
gume | 0:1f82672b8755 | 15200 | { |
gume | 0:1f82672b8755 | 15201 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 15202 | communication routine*/ |
gume | 0:1f82672b8755 | 15203 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15204 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 15205 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15206 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 15207 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 15208 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 15209 | } else { |
gume | 0:1f82672b8755 | 15210 | /*condition check for page, accel slownomotion enable is |
gume | 0:1f82672b8755 | 15211 | available in the page one*/ |
gume | 0:1f82672b8755 | 15212 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 15213 | /* Write page as one */ |
gume | 0:1f82672b8755 | 15214 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 15215 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 15216 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 15217 | /* Read the value of accel slownomotion enable */ |
gume | 0:1f82672b8755 | 15218 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 15219 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 15220 | BNO055_ACCEL_SLOW_NO_MOTION_ENABLE_REG, |
gume | 0:1f82672b8755 | 15221 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 15222 | *accel_slow_no_motion_en_u8 = |
gume | 0:1f82672b8755 | 15223 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 15224 | BNO055_ACCEL_SLOW_NO_MOTION_ENABLE); |
gume | 0:1f82672b8755 | 15225 | } else { |
gume | 0:1f82672b8755 | 15226 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15227 | } |
gume | 0:1f82672b8755 | 15228 | } |
gume | 0:1f82672b8755 | 15229 | return com_rslt; |
gume | 0:1f82672b8755 | 15230 | } |
gume | 0:1f82672b8755 | 15231 | /*! |
gume | 0:1f82672b8755 | 15232 | * @brief This API used to write accel slownomotion enable |
gume | 0:1f82672b8755 | 15233 | * from page one register from 0x16 bit 0 |
gume | 0:1f82672b8755 | 15234 | * |
gume | 0:1f82672b8755 | 15235 | * @param accel_slow_no_motion_en_u8 : The value of accel slownomotion enable |
gume | 0:1f82672b8755 | 15236 | * accel_slow_no_motion_en_u8 | result |
gume | 0:1f82672b8755 | 15237 | * ------------------------ | -------- |
gume | 0:1f82672b8755 | 15238 | * 0x01 | Slow motion |
gume | 0:1f82672b8755 | 15239 | * 0x00 | No motion |
gume | 0:1f82672b8755 | 15240 | * |
gume | 0:1f82672b8755 | 15241 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 15242 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 15243 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 15244 | * |
gume | 0:1f82672b8755 | 15245 | */ |
gume | 0:1f82672b8755 | 15246 | BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_enable( |
gume | 0:1f82672b8755 | 15247 | u8 accel_slow_no_motion_en_u8) |
gume | 0:1f82672b8755 | 15248 | { |
gume | 0:1f82672b8755 | 15249 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15250 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 15251 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15252 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 15253 | s8 pg_stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15254 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 15255 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 15256 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 15257 | } else { |
gume | 0:1f82672b8755 | 15258 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 15259 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 15260 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 15261 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 15262 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 15263 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 15264 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 15265 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 15266 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 15267 | /* Write page as one */ |
gume | 0:1f82672b8755 | 15268 | pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 15269 | if (pg_stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 15270 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 15271 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 15272 | BNO055_ACCEL_SLOW_NO_MOTION_ENABLE_REG, |
gume | 0:1f82672b8755 | 15273 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 15274 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 15275 | /* Read the value of |
gume | 0:1f82672b8755 | 15276 | accel slownomotion enable */ |
gume | 0:1f82672b8755 | 15277 | data_u8r = |
gume | 0:1f82672b8755 | 15278 | BNO055_SET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 15279 | BNO055_ACCEL_SLOW_NO_MOTION_ENABLE, |
gume | 0:1f82672b8755 | 15280 | accel_slow_no_motion_en_u8); |
gume | 0:1f82672b8755 | 15281 | com_rslt += |
gume | 0:1f82672b8755 | 15282 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 15283 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 15284 | BNO055_ACCEL_SLOW_NO_MOTION_ENABLE_REG, |
gume | 0:1f82672b8755 | 15285 | &data_u8r, |
gume | 0:1f82672b8755 | 15286 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 15287 | } |
gume | 0:1f82672b8755 | 15288 | } else { |
gume | 0:1f82672b8755 | 15289 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15290 | } |
gume | 0:1f82672b8755 | 15291 | } else { |
gume | 0:1f82672b8755 | 15292 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15293 | } |
gume | 0:1f82672b8755 | 15294 | } else { |
gume | 0:1f82672b8755 | 15295 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15296 | } |
gume | 0:1f82672b8755 | 15297 | } |
gume | 0:1f82672b8755 | 15298 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 15299 | /* set the operation mode of |
gume | 0:1f82672b8755 | 15300 | previous operation mode*/ |
gume | 0:1f82672b8755 | 15301 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 15302 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 15303 | return com_rslt; |
gume | 0:1f82672b8755 | 15304 | } |
gume | 0:1f82672b8755 | 15305 | /*! |
gume | 0:1f82672b8755 | 15306 | * @brief This API used to read accel slownomotion duration |
gume | 0:1f82672b8755 | 15307 | * from page one register from 0x16 bit 1 to 6 |
gume | 0:1f82672b8755 | 15308 | * |
gume | 0:1f82672b8755 | 15309 | * @param accel_slow_no_motion_durn_u8 : |
gume | 0:1f82672b8755 | 15310 | * The value of accel slownomotion duration |
gume | 0:1f82672b8755 | 15311 | * |
gume | 0:1f82672b8755 | 15312 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 15313 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 15314 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 15315 | * |
gume | 0:1f82672b8755 | 15316 | */ |
gume | 0:1f82672b8755 | 15317 | BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_durn( |
gume | 0:1f82672b8755 | 15318 | u8 *accel_slow_no_motion_durn_u8) |
gume | 0:1f82672b8755 | 15319 | { |
gume | 0:1f82672b8755 | 15320 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 15321 | communication routine*/ |
gume | 0:1f82672b8755 | 15322 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15323 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 15324 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15325 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 15326 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 15327 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 15328 | } else { |
gume | 0:1f82672b8755 | 15329 | /*condition check for page, accel slownomotion duration is |
gume | 0:1f82672b8755 | 15330 | available in the page one*/ |
gume | 0:1f82672b8755 | 15331 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 15332 | /* Write page as one */ |
gume | 0:1f82672b8755 | 15333 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 15334 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 15335 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 15336 | /*read value of accel slownomotion duration*/ |
gume | 0:1f82672b8755 | 15337 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 15338 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 15339 | BNO055_ACCEL_SLOW_NO_MOTION_DURN_REG, |
gume | 0:1f82672b8755 | 15340 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 15341 | *accel_slow_no_motion_durn_u8 = |
gume | 0:1f82672b8755 | 15342 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 15343 | BNO055_ACCEL_SLOW_NO_MOTION_DURN); |
gume | 0:1f82672b8755 | 15344 | } else { |
gume | 0:1f82672b8755 | 15345 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15346 | } |
gume | 0:1f82672b8755 | 15347 | } |
gume | 0:1f82672b8755 | 15348 | return com_rslt; |
gume | 0:1f82672b8755 | 15349 | } |
gume | 0:1f82672b8755 | 15350 | /*! |
gume | 0:1f82672b8755 | 15351 | * @brief This API used to write accel slownomotion duration |
gume | 0:1f82672b8755 | 15352 | * from page one register from 0x16 bit 1 to 6 |
gume | 0:1f82672b8755 | 15353 | * |
gume | 0:1f82672b8755 | 15354 | * @param accel_slow_no_motion_durn_u8 : |
gume | 0:1f82672b8755 | 15355 | * The value of accel slownomotion duration |
gume | 0:1f82672b8755 | 15356 | * |
gume | 0:1f82672b8755 | 15357 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 15358 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 15359 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 15360 | * |
gume | 0:1f82672b8755 | 15361 | */ |
gume | 0:1f82672b8755 | 15362 | BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_durn( |
gume | 0:1f82672b8755 | 15363 | u8 accel_slow_no_motion_durn_u8) |
gume | 0:1f82672b8755 | 15364 | { |
gume | 0:1f82672b8755 | 15365 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15366 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 15367 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15368 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 15369 | s8 pg_stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15370 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 15371 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 15372 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 15373 | } else { |
gume | 0:1f82672b8755 | 15374 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 15375 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 15376 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 15377 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 15378 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 15379 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 15380 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 15381 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 15382 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 15383 | /* Write page as one */ |
gume | 0:1f82672b8755 | 15384 | pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 15385 | if (pg_stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 15386 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 15387 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 15388 | BNO055_ACCEL_SLOW_NO_MOTION_DURN_REG, |
gume | 0:1f82672b8755 | 15389 | &data_u8r, |
gume | 0:1f82672b8755 | 15390 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 15391 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 15392 | /*Write the value of accel |
gume | 0:1f82672b8755 | 15393 | slownomotion duration*/ |
gume | 0:1f82672b8755 | 15394 | data_u8r = |
gume | 0:1f82672b8755 | 15395 | BNO055_SET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 15396 | BNO055_ACCEL_SLOW_NO_MOTION_DURN, |
gume | 0:1f82672b8755 | 15397 | accel_slow_no_motion_durn_u8); |
gume | 0:1f82672b8755 | 15398 | com_rslt += |
gume | 0:1f82672b8755 | 15399 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 15400 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 15401 | BNO055_ACCEL_SLOW_NO_MOTION_DURN_REG, |
gume | 0:1f82672b8755 | 15402 | &data_u8r, |
gume | 0:1f82672b8755 | 15403 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 15404 | } |
gume | 0:1f82672b8755 | 15405 | } else { |
gume | 0:1f82672b8755 | 15406 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15407 | } |
gume | 0:1f82672b8755 | 15408 | } else { |
gume | 0:1f82672b8755 | 15409 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15410 | } |
gume | 0:1f82672b8755 | 15411 | } else { |
gume | 0:1f82672b8755 | 15412 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15413 | } |
gume | 0:1f82672b8755 | 15414 | } |
gume | 0:1f82672b8755 | 15415 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 15416 | /* set the operation mode of |
gume | 0:1f82672b8755 | 15417 | previous operation mode*/ |
gume | 0:1f82672b8755 | 15418 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 15419 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 15420 | return com_rslt; |
gume | 0:1f82672b8755 | 15421 | } |
gume | 0:1f82672b8755 | 15422 | /*! |
gume | 0:1f82672b8755 | 15423 | * @brief This API used to read the gyro anymotion enable |
gume | 0:1f82672b8755 | 15424 | * from page one register from 0x17 bit 0 to 2 |
gume | 0:1f82672b8755 | 15425 | * |
gume | 0:1f82672b8755 | 15426 | * @param data_u8 : The value of gyro anymotion enable |
gume | 0:1f82672b8755 | 15427 | * data_u8 | result |
gume | 0:1f82672b8755 | 15428 | * ----------------- |------------- |
gume | 0:1f82672b8755 | 15429 | * 0x01 | BNO055_BIT_ENABLE |
gume | 0:1f82672b8755 | 15430 | * 0x00 | BNO055_BIT_DISABLE |
gume | 0:1f82672b8755 | 15431 | * @param channel_u8 : The value of gyro anymotion axis selection |
gume | 0:1f82672b8755 | 15432 | * channel_u8 | value |
gume | 0:1f82672b8755 | 15433 | * --------------------------- | ---------- |
gume | 0:1f82672b8755 | 15434 | * BNO055_GYRO_ANY_MOTIONX_AXIS | 0 |
gume | 0:1f82672b8755 | 15435 | * BNO055_GYRO_ANY_MOTIONY_AXIS | 1 |
gume | 0:1f82672b8755 | 15436 | * BNO055_GYRO_ANY_MOTIONZ_AXIS | 2 |
gume | 0:1f82672b8755 | 15437 | * |
gume | 0:1f82672b8755 | 15438 | * |
gume | 0:1f82672b8755 | 15439 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 15440 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 15441 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 15442 | * |
gume | 0:1f82672b8755 | 15443 | * |
gume | 0:1f82672b8755 | 15444 | */ |
gume | 0:1f82672b8755 | 15445 | BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_axis_enable( |
gume | 0:1f82672b8755 | 15446 | u8 channel_u8, u8 *data_u8) |
gume | 0:1f82672b8755 | 15447 | { |
gume | 0:1f82672b8755 | 15448 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 15449 | communication routine*/ |
gume | 0:1f82672b8755 | 15450 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15451 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 15452 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15453 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 15454 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 15455 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 15456 | } else { |
gume | 0:1f82672b8755 | 15457 | /*condition check for page, gyro anymotion axis is |
gume | 0:1f82672b8755 | 15458 | available in the page one*/ |
gume | 0:1f82672b8755 | 15459 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 15460 | /* Write page as one */ |
gume | 0:1f82672b8755 | 15461 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 15462 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 15463 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 15464 | switch (channel_u8) { |
gume | 0:1f82672b8755 | 15465 | case BNO055_GYRO_ANY_MOTION_X_AXIS: |
gume | 0:1f82672b8755 | 15466 | /* Read the gyro anymotion x enable*/ |
gume | 0:1f82672b8755 | 15467 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 15468 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 15469 | BNO055_GYRO_ANY_MOTION_X_AXIS_REG, |
gume | 0:1f82672b8755 | 15470 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 15471 | *data_u8 = |
gume | 0:1f82672b8755 | 15472 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 15473 | BNO055_GYRO_ANY_MOTION_X_AXIS); |
gume | 0:1f82672b8755 | 15474 | break; |
gume | 0:1f82672b8755 | 15475 | case BNO055_GYRO_ANY_MOTION_Y_AXIS: |
gume | 0:1f82672b8755 | 15476 | /* Read the gyro anymotion y enable*/ |
gume | 0:1f82672b8755 | 15477 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 15478 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 15479 | BNO055_GYRO_ANY_MOTION_Y_AXIS_REG, |
gume | 0:1f82672b8755 | 15480 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 15481 | *data_u8 = |
gume | 0:1f82672b8755 | 15482 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 15483 | BNO055_GYRO_ANY_MOTION_Y_AXIS); |
gume | 0:1f82672b8755 | 15484 | break; |
gume | 0:1f82672b8755 | 15485 | case BNO055_GYRO_ANY_MOTION_Z_AXIS: |
gume | 0:1f82672b8755 | 15486 | /* Read the gyro anymotion z enable*/ |
gume | 0:1f82672b8755 | 15487 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 15488 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 15489 | BNO055_GYRO_ANY_MOTION_Z_AXIS_REG, |
gume | 0:1f82672b8755 | 15490 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 15491 | *data_u8 = |
gume | 0:1f82672b8755 | 15492 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 15493 | BNO055_GYRO_ANY_MOTION_Z_AXIS); |
gume | 0:1f82672b8755 | 15494 | break; |
gume | 0:1f82672b8755 | 15495 | default: |
gume | 0:1f82672b8755 | 15496 | com_rslt = BNO055_OUT_OF_RANGE; |
gume | 0:1f82672b8755 | 15497 | break; |
gume | 0:1f82672b8755 | 15498 | } |
gume | 0:1f82672b8755 | 15499 | } else { |
gume | 0:1f82672b8755 | 15500 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15501 | } |
gume | 0:1f82672b8755 | 15502 | } |
gume | 0:1f82672b8755 | 15503 | return com_rslt; |
gume | 0:1f82672b8755 | 15504 | } |
gume | 0:1f82672b8755 | 15505 | /*! |
gume | 0:1f82672b8755 | 15506 | * @brief This API used to write the gyro anymotion enable |
gume | 0:1f82672b8755 | 15507 | * from page one register from 0x17 bit 0 to 2 |
gume | 0:1f82672b8755 | 15508 | * |
gume | 0:1f82672b8755 | 15509 | * @param data_u8 : The value of gyro anymotion enable |
gume | 0:1f82672b8755 | 15510 | * data_u8 | result |
gume | 0:1f82672b8755 | 15511 | * ----------------- |------------- |
gume | 0:1f82672b8755 | 15512 | * 0x01 | BNO055_BIT_ENABLE |
gume | 0:1f82672b8755 | 15513 | * 0x00 | BNO055_BIT_DISABLE |
gume | 0:1f82672b8755 | 15514 | * @param channel_u8 : The value of gyro anymotion axis selection |
gume | 0:1f82672b8755 | 15515 | * channel_u8 | value |
gume | 0:1f82672b8755 | 15516 | * --------------------------- | ---------- |
gume | 0:1f82672b8755 | 15517 | * BNO055_GYRO_ANY_MOTIONX_AXIS | 0 |
gume | 0:1f82672b8755 | 15518 | * BNO055_GYRO_ANY_MOTIONY_AXIS | 1 |
gume | 0:1f82672b8755 | 15519 | * BNO055_GYRO_ANY_MOTIONZ_AXIS | 2 |
gume | 0:1f82672b8755 | 15520 | * |
gume | 0:1f82672b8755 | 15521 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 15522 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 15523 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 15524 | * |
gume | 0:1f82672b8755 | 15525 | * |
gume | 0:1f82672b8755 | 15526 | */ |
gume | 0:1f82672b8755 | 15527 | BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_axis_enable( |
gume | 0:1f82672b8755 | 15528 | u8 channel_u8, u8 data_u8) |
gume | 0:1f82672b8755 | 15529 | { |
gume | 0:1f82672b8755 | 15530 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15531 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 15532 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15533 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 15534 | s8 pg_stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15535 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 15536 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 15537 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 15538 | } else { |
gume | 0:1f82672b8755 | 15539 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 15540 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 15541 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 15542 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 15543 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 15544 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 15545 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 15546 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 15547 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 15548 | /* Write page as one */ |
gume | 0:1f82672b8755 | 15549 | pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 15550 | if (pg_stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 15551 | switch (channel_u8) { |
gume | 0:1f82672b8755 | 15552 | case BNO055_GYRO_ANY_MOTION_X_AXIS: |
gume | 0:1f82672b8755 | 15553 | /* Write the gyro |
gume | 0:1f82672b8755 | 15554 | anymotion x enable*/ |
gume | 0:1f82672b8755 | 15555 | com_rslt = |
gume | 0:1f82672b8755 | 15556 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 15557 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 15558 | BNO055_GYRO_ANY_MOTION_X_AXIS_REG, |
gume | 0:1f82672b8755 | 15559 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 15560 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 15561 | data_u8r = BNO055_SET_BITSLICE |
gume | 0:1f82672b8755 | 15562 | (data_u8r, |
gume | 0:1f82672b8755 | 15563 | BNO055_GYRO_ANY_MOTION_X_AXIS, |
gume | 0:1f82672b8755 | 15564 | data_u8); |
gume | 0:1f82672b8755 | 15565 | com_rslt += |
gume | 0:1f82672b8755 | 15566 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 15567 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 15568 | BNO055_GYRO_ANY_MOTION_X_AXIS_REG, |
gume | 0:1f82672b8755 | 15569 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 15570 | } |
gume | 0:1f82672b8755 | 15571 | break; |
gume | 0:1f82672b8755 | 15572 | case BNO055_GYRO_ANY_MOTION_Y_AXIS: |
gume | 0:1f82672b8755 | 15573 | /* Write the gyro |
gume | 0:1f82672b8755 | 15574 | anymotion y enable*/ |
gume | 0:1f82672b8755 | 15575 | com_rslt = |
gume | 0:1f82672b8755 | 15576 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 15577 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 15578 | BNO055_GYRO_ANY_MOTION_Y_AXIS_REG, |
gume | 0:1f82672b8755 | 15579 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 15580 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 15581 | data_u8r = BNO055_SET_BITSLICE |
gume | 0:1f82672b8755 | 15582 | (data_u8r, |
gume | 0:1f82672b8755 | 15583 | BNO055_GYRO_ANY_MOTION_Y_AXIS, data_u8); |
gume | 0:1f82672b8755 | 15584 | com_rslt += |
gume | 0:1f82672b8755 | 15585 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 15586 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 15587 | BNO055_GYRO_ANY_MOTION_Y_AXIS_REG, |
gume | 0:1f82672b8755 | 15588 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 15589 | } |
gume | 0:1f82672b8755 | 15590 | break; |
gume | 0:1f82672b8755 | 15591 | case BNO055_GYRO_ANY_MOTION_Z_AXIS: |
gume | 0:1f82672b8755 | 15592 | /* Write the gyro |
gume | 0:1f82672b8755 | 15593 | anymotion z enable*/ |
gume | 0:1f82672b8755 | 15594 | com_rslt = |
gume | 0:1f82672b8755 | 15595 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 15596 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 15597 | BNO055_GYRO_ANY_MOTION_Z_AXIS_REG, |
gume | 0:1f82672b8755 | 15598 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 15599 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 15600 | data_u8r = BNO055_SET_BITSLICE |
gume | 0:1f82672b8755 | 15601 | (data_u8r, |
gume | 0:1f82672b8755 | 15602 | BNO055_GYRO_ANY_MOTION_Z_AXIS, |
gume | 0:1f82672b8755 | 15603 | data_u8); |
gume | 0:1f82672b8755 | 15604 | com_rslt += |
gume | 0:1f82672b8755 | 15605 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 15606 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 15607 | BNO055_GYRO_ANY_MOTION_Z_AXIS_REG, |
gume | 0:1f82672b8755 | 15608 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 15609 | } |
gume | 0:1f82672b8755 | 15610 | break; |
gume | 0:1f82672b8755 | 15611 | default: |
gume | 0:1f82672b8755 | 15612 | com_rslt = BNO055_OUT_OF_RANGE; |
gume | 0:1f82672b8755 | 15613 | break; |
gume | 0:1f82672b8755 | 15614 | } |
gume | 0:1f82672b8755 | 15615 | } else { |
gume | 0:1f82672b8755 | 15616 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15617 | } |
gume | 0:1f82672b8755 | 15618 | } else { |
gume | 0:1f82672b8755 | 15619 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15620 | } |
gume | 0:1f82672b8755 | 15621 | } else { |
gume | 0:1f82672b8755 | 15622 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15623 | } |
gume | 0:1f82672b8755 | 15624 | } |
gume | 0:1f82672b8755 | 15625 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 15626 | /* set the operation mode of |
gume | 0:1f82672b8755 | 15627 | previous operation mode*/ |
gume | 0:1f82672b8755 | 15628 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 15629 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 15630 | return com_rslt; |
gume | 0:1f82672b8755 | 15631 | } |
gume | 0:1f82672b8755 | 15632 | /*! |
gume | 0:1f82672b8755 | 15633 | * @brief This API used to read the gyro highrate enable |
gume | 0:1f82672b8755 | 15634 | * from page one register from 0x17 bit 3 to 5 |
gume | 0:1f82672b8755 | 15635 | * |
gume | 0:1f82672b8755 | 15636 | * @param data_u8 : The value of gyro highrate enable |
gume | 0:1f82672b8755 | 15637 | * data_u8 | result |
gume | 0:1f82672b8755 | 15638 | * ---------------- |------------- |
gume | 0:1f82672b8755 | 15639 | * 0x01 | BNO055_BIT_ENABLE |
gume | 0:1f82672b8755 | 15640 | * 0x00 | BNO055_BIT_DISABLE |
gume | 0:1f82672b8755 | 15641 | * @param channel_u8 : The value of gyro highrate axis selection |
gume | 0:1f82672b8755 | 15642 | * channel_u8 | value |
gume | 0:1f82672b8755 | 15643 | * ------------------------ | ---------- |
gume | 0:1f82672b8755 | 15644 | * BNO055_GYRO_HIGHRATE_X_AXIS | 0 |
gume | 0:1f82672b8755 | 15645 | * BNO055_GYRO_HIGHRATE_Y_AXIS | 1 |
gume | 0:1f82672b8755 | 15646 | * BNO055_GYRO_HIGHRATE_Z_AXIS | 2 |
gume | 0:1f82672b8755 | 15647 | * |
gume | 0:1f82672b8755 | 15648 | * |
gume | 0:1f82672b8755 | 15649 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 15650 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 15651 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 15652 | * |
gume | 0:1f82672b8755 | 15653 | * |
gume | 0:1f82672b8755 | 15654 | */ |
gume | 0:1f82672b8755 | 15655 | BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_axis_enable( |
gume | 0:1f82672b8755 | 15656 | u8 channel_u8, u8 *data_u8) |
gume | 0:1f82672b8755 | 15657 | { |
gume | 0:1f82672b8755 | 15658 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 15659 | communication routine*/ |
gume | 0:1f82672b8755 | 15660 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15661 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 15662 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15663 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 15664 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 15665 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 15666 | } else { |
gume | 0:1f82672b8755 | 15667 | /*condition check for page, gyro highrate enable is |
gume | 0:1f82672b8755 | 15668 | available in the page one*/ |
gume | 0:1f82672b8755 | 15669 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 15670 | /* Write page as one */ |
gume | 0:1f82672b8755 | 15671 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 15672 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 15673 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 15674 | switch (channel_u8) { |
gume | 0:1f82672b8755 | 15675 | case BNO055_GYRO_HIGHRATE_X_AXIS: |
gume | 0:1f82672b8755 | 15676 | /* Read the gyro highrate x enable */ |
gume | 0:1f82672b8755 | 15677 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 15678 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 15679 | BNO055_GYRO_HIGHRATE_X_AXIS_REG, |
gume | 0:1f82672b8755 | 15680 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 15681 | *data_u8 = |
gume | 0:1f82672b8755 | 15682 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 15683 | BNO055_GYRO_HIGHRATE_X_AXIS); |
gume | 0:1f82672b8755 | 15684 | break; |
gume | 0:1f82672b8755 | 15685 | case BNO055_GYRO_HIGHRATE_Y_AXIS: |
gume | 0:1f82672b8755 | 15686 | /* Read the gyro highrate y enable */ |
gume | 0:1f82672b8755 | 15687 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 15688 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 15689 | BNO055_GYRO_HIGHRATE_Y_AXIS_REG, |
gume | 0:1f82672b8755 | 15690 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 15691 | *data_u8 = |
gume | 0:1f82672b8755 | 15692 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 15693 | BNO055_GYRO_HIGHRATE_Y_AXIS); |
gume | 0:1f82672b8755 | 15694 | break; |
gume | 0:1f82672b8755 | 15695 | case BNO055_GYRO_HIGHRATE_Z_AXIS: |
gume | 0:1f82672b8755 | 15696 | /* Read the gyro highrate z enable */ |
gume | 0:1f82672b8755 | 15697 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 15698 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 15699 | BNO055_GYRO_HIGHRATE_Z_AXIS_REG, |
gume | 0:1f82672b8755 | 15700 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 15701 | *data_u8 = |
gume | 0:1f82672b8755 | 15702 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 15703 | BNO055_GYRO_HIGHRATE_Z_AXIS); |
gume | 0:1f82672b8755 | 15704 | break; |
gume | 0:1f82672b8755 | 15705 | default: |
gume | 0:1f82672b8755 | 15706 | com_rslt = BNO055_OUT_OF_RANGE; |
gume | 0:1f82672b8755 | 15707 | break; |
gume | 0:1f82672b8755 | 15708 | } |
gume | 0:1f82672b8755 | 15709 | } else { |
gume | 0:1f82672b8755 | 15710 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15711 | } |
gume | 0:1f82672b8755 | 15712 | } |
gume | 0:1f82672b8755 | 15713 | return com_rslt; |
gume | 0:1f82672b8755 | 15714 | } |
gume | 0:1f82672b8755 | 15715 | /*! |
gume | 0:1f82672b8755 | 15716 | * @brief This API used to write the gyro highrate enable |
gume | 0:1f82672b8755 | 15717 | * from page one register from 0x17 bit 3 to 5 |
gume | 0:1f82672b8755 | 15718 | * |
gume | 0:1f82672b8755 | 15719 | * @param data_u8 : The value of gyro highrate enable |
gume | 0:1f82672b8755 | 15720 | * data_u8 | result |
gume | 0:1f82672b8755 | 15721 | * ---------------- |------------- |
gume | 0:1f82672b8755 | 15722 | * 0x01 | BNO055_BIT_ENABLE |
gume | 0:1f82672b8755 | 15723 | * 0x00 | BNO055_BIT_DISABLE |
gume | 0:1f82672b8755 | 15724 | * @param channel_u8 : The value of gyro highrate axis selection |
gume | 0:1f82672b8755 | 15725 | * channel_u8 | value |
gume | 0:1f82672b8755 | 15726 | * ------------------------ | ---------- |
gume | 0:1f82672b8755 | 15727 | * BNO055_GYRO_HIGHRATE_X_AXIS | 0 |
gume | 0:1f82672b8755 | 15728 | * BNO055_GYRO_HIGHRATE_Y_AXIS | 1 |
gume | 0:1f82672b8755 | 15729 | * BNO055_GYRO_HIGHRATE_Z_AXIS | 2 |
gume | 0:1f82672b8755 | 15730 | * |
gume | 0:1f82672b8755 | 15731 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 15732 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 15733 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 15734 | * |
gume | 0:1f82672b8755 | 15735 | * |
gume | 0:1f82672b8755 | 15736 | */ |
gume | 0:1f82672b8755 | 15737 | BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_axis_enable( |
gume | 0:1f82672b8755 | 15738 | u8 channel_u8, u8 data_u8) |
gume | 0:1f82672b8755 | 15739 | { |
gume | 0:1f82672b8755 | 15740 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15741 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 15742 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15743 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 15744 | s8 pg_stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15745 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 15746 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 15747 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 15748 | } else { |
gume | 0:1f82672b8755 | 15749 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 15750 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 15751 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 15752 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 15753 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 15754 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 15755 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 15756 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 15757 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 15758 | /* Write page as one */ |
gume | 0:1f82672b8755 | 15759 | pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 15760 | if (pg_stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 15761 | switch (channel_u8) { |
gume | 0:1f82672b8755 | 15762 | case BNO055_GYRO_HIGHRATE_X_AXIS: |
gume | 0:1f82672b8755 | 15763 | /* Write the value of |
gume | 0:1f82672b8755 | 15764 | gyro highrate x enable*/ |
gume | 0:1f82672b8755 | 15765 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 15766 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 15767 | BNO055_GYRO_HIGHRATE_X_AXIS_REG, |
gume | 0:1f82672b8755 | 15768 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 15769 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 15770 | data_u8r = BNO055_SET_BITSLICE |
gume | 0:1f82672b8755 | 15771 | (data_u8r, |
gume | 0:1f82672b8755 | 15772 | BNO055_GYRO_HIGHRATE_X_AXIS, data_u8); |
gume | 0:1f82672b8755 | 15773 | com_rslt += |
gume | 0:1f82672b8755 | 15774 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 15775 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 15776 | BNO055_GYRO_HIGHRATE_X_AXIS_REG, |
gume | 0:1f82672b8755 | 15777 | &data_u8r, |
gume | 0:1f82672b8755 | 15778 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 15779 | } |
gume | 0:1f82672b8755 | 15780 | break; |
gume | 0:1f82672b8755 | 15781 | case BNO055_GYRO_HIGHRATE_Y_AXIS: |
gume | 0:1f82672b8755 | 15782 | /* Write the value of |
gume | 0:1f82672b8755 | 15783 | gyro highrate y enable*/ |
gume | 0:1f82672b8755 | 15784 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 15785 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 15786 | BNO055_GYRO_HIGHRATE_Y_AXIS_REG, |
gume | 0:1f82672b8755 | 15787 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 15788 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 15789 | data_u8r = |
gume | 0:1f82672b8755 | 15790 | BNO055_SET_BITSLICE( |
gume | 0:1f82672b8755 | 15791 | data_u8r, |
gume | 0:1f82672b8755 | 15792 | BNO055_GYRO_HIGHRATE_Y_AXIS, data_u8); |
gume | 0:1f82672b8755 | 15793 | com_rslt += |
gume | 0:1f82672b8755 | 15794 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 15795 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 15796 | BNO055_GYRO_HIGHRATE_Y_AXIS_REG, |
gume | 0:1f82672b8755 | 15797 | &data_u8r, |
gume | 0:1f82672b8755 | 15798 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 15799 | } |
gume | 0:1f82672b8755 | 15800 | break; |
gume | 0:1f82672b8755 | 15801 | case BNO055_GYRO_HIGHRATE_Z_AXIS: |
gume | 0:1f82672b8755 | 15802 | /* Write the value of |
gume | 0:1f82672b8755 | 15803 | gyro highrate z enable*/ |
gume | 0:1f82672b8755 | 15804 | com_rslt = |
gume | 0:1f82672b8755 | 15805 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 15806 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 15807 | BNO055_GYRO_HIGHRATE_Z_AXIS_REG, |
gume | 0:1f82672b8755 | 15808 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 15809 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 15810 | data_u8r = BNO055_SET_BITSLICE |
gume | 0:1f82672b8755 | 15811 | (data_u8r, |
gume | 0:1f82672b8755 | 15812 | BNO055_GYRO_HIGHRATE_Z_AXIS, data_u8); |
gume | 0:1f82672b8755 | 15813 | com_rslt += |
gume | 0:1f82672b8755 | 15814 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 15815 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 15816 | BNO055_GYRO_HIGHRATE_Z_AXIS_REG, |
gume | 0:1f82672b8755 | 15817 | &data_u8r, |
gume | 0:1f82672b8755 | 15818 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 15819 | } |
gume | 0:1f82672b8755 | 15820 | break; |
gume | 0:1f82672b8755 | 15821 | default: |
gume | 0:1f82672b8755 | 15822 | com_rslt = BNO055_OUT_OF_RANGE; |
gume | 0:1f82672b8755 | 15823 | break; |
gume | 0:1f82672b8755 | 15824 | } |
gume | 0:1f82672b8755 | 15825 | } else { |
gume | 0:1f82672b8755 | 15826 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15827 | } |
gume | 0:1f82672b8755 | 15828 | } else { |
gume | 0:1f82672b8755 | 15829 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15830 | } |
gume | 0:1f82672b8755 | 15831 | } else { |
gume | 0:1f82672b8755 | 15832 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15833 | } |
gume | 0:1f82672b8755 | 15834 | } |
gume | 0:1f82672b8755 | 15835 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 15836 | /* set the operation mode of |
gume | 0:1f82672b8755 | 15837 | previous operation mode*/ |
gume | 0:1f82672b8755 | 15838 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 15839 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 15840 | return com_rslt; |
gume | 0:1f82672b8755 | 15841 | } |
gume | 0:1f82672b8755 | 15842 | /*! |
gume | 0:1f82672b8755 | 15843 | * @brief This API used to read gyro anymotion filter |
gume | 0:1f82672b8755 | 15844 | * from page one register from 0x17 bit 6 |
gume | 0:1f82672b8755 | 15845 | * |
gume | 0:1f82672b8755 | 15846 | * @param gyro_any_motion_filter_u8 : The value of gyro anymotion filter |
gume | 0:1f82672b8755 | 15847 | * gyro_any_motion_filter_u8 | result |
gume | 0:1f82672b8755 | 15848 | * --------------------------- |------------ |
gume | 0:1f82672b8755 | 15849 | * 0x00 | BNO055_GYRO_FILTERED_CONFIG |
gume | 0:1f82672b8755 | 15850 | * 0x01 | BNO055_GYRO_UNFILTERED_CONFIG |
gume | 0:1f82672b8755 | 15851 | * |
gume | 0:1f82672b8755 | 15852 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 15853 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 15854 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 15855 | * |
gume | 0:1f82672b8755 | 15856 | */ |
gume | 0:1f82672b8755 | 15857 | BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_filter( |
gume | 0:1f82672b8755 | 15858 | u8 *gyro_any_motion_filter_u8) |
gume | 0:1f82672b8755 | 15859 | { |
gume | 0:1f82672b8755 | 15860 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 15861 | communication routine*/ |
gume | 0:1f82672b8755 | 15862 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15863 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 15864 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15865 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 15866 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 15867 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 15868 | } else { |
gume | 0:1f82672b8755 | 15869 | /*condition check for page, gyro anymotion filter is |
gume | 0:1f82672b8755 | 15870 | available in the page one*/ |
gume | 0:1f82672b8755 | 15871 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 15872 | /* Write page as one */ |
gume | 0:1f82672b8755 | 15873 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 15874 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 15875 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 15876 | /* Read the value of gyro anymotion filter*/ |
gume | 0:1f82672b8755 | 15877 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 15878 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 15879 | BNO055_GYRO_ANY_MOTION_FILTER_REG, |
gume | 0:1f82672b8755 | 15880 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 15881 | *gyro_any_motion_filter_u8 = |
gume | 0:1f82672b8755 | 15882 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 15883 | BNO055_GYRO_ANY_MOTION_FILTER); |
gume | 0:1f82672b8755 | 15884 | } else { |
gume | 0:1f82672b8755 | 15885 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15886 | } |
gume | 0:1f82672b8755 | 15887 | } |
gume | 0:1f82672b8755 | 15888 | return com_rslt; |
gume | 0:1f82672b8755 | 15889 | } |
gume | 0:1f82672b8755 | 15890 | /*! |
gume | 0:1f82672b8755 | 15891 | * @brief This API used to write gyro anymotion filter |
gume | 0:1f82672b8755 | 15892 | * from page one register from 0x17 bit 6 |
gume | 0:1f82672b8755 | 15893 | * |
gume | 0:1f82672b8755 | 15894 | * @param gyro_any_motion_filter_u8 : The value of gyro anymotion filter |
gume | 0:1f82672b8755 | 15895 | * gyro_any_motion_filter_u8 | result |
gume | 0:1f82672b8755 | 15896 | * --------------------------- |------------ |
gume | 0:1f82672b8755 | 15897 | * 0x00 | BNO055_GYRO_FILTERED_CONFIG |
gume | 0:1f82672b8755 | 15898 | * 0x01 | BNO055_GYRO_UNFILTERED_CONFIG |
gume | 0:1f82672b8755 | 15899 | * |
gume | 0:1f82672b8755 | 15900 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 15901 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 15902 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 15903 | * |
gume | 0:1f82672b8755 | 15904 | */ |
gume | 0:1f82672b8755 | 15905 | BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_filter( |
gume | 0:1f82672b8755 | 15906 | u8 gyro_any_motion_filter_u8) |
gume | 0:1f82672b8755 | 15907 | { |
gume | 0:1f82672b8755 | 15908 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15909 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 15910 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15911 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 15912 | s8 pg_stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15913 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 15914 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 15915 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 15916 | } else { |
gume | 0:1f82672b8755 | 15917 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 15918 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 15919 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 15920 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 15921 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 15922 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 15923 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 15924 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 15925 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 15926 | /* Write page as one */ |
gume | 0:1f82672b8755 | 15927 | pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 15928 | if (pg_stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 15929 | /* Write the value of |
gume | 0:1f82672b8755 | 15930 | gyro anymotion filter*/ |
gume | 0:1f82672b8755 | 15931 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 15932 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 15933 | BNO055_GYRO_ANY_MOTION_FILTER_REG, |
gume | 0:1f82672b8755 | 15934 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 15935 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 15936 | data_u8r = |
gume | 0:1f82672b8755 | 15937 | BNO055_SET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 15938 | BNO055_GYRO_ANY_MOTION_FILTER, |
gume | 0:1f82672b8755 | 15939 | gyro_any_motion_filter_u8); |
gume | 0:1f82672b8755 | 15940 | com_rslt += |
gume | 0:1f82672b8755 | 15941 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 15942 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 15943 | BNO055_GYRO_ANY_MOTION_FILTER_REG, |
gume | 0:1f82672b8755 | 15944 | &data_u8r, |
gume | 0:1f82672b8755 | 15945 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 15946 | } |
gume | 0:1f82672b8755 | 15947 | } else { |
gume | 0:1f82672b8755 | 15948 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15949 | } |
gume | 0:1f82672b8755 | 15950 | } else { |
gume | 0:1f82672b8755 | 15951 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15952 | } |
gume | 0:1f82672b8755 | 15953 | } else { |
gume | 0:1f82672b8755 | 15954 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15955 | } |
gume | 0:1f82672b8755 | 15956 | } |
gume | 0:1f82672b8755 | 15957 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 15958 | /* set the operation mode of |
gume | 0:1f82672b8755 | 15959 | previous operation mode*/ |
gume | 0:1f82672b8755 | 15960 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 15961 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 15962 | return com_rslt; |
gume | 0:1f82672b8755 | 15963 | } |
gume | 0:1f82672b8755 | 15964 | /*! |
gume | 0:1f82672b8755 | 15965 | * @brief This API used to read gyro highrate filter |
gume | 0:1f82672b8755 | 15966 | * from page one register from 0x17 bit 7 |
gume | 0:1f82672b8755 | 15967 | * |
gume | 0:1f82672b8755 | 15968 | * @param gyro_highrate_filter_u8 : The value of gyro highrate filter |
gume | 0:1f82672b8755 | 15969 | * gyro_highrate_filter_u8 | result |
gume | 0:1f82672b8755 | 15970 | * --------------------------- |------------ |
gume | 0:1f82672b8755 | 15971 | * 0x00 | BNO055_GYRO_FILTERED_CONFIG |
gume | 0:1f82672b8755 | 15972 | * 0x01 | BNO055_GYRO_UNFILTERED_CONFIG |
gume | 0:1f82672b8755 | 15973 | * |
gume | 0:1f82672b8755 | 15974 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 15975 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 15976 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 15977 | * |
gume | 0:1f82672b8755 | 15978 | */ |
gume | 0:1f82672b8755 | 15979 | BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_filter( |
gume | 0:1f82672b8755 | 15980 | u8 *gyro_highrate_filter_u8) |
gume | 0:1f82672b8755 | 15981 | { |
gume | 0:1f82672b8755 | 15982 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 15983 | communication routine*/ |
gume | 0:1f82672b8755 | 15984 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15985 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 15986 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 15987 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 15988 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 15989 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 15990 | } else { |
gume | 0:1f82672b8755 | 15991 | /*condition check for page, gyro highrate filter is |
gume | 0:1f82672b8755 | 15992 | available in the page one*/ |
gume | 0:1f82672b8755 | 15993 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 15994 | /* Write page as one */ |
gume | 0:1f82672b8755 | 15995 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 15996 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 15997 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 15998 | /* Read the value of gyro highrate filter */ |
gume | 0:1f82672b8755 | 15999 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 16000 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 16001 | BNO055_GYRO_HIGHRATE_FILTER_REG, |
gume | 0:1f82672b8755 | 16002 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 16003 | *gyro_highrate_filter_u8 = |
gume | 0:1f82672b8755 | 16004 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 16005 | BNO055_GYRO_HIGHRATE_FILTER); |
gume | 0:1f82672b8755 | 16006 | } else { |
gume | 0:1f82672b8755 | 16007 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16008 | } |
gume | 0:1f82672b8755 | 16009 | } |
gume | 0:1f82672b8755 | 16010 | return com_rslt; |
gume | 0:1f82672b8755 | 16011 | } |
gume | 0:1f82672b8755 | 16012 | /*! |
gume | 0:1f82672b8755 | 16013 | * @brief This API used to write gyro highrate filter |
gume | 0:1f82672b8755 | 16014 | * from page one register from 0x17 bit 7 |
gume | 0:1f82672b8755 | 16015 | * |
gume | 0:1f82672b8755 | 16016 | * @param gyro_highrate_filter_u8 : The value of gyro highrate filter |
gume | 0:1f82672b8755 | 16017 | * gyro_highrate_filter_u8 | result |
gume | 0:1f82672b8755 | 16018 | * --------------------------- |------------ |
gume | 0:1f82672b8755 | 16019 | * 0x00 | BNO055_GYRO_FILTERED_CONFIG |
gume | 0:1f82672b8755 | 16020 | * 0x01 | BNO055_GYRO_UNFILTERED_CONFIG |
gume | 0:1f82672b8755 | 16021 | * |
gume | 0:1f82672b8755 | 16022 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 16023 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 16024 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 16025 | * |
gume | 0:1f82672b8755 | 16026 | */ |
gume | 0:1f82672b8755 | 16027 | BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_filter( |
gume | 0:1f82672b8755 | 16028 | u8 gyro_highrate_filter_u8) |
gume | 0:1f82672b8755 | 16029 | { |
gume | 0:1f82672b8755 | 16030 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16031 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 16032 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16033 | s8 pg_stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16034 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 16035 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 16036 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 16037 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 16038 | } else { |
gume | 0:1f82672b8755 | 16039 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 16040 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 16041 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 16042 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 16043 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 16044 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 16045 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 16046 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 16047 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 16048 | /* Write page as one */ |
gume | 0:1f82672b8755 | 16049 | pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 16050 | if (pg_stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 16051 | /* Write the value of |
gume | 0:1f82672b8755 | 16052 | gyro highrate filter*/ |
gume | 0:1f82672b8755 | 16053 | com_rslt = |
gume | 0:1f82672b8755 | 16054 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 16055 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 16056 | BNO055_GYRO_HIGHRATE_FILTER_REG, |
gume | 0:1f82672b8755 | 16057 | &data_u8r, |
gume | 0:1f82672b8755 | 16058 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 16059 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 16060 | data_u8r = |
gume | 0:1f82672b8755 | 16061 | BNO055_SET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 16062 | BNO055_GYRO_HIGHRATE_FILTER, |
gume | 0:1f82672b8755 | 16063 | gyro_highrate_filter_u8); |
gume | 0:1f82672b8755 | 16064 | com_rslt += |
gume | 0:1f82672b8755 | 16065 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 16066 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 16067 | BNO055_GYRO_HIGHRATE_FILTER_REG, |
gume | 0:1f82672b8755 | 16068 | &data_u8r, |
gume | 0:1f82672b8755 | 16069 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 16070 | } |
gume | 0:1f82672b8755 | 16071 | } else { |
gume | 0:1f82672b8755 | 16072 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16073 | } |
gume | 0:1f82672b8755 | 16074 | } else { |
gume | 0:1f82672b8755 | 16075 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16076 | } |
gume | 0:1f82672b8755 | 16077 | } else { |
gume | 0:1f82672b8755 | 16078 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16079 | } |
gume | 0:1f82672b8755 | 16080 | } |
gume | 0:1f82672b8755 | 16081 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 16082 | /* set the operation mode of |
gume | 0:1f82672b8755 | 16083 | previous operation mode*/ |
gume | 0:1f82672b8755 | 16084 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 16085 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 16086 | return com_rslt; |
gume | 0:1f82672b8755 | 16087 | } |
gume | 0:1f82672b8755 | 16088 | /*! |
gume | 0:1f82672b8755 | 16089 | * @brief This API used to read gyro highrate x threshold |
gume | 0:1f82672b8755 | 16090 | * from page one register from 0x18 bit 0 to 4 |
gume | 0:1f82672b8755 | 16091 | * |
gume | 0:1f82672b8755 | 16092 | * @param gyro_highrate_x_thres_u8 : The value of gyro x highrate threshold |
gume | 0:1f82672b8755 | 16093 | * |
gume | 0:1f82672b8755 | 16094 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 16095 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 16096 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 16097 | * |
gume | 0:1f82672b8755 | 16098 | * @note Gyro highrate threshold dependent on the |
gume | 0:1f82672b8755 | 16099 | * selection of gyro range |
gume | 0:1f82672b8755 | 16100 | * |
gume | 0:1f82672b8755 | 16101 | * gyro_range_u8 | threshold | LSB |
gume | 0:1f82672b8755 | 16102 | * ----------------- | ------------- | --------- |
gume | 0:1f82672b8755 | 16103 | * 2000 | 62.5dps | 1LSB |
gume | 0:1f82672b8755 | 16104 | * 1000 | 31.25dps | 1LSB |
gume | 0:1f82672b8755 | 16105 | * 500 | 15.625dps | 1LSB |
gume | 0:1f82672b8755 | 16106 | * 125 | 7.8125dps | 1LSB |
gume | 0:1f82672b8755 | 16107 | * |
gume | 0:1f82672b8755 | 16108 | */ |
gume | 0:1f82672b8755 | 16109 | BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_thres( |
gume | 0:1f82672b8755 | 16110 | u8 *gyro_highrate_x_thres_u8) |
gume | 0:1f82672b8755 | 16111 | { |
gume | 0:1f82672b8755 | 16112 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 16113 | communication routine*/ |
gume | 0:1f82672b8755 | 16114 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16115 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 16116 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16117 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 16118 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 16119 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 16120 | } else { |
gume | 0:1f82672b8755 | 16121 | /*condition check for page, gyro highrate x threshold is |
gume | 0:1f82672b8755 | 16122 | available in the page one*/ |
gume | 0:1f82672b8755 | 16123 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 16124 | /* Write page as one */ |
gume | 0:1f82672b8755 | 16125 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 16126 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 16127 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 16128 | /* Read the value of gyro highrate threshold*/ |
gume | 0:1f82672b8755 | 16129 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 16130 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 16131 | BNO055_GYRO_HIGHRATE_X_THRES_REG, |
gume | 0:1f82672b8755 | 16132 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 16133 | *gyro_highrate_x_thres_u8 = |
gume | 0:1f82672b8755 | 16134 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 16135 | BNO055_GYRO_HIGHRATE_X_THRES); |
gume | 0:1f82672b8755 | 16136 | } else { |
gume | 0:1f82672b8755 | 16137 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16138 | } |
gume | 0:1f82672b8755 | 16139 | } |
gume | 0:1f82672b8755 | 16140 | return com_rslt; |
gume | 0:1f82672b8755 | 16141 | } |
gume | 0:1f82672b8755 | 16142 | /*! |
gume | 0:1f82672b8755 | 16143 | * @brief This API used to write gyro highrate x threshold |
gume | 0:1f82672b8755 | 16144 | * from page one register from 0x18 bit 0 to 4 |
gume | 0:1f82672b8755 | 16145 | * |
gume | 0:1f82672b8755 | 16146 | * @param gyro_highrate_x_thres_u8 : The value of gyro x highrate threshold |
gume | 0:1f82672b8755 | 16147 | * |
gume | 0:1f82672b8755 | 16148 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 16149 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 16150 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 16151 | * |
gume | 0:1f82672b8755 | 16152 | * @note Gyro highrate threshold dependent on the |
gume | 0:1f82672b8755 | 16153 | * selection of gyro range |
gume | 0:1f82672b8755 | 16154 | * |
gume | 0:1f82672b8755 | 16155 | * gyro_range_u8 | threshold | LSB |
gume | 0:1f82672b8755 | 16156 | * ----------------- | ------------- | --------- |
gume | 0:1f82672b8755 | 16157 | * 2000 | 62.5dps | 1LSB |
gume | 0:1f82672b8755 | 16158 | * 1000 | 31.25dps | 1LSB |
gume | 0:1f82672b8755 | 16159 | * 500 | 15.625dps | 1LSB |
gume | 0:1f82672b8755 | 16160 | * 125 | 7.8125dps | 1LSB |
gume | 0:1f82672b8755 | 16161 | * |
gume | 0:1f82672b8755 | 16162 | */ |
gume | 0:1f82672b8755 | 16163 | BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_thres( |
gume | 0:1f82672b8755 | 16164 | u8 gyro_highrate_x_thres_u8) |
gume | 0:1f82672b8755 | 16165 | { |
gume | 0:1f82672b8755 | 16166 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16167 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 16168 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16169 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 16170 | s8 pg_stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16171 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 16172 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 16173 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 16174 | } else { |
gume | 0:1f82672b8755 | 16175 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 16176 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 16177 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 16178 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 16179 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 16180 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 16181 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 16182 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 16183 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 16184 | /* Write page as one */ |
gume | 0:1f82672b8755 | 16185 | pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 16186 | if (pg_stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 16187 | /* Write the value of |
gume | 0:1f82672b8755 | 16188 | gyro highrate x threshold*/ |
gume | 0:1f82672b8755 | 16189 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 16190 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 16191 | BNO055_GYRO_HIGHRATE_X_THRES_REG, |
gume | 0:1f82672b8755 | 16192 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 16193 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 16194 | data_u8r = |
gume | 0:1f82672b8755 | 16195 | BNO055_SET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 16196 | BNO055_GYRO_HIGHRATE_X_THRES, |
gume | 0:1f82672b8755 | 16197 | gyro_highrate_x_thres_u8); |
gume | 0:1f82672b8755 | 16198 | com_rslt += |
gume | 0:1f82672b8755 | 16199 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 16200 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 16201 | BNO055_GYRO_HIGHRATE_X_THRES_REG, |
gume | 0:1f82672b8755 | 16202 | &data_u8r, |
gume | 0:1f82672b8755 | 16203 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 16204 | } |
gume | 0:1f82672b8755 | 16205 | } else { |
gume | 0:1f82672b8755 | 16206 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16207 | } |
gume | 0:1f82672b8755 | 16208 | } else { |
gume | 0:1f82672b8755 | 16209 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16210 | } |
gume | 0:1f82672b8755 | 16211 | } else { |
gume | 0:1f82672b8755 | 16212 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16213 | } |
gume | 0:1f82672b8755 | 16214 | } |
gume | 0:1f82672b8755 | 16215 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 16216 | /* set the operation mode of |
gume | 0:1f82672b8755 | 16217 | previous operation mode*/ |
gume | 0:1f82672b8755 | 16218 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 16219 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 16220 | return com_rslt; |
gume | 0:1f82672b8755 | 16221 | } |
gume | 0:1f82672b8755 | 16222 | /*! |
gume | 0:1f82672b8755 | 16223 | * @brief This API used to read gyro highrate x hysteresis |
gume | 0:1f82672b8755 | 16224 | * from page one register from 0x18 bit 5 to 6 |
gume | 0:1f82672b8755 | 16225 | * |
gume | 0:1f82672b8755 | 16226 | * @param gyro_highrate_x_hyst_u8 : The value of gyro highrate x hysteresis |
gume | 0:1f82672b8755 | 16227 | * |
gume | 0:1f82672b8755 | 16228 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 16229 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 16230 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 16231 | * |
gume | 0:1f82672b8755 | 16232 | * @note Gyro high rate hysteresis calculated by |
gume | 0:1f82672b8755 | 16233 | * |
gume | 0:1f82672b8755 | 16234 | * using this (255 + 256 * gyro_highrate_x_hyst_u8) *4 LSB |
gume | 0:1f82672b8755 | 16235 | * |
gume | 0:1f82672b8755 | 16236 | * The high rate value scales with the range setting |
gume | 0:1f82672b8755 | 16237 | * |
gume | 0:1f82672b8755 | 16238 | * gyro_range_u8 | hysteresis | LSB |
gume | 0:1f82672b8755 | 16239 | * ----------------- | ------------- | --------- |
gume | 0:1f82672b8755 | 16240 | * 2000 | 62.26dps | 1LSB |
gume | 0:1f82672b8755 | 16241 | * 1000 | 31.13dps | 1LSB |
gume | 0:1f82672b8755 | 16242 | * 500 | 15.56dps | 1LSB |
gume | 0:1f82672b8755 | 16243 | * |
gume | 0:1f82672b8755 | 16244 | */ |
gume | 0:1f82672b8755 | 16245 | BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_hyst( |
gume | 0:1f82672b8755 | 16246 | u8 *gyro_highrate_x_hyst_u8) |
gume | 0:1f82672b8755 | 16247 | { |
gume | 0:1f82672b8755 | 16248 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 16249 | communication routine*/ |
gume | 0:1f82672b8755 | 16250 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16251 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 16252 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16253 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 16254 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 16255 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 16256 | } else { |
gume | 0:1f82672b8755 | 16257 | /*condition check for page,gyro highrate x hysteresis is |
gume | 0:1f82672b8755 | 16258 | available in the page one*/ |
gume | 0:1f82672b8755 | 16259 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 16260 | /* Write page as one */ |
gume | 0:1f82672b8755 | 16261 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 16262 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 16263 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 16264 | /* Read the value of gyro highrate x hysteresis*/ |
gume | 0:1f82672b8755 | 16265 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 16266 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 16267 | BNO055_GYRO_HIGHRATE_X_HYST_REG, |
gume | 0:1f82672b8755 | 16268 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 16269 | *gyro_highrate_x_hyst_u8 = |
gume | 0:1f82672b8755 | 16270 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 16271 | BNO055_GYRO_HIGHRATE_X_HYST); |
gume | 0:1f82672b8755 | 16272 | } else { |
gume | 0:1f82672b8755 | 16273 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16274 | } |
gume | 0:1f82672b8755 | 16275 | } |
gume | 0:1f82672b8755 | 16276 | return com_rslt; |
gume | 0:1f82672b8755 | 16277 | } |
gume | 0:1f82672b8755 | 16278 | /*! |
gume | 0:1f82672b8755 | 16279 | * @brief This API used to write gyro highrate x hysteresis |
gume | 0:1f82672b8755 | 16280 | * from page one register from 0x18 bit 5 to 6 |
gume | 0:1f82672b8755 | 16281 | * |
gume | 0:1f82672b8755 | 16282 | * @param gyro_highrate_x_hyst_u8 : The value of gyro highrate x hysteresis |
gume | 0:1f82672b8755 | 16283 | * |
gume | 0:1f82672b8755 | 16284 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 16285 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 16286 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 16287 | * |
gume | 0:1f82672b8755 | 16288 | * @note Gyro high rate hysteresis calculated by |
gume | 0:1f82672b8755 | 16289 | * |
gume | 0:1f82672b8755 | 16290 | * using this (255 + 256 * gyro_highrate_x_hyst_u8) *4 LSB |
gume | 0:1f82672b8755 | 16291 | * |
gume | 0:1f82672b8755 | 16292 | * The high rate value scales with the range setting |
gume | 0:1f82672b8755 | 16293 | * |
gume | 0:1f82672b8755 | 16294 | * gyro_range_u8 | hysteresis | LSB |
gume | 0:1f82672b8755 | 16295 | * ----------------- | ------------- | --------- |
gume | 0:1f82672b8755 | 16296 | * 2000 | 62.26dps | 1LSB |
gume | 0:1f82672b8755 | 16297 | * 1000 | 31.13dps | 1LSB |
gume | 0:1f82672b8755 | 16298 | * 500 | 15.56dps | 1LSB |
gume | 0:1f82672b8755 | 16299 | * |
gume | 0:1f82672b8755 | 16300 | */ |
gume | 0:1f82672b8755 | 16301 | BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_hyst( |
gume | 0:1f82672b8755 | 16302 | u8 gyro_highrate_x_hyst_u8) |
gume | 0:1f82672b8755 | 16303 | { |
gume | 0:1f82672b8755 | 16304 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16305 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 16306 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16307 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 16308 | s8 pg_stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16309 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 16310 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 16311 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 16312 | } else { |
gume | 0:1f82672b8755 | 16313 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 16314 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 16315 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 16316 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 16317 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 16318 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 16319 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 16320 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 16321 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 16322 | /* Write page as one */ |
gume | 0:1f82672b8755 | 16323 | pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 16324 | if (pg_stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 16325 | /*Write the value of |
gume | 0:1f82672b8755 | 16326 | gyro highrate x hysteresis*/ |
gume | 0:1f82672b8755 | 16327 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 16328 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 16329 | BNO055_GYRO_HIGHRATE_X_HYST_REG, |
gume | 0:1f82672b8755 | 16330 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 16331 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 16332 | data_u8r = |
gume | 0:1f82672b8755 | 16333 | BNO055_SET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 16334 | BNO055_GYRO_HIGHRATE_X_HYST, |
gume | 0:1f82672b8755 | 16335 | gyro_highrate_x_hyst_u8); |
gume | 0:1f82672b8755 | 16336 | com_rslt += |
gume | 0:1f82672b8755 | 16337 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 16338 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 16339 | BNO055_GYRO_HIGHRATE_X_HYST_REG, |
gume | 0:1f82672b8755 | 16340 | &data_u8r, |
gume | 0:1f82672b8755 | 16341 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 16342 | } |
gume | 0:1f82672b8755 | 16343 | } else { |
gume | 0:1f82672b8755 | 16344 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16345 | } |
gume | 0:1f82672b8755 | 16346 | } else { |
gume | 0:1f82672b8755 | 16347 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16348 | } |
gume | 0:1f82672b8755 | 16349 | } else { |
gume | 0:1f82672b8755 | 16350 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16351 | } |
gume | 0:1f82672b8755 | 16352 | } |
gume | 0:1f82672b8755 | 16353 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 16354 | /* set the operation mode of |
gume | 0:1f82672b8755 | 16355 | previous operation mode*/ |
gume | 0:1f82672b8755 | 16356 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 16357 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 16358 | return com_rslt; |
gume | 0:1f82672b8755 | 16359 | } |
gume | 0:1f82672b8755 | 16360 | /*! |
gume | 0:1f82672b8755 | 16361 | * @brief This API used to read gyro highrate x duration |
gume | 0:1f82672b8755 | 16362 | * from page one register from 0x19 bit 0 to 7 |
gume | 0:1f82672b8755 | 16363 | * |
gume | 0:1f82672b8755 | 16364 | * @param gyro_highrate_x_durn_u8 : The value of gyro highrate x duration |
gume | 0:1f82672b8755 | 16365 | * |
gume | 0:1f82672b8755 | 16366 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 16367 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 16368 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 16369 | * |
gume | 0:1f82672b8755 | 16370 | * @note Gyro highrate duration calculate by using the formula |
gume | 0:1f82672b8755 | 16371 | * |
gume | 0:1f82672b8755 | 16372 | * (1 + gyro_highrate_x_durn_u8)*2.5ms |
gume | 0:1f82672b8755 | 16373 | * |
gume | 0:1f82672b8755 | 16374 | */ |
gume | 0:1f82672b8755 | 16375 | BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_durn( |
gume | 0:1f82672b8755 | 16376 | u8 *gyro_highrate_x_durn_u8) |
gume | 0:1f82672b8755 | 16377 | { |
gume | 0:1f82672b8755 | 16378 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 16379 | communication routine*/ |
gume | 0:1f82672b8755 | 16380 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16381 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 16382 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16383 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 16384 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 16385 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 16386 | } else { |
gume | 0:1f82672b8755 | 16387 | /*condition check for page, gyro highrate x duration is |
gume | 0:1f82672b8755 | 16388 | available in the page one*/ |
gume | 0:1f82672b8755 | 16389 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 16390 | /* Write page as one */ |
gume | 0:1f82672b8755 | 16391 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 16392 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 16393 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 16394 | /* Read the value of gyro highrate x duration*/ |
gume | 0:1f82672b8755 | 16395 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 16396 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 16397 | BNO055_GYRO_HIGHRATE_X_DURN_REG, |
gume | 0:1f82672b8755 | 16398 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 16399 | *gyro_highrate_x_durn_u8 = |
gume | 0:1f82672b8755 | 16400 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 16401 | BNO055_GYRO_HIGHRATE_X_DURN); |
gume | 0:1f82672b8755 | 16402 | } else { |
gume | 0:1f82672b8755 | 16403 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16404 | } |
gume | 0:1f82672b8755 | 16405 | } |
gume | 0:1f82672b8755 | 16406 | return com_rslt; |
gume | 0:1f82672b8755 | 16407 | } |
gume | 0:1f82672b8755 | 16408 | /*! |
gume | 0:1f82672b8755 | 16409 | * @brief This API used to write gyro highrate x duration |
gume | 0:1f82672b8755 | 16410 | * from page one register from 0x19 bit 0 to 7 |
gume | 0:1f82672b8755 | 16411 | * |
gume | 0:1f82672b8755 | 16412 | * @param gyro_highrate_x_durn_u8 : The value of gyro highrate x duration |
gume | 0:1f82672b8755 | 16413 | * |
gume | 0:1f82672b8755 | 16414 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 16415 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 16416 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 16417 | * |
gume | 0:1f82672b8755 | 16418 | * @note Gyro highrate duration calculate by using the formula |
gume | 0:1f82672b8755 | 16419 | * |
gume | 0:1f82672b8755 | 16420 | * (1 + gyro_highrate_x_durn_u8)*2.5ms |
gume | 0:1f82672b8755 | 16421 | */ |
gume | 0:1f82672b8755 | 16422 | BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_durn( |
gume | 0:1f82672b8755 | 16423 | u8 gyro_highrate_x_durn_u8) |
gume | 0:1f82672b8755 | 16424 | { |
gume | 0:1f82672b8755 | 16425 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16426 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 16427 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16428 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 16429 | s8 pg_stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16430 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 16431 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 16432 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 16433 | } else { |
gume | 0:1f82672b8755 | 16434 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 16435 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 16436 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 16437 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 16438 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 16439 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 16440 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 16441 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 16442 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 16443 | /* Write page as one */ |
gume | 0:1f82672b8755 | 16444 | pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 16445 | if (pg_stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 16446 | /* Write the value |
gume | 0:1f82672b8755 | 16447 | of gyro highrate x duration*/ |
gume | 0:1f82672b8755 | 16448 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 16449 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 16450 | BNO055_GYRO_HIGHRATE_X_DURN_REG, |
gume | 0:1f82672b8755 | 16451 | &data_u8r, |
gume | 0:1f82672b8755 | 16452 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 16453 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 16454 | data_u8r = |
gume | 0:1f82672b8755 | 16455 | BNO055_SET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 16456 | BNO055_GYRO_HIGHRATE_X_DURN, |
gume | 0:1f82672b8755 | 16457 | gyro_highrate_x_durn_u8); |
gume | 0:1f82672b8755 | 16458 | com_rslt += |
gume | 0:1f82672b8755 | 16459 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 16460 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 16461 | BNO055_GYRO_HIGHRATE_X_DURN_REG, |
gume | 0:1f82672b8755 | 16462 | &data_u8r, |
gume | 0:1f82672b8755 | 16463 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 16464 | } |
gume | 0:1f82672b8755 | 16465 | } else { |
gume | 0:1f82672b8755 | 16466 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16467 | } |
gume | 0:1f82672b8755 | 16468 | } else { |
gume | 0:1f82672b8755 | 16469 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16470 | } |
gume | 0:1f82672b8755 | 16471 | } else { |
gume | 0:1f82672b8755 | 16472 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16473 | } |
gume | 0:1f82672b8755 | 16474 | } |
gume | 0:1f82672b8755 | 16475 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 16476 | /* set the operation mode of |
gume | 0:1f82672b8755 | 16477 | previous operation mode*/ |
gume | 0:1f82672b8755 | 16478 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 16479 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 16480 | return com_rslt; |
gume | 0:1f82672b8755 | 16481 | } |
gume | 0:1f82672b8755 | 16482 | /*! |
gume | 0:1f82672b8755 | 16483 | * @brief This API used to read gyro highrate y threshold |
gume | 0:1f82672b8755 | 16484 | * from page one register from 0x1A bit 0 to 4 |
gume | 0:1f82672b8755 | 16485 | * |
gume | 0:1f82672b8755 | 16486 | * @param gyro_highrate_y_thres_u8 : The value of gyro highrate y threshold |
gume | 0:1f82672b8755 | 16487 | * |
gume | 0:1f82672b8755 | 16488 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 16489 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 16490 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 16491 | * |
gume | 0:1f82672b8755 | 16492 | * @note Gyro highrate threshold dependent on the |
gume | 0:1f82672b8755 | 16493 | * selection of gyro range |
gume | 0:1f82672b8755 | 16494 | * |
gume | 0:1f82672b8755 | 16495 | * gyro_range_u8 | threshold | LSB |
gume | 0:1f82672b8755 | 16496 | * ----------------- | ------------- | --------- |
gume | 0:1f82672b8755 | 16497 | * 2000 | 62.5dps | 1LSB |
gume | 0:1f82672b8755 | 16498 | * 1000 | 31.25dps | 1LSB |
gume | 0:1f82672b8755 | 16499 | * 500 | 15.625dps | 1LSB |
gume | 0:1f82672b8755 | 16500 | * 125 | 7.8125dps | 1LSB |
gume | 0:1f82672b8755 | 16501 | * |
gume | 0:1f82672b8755 | 16502 | */ |
gume | 0:1f82672b8755 | 16503 | BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_thres( |
gume | 0:1f82672b8755 | 16504 | u8 *gyro_highrate_y_thres_u8) |
gume | 0:1f82672b8755 | 16505 | { |
gume | 0:1f82672b8755 | 16506 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 16507 | communication routine*/ |
gume | 0:1f82672b8755 | 16508 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16509 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 16510 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16511 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 16512 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 16513 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 16514 | } else { |
gume | 0:1f82672b8755 | 16515 | /*condition check for page, gyro highrate y threshold is |
gume | 0:1f82672b8755 | 16516 | available in the page one*/ |
gume | 0:1f82672b8755 | 16517 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 16518 | /* Write page as one */ |
gume | 0:1f82672b8755 | 16519 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 16520 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 16521 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 16522 | /* Read the value of gyro highrate y threshold*/ |
gume | 0:1f82672b8755 | 16523 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 16524 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 16525 | BNO055_GYRO_HIGHRATE_Y_THRES_REG, |
gume | 0:1f82672b8755 | 16526 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 16527 | *gyro_highrate_y_thres_u8 = |
gume | 0:1f82672b8755 | 16528 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 16529 | BNO055_GYRO_HIGHRATE_Y_THRES); |
gume | 0:1f82672b8755 | 16530 | } else { |
gume | 0:1f82672b8755 | 16531 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16532 | } |
gume | 0:1f82672b8755 | 16533 | } |
gume | 0:1f82672b8755 | 16534 | return com_rslt; |
gume | 0:1f82672b8755 | 16535 | } |
gume | 0:1f82672b8755 | 16536 | /*! |
gume | 0:1f82672b8755 | 16537 | * @brief This API used to write gyro highrate y threshold |
gume | 0:1f82672b8755 | 16538 | * from page one register from 0x1A bit 0 to 4 |
gume | 0:1f82672b8755 | 16539 | * |
gume | 0:1f82672b8755 | 16540 | * @param gyro_highrate_y_thres_u8 : The value of gyro highrate y threshold |
gume | 0:1f82672b8755 | 16541 | * |
gume | 0:1f82672b8755 | 16542 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 16543 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 16544 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 16545 | * |
gume | 0:1f82672b8755 | 16546 | * @note Gyro highrate threshold dependent on the |
gume | 0:1f82672b8755 | 16547 | * selection of gyro range |
gume | 0:1f82672b8755 | 16548 | * |
gume | 0:1f82672b8755 | 16549 | * gyro_range_u8 | threshold | LSB |
gume | 0:1f82672b8755 | 16550 | * ----------------- | ------------- | --------- |
gume | 0:1f82672b8755 | 16551 | * 2000 | 62.5dps | 1LSB |
gume | 0:1f82672b8755 | 16552 | * 1000 | 31.25dps | 1LSB |
gume | 0:1f82672b8755 | 16553 | * 500 | 15.625dps | 1LSB |
gume | 0:1f82672b8755 | 16554 | * 125 | 7.8125dps | 1LSB |
gume | 0:1f82672b8755 | 16555 | * |
gume | 0:1f82672b8755 | 16556 | */ |
gume | 0:1f82672b8755 | 16557 | BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_thres( |
gume | 0:1f82672b8755 | 16558 | u8 gyro_highrate_y_thres_u8) |
gume | 0:1f82672b8755 | 16559 | { |
gume | 0:1f82672b8755 | 16560 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16561 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 16562 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16563 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 16564 | s8 pg_stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16565 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 16566 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 16567 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 16568 | } else { |
gume | 0:1f82672b8755 | 16569 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 16570 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 16571 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 16572 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 16573 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 16574 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 16575 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 16576 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 16577 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 16578 | /* Write page as one */ |
gume | 0:1f82672b8755 | 16579 | pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 16580 | if (pg_stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 16581 | /* Write the value |
gume | 0:1f82672b8755 | 16582 | of gyro highrate y threshold*/ |
gume | 0:1f82672b8755 | 16583 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 16584 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 16585 | BNO055_GYRO_HIGHRATE_Y_THRES_REG, |
gume | 0:1f82672b8755 | 16586 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 16587 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 16588 | data_u8r = |
gume | 0:1f82672b8755 | 16589 | BNO055_SET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 16590 | BNO055_GYRO_HIGHRATE_Y_THRES, |
gume | 0:1f82672b8755 | 16591 | gyro_highrate_y_thres_u8); |
gume | 0:1f82672b8755 | 16592 | com_rslt += |
gume | 0:1f82672b8755 | 16593 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 16594 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 16595 | BNO055_GYRO_HIGHRATE_Y_THRES_REG, |
gume | 0:1f82672b8755 | 16596 | &data_u8r, |
gume | 0:1f82672b8755 | 16597 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 16598 | } |
gume | 0:1f82672b8755 | 16599 | } else { |
gume | 0:1f82672b8755 | 16600 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16601 | } |
gume | 0:1f82672b8755 | 16602 | } else { |
gume | 0:1f82672b8755 | 16603 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16604 | } |
gume | 0:1f82672b8755 | 16605 | } else { |
gume | 0:1f82672b8755 | 16606 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16607 | } |
gume | 0:1f82672b8755 | 16608 | } |
gume | 0:1f82672b8755 | 16609 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 16610 | /* set the operation mode of |
gume | 0:1f82672b8755 | 16611 | previous operation mode*/ |
gume | 0:1f82672b8755 | 16612 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 16613 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 16614 | return com_rslt; |
gume | 0:1f82672b8755 | 16615 | } |
gume | 0:1f82672b8755 | 16616 | /*! |
gume | 0:1f82672b8755 | 16617 | * @brief This API used to read gyro highrate y hysteresis |
gume | 0:1f82672b8755 | 16618 | * from page one register from 0x1A bit 5 to 6 |
gume | 0:1f82672b8755 | 16619 | * |
gume | 0:1f82672b8755 | 16620 | * @param gyro_highrate_y_hyst_u8 : The value of gyro highrate y hysteresis |
gume | 0:1f82672b8755 | 16621 | * |
gume | 0:1f82672b8755 | 16622 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 16623 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 16624 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 16625 | * |
gume | 0:1f82672b8755 | 16626 | * @note Gyro high rate hysteresis calculated by |
gume | 0:1f82672b8755 | 16627 | * |
gume | 0:1f82672b8755 | 16628 | * using this (255 + 256 * gyro_highrate_y_hyst_u8) *4 LSB |
gume | 0:1f82672b8755 | 16629 | * |
gume | 0:1f82672b8755 | 16630 | * The high rate value scales with the range setting |
gume | 0:1f82672b8755 | 16631 | * |
gume | 0:1f82672b8755 | 16632 | * gyro_range_u8 | hysteresis | LSB |
gume | 0:1f82672b8755 | 16633 | * ----------------- | ------------- | --------- |
gume | 0:1f82672b8755 | 16634 | * 2000 | 62.26dps | 1LSB |
gume | 0:1f82672b8755 | 16635 | * 1000 | 31.13dps | 1LSB |
gume | 0:1f82672b8755 | 16636 | * 500 | 15.56dps | 1LSB |
gume | 0:1f82672b8755 | 16637 | */ |
gume | 0:1f82672b8755 | 16638 | BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_hyst( |
gume | 0:1f82672b8755 | 16639 | u8 *gyro_highrate_y_hyst_u8) |
gume | 0:1f82672b8755 | 16640 | { |
gume | 0:1f82672b8755 | 16641 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 16642 | communication routine*/ |
gume | 0:1f82672b8755 | 16643 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16644 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 16645 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16646 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 16647 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 16648 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 16649 | } else { |
gume | 0:1f82672b8755 | 16650 | /*condition check for page, gyro highrate y hysteresis is |
gume | 0:1f82672b8755 | 16651 | available in the page one*/ |
gume | 0:1f82672b8755 | 16652 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 16653 | /* Write page as one */ |
gume | 0:1f82672b8755 | 16654 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 16655 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 16656 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 16657 | /* Read the value of gyro highrate y hysteresis*/ |
gume | 0:1f82672b8755 | 16658 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 16659 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 16660 | BNO055_GYRO_HIGHRATE_Y_HYST_REG, |
gume | 0:1f82672b8755 | 16661 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 16662 | *gyro_highrate_y_hyst_u8 = |
gume | 0:1f82672b8755 | 16663 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 16664 | BNO055_GYRO_HIGHRATE_Y_HYST); |
gume | 0:1f82672b8755 | 16665 | } else { |
gume | 0:1f82672b8755 | 16666 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16667 | } |
gume | 0:1f82672b8755 | 16668 | } |
gume | 0:1f82672b8755 | 16669 | return com_rslt; |
gume | 0:1f82672b8755 | 16670 | } |
gume | 0:1f82672b8755 | 16671 | /*! |
gume | 0:1f82672b8755 | 16672 | * @brief This API used to write gyro highrate y hysteresis |
gume | 0:1f82672b8755 | 16673 | * from page one register from 0x1A bit 5 to 6 |
gume | 0:1f82672b8755 | 16674 | * |
gume | 0:1f82672b8755 | 16675 | * @param gyro_highrate_y_hyst_u8 : The value of gyro highrate y hysteresis |
gume | 0:1f82672b8755 | 16676 | * |
gume | 0:1f82672b8755 | 16677 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 16678 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 16679 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 16680 | * |
gume | 0:1f82672b8755 | 16681 | * @note Gyro high rate hysteresis calculated by |
gume | 0:1f82672b8755 | 16682 | * |
gume | 0:1f82672b8755 | 16683 | * using this (255 + 256 * gyro_highrate_y_hyst_u8) *4 LSB |
gume | 0:1f82672b8755 | 16684 | * |
gume | 0:1f82672b8755 | 16685 | * The high rate value scales with the range setting |
gume | 0:1f82672b8755 | 16686 | * |
gume | 0:1f82672b8755 | 16687 | * gyro_range_u8 | hysteresis | LSB |
gume | 0:1f82672b8755 | 16688 | * ----------------- | ------------- | --------- |
gume | 0:1f82672b8755 | 16689 | * 2000 | 62.26dps | 1LSB |
gume | 0:1f82672b8755 | 16690 | * 1000 | 31.13dps | 1LSB |
gume | 0:1f82672b8755 | 16691 | * 500 | 15.56dps | 1LSB |
gume | 0:1f82672b8755 | 16692 | */ |
gume | 0:1f82672b8755 | 16693 | BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_hyst( |
gume | 0:1f82672b8755 | 16694 | u8 gyro_highrate_y_hyst_u8) |
gume | 0:1f82672b8755 | 16695 | { |
gume | 0:1f82672b8755 | 16696 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16697 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 16698 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16699 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 16700 | s8 pg_stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16701 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 16702 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 16703 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 16704 | } else { |
gume | 0:1f82672b8755 | 16705 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 16706 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 16707 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 16708 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 16709 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 16710 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 16711 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 16712 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 16713 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 16714 | /* Write page as one */ |
gume | 0:1f82672b8755 | 16715 | pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 16716 | if (pg_stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 16717 | /* Write the value of |
gume | 0:1f82672b8755 | 16718 | gyro highrate y hysteresis*/ |
gume | 0:1f82672b8755 | 16719 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 16720 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 16721 | BNO055_GYRO_HIGHRATE_Y_HYST_REG, |
gume | 0:1f82672b8755 | 16722 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 16723 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 16724 | data_u8r = |
gume | 0:1f82672b8755 | 16725 | BNO055_SET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 16726 | BNO055_GYRO_HIGHRATE_Y_HYST, |
gume | 0:1f82672b8755 | 16727 | gyro_highrate_y_hyst_u8); |
gume | 0:1f82672b8755 | 16728 | com_rslt += |
gume | 0:1f82672b8755 | 16729 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 16730 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 16731 | BNO055_GYRO_HIGHRATE_Y_HYST_REG, |
gume | 0:1f82672b8755 | 16732 | &data_u8r, |
gume | 0:1f82672b8755 | 16733 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 16734 | } |
gume | 0:1f82672b8755 | 16735 | } else { |
gume | 0:1f82672b8755 | 16736 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16737 | } |
gume | 0:1f82672b8755 | 16738 | } else { |
gume | 0:1f82672b8755 | 16739 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16740 | } |
gume | 0:1f82672b8755 | 16741 | } else { |
gume | 0:1f82672b8755 | 16742 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16743 | } |
gume | 0:1f82672b8755 | 16744 | } |
gume | 0:1f82672b8755 | 16745 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 16746 | /* set the operation mode of |
gume | 0:1f82672b8755 | 16747 | previous operation mode*/ |
gume | 0:1f82672b8755 | 16748 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 16749 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 16750 | return com_rslt; |
gume | 0:1f82672b8755 | 16751 | } |
gume | 0:1f82672b8755 | 16752 | /*! |
gume | 0:1f82672b8755 | 16753 | * @brief This API used to read gyro highrate y duration |
gume | 0:1f82672b8755 | 16754 | * from page one register from 0x1B bit 0 to 7 |
gume | 0:1f82672b8755 | 16755 | * |
gume | 0:1f82672b8755 | 16756 | * @param gyro_highrate_y_durn_u8 : The value of gyro highrate y duration |
gume | 0:1f82672b8755 | 16757 | * |
gume | 0:1f82672b8755 | 16758 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 16759 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 16760 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 16761 | * |
gume | 0:1f82672b8755 | 16762 | * @note Gyro highrate duration calculate by using the formula |
gume | 0:1f82672b8755 | 16763 | * |
gume | 0:1f82672b8755 | 16764 | * (1 + gyro_highrate_y_durn_u8)*2.5ms |
gume | 0:1f82672b8755 | 16765 | */ |
gume | 0:1f82672b8755 | 16766 | BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_durn( |
gume | 0:1f82672b8755 | 16767 | u8 *gyro_highrate_y_durn_u8) |
gume | 0:1f82672b8755 | 16768 | { |
gume | 0:1f82672b8755 | 16769 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 16770 | communication routine*/ |
gume | 0:1f82672b8755 | 16771 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16772 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 16773 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16774 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 16775 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 16776 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 16777 | } else { |
gume | 0:1f82672b8755 | 16778 | /*condition check for page, gyro highrate y duration is |
gume | 0:1f82672b8755 | 16779 | available in the page one*/ |
gume | 0:1f82672b8755 | 16780 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 16781 | /* Write page as one */ |
gume | 0:1f82672b8755 | 16782 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 16783 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 16784 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 16785 | /* Read the value of gyro highrate y duration*/ |
gume | 0:1f82672b8755 | 16786 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 16787 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 16788 | BNO055_GYRO_HIGHRATE_Y_DURN_REG, |
gume | 0:1f82672b8755 | 16789 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 16790 | *gyro_highrate_y_durn_u8 = |
gume | 0:1f82672b8755 | 16791 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 16792 | BNO055_GYRO_HIGHRATE_Y_DURN); |
gume | 0:1f82672b8755 | 16793 | } else { |
gume | 0:1f82672b8755 | 16794 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16795 | } |
gume | 0:1f82672b8755 | 16796 | } |
gume | 0:1f82672b8755 | 16797 | return com_rslt; |
gume | 0:1f82672b8755 | 16798 | } |
gume | 0:1f82672b8755 | 16799 | /*! |
gume | 0:1f82672b8755 | 16800 | * @brief This API used to write gyro highrate y duration |
gume | 0:1f82672b8755 | 16801 | * from page one register from 0x1B bit 0 to 7 |
gume | 0:1f82672b8755 | 16802 | * |
gume | 0:1f82672b8755 | 16803 | * @param gyro_highrate_y_durn_u8 : The value of gyro highrate y duration |
gume | 0:1f82672b8755 | 16804 | * |
gume | 0:1f82672b8755 | 16805 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 16806 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 16807 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 16808 | * |
gume | 0:1f82672b8755 | 16809 | * @note Gyro highrate duration calculate by using the formula |
gume | 0:1f82672b8755 | 16810 | * |
gume | 0:1f82672b8755 | 16811 | * (1 + gyro_highrate_y_durn_u8)*2.5ms |
gume | 0:1f82672b8755 | 16812 | */ |
gume | 0:1f82672b8755 | 16813 | BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_durn( |
gume | 0:1f82672b8755 | 16814 | u8 gyro_highrate_y_durn_u8) |
gume | 0:1f82672b8755 | 16815 | { |
gume | 0:1f82672b8755 | 16816 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16817 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 16818 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16819 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 16820 | s8 pg_stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16821 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 16822 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 16823 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 16824 | } else { |
gume | 0:1f82672b8755 | 16825 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 16826 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 16827 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 16828 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 16829 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 16830 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 16831 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 16832 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 16833 | |
gume | 0:1f82672b8755 | 16834 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 16835 | /* Write page as one */ |
gume | 0:1f82672b8755 | 16836 | pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 16837 | if (pg_stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 16838 | /* Write the value |
gume | 0:1f82672b8755 | 16839 | of gyro highrate y duration*/ |
gume | 0:1f82672b8755 | 16840 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 16841 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 16842 | BNO055_GYRO_HIGHRATE_Y_DURN_REG, |
gume | 0:1f82672b8755 | 16843 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 16844 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 16845 | data_u8r = |
gume | 0:1f82672b8755 | 16846 | BNO055_SET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 16847 | BNO055_GYRO_HIGHRATE_Y_DURN, |
gume | 0:1f82672b8755 | 16848 | gyro_highrate_y_durn_u8); |
gume | 0:1f82672b8755 | 16849 | com_rslt += |
gume | 0:1f82672b8755 | 16850 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 16851 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 16852 | BNO055_GYRO_HIGHRATE_Y_DURN_REG, |
gume | 0:1f82672b8755 | 16853 | &data_u8r, |
gume | 0:1f82672b8755 | 16854 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 16855 | } |
gume | 0:1f82672b8755 | 16856 | } else { |
gume | 0:1f82672b8755 | 16857 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16858 | } |
gume | 0:1f82672b8755 | 16859 | } else { |
gume | 0:1f82672b8755 | 16860 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16861 | } |
gume | 0:1f82672b8755 | 16862 | } else { |
gume | 0:1f82672b8755 | 16863 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16864 | } |
gume | 0:1f82672b8755 | 16865 | } |
gume | 0:1f82672b8755 | 16866 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 16867 | /* set the operation mode of |
gume | 0:1f82672b8755 | 16868 | previous operation mode*/ |
gume | 0:1f82672b8755 | 16869 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 16870 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 16871 | return com_rslt; |
gume | 0:1f82672b8755 | 16872 | } |
gume | 0:1f82672b8755 | 16873 | /*! |
gume | 0:1f82672b8755 | 16874 | * @brief This API used to read gyro highrate z threshold |
gume | 0:1f82672b8755 | 16875 | * from page one register from 0x1C bit 0 to 4 |
gume | 0:1f82672b8755 | 16876 | * |
gume | 0:1f82672b8755 | 16877 | * @param gyro_highrate_z_thres_u8 : The value of gyro highrate z threshold |
gume | 0:1f82672b8755 | 16878 | * |
gume | 0:1f82672b8755 | 16879 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 16880 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 16881 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 16882 | * |
gume | 0:1f82672b8755 | 16883 | * @note Gyro highrate threshold dependent on the |
gume | 0:1f82672b8755 | 16884 | * selection of gyro range |
gume | 0:1f82672b8755 | 16885 | * |
gume | 0:1f82672b8755 | 16886 | * gyro_range_u8 | threshold | LSB |
gume | 0:1f82672b8755 | 16887 | * ----------------- | ------------- | --------- |
gume | 0:1f82672b8755 | 16888 | * 2000 | 62.5dps | 1LSB |
gume | 0:1f82672b8755 | 16889 | * 1000 | 31.25dps | 1LSB |
gume | 0:1f82672b8755 | 16890 | * 500 | 15.625dps | 1LSB |
gume | 0:1f82672b8755 | 16891 | * 125 | 7.8125dps | 1LSB |
gume | 0:1f82672b8755 | 16892 | * |
gume | 0:1f82672b8755 | 16893 | */ |
gume | 0:1f82672b8755 | 16894 | BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_thres( |
gume | 0:1f82672b8755 | 16895 | u8 *gyro_highrate_z_thres_u8) |
gume | 0:1f82672b8755 | 16896 | { |
gume | 0:1f82672b8755 | 16897 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 16898 | communication routine*/ |
gume | 0:1f82672b8755 | 16899 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16900 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 16901 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16902 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 16903 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 16904 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 16905 | } else { |
gume | 0:1f82672b8755 | 16906 | /*condition check for page, gyro highrate z threshold is |
gume | 0:1f82672b8755 | 16907 | available in the page one*/ |
gume | 0:1f82672b8755 | 16908 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 16909 | /* Write page as one */ |
gume | 0:1f82672b8755 | 16910 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 16911 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 16912 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 16913 | /* Read the value of gyro highrate z threshold*/ |
gume | 0:1f82672b8755 | 16914 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 16915 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 16916 | BNO055_GYRO_HIGHRATE_Z_THRES_REG, |
gume | 0:1f82672b8755 | 16917 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 16918 | *gyro_highrate_z_thres_u8 = |
gume | 0:1f82672b8755 | 16919 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 16920 | BNO055_GYRO_HIGHRATE_Z_THRES); |
gume | 0:1f82672b8755 | 16921 | } else { |
gume | 0:1f82672b8755 | 16922 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16923 | } |
gume | 0:1f82672b8755 | 16924 | } |
gume | 0:1f82672b8755 | 16925 | return com_rslt; |
gume | 0:1f82672b8755 | 16926 | } |
gume | 0:1f82672b8755 | 16927 | /*! |
gume | 0:1f82672b8755 | 16928 | * @brief This API used to write gyro highrate z threshold |
gume | 0:1f82672b8755 | 16929 | * from page one register from 0x1C bit 0 to 4 |
gume | 0:1f82672b8755 | 16930 | * |
gume | 0:1f82672b8755 | 16931 | * @param gyro_highrate_z_thres_u8 : The value of gyro highrate z threshold |
gume | 0:1f82672b8755 | 16932 | * |
gume | 0:1f82672b8755 | 16933 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 16934 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 16935 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 16936 | * |
gume | 0:1f82672b8755 | 16937 | * @note Gyro highrate threshold dependent on the |
gume | 0:1f82672b8755 | 16938 | * selection of gyro range |
gume | 0:1f82672b8755 | 16939 | * |
gume | 0:1f82672b8755 | 16940 | * gyro_range_u8 | threshold | LSB |
gume | 0:1f82672b8755 | 16941 | * ----------------- | ------------- | --------- |
gume | 0:1f82672b8755 | 16942 | * 2000 | 62.5dps | 1LSB |
gume | 0:1f82672b8755 | 16943 | * 1000 | 31.25dps | 1LSB |
gume | 0:1f82672b8755 | 16944 | * 500 | 15.625dps | 1LSB |
gume | 0:1f82672b8755 | 16945 | * 125 | 7.8125dps | 1LSB |
gume | 0:1f82672b8755 | 16946 | * |
gume | 0:1f82672b8755 | 16947 | */ |
gume | 0:1f82672b8755 | 16948 | BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_thres( |
gume | 0:1f82672b8755 | 16949 | u8 gyro_highrate_z_thres_u8) |
gume | 0:1f82672b8755 | 16950 | { |
gume | 0:1f82672b8755 | 16951 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16952 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 16953 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16954 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 16955 | s8 pg_stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16956 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 16957 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 16958 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 16959 | } else { |
gume | 0:1f82672b8755 | 16960 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 16961 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 16962 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 16963 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 16964 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 16965 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 16966 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 16967 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 16968 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 16969 | /* Write page as one */ |
gume | 0:1f82672b8755 | 16970 | pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 16971 | if (pg_stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 16972 | /* Write the value |
gume | 0:1f82672b8755 | 16973 | of gyro highrate z threshold*/ |
gume | 0:1f82672b8755 | 16974 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 16975 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 16976 | BNO055_GYRO_HIGHRATE_Z_THRES_REG, |
gume | 0:1f82672b8755 | 16977 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 16978 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 16979 | data_u8r = |
gume | 0:1f82672b8755 | 16980 | BNO055_SET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 16981 | BNO055_GYRO_HIGHRATE_Z_THRES, |
gume | 0:1f82672b8755 | 16982 | gyro_highrate_z_thres_u8); |
gume | 0:1f82672b8755 | 16983 | com_rslt += |
gume | 0:1f82672b8755 | 16984 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 16985 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 16986 | BNO055_GYRO_HIGHRATE_Z_THRES_REG, |
gume | 0:1f82672b8755 | 16987 | &data_u8r, |
gume | 0:1f82672b8755 | 16988 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 16989 | } |
gume | 0:1f82672b8755 | 16990 | } else { |
gume | 0:1f82672b8755 | 16991 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16992 | } |
gume | 0:1f82672b8755 | 16993 | } else { |
gume | 0:1f82672b8755 | 16994 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16995 | } |
gume | 0:1f82672b8755 | 16996 | } else { |
gume | 0:1f82672b8755 | 16997 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 16998 | } |
gume | 0:1f82672b8755 | 16999 | } |
gume | 0:1f82672b8755 | 17000 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 17001 | /* set the operation mode of |
gume | 0:1f82672b8755 | 17002 | previous operation mode*/ |
gume | 0:1f82672b8755 | 17003 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 17004 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 17005 | return com_rslt; |
gume | 0:1f82672b8755 | 17006 | } |
gume | 0:1f82672b8755 | 17007 | /*! |
gume | 0:1f82672b8755 | 17008 | * @brief This API used to read gyro highrate z hysteresis |
gume | 0:1f82672b8755 | 17009 | * from page one register from 0x1C bit 5 to 6 |
gume | 0:1f82672b8755 | 17010 | * |
gume | 0:1f82672b8755 | 17011 | * @param gyro_highrate_z_hyst_u8 : The value of gyro highrate z hysteresis |
gume | 0:1f82672b8755 | 17012 | * |
gume | 0:1f82672b8755 | 17013 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 17014 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 17015 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 17016 | * |
gume | 0:1f82672b8755 | 17017 | * @note Gyro high rate hysteresis calculated by |
gume | 0:1f82672b8755 | 17018 | * |
gume | 0:1f82672b8755 | 17019 | * using this (255 + 256 * gyro_highrate_z_hyst_u8) *4 LSB |
gume | 0:1f82672b8755 | 17020 | * |
gume | 0:1f82672b8755 | 17021 | * The high rate value scales with the range setting |
gume | 0:1f82672b8755 | 17022 | * |
gume | 0:1f82672b8755 | 17023 | * gyro_range_u8 | hysteresis | LSB |
gume | 0:1f82672b8755 | 17024 | * ----------------- | ------------- | --------- |
gume | 0:1f82672b8755 | 17025 | * 2000 | 62.26dps | 1LSB |
gume | 0:1f82672b8755 | 17026 | * 1000 | 31.13dps | 1LSB |
gume | 0:1f82672b8755 | 17027 | * 500 | 15.56dps | 1LSB |
gume | 0:1f82672b8755 | 17028 | */ |
gume | 0:1f82672b8755 | 17029 | BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_hyst( |
gume | 0:1f82672b8755 | 17030 | u8 *gyro_highrate_z_hyst_u8) |
gume | 0:1f82672b8755 | 17031 | { |
gume | 0:1f82672b8755 | 17032 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 17033 | communication routine*/ |
gume | 0:1f82672b8755 | 17034 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 17035 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 17036 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 17037 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 17038 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 17039 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 17040 | } else { |
gume | 0:1f82672b8755 | 17041 | /*condition check for page, gyro highrate z hysteresis is |
gume | 0:1f82672b8755 | 17042 | available in the page one*/ |
gume | 0:1f82672b8755 | 17043 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 17044 | /* Write page as one */ |
gume | 0:1f82672b8755 | 17045 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 17046 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 17047 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 17048 | /* Read the value of gyro highrate z hysteresis*/ |
gume | 0:1f82672b8755 | 17049 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 17050 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 17051 | BNO055_GYRO_HIGHRATE_Z_HYST_REG, |
gume | 0:1f82672b8755 | 17052 | &data_u8r, |
gume | 0:1f82672b8755 | 17053 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 17054 | *gyro_highrate_z_hyst_u8 = |
gume | 0:1f82672b8755 | 17055 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 17056 | BNO055_GYRO_HIGHRATE_Z_HYST); |
gume | 0:1f82672b8755 | 17057 | } else { |
gume | 0:1f82672b8755 | 17058 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 17059 | } |
gume | 0:1f82672b8755 | 17060 | } |
gume | 0:1f82672b8755 | 17061 | return com_rslt; |
gume | 0:1f82672b8755 | 17062 | } |
gume | 0:1f82672b8755 | 17063 | /*! |
gume | 0:1f82672b8755 | 17064 | * @brief This API used to write gyro highrate z hysteresis |
gume | 0:1f82672b8755 | 17065 | * from page one register from 0x1C bit 5 to 6 |
gume | 0:1f82672b8755 | 17066 | * |
gume | 0:1f82672b8755 | 17067 | * @param gyro_highrate_z_hyst_u8 : The value of gyro highrate z hysteresis |
gume | 0:1f82672b8755 | 17068 | * |
gume | 0:1f82672b8755 | 17069 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 17070 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 17071 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 17072 | * |
gume | 0:1f82672b8755 | 17073 | * @note Gyro high rate hysteresis calculated by |
gume | 0:1f82672b8755 | 17074 | * |
gume | 0:1f82672b8755 | 17075 | * using this (255 + 256 * gyro_highrate_z_hyst_u8) *4 LSB |
gume | 0:1f82672b8755 | 17076 | * |
gume | 0:1f82672b8755 | 17077 | * The high rate value scales with the range setting |
gume | 0:1f82672b8755 | 17078 | * |
gume | 0:1f82672b8755 | 17079 | * gyro_range_u8 | hysteresis | LSB |
gume | 0:1f82672b8755 | 17080 | * ----------------- | ------------- | --------- |
gume | 0:1f82672b8755 | 17081 | * 2000 | 62.26dps | 1LSB |
gume | 0:1f82672b8755 | 17082 | * 1000 | 31.13dps | 1LSB |
gume | 0:1f82672b8755 | 17083 | * 500 | 15.56dps | 1LSB |
gume | 0:1f82672b8755 | 17084 | */ |
gume | 0:1f82672b8755 | 17085 | BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_hyst( |
gume | 0:1f82672b8755 | 17086 | u8 gyro_highrate_z_hyst_u8) |
gume | 0:1f82672b8755 | 17087 | { |
gume | 0:1f82672b8755 | 17088 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 17089 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 17090 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 17091 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 17092 | s8 pg_stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 17093 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 17094 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 17095 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 17096 | } else { |
gume | 0:1f82672b8755 | 17097 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 17098 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 17099 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 17100 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 17101 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 17102 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 17103 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 17104 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 17105 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 17106 | /* Write page as one */ |
gume | 0:1f82672b8755 | 17107 | pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 17108 | if (pg_stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 17109 | /* Write the value |
gume | 0:1f82672b8755 | 17110 | of gyro highrate z hysteresis*/ |
gume | 0:1f82672b8755 | 17111 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 17112 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 17113 | BNO055_GYRO_HIGHRATE_Z_HYST_REG, |
gume | 0:1f82672b8755 | 17114 | &data_u8r, |
gume | 0:1f82672b8755 | 17115 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 17116 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 17117 | data_u8r = |
gume | 0:1f82672b8755 | 17118 | BNO055_SET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 17119 | BNO055_GYRO_HIGHRATE_Z_HYST, |
gume | 0:1f82672b8755 | 17120 | gyro_highrate_z_hyst_u8); |
gume | 0:1f82672b8755 | 17121 | com_rslt += |
gume | 0:1f82672b8755 | 17122 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 17123 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 17124 | BNO055_GYRO_HIGHRATE_Z_HYST_REG, |
gume | 0:1f82672b8755 | 17125 | &data_u8r, |
gume | 0:1f82672b8755 | 17126 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 17127 | } |
gume | 0:1f82672b8755 | 17128 | } else { |
gume | 0:1f82672b8755 | 17129 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 17130 | } |
gume | 0:1f82672b8755 | 17131 | } else { |
gume | 0:1f82672b8755 | 17132 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 17133 | } |
gume | 0:1f82672b8755 | 17134 | } else { |
gume | 0:1f82672b8755 | 17135 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 17136 | } |
gume | 0:1f82672b8755 | 17137 | } |
gume | 0:1f82672b8755 | 17138 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 17139 | /* set the operation mode of |
gume | 0:1f82672b8755 | 17140 | previous operation mode*/ |
gume | 0:1f82672b8755 | 17141 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 17142 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 17143 | return com_rslt; |
gume | 0:1f82672b8755 | 17144 | } |
gume | 0:1f82672b8755 | 17145 | /*! |
gume | 0:1f82672b8755 | 17146 | * @brief This API used to read gyro highrate z duration |
gume | 0:1f82672b8755 | 17147 | * from page one register from 0x1D bit 0 to 7 |
gume | 0:1f82672b8755 | 17148 | * |
gume | 0:1f82672b8755 | 17149 | * @param gyro_highrate_z_durn_u8 : The value of gyro highrate z duration |
gume | 0:1f82672b8755 | 17150 | * |
gume | 0:1f82672b8755 | 17151 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 17152 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 17153 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 17154 | * |
gume | 0:1f82672b8755 | 17155 | * @note Gyro highrate duration calculate by using the formula |
gume | 0:1f82672b8755 | 17156 | * |
gume | 0:1f82672b8755 | 17157 | * (1 + gyro_highrate_z_durn_u8)*2.5ms |
gume | 0:1f82672b8755 | 17158 | */ |
gume | 0:1f82672b8755 | 17159 | BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_durn( |
gume | 0:1f82672b8755 | 17160 | u8 *gyro_highrate_z_durn_u8) |
gume | 0:1f82672b8755 | 17161 | { |
gume | 0:1f82672b8755 | 17162 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 17163 | communication routine*/ |
gume | 0:1f82672b8755 | 17164 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 17165 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 17166 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 17167 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 17168 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 17169 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 17170 | } else { |
gume | 0:1f82672b8755 | 17171 | /*condition check for page, gyro highrate z duration is |
gume | 0:1f82672b8755 | 17172 | available in the page one*/ |
gume | 0:1f82672b8755 | 17173 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 17174 | /* Write page as one */ |
gume | 0:1f82672b8755 | 17175 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 17176 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 17177 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 17178 | /* Read the value of gyro highrate z duration*/ |
gume | 0:1f82672b8755 | 17179 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 17180 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 17181 | BNO055_GYRO_HIGHRATE_Z_DURN_REG, |
gume | 0:1f82672b8755 | 17182 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 17183 | *gyro_highrate_z_durn_u8 = |
gume | 0:1f82672b8755 | 17184 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 17185 | BNO055_GYRO_HIGHRATE_Z_DURN); |
gume | 0:1f82672b8755 | 17186 | } else { |
gume | 0:1f82672b8755 | 17187 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 17188 | } |
gume | 0:1f82672b8755 | 17189 | } |
gume | 0:1f82672b8755 | 17190 | return com_rslt; |
gume | 0:1f82672b8755 | 17191 | } |
gume | 0:1f82672b8755 | 17192 | /*! |
gume | 0:1f82672b8755 | 17193 | * @brief This API used to write gyro highrate z duration |
gume | 0:1f82672b8755 | 17194 | * from page one register from 0x1D bit 0 to 7 |
gume | 0:1f82672b8755 | 17195 | * |
gume | 0:1f82672b8755 | 17196 | * @param gyro_highrate_z_durn_u8 : The value of gyro highrate z duration |
gume | 0:1f82672b8755 | 17197 | * |
gume | 0:1f82672b8755 | 17198 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 17199 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 17200 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 17201 | * |
gume | 0:1f82672b8755 | 17202 | * @note Gyro highrate duration calculate by using the formula |
gume | 0:1f82672b8755 | 17203 | * |
gume | 0:1f82672b8755 | 17204 | * (1 + gyro_highrate_z_durn_u8)*2.5ms |
gume | 0:1f82672b8755 | 17205 | */ |
gume | 0:1f82672b8755 | 17206 | BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_durn( |
gume | 0:1f82672b8755 | 17207 | u8 gyro_highrate_z_durn_u8) |
gume | 0:1f82672b8755 | 17208 | { |
gume | 0:1f82672b8755 | 17209 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 17210 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 17211 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 17212 | s8 pg_stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 17213 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 17214 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 17215 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 17216 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 17217 | } else { |
gume | 0:1f82672b8755 | 17218 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 17219 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 17220 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 17221 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 17222 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 17223 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 17224 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 17225 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 17226 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 17227 | /* Write page as one */ |
gume | 0:1f82672b8755 | 17228 | pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 17229 | if (pg_stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 17230 | /* Write the value of |
gume | 0:1f82672b8755 | 17231 | gyro highrate z duration*/ |
gume | 0:1f82672b8755 | 17232 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 17233 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 17234 | BNO055_GYRO_HIGHRATE_Z_DURN_REG, |
gume | 0:1f82672b8755 | 17235 | &data_u8r, |
gume | 0:1f82672b8755 | 17236 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 17237 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 17238 | data_u8r = |
gume | 0:1f82672b8755 | 17239 | BNO055_SET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 17240 | BNO055_GYRO_HIGHRATE_Z_DURN, |
gume | 0:1f82672b8755 | 17241 | gyro_highrate_z_durn_u8); |
gume | 0:1f82672b8755 | 17242 | com_rslt += |
gume | 0:1f82672b8755 | 17243 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 17244 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 17245 | BNO055_GYRO_HIGHRATE_Z_DURN_REG, |
gume | 0:1f82672b8755 | 17246 | &data_u8r, |
gume | 0:1f82672b8755 | 17247 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 17248 | } |
gume | 0:1f82672b8755 | 17249 | } else { |
gume | 0:1f82672b8755 | 17250 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 17251 | } |
gume | 0:1f82672b8755 | 17252 | } else { |
gume | 0:1f82672b8755 | 17253 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 17254 | } |
gume | 0:1f82672b8755 | 17255 | } else { |
gume | 0:1f82672b8755 | 17256 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 17257 | } |
gume | 0:1f82672b8755 | 17258 | } |
gume | 0:1f82672b8755 | 17259 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 17260 | /* set the operation mode of |
gume | 0:1f82672b8755 | 17261 | previous operation mode*/ |
gume | 0:1f82672b8755 | 17262 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 17263 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 17264 | return com_rslt; |
gume | 0:1f82672b8755 | 17265 | } |
gume | 0:1f82672b8755 | 17266 | /*! |
gume | 0:1f82672b8755 | 17267 | * @brief This API used to read gyro anymotion threshold |
gume | 0:1f82672b8755 | 17268 | * from page one register from 0x1E bit 0 to 6 |
gume | 0:1f82672b8755 | 17269 | * |
gume | 0:1f82672b8755 | 17270 | * @param gyro_any_motion_thres_u8 : The value of gyro anymotion threshold |
gume | 0:1f82672b8755 | 17271 | * |
gume | 0:1f82672b8755 | 17272 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 17273 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 17274 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 17275 | * |
gume | 0:1f82672b8755 | 17276 | * @note Gyro anymotion interrupt threshold dependent |
gume | 0:1f82672b8755 | 17277 | * on the selection of gyro range |
gume | 0:1f82672b8755 | 17278 | * |
gume | 0:1f82672b8755 | 17279 | * gyro_range_u8 | threshold | LSB |
gume | 0:1f82672b8755 | 17280 | * ----------------- | ------------- | --------- |
gume | 0:1f82672b8755 | 17281 | * 2000 | 1dps | 1LSB |
gume | 0:1f82672b8755 | 17282 | * 1000 | 0.5dps | 1LSB |
gume | 0:1f82672b8755 | 17283 | * 500 | 0.25dps | 1LSB |
gume | 0:1f82672b8755 | 17284 | * |
gume | 0:1f82672b8755 | 17285 | */ |
gume | 0:1f82672b8755 | 17286 | BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_thres( |
gume | 0:1f82672b8755 | 17287 | u8 *gyro_any_motion_thres_u8) |
gume | 0:1f82672b8755 | 17288 | { |
gume | 0:1f82672b8755 | 17289 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 17290 | communication routine*/ |
gume | 0:1f82672b8755 | 17291 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 17292 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 17293 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 17294 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 17295 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 17296 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 17297 | } else { |
gume | 0:1f82672b8755 | 17298 | /*condition check for page,gyro anymotion threshold is |
gume | 0:1f82672b8755 | 17299 | available in the page one*/ |
gume | 0:1f82672b8755 | 17300 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 17301 | /* Write page as one */ |
gume | 0:1f82672b8755 | 17302 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 17303 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 17304 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 17305 | /* Read the value of gyro anymotion threshold*/ |
gume | 0:1f82672b8755 | 17306 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 17307 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 17308 | BNO055_GYRO_ANY_MOTION_THRES_REG, |
gume | 0:1f82672b8755 | 17309 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 17310 | *gyro_any_motion_thres_u8 = |
gume | 0:1f82672b8755 | 17311 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 17312 | BNO055_GYRO_ANY_MOTION_THRES); |
gume | 0:1f82672b8755 | 17313 | } else { |
gume | 0:1f82672b8755 | 17314 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 17315 | } |
gume | 0:1f82672b8755 | 17316 | } |
gume | 0:1f82672b8755 | 17317 | return com_rslt; |
gume | 0:1f82672b8755 | 17318 | } |
gume | 0:1f82672b8755 | 17319 | /*! |
gume | 0:1f82672b8755 | 17320 | * @brief This API used to write gyro anymotion threshold |
gume | 0:1f82672b8755 | 17321 | * from page one register from 0x1E bit 0 to 6 |
gume | 0:1f82672b8755 | 17322 | * |
gume | 0:1f82672b8755 | 17323 | * @param gyro_any_motion_thres_u8 : The value of gyro anymotion threshold |
gume | 0:1f82672b8755 | 17324 | * |
gume | 0:1f82672b8755 | 17325 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 17326 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 17327 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 17328 | * |
gume | 0:1f82672b8755 | 17329 | * @note Gyro anymotion interrupt threshold dependent |
gume | 0:1f82672b8755 | 17330 | * on the selection of gyro range |
gume | 0:1f82672b8755 | 17331 | * |
gume | 0:1f82672b8755 | 17332 | * gyro_range_u8 | threshold | LSB |
gume | 0:1f82672b8755 | 17333 | * ----------------- | ------------- | --------- |
gume | 0:1f82672b8755 | 17334 | * 2000 | 1dps | 1LSB |
gume | 0:1f82672b8755 | 17335 | * 1000 | 0.5dps | 1LSB |
gume | 0:1f82672b8755 | 17336 | * 500 | 0.25dps | 1LSB |
gume | 0:1f82672b8755 | 17337 | * |
gume | 0:1f82672b8755 | 17338 | */ |
gume | 0:1f82672b8755 | 17339 | BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_thres( |
gume | 0:1f82672b8755 | 17340 | u8 gyro_any_motion_thres_u8) |
gume | 0:1f82672b8755 | 17341 | { |
gume | 0:1f82672b8755 | 17342 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 17343 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 17344 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 17345 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 17346 | s8 pg_stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 17347 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 17348 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 17349 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 17350 | } else { |
gume | 0:1f82672b8755 | 17351 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 17352 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 17353 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 17354 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 17355 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 17356 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 17357 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 17358 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 17359 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 17360 | /* Write page as one */ |
gume | 0:1f82672b8755 | 17361 | pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 17362 | if (pg_stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 17363 | /* Write the value |
gume | 0:1f82672b8755 | 17364 | of gyro anymotion threshold*/ |
gume | 0:1f82672b8755 | 17365 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 17366 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 17367 | BNO055_GYRO_ANY_MOTION_THRES_REG, |
gume | 0:1f82672b8755 | 17368 | &data_u8r, |
gume | 0:1f82672b8755 | 17369 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 17370 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 17371 | data_u8r = |
gume | 0:1f82672b8755 | 17372 | BNO055_SET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 17373 | BNO055_GYRO_ANY_MOTION_THRES, |
gume | 0:1f82672b8755 | 17374 | gyro_any_motion_thres_u8); |
gume | 0:1f82672b8755 | 17375 | com_rslt += |
gume | 0:1f82672b8755 | 17376 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 17377 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 17378 | BNO055_GYRO_ANY_MOTION_THRES_REG, |
gume | 0:1f82672b8755 | 17379 | &data_u8r, |
gume | 0:1f82672b8755 | 17380 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 17381 | } |
gume | 0:1f82672b8755 | 17382 | } else { |
gume | 0:1f82672b8755 | 17383 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 17384 | } |
gume | 0:1f82672b8755 | 17385 | } else { |
gume | 0:1f82672b8755 | 17386 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 17387 | } |
gume | 0:1f82672b8755 | 17388 | } else { |
gume | 0:1f82672b8755 | 17389 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 17390 | } |
gume | 0:1f82672b8755 | 17391 | } |
gume | 0:1f82672b8755 | 17392 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 17393 | /* set the operation mode of |
gume | 0:1f82672b8755 | 17394 | previous operation mode*/ |
gume | 0:1f82672b8755 | 17395 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 17396 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 17397 | return com_rslt; |
gume | 0:1f82672b8755 | 17398 | } |
gume | 0:1f82672b8755 | 17399 | /*! |
gume | 0:1f82672b8755 | 17400 | * @brief This API used to read gyro anymotion slope samples |
gume | 0:1f82672b8755 | 17401 | * from page one register from 0x1F bit 0 to 1 |
gume | 0:1f82672b8755 | 17402 | * |
gume | 0:1f82672b8755 | 17403 | * @param gyro_any_motion_slope_samples_u8 : |
gume | 0:1f82672b8755 | 17404 | * The value of gyro anymotion slope samples |
gume | 0:1f82672b8755 | 17405 | * gyro_any_motion_slope_samples_u8 | result |
gume | 0:1f82672b8755 | 17406 | * ---------------------------------- | ----------- |
gume | 0:1f82672b8755 | 17407 | * 0 | 8 samples |
gume | 0:1f82672b8755 | 17408 | * 1 | 16 samples |
gume | 0:1f82672b8755 | 17409 | * 2 | 32 samples |
gume | 0:1f82672b8755 | 17410 | * 3 | 64 samples |
gume | 0:1f82672b8755 | 17411 | * |
gume | 0:1f82672b8755 | 17412 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 17413 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 17414 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 17415 | * |
gume | 0:1f82672b8755 | 17416 | */ |
gume | 0:1f82672b8755 | 17417 | BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_slope_samples( |
gume | 0:1f82672b8755 | 17418 | u8 *gyro_any_motion_slope_samples_u8) |
gume | 0:1f82672b8755 | 17419 | { |
gume | 0:1f82672b8755 | 17420 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 17421 | communication routine*/ |
gume | 0:1f82672b8755 | 17422 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 17423 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 17424 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 17425 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 17426 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 17427 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 17428 | } else { |
gume | 0:1f82672b8755 | 17429 | /*condition check for page, gyro anymotion slope samples is |
gume | 0:1f82672b8755 | 17430 | available in the page one*/ |
gume | 0:1f82672b8755 | 17431 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 17432 | /* Write page as one */ |
gume | 0:1f82672b8755 | 17433 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 17434 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 17435 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 17436 | /*Read the value of gyro anymotion slope samples*/ |
gume | 0:1f82672b8755 | 17437 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 17438 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 17439 | BNO055_GYRO_SLOPE_SAMPLES_REG, |
gume | 0:1f82672b8755 | 17440 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 17441 | *gyro_any_motion_slope_samples_u8 = |
gume | 0:1f82672b8755 | 17442 | BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 17443 | BNO055_GYRO_SLOPE_SAMPLES); |
gume | 0:1f82672b8755 | 17444 | } else { |
gume | 0:1f82672b8755 | 17445 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 17446 | } |
gume | 0:1f82672b8755 | 17447 | } |
gume | 0:1f82672b8755 | 17448 | return com_rslt; |
gume | 0:1f82672b8755 | 17449 | } |
gume | 0:1f82672b8755 | 17450 | /*! |
gume | 0:1f82672b8755 | 17451 | * @brief This API used to write gyro anymotion slope samples |
gume | 0:1f82672b8755 | 17452 | * from page one register from 0x1F bit 0 to 1 |
gume | 0:1f82672b8755 | 17453 | * |
gume | 0:1f82672b8755 | 17454 | * @param gyro_any_motion_slope_samples_u8 : |
gume | 0:1f82672b8755 | 17455 | * The value of gyro anymotion slope samples |
gume | 0:1f82672b8755 | 17456 | * gyro_any_motion_slope_samples_u8 | result |
gume | 0:1f82672b8755 | 17457 | * ---------------------------------- | ----------- |
gume | 0:1f82672b8755 | 17458 | * 0 | 8 samples |
gume | 0:1f82672b8755 | 17459 | * 1 | 16 samples |
gume | 0:1f82672b8755 | 17460 | * 2 | 32 samples |
gume | 0:1f82672b8755 | 17461 | * 3 | 64 samples |
gume | 0:1f82672b8755 | 17462 | * |
gume | 0:1f82672b8755 | 17463 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 17464 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 17465 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 17466 | * |
gume | 0:1f82672b8755 | 17467 | */ |
gume | 0:1f82672b8755 | 17468 | BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_slope_samples( |
gume | 0:1f82672b8755 | 17469 | u8 gyro_any_motion_slope_samples_u8) |
gume | 0:1f82672b8755 | 17470 | { |
gume | 0:1f82672b8755 | 17471 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 17472 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 17473 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 17474 | s8 pg_stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 17475 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 17476 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 17477 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 17478 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 17479 | } else { |
gume | 0:1f82672b8755 | 17480 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 17481 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 17482 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 17483 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 17484 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 17485 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 17486 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 17487 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 17488 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 17489 | /* Write page as one */ |
gume | 0:1f82672b8755 | 17490 | pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 17491 | if (pg_stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 17492 | /* Write the value of |
gume | 0:1f82672b8755 | 17493 | gyro anymotion slope samples*/ |
gume | 0:1f82672b8755 | 17494 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 17495 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 17496 | BNO055_GYRO_SLOPE_SAMPLES_REG, |
gume | 0:1f82672b8755 | 17497 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 17498 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 17499 | data_u8r = |
gume | 0:1f82672b8755 | 17500 | BNO055_SET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 17501 | BNO055_GYRO_SLOPE_SAMPLES, |
gume | 0:1f82672b8755 | 17502 | gyro_any_motion_slope_samples_u8); |
gume | 0:1f82672b8755 | 17503 | com_rslt += |
gume | 0:1f82672b8755 | 17504 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 17505 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 17506 | BNO055_GYRO_SLOPE_SAMPLES_REG, |
gume | 0:1f82672b8755 | 17507 | &data_u8r, |
gume | 0:1f82672b8755 | 17508 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 17509 | } |
gume | 0:1f82672b8755 | 17510 | } else { |
gume | 0:1f82672b8755 | 17511 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 17512 | } |
gume | 0:1f82672b8755 | 17513 | } else { |
gume | 0:1f82672b8755 | 17514 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 17515 | } |
gume | 0:1f82672b8755 | 17516 | } else { |
gume | 0:1f82672b8755 | 17517 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 17518 | } |
gume | 0:1f82672b8755 | 17519 | } |
gume | 0:1f82672b8755 | 17520 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 17521 | /* set the operation mode of |
gume | 0:1f82672b8755 | 17522 | previous operation mode*/ |
gume | 0:1f82672b8755 | 17523 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 17524 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 17525 | return com_rslt; |
gume | 0:1f82672b8755 | 17526 | } |
gume | 0:1f82672b8755 | 17527 | /*! |
gume | 0:1f82672b8755 | 17528 | * @brief This API used to read gyro anymotion awake duration |
gume | 0:1f82672b8755 | 17529 | * from page one register from 0x1F bit 2 to 3 |
gume | 0:1f82672b8755 | 17530 | * |
gume | 0:1f82672b8755 | 17531 | * @param gyro_awake_durn_u8 : The value of gyro anymotion awake duration |
gume | 0:1f82672b8755 | 17532 | * |
gume | 0:1f82672b8755 | 17533 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 17534 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 17535 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 17536 | * |
gume | 0:1f82672b8755 | 17537 | */ |
gume | 0:1f82672b8755 | 17538 | BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_awake_durn( |
gume | 0:1f82672b8755 | 17539 | u8 *gyro_awake_durn_u8) |
gume | 0:1f82672b8755 | 17540 | { |
gume | 0:1f82672b8755 | 17541 | /* Variable used to return value of |
gume | 0:1f82672b8755 | 17542 | communication routine*/ |
gume | 0:1f82672b8755 | 17543 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 17544 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 17545 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 17546 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 17547 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 17548 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 17549 | } else { |
gume | 0:1f82672b8755 | 17550 | /*condition check for page, gyro anymotion awake duration is |
gume | 0:1f82672b8755 | 17551 | available in the page one*/ |
gume | 0:1f82672b8755 | 17552 | if (p_bno055->page_id != BNO055_PAGE_ONE) |
gume | 0:1f82672b8755 | 17553 | /* Write page as one */ |
gume | 0:1f82672b8755 | 17554 | stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 17555 | if ((stat_s8 == BNO055_SUCCESS) || |
gume | 0:1f82672b8755 | 17556 | (p_bno055->page_id == BNO055_PAGE_ONE)) { |
gume | 0:1f82672b8755 | 17557 | /* Read the value of gyro anymotion awake duration*/ |
gume | 0:1f82672b8755 | 17558 | com_rslt = p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 17559 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 17560 | BNO055_GYRO_AWAKE_DURN_REG, |
gume | 0:1f82672b8755 | 17561 | &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 17562 | *gyro_awake_durn_u8 = BNO055_GET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 17563 | BNO055_GYRO_AWAKE_DURN); |
gume | 0:1f82672b8755 | 17564 | } else { |
gume | 0:1f82672b8755 | 17565 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 17566 | } |
gume | 0:1f82672b8755 | 17567 | } |
gume | 0:1f82672b8755 | 17568 | return com_rslt; |
gume | 0:1f82672b8755 | 17569 | } |
gume | 0:1f82672b8755 | 17570 | /*! |
gume | 0:1f82672b8755 | 17571 | * @brief This API used to write gyro anymotion awake duration |
gume | 0:1f82672b8755 | 17572 | * from page one register from 0x1F bit 2 to 3 |
gume | 0:1f82672b8755 | 17573 | * |
gume | 0:1f82672b8755 | 17574 | * @param gyro_awake_durn_u8 : The value of gyro anymotion awake duration |
gume | 0:1f82672b8755 | 17575 | * |
gume | 0:1f82672b8755 | 17576 | * @return results of bus communication function |
gume | 0:1f82672b8755 | 17577 | * @retval 0 -> BNO055_SUCCESS |
gume | 0:1f82672b8755 | 17578 | * @retval 1 -> BNO055_ERROR |
gume | 0:1f82672b8755 | 17579 | * |
gume | 0:1f82672b8755 | 17580 | */ |
gume | 0:1f82672b8755 | 17581 | BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_awake_durn( |
gume | 0:1f82672b8755 | 17582 | u8 gyro_awake_durn_u8) |
gume | 0:1f82672b8755 | 17583 | { |
gume | 0:1f82672b8755 | 17584 | BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 17585 | u8 data_u8r = BNO055_INIT_VALUE; |
gume | 0:1f82672b8755 | 17586 | s8 stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 17587 | s8 pg_stat_s8 = BNO055_ERROR; |
gume | 0:1f82672b8755 | 17588 | u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; |
gume | 0:1f82672b8755 | 17589 | /* Check the struct p_bno055 is empty */ |
gume | 0:1f82672b8755 | 17590 | if (p_bno055 == BNO055_INIT_VALUE) { |
gume | 0:1f82672b8755 | 17591 | return BNO055_E_NULL_PTR; |
gume | 0:1f82672b8755 | 17592 | } else { |
gume | 0:1f82672b8755 | 17593 | /* The write operation effective only if the operation |
gume | 0:1f82672b8755 | 17594 | mode is in config mode, this part of code is checking the |
gume | 0:1f82672b8755 | 17595 | current operation mode and set the config mode */ |
gume | 0:1f82672b8755 | 17596 | stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); |
gume | 0:1f82672b8755 | 17597 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 17598 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 17599 | stat_s8 += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 17600 | (BNO055_OPERATION_MODE_CONFIG); |
gume | 0:1f82672b8755 | 17601 | if (stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 17602 | /* Write page as one */ |
gume | 0:1f82672b8755 | 17603 | pg_stat_s8 = bno055_write_page_id( |
gume | 0:1f82672b8755 | 17604 | BNO055_PAGE_ONE); |
gume | 0:1f82672b8755 | 17605 | if (pg_stat_s8 == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 17606 | /* Write the value of gyro |
gume | 0:1f82672b8755 | 17607 | anymotion awake duration*/ |
gume | 0:1f82672b8755 | 17608 | com_rslt = |
gume | 0:1f82672b8755 | 17609 | p_bno055->BNO055_BUS_READ_FUNC |
gume | 0:1f82672b8755 | 17610 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 17611 | BNO055_GYRO_AWAKE_DURN_REG, |
gume | 0:1f82672b8755 | 17612 | &data_u8r, |
gume | 0:1f82672b8755 | 17613 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 17614 | if (com_rslt == BNO055_SUCCESS) { |
gume | 0:1f82672b8755 | 17615 | data_u8r = |
gume | 0:1f82672b8755 | 17616 | BNO055_SET_BITSLICE(data_u8r, |
gume | 0:1f82672b8755 | 17617 | BNO055_GYRO_AWAKE_DURN, |
gume | 0:1f82672b8755 | 17618 | gyro_awake_durn_u8); |
gume | 0:1f82672b8755 | 17619 | com_rslt += |
gume | 0:1f82672b8755 | 17620 | p_bno055->BNO055_BUS_WRITE_FUNC |
gume | 0:1f82672b8755 | 17621 | (p_bno055->dev_addr, |
gume | 0:1f82672b8755 | 17622 | BNO055_GYRO_AWAKE_DURN_REG, |
gume | 0:1f82672b8755 | 17623 | &data_u8r, |
gume | 0:1f82672b8755 | 17624 | BNO055_GEN_READ_WRITE_LENGTH); |
gume | 0:1f82672b8755 | 17625 | } |
gume | 0:1f82672b8755 | 17626 | } else { |
gume | 0:1f82672b8755 | 17627 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 17628 | } |
gume | 0:1f82672b8755 | 17629 | } else { |
gume | 0:1f82672b8755 | 17630 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 17631 | } |
gume | 0:1f82672b8755 | 17632 | } else { |
gume | 0:1f82672b8755 | 17633 | com_rslt = BNO055_ERROR; |
gume | 0:1f82672b8755 | 17634 | } |
gume | 0:1f82672b8755 | 17635 | } |
gume | 0:1f82672b8755 | 17636 | if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) |
gume | 0:1f82672b8755 | 17637 | /* set the operation mode |
gume | 0:1f82672b8755 | 17638 | of previous operation mode*/ |
gume | 0:1f82672b8755 | 17639 | com_rslt += bno055_set_operation_mode |
gume | 0:1f82672b8755 | 17640 | (prev_opmode_u8); |
gume | 0:1f82672b8755 | 17641 | return com_rslt; |
gume | 0:1f82672b8755 | 17642 | } |