BNO055 library using Bosch's code
Diff: BNO055.cpp
- Revision:
- 0:1f82672b8755
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/BNO055.cpp Sat Jul 01 01:24:03 2017 +0000 @@ -0,0 +1,17642 @@ +/* +* +**************************************************************************** +* Copyright (C) 2015 - 2016 Bosch Sensortec GmbH +* +* File : bno055.c +* +* Date : 2016/03/14 +* +* Revision : 2.0.3 $ +* +* Usage: Sensor Driver file for BNO055 sensor +* +**************************************************************************** +* \section License +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* +* Neither the name of the copyright holder nor the names of the +* contributors may be used to endorse or promote products derived from +* this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND +* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR +* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDER +* OR CONTRIBUTORS BE LIABLE FOR ANY +* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, +* OR CONSEQUENTIAL DAMAGES(INCLUDING, BUT NOT LIMITED TO, +* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, +* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE +* +* The information provided is believed to be accurate and reliable. +* The copyright holder assumes no responsibility +* for the consequences of use +* of such information nor for any infringement of patents or +* other rights of third parties which may result from its use. +* No license is granted by implication or otherwise under any patent or +* patent rights of the copyright holder. +**************************************************************************/ + +/*********************************************************/ +/* INCLUDES */ +/*******************************************************/ +#include "BNO055.h" +/*! file <BNO055 > + brief <Sensor driver for BNO055> */ +/* STRUCTURE DEFINITIONS */ +/*static*/ struct bno055_t *p_bno055; + +/* LOCAL FUNCTIONS */ +/*! + * @brief + * This API is used for initialize + * bus read, bus write function pointers,device + * address,accel revision id, gyro revision id + * mag revision id, software revision id, boot loader + * revision id and page id + * + * @param bno055 - structure pointer + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note While changing the parameter of the bno055_t + * consider the following point: + * Changing the reference value of the parameter + * will changes the local copy or local reference + * make sure your changes will not + * affect the reference value of the parameter + * (Better case don't change the reference value of the parameter) + */ +BNO055_RETURN_FUNCTION_TYPE bno055_init(struct bno055_t *bno055) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8 = BNO055_INIT_VALUE; + u8 bno055_page_zero_u8 = BNO055_PAGE_ZERO; + /* Array holding the Software revision id + */ + u8 a_SW_ID_u8[BNO055_REV_ID_SIZE] = { + BNO055_INIT_VALUE, BNO055_INIT_VALUE}; + /* stuct parameters are assign to bno055*/ + p_bno055 = bno055; + /* Write the default page as zero*/ + com_rslt = p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_PAGE_ID_REG, &bno055_page_zero_u8, BNO055_GEN_READ_WRITE_LENGTH); + /* Read the chip id of the sensor from page + zero 0x00 register*/ + com_rslt += p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_CHIP_ID_REG, &data_u8, BNO055_GEN_READ_WRITE_LENGTH); + p_bno055->chip_id = data_u8; + /* Read the accel revision id from page + zero 0x01 register*/ + com_rslt += p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_REV_ID_REG, &data_u8, BNO055_GEN_READ_WRITE_LENGTH); + p_bno055->accel_rev_id = data_u8; + /* Read the mag revision id from page + zero 0x02 register*/ + com_rslt += p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_MAG_REV_ID_REG, &data_u8, BNO055_GEN_READ_WRITE_LENGTH); + p_bno055->mag_rev_id = data_u8; + /* Read the gyro revision id from page + zero 0x02 register*/ + com_rslt += p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_REV_ID_REG, &data_u8, BNO055_GEN_READ_WRITE_LENGTH); + p_bno055->gyro_rev_id = data_u8; + /* Read the boot loader revision from page + zero 0x06 register*/ + com_rslt += p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_BL_REV_ID_REG, &data_u8, BNO055_GEN_READ_WRITE_LENGTH); + p_bno055->bl_rev_id = data_u8; + /* Read the software revision id from page + zero 0x04 and 0x05 register( 2 bytes of data)*/ + com_rslt += p_bno055->BNO055_BUS_READ_FUNC(p_bno055->dev_addr, + BNO055_SW_REV_ID_LSB_REG, + a_SW_ID_u8, BNO055_LSB_MSB_READ_LENGTH); + a_SW_ID_u8[BNO055_SW_ID_LSB] = BNO055_GET_BITSLICE( + a_SW_ID_u8[BNO055_SW_ID_LSB], + BNO055_SW_REV_ID_LSB); + p_bno055->sw_rev_id = (u16) + ((((u32)((u8)a_SW_ID_u8[BNO055_SW_ID_MSB])) << + BNO055_SHIFT_EIGHT_BITS) | (a_SW_ID_u8[BNO055_SW_ID_LSB])); + /* Read the page id from the register 0x07*/ + com_rslt += p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_PAGE_ID_REG, &data_u8, BNO055_GEN_READ_WRITE_LENGTH); + p_bno055->page_id = data_u8; + + return com_rslt; +} +/*! + * @brief + * This API gives data to the given register and + * the data is written in the corresponding register address + * + * @param addr_u8 : Address of the register + * @param data_u8 : Data to be written to the register + * @param len_u8 : Length of the Data + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * +*/ +BNO055_RETURN_FUNCTION_TYPE bno055_write_register(u8 addr_u8, +u8 *data_u8, u8 len_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /* Write the values of respective given register */ + com_rslt = p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, addr_u8, data_u8, len_u8); + } + return com_rslt; +} +/*! + * @brief This API reads the data from + * the given register address + * + * @param addr_u8 : Address of the register + * @param data_u8 : address of the variable, + * read value will be kept + * @param len_u8 : Length of the data + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_register(u8 addr_u8, +u8 *data_u8, u8 len_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /* Read the value from given register*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, addr_u8, data_u8, len_u8); + } + return com_rslt; +} +/*! + * @brief This API reads chip id + * from register 0x00 it is a byte of data + * + * + * @param chip_id_u8 : The chip id value 0xA0 + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_chip_id(u8 *chip_id_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8 = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, chip id is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the chip id*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_CHIP_ID_REG, &data_u8, + BNO055_GEN_READ_WRITE_LENGTH); + *chip_id_u8 = data_u8; + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API reads software revision id + * from register 0x04 and 0x05 it is a two byte of data + * + * @param sw_id_u8 : The SW revision id + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_sw_rev_id(u16 *sw_id_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + /* array having the software revision id + data_u8[0] - LSB + data_u8[1] - MSB*/ + u8 data_u8[BNO055_REV_ID_SIZE] = {BNO055_INIT_VALUE, + BNO055_INIT_VALUE}; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty*/ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, chip id is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the two byte value of software + revision id*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_SW_REV_ID_LSB_REG, + data_u8, BNO055_LSB_MSB_READ_LENGTH); + data_u8[BNO055_SW_ID_LSB] = + BNO055_GET_BITSLICE(data_u8[BNO055_SW_ID_LSB], + BNO055_SW_REV_ID_LSB); + *sw_id_u8 = (u16) + ((((u32)((u8)data_u8[BNO055_SW_ID_MSB])) << + BNO055_SHIFT_EIGHT_BITS) + | (data_u8[BNO055_SW_ID_LSB])); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API reads page id + * from register 0x07 it is a byte of data + * + * + * @param page_id_u8 : The value of page id + * + * BNO055_PAGE_ZERO -> 0x00 + * BNO055_PAGE_ONE -> 0x01 + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_page_id(u8 *page_id_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8 = BNO055_INIT_VALUE; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /* Read the page id form 0x07*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_PAGE_ID_REG, &data_u8, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8 = BNO055_GET_BITSLICE(data_u8, + BNO055_PAGE_ID); + *page_id_u8 = data_u8; + p_bno055->page_id = data_u8; + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write + * the page id register 0x07 + * + * @param page_id_u8 : The value of page id + * + * BNO055_PAGE_ZERO -> 0x00 + * BNO055_PAGE_ONE -> 0x01 + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_write_page_id(u8 page_id_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /* Read the current page*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_PAGE_ID_REG, &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + /* Check condition for communication BNO055_SUCCESS*/ + if (com_rslt == BNO055_SUCCESS) { + data_u8r = BNO055_SET_BITSLICE(data_u8r, + BNO055_PAGE_ID, page_id_u8); + /* Write the page id*/ + com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_PAGE_ID_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) + p_bno055->page_id = page_id_u8; + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API reads accel revision id + * from register 0x01 it is a byte of value + * + * @param accel_rev_id_u8 : The accel revision id 0xFB + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_rev_id( +u8 *accel_rev_id_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8 = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, chip id is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the accel revision id */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_REV_ID_REG, + &data_u8, BNO055_GEN_READ_WRITE_LENGTH); + *accel_rev_id_u8 = data_u8; + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API reads mag revision id + * from register 0x02 it is a byte of value + * + * @param mag_rev_id_u8 : The mag revision id 0x32 + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_rev_id( +u8 *mag_rev_id_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8 = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, chip id is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the mag revision id */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_MAG_REV_ID_REG, + &data_u8, BNO055_GEN_READ_WRITE_LENGTH); + *mag_rev_id_u8 = data_u8; + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API reads gyro revision id + * from register 0x03 it is a byte of value + * + * @param gyro_rev_id_u8 : The gyro revision id 0xF0 + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_rev_id( +u8 *gyro_rev_id_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8 = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, chip id is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the gyro revision id */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_REV_ID_REG, + &data_u8, BNO055_GEN_READ_WRITE_LENGTH); + *gyro_rev_id_u8 = data_u8; + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to read boot loader revision id + * from register 0x06 it is a byte of value + * + * @param bl_rev_id_u8 : The boot loader revision id + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_bl_rev_id( +u8 *bl_rev_id_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8 = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, chip id is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the boot loader revision id */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_BL_REV_ID_REG, + &data_u8, BNO055_GEN_READ_WRITE_LENGTH); + *bl_rev_id_u8 = data_u8; + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API reads acceleration data X values + * from register 0x08 and 0x09 it is a two byte data + * + * + * + * + * @param accel_x_s16 : The X raw data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_x(s16 *accel_x_s16) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + /* Array holding the accel x value + data_u8[BNO055_SENSOR_DATA_LSB] - x-LSB + data_u8[BNO055_SENSOR_DATA_MSB] - x-MSB + */ + u8 data_u8[BNO055_ACCEL_DATA_SIZE] = {BNO055_INIT_VALUE, + BNO055_INIT_VALUE}; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the accel x axis two byte value*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_DATA_X_LSB_VALUEX_REG, + data_u8, BNO055_LSB_MSB_READ_LENGTH); + data_u8[BNO055_SENSOR_DATA_LSB] = + BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB], + BNO055_ACCEL_DATA_X_LSB_VALUEX); + data_u8[BNO055_SENSOR_DATA_MSB] = + BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB], + BNO055_ACCEL_DATA_X_MSB_VALUEX); + *accel_x_s16 = (s16)((((s32) + (s8)(data_u8[BNO055_SENSOR_DATA_MSB])) << + (BNO055_SHIFT_EIGHT_BITS)) + | (data_u8[BNO055_SENSOR_DATA_LSB])); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API reads acceleration data Y values + * from register 0x0A and 0x0B it is a two byte data + * + * + * + * + * @param accel_y_s16 : The Y raw data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_y(s16 *accel_y_s16) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + /* Array holding the accel y value + data_u8[BNO055_SENSOR_DATA_LSB] - y-LSB + data_u8[BNO055_SENSOR_DATA_MSB] - y-MSB + */ + u8 data_u8[BNO055_ACCEL_DATA_SIZE] = {BNO055_INIT_VALUE, + BNO055_INIT_VALUE}; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, chip id is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the accel y axis two byte value*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_DATA_Y_LSB_VALUEY_REG, + data_u8, BNO055_LSB_MSB_READ_LENGTH); + data_u8[BNO055_SENSOR_DATA_LSB] = + BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB], + BNO055_ACCEL_DATA_Y_LSB_VALUEY); + data_u8[BNO055_SENSOR_DATA_MSB] = + BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB], + BNO055_ACCEL_DATA_Y_MSB_VALUEY); + *accel_y_s16 = (s16)((((s32) + ((s8)data_u8[BNO055_SENSOR_DATA_MSB])) << + BNO055_SHIFT_EIGHT_BITS) | + (data_u8[BNO055_SENSOR_DATA_LSB])); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API reads acceleration data z values + * from register 0x0C and 0x0D it is a two byte data + * + * + * + * + * @param accel_z_s16 : The z raw data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_z(s16 *accel_z_s16) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + /* Array holding the accel z value + data_u8[BNO055_SENSOR_DATA_LSB] - z-LSB + data_u8[BNO055_SENSOR_DATA_MSB] - z-MSB + */ + u8 data_u8[BNO055_ACCEL_DATA_SIZE] = {BNO055_INIT_VALUE, + BNO055_INIT_VALUE}; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, chip id is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the accel z axis two byte value*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_DATA_Z_LSB_VALUEZ_REG, + data_u8, BNO055_LSB_MSB_READ_LENGTH); + data_u8[BNO055_SENSOR_DATA_LSB] = + BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB], + BNO055_ACCEL_DATA_Z_LSB_VALUEZ); + data_u8[BNO055_SENSOR_DATA_MSB] = + BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB], + BNO055_ACCEL_DATA_Z_MSB_VALUEZ); + *accel_z_s16 = (s16)((((s32) + ((s8)data_u8[BNO055_SENSOR_DATA_MSB])) << + BNO055_SHIFT_EIGHT_BITS) | + (data_u8[BNO055_SENSOR_DATA_LSB])); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API reads acceleration data xyz values + * from register 0x08 to 0x0D it is a six byte data + * + * + * @param accel : The value of accel xyz data + * + * Parameter | result + * --------- | ----------------- + * x | The accel x data + * y | The accel y data + * z | The accel z data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_xyz( +struct bno055_accel_t *accel) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + /* Array holding the accel xyz value + data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB] - x->LSB + data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB] - x->MSB + data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB] - y->MSB + data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB] - y->MSB + data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB] - z->MSB + data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB] - z->MSB + */ + u8 data_u8[BNO055_ACCEL_XYZ_DATA_SIZE] = { + BNO055_INIT_VALUE, BNO055_INIT_VALUE, + BNO055_INIT_VALUE, BNO055_INIT_VALUE, + BNO055_INIT_VALUE, BNO055_INIT_VALUE}; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, chip id is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_DATA_X_LSB_VALUEX_REG, + data_u8, BNO055_ACCEL_XYZ_DATA_SIZE); + /* Data X*/ + data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB], + BNO055_ACCEL_DATA_X_LSB_VALUEX); + data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB], + BNO055_ACCEL_DATA_X_MSB_VALUEX); + accel->x = (s16)((((s32) + ((s8)data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB])) << + BNO055_SHIFT_EIGHT_BITS) + | (data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB])); + /* Data Y*/ + data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB], + BNO055_ACCEL_DATA_Y_LSB_VALUEY); + data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB], + BNO055_ACCEL_DATA_Y_MSB_VALUEY); + accel->y = (s16)((((s32) + ((s8)data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB])) << + BNO055_SHIFT_EIGHT_BITS) + | (data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB])); + /* Data Z*/ + data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB], + BNO055_ACCEL_DATA_Z_LSB_VALUEZ); + data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB], + BNO055_ACCEL_DATA_Z_MSB_VALUEZ); + accel->z = (s16)((((s32) + ((s8)data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB])) << + BNO055_SHIFT_EIGHT_BITS) + | (data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB])); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API reads mag data x values + * from register 0x0E and 0x0F it is a two byte data + * + * + * + * + * @param mag_x_s16 : The x raw data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_x(s16 *mag_x_s16) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + /* Array holding the mag x value + data_u8[BNO055_SENSOR_DATA_LSB] - x->LSB + data_u8[BNO055_SENSOR_DATA_MSB] - x->MSB + */ + u8 data_u8[BNO055_MAG_DATA_SIZE] = {BNO055_INIT_VALUE, + BNO055_INIT_VALUE}; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, chip id is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /*Read the mag x two bytes of data */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_MAG_DATA_X_LSB_VALUEX_REG, + data_u8, BNO055_LSB_MSB_READ_LENGTH); + data_u8[BNO055_SENSOR_DATA_LSB] = + BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB], + BNO055_MAG_DATA_X_LSB_VALUEX); + data_u8[BNO055_SENSOR_DATA_MSB] = + BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB], + BNO055_MAG_DATA_X_MSB_VALUEX); + *mag_x_s16 = (s16)((((s32) + ((s8)data_u8[BNO055_SENSOR_DATA_MSB])) << + BNO055_SHIFT_EIGHT_BITS) | ( + data_u8[BNO055_SENSOR_DATA_LSB])); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API reads mag data y values + * from register 0x10 and 0x11 it is a two byte data + * + * + * + * + * @param mag_y_s16 : The y raw data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_y(s16 *mag_y_s16) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + /* Array holding the mag y value + data_u8[BNO055_SENSOR_DATA_LSB] - y->LSB + data_u8[BNO055_SENSOR_DATA_MSB] - y->MSB + */ + u8 data_u8[BNO055_MAG_DATA_SIZE] = { + BNO055_INIT_VALUE, BNO055_INIT_VALUE}; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, chip id is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /*Read the mag y two bytes of data */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_MAG_DATA_Y_LSB_VALUEY_REG, + data_u8, BNO055_LSB_MSB_READ_LENGTH); + data_u8[BNO055_SENSOR_DATA_LSB] = + BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB], + BNO055_MAG_DATA_Y_LSB_VALUEY); + data_u8[BNO055_SENSOR_DATA_MSB] = + BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB], + BNO055_MAG_DATA_Y_MSB_VALUEY); + *mag_y_s16 = (s16)((((s32) + ((s8)data_u8[BNO055_SENSOR_DATA_MSB])) << + BNO055_SHIFT_EIGHT_BITS) | + (data_u8[BNO055_SENSOR_DATA_LSB])); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API reads mag data z values + * from register 0x12 and 0x13 it is a two byte data + * + * + * + * + * @param mag_z_s16 : The z raw data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_z(s16 *mag_z_s16) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + /* Array holding the mag z value + data_u8[BNO055_SENSOR_DATA_LSB] - z->LSB + data_u8[BNO055_SENSOR_DATA_MSB] - z->MSB + */ + u8 data_u8[BNO055_MAG_DATA_SIZE] = { + BNO055_INIT_VALUE, BNO055_INIT_VALUE}; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, chip id is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_MAG_DATA_Z_LSB_VALUEZ_REG, + data_u8, BNO055_LSB_MSB_READ_LENGTH); + /*Read the mag z two bytes of data */ + data_u8[BNO055_SENSOR_DATA_LSB] = + BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB], + BNO055_MAG_DATA_Z_LSB_VALUEZ); + data_u8[BNO055_SENSOR_DATA_MSB] = + BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB], + BNO055_MAG_DATA_Z_MSB_VALUEZ); + *mag_z_s16 = (s16)((((s32) + ((s8)data_u8[BNO055_SENSOR_DATA_MSB])) << + BNO055_SHIFT_EIGHT_BITS) + | (data_u8[BNO055_SENSOR_DATA_LSB])); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API reads mag data xyz values + * from register 0x0E to 0x13 it is a six byte data + * + * + * @param mag : The mag xyz values + * + * Parameter | result + * --------- | ----------------- + * x | The mag x data + * y | The mag y data + * z | The mag z data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_xyz(struct bno055_mag_t *mag) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + /* Array holding the mag xyz value + data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB] - x->LSB + data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB] - x->MSB + data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB] - y->MSB + data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB] - y->MSB + data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB] - z->MSB + data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB] - z->MSB + */ + u8 data_u8[BNO055_MAG_XYZ_DATA_SIZE] = { + BNO055_INIT_VALUE, BNO055_INIT_VALUE, + BNO055_INIT_VALUE, BNO055_INIT_VALUE, + BNO055_INIT_VALUE, BNO055_INIT_VALUE}; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, chip id is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /*Read the six byte value of mag xyz*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_MAG_DATA_X_LSB_VALUEX_REG, + data_u8, BNO055_MAG_XYZ_DATA_SIZE); + /* Data X*/ + data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB], + BNO055_MAG_DATA_X_LSB_VALUEX); + data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB], + BNO055_MAG_DATA_X_MSB_VALUEX); + mag->x = (s16)((((s32) + ((s8)data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB])) << + BNO055_SHIFT_EIGHT_BITS) | + (data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB])); + /* Data Y*/ + data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB], + BNO055_MAG_DATA_Y_LSB_VALUEY); + data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB], + BNO055_MAG_DATA_Y_MSB_VALUEY); + mag->y = (s16)((((s32) + ((s8)data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB])) << + BNO055_SHIFT_EIGHT_BITS) | + (data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB])); + /* Data Z*/ + data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB], + BNO055_MAG_DATA_Z_LSB_VALUEZ); + data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB], + BNO055_MAG_DATA_Z_MSB_VALUEZ); + mag->z = (s16)((((s32) + ((s8)data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB])) << + BNO055_SHIFT_EIGHT_BITS) + | (data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB])); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API reads gyro data x values + * from register 0x14 and 0x15 it is a two byte data + * + * + * + * + * @param gyro_x_s16 : The x raw data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_x(s16 *gyro_x_s16) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8[BNO055_GYRO_DATA_SIZE] = { + BNO055_INIT_VALUE, BNO055_INIT_VALUE}; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, chip id is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the gyro 16 bit x value*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_DATA_X_LSB_VALUEX_REG, + data_u8, BNO055_LSB_MSB_READ_LENGTH); + data_u8[BNO055_SENSOR_DATA_LSB] = + BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB], + BNO055_GYRO_DATA_X_LSB_VALUEX); + data_u8[BNO055_SENSOR_DATA_MSB] = + BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB], + BNO055_GYRO_DATA_X_MSB_VALUEX); + *gyro_x_s16 = (s16)((((s32) + ((s8)data_u8[BNO055_SENSOR_DATA_MSB])) << + BNO055_SHIFT_EIGHT_BITS) | + (data_u8[BNO055_SENSOR_DATA_LSB])); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API reads gyro data y values + * from register 0x16 and 0x17 it is a two byte data + * + * + * + * + * @param gyro_y_s16 : The y raw data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_y(s16 *gyro_y_s16) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8[BNO055_GYRO_DATA_SIZE] = { + BNO055_INIT_VALUE, BNO055_INIT_VALUE}; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, chip id is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the value of gyro y */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_DATA_Y_LSB_VALUEY_REG, + data_u8, BNO055_LSB_MSB_READ_LENGTH); + data_u8[BNO055_SENSOR_DATA_LSB] = + BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB], + BNO055_GYRO_DATA_Y_LSB_VALUEY); + data_u8[BNO055_SENSOR_DATA_MSB] = + BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB], + BNO055_GYRO_DATA_Y_MSB_VALUEY); + *gyro_y_s16 = (s16)((((s32) + ((s8)data_u8[BNO055_SENSOR_DATA_MSB])) << + BNO055_SHIFT_EIGHT_BITS) + | (data_u8[BNO055_SENSOR_DATA_LSB])); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API reads gyro data z values + * from register 0x18 and 0x19 it is a two byte data + * + * @param gyro_z_s16 : The z raw data + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_z(s16 *gyro_z_s16) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8[BNO055_GYRO_DATA_SIZE] = { + BNO055_INIT_VALUE, BNO055_INIT_VALUE}; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, chip id is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the gyro z 16 bit value*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_DATA_Z_LSB_VALUEZ_REG, + data_u8, BNO055_LSB_MSB_READ_LENGTH); + data_u8[BNO055_SENSOR_DATA_LSB] = + BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB], + BNO055_GYRO_DATA_Z_LSB_VALUEZ); + data_u8[BNO055_SENSOR_DATA_MSB] = + BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB], + BNO055_GYRO_DATA_Z_MSB_VALUEZ); + *gyro_z_s16 = (s16)((((s32) + ((s8)data_u8[BNO055_SENSOR_DATA_MSB])) << + BNO055_SHIFT_EIGHT_BITS) + | (data_u8[BNO055_SENSOR_DATA_LSB])); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API reads gyro data xyz values + * from register 0x14 to 0x19 it is a six byte data + * + * + * @param gyro : The value of gyro xyz data's + * + * Parameter | result + * --------- | ----------------- + * x | The gyro x data + * y | The gyro y data + * z | The gyro z data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_xyz(struct bno055_gyro_t *gyro) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + /* Array holding the gyro xyz value + data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB] - x->LSB + data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB] - x->MSB + data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB] - y->MSB + data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB] - y->MSB + data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB] - z->MSB + data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB] - z->MSB + */ + u8 data_u8[BNO055_GYRO_XYZ_DATA_SIZE] = { + BNO055_INIT_VALUE, BNO055_INIT_VALUE, + BNO055_INIT_VALUE, BNO055_INIT_VALUE, + BNO055_INIT_VALUE, BNO055_INIT_VALUE}; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, chip id is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the six bytes data of gyro xyz*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_DATA_X_LSB_VALUEX_REG, + data_u8, BNO055_GYRO_XYZ_DATA_SIZE); + /* Data x*/ + data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB], + BNO055_GYRO_DATA_X_LSB_VALUEX); + data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB], + BNO055_GYRO_DATA_X_MSB_VALUEX); + gyro->x = (s16)((((s32) + ((s8)data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB])) << + BNO055_SHIFT_EIGHT_BITS) | + (data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB])); + /* Data y*/ + data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB], + BNO055_GYRO_DATA_Y_LSB_VALUEY); + data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB], + BNO055_GYRO_DATA_Y_MSB_VALUEY); + gyro->y = (s16)((((s32) + ((s8)data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB])) << + BNO055_SHIFT_EIGHT_BITS) + | (data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB])); + /* Data z*/ + data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB], + BNO055_GYRO_DATA_Z_LSB_VALUEZ); + data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB], + BNO055_GYRO_DATA_Z_MSB_VALUEZ); + gyro->z = (s16)((((s32) + ((s8)data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB])) << + BNO055_SHIFT_EIGHT_BITS) + | (data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB])); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API reads gyro data z values + * from register 0x1A and 0x1B it is a two byte data + * + * @param euler_h_s16 : The raw h data + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_h(s16 *euler_h_s16) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + /* Array holding the Euler h value + data_u8[BNO055_SENSOR_DATA_EULER_LSB] - h->LSB + data_u8[BNO055_SENSOR_DATA_EULER_MSB] - h->MSB + */ + u8 data_u8[BNO055_EULER_DATA_SIZE] = { + BNO055_INIT_VALUE, BNO055_INIT_VALUE}; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, chip id is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the eulre heading data*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_EULER_H_LSB_VALUEH_REG, + data_u8, BNO055_LSB_MSB_READ_LENGTH); + data_u8[BNO055_SENSOR_DATA_EULER_LSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_EULER_LSB], + BNO055_EULER_H_LSB_VALUEH); + data_u8[BNO055_SENSOR_DATA_EULER_MSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_EULER_MSB], + BNO055_EULER_H_MSB_VALUEH); + *euler_h_s16 = (s16)((((s32) + ((s8)data_u8[BNO055_SENSOR_DATA_EULER_MSB])) << + BNO055_SHIFT_EIGHT_BITS) | + (data_u8[BNO055_SENSOR_DATA_EULER_LSB])); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API reads Euler data r values + * from register 0x1C and 0x1D it is a two byte data + * + * @param euler_r_s16 : The raw r data + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_r(s16 *euler_r_s16) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + /* Array holding the Euler r value + data_u8[BNO055_SENSOR_DATA_EULER_LSB] - r->LSB + data_u8[BNO055_SENSOR_DATA_EULER_MSB] - r->MSB + */ + u8 data_u8[BNO055_EULER_DATA_SIZE] = { + BNO055_INIT_VALUE, BNO055_INIT_VALUE}; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, chip id is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the Euler roll data*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_EULER_R_LSB_VALUER_REG, + data_u8, BNO055_LSB_MSB_READ_LENGTH); + data_u8[BNO055_SENSOR_DATA_EULER_LSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_EULER_LSB], + BNO055_EULER_R_LSB_VALUER); + data_u8[BNO055_SENSOR_DATA_EULER_MSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_EULER_MSB], + BNO055_EULER_R_MSB_VALUER); + *euler_r_s16 = (s16)((((s32) + ((s8)data_u8[BNO055_SENSOR_DATA_EULER_MSB])) << + BNO055_SHIFT_EIGHT_BITS) + | (data_u8[BNO055_SENSOR_DATA_EULER_LSB])); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API reads Euler data p values + * from register 0x1E and 0x1F it is a two byte data + * + * @param euler_p_s16 : The raw p data + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_p(s16 *euler_p_s16) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + /* Array holding the Euler p value + data_u8[BNO055_SENSOR_DATA_EULER_LSB] - p->LSB + data_u8[BNO055_SENSOR_DATA_EULER_MSB] - p->MSB + */ + u8 data_u8[BNO055_EULER_DATA_SIZE] = { + BNO055_INIT_VALUE, BNO055_INIT_VALUE}; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, chip id is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the Euler p data*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_EULER_P_LSB_VALUEP_REG, + data_u8, BNO055_LSB_MSB_READ_LENGTH); + data_u8[BNO055_SENSOR_DATA_EULER_LSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_EULER_LSB], + BNO055_EULER_P_LSB_VALUEP); + data_u8[BNO055_SENSOR_DATA_EULER_MSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_EULER_MSB], + BNO055_EULER_P_MSB_VALUEP); + *euler_p_s16 = (s16)((((s32) + ((s8)data_u8[BNO055_SENSOR_DATA_EULER_MSB])) << + BNO055_SHIFT_EIGHT_BITS) + | (data_u8[BNO055_SENSOR_DATA_EULER_LSB])); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API reads Euler data hrp values + * from register 0x1A to 0x1F it is a six byte data + * + * + * @param euler : The Euler hrp data's + * + * Parameter | result + * --------- | ----------------- + * h | The Euler h data + * r | The Euler r data + * p | The Euler p data + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_hrp( +struct bno055_euler_t *euler) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + /* Array holding the Euler hrp value + data_u8[BNO055_SENSOR_DATA_EULER_HRP_H_LSB] - h->LSB + data_u8[BNO055_SENSOR_DATA_EULER_HRP_H_MSB] - h->MSB + data_u8[BNO055_SENSOR_DATA_EULER_HRP_R_LSB] - r->MSB + data_u8[BNO055_SENSOR_DATA_EULER_HRP_R_MSB] - r->MSB + data_u8[BNO055_SENSOR_DATA_EULER_HRP_P_LSB] - p->MSB + data_u8[BNO055_SENSOR_DATA_EULER_HRP_P_MSB] - p->MSB + */ + u8 data_u8[BNO055_EULER_HRP_DATA_SIZE] = { + BNO055_INIT_VALUE, BNO055_INIT_VALUE, + BNO055_INIT_VALUE, BNO055_INIT_VALUE, + BNO055_INIT_VALUE, BNO055_INIT_VALUE}; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, chip id is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the six byte of Euler hrp data*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_EULER_H_LSB_VALUEH_REG, + data_u8, BNO055_EULER_HRP_DATA_SIZE); + /* Data h*/ + data_u8[BNO055_SENSOR_DATA_EULER_HRP_H_LSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_EULER_HRP_H_LSB], + BNO055_EULER_H_LSB_VALUEH); + data_u8[BNO055_SENSOR_DATA_EULER_HRP_H_MSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_EULER_HRP_H_MSB], + BNO055_EULER_H_MSB_VALUEH); + euler->h = (s16)((((s32) + ((s8)data_u8[BNO055_SENSOR_DATA_EULER_HRP_H_MSB])) << + BNO055_SHIFT_EIGHT_BITS) | + (data_u8[BNO055_SENSOR_DATA_EULER_HRP_H_LSB])); + /* Data r*/ + data_u8[BNO055_SENSOR_DATA_EULER_HRP_R_LSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_EULER_HRP_R_LSB], + BNO055_EULER_R_LSB_VALUER); + data_u8[BNO055_SENSOR_DATA_EULER_HRP_R_MSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_EULER_HRP_R_MSB], + BNO055_EULER_R_MSB_VALUER); + euler->r = (s16)((((s32) + ((s8)data_u8[BNO055_SENSOR_DATA_EULER_HRP_R_MSB])) << + BNO055_SHIFT_EIGHT_BITS) + | (data_u8[BNO055_SENSOR_DATA_EULER_HRP_R_LSB])); + /* Data p*/ + data_u8[BNO055_SENSOR_DATA_EULER_HRP_P_LSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_EULER_HRP_P_LSB], + BNO055_EULER_P_LSB_VALUEP); + data_u8[BNO055_SENSOR_DATA_EULER_HRP_P_MSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_EULER_HRP_P_MSB], + BNO055_EULER_P_MSB_VALUEP); + euler->p = (s16)((((s32) + ((s8)data_u8[BNO055_SENSOR_DATA_EULER_HRP_P_MSB])) << + BNO055_SHIFT_EIGHT_BITS) + | (data_u8[BNO055_SENSOR_DATA_EULER_HRP_P_LSB])); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API reads quaternion data w values + * from register 0x20 and 0x21 it is a two byte data + * + * @param quaternion_w_s16 : The raw w data + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_w( +s16 *quaternion_w_s16) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + /* Array holding the Quaternion w value + data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB] - w->LSB + data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB] - w->MSB + */ + u8 data_u8[BNO055_QUATERNION_DATA_SIZE] = { + BNO055_INIT_VALUE, BNO055_INIT_VALUE}; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, chip id is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the two byte value + of quaternion w data*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_QUATERNION_DATA_W_LSB_VALUEW_REG, + data_u8, BNO055_LSB_MSB_READ_LENGTH); + data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB], + BNO055_QUATERNION_DATA_W_LSB_VALUEW); + data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB], + BNO055_QUATERNION_DATA_W_MSB_VALUEW); + *quaternion_w_s16 = (s16)((((s32) + ((s8)data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB])) << + BNO055_SHIFT_EIGHT_BITS) + | (data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB])); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API reads quaternion data x values + * from register 0x22 and 0x23 it is a two byte data + * + * @param quaternion_x_s16 : The raw x data + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_x( +s16 *quaternion_x_s16) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + /* Array holding the quaternion x value + data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB] - x->LSB + data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB] - x->MSB + */ + u8 data_u8[BNO055_QUATERNION_DATA_SIZE] = {BNO055_INIT_VALUE, + BNO055_INIT_VALUE}; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, chip id is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the two byte value + of quaternion x data*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_QUATERNION_DATA_X_LSB_VALUEX_REG, + data_u8, BNO055_LSB_MSB_READ_LENGTH); + data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB], + BNO055_QUATERNION_DATA_X_LSB_VALUEX); + data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB], + BNO055_QUATERNION_DATA_X_MSB_VALUEX); + *quaternion_x_s16 = (s16)((((s32) + ((s8)data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB])) << + BNO055_SHIFT_EIGHT_BITS) | + (data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB])); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API reads quaternion data y values + * from register 0x24 and 0x25 it is a two byte data + * + * @param quaternion_y_s16 : The raw y data + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_y( +s16 *quaternion_y_s16) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + /* Array holding the quaternion y value + data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB] - y->LSB + data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB] - y->MSB + */ + u8 data_u8[BNO055_QUATERNION_DATA_SIZE] = {BNO055_INIT_VALUE, + BNO055_INIT_VALUE}; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, chip id is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the two byte value + of quaternion y data*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_QUATERNION_DATA_Y_LSB_VALUEY_REG, + data_u8, BNO055_LSB_MSB_READ_LENGTH); + data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB], + BNO055_QUATERNION_DATA_Y_LSB_VALUEY); + data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB] = + BNO055_GET_BITSLICE + (data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB], + BNO055_QUATERNION_DATA_Y_MSB_VALUEY); + *quaternion_y_s16 = (s16)((((s32) + ((s8)data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB])) << + BNO055_SHIFT_EIGHT_BITS) + | (data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB])); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API reads quaternion data z values + * from register 0x26 and 0x27 it is a two byte data + * + * @param quaternion_z_s16 : The raw z data + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_z( +s16 *quaternion_z_s16) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + /* Array holding the quaternion z value + data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB] - z->LSB + data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB] - z->MSB + */ + u8 data_u8[BNO055_QUATERNION_DATA_SIZE] = { + BNO055_INIT_VALUE, BNO055_INIT_VALUE}; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, chip id is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the two byte value + of quaternion z data*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_QUATERNION_DATA_Z_LSB_VALUEZ_REG, + data_u8, BNO055_LSB_MSB_READ_LENGTH); + data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB], + BNO055_QUATERNION_DATA_Z_LSB_VALUEZ); + data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB], + BNO055_QUATERNION_DATA_Z_MSB_VALUEZ); + *quaternion_z_s16 = (s16)((((s32) + ((s8)data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB])) << + BNO055_SHIFT_EIGHT_BITS) + | (data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB])); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API reads Quaternion data wxyz values + * from register 0x20 to 0x27 it is a six byte data + * + * + * @param quaternion : The value of quaternion wxyz data's + * + * Parameter | result + * --------- | ----------------- + * w | The quaternion w data + * x | The quaternion x data + * y | The quaternion y data + * z | The quaternion z data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_wxyz( +struct bno055_quaternion_t *quaternion) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + /* Array holding the quaternion wxyz value + data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_LSB] - w->LSB + data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_MSB] - w->MSB + data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_LSB] - x->LSB + data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_MSB] - x->MSB + data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_LSB] - y->MSB + data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_MSB] - y->MSB + data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_LSB] - z->MSB + data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_MSB] - z->MSB + */ + u8 data_u8[BNO055_QUATERNION_WXYZ_DATA_SIZE] = { + BNO055_INIT_VALUE, BNO055_INIT_VALUE, + BNO055_INIT_VALUE, BNO055_INIT_VALUE, + BNO055_INIT_VALUE, BNO055_INIT_VALUE, + BNO055_INIT_VALUE, BNO055_INIT_VALUE}; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, chip id is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the eight byte value + of quaternion wxyz data*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_QUATERNION_DATA_W_LSB_VALUEW_REG, + data_u8, BNO055_QUATERNION_WXYZ_DATA_SIZE); + /* Data W*/ + data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_LSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_LSB], + BNO055_QUATERNION_DATA_W_LSB_VALUEW); + data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_MSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_MSB], + BNO055_QUATERNION_DATA_W_MSB_VALUEW); + quaternion->w = (s16)((((s32)((s8) + data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_MSB])) << + BNO055_SHIFT_EIGHT_BITS) | + (data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_LSB])); + /* Data X*/ + data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_LSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_LSB], + BNO055_QUATERNION_DATA_X_LSB_VALUEX); + data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_MSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_MSB], + BNO055_QUATERNION_DATA_X_MSB_VALUEX); + quaternion->x = (s16)((((s32)((s8) + data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_MSB])) << + BNO055_SHIFT_EIGHT_BITS) | + (data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_LSB])); + /* Data Y*/ + data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_LSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_LSB], + BNO055_QUATERNION_DATA_Y_LSB_VALUEY); + data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_MSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_MSB], + BNO055_QUATERNION_DATA_Y_MSB_VALUEY); + quaternion->y = (s16)((((s32)((s8) + data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_MSB])) << + BNO055_SHIFT_EIGHT_BITS) | + (data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_LSB])); + /* Data Z*/ + data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_LSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_LSB], + BNO055_QUATERNION_DATA_Z_LSB_VALUEZ); + data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_MSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_MSB], + BNO055_QUATERNION_DATA_Z_MSB_VALUEZ); + quaternion->z = (s16)((((s32)((s8) + data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_MSB])) << + BNO055_SHIFT_EIGHT_BITS) | + (data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_LSB])); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API reads Linear accel data x values + * from register 0x29 and 0x2A it is a two byte data + * + * @param linear_accel_x_s16 : The raw x data + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_x( +s16 *linear_accel_x_s16) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + /* Array holding the linear accel x value + data_u8[BNO055_SENSOR_DATA_LSB] - x->LSB + data_u8[BNO055_SENSOR_DATA_MSB] - x->MSB + */ + u8 data_u8[BNO055_ACCEL_DATA_SIZE] = { + BNO055_INIT_VALUE, BNO055_INIT_VALUE}; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, chip id is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the two byte value + of linear accel x data*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX_REG, + data_u8, BNO055_LSB_MSB_READ_LENGTH); + data_u8[BNO055_SENSOR_DATA_LSB] = + BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB], + BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX); + data_u8[BNO055_SENSOR_DATA_MSB] = + BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB], + BNO055_LINEAR_ACCEL_DATA_X_MSB_VALUEX); + *linear_accel_x_s16 = (s16)((((s32) + ((s8)data_u8[BNO055_SENSOR_DATA_MSB])) << + BNO055_SHIFT_EIGHT_BITS) + | (data_u8[BNO055_SENSOR_DATA_LSB])); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API reads Linear accel data x values + * from register 0x2B and 0x2C it is a two byte data + * + * @param linear_accel_y_s16 : The raw y data + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_y( +s16 *linear_accel_y_s16) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + /* Array holding the linear accel y value + data_u8[BNO055_SENSOR_DATA_LSB] - y->LSB + data_u8[BNO055_SENSOR_DATA_MSB] - y->MSB + */ + u8 data_u8[BNO055_ACCEL_DATA_SIZE] = { + BNO055_INIT_VALUE, BNO055_INIT_VALUE}; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, chip id is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the two byte value + of linear accel y data*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY_REG, + data_u8, BNO055_LSB_MSB_READ_LENGTH); + data_u8[BNO055_SENSOR_DATA_LSB] = + BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB], + BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY); + data_u8[BNO055_SENSOR_DATA_MSB] = + BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB], + BNO055_LINEAR_ACCEL_DATA_Y_MSB_VALUEY); + *linear_accel_y_s16 = (s16)((((s32) + ((s8)data_u8[BNO055_SENSOR_DATA_MSB])) << + BNO055_SHIFT_EIGHT_BITS) | ( + data_u8[BNO055_SENSOR_DATA_LSB])); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API reads Linear accel data x values + * from register 0x2C and 0x2D it is a two byte data + * + * @param linear_accel_z_s16 : The raw z data + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_z( +s16 *linear_accel_z_s16) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + /* Array holding the linear accel z value + data_u8[BNO055_SENSOR_DATA_LSB] - z->LSB + data_u8[BNO055_SENSOR_DATA_MSB] - z->MSB + */ + u8 data_u8[BNO055_ACCEL_DATA_SIZE] = { + BNO055_INIT_VALUE, BNO055_INIT_VALUE}; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, chip id is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the two byte value + of linear accel z data*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ_REG, + data_u8, BNO055_LSB_MSB_READ_LENGTH); + data_u8[BNO055_SENSOR_DATA_LSB] = + BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB], + BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ); + data_u8[BNO055_SENSOR_DATA_MSB] = + BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB], + BNO055_LINEAR_ACCEL_DATA_Z_MSB_VALUEZ); + *linear_accel_z_s16 = (s16)((((s32) + ((s8)data_u8[BNO055_SENSOR_DATA_MSB])) << + BNO055_SHIFT_EIGHT_BITS) | ( + data_u8[BNO055_SENSOR_DATA_LSB])); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API reads Linear accel data xyz values + * from register 0x28 to 0x2D it is a six byte data + * + * + * @param linear_accel : The value of linear accel xyz data's + * + * Parameter | result + * --------- | ----------------- + * x | The linear accel x data + * y | The linear accel y data + * z | The linear accel z data + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_xyz( +struct bno055_linear_accel_t *linear_accel) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + /* Array holding the linear accel xyz value + data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB] - x->LSB + data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB] - x->MSB + data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB] - y->MSB + data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB] - y->MSB + data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB] - z->MSB + data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB] - z->MSB + */ + u8 data_u8[BNO055_ACCEL_XYZ_DATA_SIZE] = { + BNO055_INIT_VALUE, BNO055_INIT_VALUE, + BNO055_INIT_VALUE, BNO055_INIT_VALUE, + BNO055_INIT_VALUE, BNO055_INIT_VALUE}; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, chip id is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the six byte value + of linear accel xyz data*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX_REG, + data_u8, BNO055_ACCEL_XYZ_DATA_SIZE); + /* Data x*/ + data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB], + BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX); + data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB], + BNO055_LINEAR_ACCEL_DATA_X_MSB_VALUEX); + linear_accel->x = (s16)((((s32) + ((s8)data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB])) << + BNO055_SHIFT_EIGHT_BITS) + | (data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB])); + /* Data y*/ + data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB], + BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY); + data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB], + BNO055_LINEAR_ACCEL_DATA_Y_MSB_VALUEY); + linear_accel->y = (s16)((((s32) + ((s8)data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB])) << + BNO055_SHIFT_EIGHT_BITS) + | (data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB])); + /* Data z*/ + data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB], + BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ); + data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB], + BNO055_LINEAR_ACCEL_DATA_Z_MSB_VALUEZ); + linear_accel->z = (s16)((((s32) + ((s8)data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB])) << + BNO055_SHIFT_EIGHT_BITS) + | (data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB])); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API reads gravity data x values + * from register 0x2E and 0x2F it is a two byte data + * + * @param gravity_x_s16 : The raw x data + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_x( +s16 *gravity_x_s16) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + /* Array holding the gravity x value + data_u8[BNO055_SENSOR_DATA_LSB] - x->LSB + data_u8[BNO055_SENSOR_DATA_MSB] - x->MSB + */ + u8 data_u8[BNO055_GRAVITY_DATA_SIZE] = { + BNO055_INIT_VALUE, BNO055_INIT_VALUE}; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, chip id is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the two byte value + of gravity x data*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GRAVITY_DATA_X_LSB_VALUEX_REG, + data_u8, BNO055_LSB_MSB_READ_LENGTH); + data_u8[BNO055_SENSOR_DATA_LSB] = + BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB], + BNO055_GRAVITY_DATA_X_LSB_VALUEX); + data_u8[BNO055_SENSOR_DATA_MSB] = + BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB], + BNO055_GRAVITY_DATA_X_MSB_VALUEX); + *gravity_x_s16 = (s16)((((s32) + ((s8)data_u8[BNO055_SENSOR_DATA_MSB])) << + BNO055_SHIFT_EIGHT_BITS) + | (data_u8[BNO055_SENSOR_DATA_LSB])); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API reads gravity data y values + * from register 0x30 and 0x31 it is a two byte data + * + * @param gravity_y_s16 : The raw y data + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_y( +s16 *gravity_y_s16) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + /* Array holding the gravity y value + data_u8[BNO055_SENSOR_DATA_LSB] - y->LSB + data_u8[BNO055_SENSOR_DATA_MSB] - y->MSB + */ + u8 data_u8[BNO055_GRAVITY_DATA_SIZE] = { + BNO055_INIT_VALUE, BNO055_INIT_VALUE}; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, chip id is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the two byte value + of gravity y data*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GRAVITY_DATA_Y_LSB_VALUEY_REG, + data_u8, BNO055_LSB_MSB_READ_LENGTH); + data_u8[BNO055_SENSOR_DATA_LSB] = + BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB], + BNO055_GRAVITY_DATA_Y_LSB_VALUEY); + data_u8[BNO055_SENSOR_DATA_MSB] = + BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB], + BNO055_GRAVITY_DATA_Y_MSB_VALUEY); + *gravity_y_s16 = (s16)((((s32) + ((s8)data_u8[BNO055_SENSOR_DATA_MSB])) << + BNO055_SHIFT_EIGHT_BITS) + | (data_u8[BNO055_SENSOR_DATA_LSB])); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API reads gravity data z values + * from register 0x32 and 0x33 it is a two byte data + * + * @param gravity_z_s16 : The raw z data + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_z( +s16 *gravity_z_s16) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + /* Array holding the gravity z value + data_u8[BNO055_SENSOR_DATA_LSB] - z->LSB + data_u8[BNO055_SENSOR_DATA_MSB] - z->MSB + */ + u8 data_u8[BNO055_GRAVITY_DATA_SIZE] = { + BNO055_INIT_VALUE, BNO055_INIT_VALUE}; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, chip id is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the two byte value + of gravity z data*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GRAVITY_DATA_Z_LSB_VALUEZ_REG, + data_u8, BNO055_LSB_MSB_READ_LENGTH); + data_u8[BNO055_SENSOR_DATA_LSB] = + BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB], + BNO055_GRAVITY_DATA_Z_LSB_VALUEZ); + data_u8[BNO055_SENSOR_DATA_MSB] = + BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB], + BNO055_GRAVITY_DATA_Z_MSB_VALUEZ); + *gravity_z_s16 = (s16)((((s32) + ((s8)data_u8[BNO055_SENSOR_DATA_MSB])) << + BNO055_SHIFT_EIGHT_BITS) + | (data_u8[BNO055_SENSOR_DATA_LSB])); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API reads gravity data xyz values + * from register 0x2E to 0x33 it is a six byte data + * + * + * @param gravity : The value of gravity xyz data's + * + * Parameter | result + * --------- | ----------------- + * x | The gravity x data + * y | The gravity y data + * z | The gravity z data + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_xyz( +struct bno055_gravity_t *gravity) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + /* Array holding the gravity xyz value + data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB] - x->LSB + data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB] - x->MSB + data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB] - y->MSB + data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB] - y->MSB + data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB] - z->MSB + data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB] - z->MSB + */ + u8 data_u8[BNO055_GRAVITY_XYZ_DATA_SIZE] = { + BNO055_INIT_VALUE, BNO055_INIT_VALUE, + BNO055_INIT_VALUE, BNO055_INIT_VALUE, + BNO055_INIT_VALUE, BNO055_INIT_VALUE}; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, chip id is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the six byte value + of gravity xyz data*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GRAVITY_DATA_X_LSB_VALUEX_REG, + data_u8, BNO055_GRAVITY_XYZ_DATA_SIZE); + /* Data x*/ + data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB], + BNO055_GRAVITY_DATA_X_LSB_VALUEX); + data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB], + BNO055_GRAVITY_DATA_X_MSB_VALUEX); + gravity->x = (s16)(((s32) + ((s8)data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB]) << + BNO055_SHIFT_EIGHT_BITS) | + (data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB])); + /* Data y*/ + data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB], + BNO055_GRAVITY_DATA_Y_LSB_VALUEY); + data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB], + BNO055_GRAVITY_DATA_Y_MSB_VALUEY); + gravity->y = (s16)((((s32) + ((s8)data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB])) << + BNO055_SHIFT_EIGHT_BITS) | ( + data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB])); + /* Data z*/ + data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB], + BNO055_GRAVITY_DATA_Z_LSB_VALUEZ); + data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB], + BNO055_GRAVITY_DATA_Z_MSB_VALUEZ); + gravity->z = (s16)((((s32) + ((s8)data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB])) << + BNO055_SHIFT_EIGHT_BITS) + | (data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB])); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API reads temperature values + * from register 0x33 it is a byte data + * + * @param temp_s8 : The raw temperature data + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_temp_data(s8 *temp_s8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8 = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, chip id is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the raw temperature data */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_TEMP_REG, &data_u8, + BNO055_GEN_READ_WRITE_LENGTH); + *temp_s8 = data_u8; + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +#ifdef BNO055_FLOAT_ENABLE +/*! + * @brief This API is used to convert the accel x raw data + * to meterpersecseq output as float + * + * @param accel_x_f : The accel x meterpersecseq data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_x_msq( +float *accel_x_f) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s16 reg_accel_x_s16 = BNO055_INIT_VALUE; + float data_f = BNO055_INIT_VALUE; + u8 accel_unit_u8 = BNO055_INIT_VALUE; + /* Read the current accel unit and set the + unit as m/s2 if the unit is in mg*/ + com_rslt = bno055_get_accel_unit(&accel_unit_u8); + if (accel_unit_u8 != BNO055_ACCEL_UNIT_MSQ) + com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MSQ); + if (com_rslt == BNO055_SUCCESS) { + /* Read the accel raw x data*/ + com_rslt += bno055_read_accel_x(®_accel_x_s16); + p_bno055->delay_msec(BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + /* Convert the raw accel x to m/s2*/ + data_f = + (float)(reg_accel_x_s16/BNO055_ACCEL_DIV_MSQ); + *accel_x_f = data_f; + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the accel x raw data + * to millig output as float + * + * @param accel_x_f : The accel x millig data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_x_mg( +float *accel_x_f) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s16 reg_accel_x_s16 = BNO055_INIT_VALUE; + float data_f = BNO055_INIT_VALUE; + u8 accel_unit_u8 = BNO055_INIT_VALUE; + /* Read the current accel unit and set the + unit as mg if the unit is in m/s2*/ + com_rslt = bno055_get_accel_unit(&accel_unit_u8); + if (accel_unit_u8 != BNO055_ACCEL_UNIT_MG) + com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MG); + if (com_rslt == BNO055_SUCCESS) { + /* Read the accel raw x data*/ + com_rslt += bno055_read_accel_x(®_accel_x_s16); + if (com_rslt == BNO055_SUCCESS) { + /* Convert the raw accel x to m/s2*/ + data_f = + (float)(reg_accel_x_s16/BNO055_ACCEL_DIV_MG); + *accel_x_f = data_f; + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the accel x raw data + * to meterpersecseq output as float + * + * @param accel_y_f : The accel y meterpersecseq data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_y_msq( +float *accel_y_f) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s16 reg_accel_y_s16 = BNO055_INIT_VALUE; + float data_f = BNO055_INIT_VALUE; + u8 accel_unit_u8 = BNO055_INIT_VALUE; + /* Read the current accel unit and set the + unit as m/s2 if the unit is in mg*/ + com_rslt = bno055_get_accel_unit(&accel_unit_u8); + if (accel_unit_u8 != BNO055_ACCEL_UNIT_MSQ) + com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MSQ); + if (com_rslt == BNO055_SUCCESS) { + com_rslt += bno055_read_accel_y(®_accel_y_s16); + p_bno055->delay_msec(BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + /* Convert the raw accel y to m/s2*/ + data_f = + (float)(reg_accel_y_s16/BNO055_ACCEL_DIV_MSQ); + *accel_y_f = data_f; + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the accel y raw data + * to millig output as float + * + * @param accel_y_f : The accel y millig data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_y_mg( +float *accel_y_f) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s16 reg_accel_y_s16 = BNO055_INIT_VALUE; + float data = BNO055_INIT_VALUE; + u8 accel_unit_u8 = BNO055_INIT_VALUE; + /* Read the current accel unit and set the + unit as mg if the unit is in m/s2*/ + com_rslt = bno055_get_accel_unit(&accel_unit_u8); + if (accel_unit_u8 != BNO055_ACCEL_UNIT_MG) + com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MG); + if (com_rslt == BNO055_SUCCESS) { + /* Read the accel raw z data*/ + com_rslt += bno055_read_accel_y(®_accel_y_s16); + if (com_rslt == BNO055_SUCCESS) { + /* Convert the raw accel z to mg*/ + data = (float)( + reg_accel_y_s16/BNO055_ACCEL_DIV_MG); + *accel_y_f = data; + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the accel z raw data + * to meterpersecseq output as float + * + * @param accel_z_f : The accel z meterpersecseq data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_z_msq( +float *accel_z_f) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s16 reg_accel_z_s16 = BNO055_INIT_VALUE; + float data_f = BNO055_INIT_VALUE; + u8 accel_unit_u8 = BNO055_INIT_VALUE; + /* Read the current accel unit and set the + unit as m/s2 if the unit is in mg*/ + com_rslt = bno055_get_accel_unit(&accel_unit_u8); + if (accel_unit_u8 != BNO055_ACCEL_UNIT_MSQ) + com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MSQ); + if (com_rslt == BNO055_SUCCESS) { + /* Read the accel raw z data*/ + com_rslt += bno055_read_accel_z(®_accel_z_s16); + p_bno055->delay_msec(BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + /* Convert the raw accel z to m/s2*/ + data_f = + (float)(reg_accel_z_s16/BNO055_ACCEL_DIV_MSQ); + *accel_z_f = data_f; + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the accel z raw data + * to millig output as float + * + * @param accel_z_f : The accel z millig data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_z_mg( +float *accel_z_f) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s16 reg_accel_z_s16 = BNO055_INIT_VALUE; + float data_f = BNO055_INIT_VALUE; + u8 accel_unit_u8 = BNO055_INIT_VALUE; + /* Read the current accel unit and set the + unit as mg if the unit is in m/s2 */ + com_rslt = bno055_get_accel_unit(&accel_unit_u8); + if (accel_unit_u8 != BNO055_ACCEL_UNIT_MG) + com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MG); + if (com_rslt == BNO055_SUCCESS) { + /* Read the accel raw z data*/ + com_rslt += bno055_read_accel_z(®_accel_z_s16); + if (com_rslt == BNO055_SUCCESS) { + /* Convert the raw accel x to mg*/ + data_f = + (float)(reg_accel_z_s16/BNO055_ACCEL_DIV_MG); + *accel_z_f = data_f; + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the accel xyz raw data + * to meterpersecseq output as float + * + * @param accel_xyz : The meterpersecseq data of accel xyz + * + * Parameter | result + * --------- | ----------------- + * x | meterpersecseq data of accel + * y | meterpersecseq data of accel + * z | meterpersecseq data of accel + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_xyz_msq( +struct bno055_accel_float_t *accel_xyz) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + struct bno055_accel_t reg_accel_xyz = { + BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE}; + u8 accel_unit_u8 = BNO055_INIT_VALUE; + /* Read the current accel unit and set the + unit as m/s2 if the unit is in mg*/ + com_rslt = bno055_get_accel_unit(&accel_unit_u8); + if (accel_unit_u8 != BNO055_ACCEL_UNIT_MSQ) + com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MSQ); + if (com_rslt == BNO055_SUCCESS) { + /* Read the accel raw xyz data*/ + com_rslt += bno055_read_accel_xyz(®_accel_xyz); + if (com_rslt == BNO055_SUCCESS) { + /* Convert the accel raw xyz to meterpersecseq*/ + accel_xyz->x = + (float)(reg_accel_xyz.x/BNO055_ACCEL_DIV_MSQ); + accel_xyz->y = + (float)(reg_accel_xyz.y/BNO055_ACCEL_DIV_MSQ); + accel_xyz->z = + (float)(reg_accel_xyz.z/BNO055_ACCEL_DIV_MSQ); + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the accel xyz raw data + * to millig output as float + * + * @param accel_xyz : The millig data of accel xyz + * + * Parameter | result + * --------- | ----------------- + * x | millig data of accel + * y | millig data of accel + * z | millig data of accel + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_xyz_mg( +struct bno055_accel_float_t *accel_xyz) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + struct bno055_accel_t reg_accel_xyz = { + BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE}; + u8 accel_unit_u8 = BNO055_INIT_VALUE; + /* Read the current accel unit and set the + unit as mg if the unit is in m/s2*/ + com_rslt = bno055_get_accel_unit(&accel_unit_u8); + if (accel_unit_u8 != BNO055_ACCEL_UNIT_MG) + com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MG); + if (com_rslt == BNO055_SUCCESS) { + /* Read the accel raw y data*/ + com_rslt += bno055_read_accel_xyz(®_accel_xyz); + if (com_rslt == BNO055_SUCCESS) { + /*Convert the accel raw xyz to millig */ + accel_xyz->x = + (float)(reg_accel_xyz.x/BNO055_ACCEL_DIV_MG); + accel_xyz->y = + (float)(reg_accel_xyz.y/BNO055_ACCEL_DIV_MG); + accel_xyz->z = + (float)(reg_accel_xyz.z/BNO055_ACCEL_DIV_MG); + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the mag x raw data + * to microTesla output as float + * + * @param mag_x_f : The mag x microTesla data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_x_uT( +float *mag_x_f) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s16 reg_mag_x_s16 = BNO055_INIT_VALUE; + float data_f = BNO055_INIT_VALUE; + /* Read raw mag x data */ + com_rslt = bno055_read_mag_x(®_mag_x_s16); + if (com_rslt == BNO055_SUCCESS) { + /* Convert the raw mag x to microTesla*/ + data_f = (float)(reg_mag_x_s16/BNO055_MAG_DIV_UT); + *mag_x_f = data_f; + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the mag y raw data + * to microTesla output as float + * + * @param mag_y_f : The mag y microTesla data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_y_uT( +float *mag_y_f) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s16 reg_mag_y_s16 = BNO055_INIT_VALUE; + float data_f = BNO055_INIT_VALUE; + /* Read raw mag y data */ + com_rslt = bno055_read_mag_y(®_mag_y_s16); + if (com_rslt == BNO055_SUCCESS) { + /* Convert the raw mag y to microTesla*/ + data_f = (float)(reg_mag_y_s16/BNO055_MAG_DIV_UT); + *mag_y_f = data_f; + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the mag z raw data + * to microTesla output as float + * + * @param mag_z_f : The mag z microTesla data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_z_uT( +float *mag_z_f) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s16 reg_mag_z_s16 = BNO055_INIT_VALUE; + float data_f = BNO055_INIT_VALUE; + /* Read raw mag z data */ + com_rslt = bno055_read_mag_z(®_mag_z_s16); + if (com_rslt == BNO055_SUCCESS) { + /* Convert the raw mag z to microTesla*/ + data_f = (float)(reg_mag_z_s16/BNO055_MAG_DIV_UT); + *mag_z_f = data_f; + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the mag yz raw data + * to microTesla output as float + * + * @param mag_xyz_data : The microTesla data of mag xyz + * + * Parameter | result + * --------- | ----------------- + * x | microTesla data of mag + * y | microTesla data of mag + * z | microTesla data of mag + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_xyz_uT( +struct bno055_mag_float_t *mag_xyz_data) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + struct bno055_mag_t mag_xyz = { + BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE}; + /* Read raw mag x data */ + com_rslt = bno055_read_mag_xyz(&mag_xyz); + if (com_rslt == BNO055_SUCCESS) { + /* Convert mag raw xyz to microTesla*/ + mag_xyz_data->x = (float)(mag_xyz.x/BNO055_MAG_DIV_UT); + mag_xyz_data->y = (float)(mag_xyz.y/BNO055_MAG_DIV_UT); + mag_xyz_data->z = (float)(mag_xyz.z/BNO055_MAG_DIV_UT); + } else { + com_rslt = BNO055_ERROR; + } + + return com_rslt; +} +/*! + * @brief This API is used to convert the gyro x raw data + * to dps output as float + * + * @param gyro_x_f : The gyro x dps float data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_x_dps( +float *gyro_x_f) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s16 reg_gyro_x_s16 = BNO055_INIT_VALUE; + float data_f = BNO055_INIT_VALUE; + u8 gyro_unit_u8 = BNO055_INIT_VALUE; + /* Read the current gyro unit and set the + unit as dps if the unit is in rps */ + com_rslt = bno055_get_gyro_unit(&gyro_unit_u8); + if (gyro_unit_u8 != BNO055_GYRO_UNIT_DPS) + com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_DPS); + if (com_rslt == BNO055_SUCCESS) { + /* Read gyro raw x data */ + com_rslt += bno055_read_gyro_x(®_gyro_x_s16); + if (com_rslt == BNO055_SUCCESS) { + /* Convert the raw gyro x to dps*/ + data_f = + (float)(reg_gyro_x_s16/BNO055_GYRO_DIV_DPS); + *gyro_x_f = data_f; + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the gyro x raw data + * to rps output as float + * + * @param gyro_x_f : The gyro x dps float data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_x_rps( +float *gyro_x_f) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s16 reg_gyro_x_s16 = BNO055_INIT_VALUE; + float data_f = BNO055_INIT_VALUE; + u8 gyro_unit_u8 = BNO055_INIT_VALUE; + /* Read the current gyro unit and set the + unit as rps if the unit is in dps */ + com_rslt = bno055_get_gyro_unit(&gyro_unit_u8); + if (gyro_unit_u8 != BNO055_GYRO_UNIT_RPS) + com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_RPS); + if (com_rslt == BNO055_SUCCESS) { + /* Read gyro raw x data */ + com_rslt += bno055_read_gyro_x(®_gyro_x_s16); + if (com_rslt == BNO055_SUCCESS) { + /* Convert the raw gyro x to rps*/ + data_f = + (float)(reg_gyro_x_s16/BNO055_GYRO_DIV_RPS); + *gyro_x_f = data_f; + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the gyro y raw data + * to dps output as float + * + * @param gyro_y_f : The gyro y dps float data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_y_dps( +float *gyro_y_f) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s16 reg_gyro_y_s16 = BNO055_INIT_VALUE; + float data_f = BNO055_INIT_VALUE; + u8 gyro_unit_u8 = BNO055_INIT_VALUE; + /* Read the current gyro unit and set the + unit as dps if the unit is in rps */ + com_rslt = bno055_get_gyro_unit(&gyro_unit_u8); + if (gyro_unit_u8 != BNO055_GYRO_UNIT_DPS) + com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_DPS); + if (com_rslt == BNO055_SUCCESS) { + /* Read gyro raw y data */ + com_rslt += bno055_read_gyro_y(®_gyro_y_s16); + if (com_rslt == BNO055_SUCCESS) { + /* Convert the raw gyro x to dps*/ + data_f = + (float)(reg_gyro_y_s16/BNO055_GYRO_DIV_DPS); + *gyro_y_f = data_f; + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the gyro y raw data + * to rps output as float + * + * @param gyro_y_f : The gyro y dps float data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_y_rps( +float *gyro_y_f) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s16 reg_gyro_y_s16 = BNO055_INIT_VALUE; + float data_f = BNO055_INIT_VALUE; + u8 gyro_unit_u8 = BNO055_INIT_VALUE; + /* Read the current gyro unit and set the + unit as rps if the unit is in dps */ + com_rslt = bno055_get_gyro_unit(&gyro_unit_u8); + if (gyro_unit_u8 != BNO055_GYRO_UNIT_RPS) + com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_RPS); + if (com_rslt == BNO055_SUCCESS) { + /* Read gyro raw y data */ + com_rslt += bno055_read_gyro_y(®_gyro_y_s16); + if (com_rslt == BNO055_SUCCESS) { + /* Convert the raw gyro x to rps*/ + data_f = + (float)(reg_gyro_y_s16/BNO055_GYRO_DIV_RPS); + *gyro_y_f = data_f; + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the gyro z raw data + * to dps output as float + * + * @param gyro_z_f : The gyro z dps float data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_z_dps( +float *gyro_z_f) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s16 reg_gyro_z_s16 = BNO055_INIT_VALUE; + float data_f = BNO055_INIT_VALUE; + u8 gyro_unit_u8 = BNO055_INIT_VALUE; + /* Read the current gyro unit and set the + unit as dps if the unit is in rps */ + com_rslt = bno055_get_gyro_unit(&gyro_unit_u8); + if (gyro_unit_u8 != BNO055_GYRO_UNIT_DPS) + com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_DPS); + if (com_rslt == BNO055_SUCCESS) { + /* Read gyro raw z data */ + com_rslt += bno055_read_gyro_z(®_gyro_z_s16); + if (com_rslt == BNO055_SUCCESS) { + /* Convert the raw gyro x to dps*/ + data_f = + (float)(reg_gyro_z_s16/BNO055_GYRO_DIV_DPS); + *gyro_z_f = data_f; + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the gyro z raw data + * to rps output as float + * + * @param gyro_z_f : The gyro z rps float data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_z_rps( +float *gyro_z_f) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s16 reg_gyro_z_s16 = BNO055_INIT_VALUE; + float data_f = BNO055_INIT_VALUE; + u8 gyro_unit_u8 = BNO055_INIT_VALUE; + /* Read the current gyro unit and set the + unit as rps if the unit is in dps */ + com_rslt = bno055_get_gyro_unit(&gyro_unit_u8); + if (gyro_unit_u8 != BNO055_GYRO_UNIT_RPS) + com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_RPS); + if (com_rslt == BNO055_SUCCESS) { + /* Read gyro raw x data */ + com_rslt += bno055_read_gyro_z(®_gyro_z_s16); + if (com_rslt == BNO055_SUCCESS) { + /* Convert the raw gyro x to rps*/ + data_f = + (float)(reg_gyro_z_s16/BNO055_GYRO_DIV_RPS); + *gyro_z_f = data_f; + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the gyro xyz raw data + * to dps output as float + * + * @param gyro_xyz_data : The dps data of gyro xyz + * + * Parameter | result + * --------- | ----------------- + * x | dps data of gyro + * y | dps data of gyro + * z | dps data of gyro + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_xyz_dps( +struct bno055_gyro_float_t *gyro_xyz_data) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + struct bno055_gyro_t gyro_xyz = { + BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE}; + u8 gyro_unit_u8 = BNO055_INIT_VALUE; + /* Read the current gyro unit and set the + unit as dps if the unit is in rps */ + com_rslt = bno055_get_gyro_unit(&gyro_unit_u8); + if (gyro_unit_u8 != BNO055_GYRO_UNIT_DPS) + com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_DPS); + if (com_rslt == BNO055_SUCCESS) { + /* Read gyro raw xyz data */ + com_rslt += bno055_read_gyro_xyz(&gyro_xyz); + if (com_rslt == BNO055_SUCCESS) { + /* Convert gyro raw xyz to dps*/ + gyro_xyz_data->x = + (float)(gyro_xyz.x/BNO055_GYRO_DIV_DPS); + gyro_xyz_data->y = + (float)(gyro_xyz.y/BNO055_GYRO_DIV_DPS); + gyro_xyz_data->z = + (float)(gyro_xyz.z/BNO055_GYRO_DIV_DPS); + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the gyro xyz raw data + * to rps output as float + * + * @param gyro_xyz_data : The rps data of gyro xyz + * + * Parameter | result + * --------- | ----------------- + * x | rps data of gyro + * y | rps data of gyro + * z | rps data of gyro + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_xyz_rps( +struct bno055_gyro_float_t *gyro_xyz_data) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + struct bno055_gyro_t gyro_xyz = {BNO055_INIT_VALUE, + BNO055_INIT_VALUE, BNO055_INIT_VALUE}; + u8 gyro_unit_u8 = BNO055_INIT_VALUE; + /* Read the current gyro unit and set the + unit as rps if the unit is in dps */ + com_rslt = bno055_get_gyro_unit(&gyro_unit_u8); + if (gyro_unit_u8 != BNO055_GYRO_UNIT_RPS) + com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_RPS); + if (com_rslt == BNO055_SUCCESS) { + /* Read gyro raw xyz data */ + com_rslt += bno055_read_gyro_xyz(&gyro_xyz); + if (com_rslt == BNO055_SUCCESS) { + /* Convert gyro raw xyz to rps*/ + gyro_xyz_data->x = + (float)(gyro_xyz.x/BNO055_GYRO_DIV_RPS); + gyro_xyz_data->y = + (float)(gyro_xyz.y/BNO055_GYRO_DIV_RPS); + gyro_xyz_data->z = + (float)(gyro_xyz.z/BNO055_GYRO_DIV_RPS); + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the Euler h raw data + * to degree output as float + * + * @param euler_h_f : The float value of Euler h degree + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_h_deg( +float *euler_h_f) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s16 reg_euler_h_s16 = BNO055_INIT_VALUE; + float data_f = BNO055_INIT_VALUE; + u8 euler_unit_u8 = BNO055_INIT_VALUE; + /* Read the current Euler unit and set the + unit as degree if the unit is in radians */ + com_rslt = bno055_get_euler_unit(&euler_unit_u8); + if (euler_unit_u8 != BNO055_EULER_UNIT_DEG) + com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_DEG); + if (com_rslt == BNO055_SUCCESS) { + /* Read Euler raw h data*/ + com_rslt += bno055_read_euler_h(®_euler_h_s16); + if (com_rslt == BNO055_SUCCESS) { + /* Convert raw Euler h data to degree*/ + data_f = + (float)(reg_euler_h_s16/BNO055_EULER_DIV_DEG); + *euler_h_f = data_f; + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the Euler h raw data + * to radians output as float + * + * @param euler_h_f : The float value of Euler h radians + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_h_rad( +float *euler_h_f) +{ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s16 reg_euler_h_s16 = BNO055_INIT_VALUE; + float data_f = BNO055_INIT_VALUE; + u8 euler_unit_u8 = BNO055_INIT_VALUE; + + com_rslt = bno055_get_euler_unit(&euler_unit_u8); + if (euler_unit_u8 != BNO055_EULER_UNIT_RAD) + /* Read the current Euler unit and set the + unit as radians if the unit is in degree */ + com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_RAD); + if (com_rslt == BNO055_SUCCESS) { + /* Read Euler raw h data*/ + com_rslt += bno055_read_euler_h(®_euler_h_s16); + if (com_rslt == BNO055_SUCCESS) { + /* Convert raw Euler h data to degree*/ + data_f = + (float)(reg_euler_h_s16/BNO055_EULER_DIV_RAD); + *euler_h_f = data_f; + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the Euler r raw data + * to degree output as float + * + * @param euler_r_f : The float value of Euler r degree + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_r_deg( +float *euler_r_f) +{ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s16 reg_euler_r = BNO055_INIT_VALUE; + float data_f = BNO055_INIT_VALUE; + u8 euler_unit_u8 = BNO055_INIT_VALUE; + /* Read the current Euler unit and set the + unit as degree if the unit is in radians */ + com_rslt = bno055_get_euler_unit(&euler_unit_u8); + if (euler_unit_u8 != BNO055_EULER_UNIT_DEG) + com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_DEG); + if (com_rslt == BNO055_SUCCESS) { + /* Read Euler raw r data*/ + com_rslt += bno055_read_euler_r(®_euler_r); + if (com_rslt == BNO055_SUCCESS) { + /* Convert raw Euler r data to degree*/ + data_f = (float)( + reg_euler_r/BNO055_EULER_DIV_DEG); + *euler_r_f = data_f; + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the Euler r raw data + * to radians output as float + * + * @param euler_r_f : The float value of Euler r radians + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_r_rad( +float *euler_r_f) +{ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s16 reg_euler_r_f = BNO055_INIT_VALUE; + float data_f = BNO055_INIT_VALUE; + u8 euler_unit_u8 = BNO055_INIT_VALUE; + /* Read the current Euler unit and set the + unit as radians if the unit is in degree */ + com_rslt = bno055_get_euler_unit(&euler_unit_u8); + if (euler_unit_u8 != BNO055_EULER_UNIT_RAD) + com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_RAD); + if (com_rslt == BNO055_SUCCESS) { + /* Read Euler raw r data*/ + com_rslt += bno055_read_euler_r(®_euler_r_f); + if (com_rslt == BNO055_SUCCESS) { + /* Convert raw Euler r data to radians*/ + data_f = + (float)(reg_euler_r_f/BNO055_EULER_DIV_RAD); + *euler_r_f = data_f; + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the Euler p raw data + * to degree output as float + * + * @param euler_p_f : The float value of Euler p degree + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_p_deg( +float *euler_p_f) +{ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s16 reg_euler_p_f = BNO055_INIT_VALUE; + float data_f = BNO055_INIT_VALUE; + u8 euler_unit_u8 = BNO055_INIT_VALUE; + /* Read the current Euler unit and set the + unit as degree if the unit is in radians */ + com_rslt = bno055_get_euler_unit(&euler_unit_u8); + if (euler_unit_u8 != BNO055_EULER_UNIT_DEG) + com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_DEG); + if (com_rslt == BNO055_SUCCESS) { + /* Read Euler raw p data*/ + com_rslt += bno055_read_euler_p(®_euler_p_f); + if (com_rslt == BNO055_SUCCESS) { + /* Convert raw Euler p data to degree*/ + data_f = + (float)(reg_euler_p_f/BNO055_EULER_DIV_DEG); + *euler_p_f = data_f; + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the Euler p raw data + * to radians output as float + * + * @param euler_p_f : The float value of Euler p radians + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_p_rad( +float *euler_p_f) +{ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s16 reg_euler_p_f = BNO055_INIT_VALUE; + float data_f = BNO055_INIT_VALUE; + u8 euler_unit_u8 = BNO055_INIT_VALUE; + /* Read the current Euler unit and set the + unit as radians if the unit is in degree */ + com_rslt = bno055_get_euler_unit(&euler_unit_u8); + if (euler_unit_u8 != BNO055_EULER_UNIT_RAD) + com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_RAD); + if (com_rslt == BNO055_SUCCESS) { + /* Read Euler raw r data*/ + com_rslt += bno055_read_euler_p(®_euler_p_f); + if (com_rslt == BNO055_SUCCESS) { + /* Convert raw Euler r data to radians*/ + data_f = + (float)(reg_euler_p_f/BNO055_EULER_DIV_RAD); + *euler_p_f = data_f; + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the Euler hrp raw data + * to degree output as float + * + * @param euler_hpr : The degree data of Euler hrp + * + * Parameter | result + * --------- | ----------------- + * h | degree data of Euler + * r | degree data of Euler + * p | degree data of Euler + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_hpr_deg( +struct bno055_euler_float_t *euler_hpr) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + struct bno055_euler_t reg_euler = {BNO055_INIT_VALUE, + BNO055_INIT_VALUE, BNO055_INIT_VALUE}; + u8 euler_unit_u8 = BNO055_INIT_VALUE; + /* Read the current Euler unit and set the + unit as degree if the unit is in radians */ + com_rslt = bno055_get_euler_unit(&euler_unit_u8); + if (euler_unit_u8 != BNO055_EULER_UNIT_DEG) + com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_DEG); + if (com_rslt == BNO055_SUCCESS) { + /* Read Euler raw hrp data*/ + com_rslt += bno055_read_euler_hrp(®_euler); + if (com_rslt == BNO055_SUCCESS) { + /* Convert raw Euler hrp to degree*/ + euler_hpr->h = + (float)(reg_euler.h/BNO055_EULER_DIV_DEG); + euler_hpr->p = + (float)(reg_euler.p/BNO055_EULER_DIV_DEG); + euler_hpr->r = + (float)(reg_euler.r/BNO055_EULER_DIV_DEG); + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the Euler xyz raw data + * to radians output as float + * + * @param euler_hpr : The radians data of Euler hrp + * + * Parameter | result + * --------- | ----------------- + * h | radians data of Euler + * r | radians data of Euler + * p | radians data of Euler + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_hpr_rad( +struct bno055_euler_float_t *euler_hpr) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + struct bno055_euler_t reg_euler = {BNO055_INIT_VALUE, + BNO055_INIT_VALUE, BNO055_INIT_VALUE}; + u8 euler_unit_u8 = BNO055_INIT_VALUE; + /* Read the current Euler unit and set the + unit as radians if the unit is in degree */ + com_rslt = bno055_get_euler_unit(&euler_unit_u8); + if (euler_unit_u8 != BNO055_EULER_UNIT_RAD) + com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_RAD); + if (com_rslt == BNO055_SUCCESS) { + /* Read Euler raw hrp data*/ + com_rslt += bno055_read_euler_hrp(®_euler); + if (com_rslt == BNO055_SUCCESS) { + /* Convert raw hrp to radians */ + euler_hpr->h = + (float)(reg_euler.h/BNO055_EULER_DIV_RAD); + euler_hpr->p = + (float)(reg_euler.p/BNO055_EULER_DIV_RAD); + euler_hpr->r = + (float)(reg_euler.r/BNO055_EULER_DIV_RAD); + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the linear + * accel x raw data to meterpersecseq output as float + * + * @param linear_accel_x_f : The float value of linear accel x meterpersecseq + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_x_msq( +float *linear_accel_x_f) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s16 reg_linear_accel_x_s16 = BNO055_INIT_VALUE; + float data_f = BNO055_INIT_VALUE; + /* Read the raw x of linear accel */ + com_rslt = bno055_read_linear_accel_x(®_linear_accel_x_s16); + if (com_rslt == BNO055_SUCCESS) { + /* Convert the raw linear accel x to m/s2*/ + data_f = + (float)(reg_linear_accel_x_s16/BNO055_LINEAR_ACCEL_DIV_MSQ); + *linear_accel_x_f = data_f; + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the linear + * accel y raw data to meterpersecseq output as float + * + * @param linear_accel_y_f : The float value of linear accel y meterpersecseq + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_y_msq( +float *linear_accel_y_f) +{ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s16 reg_linear_accel_y = BNO055_INIT_VALUE; + float data_f = BNO055_INIT_VALUE; + /* Read the raw y of linear accel */ + com_rslt = bno055_read_linear_accel_y(®_linear_accel_y); + if (com_rslt == BNO055_SUCCESS) { + /* Convert the raw linear accel x to m/s2*/ + data_f = (float) + (reg_linear_accel_y/BNO055_LINEAR_ACCEL_DIV_MSQ); + *linear_accel_y_f = data_f; + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the linear + * accel z raw data to meterpersecseq output as float + * + * @param linear_accel_z_f : The float value of linear accel z meterpersecseq + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_z_msq( +float *linear_accel_z_f) +{ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s16 reg_linear_accel_z = BNO055_INIT_VALUE; + float data_f = BNO055_INIT_VALUE; + /* Read the raw x of linear accel */ + com_rslt = bno055_read_linear_accel_z(®_linear_accel_z); + if (com_rslt == BNO055_SUCCESS) { + /* Convert the raw linear accel z to m/s2*/ + data_f = (float) + (reg_linear_accel_z/BNO055_LINEAR_ACCEL_DIV_MSQ); + *linear_accel_z_f = data_f; + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the linear accel xyz raw data + * to meterpersecseq output as float + * + * @param linear_accel_xyz : The meterpersecseq data of linear accel xyz + * + * Parameter | result + * --------- | ----------------- + * x | meterpersecseq data of linear accel + * y | meterpersecseq data of linear accel + * z | meterpersecseq data of linear accel + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_xyz_msq( +struct bno055_linear_accel_float_t *linear_accel_xyz) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + struct bno055_linear_accel_t reg_linear_accel = { + BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE}; + /* Read the raw x of linear accel */ + com_rslt = bno055_read_linear_accel_xyz(®_linear_accel); + if (com_rslt == BNO055_SUCCESS) { + linear_accel_xyz->x = + (float)(reg_linear_accel.x/BNO055_LINEAR_ACCEL_DIV_MSQ); + linear_accel_xyz->y = + (float)(reg_linear_accel.y/BNO055_LINEAR_ACCEL_DIV_MSQ); + linear_accel_xyz->z = + (float)(reg_linear_accel.z/BNO055_LINEAR_ACCEL_DIV_MSQ); + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the gravity + * x raw data to meterpersecseq output as float + * + * @param gravity_x_f : The float value of gravity x meterpersecseq + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_x_msq( +float *gravity_x_f) +{ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s16 reg_gravity_x_s16 = BNO055_INIT_VALUE; + float data_f = BNO055_INIT_VALUE; + /* Read raw gravity of x*/ + com_rslt = bno055_read_gravity_x(®_gravity_x_s16); + if (com_rslt == BNO055_SUCCESS) { + /* Convert the raw gravity x to m/s2*/ + data_f = (float)(reg_gravity_x_s16/BNO055_GRAVITY_DIV_MSQ); + *gravity_x_f = data_f; + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the gravity + * y raw data to meterpersecseq output as float + * + * @param gravity_y_f : The float value of gravity y meterpersecseq + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_y_msq( +float *gravity_y_f) +{ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s16 reg_gravity_y_s16 = BNO055_INIT_VALUE; + float data_f = BNO055_INIT_VALUE; + /* Read raw gravity of y*/ + com_rslt = bno055_read_gravity_y(®_gravity_y_s16); + if (com_rslt == BNO055_SUCCESS) { + /* Convert the raw gravity y to m/s2*/ + data_f = (float)(reg_gravity_y_s16/BNO055_GRAVITY_DIV_MSQ); + *gravity_y_f = data_f; + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the gravity + * z raw data to meterpersecseq output as float + * + * @param gravity_z_f : The float value of gravity z meterpersecseq + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_z_msq( +float *gravity_z_f) +{ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s16 reg_gravity_z_s16 = BNO055_INIT_VALUE; + float data_f = BNO055_INIT_VALUE; + /* Read raw gravity of z */ + com_rslt = bno055_read_gravity_z(®_gravity_z_s16); + if (com_rslt == BNO055_SUCCESS) { + /* Convert the raw gravity z to m/s2*/ + data_f = (float)(reg_gravity_z_s16/BNO055_GRAVITY_DIV_MSQ); + *gravity_z_f = data_f; + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the gravity xyz raw data + * to meterpersecseq output as float + * + * @param gravity_xyz : The meterpersecseq data of gravity xyz + * + * Parameter | result + * --------- | ----------------- + * x | meterpersecseq data of gravity + * y | meterpersecseq data of gravity + * z | meterpersecseq data of gravity + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gravity_xyz_msq( +struct bno055_gravity_float_t *gravity_xyz) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + struct bno055_gravity_t reg_gravity_xyz = { + BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE}; + /* Read raw gravity of xyz */ + com_rslt = bno055_read_gravity_xyz(®_gravity_xyz); + if (com_rslt == BNO055_SUCCESS) { + /* Convert raw gravity xyz to meterpersecseq */ + gravity_xyz->x = + (float)(reg_gravity_xyz.x/BNO055_GRAVITY_DIV_MSQ); + gravity_xyz->y = + (float)(reg_gravity_xyz.y/BNO055_GRAVITY_DIV_MSQ); + gravity_xyz->z = + (float)(reg_gravity_xyz.z/BNO055_GRAVITY_DIV_MSQ); + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the temperature + * data to Fahrenheit output as float + * + * @param temp_f : The float value of temperature Fahrenheit + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_temp_fahrenheit( +float *temp_f) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s8 reg_temp_s8 = BNO055_INIT_VALUE; + float data_f = BNO055_INIT_VALUE; + u8 temp_unit_u8 = BNO055_INIT_VALUE; + /* Read the current temperature unit and set the + unit as Fahrenheit if the unit is in Celsius */ + com_rslt = bno055_get_temp_unit(&temp_unit_u8); + if (temp_unit_u8 != BNO055_TEMP_UNIT_FAHRENHEIT) + com_rslt += bno055_set_temp_unit(BNO055_TEMP_UNIT_FAHRENHEIT); + if (com_rslt == BNO055_SUCCESS) { + /* Read the raw temperature data */ + com_rslt += bno055_read_temp_data(®_temp_s8); + if (com_rslt == BNO055_SUCCESS) { + /* Convert raw temperature data to Fahrenheit*/ + data_f = (float) + (reg_temp_s8/BNO055_TEMP_DIV_FAHRENHEIT); + *temp_f = data_f; + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the temperature + * data to Celsius output as float + * + * @param temp_f : The float value of temperature Celsius + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_temp_celsius( +float *temp_f) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s8 reg_temp_s8 = BNO055_INIT_VALUE; + float data_f = BNO055_INIT_VALUE; + u8 temp_unit_u8 = BNO055_INIT_VALUE; + /* Read the current temperature unit and set the + unit as Fahrenheit if the unit is in Celsius */ + com_rslt = bno055_get_temp_unit(&temp_unit_u8); + if (temp_unit_u8 != BNO055_TEMP_UNIT_CELSIUS) + com_rslt += bno055_set_temp_unit(BNO055_TEMP_UNIT_CELSIUS); + if (com_rslt == BNO055_SUCCESS) { + /* Read the raw temperature data */ + com_rslt += bno055_read_temp_data(®_temp_s8); + if (com_rslt == BNO055_SUCCESS) { + /* Convert raw temperature data to Fahrenheit*/ + data_f = + (float)(reg_temp_s8/BNO055_TEMP_DIV_CELSIUS); + *temp_f = data_f; + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +#endif +#ifdef BNO055_DOUBLE_ENABLE +/*! + * @brief This API is used to convert the accel x raw data + * to meterpersecseq output as double + * + * @param accel_x_d : The accel x meterpersecseq data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_x_msq( +double *accel_x_d) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s16 reg_accel_x_s16 = BNO055_INIT_VALUE; + double data_f = BNO055_INIT_VALUE; + u8 accel_unit_u8 = BNO055_INIT_VALUE; + /* Read the current accel unit and set the + unit as m/s2 if the unit is in mg*/ + com_rslt = bno055_get_accel_unit(&accel_unit_u8); + if (accel_unit_u8 != BNO055_ACCEL_UNIT_MSQ) + com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MSQ); + if (com_rslt == BNO055_SUCCESS) { + /* Read the accel raw y data*/ + com_rslt += bno055_read_accel_x(®_accel_x_s16); + if (com_rslt == BNO055_SUCCESS) { + /* Convert the raw x to m/s2 */ + data_f = + (double)(reg_accel_x_s16/BNO055_ACCEL_DIV_MSQ); + *accel_x_d = data_f; + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the accel x raw data + * to millig output as double + * + * @param accel_x_d : The accel x millig data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_x_mg( +double *accel_x_d) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s16 reg_accel_x_s16 = BNO055_INIT_VALUE; + double data_f = BNO055_INIT_VALUE; + u8 accel_unit_u8 = BNO055_INIT_VALUE; + /* Read the current accel unit and set the + unit as mg if the unit is in m/s2*/ + com_rslt = bno055_get_accel_unit(&accel_unit_u8); + if (accel_unit_u8 != BNO055_ACCEL_UNIT_MG) + com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MG); + if (com_rslt == BNO055_SUCCESS) { + /* Read the accel raw y data*/ + com_rslt += bno055_read_accel_x(®_accel_x_s16); + if (com_rslt == BNO055_SUCCESS) { + /* Convert the raw x to mg */ + data_f = + (double)(reg_accel_x_s16/BNO055_ACCEL_DIV_MG); + *accel_x_d = data_f; + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the accel y raw data + * to meterpersecseq output as double + * + * @param accel_y_d : The accel y meterpersecseq data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_y_msq( +double *accel_y_d) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s16 reg_accel_y_s16 = BNO055_INIT_VALUE; + double data_f = BNO055_INIT_VALUE; + u8 accel_unit_u8 = BNO055_INIT_VALUE; + /* Read the current accel unit and set the + unit as m/s2 if the unit is in mg*/ + com_rslt = bno055_get_accel_unit(&accel_unit_u8); + if (accel_unit_u8 != BNO055_ACCEL_UNIT_MSQ) + com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MSQ); + if (com_rslt == BNO055_SUCCESS) { + /* Read the accel raw y data*/ + com_rslt += bno055_read_accel_y(®_accel_y_s16); + if (com_rslt == BNO055_SUCCESS) { + /* Convert the raw x to m/s2 */ + data_f = + (double)(reg_accel_y_s16/BNO055_ACCEL_DIV_MSQ); + *accel_y_d = data_f; + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the accel y raw data + * to millig output as double + * + * @param accel_y_d : The accel y millig data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_y_mg( +double *accel_y_d) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s16 reg_accel_y_s16 = BNO055_INIT_VALUE; + double data_d = BNO055_INIT_VALUE; + u8 accel_unit_u8 = BNO055_INIT_VALUE; + /* Read the current accel unit and set the + unit as mg if the unit is in m/s2*/ + com_rslt = bno055_get_accel_unit(&accel_unit_u8); + if (accel_unit_u8 != BNO055_ACCEL_UNIT_MG) + com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MG); + if (com_rslt == BNO055_SUCCESS) { + /* Read the accel raw y data*/ + com_rslt += bno055_read_accel_y(®_accel_y_s16); + if (com_rslt == BNO055_SUCCESS) { + /* Convert the raw y to mg */ + data_d = + (double)(reg_accel_y_s16/BNO055_ACCEL_DIV_MG); + *accel_y_d = data_d; + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the accel z raw data + * to meterpersecseq output as double + * + * @param accel_z_d : The accel z meterpersecseq data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_z_msq( +double *accel_z_d) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s16 reg_accel_z_s16 = BNO055_INIT_VALUE; + double data_d = BNO055_INIT_VALUE; + u8 accel_unit_u8 = BNO055_INIT_VALUE; + /* Read the current accel unit and set the + unit as m/s2 if the unit is in mg*/ + com_rslt = bno055_get_accel_unit(&accel_unit_u8); + if (accel_unit_u8 != BNO055_ACCEL_UNIT_MSQ) + com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MSQ); + if (com_rslt == BNO055_SUCCESS) { + /* Read the accel raw z data*/ + com_rslt += bno055_read_accel_z(®_accel_z_s16); + if (com_rslt == BNO055_SUCCESS) { + /* Convert the raw z to m/s2 */ + data_d = + (double)(reg_accel_z_s16/BNO055_ACCEL_DIV_MSQ); + *accel_z_d = data_d; + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the accel z raw data + * to millig output as double + * + * @param accel_z_d : The accel z millig data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_z_mg( +double *accel_z_d) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s16 reg_accel_z_s16 = BNO055_INIT_VALUE; + double data_d = BNO055_INIT_VALUE; + u8 accel_unit_u8 = BNO055_INIT_VALUE; + /* Read the current accel unit and set the + unit as mg if the unit is in m/s2*/ + com_rslt = bno055_get_accel_unit(&accel_unit_u8); + if (accel_unit_u8 != BNO055_ACCEL_UNIT_MG) + com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MG); + if (com_rslt == BNO055_SUCCESS) { + /* Read the accel raw z data*/ + com_rslt += bno055_read_accel_z(®_accel_z_s16); + if (com_rslt == BNO055_SUCCESS) { + /* Convert the raw z to mg */ + data_d = + (double)(reg_accel_z_s16/BNO055_ACCEL_DIV_MG); + *accel_z_d = data_d; + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the accel xyz raw data + * to meterpersecseq output as double + * + * @param accel_xyz : The meterpersecseq data of accel xyz + * + * Parameter | result + * --------- | ----------------- + * x | meterpersecseq data of accel + * y | meterpersecseq data of accel + * z | meterpersecseq data of accel + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_xyz_msq( +struct bno055_accel_double_t *accel_xyz) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + struct bno055_accel_t reg_accel_xyz = { + BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE}; + u8 accel_unit_u8 = BNO055_INIT_VALUE; + /* Read the current accel unit and set the + unit as m/s2 if the unit is in mg*/ + com_rslt = bno055_get_accel_unit(&accel_unit_u8); + if (accel_unit_u8 != BNO055_ACCEL_UNIT_MSQ) + com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MSQ); + if (com_rslt == BNO055_SUCCESS) { + /* Read the accel raw xyz data*/ + com_rslt += bno055_read_accel_xyz(®_accel_xyz); + if (com_rslt == BNO055_SUCCESS) { + /* Convert raw xyz to m/s2*/ + accel_xyz->x = + (double)(reg_accel_xyz.x/BNO055_ACCEL_DIV_MSQ); + accel_xyz->y = + (double)(reg_accel_xyz.y/BNO055_ACCEL_DIV_MSQ); + accel_xyz->z = + (double)(reg_accel_xyz.z/BNO055_ACCEL_DIV_MSQ); + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the accel xyz raw data + * to millig output as double + * + * @param accel_xyz : The millig data of accel xyz + * + * Parameter | result + * --------- | ----------------- + * x | millig data of accel + * y | millig data of accel + * z | millig data of accel + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_xyz_mg( +struct bno055_accel_double_t *accel_xyz) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + struct bno055_accel_t reg_accel_xyz = { + BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE}; + u8 accel_unit_u8 = BNO055_INIT_VALUE; + /* Read the current accel unit and set the + unit as m/s2 if the unit is in mg*/ + com_rslt = bno055_get_accel_unit(&accel_unit_u8); + if (accel_unit_u8 != BNO055_ACCEL_UNIT_MG) + com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MG); + if (com_rslt == BNO055_SUCCESS) { + /* Read the accel raw xyz data*/ + com_rslt += bno055_read_accel_xyz(®_accel_xyz); + if (com_rslt == BNO055_SUCCESS) { + /* Convert raw xyz to mg*/ + accel_xyz->x = + (double)(reg_accel_xyz.x/BNO055_ACCEL_DIV_MG); + accel_xyz->y = + (double)(reg_accel_xyz.y/BNO055_ACCEL_DIV_MG); + accel_xyz->z = + (double)(reg_accel_xyz.z/BNO055_ACCEL_DIV_MG); + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the mag x raw data + * to microTesla output as double + * + * @param mag_x_d : The mag x microTesla data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_x_uT( +double *mag_x_d) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s16 reg_mag_x_s16 = BNO055_INIT_VALUE; + double data_d = BNO055_INIT_VALUE; + /* Read raw mag x data */ + com_rslt = bno055_read_mag_x(®_mag_x_s16); + if (com_rslt == BNO055_SUCCESS) { + /* Convert raw mag x to microTesla */ + data_d = (double)(reg_mag_x_s16/BNO055_MAG_DIV_UT); + *mag_x_d = data_d; + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the mag y raw data + * to microTesla output as double + * + * @param mag_y_d : The mag y microTesla data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_y_uT( +double *mag_y_d) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s16 reg_mag_y_s16 = BNO055_INIT_VALUE; + double data_d = BNO055_INIT_VALUE; + /* Read raw mag y data */ + com_rslt = bno055_read_mag_y(®_mag_y_s16); + if (com_rslt == BNO055_SUCCESS) { + /* Convert raw mag y to microTesla */ + data_d = (double)(reg_mag_y_s16/BNO055_MAG_DIV_UT); + *mag_y_d = data_d; + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the mag z raw data + * to microTesla output as double + * + * @param mag_z_d : The mag z microTesla data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_z_uT( +double *mag_z_d) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s16 reg_mag_z_s16 = BNO055_INIT_VALUE; + double data_d = BNO055_INIT_VALUE; + /* Read raw mag x */ + com_rslt = bno055_read_mag_z(®_mag_z_s16); + if (com_rslt == BNO055_SUCCESS) { + /* Convert raw mag x to microTesla */ + data_d = (double)(reg_mag_z_s16/BNO055_MAG_DIV_UT); + *mag_z_d = data_d; + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the mag yz raw data + * to microTesla output as double + * + * @param mag_xyz : The microTesla data of mag xyz + * + * Parameter | result + * --------- | ----------------- + * x | microTesla data of mag + * y | microTesla data of mag + * z | microTesla data of mag + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_xyz_uT( +struct bno055_mag_double_t *mag_xyz) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + struct bno055_mag_t reg_mag_xyz = { + BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE}; + /* Read raw mag xyz data */ + com_rslt = bno055_read_mag_xyz(®_mag_xyz); + if (com_rslt == BNO055_SUCCESS) { + /* Convert raw mag xyz to microTesla*/ + mag_xyz->x = + (double)(reg_mag_xyz.x/BNO055_MAG_DIV_UT); + mag_xyz->y = + (double)(reg_mag_xyz.y/BNO055_MAG_DIV_UT); + mag_xyz->z = + (double)(reg_mag_xyz.z/BNO055_MAG_DIV_UT); + } else { + com_rslt = BNO055_ERROR; + } + + return com_rslt; +} +/*! + * @brief This API is used to convert the gyro x raw data + * to dps output as double + * + * @param gyro_x_d : The gyro x dps double data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_x_dps( +double *gyro_x_d) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s16 reg_gyro_x_s16 = BNO055_INIT_VALUE; + double data_d = BNO055_INIT_VALUE; + u8 gyro_unit_u8 = BNO055_INIT_VALUE; + /* Read the current gyro unit and set the + unit as dps if the unit is in rps */ + com_rslt = bno055_get_gyro_unit(&gyro_unit_u8); + if (gyro_unit_u8 != BNO055_GYRO_UNIT_DPS) + com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_DPS); + if (com_rslt == BNO055_SUCCESS) { + /* Read gyro raw x data */ + com_rslt += bno055_read_gyro_x(®_gyro_x_s16); + if (com_rslt == BNO055_SUCCESS) { + /* Convert raw gyro x to dps */ + data_d = + (double)(reg_gyro_x_s16/BNO055_GYRO_DIV_DPS); + *gyro_x_d = data_d; + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the gyro x raw data + * to rps output as double + * + * @param gyro_x_d : The gyro x dps double data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_x_rps( +double *gyro_x_d) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s16 reg_gyro_x_s16 = BNO055_INIT_VALUE; + double data_d = BNO055_INIT_VALUE; + u8 gyro_unit_u8 = BNO055_INIT_VALUE; + /* Read the current gyro unit and set the + unit as rps if the unit is in dps */ + com_rslt = bno055_get_gyro_unit(&gyro_unit_u8); + if (gyro_unit_u8 != BNO055_GYRO_UNIT_RPS) + com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_RPS); + if (com_rslt == BNO055_SUCCESS) { + /* Read gyro raw x data */ + com_rslt += bno055_read_gyro_x(®_gyro_x_s16); + if (com_rslt == BNO055_SUCCESS) { + /* Convert raw gyro x to rps */ + data_d = + (double)(reg_gyro_x_s16/BNO055_GYRO_DIV_RPS); + *gyro_x_d = data_d; + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the gyro y raw data + * to dps output as double + * + * @param gyro_y_d : The gyro y dps double data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_y_dps( +double *gyro_y_d) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s16 reg_gyro_y_s16 = BNO055_INIT_VALUE; + double data_d = BNO055_INIT_VALUE; + u8 gyro_unit_u8 = BNO055_INIT_VALUE; + /* Read the current gyro unit and set the + unit as dps if the unit is in rps */ + com_rslt = bno055_get_gyro_unit(&gyro_unit_u8); + if (gyro_unit_u8 != BNO055_GYRO_UNIT_DPS) + com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_DPS); + if (com_rslt == BNO055_SUCCESS) { + /* Read gyro raw y data */ + com_rslt += bno055_read_gyro_y(®_gyro_y_s16); + if (com_rslt == BNO055_SUCCESS) { + /* Convert raw gyro y to dps */ + data_d = + (double)(reg_gyro_y_s16/BNO055_GYRO_DIV_DPS); + *gyro_y_d = data_d; + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the gyro y raw data + * to rps output as double + * + * @param gyro_y_d : The gyro y dps double data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_y_rps( +double *gyro_y_d) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s16 reg_gyro_y_s16 = BNO055_INIT_VALUE; + double data_d = BNO055_INIT_VALUE; + u8 gyro_unit_u8 = BNO055_INIT_VALUE; + /* Read the current gyro unit and set the + unit as rps if the unit is in dps */ + com_rslt = bno055_get_gyro_unit(&gyro_unit_u8); + if (gyro_unit_u8 != BNO055_GYRO_UNIT_RPS) + com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_RPS); + if (com_rslt == BNO055_SUCCESS) { + /* Read gyro raw y data */ + com_rslt += bno055_read_gyro_y(®_gyro_y_s16); + if (com_rslt == BNO055_SUCCESS) { + /* Convert raw gyro y to rps */ + data_d = + (double)(reg_gyro_y_s16/BNO055_GYRO_DIV_RPS); + *gyro_y_d = data_d; + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the gyro z raw data + * to dps output as double + * + * @param gyro_z_d : The gyro z dps double data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_z_dps( +double *gyro_z_d) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s16 reg_gyro_z_s16 = BNO055_INIT_VALUE; + double data_d = BNO055_INIT_VALUE; + u8 gyro_unit_u8 = BNO055_INIT_VALUE; + /* Read the current gyro unit and set the + unit as dps if the unit is in rps */ + com_rslt = bno055_get_gyro_unit(&gyro_unit_u8); + if (gyro_unit_u8 != BNO055_GYRO_UNIT_DPS) + com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_DPS); + if (com_rslt == BNO055_SUCCESS) { + /* Read gyro raw z data */ + com_rslt += bno055_read_gyro_z(®_gyro_z_s16); + if (com_rslt == BNO055_SUCCESS) { + /* Convert raw gyro z to dps */ + data_d = + (double)(reg_gyro_z_s16/BNO055_GYRO_DIV_DPS); + *gyro_z_d = data_d; + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the gyro z raw data + * to rps output as double + * + * @param gyro_z_d : The gyro z rps double data + * + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_z_rps( +double *gyro_z_d) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s16 reg_gyro_z_s16 = BNO055_INIT_VALUE; + double data_d = BNO055_INIT_VALUE; + u8 gyro_unit_u8 = BNO055_INIT_VALUE; + /* Read the current gyro unit and set the + unit as rps if the unit is in dps */ + com_rslt = bno055_get_gyro_unit(&gyro_unit_u8); + if (gyro_unit_u8 != BNO055_GYRO_UNIT_RPS) + com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_RPS); + if (com_rslt == BNO055_SUCCESS) { + /* Read gyro raw x data */ + com_rslt += bno055_read_gyro_z(®_gyro_z_s16); + if (com_rslt == BNO055_SUCCESS) { + /* Convert raw gyro x to rps */ + data_d = + (double)(reg_gyro_z_s16/BNO055_GYRO_DIV_RPS); + *gyro_z_d = data_d; + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the gyro xyz raw data + * to dps output as double + * + * @param gyro_xyz : The dps data of gyro xyz + * + * Parameter | result + * --------- | ----------------- + * x | dps data of gyro + * y | dps data of gyro + * z | dps data of gyro + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_xyz_dps( +struct bno055_gyro_double_t *gyro_xyz) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + struct bno055_gyro_t reg_gyro_xyz = { + BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE}; + u8 gyro_unit_u8 = BNO055_INIT_VALUE; + /* Read the current gyro unit and set the + unit as dps if the unit is in rps */ + com_rslt = bno055_get_gyro_unit(&gyro_unit_u8); + if (gyro_unit_u8 != BNO055_GYRO_UNIT_DPS) + com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_DPS); + if (com_rslt == BNO055_SUCCESS) { + /* Read gyro raw xyz data */ + com_rslt += bno055_read_gyro_xyz(®_gyro_xyz); + if (com_rslt == BNO055_SUCCESS) { + /* Convert gyro raw xyz to dps*/ + gyro_xyz->x = + (double)(reg_gyro_xyz.x/BNO055_GYRO_DIV_DPS); + gyro_xyz->y = + (double)(reg_gyro_xyz.y/BNO055_GYRO_DIV_DPS); + gyro_xyz->z = + (double)(reg_gyro_xyz.z/BNO055_GYRO_DIV_DPS); + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the gyro xyz raw data + * to rps output as double + * + * @param gyro_xyz : The rps data of gyro xyz + * + * Parameter | result + * --------- | ----------------- + * x | rps data of gyro + * y | rps data of gyro + * z | rps data of gyro + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_xyz_rps( +struct bno055_gyro_double_t *gyro_xyz) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + struct bno055_gyro_t reg_gyro_xyz = { + BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE}; + u8 gyro_unit_u8 = BNO055_INIT_VALUE; + /* Read the current gyro unit and set the + unit as rps if the unit is in dps */ + com_rslt = bno055_get_gyro_unit(&gyro_unit_u8); + if (gyro_unit_u8 != BNO055_GYRO_UNIT_RPS) + com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_RPS); + if (com_rslt == BNO055_SUCCESS) { + /* Read gyro raw x data */ + com_rslt += bno055_read_gyro_xyz(®_gyro_xyz); + if (com_rslt == BNO055_SUCCESS) { + /* Convert the raw gyro xyz to rps*/ + gyro_xyz->x = + (double)(reg_gyro_xyz.x/BNO055_GYRO_DIV_RPS); + gyro_xyz->y = + (double)(reg_gyro_xyz.y/BNO055_GYRO_DIV_RPS); + gyro_xyz->z = + (double)(reg_gyro_xyz.z/BNO055_GYRO_DIV_RPS); + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the Euler h raw data + * to degree output as double + * + * @param euler_h_d : The double value of Euler h degree + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_h_deg( +double *euler_h_d) +{ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s16 reg_euler_h_s16 = BNO055_INIT_VALUE; + double data_d = BNO055_INIT_VALUE; + u8 euler_unit_u8 = BNO055_INIT_VALUE; + /* Read the current Euler unit and set the + unit as degree if the unit is in radians */ + com_rslt = bno055_get_euler_unit(&euler_unit_u8); + if (euler_unit_u8 != BNO055_EULER_UNIT_DEG) + com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_DEG); + if (com_rslt == BNO055_SUCCESS) { + /* Read Euler raw h data*/ + com_rslt += bno055_read_euler_h(®_euler_h_s16); + if (com_rslt == BNO055_SUCCESS) { + /* Convert raw Euler h to degree */ + data_d = + (double)(reg_euler_h_s16/BNO055_EULER_DIV_DEG); + *euler_h_d = data_d; + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the Euler h raw data + * to radians output as double + * + * @param euler_h_d : The double value of Euler h radians + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_h_rad( +double *euler_h_d) +{ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s16 reg_euler_h_s16 = BNO055_INIT_VALUE; + double data_d = BNO055_INIT_VALUE; + u8 euler_unit_u8 = BNO055_INIT_VALUE; + /* Read the current Euler unit and set the + unit as radians if the unit is in degree */ + com_rslt = bno055_get_euler_unit(&euler_unit_u8); + if (euler_unit_u8 != BNO055_EULER_UNIT_RAD) + com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_RAD); + if (com_rslt == BNO055_SUCCESS) { + /* Read Euler raw h data*/ + com_rslt += bno055_read_euler_h(®_euler_h_s16); + if (com_rslt == BNO055_SUCCESS) { + /* Convert raw Euler h to radians */ + data_d = + (double)(reg_euler_h_s16/BNO055_EULER_DIV_RAD); + *euler_h_d = data_d; + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the Euler r raw data + * to degree output as double + * + * @param euler_r_d : The double value of Euler r degree + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_r_deg( +double *euler_r_d) +{ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s16 reg_euler_r_s16 = BNO055_INIT_VALUE; + double data_d = BNO055_INIT_VALUE; + u8 euler_unit_u8 = BNO055_INIT_VALUE; + /* Read the current Euler unit and set the + unit as degree if the unit is in radians */ + com_rslt = bno055_get_euler_unit(&euler_unit_u8); + if (euler_unit_u8 != BNO055_EULER_UNIT_DEG) + com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_DEG); + if (com_rslt == BNO055_SUCCESS) { + /* Read Euler raw r data*/ + com_rslt += bno055_read_euler_r(®_euler_r_s16); + if (com_rslt == BNO055_SUCCESS) { + /* Convert raw Euler r to degree */ + data_d = + (double)(reg_euler_r_s16/BNO055_EULER_DIV_DEG); + *euler_r_d = data_d; + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the Euler r raw data + * to radians output as double + * + * @param euler_r_d : The double value of Euler r radians + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_r_rad( +double *euler_r_d) +{ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s16 reg_euler_r_s16 = BNO055_INIT_VALUE; + double data_d = BNO055_INIT_VALUE; + u8 euler_unit_u8 = BNO055_INIT_VALUE; + /* Read the current Euler unit and set the + unit as radians if the unit is in degree */ + com_rslt = bno055_get_euler_unit(&euler_unit_u8); + if (euler_unit_u8 != BNO055_EULER_UNIT_RAD) + com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_RAD); + if (com_rslt == BNO055_SUCCESS) { + /* Read Euler raw r data*/ + com_rslt += bno055_read_euler_r(®_euler_r_s16); + if (com_rslt == BNO055_SUCCESS) { + /* Convert raw Euler r to radians */ + data_d = + (double)(reg_euler_r_s16/BNO055_EULER_DIV_RAD); + *euler_r_d = data_d; + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the Euler p raw data + * to degree output as double + * + * @param euler_p_d : The double value of Euler p degree + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_p_deg( +double *euler_p_d) +{ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s16 reg_euler_p_s16 = BNO055_INIT_VALUE; + double data_d = BNO055_INIT_VALUE; + u8 euler_unit_u8 = BNO055_INIT_VALUE; + /* Read the current Euler unit and set the + unit as degree if the unit is in radians */ + com_rslt = bno055_get_euler_unit(&euler_unit_u8); + if (euler_unit_u8 != BNO055_EULER_UNIT_DEG) + com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_DEG); + if (com_rslt == BNO055_SUCCESS) { + /* Read Euler raw p data*/ + com_rslt += bno055_read_euler_p(®_euler_p_s16); + if (com_rslt == BNO055_SUCCESS) { + /* Convert raw Euler p to degree*/ + data_d = + (double)(reg_euler_p_s16/BNO055_EULER_DIV_DEG); + *euler_p_d = data_d; + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the Euler p raw data + * to radians output as double + * + * @param euler_p_d : The double value of Euler p radians + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ + +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_p_rad( +double *euler_p_d) +{ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s16 reg_euler_p_s16 = BNO055_INIT_VALUE; + double data_d = BNO055_INIT_VALUE; + u8 euler_unit_u8 = BNO055_INIT_VALUE; + /* Read the current Euler unit and set the + unit as radians if the unit is in degree */ + com_rslt = bno055_get_euler_unit(&euler_unit_u8); + if (euler_unit_u8 != BNO055_EULER_UNIT_RAD) + com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_RAD); + if (com_rslt == BNO055_SUCCESS) { + /* Read Euler raw p data*/ + com_rslt += bno055_read_euler_p(®_euler_p_s16); + if (com_rslt == BNO055_SUCCESS) { + /* Convert raw p to radians*/ + data_d = + (double)(reg_euler_p_s16/BNO055_EULER_DIV_RAD); + *euler_p_d = data_d; + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the Euler hpr raw data + * to degree output as double + * + * @param euler_hpr : The degree data of Euler hpr + * + * Parameter | result + * --------- | ----------------- + * h | degree data of Euler + * r | degree data of Euler + * p | degree data of Euler + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ + +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_hpr_deg( +struct bno055_euler_double_t *euler_hpr) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + struct bno055_euler_t reg_euler = {BNO055_INIT_VALUE, + BNO055_INIT_VALUE, BNO055_INIT_VALUE}; + u8 euler_unit_u8 = BNO055_INIT_VALUE; + /* Read the current Euler unit and set the + unit as degree if the unit is in radians */ + com_rslt = bno055_get_euler_unit(&euler_unit_u8); + if (euler_unit_u8 != BNO055_EULER_UNIT_DEG) + com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_DEG); + if (com_rslt == BNO055_SUCCESS) { + /* Read Euler raw h data*/ + com_rslt += bno055_read_euler_hrp(®_euler); + if (com_rslt == BNO055_SUCCESS) { + /* Convert raw Euler hrp to degree*/ + euler_hpr->h = + (double)(reg_euler.h/BNO055_EULER_DIV_DEG); + euler_hpr->p = + (double)(reg_euler.p/BNO055_EULER_DIV_DEG); + euler_hpr->r = + (double)(reg_euler.r/BNO055_EULER_DIV_DEG); + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the Euler hpr raw data + * to radians output as double + * + * @param euler_hpr : The radians data of Euler hpr + * + * Parameter | result + * --------- | ----------------- + * h | radians data of Euler + * r | radians data of Euler + * p | radians data of Euler + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ + +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_hpr_rad( +struct bno055_euler_double_t *euler_hpr) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + struct bno055_euler_t reg_euler = {BNO055_INIT_VALUE, + BNO055_INIT_VALUE, BNO055_INIT_VALUE}; + u8 euler_unit_u8 = BNO055_INIT_VALUE; + /* Read the current Euler unit and set the + unit as radians if the unit is in degree */ + com_rslt = bno055_get_euler_unit(&euler_unit_u8); + if (euler_unit_u8 != BNO055_EULER_UNIT_RAD) + com_rslt = bno055_set_euler_unit(BNO055_EULER_UNIT_RAD); + if (com_rslt == BNO055_SUCCESS) { + /* Read the raw hrp */ + com_rslt = bno055_read_euler_hrp(®_euler); + if (com_rslt == BNO055_SUCCESS) { + /* Convert raw Euler hrp to radians*/ + euler_hpr->h = + (double)(reg_euler.h/BNO055_EULER_DIV_RAD); + euler_hpr->p = + (double)(reg_euler.p/BNO055_EULER_DIV_RAD); + euler_hpr->r = + (double)(reg_euler.r/BNO055_EULER_DIV_RAD); + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the linear + * accel x raw data to meterpersecseq output as double + * + * @param linear_accel_x_d : The double value of + * linear accel x meterpersecseq + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ + +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_x_msq( +double *linear_accel_x_d) +{ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s16 reg_linear_accel_x_s16 = BNO055_INIT_VALUE; + double data_d = BNO055_INIT_VALUE; + /* Read the raw x of linear accel */ + com_rslt = bno055_read_linear_accel_x(®_linear_accel_x_s16); + if (com_rslt == BNO055_SUCCESS) { + /* Convert the raw x to m/s2 */ + data_d = (double) + (reg_linear_accel_x_s16/BNO055_LINEAR_ACCEL_DIV_MSQ); + *linear_accel_x_d = data_d; + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the linear + * accel y raw data to meterpersecseq output as double + * + * @param linear_accel_y_d : The double value of + * linear accel y meterpersecseq + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ + +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_y_msq( +double *linear_accel_y_d) +{ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s16 reg_linear_accel_y_s16 = BNO055_INIT_VALUE; + double data_d = BNO055_INIT_VALUE; + /* Read the raw x of linear accel */ + com_rslt = bno055_read_linear_accel_y(®_linear_accel_y_s16); + if (com_rslt == BNO055_SUCCESS) { + /* Convert the raw y to m/s2 */ + data_d = (double) + (reg_linear_accel_y_s16/BNO055_LINEAR_ACCEL_DIV_MSQ); + *linear_accel_y_d = data_d; + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the linear + * accel z raw data to meterpersecseq output as double + * + * @param linear_accel_z_d : The double value of + * linear accel z meterpersecseq + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ + +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_z_msq( +double *linear_accel_z_d) +{ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s16 reg_linear_accel_z_s16 = BNO055_INIT_VALUE; + double data_d = BNO055_INIT_VALUE; + /* Read the raw x of linear accel */ + com_rslt = bno055_read_linear_accel_z(®_linear_accel_z_s16); + if (com_rslt == BNO055_SUCCESS) { + /* Convert the raw z to m/s2 */ + data_d = + (double)(reg_linear_accel_z_s16/BNO055_LINEAR_ACCEL_DIV_MSQ); + *linear_accel_z_d = data_d; + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the linear accel xyz raw data + * to meterpersecseq output as double + * + * @param linear_accel_xyz : The meterpersecseq data of linear accel xyz + * + * Parameter | result + * --------- | ----------------- + * x | meterpersecseq data of linear accel + * y | meterpersecseq data of linear accel + * z | meterpersecseq data of linear accel + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ + +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_xyz_msq( +struct bno055_linear_accel_double_t *linear_accel_xyz) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + struct bno055_linear_accel_t reg_linear_accel_xyz = { + BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE}; + /* Read the raw xyz of linear accel */ + com_rslt = bno055_read_linear_accel_xyz(®_linear_accel_xyz); + if (com_rslt == BNO055_SUCCESS) { + /* Convert the raw xyz of linear accel to m/s2 */ + linear_accel_xyz->x = + (double)(reg_linear_accel_xyz.x/BNO055_LINEAR_ACCEL_DIV_MSQ); + linear_accel_xyz->y = + (double)(reg_linear_accel_xyz.y/BNO055_LINEAR_ACCEL_DIV_MSQ); + linear_accel_xyz->z = + (double)(reg_linear_accel_xyz.z/BNO055_LINEAR_ACCEL_DIV_MSQ); + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the gravity + * x raw data to meterpersecseq output as double + * + * @param gravity_x_d : The double value of gravity x meterpersecseq + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_x_msq( +double *gravity_x_d) +{ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s16 reg_gravity_x_s16 = BNO055_INIT_VALUE; + double data_d = BNO055_INIT_VALUE; + /* Read raw gravity of x*/ + com_rslt = bno055_read_gravity_x(®_gravity_x_s16); + if (com_rslt == BNO055_SUCCESS) { + /* Convert raw gravity of x to m/s2 */ + data_d = + (double)(reg_gravity_x_s16/BNO055_GRAVITY_DIV_MSQ); + *gravity_x_d = data_d; + } else { + com_rslt = BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the gravity + * y raw data to meterpersecseq output as double + * + * @param gravity_y_d : The double value of gravity y meterpersecseq + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_y_msq( +double *gravity_y_d) +{ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s16 reg_gravity_y_s16 = BNO055_INIT_VALUE; + double data_d = BNO055_INIT_VALUE; + /* Read raw gravity of y */ + com_rslt = bno055_read_gravity_y(®_gravity_y_s16); + if (com_rslt == BNO055_SUCCESS) { + /* convert raw gravity of y to m/s2 */ + data_d = + (double)(reg_gravity_y_s16/BNO055_GRAVITY_DIV_MSQ); + *gravity_y_d = data_d; + } else { + com_rslt += BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the gravity + * z raw data to meterpersecseq output as double + * + * @param gravity_z_d : The double value of gravity z meterpersecseq + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_z_msq( +double *gravity_z_d) +{ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s16 reg_gravity_z_s16 = BNO055_INIT_VALUE; + double data_d = BNO055_INIT_VALUE; + /* Read raw gravity of z */ + com_rslt = bno055_read_gravity_z(®_gravity_z_s16); + if (com_rslt == BNO055_SUCCESS) { + /* Convert raw gravity of z to m/s2 */ + data_d = + (double)(reg_gravity_z_s16/BNO055_GRAVITY_DIV_MSQ); + *gravity_z_d = data_d; + } else { + com_rslt += BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the gravity xyz raw data + * to meterpersecseq output as double + * + * @param gravity_xyz : The meterpersecseq data of gravity xyz + * + * Parameter | result + * --------- | ----------------- + * x | meterpersecseq data of gravity + * y | meterpersecseq data of gravity + * z | meterpersecseq data of gravity + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gravity_xyz_msq( +struct bno055_gravity_double_t *gravity_xyz) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + struct bno055_gravity_t reg_gravity_xyz = { + BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE}; + /* Read raw gravity of xyz */ + com_rslt = bno055_read_gravity_xyz(®_gravity_xyz); + if (com_rslt == BNO055_SUCCESS) { + /* Convert raw gravity of xyz to m/s2 */ + gravity_xyz->x = + (double)(reg_gravity_xyz.x/BNO055_GRAVITY_DIV_MSQ); + gravity_xyz->y = + (double)(reg_gravity_xyz.y/BNO055_GRAVITY_DIV_MSQ); + gravity_xyz->z = + (double)(reg_gravity_xyz.z/BNO055_GRAVITY_DIV_MSQ); + } else { + com_rslt += BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the temperature + * data to Fahrenheit output as double + * + * @param temp_d : The double value of temperature Fahrenheit + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_temp_fahrenheit( +double *temp_d) +{ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s8 reg_temp_s8 = BNO055_INIT_VALUE; + double data_d = BNO055_INIT_VALUE; + u8 temp_unit_u8 = BNO055_INIT_VALUE; + /* Read the current temperature unit and set the + unit as Fahrenheit if the unit is in Celsius */ + com_rslt = bno055_get_temp_unit(&temp_unit_u8); + if (temp_unit_u8 != BNO055_TEMP_UNIT_FAHRENHEIT) + com_rslt += bno055_set_temp_unit(BNO055_TEMP_UNIT_FAHRENHEIT); + if (com_rslt == BNO055_SUCCESS) { + /* Read the raw temperature data */ + com_rslt += bno055_read_temp_data(®_temp_s8); + if (com_rslt == BNO055_SUCCESS) { + /* Convert raw temperature data to Fahrenheit*/ + data_d = (double)(reg_temp_s8/ + BNO055_TEMP_DIV_FAHRENHEIT); + *temp_d = data_d; + } else { + com_rslt += BNO055_ERROR; + } + } else { + com_rslt += BNO055_ERROR; + } + return com_rslt; +} +/*! + * @brief This API is used to convert the temperature + * data to Celsius output as double + * + * @param temp_d : The double value of temperature Celsius + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_temp_celsius( +double *temp_d) +{ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + s8 reg_temp_s8 = BNO055_INIT_VALUE; + double data_d = BNO055_INIT_VALUE; + u8 temp_unit_u8 = BNO055_INIT_VALUE; + /* Read the current temperature unit and set the + unit as Fahrenheit if the unit is in Celsius */ + com_rslt = bno055_get_temp_unit(&temp_unit_u8); + if (temp_unit_u8 != BNO055_TEMP_UNIT_CELSIUS) + com_rslt += bno055_set_temp_unit(BNO055_TEMP_UNIT_CELSIUS); + if (com_rslt == BNO055_SUCCESS) { + /* Read the raw temperature data */ + com_rslt += bno055_read_temp_data(®_temp_s8); + if (com_rslt == BNO055_SUCCESS) { + /* Convert raw temperature data to Fahrenheit*/ + data_d = + (double)(reg_temp_s8/BNO055_TEMP_DIV_CELSIUS); + *temp_d = data_d; + } else { + com_rslt += BNO055_ERROR; + } + } else { + com_rslt += BNO055_ERROR; + } + return com_rslt; +} +#endif +/*! + * @brief This API used to read + * mag calibration status from register from 0x35 bit 0 and 1 + * + * @param mag_calib_u8 : The value of mag calib status + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_calib_stat( +u8 *mag_calib_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, mag calib + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the mag calib stat_s8 */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_MAG_CALIB_STAT_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *mag_calib_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_MAG_CALIB_STAT); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to read + * accel calibration status from register from 0x35 bit 2 and 3 + * + * @param accel_calib_u8 : The value of accel calib status + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_calib_stat( +u8 *accel_calib_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty*/ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, accel calib + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the accel calib stat_s8 */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_CALIB_STAT_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *accel_calib_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_ACCEL_CALIB_STAT); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to read + * gyro calibration status from register from 0x35 bit 4 and 5 + * + * @param gyro_calib_u8 : The value of gyro calib status + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_calib_stat( +u8 *gyro_calib_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, gyro calib + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the gyro calib status */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_CALIB_STAT_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *gyro_calib_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_GYRO_CALIB_STAT); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to read + * system calibration status from register from 0x35 bit 6 and 7 + * + * @param sys_calib_u8 : The value of system calib status + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_calib_stat( +u8 *sys_calib_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty*/ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page,system calib + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the system calib */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_SYS_CALIB_STAT_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *sys_calib_u8 = + BNO055_GET_BITSLICE(data_u8r, BNO055_SYS_CALIB_STAT); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to read + * all calibration status from register from 0x35 + * + * @param all_calib_u8 : The value of system calib status + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_all_calib_stat( +u8 *all_calib_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty*/ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page,system calib + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the system calib */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ALL_CALIB_STAT_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *all_calib_u8 = + BNO055_GET_BITSLICE(data_u8r, BNO055_ALL_CALIB_STAT); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to read + * self test of accel from register from 0x36 bit 0 + * + * @param selftest_accel_u8 : The value of self test of accel + * + * selftest_accel_u8 | result + * -------------------- | --------------------- + * 0x00 | indicates test failed + * 0x01 | indicated test passed + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_accel( +u8 *selftest_accel_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, accel self test is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the accel self test */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_SELFTEST_ACCEL_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *selftest_accel_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_SELFTEST_ACCEL); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to read + * self test of mag from register from 0x36 bit 1 + * + * @param selftest_mag_u8 : The value of self test of mag + * + * selftest_mag_u8 | result + * -------------------- | --------------------- + * 0x00 | indicates test failed + * 0x01 | indicated test passed + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_mag( +u8 *selftest_mag_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, self test of mag is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the mag self test */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_SELFTEST_MAG_REG, &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + *selftest_mag_u8 = + BNO055_GET_BITSLICE(data_u8r, BNO055_SELFTEST_MAG); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to read + * self test of gyro from register from 0x36 bit 2 + * + * @param selftest_gyro_u8 : The value of self test of gyro + * + * selftest_gyro_u8 | result + * -------------------- | --------------------- + * 0x00 | indicates test failed + * 0x01 | indicated test passed + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_gyro( +u8 *selftest_gyro_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page self test of gyro is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the gyro self test */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_SELFTEST_GYRO_REG, &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + *selftest_gyro_u8 = + BNO055_GET_BITSLICE(data_u8r, BNO055_SELFTEST_GYRO); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to read + * self test of micro controller from register from 0x36 bit 3 + * + * @param selftest_mcu_u8 : The value of self test of micro controller + * + * selftest_mcu_u8 | result + * -------------------- | --------------------- + * 0x00 | indicates test failed + * 0x01 | indicated test passed + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_mcu( +u8 *selftest_mcu_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page self test of micro controller + is available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the self test of micro controller*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_SELFTEST_MCU_REG, &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + *selftest_mcu_u8 = + BNO055_GET_BITSLICE(data_u8r, BNO055_SELFTEST_MCU); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to read the stat_s8 of + * gyro anymotion interrupt from register from 0x37 bit 2 + * + * @param gyro_any_motion_u8 : The value of gyro anymotion interrupt + * + * gyro_any_motion_u8 | result + * -------------------- | --------------------- + * 0x00 | indicates no interrupt triggered + * 0x01 | indicates interrupt triggered + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Gyro anymotion interrupt can be BNO055_BIT_ENABLE + * by the following APIs + * + * bno055_set_intr_mask_gyro_any_motion() + * + * bno055_set_intr_gyro_any_motion() + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_gyro_any_motion( +u8 *gyro_any_motion_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, gyro anymotion interrupt + status is available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the gyro anymotion interrupt stat_s8*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_INTR_STAT_GYRO_ANY_MOTION_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *gyro_any_motion_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_INTR_STAT_GYRO_ANY_MOTION); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to read the stat_s8 of + * gyro highrate interrupt from register from 0x37 bit 3 + * + * @param gyro_highrate_u8 : The value of gyro highrate interrupt + * + * gyro_highrate_u8 | result + * ------------------- | --------------------- + * 0x00 | indicates no interrupt triggered + * 0x01 | indicates interrupt triggered + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Gyro highrate interrupt can be configured + * by the following APIs + * + * bno055_set_intr_mask_gyro_highrate() + * + * bno055_set_intr_gyro_highrate() + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_gyro_highrate( +u8 *gyro_highrate_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, gyro highrate is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the gyro highrate interrupt stat_s8*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_INTR_STAT_GYRO_HIGHRATE_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *gyro_highrate_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_INTR_STAT_GYRO_HIGHRATE); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to read the stat_s8 of + * accel highg interrupt from register from 0x37 bit 5 + * + * @param accel_high_g_u8 : The value of accel highg interrupt + * + * accel_high_g_u8 | result + * ------------------- | --------------------- + * 0x00 | indicates no interrupt triggered + * 0x01 | indicates interrupt triggered + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Accel highg interrupt can be configured + * by the following APIs + * + * bno055_set_intr_mask_accel_high_g() + * + * bno055_set_intr_accel_high_g() + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_high_g( +u8 *accel_high_g_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, accel highg is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the accel highg interrupt stat_s8 */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_INTR_STAT_ACCEL_HIGH_G_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *accel_high_g_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_INTR_STAT_ACCEL_HIGH_G); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to read the stat_s8 of + * accel anymotion interrupt from register from 0x37 bit 6 + * + * @param accel_any_motion_u8 : The value of accel anymotion interrupt + * + * accel_any_motion_u8 | result + * ------------------- | --------------------- + * 0x00 | indicates no interrupt triggered + * 0x01 | indicates interrupt triggered + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Accel anymotion interrupt can be configured + * by the following APIs + * + * bno055_set_intr_mask_accel_any_motion() + * + * bno055_set_intr_accel_any_motion() + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_any_motion( +u8 *accel_any_motion_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, accel anymotion is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the accel anymotion interrupt stat_s8 */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_INTR_STAT_ACCEL_ANY_MOTION_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *accel_any_motion_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_INTR_STAT_ACCEL_ANY_MOTION); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to read the stat_s8 of + * accel nomotion/slowmotion interrupt from register from 0x37 bit 6 + * + * @param accel_no_motion_u8 : The value of accel + * nomotion/slowmotion interrupt + * + * accel_no_motion_u8 | result + * ------------------- | --------------------- + * 0x00 | indicates no interrupt triggered + * 0x01 | indicates interrupt triggered + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Accel nomotion/slowmotion interrupt can be configured + * by the following APIs + * + * bno055_set_intr_mask_accel_nomotion() + * + * bno055_set_intr_accel_nomotion() + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_no_motion( +u8 *accel_no_motion_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, accel + nomotion/slowmotion interrupt + is available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the stat_s8 of accel + nomotion/slowmotion interrupt*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_INTR_STAT_ACCEL_NO_MOTION_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *accel_no_motion_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_INTR_STAT_ACCEL_NO_MOTION); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API is used to read status of main clock + * from the register 0x38 bit 0 + * + * @param stat_main_clk_u8 : the status of main clock + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_stat_main_clk( +u8 *stat_main_clk_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, status of main clk is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the status of main clk */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_SYS_MAIN_CLK_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *stat_main_clk_u8 = + BNO055_GET_BITSLICE(data_u8r, BNO055_SYS_MAIN_CLK); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API is used to read system status + * code from the register 0x39 it is a byte of data + * + * @param sys_stat_u8 : the status of system + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_stat_code( +u8 *sys_stat_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, the status of system is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the the status of system*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_SYS_STAT_CODE_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *sys_stat_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_SYS_STAT_CODE); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API is used to read system BNO055_ERROR + * code from the register 0x3A it is a byte of data + * + * @param sys_error_u8 : The value of system BNO055_ERROR code + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_error_code( +u8 *sys_error_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, system BNO055_ERROR code is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the system BNO055_ERROR code*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_SYS_ERROR_CODE_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *sys_error_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_SYS_ERROR_CODE); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to read the accel unit + * from register from 0x3B bit 0 + * + * @param accel_unit_u8 : The value of accel unit + * + * accel_unit_u8 | result + * ------------- | --------------- + * 0x00 | BNO055_ACCEL_UNIT_MSQ + * 0x01 | BNO055_ACCEL_UNIT_MG + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_unit( +u8 *accel_unit_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, accel unit is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the accel unit */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_UNIT_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *accel_unit_u8 = + BNO055_GET_BITSLICE(data_u8r, BNO055_ACCEL_UNIT); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write the accel unit + * from register from 0x3B bit 0 + * + * @param accel_unit_u8 : The value of accel unit + * + * accel_unit_u8 | result + * ------------- | --------------- + * 0x00 | BNO055_ACCEL_UNIT_MSQ + * 0x01 | BNO055_ACCEL_UNIT_MG + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_unit( +u8 accel_unit_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /* The write operation effective only if the operation + mode is in config mode, this part of code is checking the + current operation mode and set the config mode */ + stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); + if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + if (stat_s8 == BNO055_SUCCESS) { + /* Write the accel unit */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_UNIT_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = + BNO055_SET_BITSLICE(data_u8r, + BNO055_ACCEL_UNIT, accel_unit_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_UNIT_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode + of previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); + return com_rslt; +} +/*! + * @brief This API used to read the gyro unit + * from register from 0x3B bit 1 + * + * @param gyro_unit_u8 : The value of accel unit + * + * gyro_unit_u8 | result + * ------------- | ----------- + * 0x00 | BNO055_GYRO_UNIT_DPS + * 0x01 | BNO055_GYRO_UNIT_RPS + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_unit( +u8 *gyro_unit_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, gyro unit is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the gyro unit */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_UNIT_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *gyro_unit_u8 = + BNO055_GET_BITSLICE(data_u8r, BNO055_GYRO_UNIT); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write the gyro unit + * from register from 0x3B bit 1 + * + * @param gyro_unit_u8 : The value of accel unit + * + * gyro_unit_u8 | result + * ------------- | ----------- + * 0x00 | BNO055_GYRO_UNIT_DPS + * 0x01 | BNO055_GYRO_UNIT_RPS + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_unit(u8 gyro_unit_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +s8 stat_s8 = BNO055_ERROR; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /* The write operation effective only if the operation + mode is in config mode, this part of code is checking the + current operation mode and set the config mode */ + stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); + if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + if (stat_s8 == BNO055_SUCCESS) { + /* Write the gyro unit */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_UNIT_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = + BNO055_SET_BITSLICE(data_u8r, + BNO055_GYRO_UNIT, gyro_unit_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_UNIT_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode + of previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); + return com_rslt; +} +/*! + * @brief This API used to read the Euler unit + * from register from 0x3B bit 2 + * + * @param euler_unit_u8 : The value of accel unit + * + * euler_unit_u8 | result + * -------------- | ----------- + * 0x00 | BNO055_EULER_UNIT_DEG + * 0x01 | BNO055_EULER_UNIT_RAD + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_euler_unit( +u8 *euler_unit_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, Euler unit is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the Euler unit */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_EULER_UNIT_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *euler_unit_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_EULER_UNIT); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write the Euler unit + * from register from 0x3B bit 2 + * + * @param euler_unit_u8 : The value of Euler unit + * + * euler_unit_u8 | result + * -------------- | ----------- + * 0x00 | BNO055_EULER_UNIT_DEG + * 0x01 | BNO055_EULER_UNIT_RAD + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_euler_unit(u8 euler_unit_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +s8 stat_s8 = BNO055_ERROR; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /* The write operation effective only if the operation + mode is in config mode, this part of code is checking the + current operation mode and set the config mode */ + stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); + if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + if (stat_s8 == BNO055_SUCCESS) { + /* Write the Euler unit*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_EULER_UNIT_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = + BNO055_SET_BITSLICE(data_u8r, + BNO055_EULER_UNIT, euler_unit_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_EULER_UNIT_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode + of previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); + return com_rslt; +} +/*! + * @brief This API used to write the tilt unit + * from register from 0x3B bit 3 + * + * @param tilt_unit_u8 : The value of tilt unit + * + * tilt_unit_u8 | result + * --------------- | --------- + * 0x00 | degrees + * 0x01 | radians + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_tilt_unit( +u8 *tilt_unit_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, chip id is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_TILT_UNIT_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *tilt_unit_u8 = + BNO055_GET_BITSLICE(data_u8r, BNO055_TILT_UNIT); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write the tilt unit + * from register from 0x3B bit 3 + * + * @param tilt_unit_u8 : The value of tilt unit + * + * tilt_unit_u8 | result + * --------------- | --------- + * 0x00 | degrees + * 0x01 | radians + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + * + * \return Communication results + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_tilt_unit(u8 tilt_unit_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +s8 stat_s8 = BNO055_ERROR; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /* The write operation effective only if the operation + mode is in config mode, this part of code is checking the + current operation mode and set the config mode */ + stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); + if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + if (stat_s8 == BNO055_SUCCESS) { + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_TILT_UNIT_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = + BNO055_SET_BITSLICE(data_u8r, + BNO055_TILT_UNIT, tilt_unit_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_TILT_UNIT_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode + of previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); + return com_rslt; +} +/*! + * @brief This API used to read the temperature unit + * from register from 0x3B bit 4 + * + * @param temp_unit_u8 : The value of temperature unit + * + * temp_unit_u8 | result + * ----------- | -------------- + * 0x00 | BNO055_TEMP_UNIT_CELSIUS + * 0x01 | BNO055_TEMP_UNIT_FAHRENHEIT + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_temp_unit( +u8 *temp_unit_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, temperature unit is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the temperature unit */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_TEMP_UNIT_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *temp_unit_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_TEMP_UNIT); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write the temperature unit + * from register from 0x3B bit 4 + * + * @param temp_unit_u8 : The value of temperature unit + * + * temp_unit_u8 | result + * ----------- | -------------- + * 0x00 | BNO055_TEMP_UNIT_CELSIUS + * 0x01 | BNO055_TEMP_UNIT_FAHRENHEIT + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_temp_unit( +u8 temp_unit_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +s8 stat_s8 = BNO055_ERROR; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /* The write operation effective only if the operation + mode is in config mode, this part of code is checking the + current operation mode and set the config mode */ + stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); + if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + if (stat_s8 == BNO055_SUCCESS) { + /* Write the temperature unit */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_TEMP_UNIT_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = + BNO055_SET_BITSLICE(data_u8r, + BNO055_TEMP_UNIT, + temp_unit_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_TEMP_UNIT_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode + of previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); + return com_rslt; +} +/*! + * @brief This API used to read the current selected orientation mode + * from register from 0x3B bit 7 + * + * @param data_output_format_u8 : The value of data output format + * + * data_output_format_u8 | result + * -------------------- | -------- + * 0x00 | Windows + * 0x01 | Android + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_data_output_format( +u8 *data_output_format_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, data output format is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the data output format */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_DATA_OUTPUT_FORMAT_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *data_output_format_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_DATA_OUTPUT_FORMAT); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write the current selected orientation mode + * from register from 0x3B bit 7 + * + * @param data_output_format_u8 : The value of data output format + * + * data_output_format_u8 | result + * -------------------- | -------- + * 0x00 | Windows + * 0x01 | Android + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_data_output_format( +u8 data_output_format_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +s8 stat_s8 = BNO055_ERROR; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /* The write operation effective only if the operation + mode is in config mode, this part of code is checking the + current operation mode and set the config mode */ + stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); + if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + if (stat_s8 == BNO055_SUCCESS) { + /* Write the data output format */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_DATA_OUTPUT_FORMAT_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = + BNO055_SET_BITSLICE(data_u8r, + BNO055_DATA_OUTPUT_FORMAT, + data_output_format_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_DATA_OUTPUT_FORMAT_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode + of previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); + return com_rslt; +} +/*! @brief This API used to read the operation mode + * from register from 0x3D bit 0 to 3 + * + * @param operation_mode_u8 : The value of operation mode + * + * operation_mode_u8 | result | comments + * ----------|----------------------------|---------------------------- + * 0x00 | BNO055_OPERATION_MODE_CONFIG | Configuration mode + * 0x01 | BNO055_OPERATION_MODE_ACCONLY | Reads accel data alone + * 0x02 | BNO055_OPERATION_MODE_MAGONLY | Reads mag data alone + * 0x03 | BNO055_OPERATION_MODE_GYRONLY | Reads gyro data alone + * 0x04 | BNO055_OPERATION_MODE_ACCMAG | Reads accel and mag data + * 0x05 | BNO055_OPERATION_MODE_ACCGYRO | Reads accel and gyro data + * 0x06 | BNO055_OPERATION_MODE_MAGGYRO | Reads accel and mag data + * 0x07 | OPERATION_MODE_ANY_MOTION | Reads accel mag and gyro data + * 0x08 | BNO055_OPERATION_MODE_IMUPLUS | Inertial measurement unit + * - | - | Reads accel,gyro and fusion data + * 0x09 | BNO055_OPERATION_MODE_COMPASS | Reads accel, mag data + * - | - | and fusion data + * 0x0A | BNO055_OPERATION_MODE_M4G | Reads accel, mag data + * - | - | and fusion data + * 0x0B | BNO055_OPERATION_MODE_NDOF_FMC_OFF| Nine degrees of freedom with + * - | - | fast magnetic calibration + * - | - | Reads accel,mag, gyro + * - | - | and fusion data + * 0x0C | BNO055_OPERATION_MODE_NDOF | Nine degrees of freedom + * - | - | Reads accel,mag, gyro + * - | - | and fusion data + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note In the config mode, all sensor and fusion data + * becomes zero and it is mainly derived + * to configure the various settings of the BNO + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_operation_mode( +u8 *operation_mode_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, operation mode is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the value of operation mode*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_OPERATION_MODE_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *operation_mode_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_OPERATION_MODE); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! @brief This API used to write the operation mode + * from register from 0x3D bit 0 to 3 + * + * @param operation_mode_u8 : The value of operation mode + * + * operation_mode_u8 | result | comments + * ---------|-----------------------------------|-------------------------- + * 0x00 | BNO055_OPERATION_MODE_CONFIG | Configuration mode + * 0x01 | BNO055_OPERATION_MODE_ACCONLY | Reads accel data alone + * 0x02 | BNO055_OPERATION_MODE_MAGONLY | Reads mag data alone + * 0x03 | BNO055_OPERATION_MODE_GYRONLY | Reads gyro data alone + * 0x04 | BNO055_OPERATION_MODE_ACCMAG | Reads accel and mag data + * 0x05 | BNO055_OPERATION_MODE_ACCGYRO | Reads accel and gyro data + * 0x06 | BNO055_OPERATION_MODE_MAGGYRO | Reads accel and mag data + * 0x07 | OPERATION_MODE_ANY_MOTION | Reads accel mag and + * | - | gyro data + * 0x08 | BNO055_OPERATION_MODE_IMUPLUS | Inertial measurement unit + * - | | Reads accel,gyro and + * | - | fusion data + * 0x09 | BNO055_OPERATION_MODE_COMPASS | Reads accel, mag data + * - | - | and fusion data + * 0x0A | BNO055_OPERATION_MODE_M4G | Reads accel, mag data + * - | - | and fusion data + * 0x0B | BNO055_OPERATION_MODE_NDOF_FMC_OFF| Nine degrees of freedom with + * - | - | fast magnetic calibration + * - | - | Reads accel,mag, gyro + * - | - | and fusion data + * 0x0C | BNO055_OPERATION_MODE_NDOF | Nine degrees of freedom + * - | - | Reads accel,mag, gyro + * - | - | and fusion data + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note In the config mode, all sensor and fusion data + * becomes zero and it is mainly derived + * to configure the various settings of the BNO + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_operation_mode(u8 operation_mode_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +s8 stat_s8 = BNO055_ERROR; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /* The write operation effective only if the operation + mode is in config mode, this part of code is checking the + current operation mode and set the config mode */ + stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); + if (stat_s8 == BNO055_SUCCESS) { + /* If the previous operation mode is config it is + directly write the operation mode */ + if (prev_opmode_u8 == BNO055_OPERATION_MODE_CONFIG) { + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_OPERATION_MODE_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = + BNO055_SET_BITSLICE(data_u8r, + BNO055_OPERATION_MODE, + operation_mode_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_OPERATION_MODE_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + /* Config mode to other + operation mode switching + required delay of 600ms*/ + p_bno055->delay_msec( + BNO055_MODE_SWITCHING_DELAY); + } + } else { + /* If the previous operation + mode is not config it is + write the config mode */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_OPERATION_MODE_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = + BNO055_SET_BITSLICE(data_u8r, + BNO055_OPERATION_MODE, + BNO055_OPERATION_MODE_CONFIG); + com_rslt += bno055_write_register( + BNO055_OPERATION_MODE_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + /* other mode to config mode switching + required delay of 20ms*/ + p_bno055->delay_msec( + BNO055_CONFIG_MODE_SWITCHING_DELAY); + } + /* Write the operation mode */ + if (operation_mode_u8 != + BNO055_OPERATION_MODE_CONFIG) { + com_rslt = + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_OPERATION_MODE_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = BNO055_SET_BITSLICE + (data_u8r, + BNO055_OPERATION_MODE, + operation_mode_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_OPERATION_MODE_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + /* Config mode to other + operation mode switching + required delay of 600ms*/ + p_bno055->delay_msec( + BNO055_MODE_SWITCHING_DELAY); + } + } + } + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! @brief This API used to read the power mode + * from register from 0x3E bit 0 to 1 + * + * @param power_mode_u8 : The value of power mode + * + * power_mode_u8| result | comments + * ---------|---------------------------|------------------------------------- + * 0x00 |BNO055_POWER_MODE_NORMAL | In the NORMAL mode the register + * - | - | map and the internal peripherals + * - | - | of the MCU are always + * - | - | operative in this mode + * 0x01 |BNO055_POWER_MODE_LOWPOWER | This is first level of power + * | - | saving mode + * 0x02 |BNO055_POWER_MODE_SUSPEND | In suspend mode the system is + * - | - | paused and all the sensors and + * - | - | the micro controller are + * - | - | put into sleep mode. + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note For detailed about LOWPOWER mode + * refer data sheet 3.4.2 + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_power_mode( +u8 *power_mode_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, power mode is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the value of power mode */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_POWER_MODE_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *power_mode_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_POWER_MODE); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! @brief This API used to write the power mode + * from register from 0x3E bit 0 to 1 + * + * @param power_mode_u8 : The value of power mode + * + * + * power_mode_u8| result | comments + * -------|----------------------------|--------------------------------- + * 0x00 | BNO055_POWER_MODE_NORMAL | In the NORMAL mode the register + * - | - | map and the internal peripherals + * - | - | of the MCU are always + * - | - | operative in this mode + * 0x01 | BNO055_POWER_MODE_LOWPOWER | This is first level of power + * | - | saving mode + * 0x02 | BNO055_POWER_MODE_SUSPEND | In suspend mode the system is + * - | - | paused and all the sensors and + * - | - | the micro controller are + * - | - | put into sleep mode. + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note For detailed about LOWPOWER mode + * refer data sheet 3.4.2 + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_power_mode(u8 power_mode_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +s8 stat_s8 = BNO055_ERROR; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /* The write operation effective only if the operation + mode is in config mode, this part of code is checking the + current operation mode and set the config mode */ + stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); + if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + if (stat_s8 == BNO055_SUCCESS) { + /* Write the value of power mode */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_POWER_MODE_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = + BNO055_SET_BITSLICE(data_u8r, + BNO055_POWER_MODE, power_mode_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_POWER_MODE_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode + of previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); + return com_rslt; +} +/*! + * @brief This API used to read the reset interrupt + * from register from 0x3F bit 6 + * It resets all the interrupt bit and interrupt output + * + * @param intr_rst_u8 : The value of reset interrupt + * + * intr_rst_u8 | result + * ------------ |---------- + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_rst( +u8 *intr_rst_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, reset interrupt is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the value of reset interrupt*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_INTR_RST_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *intr_rst_u8 = + BNO055_GET_BITSLICE(data_u8r, BNO055_INTR_RST); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write the reset interrupt + * from register from 0x3F bit 6 + * It resets all the interrupt bit and interrupt output + * + * @param intr_rst_u8 : The value of reset interrupt + * + * intr_rst_u8 | result + * -------------- |---------- + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_rst(u8 intr_rst_u8) +{ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, reset interrupt + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Write the value of reset interrupt */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_INTR_RST_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = + BNO055_SET_BITSLICE(data_u8r, + BNO055_INTR_RST, intr_rst_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_INTR_RST_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to read the clk source + * from register from 0x3F bit 7 + * + * @param clk_src_u8 : The value of clk source + * + * clk_src_u8 | result + * -------------- |---------- + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_clk_src( +u8 *clk_src_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, clk source is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the value of clk source */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_CLK_SRC_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *clk_src_u8 = + BNO055_GET_BITSLICE(data_u8r, BNO055_CLK_SRC); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write the clk source + * from register from 0x3F bit 7 + * + * @param clk_src_u8 : The value of clk source + * + * clk_src_u8 | result + * -------------- |---------- + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_clk_src(u8 clk_src_u8) +{ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, clk source is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Write the value of clk source */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_CLK_SRC_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = + BNO055_SET_BITSLICE(data_u8r, + BNO055_CLK_SRC, clk_src_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_CLK_SRC_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to read the reset system + * from register from 0x3F bit 5 + * + * @param sys_rst_u8 : The value of reset system + * + * sys_rst_u8 | result + * -------------- |---------- + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note It resets the whole system + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_rst( +u8 *sys_rst_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, reset system is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the value of reset system */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_SYS_RST_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *sys_rst_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_SYS_RST); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write the reset system + * from register from 0x3F bit 5 + * + * @param sys_rst_u8 : The value of reset system + * + * sys_rst_u8 | result + * -------------- |---------- + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note It resets the whole system + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_sys_rst(u8 sys_rst_u8) +{ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, reset system is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Write the value of reset system */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_SYS_RST_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = + BNO055_SET_BITSLICE(data_u8r, + BNO055_SYS_RST, sys_rst_u8); + com_rslt = + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_SYS_RST_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to read the self test + * from register from 0x3F bit 0 + * + * @param selftest_u8 : The value of self test + * + * selftest_u8 | result + * -------------- |---------- + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note It triggers the self test + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest( +u8 *selftest_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, self test is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the value of self test */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_SELFTEST_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *selftest_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_SELFTEST); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write the self test + * from register from 0x3F bit 0 + * + * @param selftest_u8 : The value of self test + * + * selftest_u8 | result + * -------------- |---------- + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note It triggers the self test + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_selftest(u8 selftest_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +s8 stat_s8 = BNO055_ERROR; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /* The write operation effective only if the operation + mode is in config mode, this part of code is checking the + current operation mode and set the config mode */ + stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); + if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + if (stat_s8 == BNO055_SUCCESS) { + /* Write the value of self test */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_SELFTEST_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = + BNO055_SET_BITSLICE(data_u8r, + BNO055_SELFTEST, + selftest_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_SELFTEST_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode + of previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); + return com_rslt; +} +/*! + * @brief This API used to read the temperature source + * from register from 0x40 bit 0 and 1 + * + * @param temp_source_u8 : The value of selected temperature source + * + * temp_source_u8 | result + * ---------------- |--------------- + * 0x00 | BNO055_ACCEL_TEMP_EN + * 0X01 | BNO055_GYRO_TEMP_EN + * 0X03 | BNO055_MCU_TEMP_EN + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_temp_source( +u8 *temp_source_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, temperature source is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the value of temperature source */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_TEMP_SOURCE_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *temp_source_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_TEMP_SOURCE); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write the temperature source + * from register from 0x40 bit 0 and 1 + * + * @param temp_source_u8 : The value of selected temperature source + * + * temp_source_u8 | result + * ---------------- |--------------- + * 0x00 | BNO055_ACCEL_TEMP_EN + * 0X01 | BNO055_GYRO_TEMP_EN + * 0X03 | BNO055_MCU_TEMP_EN + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_temp_source(u8 temp_source_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +s8 stat_s8 = BNO055_ERROR; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /* The write operation effective only if the operation + mode is in config mode, this part of code is checking the + current operation mode and set the config mode */ + stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); + if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + if (stat_s8 == BNO055_SUCCESS) { + /* Write the value of temperature source*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_TEMP_SOURCE_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = + BNO055_SET_BITSLICE(data_u8r, + BNO055_TEMP_SOURCE, temp_source_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_TEMP_SOURCE_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode + of previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); + return com_rslt; +} +/*! + * @brief This API used to read the axis remap value + * from register from 0x41 bit 0 and 5 + * + * @param remap_axis_u8 : The value of axis remapping + * + * remap_axis_u8 | result | comments + * ------------|-------------------|------------ + * 0X21 | BNO055_REMAP_X_Y | Z=Z;X=Y;Y=X + * 0X18 | BNO055_REMAP_Y_Z | X=X;Y=Z;Z=Y + * 0X06 | BNO055_REMAP_Z_X | Y=Y;X=Z;Z=X + * 0X12 | BNO055_REMAP_X_Y_Z_TYPE0 | X=Z;Y=X;Z=Y + * 0X09 | BNO055_REMAP_X_Y_Z_TYPE1 | X=Y;Y=Z;Z=X + * 0X24 | BNO055_DEFAULT_AXIS | X=X;Y=Y;Z=Z + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note : For axis sign remap refer the following APIs + * x-axis : + * + * bno055_set_x_remap_sign() + * + * y-axis : + * + * bno055_set_y_remap_sign() + * + * z-axis : + * + * bno055_set_z_remap_sign() + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_axis_remap_value( +u8 *remap_axis_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, axis remap is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the value of axis remap*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_REMAP_AXIS_VALUE_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *remap_axis_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_REMAP_AXIS_VALUE); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write the axis remap value + * from register from 0x41 bit 0 and 5 + * + * @param remap_axis_u8 : The value of axis remapping + * + * remap_axis_u8 | result | comments + * ------------|-------------------|------------ + * 0X21 | BNO055_REMAP_X_Y | Z=Z;X=Y;Y=X + * 0X18 | BNO055_REMAP_Y_Z | X=X;Y=Z;Z=Y + * 0X06 | BNO055_REMAP_Z_X | Y=Y;X=Z;Z=X + * 0X12 | BNO055_REMAP_X_Y_Z_TYPE0 | X=Z;Y=X;Z=Y + * 0X09 | BNO055_REMAP_X_Y_Z_TYPE1 | X=Y;Y=Z;Z=X + * 0X24 | BNO055_DEFAULT_AXIS | X=X;Y=Y;Z=Z + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note : For axis sign remap refer the following APIs + * x-axis : + * + * bno055_set_x_remap_sign() + * + * y-axis : + * + * bno055_set_y_remap_sign() + * + * z-axis : + * + * bno055_set_z_remap_sign() + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_axis_remap_value( +u8 remap_axis_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +s8 stat_s8 = BNO055_ERROR; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /* The write operation effective only if the operation + mode is in config mode, this part of code is checking the + current operation mode and set the config mode */ + stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); + if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + /* Write the value of axis remap */ + if (stat_s8 == BNO055_SUCCESS) { + switch (remap_axis_u8) { + case BNO055_REMAP_X_Y: + case BNO055_REMAP_Y_Z: + case BNO055_REMAP_Z_X: + case BNO055_REMAP_X_Y_Z_TYPE0: + case BNO055_REMAP_X_Y_Z_TYPE1: + case BNO055_DEFAULT_AXIS: + com_rslt = + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_REMAP_AXIS_VALUE_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = BNO055_SET_BITSLICE + (data_u8r, + BNO055_REMAP_AXIS_VALUE, + remap_axis_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_REMAP_AXIS_VALUE_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + break; + default: + /* Write the default axis remap value */ + com_rslt = + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_REMAP_AXIS_VALUE_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = BNO055_SET_BITSLICE + (data_u8r, + BNO055_REMAP_AXIS_VALUE, + BNO055_DEFAULT_AXIS); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_REMAP_AXIS_VALUE_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + break; + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } +} +if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode + of previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); +return com_rslt; +} +/*! + * @brief This API used to read the x-axis remap + * sign from register from 0x42 bit 2 + * + * @param remap_x_sign_u8 : The value of x-axis remap sign + * + * remap_x_sign_u8 | result + * ------------------- |-------------------- + * 0X00 | BNO055_REMAP_AXIS_POSITIVE + * 0X01 | BNO055_REMAP_AXIS_NEGATIVE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_x_sign( +u8 *remap_x_sign_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, x-axis remap sign is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the value of x-axis remap sign */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_REMAP_X_SIGN_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *remap_x_sign_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_REMAP_X_SIGN); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write the x-axis remap + * sign from register from 0x42 bit 2 + * + * @param remap_x_sign_u8 : The value of x-axis remap sign + * + * remap_x_sign_u8 | result + * ------------------- |-------------------- + * 0X00 | BNO055_REMAP_AXIS_POSITIVE + * 0X01 | BNO055_REMAP_AXIS_NEGATIVE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_x_sign( +u8 remap_x_sign_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +s8 stat_s8 = BNO055_ERROR; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /* The write operation effective only if the operation + mode is in config mode, this part of code is checking the + current operation mode and set the config mode */ + stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); + if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + if (stat_s8 == BNO055_SUCCESS) { + /* Write the value of x-axis remap */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_REMAP_X_SIGN_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = + BNO055_SET_BITSLICE(data_u8r, + BNO055_REMAP_X_SIGN, + remap_x_sign_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_REMAP_X_SIGN_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode + of previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); + return com_rslt; +} +/*! + * @brief This API used to read the y-axis remap + * sign from register from 0x42 bit 1 + * + * @param remap_y_sign_u8 : The value of y-axis remap sign + * + * remap_y_sign_u8 | result + * ------------------- |-------------------- + * 0X00 | BNO055_REMAP_AXIS_POSITIVE + * 0X01 | BNO055_REMAP_AXIS_NEGATIVE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_y_sign( +u8 *remap_y_sign_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, y-axis remap sign is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the value of y-axis remap sign*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_REMAP_Y_SIGN_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *remap_y_sign_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_REMAP_Y_SIGN); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write the y-axis remap + * sign from register from 0x42 bit 1 + * + * @param remap_y_sign_u8 : The value of y-axis remap sign + * + * remap_y_sign_u8 | result + * ------------------- |-------------------- + * 0X00 | BNO055_REMAP_AXIS_POSITIVE + * 0X01 | BNO055_REMAP_AXIS_NEGATIVE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_y_sign( +u8 remap_y_sign_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +s8 stat_s8 = BNO055_ERROR; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /* The write operation effective only if the operation + mode is in config mode, this part of code is checking the + current operation mode and set the config mode */ + stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); + if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + if (stat_s8 == BNO055_SUCCESS) { + /* Write the value of y-axis remap sign*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_REMAP_Y_SIGN_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = + BNO055_SET_BITSLICE(data_u8r, + BNO055_REMAP_Y_SIGN, + remap_y_sign_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_REMAP_Y_SIGN_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode + of previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); + return com_rslt; +} +/*! + * @brief This API used to read the z-axis remap + * sign from register from 0x42 bit 0 + * + * @param remap_z_sign_u8 : The value of z-axis remap sign + * + * remap_z_sign_u8 | result + * ------------------- |-------------------- + * 0X00 | BNO055_REMAP_AXIS_POSITIVE + * 0X01 | BNO055_REMAP_AXIS_NEGATIVE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_z_sign( +u8 *remap_z_sign_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, z-axis remap sign is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read the value of z-axis remap sign*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_REMAP_Z_SIGN_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *remap_z_sign_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_REMAP_Z_SIGN); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write the z-axis remap + * sign from register from 0x42 bit 0 + * + * @param remap_z_sign_u8 : The value of z-axis remap sign + * + * remap_z_sign_u8 | result + * ------------------- |-------------------- + * 0X00 | BNO055_REMAP_AXIS_POSITIVE + * 0X01 | BNO055_REMAP_AXIS_NEGATIVE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_z_sign( +u8 remap_z_sign_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +s8 stat_s8 = BNO055_ERROR; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /* The write operation effective only if the operation + mode is in config mode, this part of code is checking the + current operation mode and set the config mode */ + stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); + if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + if (stat_s8 == BNO055_SUCCESS) { + /* Write the value of z-axis remap sign*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_REMAP_Z_SIGN_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = + BNO055_SET_BITSLICE(data_u8r, + BNO055_REMAP_Z_SIGN, + remap_z_sign_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_REMAP_Z_SIGN_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode + of previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); + return com_rslt; +} +/*! + * @brief This API is used to read soft iron calibration matrix + * from the register 0x43 to 0x53 it is a 18 bytes of data + * + * @param sic_matrix : The value of soft iron calibration matrix + * + * sic_matrix | result + * --------------------|---------------------------------- + * sic_0 | soft iron calibration matrix zero + * sic_1 | soft iron calibration matrix one + * sic_2 | soft iron calibration matrix two + * sic_3 | soft iron calibration matrix three + * sic_4 | soft iron calibration matrix four + * sic_5 | soft iron calibration matrix five + * sic_6 | soft iron calibration matrix six + * sic_7 | soft iron calibration matrix seven + * sic_8 | soft iron calibration matrix eight + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note : Each soft iron calibration matrix range from -32768 to +32767 + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_sic_matrix( +struct bno055_sic_matrix_t *sic_matrix) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + /* Array holding the soft iron calibration matrix values + data_u8[BNO055_SOFT_IRON_CALIB_0_LSB] - sic_0->LSB + data_u8[BNO055_SOFT_IRON_CALIB_0_MSB] - sic_0->MSB + data_u8[BNO055_SOFT_IRON_CALIB_1_LSB] - sic_1->LSB + data_u8[BNO055_SOFT_IRON_CALIB_1_MSB] - sic_1->MSB + data_u8[BNO055_SOFT_IRON_CALIB_2_LSB] - sic_2->LSB + data_u8[BNO055_SOFT_IRON_CALIB_2_MSB] - sic_2->MSB + data_u8[BNO055_SOFT_IRON_CALIB_3_LSB] - sic_3->LSB + data_u8[BNO055_SOFT_IRON_CALIB_3_MSB] - sic_3->MSB + data_u8[BNO055_SOFT_IRON_CALIB_4_LSB] - sic_4->LSB + data_u8[BNO055_SOFT_IRON_CALIB_4_MSB] - sic_4->MSB + data_u8[BNO055_SOFT_IRON_CALIB_5_LSB] - sic_5->LSB + data_u8[BNO055_SOFT_IRON_CALIB_5_MSB] - sic_5->MSB + data_u8[BNO055_SOFT_IRON_CALIB_6_LSB] - sic_6->LSB + data_u8[BNO055_SOFT_IRON_CALIB_6_MSB] - sic_6->MSB + data_u8[BNO055_SOFT_IRON_CALIB_7_LSB] - sic_7->LSB + data_u8[BNO055_SOFT_IRON_CALIB_7_MSB] - sic_7->MSB + data_u8[BNO055_SOFT_IRON_CALIB_8_LSB] - sic_8->LSB + data_u8[BNO055_SOFT_IRON_CALIB_8_MSB] - sic_8->MSB + */ + u8 data_u8[BNO055_SOFT_IRON_CALIBRATION_MATRIX_SIZE] = { + BNO055_INIT_VALUE, BNO055_INIT_VALUE, + BNO055_INIT_VALUE, BNO055_INIT_VALUE, + BNO055_INIT_VALUE, BNO055_INIT_VALUE, + BNO055_INIT_VALUE, BNO055_INIT_VALUE, + BNO055_INIT_VALUE, BNO055_INIT_VALUE, + BNO055_INIT_VALUE, BNO055_INIT_VALUE, + BNO055_INIT_VALUE, BNO055_INIT_VALUE, + BNO055_INIT_VALUE, BNO055_INIT_VALUE, + BNO055_INIT_VALUE, BNO055_INIT_VALUE}; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, soft iron calibration matrix is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read soft iron calibration matrix value + it is eighteen bytes of data */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_SIC_MATRIX_0_LSB_REG, + data_u8, BNO055_SOFT_IRON_CALIBRATION_MATRIX_SIZE); + if (com_rslt == BNO055_SUCCESS) { + /*soft iron calibration matrix zero*/ + data_u8[BNO055_SOFT_IRON_CALIB_0_LSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SOFT_IRON_CALIB_0_LSB], + BNO055_SIC_MATRIX_0_LSB); + data_u8[BNO055_SOFT_IRON_CALIB_0_MSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SOFT_IRON_CALIB_0_MSB], + BNO055_SIC_MATRIX_0_MSB); + sic_matrix->sic_0 = (s16)((((s32) + (s8)(data_u8[BNO055_SOFT_IRON_CALIB_0_MSB])) << + (BNO055_SHIFT_EIGHT_BITS)) + | (data_u8[BNO055_SOFT_IRON_CALIB_0_LSB])); + + /*soft iron calibration matrix one*/ + data_u8[BNO055_SOFT_IRON_CALIB_1_LSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SOFT_IRON_CALIB_1_LSB], + BNO055_SIC_MATRIX_1_LSB); + data_u8[BNO055_SOFT_IRON_CALIB_1_MSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SOFT_IRON_CALIB_1_MSB], + BNO055_SIC_MATRIX_1_MSB); + sic_matrix->sic_1 = (s16)((((s32) + (s8)(data_u8[BNO055_SOFT_IRON_CALIB_1_MSB])) << + (BNO055_SHIFT_EIGHT_BITS)) + | (data_u8[BNO055_SOFT_IRON_CALIB_1_LSB])); + + /*soft iron calibration matrix two*/ + data_u8[BNO055_SOFT_IRON_CALIB_2_LSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SOFT_IRON_CALIB_2_LSB], + BNO055_SIC_MATRIX_2_LSB); + data_u8[BNO055_SOFT_IRON_CALIB_2_MSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SOFT_IRON_CALIB_2_MSB], + BNO055_SIC_MATRIX_2_MSB); + sic_matrix->sic_2 = (s16)((((s32) + (s8)(data_u8[BNO055_SOFT_IRON_CALIB_2_MSB])) << + (BNO055_SHIFT_EIGHT_BITS)) + | (data_u8[BNO055_SOFT_IRON_CALIB_2_LSB])); + + /*soft iron calibration matrix three*/ + data_u8[BNO055_SOFT_IRON_CALIB_3_LSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SOFT_IRON_CALIB_3_LSB], + BNO055_SIC_MATRIX_3_LSB); + data_u8[BNO055_SOFT_IRON_CALIB_3_MSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SOFT_IRON_CALIB_3_MSB], + BNO055_SIC_MATRIX_3_LSB); + sic_matrix->sic_3 = (s16)((((s32) + (s8)(data_u8[BNO055_SOFT_IRON_CALIB_3_MSB])) << + (BNO055_SHIFT_EIGHT_BITS)) | + (data_u8[BNO055_SOFT_IRON_CALIB_3_LSB])); + + /*soft iron calibration matrix four*/ + data_u8[BNO055_SOFT_IRON_CALIB_4_LSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SOFT_IRON_CALIB_4_LSB], + BNO055_SIC_MATRIX_4_LSB); + data_u8[BNO055_SOFT_IRON_CALIB_4_MSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SOFT_IRON_CALIB_4_MSB], + BNO055_SIC_MATRIX_4_LSB); + sic_matrix->sic_4 = (s16)((((s32) + (s8)(data_u8[BNO055_SOFT_IRON_CALIB_4_MSB])) << + (BNO055_SHIFT_EIGHT_BITS)) | + (data_u8[BNO055_SOFT_IRON_CALIB_4_LSB])); + + /*soft iron calibration matrix five*/ + data_u8[BNO055_SOFT_IRON_CALIB_5_LSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SOFT_IRON_CALIB_5_LSB], + BNO055_SIC_MATRIX_5_LSB); + data_u8[BNO055_SOFT_IRON_CALIB_5_MSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SOFT_IRON_CALIB_5_MSB], + BNO055_SIC_MATRIX_5_LSB); + sic_matrix->sic_5 = (s16)((((s32) + (s8)(data_u8[BNO055_SOFT_IRON_CALIB_5_MSB])) << + (BNO055_SHIFT_EIGHT_BITS)) | + (data_u8[BNO055_SOFT_IRON_CALIB_5_LSB])); + + /*soft iron calibration matrix six*/ + data_u8[BNO055_SOFT_IRON_CALIB_6_LSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SOFT_IRON_CALIB_6_LSB], + BNO055_SIC_MATRIX_6_LSB); + data_u8[BNO055_SOFT_IRON_CALIB_6_MSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SOFT_IRON_CALIB_6_MSB], + BNO055_SIC_MATRIX_6_LSB); + sic_matrix->sic_6 = (s16)((((s32) + (s8)(data_u8[BNO055_SOFT_IRON_CALIB_6_MSB])) << + (BNO055_SHIFT_EIGHT_BITS)) | + (data_u8[BNO055_SOFT_IRON_CALIB_6_LSB])); + + /*soft iron calibration matrix seven*/ + data_u8[BNO055_SOFT_IRON_CALIB_7_LSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SOFT_IRON_CALIB_7_LSB], + BNO055_SIC_MATRIX_7_LSB); + data_u8[BNO055_SOFT_IRON_CALIB_7_MSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SOFT_IRON_CALIB_7_MSB], + BNO055_SIC_MATRIX_7_LSB); + sic_matrix->sic_7 = (s16)((((s32) + (s8)(data_u8[BNO055_SOFT_IRON_CALIB_7_MSB])) << + (BNO055_SHIFT_EIGHT_BITS)) | + (data_u8[BNO055_SOFT_IRON_CALIB_7_LSB])); + + /*soft iron calibration matrix eight*/ + data_u8[BNO055_SOFT_IRON_CALIB_8_LSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SOFT_IRON_CALIB_8_LSB], + BNO055_SIC_MATRIX_8_LSB); + data_u8[BNO055_SOFT_IRON_CALIB_8_MSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SOFT_IRON_CALIB_8_MSB], + BNO055_SIC_MATRIX_8_LSB); + sic_matrix->sic_8 = (s16)((((s32) + (s8)(data_u8[BNO055_SOFT_IRON_CALIB_8_MSB])) << + (BNO055_SHIFT_EIGHT_BITS)) | + (data_u8[BNO055_SOFT_IRON_CALIB_8_LSB])); + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API is used to write soft iron calibration matrix + * from the register 0x43 to 0x53 it is a 18 bytes of data + * + * @param sic_matrix : The value of soft iron calibration matrix + * + * sic_matrix | result + * --------------------|---------------------------------- + * sic_0 | soft iron calibration matrix zero + * sic_1 | soft iron calibration matrix one + * sic_2 | soft iron calibration matrix two + * sic_3 | soft iron calibration matrix three + * sic_4 | soft iron calibration matrix four + * sic_5 | soft iron calibration matrix five + * sic_6 | soft iron calibration matrix six + * sic_7 | soft iron calibration matrix seven + * sic_8 | soft iron calibration matrix eight + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note : Each soft iron calibration matrix range from -32768 to +32767 + */ +BNO055_RETURN_FUNCTION_TYPE bno055_write_sic_matrix( +struct bno055_sic_matrix_t *sic_matrix) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data1_u8r = BNO055_INIT_VALUE; +u8 data2_u8r = BNO055_INIT_VALUE; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +s8 stat_s8 = BNO055_ERROR; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /* The write operation effective only if the operation + mode is in config mode, this part of code is checking the + current operation mode and set the config mode */ + stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); + if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + if (stat_s8 == BNO055_SUCCESS) { + /* write soft iron calibration + matrix zero value*/ + com_rslt = + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_SIC_MATRIX_0_LSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data1_u8r = ((s8) + (sic_matrix->sic_0 + & BNO055_SIC_HEX_0_0_F_F_DATA)); + data2_u8r = + BNO055_SET_BITSLICE(data2_u8r, + BNO055_SIC_MATRIX_0_LSB, + data1_u8r); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_SIC_MATRIX_0_LSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + + com_rslt += + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_SIC_MATRIX_0_MSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data1_u8r = ((s8) + (sic_matrix->sic_0 >> + BNO055_SHIFT_EIGHT_BITS) + & BNO055_SIC_HEX_0_0_F_F_DATA); + data2_u8r = + BNO055_SET_BITSLICE(data2_u8r, + BNO055_SIC_MATRIX_0_MSB, + data1_u8r); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_SIC_MATRIX_0_MSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + + /* write soft iron calibration + matrix one value*/ + com_rslt += + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_SIC_MATRIX_1_LSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data1_u8r = ((s8) + (sic_matrix->sic_1 + & BNO055_SIC_HEX_0_0_F_F_DATA)); + data2_u8r = + BNO055_SET_BITSLICE(data2_u8r, + BNO055_SIC_MATRIX_1_LSB, + data1_u8r); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_SIC_MATRIX_1_LSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + + com_rslt += + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_SIC_MATRIX_1_MSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data1_u8r = ((s8) + (sic_matrix->sic_1 >> + BNO055_SHIFT_EIGHT_BITS) + & BNO055_SIC_HEX_0_0_F_F_DATA); + data2_u8r = + BNO055_SET_BITSLICE(data2_u8r, + BNO055_SIC_MATRIX_1_MSB, + data1_u8r); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_SIC_MATRIX_1_MSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + + /* write soft iron calibration + matrix two value*/ + com_rslt += + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_SIC_MATRIX_2_LSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data1_u8r = ((s8) + (sic_matrix->sic_2 + & BNO055_SIC_HEX_0_0_F_F_DATA)); + data2_u8r = + BNO055_SET_BITSLICE(data2_u8r, + BNO055_SIC_MATRIX_2_LSB, + data1_u8r); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_SIC_MATRIX_2_LSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + + com_rslt += + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_SIC_MATRIX_2_MSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data1_u8r = ((s8) + (sic_matrix->sic_2 >> + BNO055_SHIFT_EIGHT_BITS) + & BNO055_SIC_HEX_0_0_F_F_DATA); + data2_u8r = + BNO055_SET_BITSLICE(data2_u8r, + BNO055_SIC_MATRIX_2_MSB, + data1_u8r); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_SIC_MATRIX_2_MSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + + /* write soft iron calibration + matrix three value*/ + com_rslt += + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_SIC_MATRIX_3_LSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data1_u8r = ((s8) + (sic_matrix->sic_3 + & BNO055_SIC_HEX_0_0_F_F_DATA)); + data2_u8r = + BNO055_SET_BITSLICE(data2_u8r, + BNO055_SIC_MATRIX_3_LSB, + data1_u8r); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_SIC_MATRIX_3_LSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + + com_rslt += + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_SIC_MATRIX_3_MSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data1_u8r = ((s8) + (sic_matrix->sic_3 >> + BNO055_SHIFT_EIGHT_BITS) + & BNO055_SIC_HEX_0_0_F_F_DATA); + data2_u8r = + BNO055_SET_BITSLICE(data2_u8r, + BNO055_SIC_MATRIX_3_MSB, + data1_u8r); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_SIC_MATRIX_3_MSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + + /* write soft iron calibration + matrix four value*/ + com_rslt += + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_SIC_MATRIX_4_LSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data1_u8r = ((s8) + (sic_matrix->sic_4 + & BNO055_SIC_HEX_0_0_F_F_DATA)); + data2_u8r = + BNO055_SET_BITSLICE(data2_u8r, + BNO055_SIC_MATRIX_4_LSB, + data1_u8r); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_SIC_MATRIX_4_LSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + + com_rslt += + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_SIC_MATRIX_4_MSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data1_u8r = ((s8) + (sic_matrix->sic_4 >> + BNO055_SHIFT_EIGHT_BITS) + & BNO055_SIC_HEX_0_0_F_F_DATA); + data2_u8r = + BNO055_SET_BITSLICE(data2_u8r, + BNO055_SIC_MATRIX_4_MSB, + data1_u8r); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_SIC_MATRIX_4_MSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + + /* write soft iron calibration + matrix five value*/ + com_rslt += + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_SIC_MATRIX_5_LSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data1_u8r = ((s8) + (sic_matrix->sic_5 + & BNO055_SIC_HEX_0_0_F_F_DATA)); + data2_u8r = + BNO055_SET_BITSLICE(data2_u8r, + BNO055_SIC_MATRIX_5_LSB, + data1_u8r); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_SIC_MATRIX_5_LSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + + com_rslt += + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_SIC_MATRIX_5_MSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data1_u8r = ((s8) + (sic_matrix->sic_5 >> + BNO055_SHIFT_EIGHT_BITS) + & BNO055_SIC_HEX_0_0_F_F_DATA); + data2_u8r = + BNO055_SET_BITSLICE(data2_u8r, + BNO055_SIC_MATRIX_5_MSB, + data1_u8r); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_SIC_MATRIX_5_MSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + + /* write soft iron calibration + matrix six value*/ + com_rslt += + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_SIC_MATRIX_6_LSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data1_u8r = ((s8) + (sic_matrix->sic_6 + & BNO055_SIC_HEX_0_0_F_F_DATA)); + data2_u8r = + BNO055_SET_BITSLICE(data2_u8r, + BNO055_SIC_MATRIX_6_LSB, + data1_u8r); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_SIC_MATRIX_6_LSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + + com_rslt += + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_SIC_MATRIX_6_MSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data1_u8r = ((s8) + (sic_matrix->sic_6 >> + BNO055_SHIFT_EIGHT_BITS) + & BNO055_SIC_HEX_0_0_F_F_DATA); + data2_u8r = + BNO055_SET_BITSLICE(data2_u8r, + BNO055_SIC_MATRIX_6_MSB, + data1_u8r); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_SIC_MATRIX_6_MSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + + /* write soft iron calibration + matrix seven value*/ + com_rslt += + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_SIC_MATRIX_7_LSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data1_u8r = ((s8) + (sic_matrix->sic_7 + & BNO055_SIC_HEX_0_0_F_F_DATA)); + data2_u8r = + BNO055_SET_BITSLICE(data2_u8r, + BNO055_SIC_MATRIX_7_LSB, + data1_u8r); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_SIC_MATRIX_7_LSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + + com_rslt += + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_SIC_MATRIX_7_MSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data1_u8r = ((s8) + (sic_matrix->sic_7 >> + BNO055_SHIFT_EIGHT_BITS) + & BNO055_SIC_HEX_0_0_F_F_DATA); + data2_u8r = + BNO055_SET_BITSLICE(data2_u8r, + BNO055_SIC_MATRIX_7_MSB, + data1_u8r); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_SIC_MATRIX_7_MSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + + /* write soft iron calibration + matrix eight value*/ + com_rslt += + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_SIC_MATRIX_8_LSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data1_u8r = ((s8) + (sic_matrix->sic_8 + & BNO055_SIC_HEX_0_0_F_F_DATA)); + data2_u8r = + BNO055_SET_BITSLICE(data2_u8r, + BNO055_SIC_MATRIX_8_LSB, + data1_u8r); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_SIC_MATRIX_8_LSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + + com_rslt += + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_SIC_MATRIX_8_MSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data1_u8r = ((s8) + (sic_matrix->sic_8 >> + BNO055_SHIFT_EIGHT_BITS) + & BNO055_SIC_HEX_0_0_F_F_DATA); + data2_u8r = + BNO055_SET_BITSLICE(data2_u8r, + BNO055_SIC_MATRIX_8_MSB, + data1_u8r); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_SIC_MATRIX_8_MSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode + of previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); + return com_rslt; +} +/*! + * @brief This API is used to read accel offset and accel radius + * offset form register 0x55 to 0x5A and radius form 0x67 and 0x68 + * + * @param accel_offset : The value of accel offset and radius + * + * bno055_accel_offset_t | result + * ------------------- | ---------------- + * x | accel offset x + * y | accel offset y + * z | accel offset z + * r | accel offset r + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note The range of the accel offset varies based on + * the G-range of accel sensor. + * + * accel G range | offset range + * --------------- | -------------- + * BNO055_ACCEL_RANGE_2G | +/-2000 + * BNO055_ACCEL_RANGE_4G | +/-4000 + * BNO055_ACCEL_RANGE_8G | +/-8000 + * BNO055_ACCEL_RANGE_16G | +/-16000 + * + * accel G range can be configured by using the + * bno055_set_accel_range() API + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_offset( +struct bno055_accel_offset_t *accel_offset) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + /* Array holding the accel offset values + data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB] - offset x->LSB + data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB] - offset x->MSB + data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB] - offset y->LSB + data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB] - offset y->MSB + data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB] - offset z->LSB + data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB] - offset z->MSB + */ + u8 data_u8[BNO055_ACCEL_OFFSET_ARRAY] = { + BNO055_INIT_VALUE, BNO055_INIT_VALUE, + BNO055_INIT_VALUE, BNO055_INIT_VALUE, + BNO055_INIT_VALUE, BNO055_INIT_VALUE}; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, accel offset is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read accel offset value it is six bytes of data*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_OFFSET_X_LSB_REG, + data_u8, BNO055_ACCEL_OFFSET_ARRAY); + if (com_rslt == BNO055_SUCCESS) { + /* Read accel x offset value*/ + data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB], + BNO055_ACCEL_OFFSET_X_LSB); + data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB], + BNO055_ACCEL_OFFSET_X_MSB); + accel_offset->x = (s16)((((s32)(s8) + (data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB])) << + (BNO055_SHIFT_EIGHT_BITS)) | + (data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB])); + + /* Read accel y offset value*/ + data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB], + BNO055_ACCEL_OFFSET_Y_LSB); + data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB], + BNO055_ACCEL_OFFSET_Y_MSB); + accel_offset->y = (s16)((((s32)(s8) + (data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB])) << + (BNO055_SHIFT_EIGHT_BITS)) + | (data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB])); + + /* Read accel z offset value*/ + data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB], + BNO055_ACCEL_OFFSET_Z_LSB); + data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB], + BNO055_ACCEL_OFFSET_Z_MSB); + accel_offset->z = (s16)((((s32)(s8) + (data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB])) << + (BNO055_SHIFT_EIGHT_BITS)) | + (data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB])); + + /* Read accel radius value + it is two bytes of data*/ + com_rslt += p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_RADIUS_LSB_REG, + data_u8, + BNO055_LSB_MSB_READ_LENGTH); + /* Array holding the accel radius values + data_u8[BNO055_OFFSET_RADIUS_LSB] - radius->LSB + data_u8[BNO055_OFFSET_RADIUS_MSB] - radius->MSB + */ + if (com_rslt == BNO055_SUCCESS) { + data_u8[BNO055_OFFSET_RADIUS_LSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_OFFSET_RADIUS_LSB], + BNO055_ACCEL_RADIUS_LSB); + data_u8[BNO055_OFFSET_RADIUS_MSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_OFFSET_RADIUS_MSB], + BNO055_ACCEL_RADIUS_MSB); + accel_offset->r = (s16)((((s32)(s8) + (data_u8[BNO055_OFFSET_RADIUS_MSB])) << + (BNO055_SHIFT_EIGHT_BITS)) | + (data_u8[BNO055_OFFSET_RADIUS_LSB])); + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API is used to write accel offset and accel radius + * offset form register 0x55 to 0x5A and radius form 0x67 and 0x68 + * + * @param accel_offset : The value of accel offset and radius + * + * bno055_accel_offset_t | result + * ------------------- | ---------------- + * x | accel offset x + * y | accel offset y + * z | accel offset z + * r | accel offset r + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note The range of the accel offset varies based on + * the G-range of accel sensor. + * + * accel G range | offset range + * --------------- | -------------- + * BNO055_ACCEL_RANGE_2G | +/-2000 + * BNO055_ACCEL_RANGE_4G | +/-4000 + * BNO055_ACCEL_RANGE_8G | +/-8000 + * BNO055_ACCEL_RANGE_16G | +/-16000 + * + * accel G range can be configured by using the + * bno055_set_accel_range() API + */ +BNO055_RETURN_FUNCTION_TYPE bno055_write_accel_offset( +struct bno055_accel_offset_t *accel_offset) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data1_u8r = BNO055_INIT_VALUE; +u8 data2_u8r = BNO055_INIT_VALUE; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +s8 stat_s8 = BNO055_ERROR; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /* The write operation effective only if the operation + mode is in config mode, this part of code is checking the + current operation mode and set the config mode */ + stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); + if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + if (stat_s8 == BNO055_SUCCESS) { + /* write accel offset x value*/ + com_rslt = + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_OFFSET_X_LSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data1_u8r = ((s8) + (accel_offset->x + & BNO055_SIC_HEX_0_0_F_F_DATA)); + data2_u8r = + BNO055_SET_BITSLICE(data2_u8r, + BNO055_ACCEL_OFFSET_X_LSB, + data1_u8r); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_OFFSET_X_LSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + + com_rslt += + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_OFFSET_X_MSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data1_u8r = ((s8) + (accel_offset->x >> + BNO055_SHIFT_EIGHT_BITS) + & BNO055_SIC_HEX_0_0_F_F_DATA); + data2_u8r = + BNO055_SET_BITSLICE(data2_u8r, + BNO055_ACCEL_OFFSET_X_MSB, + data1_u8r); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_OFFSET_X_MSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + + /* write accel offset y value*/ + com_rslt += + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_OFFSET_Y_LSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data1_u8r = ((s8) + (accel_offset->y + & BNO055_SIC_HEX_0_0_F_F_DATA)); + data2_u8r = + BNO055_SET_BITSLICE(data2_u8r, + BNO055_ACCEL_OFFSET_Y_LSB, + data1_u8r); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_OFFSET_Y_LSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + + com_rslt += + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_OFFSET_Y_MSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data1_u8r = ((s8) + (accel_offset->y >> + BNO055_SHIFT_EIGHT_BITS) + & BNO055_SIC_HEX_0_0_F_F_DATA); + data2_u8r = + BNO055_SET_BITSLICE(data2_u8r, + BNO055_ACCEL_OFFSET_Y_MSB, + data1_u8r); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_OFFSET_Y_MSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + /* write accel offset z value*/ + com_rslt += + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_OFFSET_Z_LSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data1_u8r = ((s8) + (accel_offset->z + & BNO055_SIC_HEX_0_0_F_F_DATA)); + data2_u8r = + BNO055_SET_BITSLICE(data2_u8r, + BNO055_ACCEL_OFFSET_Z_LSB, + data1_u8r); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_OFFSET_Z_LSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + + com_rslt += + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_OFFSET_Z_MSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data1_u8r = ((s8) + (accel_offset->z >> + BNO055_SHIFT_EIGHT_BITS) + & BNO055_SIC_HEX_0_0_F_F_DATA); + data2_u8r = + BNO055_SET_BITSLICE(data2_u8r, + BNO055_ACCEL_OFFSET_Z_MSB, + data1_u8r); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_OFFSET_Z_MSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + + /*write accel radius value*/ + com_rslt += + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_RADIUS_LSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data1_u8r = ((s8) + (accel_offset->r + & BNO055_SIC_HEX_0_0_F_F_DATA)); + data2_u8r = + BNO055_SET_BITSLICE(data2_u8r, + BNO055_ACCEL_RADIUS_LSB, + data1_u8r); + com_rslt = + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_RADIUS_LSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + + com_rslt += + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_RADIUS_MSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data1_u8r = ((s8) + (accel_offset->r >> + BNO055_SHIFT_EIGHT_BITS) + & BNO055_SIC_HEX_0_0_F_F_DATA); + data2_u8r = + BNO055_SET_BITSLICE(data2_u8r, + BNO055_ACCEL_RADIUS_MSB, + data1_u8r); + com_rslt = + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_RADIUS_MSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode + of previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); + return com_rslt; +} + +/*! + * @brief This API is used to read mag offset + * offset form register 0x69 to 0x6A + * + * @param mag_offset : The value of mag offset and radius + * + * bno055_mag_offset_t | result + * ------------------- | ---------------- + * x | mag offset x + * y | mag offset y + * z | mag offset z + * r | mag radius r + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note The range of the magnetometer offset is +/-6400 in LSB + */ + +BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_offset( +struct bno055_mag_offset_t *mag_offset) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + /* Array holding the mag offset values + data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB] - offset x->LSB + data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB] - offset x->MSB + data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB] - offset y->LSB + data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB] - offset y->MSB + data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB] - offset z->LSB + data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB] - offset z->MSB + */ + u8 data_u8[BNO055_MAG_OFFSET_ARRAY] = { + BNO055_INIT_VALUE, BNO055_INIT_VALUE, + BNO055_INIT_VALUE, BNO055_INIT_VALUE, + BNO055_INIT_VALUE, BNO055_INIT_VALUE}; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, mag offset is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read mag offset value it the six bytes of data */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_MAG_OFFSET_X_LSB_REG, + data_u8, BNO055_MAG_OFFSET_ARRAY); + if (com_rslt == BNO055_SUCCESS) { + /* Read mag x offset value*/ + data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB], + BNO055_MAG_OFFSET_X_LSB); + data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB], + BNO055_MAG_OFFSET_X_MSB); + mag_offset->x = (s16)((((s32)(s8) + (data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB])) << + (BNO055_SHIFT_EIGHT_BITS)) | + (data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB])); + + /* Read mag y offset value*/ + data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB], + BNO055_MAG_OFFSET_Y_LSB); + data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB], + BNO055_MAG_OFFSET_Y_MSB); + mag_offset->y = (s16)((((s32)(s8) + (data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB])) << + (BNO055_SHIFT_EIGHT_BITS)) + | (data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB])); + + /* Read mag z offset value*/ + data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB], + BNO055_MAG_OFFSET_Z_LSB); + data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB], + BNO055_MAG_OFFSET_Z_MSB); + mag_offset->z = (s16)((((s32)(s8) + (data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB])) << + (BNO055_SHIFT_EIGHT_BITS)) + | (data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB])); + + /* Read mag radius value + it the two bytes of data */ + com_rslt += p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_MAG_RADIUS_LSB_REG, + data_u8, + BNO055_LSB_MSB_READ_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + /* Array holding the mag radius values + data_u8[BNO055_OFFSET_RADIUS_LSB] - + radius->LSB + data_u8[BNO055_OFFSET_RADIUS_MSB] - + radius->MSB + */ + data_u8[BNO055_OFFSET_RADIUS_LSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_OFFSET_RADIUS_LSB], + BNO055_MAG_RADIUS_LSB); + data_u8[BNO055_OFFSET_RADIUS_MSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_OFFSET_RADIUS_MSB], + BNO055_MAG_RADIUS_MSB); + mag_offset->r = (s16)((((s32)(s8) + (data_u8[BNO055_OFFSET_RADIUS_MSB])) << + (BNO055_SHIFT_EIGHT_BITS)) | + (data_u8[BNO055_OFFSET_RADIUS_LSB])); + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} + +/*! + * @brief This API is used to read mag offset + * offset form register 0x69 to 0x6A + * + * @param mag_offset : The value of mag offset and radius + * + * bno055_mag_offset_t | result + * ------------------- | ---------------- + * x | mag offset x + * y | mag offset y + * z | mag offset z + * r | mag radius r + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note The range of the magnetometer offset is +/-6400 in LSB + */ +BNO055_RETURN_FUNCTION_TYPE bno055_write_mag_offset( +struct bno055_mag_offset_t *mag_offset) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data1_u8r = BNO055_INIT_VALUE; +u8 data2_u8r = BNO055_INIT_VALUE; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +s8 stat_s8 = BNO055_ERROR; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /* The write operation effective only if the operation + mode is in config mode, this part of code is checking the + current operation mode and set the config mode */ + stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); + if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + if (stat_s8 == BNO055_SUCCESS) { + /* write Mag offset x value*/ + com_rslt = + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_MAG_OFFSET_X_LSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data1_u8r = ((s8) + (mag_offset->x + & BNO055_SIC_HEX_0_0_F_F_DATA)); + data2_u8r = + BNO055_SET_BITSLICE(data2_u8r, + BNO055_MAG_OFFSET_X_LSB, + data1_u8r); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_MAG_OFFSET_X_LSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + + com_rslt += + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_MAG_OFFSET_X_MSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data1_u8r = ((s8) + (mag_offset->x >> + BNO055_SHIFT_EIGHT_BITS) + & BNO055_SIC_HEX_0_0_F_F_DATA); + data2_u8r = + BNO055_SET_BITSLICE(data2_u8r, + BNO055_MAG_OFFSET_X_MSB, + data1_u8r); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_MAG_OFFSET_X_MSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + + /* write Mag offset y value*/ + com_rslt += + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_MAG_OFFSET_Y_LSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data1_u8r = ((s8) + (mag_offset->y & + BNO055_SIC_HEX_0_0_F_F_DATA)); + data2_u8r = + BNO055_SET_BITSLICE(data2_u8r, + BNO055_MAG_OFFSET_Y_LSB, + data1_u8r); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_MAG_OFFSET_Y_LSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + + com_rslt += + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_MAG_OFFSET_Y_MSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data1_u8r = ((s8) + (mag_offset->y >> + BNO055_SHIFT_EIGHT_BITS) + & BNO055_SIC_HEX_0_0_F_F_DATA); + data2_u8r = + BNO055_SET_BITSLICE(data2_u8r, + BNO055_MAG_OFFSET_Y_MSB, + data1_u8r); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_MAG_OFFSET_Y_MSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + /* write Mag offset z value*/ + com_rslt += + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_MAG_OFFSET_Z_LSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data1_u8r = ((s8) + (mag_offset->z & + BNO055_SIC_HEX_0_0_F_F_DATA)); + data2_u8r = + BNO055_SET_BITSLICE(data2_u8r, + BNO055_MAG_OFFSET_Z_LSB, + data1_u8r); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_MAG_OFFSET_Z_LSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + + com_rslt += + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_MAG_OFFSET_Z_MSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data1_u8r = ((s8) + (mag_offset->z >> + BNO055_SHIFT_EIGHT_BITS) + & BNO055_SIC_HEX_0_0_F_F_DATA); + data2_u8r = + BNO055_SET_BITSLICE(data2_u8r, + BNO055_MAG_OFFSET_Z_MSB, + data1_u8r); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_MAG_OFFSET_Z_MSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + + /* write Mag radius value*/ + com_rslt += + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_MAG_RADIUS_LSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data1_u8r = ((s8) + (mag_offset->r & + BNO055_SIC_HEX_0_0_F_F_DATA)); + data2_u8r = + BNO055_SET_BITSLICE(data2_u8r, + BNO055_MAG_RADIUS_LSB, + data1_u8r); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_MAG_RADIUS_LSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + + com_rslt += + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_MAG_RADIUS_MSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data1_u8r = ((s8) + (mag_offset->r >> + BNO055_SHIFT_EIGHT_BITS) + & BNO055_SIC_HEX_0_0_F_F_DATA); + data2_u8r = + BNO055_SET_BITSLICE(data2_u8r, + BNO055_MAG_RADIUS_MSB, + data1_u8r); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_MAG_RADIUS_MSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode + of previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); + return com_rslt; +} +/*! + * @brief This API is used to read gyro offset + * offset form register 0x61 to 0x66 + * + * @param gyro_offset : The value of gyro offset + * + * bno055_gyro_offset_t | result + * ------------------- | ---------------- + * x | gyro offset x + * y | gyro offset y + * z | gyro offset z + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note The range of the gyro offset varies based on + * the range of gyro sensor + * + * gyro G range | offset range + * -------------------- | ------------ + * BNO055_GYRO_RANGE_2000DPS | +/-32000 + * BNO055_GYRO_RANGE_1000DPS | +/-16000 + * BNO055_GYRO_RANGE_500DPS | +/-8000 + * BNO055_GYRO_RANGE_250DPS | +/-4000 + * BNO055_GYRO_RANGE_125DPS | +/-2000 + * + * Gyro range can be configured by using the + * bno055_set_gyro_range() API + */ +BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_offset( +struct bno055_gyro_offset_t *gyro_offset) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + /* Array holding the gyro offset values + data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB] - offset x->LSB + data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB] - offset x->MSB + data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB] - offset y->LSB + data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB] - offset y->MSB + data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB] - offset z->LSB + data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB] - offset z->MSB + */ + u8 data_u8[BNO055_GYRO_OFFSET_ARRAY] = { + BNO055_INIT_VALUE, BNO055_INIT_VALUE, + BNO055_INIT_VALUE, BNO055_INIT_VALUE, + BNO055_INIT_VALUE, BNO055_INIT_VALUE}; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, gyro offset is + available in the page zero*/ + if (p_bno055->page_id != BNO055_PAGE_ZERO) + /* Write the page zero*/ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ZERO)) { + /* Read gyro offset value it the six bytes of data*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_OFFSET_X_LSB_REG, + data_u8, BNO055_GYRO_OFFSET_ARRAY); + if (com_rslt == BNO055_SUCCESS) { + /* Read gyro x offset value*/ + data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB], + BNO055_GYRO_OFFSET_X_LSB); + data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB], + BNO055_GYRO_OFFSET_X_MSB); + gyro_offset->x = (s16)((((s32)(s8) + (data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB])) << + (BNO055_SHIFT_EIGHT_BITS)) | + (data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB])); + + /* Read gyro y offset value*/ + data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB], + BNO055_GYRO_OFFSET_Y_LSB); + data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB], + BNO055_GYRO_OFFSET_Y_MSB); + gyro_offset->y = (s16)((((s32)(s8) + (data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB])) << + (BNO055_SHIFT_EIGHT_BITS)) | + (data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB])); + + /* Read gyro z offset value*/ + data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB], + BNO055_GYRO_OFFSET_Z_LSB); + data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB] = + BNO055_GET_BITSLICE( + data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB], + BNO055_GYRO_OFFSET_Z_MSB); + gyro_offset->z = (s16)((((s32)(s8) + (data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB])) << + (BNO055_SHIFT_EIGHT_BITS)) | + (data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB])); + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API is used to read gyro offset + * offset form register 0x61 to 0x66 + * + * @param gyro_offset : The value of gyro offset + * + * bno055_gyro_offset_t | result + * ------------------- | ---------------- + * x | gyro offset x + * y | gyro offset y + * z | gyro offset z + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note The range of the gyro offset varies based on + * the range of gyro sensor + * + * gyro G range | offset range + * -------------------- | ------------ + * BNO055_GYRO_RANGE_2000DPS | +/-32000 + * BNO055_GYRO_RANGE_1000DPS | +/-16000 + * BNO055_GYRO_RANGE_500DPS | +/-8000 + * BNO055_GYRO_RANGE_250DPS | +/-4000 + * BNO055_GYRO_RANGE_125DPS | +/-2000 + * + * Gyro range can be configured by using the + * bno055_set_gyro_range() API + */ +BNO055_RETURN_FUNCTION_TYPE bno055_write_gyro_offset( +struct bno055_gyro_offset_t *gyro_offset) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data1_u8r = BNO055_INIT_VALUE; +u8 data2_u8r = BNO055_INIT_VALUE; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +s8 stat_s8 = BNO055_ERROR; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /* The write operation effective only if the operation + mode is in config mode, this part of code is checking the + current operation mode and set the config mode */ + stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); + if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + if (stat_s8 == BNO055_SUCCESS) { + /* write gryo offset x value*/ + com_rslt = + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_OFFSET_X_LSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data1_u8r = ((s8) + (gyro_offset->x + & BNO055_SIC_HEX_0_0_F_F_DATA)); + data2_u8r = + BNO055_SET_BITSLICE(data2_u8r, + BNO055_GYRO_OFFSET_X_LSB, + data1_u8r); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_OFFSET_X_LSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + + com_rslt += + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_OFFSET_X_MSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data1_u8r = ((s8) + (gyro_offset->x >> + BNO055_SHIFT_EIGHT_BITS) + & BNO055_SIC_HEX_0_0_F_F_DATA); + data2_u8r = + BNO055_SET_BITSLICE(data2_u8r, + BNO055_GYRO_OFFSET_X_MSB, + data1_u8r); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_OFFSET_X_MSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + + /* write gryo offset y value*/ + com_rslt += + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_OFFSET_Y_LSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data1_u8r = ((s8) + (gyro_offset->y + & BNO055_SIC_HEX_0_0_F_F_DATA)); + data2_u8r = + BNO055_SET_BITSLICE(data2_u8r, + BNO055_GYRO_OFFSET_Y_LSB, + data1_u8r); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_OFFSET_Y_LSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + + com_rslt += + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_OFFSET_Y_MSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data1_u8r = ((s8) + (gyro_offset->y >> + BNO055_SHIFT_EIGHT_BITS) + & BNO055_SIC_HEX_0_0_F_F_DATA); + data2_u8r = + BNO055_SET_BITSLICE(data2_u8r, + BNO055_GYRO_OFFSET_Y_MSB, + data1_u8r); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_OFFSET_Y_MSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + /* write gryo offset z value*/ + com_rslt += + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_OFFSET_Z_LSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data1_u8r = ((s8) + (gyro_offset->z + & BNO055_SIC_HEX_0_0_F_F_DATA)); + data2_u8r = + BNO055_SET_BITSLICE(data2_u8r, + BNO055_GYRO_OFFSET_Z_LSB, + data1_u8r); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_OFFSET_Z_LSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + + com_rslt += + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_OFFSET_Z_MSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data1_u8r = ((s8) + (gyro_offset->z >> + BNO055_SHIFT_EIGHT_BITS) + & BNO055_SIC_HEX_0_0_F_F_DATA); + data2_u8r = + BNO055_SET_BITSLICE(data2_u8r, + BNO055_GYRO_OFFSET_Z_MSB, + data1_u8r); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_OFFSET_Z_MSB_REG, + &data2_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode + of previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); + return com_rslt; +} +/********************************************************/ + /************** PAGE1 Functions *********************/ +/********************************************************/ +/*! + * @brief This API used to read the accel range + * from page one register from 0x08 bit 0 and 1 + * + * @param accel_range_u8 : The value of accel range + * accel_range_u8 | result + * ----------------- | -------------- + * 0x00 | BNO055_ACCEL_RANGE_2G + * 0x01 | BNO055_ACCEL_RANGE_4G + * 0x02 | BNO055_ACCEL_RANGE_8G + * 0x03 | BNO055_ACCEL_RANGE_16G + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_range( +u8 *accel_range_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, accel range is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + /* Read the value of accel g range */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_RANGE_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *accel_range_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_ACCEL_RANGE); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write the accel range + * from page one register from 0x08 bit 0 and 1 + * + * @param accel_range_u8 : The value of accel range + * + * accel_range_u8 | result + * ----------------- | -------------- + * 0x00 | BNO055_ACCEL_RANGE_2G + * 0x01 | BNO055_ACCEL_RANGE_4G + * 0x02 | BNO055_ACCEL_RANGE_8G + * 0x03 | BNO055_ACCEL_RANGE_16G + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_range( +u8 accel_range_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +s8 stat_s8 = BNO055_ERROR; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +s8 pg_stat_s8 = BNO055_ERROR; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; +} else { +/* The write operation effective only if the operation +mode is in config mode, this part of code is checking the +current operation mode and set the config mode */ +stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); +if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + if (stat_s8 == BNO055_SUCCESS) { + /* Write page as one */ + pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if (pg_stat_s8 == BNO055_SUCCESS) { + if (accel_range_u8 < BNO055_ACCEL_RANGE) { + /* Write the value of accel range*/ + com_rslt = + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_RANGE_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = BNO055_SET_BITSLICE + (data_u8r, + BNO055_ACCEL_RANGE, + accel_range_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_RANGE_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_OUT_OF_RANGE; + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } +} +if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode of + previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); +return com_rslt; +} +/*! + * @brief This API used to read the accel bandwidth + * from page one register from 0x08 bit 2 to 4 + * + * @param accel_bw_u8 : The value of accel bandwidth + * + * accel_bw_u8 | result + * ----------------- | --------------- + * 0x00 | BNO055_ACCEL_BW_7_81HZ + * 0x01 | BNO055_ACCEL_BW_15_63HZ + * 0x02 | BNO055_ACCEL_BW_31_25HZ + * 0x03 | BNO055_ACCEL_BW_62_5HZ + * 0x04 | BNO055_ACCEL_BW_125HZ + * 0x05 | BNO055_ACCEL_BW_250HZ + * 0x06 | BNO055_ACCEL_BW_500HZ + * 0x07 | BNO055_ACCEL_BW_1000HZ + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_bw( +u8 *accel_bw_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, accel bandwidth is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + /* Read the value of accel bandwidth */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_BW_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *accel_bw_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_ACCEL_BW); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write the accel bandwidth + * from page one register from 0x08 bit 2 to 4 + * + * @param accel_bw_u8 : The value of accel bandwidth + * + * accel_bw_u8 | result + * ----------------- | --------------- + * 0x00 | BNO055_ACCEL_BW_7_81HZ + * 0x01 | BNO055_ACCEL_BW_15_63HZ + * 0x02 | BNO055_ACCEL_BW_31_25HZ + * 0x03 | BNO055_ACCEL_BW_62_5HZ + * 0x04 | BNO055_ACCEL_BW_125HZ + * 0x05 | BNO055_ACCEL_BW_250HZ + * 0x06 | BNO055_ACCEL_BW_500HZ + * 0x07 | BNO055_ACCEL_BW_1000HZ + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_bw( +u8 accel_bw_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +s8 stat_s8 = BNO055_ERROR; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +s8 pg_stat_s8 = BNO055_ERROR; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; +} else { +/* The write operation effective only if the operation +mode is in config mode, this part of code is checking the +current operation mode and set the config mode */ +stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); +if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + if (stat_s8 == BNO055_SUCCESS) { + /* Write page as one */ + pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if (pg_stat_s8 == BNO055_SUCCESS) { + if (accel_bw_u8 < + BNO055_ACCEL_GYRO_BW_RANGE) { + /* Write the accel */ + com_rslt = + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_BW_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = BNO055_SET_BITSLICE + (data_u8r, BNO055_ACCEL_BW, + accel_bw_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_BW_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_OUT_OF_RANGE; + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } +} +if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode of + previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); +return com_rslt; +} +/*! + * @brief This API used to read the accel power mode + * from page one register from 0x08 bit 5 to 7 + * + * @param accel_power_mode_u8 : The value of accel power mode + * accel_power_mode_u8 | result + * ----------------- | ------------- + * 0x00 | BNO055_ACCEL_NORMAL + * 0x01 | BNO055_ACCEL_SUSPEND + * 0x02 | BNO055_ACCEL_LOWPOWER_1 + * 0x03 | BNO055_ACCEL_STANDBY + * 0x04 | BNO055_ACCEL_LOWPOWER_2 + * 0x05 | BNO055_ACCEL_DEEPSUSPEND + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_power_mode( +u8 *accel_power_mode_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, accel power mode is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + /* Read the value of accel bandwidth */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_POWER_MODE_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *accel_power_mode_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_ACCEL_POWER_MODE); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write the accel power mode + * from page one register from 0x08 bit 5 to 7 + * + * @param accel_power_mode_u8 : The value of accel power mode + * accel_power_mode_u8 | result + * ----------------- | ------------- + * 0x00 | BNO055_ACCEL_NORMAL + * 0x01 | BNO055_ACCEL_SUSPEND + * 0x02 | BNO055_ACCEL_LOWPOWER_1 + * 0x03 | BNO055_ACCEL_STANDBY + * 0x04 | BNO055_ACCEL_LOWPOWER_2 + * 0x05 | BNO055_ACCEL_DEEPSUSPEND + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_power_mode( +u8 accel_power_mode_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +s8 stat_s8 = BNO055_ERROR; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +s8 pg_stat_s8 = BNO055_ERROR; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; +} else { +/* The write operation effective only if the operation +mode is in config mode, this part of code is checking the +current operation mode and set the config mode */ +stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); +if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + if (stat_s8 == BNO055_SUCCESS) { + /* Write page as one */ + pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if (pg_stat_s8 == BNO055_SUCCESS) { + if (accel_power_mode_u8 < + BNO055_ACCEL_POWER_MODE_RANGE) { + /* Write the value of accel bandwidth*/ + com_rslt = + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_POWER_MODE_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = BNO055_SET_BITSLICE + (data_u8r, + BNO055_ACCEL_POWER_MODE, + accel_power_mode_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_POWER_MODE_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_OUT_OF_RANGE; + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } +} +if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode of + previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); +return com_rslt; +} +/*! + * @brief This API used to read the mag output data rate + * from page one register from 0x09 bit 0 to 2 + * + * @param mag_data_output_rate_u8 : The value of mag output data rate + * + * mag_data_output_rate_u8 | result + * ---------------------- |---------------------- + * 0x00 | MAG_DATA_OUTPUT_RATE_2HZ + * 0x01 | MAG_DATA_OUTPUT_RATE_6HZ + * 0x02 | MAG_DATA_OUTPUT_RATE_8HZ + * 0x03 | MAG_DATA_OUTPUT_RATE_10HZ + * 0x04 | MAG_DATA_OUTPUT_RATE_15HZ + * 0x05 | MAG_DATA_OUTPUT_RATE_20HZ + * 0x06 | MAG_DATA_OUTPUT_RATE_25HZ + * 0x07 | MAG_DATA_OUTPUT_RATE_30HZ + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_data_output_rate( +u8 *mag_data_output_rate_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, output data rate + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + /* Read the mag output data rate*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_MAG_DATA_OUTPUT_RATE_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *mag_data_output_rate_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_MAG_DATA_OUTPUT_RATE); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write the mag output data rate + * from page one register from 0x09 bit 0 to 2 + * + * @param mag_data_output_rate_u8 : The value of mag output data rate + * + * mag_data_output_rate_u8 | result + * ---------------------- |---------------------- + * 0x00 | MAG_DATA_OUTPUT_RATE_2HZ + * 0x01 | MAG_DATA_OUTPUT_RATE_6HZ + * 0x02 | MAG_DATA_OUTPUT_RATE_8HZ + * 0x03 | MAG_DATA_OUTPUT_RATE_10HZ + * 0x04 | MAG_DATA_OUTPUT_RATE_15HZ + * 0x05 | MAG_DATA_OUTPUT_RATE_20HZ + * 0x06 | MAG_DATA_OUTPUT_RATE_25HZ + * 0x07 | MAG_DATA_OUTPUT_RATE_30HZ + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_data_output_rate( +u8 mag_data_output_rate_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +s8 stat_s8 = BNO055_ERROR; +s8 pg_stat_s8 = BNO055_ERROR; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; +} else { +/* The write operation effective only if the operation +mode is in config mode, this part of code is checking the +current operation mode and set the config mode */ +stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); +if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + if (stat_s8 == BNO055_SUCCESS) { + /* Write page as one */ + pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if (pg_stat_s8 == BNO055_SUCCESS) { + if (mag_data_output_rate_u8 + < BNO055_MAG_OUTPUT_RANGE) { + /* Write the value of + mag output data rate*/ + com_rslt = + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_MAG_DATA_OUTPUT_RATE_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = BNO055_SET_BITSLICE + (data_u8r, + BNO055_MAG_DATA_OUTPUT_RATE, + mag_data_output_rate_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_MAG_DATA_OUTPUT_RATE_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_OUT_OF_RANGE; + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } +} else { +com_rslt = BNO055_ERROR; +} +} +if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode of + previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); +return com_rslt; +} +/*! + * @brief This API used to read the mag operation mode + * from page one register from 0x09 bit 3 to 4 + * + * @param mag_operation_mode_u8 : The value of mag operation mode + * + * mag_operation_mode_u8 | result + * ------------------------- |-------------------------- + * 0x00 | MAG_OPR_MODE_LOWPOWER + * 0x01 | MAG_OPR_MODE_REGULAR + * 0x02 | MAG_OPR_MODE_ENHANCED_REGULAR + * 0x03 | MAG_OPR_MODE_HIGH_ACCURACY + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_operation_mode( +u8 *mag_operation_mode_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, mag operation mode is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + /* Read the value of mag operation mode*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_MAG_OPERATION_MODE_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *mag_operation_mode_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_MAG_OPERATION_MODE); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write the mag operation mode + * from page one register from 0x09 bit 3 to 4 + * + * @param mag_operation_mode_u8 : The value of mag operation mode + * + * mag_operation_mode_u8 | result + * ------------------------- |-------------------------- + * 0x00 | MAG_OPR_MODE_LOWPOWER + * 0x01 | MAG_OPR_MODE_REGULAR + * 0x02 | MAG_OPR_MODE_ENHANCED_REGULAR + * 0x03 | MAG_OPR_MODE_HIGH_ACCURACY + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_operation_mode( +u8 mag_operation_mode_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +s8 stat_s8 = BNO055_ERROR; +s8 pg_stat_s8 = BNO055_ERROR; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; +} else { +/* The write operation effective only if the operation +mode is in config mode, this part of code is checking the +current operation mode and set the config mode */ +stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); +if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + if (stat_s8 == BNO055_SUCCESS) { + /* Write page as one */ + pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if (pg_stat_s8 == BNO055_SUCCESS) { + if (mag_operation_mode_u8 + < BNO055_MAG_OPR_MODE_RANGE) { + /* Write the value + of mag operation mode*/ + com_rslt = + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_MAG_OPERATION_MODE_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = BNO055_SET_BITSLICE + (data_u8r, + BNO055_MAG_OPERATION_MODE, + mag_operation_mode_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_MAG_OPERATION_MODE_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_OUT_OF_RANGE; + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } +} +if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode of + previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); +return com_rslt; +} +/*! + * @brief This API used to read the mag power mode + * from page one register from 0x09 bit 4 to 6 + * + * @param mag_power_mode_u8 : The value of mag power mode + * + * mag_power_mode_u8 | result + * --------------------|----------------- + * 0x00 | BNO055_MAG_POWER_MODE_NORMAL + * 0x01 | BNO055_MAG_POWER_MODE_SLEEP + * 0x02 | BNO055_MAG_POWER_MODE_SUSPEND + * 0x03 | BNO055_MAG_POWER_MODE_FORCE_MODE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_power_mode( +u8 *mag_power_mode_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, mag power mode is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + /* Read the value of mag power mode */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_MAG_POWER_MODE_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *mag_power_mode_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_MAG_POWER_MODE); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write the mag power mode + * from page one register from 0x09 bit 4 to 6 + * + * @param mag_power_mode_u8 : The value of mag power mode + * + * mag_power_mode_u8 | result + * --------------------|----------------- + * 0x00 | BNO055_MAG_POWER_MODE_NORMAL + * 0x01 | BNO055_MAG_POWER_MODE_SLEEP + * 0x02 | BNO055_MAG_POWER_MODE_SUSPEND + * 0x03 | BNO055_MAG_POWER_MODE_FORCE_MODE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_power_mode( +u8 mag_power_mode_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +s8 stat_s8 = BNO055_ERROR; +s8 pg_stat_s8 = BNO055_ERROR; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; +} else { +/* The write operation effective only if the operation +mode is in config mode, this part of code is checking the +current operation mode and set the config mode */ +stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); +if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode( + BNO055_OPERATION_MODE_CONFIG); + if (stat_s8 == BNO055_SUCCESS) { + /* Write page as one */ + pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if (pg_stat_s8 == BNO055_SUCCESS) { + if (mag_power_mode_u8 < + BNO055_MAG_POWER_MODE_RANGE) { + /* Write the value of mag power mode*/ + com_rslt = + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_MAG_POWER_MODE_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = BNO055_SET_BITSLICE + (data_u8r, + BNO055_MAG_POWER_MODE, + mag_power_mode_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_MAG_POWER_MODE_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_OUT_OF_RANGE; + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } +} else { + com_rslt = BNO055_ERROR; +} +} +if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode of + previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); +return com_rslt; +} +/*! + * @brief This API used to read the gyro range + * from page one register from 0x0A bit 0 to 3 + * + * @param gyro_range_u8 : The value of gyro range + * + * gyro_range_u8 | result + * --------------------|----------------- + * 0x00 | BNO055_GYRO_RANGE_2000DPS + * 0x01 | BNO055_GYRO_RANGE_1000DPS + * 0x02 | BNO055_GYRO_RANGE_500DPS + * 0x03 | BNO055_GYRO_RANGE_250DPS + * 0x04 | BNO055_GYRO_RANGE_125DPS + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_range( +u8 *gyro_range_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, gyro range is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + /* Read the value of gyro range */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_RANGE_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *gyro_range_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_GYRO_RANGE); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write the gyro range + * from page one register from 0x0A bit 0 to 3 + * + * @param gyro_range_u8 : The value of gyro range + * + * gyro_range_u8 | result + * --------------------|----------------- + * 0x00 | BNO055_GYRO_RANGE_2000DPS + * 0x01 | BNO055_GYRO_RANGE_1000DPS + * 0x02 | BNO055_GYRO_RANGE_500DPS + * 0x03 | BNO055_GYRO_RANGE_250DPS + * 0x04 | BNO055_GYRO_RANGE_125DPS + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_range( +u8 gyro_range_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +s8 stat_s8 = BNO055_ERROR; +s8 pg_stat_s8 = BNO055_ERROR; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; +} else { +/* The write operation effective only if the operation +mode is in config mode, this part of code is checking the +current operation mode and set the config mode */ +stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); +if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + if (stat_s8 == BNO055_SUCCESS) { + /* Write page as one */ + pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if (pg_stat_s8 == BNO055_SUCCESS) { + if (gyro_range_u8 < BNO055_GYRO_RANGE) { + /* Write the value of gyro range*/ + com_rslt = + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_RANGE_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = BNO055_SET_BITSLICE + (data_u8r, + BNO055_GYRO_RANGE, + gyro_range_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_RANGE_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_OUT_OF_RANGE; + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } +} +if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode of + previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); +return com_rslt; +} +/*! + * @brief This API used to read the gyro bandwidth + * from page one register from 0x0A bit 3 to 5 + * + * @param gyro_bw_u8 : The value of gyro bandwidth + * + * gyro_bw_u8 | result + * --------------------|----------------- + * 0x00 | BNO055_GYRO_BW_523HZ + * 0x01 | BNO055_GYRO_BW_230HZ + * 0x02 | BNO055_GYRO_BW_116HZ + * 0x03 | BNO055_GYRO_BW_47HZ + * 0x04 | BNO055_GYRO_BW_23HZ + * 0x05 | BNO055_GYRO_BW_12HZ + * 0x06 | BNO055_GYRO_BW_64HZ + * 0x07 | BNO055_GYRO_BW_32HZ + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_bw( +u8 *gyro_bw_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, gyro bandwidth is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_BW_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *gyro_bw_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_GYRO_BW); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write the gyro bandwidth + * from page one register from 0x0A bit 3 to 5 + * + * @param gyro_bw_u8 : The value of gyro bandwidth + * + * gyro_bw_u8 | result + * --------------------|----------------- + * 0x00 | BNO055_GYRO_BW_523HZ + * 0x01 | BNO055_GYRO_BW_230HZ + * 0x02 | BNO055_GYRO_BW_116HZ + * 0x03 | BNO055_GYRO_BW_47HZ + * 0x04 | BNO055_GYRO_BW_23HZ + * 0x05 | BNO055_GYRO_BW_12HZ + * 0x06 | BNO055_GYRO_BW_64HZ + * 0x07 | BNO055_GYRO_BW_32HZ + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_bw( +u8 gyro_bw_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +s8 stat_s8 = BNO055_ERROR; +u8 gyro_opmode = BNO055_INIT_VALUE; +u8 gyro_auto_sleep_durn = BNO055_INIT_VALUE; +s8 pg_stat_s8 = BNO055_ERROR; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; +} else { +/* The write operation effective only if the operation +mode is in config mode, this part of code is checking the +current operation mode and set the config mode */ +stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); +if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + if (stat_s8 == BNO055_SUCCESS) { + /* Write page as one */ + pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if (pg_stat_s8 == BNO055_SUCCESS) { + /* Write the value of gyro bandwidth */ + if ((gyro_bw_u8 == BNO055_INIT_VALUE || + gyro_bw_u8 > BNO055_INIT_VALUE) && + gyro_bw_u8 < BNO055_ACCEL_GYRO_BW_RANGE) { + switch (gyro_bw_u8) { + case BNO055_GYRO_BW_523HZ: + gyro_bw_u8 = BNO055_GYRO_BW_523HZ; + break; + case BNO055_GYRO_BW_230HZ: + gyro_bw_u8 = BNO055_GYRO_BW_230HZ; + break; + case BNO055_GYRO_BW_116HZ: + gyro_bw_u8 = BNO055_GYRO_BW_116HZ; + break; + case BNO055_GYRO_BW_47HZ: + gyro_bw_u8 = BNO055_GYRO_BW_47HZ; + break; + case BNO055_GYRO_BW_23HZ: + gyro_bw_u8 = BNO055_GYRO_BW_23HZ; + break; + case BNO055_GYRO_BW_12HZ: + gyro_bw_u8 = BNO055_GYRO_BW_12HZ; + break; + case BNO055_GYRO_BW_64HZ: + gyro_bw_u8 = BNO055_GYRO_BW_64HZ; + break; + case BNO055_GYRO_BW_32HZ: + gyro_bw_u8 = BNO055_GYRO_BW_32HZ; + break; + default: + break; + } + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_BW_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = BNO055_SET_BITSLICE + (data_u8r, + BNO055_GYRO_BW, + gyro_bw_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_BW_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + } + com_rslt = bno055_get_gyro_power_mode + (&gyro_opmode); + if (com_rslt == BNO055_SUCCESS) { + if (gyro_opmode == + BNO055_GYRO_POWER_MODE_ADVANCE_POWERSAVE) { + com_rslt += + bno055_get_gyro_auto_sleep_durn + (&gyro_auto_sleep_durn); + if (com_rslt == BNO055_SUCCESS) { + com_rslt += + bno055_gyro_set_auto_sleep_durn + (gyro_auto_sleep_durn, + gyro_bw_u8); + } + } + } + } else { + com_rslt = BNO055_OUT_OF_RANGE; + } + } else { + com_rslt = BNO055_ERROR; + } +} else { +com_rslt = BNO055_ERROR; +} +} else { +com_rslt = BNO055_ERROR; +} +} +if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode of + previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); +return com_rslt; +} +/*! + * @brief This API used to read the gyro power mode + * from page one register from 0x0B bit 0 to 2 + * + * @param gyro_power_mode_u8 : The value of gyro power mode + * + * gyro_power_mode_u8 | result + * ----------------------|---------------------------- + * 0x00 | GYRO_OPR_MODE_NORMAL + * 0x01 | GYRO_OPR_MODE_FASTPOWERUP + * 0x02 | GYRO_OPR_MODE_DEEPSUSPEND + * 0x03 | GYRO_OPR_MODE_SUSPEND + * 0x04 | GYRO_OPR_MODE_ADVANCE_POWERSAVE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_power_mode( +u8 *gyro_power_mode_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, gyro power mode is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + /* Write the value of gyro power mode*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_POWER_MODE_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *gyro_power_mode_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_GYRO_POWER_MODE); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write the gyro power mode + * from page one register from 0x0B bit 0 to 2 + * + * @param gyro_power_mode_u8 : The value of gyro power mode + * + * gyro_power_mode_u8 | result + * ----------------------|---------------------------- + * 0x00 | GYRO_OPR_MODE_NORMAL + * 0x01 | GYRO_OPR_MODE_FASTPOWERUP + * 0x02 | GYRO_OPR_MODE_DEEPSUSPEND + * 0x03 | GYRO_OPR_MODE_SUSPEND + * 0x04 | GYRO_OPR_MODE_ADVANCE_POWERSAVE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_power_mode( +u8 gyro_power_mode_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +s8 stat_s8 = BNO055_ERROR; +u8 gyro_auto_sleep_durn = BNO055_INIT_VALUE; +u8 gyro_bw_u8 = BNO055_INIT_VALUE; +s8 pg_stat_s8 = BNO055_ERROR; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; +} else { +/* The write operation effective only if the operation +mode is in config mode, this part of code is checking the +current operation mode and set the config mode */ +stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); +if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + if (stat_s8 == BNO055_SUCCESS) { + /* Write page as one */ + pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if (pg_stat_s8 == BNO055_SUCCESS) { + /* Write the value of power mode*/ + if ((gyro_power_mode_u8 == BNO055_INIT_VALUE || + gyro_power_mode_u8 > BNO055_INIT_VALUE) && + gyro_power_mode_u8 < BNO055_GYRO_RANGE) { + switch (gyro_power_mode_u8) { + case BNO055_GYRO_POWER_MODE_NORMAL: + gyro_power_mode_u8 = + BNO055_GYRO_POWER_MODE_NORMAL; + break; + case BNO055_GYRO_POWER_MODE_FASTPOWERUP: + gyro_power_mode_u8 = + BNO055_GYRO_POWER_MODE_FASTPOWERUP; + break; + case BNO055_GYRO_POWER_MODE_DEEPSUSPEND: + gyro_power_mode_u8 = + BNO055_GYRO_POWER_MODE_DEEPSUSPEND; + break; + case BNO055_GYRO_POWER_MODE_SUSPEND: + gyro_power_mode_u8 = + BNO055_GYRO_POWER_MODE_SUSPEND; + break; + case BNO055_GYRO_POWER_MODE_ADVANCE_POWERSAVE: + com_rslt = bno055_get_gyro_bw + (&gyro_bw_u8); + com_rslt += bno055_get_gyro_auto_sleep_durn + (&gyro_auto_sleep_durn); + if (com_rslt == BNO055_SUCCESS) + bno055_gyro_set_auto_sleep_durn + (gyro_auto_sleep_durn, + gyro_bw_u8); + com_rslt += + bno055_write_page_id(BNO055_PAGE_ONE); + gyro_power_mode_u8 = + BNO055_GYRO_POWER_MODE_ADVANCE_POWERSAVE; + break; + default: + break; + } + com_rslt = + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_POWER_MODE_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = BNO055_SET_BITSLICE + (data_u8r, + BNO055_GYRO_POWER_MODE, + gyro_power_mode_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_POWER_MODE_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_OUT_OF_RANGE; + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } +} else { + com_rslt = BNO055_ERROR; +} +} +if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode of + previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); +return com_rslt; +} +/*! + * @brief This API used to read the accel sleep mode + * from page one register from 0x0C bit 0 + * + * @param sleep_tmr_u8 : The value of accel sleep mode + * + * sleep_tmr_u8 | result + * ----------------- |------------------------------------ + * 0x00 | enable EventDrivenSampling(EDT) + * 0x01 | enable Equidistant sampling mode(EST) + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_sleep_tmr_mode( +u8 *sleep_tmr_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, accel sleep mode is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + /* read the value of accel sleep mode */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_SLEEP_MODE_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *sleep_tmr_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_ACCEL_SLEEP_MODE); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write the accel sleep mode + * from page one register from 0x0C bit 0 + * + * @param sleep_tmr_u8 : The value of accel sleep mode + * + * sleep_tmr_u8 | result + * ----------------- |------------------------------------ + * 0x00 | enable EventDrivenSampling(EDT) + * 0x01 | enable Equidistant sampling mode(EST) + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_sleep_tmr_mode( +u8 sleep_tmr_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +s8 stat_s8 = BNO055_ERROR; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +s8 pg_stat_s8 = BNO055_ERROR; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; +} else { + /* The write operation effective only if the operation + mode is in config mode, this part of code is checking the + current operation mode and set the config mode */ + stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); + if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + if (stat_s8 == BNO055_SUCCESS) { + /* Write page as one */ + pg_stat_s8 = bno055_write_page_id( + BNO055_PAGE_ONE); + if (pg_stat_s8 == BNO055_SUCCESS) { + if (sleep_tmr_u8 < + BNO055_ACCEL_SLEEP_MODE_RANGE) { + /*Write the value + of accel sleep mode*/ + com_rslt = + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_SLEEP_MODE_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = BNO055_SET_BITSLICE + (data_u8r, + BNO055_ACCEL_SLEEP_MODE, + sleep_tmr_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_SLEEP_MODE_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_OUT_OF_RANGE; + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } +} +if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode of + previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); +return com_rslt; +} +/*! + * @brief This API used to read the accel sleep duration + * from page one register from 0x0C bit 1 to 4 + * + * @param sleep_durn_u8 : The value of accel sleep duration + * + * sleep_durn_u8 | result + * ---------------- |----------------------------- + * 0x05 | BNO055_ACCEL_SLEEP_DURN_0_5MS + * 0x06 | BNO055_ACCEL_SLEEP_DURN_1MS + * 0x07 | BNO055_ACCEL_SLEEP_DURN_2MS + * 0x08 | BNO055_ACCEL_SLEEP_DURN_4MS + * 0x09 | BNO055_ACCEL_SLEEP_DURN_6MS + * 0x0A | BNO055_ACCEL_SLEEP_DURN_10MS + * 0x0B | BNO055_ACCEL_SLEEP_DURN_25MS + * 0x0C | BNO055_ACCEL_SLEEP_DURN_50MS + * 0x0D | BNO055_ACCEL_SLEEP_DURN_100MS + * 0x0E | BNO055_ACCEL_SLEEP_DURN_500MS + * 0x0F | BNO055_ACCEL_SLEEP_DURN_1S + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_sleep_durn( +u8 *sleep_durn_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, accel sleep duration + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + /* Read the value of accel sleep duration */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_SLEEP_DURN_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *sleep_durn_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_ACCEL_SLEEP_DURN); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write the accel sleep duration + * from page one register from 0x0C bit 1 to 4 + * + * @param sleep_durn_u8 : The value of accel sleep duration + * + * sleep_durn_u8 | result + * ---------------|----------------------------- + * 0x05 | BNO055_ACCEL_SLEEP_DURN_0_5MS + * 0x06 | BNO055_ACCEL_SLEEP_DURN_1MS + * 0x07 | BNO055_ACCEL_SLEEP_DURN_2MS + * 0x08 | BNO055_ACCEL_SLEEP_DURN_4MS + * 0x09 | BNO055_ACCEL_SLEEP_DURN_6MS + * 0x0A | BNO055_ACCEL_SLEEP_DURN_10MS + * 0x0B | BNO055_ACCEL_SLEEP_DURN_25MS + * 0x0C | BNO055_ACCEL_SLEEP_DURN_50MS + * 0x0D | BNO055_ACCEL_SLEEP_DURN_100MS + * 0x0E | BNO055_ACCEL_SLEEP_DURN_500MS + * 0x0F | BNO055_ACCEL_SLEEP_DURN_1S + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_sleep_durn( +u8 sleep_durn_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +s8 stat_s8 = BNO055_ERROR; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +s8 pg_stat_s8 = BNO055_ERROR; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; +} else { + /* The write operation effective only if the operation + mode is in config mode, this part of code is checking the + current operation mode and set the config mode */ + stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); + if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + if (stat_s8 == BNO055_SUCCESS) { + /* Write page as one */ + pg_stat_s8 = bno055_write_page_id( + BNO055_PAGE_ONE); + if (pg_stat_s8 == BNO055_SUCCESS) { + if (sleep_durn_u8 < + BNO055_ACCEL_SLEEP_DURATION_RANGE) { + /* Write the accel + sleep duration*/ + com_rslt = + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_SLEEP_DURN_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = BNO055_SET_BITSLICE + (data_u8r, + BNO055_ACCEL_SLEEP_DURN, + sleep_durn_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_SLEEP_DURN_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_OUT_OF_RANGE; + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode of + previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); + return com_rslt; +} +/*! + * @brief This API used to write the gyro sleep duration + * from page one register from 0x0D bit 0 to 2 + * + * @param sleep_durn_u8 : The value of gyro sleep duration + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_sleep_durn(u8 *sleep_durn_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, accel range is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + /* Read the gyro sleep duration */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_SLEEP_DURN_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *sleep_durn_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_GYRO_SLEEP_DURN); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write the gyro sleep duration + * from page one register from 0x0D bit 0 to 2 + * + * @param sleep_durn_u8 : The value of gyro sleep duration + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_sleep_durn(u8 sleep_durn_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +s8 stat_s8 = BNO055_ERROR; +s8 pg_stat_s8 = BNO055_ERROR; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; +} else { +/* The write operation effective only if the operation +mode is in config mode, this part of code is checking the +current operation mode and set the config mode */ +stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); +if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + if (stat_s8 == BNO055_SUCCESS) { + /* Write page as one */ + pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if (pg_stat_s8 == BNO055_SUCCESS) { + if (sleep_durn_u8 < + BNO055_GYRO_AUTO_SLEEP_DURATION_RANGE) { + com_rslt = + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_SLEEP_DURN_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + /* Write the gyro + sleep duration */ + data_u8r = BNO055_SET_BITSLICE + (data_u8r, + BNO055_GYRO_SLEEP_DURN, + sleep_durn_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_SLEEP_DURN_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_OUT_OF_RANGE; + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } +} +if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode of + previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); +return com_rslt; +} +/*! + * @brief This API used to read the gyro auto sleep duration + * from page one register from 0x0D bit 3 to 5 + * + * @param auto_sleep_durn_u8 : The value of gyro auto sleep duration + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_auto_sleep_durn( +u8 *auto_sleep_durn_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, accel range is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + /* Read the value of gyro auto sleep duration */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_AUTO_SLEEP_DURN_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *auto_sleep_durn_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_GYRO_AUTO_SLEEP_DURN); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write the gyro auto sleep duration + * from page one register from 0x0D bit 3 to 5 + * + * @param auto_sleep_durn_u8 : The value of gyro auto sleep duration + * @param bw : The value of gyro bandwidth + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_gyro_set_auto_sleep_durn( +u8 auto_sleep_durn_u8, u8 bw) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +s8 stat_s8 = BNO055_ERROR; +u8 auto_sleep_durn_u8r; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +s8 pg_stat_s8 = BNO055_ERROR; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; +} else { +/* The write operation effective only if the operation +mode is in config mode, this part of code is checking the +current operation mode and set the config mode */ +stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); +if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + if (stat_s8 == BNO055_SUCCESS) { + /* Write page as one */ + pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if (pg_stat_s8 == BNO055_SUCCESS) { + /* Write the value of gyro sleep duration */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_AUTO_SLEEP_DURN_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (auto_sleep_durn_u8 < + BNO055_GYRO_AUTO_SLEEP_DURATION_RANGE) { + switch (bw) { + case BNO055_GYRO_BW_523HZ: + if (auto_sleep_durn_u8 > + BNO055_GYRO_4MS_AUTOSLPDUR) + auto_sleep_durn_u8r = + auto_sleep_durn_u8; + else + auto_sleep_durn_u8r = + BNO055_GYRO_4MS_AUTOSLPDUR; + break; + case BNO055_GYRO_BW_230HZ: + if (auto_sleep_durn_u8 > + BNO055_GYRO_4MS_AUTOSLPDUR) + auto_sleep_durn_u8r = + auto_sleep_durn_u8; + else + auto_sleep_durn_u8r = + BNO055_GYRO_4MS_AUTOSLPDUR; + break; + case BNO055_GYRO_BW_116HZ: + if (auto_sleep_durn_u8 > + BNO055_GYRO_4MS_AUTOSLPDUR) + auto_sleep_durn_u8r = + auto_sleep_durn_u8; + else + auto_sleep_durn_u8r = + BNO055_GYRO_4MS_AUTOSLPDUR; + break; + case BNO055_GYRO_BW_47HZ: + if (auto_sleep_durn_u8 > + BNO055_GYRO_5MS_AUTOSLPDUR) + auto_sleep_durn_u8r = + auto_sleep_durn_u8; + else + auto_sleep_durn_u8r = + BNO055_GYRO_5MS_AUTOSLPDUR; + break; + case BNO055_GYRO_BW_23HZ: + if (auto_sleep_durn_u8 > + BNO055_GYRO_10MS_AUTOSLPDUR) + auto_sleep_durn_u8r = + auto_sleep_durn_u8; + else + auto_sleep_durn_u8r = + BNO055_GYRO_10MS_AUTOSLPDUR; + break; + case BNO055_GYRO_BW_12HZ: + if (auto_sleep_durn_u8 > + BNO055_GYRO_20MS_AUTOSLPDUR) + auto_sleep_durn_u8r = + auto_sleep_durn_u8; + else + auto_sleep_durn_u8r = + BNO055_GYRO_20MS_AUTOSLPDUR; + break; + case BNO055_GYRO_BW_64HZ: + if (auto_sleep_durn_u8 > + BNO055_GYRO_10MS_AUTOSLPDUR) + auto_sleep_durn_u8r = + auto_sleep_durn_u8; + else + auto_sleep_durn_u8r = + BNO055_GYRO_10MS_AUTOSLPDUR; + break; + case BNO055_GYRO_BW_32HZ: + if (auto_sleep_durn_u8 > + BNO055_GYRO_20MS_AUTOSLPDUR) + auto_sleep_durn_u8r = + auto_sleep_durn_u8; + else + auto_sleep_durn_u8r = + BNO055_GYRO_20MS_AUTOSLPDUR; + break; + default: + if (auto_sleep_durn_u8 > + BNO055_GYRO_4MS_AUTOSLPDUR) + auto_sleep_durn_u8r = + auto_sleep_durn_u8; + else + auto_sleep_durn_u8r = + BNO055_GYRO_4MS_AUTOSLPDUR; + break; + } + if (com_rslt == BNO055_SUCCESS) { + data_u8r = BNO055_SET_BITSLICE + (data_u8r, + BNO055_GYRO_AUTO_SLEEP_DURN, + auto_sleep_durn_u8r); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_AUTO_SLEEP_DURN_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_OUT_OF_RANGE; + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } +} else { +com_rslt = BNO055_ERROR; +} +} +if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode of + previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); +return com_rslt; +} +/*! + * @brief This API used to read the mag sleep mode + * from page one register from 0x0E bit 0 + * + * @param sleep_mode_u8 : The value of mag sleep mode + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_sleep_mode( +u8 *sleep_mode_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page,mag sleep mode is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + /* Read the value of mag sleep mode*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_MAG_SLEEP_MODE_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + *sleep_mode_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_MAG_SLEEP_MODE); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write the mag sleep mode + * from page one register from 0x0E bit 0 + * + * @param sleep_mode_u8 : The value of mag sleep mode + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_sleep_mode( +u8 sleep_mode_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +s8 stat_s8 = BNO055_ERROR; +s8 pg_stat_s8 = BNO055_ERROR; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; +} else { + /* The write operation effective only if the operation + mode is in config mode, this part of code is checking the + current operation mode and set the config mode */ + stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); + if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + if (stat_s8 == BNO055_SUCCESS) { + /* Write page as one */ + pg_stat_s8 = bno055_write_page_id( + BNO055_PAGE_ONE); + if (pg_stat_s8 == BNO055_SUCCESS) { + com_rslt = + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_MAG_SLEEP_MODE_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + /* Write the value + of mag sleep mode*/ + data_u8r = + BNO055_SET_BITSLICE(data_u8r, + BNO055_MAG_SLEEP_MODE, + sleep_mode_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_MAG_SLEEP_MODE_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode of + previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); + return com_rslt; +} +/*! + * @brief This API used to read the mag sleep duration + * from page one register from 0x0E bit 1 to 4 + * + * @param sleep_durn_u8 : The value of mag sleep duration + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_sleep_durn( +u8 *sleep_durn_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page,mag sleep duration is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + /* Read the value of mag sleep duration*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_MAG_SLEEP_DURN_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *sleep_durn_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_MAG_SLEEP_DURN); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write the mag sleep duration + * from page one register from 0x0E bit 1 to 4 + * + * @param sleep_durn_u8 : The value of mag sleep duration + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_sleep_durn( +u8 sleep_durn_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +s8 stat_s8 = BNO055_ERROR; +s8 pg_stat_s8 = BNO055_ERROR; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; +} else { + /* The write operation effective only if the operation + mode is in config mode, this part of code is checking the + current operation mode and set the config mode */ + stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); + if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + if (stat_s8 == BNO055_SUCCESS) { + /* Write page as one */ + pg_stat_s8 = bno055_write_page_id( + BNO055_PAGE_ONE); + if (pg_stat_s8 == BNO055_SUCCESS) { + com_rslt = + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_MAG_SLEEP_DURN_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + /* Write the value of + mag sleep duration */ + data_u8r = + BNO055_SET_BITSLICE(data_u8r, + BNO055_MAG_SLEEP_DURN, + sleep_durn_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_MAG_SLEEP_DURN_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode of + previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); + return com_rslt; +} +/*! + * @brief This API used to read the gyro anymotion interrupt mask + * from page one register from 0x0F bit 2 + * + * @param gyro_any_motion_u8 : The value of gyro anymotion interrupt mask + * gyro_any_motion_u8 | result + * -------------------- |------------ + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note While enabling the gyro anymotion interrupt + * configure the following settings + * + * Axis: + * bno055_set_gyro_any_motion_axis_enable() + * + * Filter setting: + * bno055_set_gyro_any_motion_filter() + * + * Threshold : + * + * bno055_set_gyro_any_motion_thres() + * + * Slope samples : + * + * bno055_set_gyro_any_motion_slope_samples() + * + * Awake duration : + * + * bno055_set_gyro_any_motion_awake_durn() + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_gyro_any_motion( +u8 *gyro_any_motion_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, gyro anymotion interrupt mask is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + /* Read the value of gyro anymotion interrupt mask*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_ANY_MOTION_INTR_MASK_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *gyro_any_motion_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_GYRO_ANY_MOTION_INTR_MASK); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write the gyro anymotion interrupt mask + * from page one register from 0x0F bit 2 + * + * @param gyro_any_motion_u8 : The value of gyro anymotion interrupt mask + * gyro_any_motion_u8 | result + * -------------------- |------------ + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note While enabling the gyro anymotion interrupt + * configure the following settings + * + * Axis: + * bno055_set_gyro_any_motion_axis_enable() + * + * Filter setting: + * bno055_set_gyro_any_motion_filter() + * + * Threshold : + * + * bno055_set_gyro_any_motion_thres() + * + * Slope samples : + * + * bno055_set_gyro_any_motion_slope_samples() + * + * Awake duration : + * + * bno055_set_gyro_any_motion_awake_durn() + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_gyro_any_motion( +u8 gyro_any_motion_u8) +{ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, accel range is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + /* Write the value of gyro anymotion interrupt mask*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_ANY_MOTION_INTR_MASK_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = + BNO055_SET_BITSLICE(data_u8r, + BNO055_GYRO_ANY_MOTION_INTR_MASK, + gyro_any_motion_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_ANY_MOTION_INTR_MASK_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to read the gyro highrate interrupt mask + * from page one register from 0x0F bit 3 + * + * @param gyro_highrate_u8 : The value of gyro highrate interrupt mask + * gyro_highrate_u8 | result + * -------------------- |------------ + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note While enabling the gyro highrate interrupt + * configure the below settings by using + * the following API + * + * Axis : + * + * bno055_set_gyro_highrate_axis_enable() + * + * Filter : + * + * bno055_set_gyro_highrate_filter() + * + * Threshold : + * + * bno055_get_gyro_highrate_x_thres() + * + * bno055_get_gyro_highrate_y_thres() + * + * bno055_get_gyro_highrate_z_thres() + * + * Hysteresis : + * + * bno055_set_gyro_highrate_x_hyst() + * + * bno055_set_gyro_highrate_y_hyst() + * + * bno055_set_gyro_highrate_z_hyst() + * + * Duration : + * + * bno055_set_gyro_highrate_x_durn() + * + * bno055_set_gyro_highrate_y_durn() + * + * bno055_set_gyro_highrate_z_durn() + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_gyro_highrate( +u8 *gyro_highrate_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, gyro highrate interrupt mask is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + /* Read the value of gyro highrate interrupt mask*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_HIGHRATE_INTR_MASK_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *gyro_highrate_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_GYRO_HIGHRATE_INTR_MASK); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write the gyro highrate interrupt mask + * from page one register from 0x0F bit 3 + * + * @param gyro_highrate_u8 : The value of gyro highrate interrupt mask + * gyro_highrate_u8 | result + * -------------------- |------------ + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note While enabling the gyro highrate interrupt + * configure the below settings by using + * the following APIs + * + * Axis : + * + * bno055_set_gyro_highrate_axis_enable() + * + * Filter : + * + * bno055_set_gyro_highrate_filter() + * + * Threshold : + * + * bno055_get_gyro_highrate_x_thres() + * + * bno055_get_gyro_highrate_y_thres() + * + * bno055_get_gyro_highrate_z_thres() + * + * Hysteresis : + * + * bno055_set_gyro_highrate_x_hyst() + * + * bno055_set_gyro_highrate_y_hyst() + * + * bno055_set_gyro_highrate_z_hyst() + * + * Duration : + * + * bno055_set_gyro_highrate_x_durn() + * + * bno055_set_gyro_highrate_y_durn() + * + * bno055_set_gyro_highrate_z_durn() + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_gyro_highrate( +u8 gyro_highrate_u8) +{ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, gyro highrate interrupt mask is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_HIGHRATE_INTR_MASK_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + /* Write the value of gyro + highrate interrupt mask*/ + data_u8r = + BNO055_SET_BITSLICE(data_u8r, + BNO055_GYRO_HIGHRATE_INTR_MASK, + gyro_highrate_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_HIGHRATE_INTR_MASK_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to read the accel highg interrupt mask + * from page one register from 0x0F bit 5 + * + * @param accel_high_g_u8 : The value of accel highg interrupt mask + * accel_high_g_u8 | result + * -------------------- |------------ + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note While enabling the accel highg interrupt + * configure the below settings by using + * the following APIs + * + * Axis : + * + * bno055_set_accel_high_g_axis_enable() + * + * Threshold : + * + * bno055_set_accel_high_g_thres() + * + * Duration : + * + * bno055_set_accel_high_g_durn() + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_high_g( +u8 *accel_high_g_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, accel highg interrupt mask is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + /* Read the value of accel highg interrupt mask*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_HIGH_G_INTR_MASK_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *accel_high_g_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_ACCEL_HIGH_G_INTR_MASK); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write the accel highg interrupt mask + * from page one register from 0x0F bit 5 + * + * @param accel_high_g_u8 : The value of accel highg interrupt mask + * accel_high_g_u8 | result + * -------------------- |------------ + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note While enabling the accel highg interrupt + * configure the below settings by using + * the following APIs + * + * Axis : + * + * bno055_set_accel_high_g_axis_enable() + * + * Threshold : + * + * bno055_set_accel_high_g_thres() + * + * Duration : + * + * bno055_set_accel_high_g_durn() + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_high_g( +u8 accel_high_g_u8) +{ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, accel highg interrupt mask is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_HIGH_G_INTR_MASK_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + /* Write the value of accel + highg interrupt mask*/ + data_u8r = + BNO055_SET_BITSLICE(data_u8r, + BNO055_ACCEL_HIGH_G_INTR_MASK, + accel_high_g_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_HIGH_G_INTR_MASK_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to read the accel anymotion interrupt mask + * from page one register from 0x0F bit 6 + * + * @param accel_any_motion_u8 : The value of accel anymotion interrupt mask + * accel_any_motion_u8 | result + * -------------------- |------------ + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note While enabling the accel highg interrupt + * configure the below settings by using + * the following APIs + * + * Axis : + * + * bno055_set_accel_high_g_axis_enable() + * + * Threshold : + * + * bno055_set_accel_high_g_thres() + * + * Duration : + * + * bno055_set_accel_high_g_durn() + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_any_motion( +u8 *accel_any_motion_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, accel anymotion interrupt mask is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + /* The value of accel anymotion interrupt mask*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_ANY_MOTION_INTR_MASK_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *accel_any_motion_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_ACCEL_ANY_MOTION_INTR_MASK); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write the accel anymotion interrupt mask + * from page one register from 0x0F bit 6 + * + * @param accel_any_motion_u8 : The value of accel anymotion interrupt mask + * accel_any_motion_u8 | result + * -------------------- |------------ + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note While enabling the accel anymotion interrupt + * configure the following settings + * + * Axis: + * + * bno055_set_accel_any_motion_no_motion_axis_enable() + * + * Duration: + * + * bno055_set_accel_any_motion_durn() + * + * Threshold: + * + * bno055_set_accel_any_motion_thres() + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_any_motion( +u8 accel_any_motion_u8) +{ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, accel anymotion interrupt mask is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + /* Write the value of accel anymotion interrupt mask*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_ANY_MOTION_INTR_MASK_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = + BNO055_SET_BITSLICE(data_u8r, + BNO055_ACCEL_ANY_MOTION_INTR_MASK, + accel_any_motion_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_ANY_MOTION_INTR_MASK_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to read the accel nomotion interrupt mask + * from page one register from 0x0F bit 7 + * + * @param accel_nomotion_u8 : The value of accel nomotion interrupt mask + * accel_nomotion_u8 | result + * -------------------- |------------ + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * + * @note While enabling the accel anymotion interrupt + * configure the following settings + * + * Axis: + * + * bno055_set_accel_any_motion_no_motion_axis_enable() + * + * Duration: + * + * bno055_set_accel_any_motion_durn() + * + * Threshold: + * + * bno055_set_accel_any_motion_thres()) + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_no_motion( +u8 *accel_nomotion_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, accel nomotion interrupt mask is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + /* Read the value of accel nomotion interrupt mask*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_NO_MOTION_INTR_MASK_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *accel_nomotion_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_ACCEL_NO_MOTION_INTR_MASK); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write the accel nomotion interrupt mask + * from page one register from 0x0F bit 7 + * + * @param accel_nomotion_u8 : The value of accel nomotion interrupt mask + * accel_nomotion_u8 | result + * -------------------- |------------ + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note While enabling the accel nomotion interrupt + * configure the following settings + * + * Axis: + * + * bno055_set_accel_any_motion_no_motion_axis_enable() + * + * Threshold : + * + * bno055_set_accel_slow_no_motion_thres() + * + * Duration : + * + * bno055_set_accel_slow_no_motion_durn() + * + * Slow/no motion enable: + * + * bno055_set_accel_slow_no_motion_enable() + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_no_motion( +u8 accel_nomotion_u8) +{ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, accel + nomotion interrupt mask is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_NO_MOTION_INTR_MASK_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + /* Write the value of accel + nomotion interrupt mask*/ + data_u8r = + BNO055_SET_BITSLICE(data_u8r, + BNO055_ACCEL_NO_MOTION_INTR_MASK, + accel_nomotion_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_NO_MOTION_INTR_MASK_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to read the gyro anymotion interrupt + * from page one register from 0x10 bit 2 + * + * @param gyro_any_motion_u8 : The value of gyro anymotion interrupt + * gyro_any_motion_u8 | result + * -------------------- |------------ + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note While enabling the gyro anymotion interrupt + * configure the following settings + * + * Axis: + * bno055_set_gyro_any_motion_axis_enable() + * + * Filter setting: + * bno055_set_gyro_any_motion_filter() + * + * Threshold : + * + * bno055_set_gyro_any_motion_thres() + * + * Slope samples : + * + * bno055_set_gyro_any_motion_slope_samples() + * + * Awake duration : + * + * bno055_set_gyro_any_motion_awake_durn() + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_gyro_any_motion( +u8 *gyro_any_motion_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, gyro anymotion interrupt is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + /* Read the value of gyro anymotion interrupt */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_ANY_MOTION_INTR_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *gyro_any_motion_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_GYRO_ANY_MOTION_INTR); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write the gyro anymotion interrupt + * from page one register from 0x10 bit 2 + * + * @param gyro_any_motion_u8 : The value of gyro anymotion interrupt + * gyro_any_motion_u8 | result + * -------------------- |------------ + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note While enabling the gyro anymotion interrupt + * configure the following settings + * + * Axis: + * bno055_set_gyro_any_motion_axis_enable() + * + * Filter setting: + * bno055_set_gyro_any_motion_filter() + * + * Threshold : + * + * bno055_set_gyro_any_motion_thres() + * + * Slope samples : + * + * bno055_set_gyro_any_motion_slope_samples() + * + * Awake duration : + * + * bno055_set_gyro_any_motion_awake_durn() + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_gyro_any_motion( +u8 gyro_any_motion_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +s8 stat_s8 = BNO055_ERROR; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, gyro anymotion interrupt is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + /* Write the value of gyro anymotion interrupt */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_ANY_MOTION_INTR_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = + BNO055_SET_BITSLICE(data_u8r, + BNO055_GYRO_ANY_MOTION_INTR, + gyro_any_motion_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_ANY_MOTION_INTR_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to read the gyro highrate interrupt + * from page one register from 0x10 bit 3 + * + * @param gyro_highrate_u8 : The value of gyro highrate interrupt + * gyro_highrate_u8 | result + * -------------------- |------------ + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note While enabling the gyro highrate interrupt + * configure the below settings by using + * the following APIs + * + * Axis : + * + * bno055_set_gyro_highrate_axis_enable() + * + * Filter : + * + * bno055_set_gyro_highrate_filter() + * + * Threshold : + * + * bno055_get_gyro_highrate_x_thres() + * + * bno055_get_gyro_highrate_y_thres() + * + * bno055_get_gyro_highrate_z_thres() + * + * Hysteresis : + * + * bno055_set_gyro_highrate_x_hyst() + * + * bno055_set_gyro_highrate_y_hyst() + * + * bno055_set_gyro_highrate_z_hyst() + * + * Duration : + * + * bno055_set_gyro_highrate_x_durn() + * + * bno055_set_gyro_highrate_y_durn() + * + * bno055_set_gyro_highrate_z_durn() + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_gyro_highrate( +u8 *gyro_highrate_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, gyro highrate interrupt is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + /* Read the value of gyro highrate interrupt */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_HIGHRATE_INTR_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *gyro_highrate_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_GYRO_HIGHRATE_INTR); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write the gyro highrate interrupt + * from page one register from 0x10 bit 3 + * + * @param gyro_highrate_u8 : The value of gyro highrate interrupt + * gyro_highrate_u8 | result + * -------------------- |------------ + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note While enabling the gyro highrate interrupt + * configure the below settings by using + * the following APIs + * + * Axis : + * + * bno055_set_gyro_highrate_axis_enable() + * + * Filter : + * + * bno055_set_gyro_highrate_filter() + * + * Threshold : + * + * bno055_get_gyro_highrate_x_thres() + * + * bno055_get_gyro_highrate_y_thres() + * + * bno055_get_gyro_highrate_z_thres() + * + * Hysteresis : + * + * bno055_set_gyro_highrate_x_hyst() + * + * bno055_set_gyro_highrate_y_hyst() + * + * bno055_set_gyro_highrate_z_hyst() + * + * Duration : + * + * bno055_set_gyro_highrate_x_durn() + * + * bno055_set_gyro_highrate_y_durn() + * + * bno055_set_gyro_highrate_z_durn() + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_gyro_highrate( +u8 gyro_highrate_u8) +{ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, gyro highrate interrupt is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_HIGHRATE_INTR_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + /* Write the value of gyro highrate interrupt */ + data_u8r = + BNO055_SET_BITSLICE(data_u8r, + BNO055_GYRO_HIGHRATE_INTR, gyro_highrate_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_HIGHRATE_INTR_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to read the accel highg interrupt + * from page one register from 0x10 bit 5 + * + * @param accel_high_g_u8 : The value of accel highg interrupt + * accel_high_g_u8 | result + * -------------------- |------------ + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note While enabling the accel highg interrupt + * configure the below settings by using + * the following APIs + * + * Axis : + * + * bno055_set_accel_high_g_axis_enable() + * + * Threshold : + * + * bno055_set_accel_high_g_thres() + * + * Duration : + * + * bno055_set_accel_high_g_durn() + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_high_g( +u8 *accel_high_g_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, accel highg interrupt is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + /* Read the value of accel highg interrupt*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_HIGH_G_INTR_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *accel_high_g_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_ACCEL_HIGH_G_INTR); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write the accel highg interrupt + * from page one register from 0x10 bit 5 + * + * @param accel_high_g_u8 : The value of accel highg interrupt + * accel_high_g_u8 | result + * -------------------- |------------ + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note While enabling the accel highg interrupt + * configure the below settings by using + * the following APIs + * + * Axis : + * + * bno055_set_accel_high_g_axis_enable() + * + * Threshold : + * + * bno055_set_accel_high_g_thres() + * + * Duration : + * + * bno055_set_accel_high_g_durn() + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_high_g( +u8 accel_high_g_u8) +{ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, accel highg interrupt is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_HIGH_G_INTR_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + /* Write the value of accel highg interrupt*/ + data_u8r = + BNO055_SET_BITSLICE(data_u8r, + BNO055_ACCEL_HIGH_G_INTR, + accel_high_g_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_HIGH_G_INTR_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to read the accel anymotion interrupt + * from page one register from 0x10 bit 6 + * + * @param accel_any_motion_u8 : The value of accel anymotion interrupt + * accel_any_motion_u8 | result + * -------------------- |------------ + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note While enabling the accel anymotion interrupt + * configure the following settings + * + * Axis: + * + * bno055_set_accel_any_motion_no_motion_axis_enable() + * + * Duration: + * + * bno055_set_accel_any_motion_durn() + * + * Threshold: + * + * bno055_set_accel_any_motion_thres() + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_any_motion( +u8 *accel_any_motion_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, accel anymotion interrupt is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + /* Read the value of accel anymotion interrupt */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_ANY_MOTION_INTR_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *accel_any_motion_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_ACCEL_ANY_MOTION_INTR); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write the accel anymotion interrupt + * from page one register from 0x10 bit 6 + * + * @param accel_any_motion_u8 : The value of accel anymotion interrupt + * accel_any_motion_u8 | result + * -------------------- |------------ + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note While enabling the accel anymotion interrupt + * configure the following settings + * + * Axis: + * + * bno055_set_accel_any_motion_no_motion_axis_enable() + * + * Duration: + * + * bno055_set_accel_any_motion_durn() + * + * Threshold: + * + * bno055_set_accel_any_motion_thres() + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_any_motion( +u8 accel_any_motion_u8) +{ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, accel range is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + /* Write the value of accel anymotion interrupt */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_ANY_MOTION_INTR_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = + BNO055_SET_BITSLICE(data_u8r, + BNO055_ACCEL_ANY_MOTION_INTR, + accel_any_motion_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_ANY_MOTION_INTR_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to read the accel nomotion interrupt + * from page one register from 0x10 bit 6 + * + * @param accel_nomotion_u8 : The value of accel nomotion interrupt + * accel_nomotion_u8 | result + * -------------------- |------------ + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note While enabling the accel nomotion interrupt + * configure the following settings + * + * Axis: + * + * bno055_set_accel_any_motion_no_motion_axis_enable() + * + * Threshold : + * + * bno055_set_accel_slow_no_motion_thres() + * + * Duration : + * + * bno055_set_accel_slow_no_motion_durn() + * + * Slow/no motion enable: + * + * bno055_set_accel_slow_no_motion_enable() + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_no_motion( +u8 *accel_nomotion_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, accel nomotion interrupt is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + /* Read the value of accel nomotion interrupt*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_NO_MOTION_INTR_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *accel_nomotion_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_ACCEL_NO_MOTION_INTR); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write the accel nomotion interrupt + * from page one register from 0x10 bit 6 + * + * @param accel_nomotion_u8 : The value of accel nomotion interrupt + * accel_nomotion_u8 | result + * -------------------- |------------ + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note While enabling the accel nomotion interrupt + * configure the following settings + * + * Axis: + * + * bno055_set_accel_any_motion_no_motion_axis_enable() + * + * Threshold : + * + * bno055_set_accel_slow_no_motion_thres() + * + * Duration : + * + * bno055_set_accel_slow_no_motion_durn() + * + * Slow/no motion enable: + * + * bno055_set_accel_slow_no_motion_enable() + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_no_motion( +u8 accel_nomotion_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +s8 stat_s8 = BNO055_ERROR; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, + accel nomotion interrupt is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_NO_MOTION_INTR_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + /* Write the value of + accel nomotion interrupt */ + data_u8r = BNO055_SET_BITSLICE(data_u8r, + BNO055_ACCEL_NO_MOTION_INTR, + accel_nomotion_u8); + com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_NO_MOTION_INTR_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to read the accel any motion threshold + * from page one register from 0x11 bit 0 to 7 + * + * @param accel_any_motion_thres_u8 : The value of any motion threshold + * accel_any_motion_thres_u8 | result + * ------------------------ | ------------- + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Accel anymotion threshold dependent on the + * range values + * + * accel_range_u8 | threshold | LSB + * ------------- | ------------- | --------- + * 2g | 3.19mg | 1LSB + * 4g | 7.81mg | 1LSB + * 8g | 15.63mg | 1LSB + * 16g | 31.25mg | 1LSB + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_thres( +u8 *accel_any_motion_thres_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, accel any motion threshold is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + /* Read the value of accel any motion threshold */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_ANY_MOTION_THRES_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + *accel_any_motion_thres_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_ACCEL_ANY_MOTION_THRES); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write the accel any motion threshold + * from page one register from 0x11 bit 0 to 7 + * + * @param accel_any_motion_thres_u8 : The value of any motion threshold + * accel_any_motion_thres_u8 | result + * ------------------------ | ------------- + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Accel anymotion threshold dependent on the + * range values + * + * accel_range_u8 | threshold | LSB + * ------------- | ------------- | --------- + * 2g | 3.19mg | 1LSB + * 4g | 7.81mg | 1LSB + * 8g | 15.63mg | 1LSB + * 16g | 31.25mg | 1LSB + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_thres( +u8 accel_any_motion_thres_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +s8 stat_s8 = BNO055_ERROR; +s8 pg_stat_s8 = BNO055_ERROR; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; +} else { +/* The write operation effective only if the operation +mode is in config mode, this part of code is checking the +current operation mode and set the config mode */ +stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); +if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + if (stat_s8 == BNO055_SUCCESS) { + /* Write page as one */ + pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if (pg_stat_s8 == BNO055_SUCCESS) { + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_ANY_MOTION_THRES_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + /* Write the value of + accel any motion threshold*/ + data_u8r = + BNO055_SET_BITSLICE(data_u8r, + BNO055_ACCEL_ANY_MOTION_THRES, + accel_any_motion_thres_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_ANY_MOTION_THRES_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } +} +if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode of + previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); +return com_rslt; +} +/*! + * @brief This API used to read the accel anymotion duration + * from page one register from 0x12 bit 0 to 1 + * + * @param accel_any_motion_durn_u8 : The value of accel anymotion duration + * accel_any_motion_durn_u8 | result + * ------------------------- | ------------- + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_durn( +u8 *accel_any_motion_durn_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, accel anymotion duration is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + /* Read the value of accel anymotion duration */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_ANY_MOTION_DURN_SET_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *accel_any_motion_durn_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_ACCEL_ANY_MOTION_DURN_SET); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write the accel anymotion duration + * from page one register from 0x12 bit 0 to 1 + * + * @param accel_any_motion_durn_u8 : The value of accel anymotion duration + * + * accel_any_motion_durn_u8 | result + * ------------------------- | ------------- + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_durn( +u8 accel_any_motion_durn_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +s8 stat_s8 = BNO055_ERROR; +s8 pg_stat_s8 = BNO055_ERROR; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; +} else { +/* The write operation effective only if the operation +mode is in config mode, this part of code is checking the +current operation mode and set the config mode */ +stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); +if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + if (stat_s8 == BNO055_SUCCESS) { + /* Write page as one */ + pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if (pg_stat_s8 == BNO055_SUCCESS) { + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_ANY_MOTION_DURN_SET_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + /* Write the value of + accel anymotion duration*/ + data_u8r = + BNO055_SET_BITSLICE(data_u8r, + BNO055_ACCEL_ANY_MOTION_DURN_SET, + accel_any_motion_durn_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_ANY_MOTION_DURN_SET_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } +} +if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode of + previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); +return com_rslt; +} +/*! + * @brief This API used to read the accel anymotion enable + * from page one register from 0x12 bit 2 to 4 + * + * @param data_u8 : The value of accel anymotion enable + * data_u8 | result + * ------------ | ------------- + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * @param channel_u8 : The value of accel anymotion axis selection + * channel_u8 | value + * -------------------------- | ---------- + * BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS | 0 + * BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS | 1 + * BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS | 2 + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_no_motion_axis_enable( +u8 channel_u8, u8 *data_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, accel anymotion enable is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + switch (channel_u8) { + case BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS: + /* Read the value of accel anymotion x enable*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_ANY_MOTION_X_AXIS_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *data_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_ACCEL_ANY_MOTION_X_AXIS); + break; + case BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS: + /* Read the value of accel anymotion y enable*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_ANY_MOTION_Y_AXIS_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *data_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_ACCEL_ANY_MOTION_Y_AXIS); + break; + case BNO055_ACCEL_ANY_MOTION_NO_MOTION_Z_AXIS: + /* Read the value of accel anymotion z enable*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_ANY_MOTION_Z_AXIS_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *data_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_ACCEL_ANY_MOTION_Z_AXIS); + break; + default: + com_rslt = BNO055_OUT_OF_RANGE; + break; + } + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write the accel anymotion enable + * from page one register from 0x12 bit 2 to 4 + * + * @param data_u8 : The value of accel anymotion enable + * data_u8 | result + * ------------ | ------------- + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * @param channel_u8 : The value of accel anymotion axis selection + * channel_u8 | value + * -------------------------- | ---------- + * BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS | 0 + * BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS | 1 + * BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS | 2 + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_no_motion_axis_enable( +u8 channel_u8, u8 data_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +s8 stat_s8 = BNO055_ERROR; +s8 pg_stat_s8 = BNO055_ERROR; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; +} else { +/* The write operation effective only if the operation +mode is in config mode, this part of code is checking the +current operation mode and set the config mode */ +stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); +if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + if (stat_s8 == BNO055_SUCCESS) { + /* Write page as one */ + pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if (pg_stat_s8 == BNO055_SUCCESS) { + switch (channel_u8) { + case BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS: + /* Write the value of + accel anymotion x enable*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_ANY_MOTION_X_AXIS_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = BNO055_SET_BITSLICE + (data_u8r, + BNO055_ACCEL_ANY_MOTION_X_AXIS, + data_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_ANY_MOTION_X_AXIS_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + break; + case BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS: + /* Write the value of + accel anymotion y enable*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_ANY_MOTION_Y_AXIS_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = BNO055_SET_BITSLICE + (data_u8r, + BNO055_ACCEL_ANY_MOTION_Y_AXIS, + data_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_ANY_MOTION_Y_AXIS_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + break; + case BNO055_ACCEL_ANY_MOTION_NO_MOTION_Z_AXIS: + /* Write the value of + accel anymotion z enable*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_ANY_MOTION_Z_AXIS_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = BNO055_SET_BITSLICE + (data_u8r, + BNO055_ACCEL_ANY_MOTION_Z_AXIS, + data_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_ANY_MOTION_Z_AXIS_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + break; + default: + com_rslt = BNO055_OUT_OF_RANGE; + break; + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } +} +if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode of + previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); +return com_rslt; +} +/*! + * @brief This API used to read the accel highg enable + * from page one register from 0x12 bit 5 to 7 + * + * @param data_u8 : The value of accel highg enable + * data_u8| result + * ------------ | ------------- + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * @param channel_u8 : The value of accel highg axis selection + * channel_u8 | value + * -------------------------- | ---------- + * BNO055_ACCEL_HIGH_G_X_AXIS | 0 + * BNO055_ACCEL_HIGH_G_Y_AXIS | 1 + * BNO055_ACCEL_HIGH_G_Z_AXIS | 2 + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_axis_enable( +u8 channel_u8, u8 *data_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, accel highg enable is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + switch (channel_u8) { + case BNO055_ACCEL_HIGH_G_X_AXIS: + /* Read the value of accel x highg enable*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_HIGH_G_X_AXIS_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *data_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_ACCEL_HIGH_G_X_AXIS); + break; + case BNO055_ACCEL_HIGH_G_Y_AXIS: + /* Read the value of accel y highg enable*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_HIGH_G_Y_AXIS_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *data_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_ACCEL_HIGH_G_Y_AXIS); + break; + case BNO055_ACCEL_HIGH_G_Z_AXIS: + /* Read the value of accel z highg enable*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_HIGH_G_Z_AXIS_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *data_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_ACCEL_HIGH_G_Z_AXIS); + break; + default: + com_rslt = BNO055_OUT_OF_RANGE; + break; + } + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write the accel highg enable + * from page one register from 0x12 bit 5 to 7 + * + * @param data_u8 : The value of accel highg enable + * data_u8| result + * ------------ | ------------- + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * @param channel_u8 : The value of accel highg axis selection + * channel_u8 | value + * -------------------------- | ---------- + * BNO055_ACCEL_HIGH_G_X_AXIS | 0 + * BNO055_ACCEL_HIGH_G_Y_AXIS | 1 + * BNO055_ACCEL_HIGH_G_Z_AXIS | 2 + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_axis_enable( +u8 channel_u8, u8 data_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +s8 stat_s8 = BNO055_ERROR; +s8 pg_stat_s8 = BNO055_ERROR; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; +} else { +/* The write operation effective only if the operation +mode is in config mode, this part of code is checking the +current operation mode and set the config mode */ +stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); +if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + if (stat_s8 == BNO055_SUCCESS) { + /* Write page as one */ + pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if (pg_stat_s8 == BNO055_SUCCESS) { + switch (channel_u8) { + case BNO055_ACCEL_HIGH_G_X_AXIS: + /* Write the value of + accel x highg enable*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_HIGH_G_X_AXIS_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = + BNO055_SET_BITSLICE(data_u8r, + BNO055_ACCEL_HIGH_G_X_AXIS, data_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_HIGH_G_X_AXIS_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + break; + case BNO055_ACCEL_HIGH_G_Y_AXIS: + /* Write the value of + accel y highg enable*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_HIGH_G_Y_AXIS_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = + BNO055_SET_BITSLICE(data_u8r, + BNO055_ACCEL_HIGH_G_Y_AXIS, + data_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_HIGH_G_Y_AXIS_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + break; + case BNO055_ACCEL_HIGH_G_Z_AXIS: + /* Write the value of + accel z highg enable*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_HIGH_G_Z_AXIS_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = + BNO055_SET_BITSLICE(data_u8r, + BNO055_ACCEL_HIGH_G_Z_AXIS, data_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_HIGH_G_Z_AXIS_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + break; + default: + com_rslt = BNO055_OUT_OF_RANGE; + break; + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } +} +if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode of + previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); +return com_rslt; +} +/*! + * @brief This API used to read the accel highg duration + * from page one register from 0x13 bit 0 to 7 + * + * @param accel_high_g_durn_u8 : The value of accel highg duration + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note The high-g interrupt trigger delay according + * to [highg duration + 1] * 2 ms + * + * in a range from 2 ms to 512 ms + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_durn( +u8 *accel_high_g_durn_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, accel highg duration is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + /* Read the value of accel highg duration*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_HIGH_G_DURN_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *accel_high_g_durn_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_ACCEL_HIGH_G_DURN); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write the accel highg duration + * from page one register from 0x13 bit 0 to 7 + * + * @param accel_high_g_durn_u8 : The value of accel highg duration + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note The high-g interrupt trigger delay according + * to [highg duration + 1] * 2 ms + * + * in a range from 2 ms to 512 ms + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_durn( +u8 accel_high_g_durn_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +s8 stat_s8 = BNO055_ERROR; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +s8 pg_stat_s8 = BNO055_ERROR; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; +} else { + /* The write operation effective only if the operation + mode is in config mode, this part of code is checking the + current operation mode and set the config mode */ + stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); + if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + + if (stat_s8 == BNO055_SUCCESS) { + /* Write page as one */ + pg_stat_s8 = bno055_write_page_id( + BNO055_PAGE_ONE); + if (pg_stat_s8 == BNO055_SUCCESS) { + com_rslt = + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_HIGH_G_DURN_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + /* Write the value of + accel highg duration*/ + data_u8r = + BNO055_SET_BITSLICE(data_u8r, + BNO055_ACCEL_HIGH_G_DURN, + accel_high_g_durn_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_HIGH_G_DURN_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode of + previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); + return com_rslt; +} +/*! + * @brief This API used to read the accel highg threshold + * from page one register from 0x14 bit 0 to 7 + * + * @param accel_high_g_thres_u8 : The value of accel highg threshold + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Accel highg interrupt threshold dependent + * for accel g range + * + * accel_range_u8 | threshold | LSB + * ------------- | ------------- | --------- + * 2g | 7.81mg | 1LSB + * 4g | 15.63mg | 1LSB + * 8g | 31.25mg | 1LSB + * 16g | 62.5mg | 1LSB + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_thres( +u8 *accel_high_g_thres_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, highg threshold is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + /* Read the value of highg threshold */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_HIGH_G_THRES_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *accel_high_g_thres_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_ACCEL_HIGH_G_THRES); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write the accel highg threshold + * from page one register from 0x14 bit 0 to 7 + * + * @param accel_high_g_thres_u8 : The value of accel highg threshold + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Accel highg interrupt threshold dependent + * for accel g range + * + * accel_range_u8 | threshold | LSB + * ------------- | ------------- | --------- + * 2g | 7.81mg | 1LSB + * 4g | 15.63mg | 1LSB + * 8g | 31.25mg | 1LSB + * 16g | 62.5mg | 1LSB + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_thres( +u8 accel_high_g_thres_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +s8 stat_s8 = BNO055_ERROR; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +s8 pg_stat_s8 = BNO055_ERROR; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /* The write operation effective only if the operation + mode is in config mode, this part of code is checking the + current operation mode and set the config mode */ + stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); + if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + if (stat_s8 == BNO055_SUCCESS) { + /* Write page as one */ + pg_stat_s8 = bno055_write_page_id( + BNO055_PAGE_ONE); + if (pg_stat_s8 == BNO055_SUCCESS) { + com_rslt = + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_HIGH_G_THRES_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + /* Write the value of + accel highg threshold */ + data_u8r = + BNO055_SET_BITSLICE(data_u8r, + BNO055_ACCEL_HIGH_G_THRES, + accel_high_g_thres_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_HIGH_G_THRES_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode of + previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); + return com_rslt; +} +/*! + * @brief This API used to read the accel slownomotion threshold + * from page one register from 0x15 bit 0 to 7 + * + * @param accel_slow_no_motion_thres_u8 : + * The value of accel slownomotion threshold + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Accel slow no motion interrupt threshold dependent + * for accel g range + * + * accel_range_u8 | threshold | LSB + * ------------- | ------------- | --------- + * 2g | 3.19mg | 1LSB + * 4g | 7.81mg | 1LSB + * 8g | 15.63mg | 1LSB + * 16g | 31.25mg | 1LSB + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_thres( +u8 *accel_slow_no_motion_thres_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, accel slownomotion threshold is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + /* Read the value of slownomotion threshold */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_SLOW_NO_MOTION_THRES_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *accel_slow_no_motion_thres_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_ACCEL_SLOW_NO_MOTION_THRES); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write the accel slownomotion threshold + * from page one register from 0x15 bit 0 to 7 + * + * @param accel_slow_no_motion_thres_u8 : + * The value of accel slownomotion threshold + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Accel slow no motion interrupt threshold dependent + * for accel g range + * + * accel_range_u8 | threshold | LSB + * ------------- | ------------- | --------- + * 2g | 3.19mg | 1LSB + * 4g | 7.81mg | 1LSB + * 8g | 15.63mg | 1LSB + * 16g | 31.25mg | 1LSB + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_thres( +u8 accel_slow_no_motion_thres_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +s8 stat_s8 = BNO055_ERROR; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +s8 pg_stat_s8 = BNO055_ERROR; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; +} else { +/* The write operation effective only if the operation +mode is in config mode, this part of code is checking the +current operation mode and set the config mode */ +stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); +if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + if (stat_s8 == BNO055_SUCCESS) { + /* Write page as one */ + pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if (pg_stat_s8 == BNO055_SUCCESS) { + /* Write the value of + slownomotion threshold */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_SLOW_NO_MOTION_THRES_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = + BNO055_SET_BITSLICE(data_u8r, + BNO055_ACCEL_SLOW_NO_MOTION_THRES, + accel_slow_no_motion_thres_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_SLOW_NO_MOTION_THRES_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } +} +if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode of + previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); +return com_rslt; +} +/*! + * @brief This API used to read accel slownomotion enable + * from page one register from 0x16 bit 0 + * + * @param accel_slow_no_motion_en_u8 : The value of accel slownomotion enable + * accel_slow_no_motion_en_u8 | result + * ------------------------ | -------- + * 0x01 | Slow motion + * 0x00 | No motion + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_enable( +u8 *accel_slow_no_motion_en_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, accel slownomotion enable is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + /* Read the value of accel slownomotion enable */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_SLOW_NO_MOTION_ENABLE_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *accel_slow_no_motion_en_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_ACCEL_SLOW_NO_MOTION_ENABLE); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write accel slownomotion enable + * from page one register from 0x16 bit 0 + * + * @param accel_slow_no_motion_en_u8 : The value of accel slownomotion enable + * accel_slow_no_motion_en_u8 | result + * ------------------------ | -------- + * 0x01 | Slow motion + * 0x00 | No motion + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_enable( +u8 accel_slow_no_motion_en_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +s8 stat_s8 = BNO055_ERROR; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +s8 pg_stat_s8 = BNO055_ERROR; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; +} else { +/* The write operation effective only if the operation +mode is in config mode, this part of code is checking the +current operation mode and set the config mode */ +stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); +if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + if (stat_s8 == BNO055_SUCCESS) { + /* Write page as one */ + pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if (pg_stat_s8 == BNO055_SUCCESS) { + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_SLOW_NO_MOTION_ENABLE_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + /* Read the value of + accel slownomotion enable */ + data_u8r = + BNO055_SET_BITSLICE(data_u8r, + BNO055_ACCEL_SLOW_NO_MOTION_ENABLE, + accel_slow_no_motion_en_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_SLOW_NO_MOTION_ENABLE_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } +} +if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode of + previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); +return com_rslt; +} +/*! + * @brief This API used to read accel slownomotion duration + * from page one register from 0x16 bit 1 to 6 + * + * @param accel_slow_no_motion_durn_u8 : + * The value of accel slownomotion duration + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_durn( +u8 *accel_slow_no_motion_durn_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, accel slownomotion duration is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + /*read value of accel slownomotion duration*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_SLOW_NO_MOTION_DURN_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *accel_slow_no_motion_durn_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_ACCEL_SLOW_NO_MOTION_DURN); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write accel slownomotion duration + * from page one register from 0x16 bit 1 to 6 + * + * @param accel_slow_no_motion_durn_u8 : + * The value of accel slownomotion duration + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_durn( +u8 accel_slow_no_motion_durn_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +s8 stat_s8 = BNO055_ERROR; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +s8 pg_stat_s8 = BNO055_ERROR; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; +} else { +/* The write operation effective only if the operation +mode is in config mode, this part of code is checking the +current operation mode and set the config mode */ +stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); +if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + if (stat_s8 == BNO055_SUCCESS) { + /* Write page as one */ + pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if (pg_stat_s8 == BNO055_SUCCESS) { + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_SLOW_NO_MOTION_DURN_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + /*Write the value of accel + slownomotion duration*/ + data_u8r = + BNO055_SET_BITSLICE(data_u8r, + BNO055_ACCEL_SLOW_NO_MOTION_DURN, + accel_slow_no_motion_durn_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_ACCEL_SLOW_NO_MOTION_DURN_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } +} +if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode of + previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); +return com_rslt; +} +/*! + * @brief This API used to read the gyro anymotion enable + * from page one register from 0x17 bit 0 to 2 + * + * @param data_u8 : The value of gyro anymotion enable + * data_u8 | result + * ----------------- |------------- + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * @param channel_u8 : The value of gyro anymotion axis selection + * channel_u8 | value + * --------------------------- | ---------- + * BNO055_GYRO_ANY_MOTIONX_AXIS | 0 + * BNO055_GYRO_ANY_MOTIONY_AXIS | 1 + * BNO055_GYRO_ANY_MOTIONZ_AXIS | 2 + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_axis_enable( +u8 channel_u8, u8 *data_u8) +{ +/* Variable used to return value of +communication routine*/ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +s8 stat_s8 = BNO055_ERROR; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, gyro anymotion axis is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + switch (channel_u8) { + case BNO055_GYRO_ANY_MOTION_X_AXIS: + /* Read the gyro anymotion x enable*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_ANY_MOTION_X_AXIS_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *data_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_GYRO_ANY_MOTION_X_AXIS); + break; + case BNO055_GYRO_ANY_MOTION_Y_AXIS: + /* Read the gyro anymotion y enable*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_ANY_MOTION_Y_AXIS_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *data_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_GYRO_ANY_MOTION_Y_AXIS); + break; + case BNO055_GYRO_ANY_MOTION_Z_AXIS: + /* Read the gyro anymotion z enable*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_ANY_MOTION_Z_AXIS_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *data_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_GYRO_ANY_MOTION_Z_AXIS); + break; + default: + com_rslt = BNO055_OUT_OF_RANGE; + break; + } + } else { + com_rslt = BNO055_ERROR; + } +} +return com_rslt; +} +/*! + * @brief This API used to write the gyro anymotion enable + * from page one register from 0x17 bit 0 to 2 + * + * @param data_u8 : The value of gyro anymotion enable + * data_u8 | result + * ----------------- |------------- + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * @param channel_u8 : The value of gyro anymotion axis selection + * channel_u8 | value + * --------------------------- | ---------- + * BNO055_GYRO_ANY_MOTIONX_AXIS | 0 + * BNO055_GYRO_ANY_MOTIONY_AXIS | 1 + * BNO055_GYRO_ANY_MOTIONZ_AXIS | 2 + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_axis_enable( +u8 channel_u8, u8 data_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +s8 stat_s8 = BNO055_ERROR; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +s8 pg_stat_s8 = BNO055_ERROR; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; +} else { +/* The write operation effective only if the operation +mode is in config mode, this part of code is checking the +current operation mode and set the config mode */ +stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); +if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + if (stat_s8 == BNO055_SUCCESS) { + /* Write page as one */ + pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if (pg_stat_s8 == BNO055_SUCCESS) { + switch (channel_u8) { + case BNO055_GYRO_ANY_MOTION_X_AXIS: + /* Write the gyro + anymotion x enable*/ + com_rslt = + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_ANY_MOTION_X_AXIS_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = BNO055_SET_BITSLICE + (data_u8r, + BNO055_GYRO_ANY_MOTION_X_AXIS, + data_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_ANY_MOTION_X_AXIS_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + } + break; + case BNO055_GYRO_ANY_MOTION_Y_AXIS: + /* Write the gyro + anymotion y enable*/ + com_rslt = + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_ANY_MOTION_Y_AXIS_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = BNO055_SET_BITSLICE + (data_u8r, + BNO055_GYRO_ANY_MOTION_Y_AXIS, data_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_ANY_MOTION_Y_AXIS_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + } + break; + case BNO055_GYRO_ANY_MOTION_Z_AXIS: + /* Write the gyro + anymotion z enable*/ + com_rslt = + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_ANY_MOTION_Z_AXIS_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = BNO055_SET_BITSLICE + (data_u8r, + BNO055_GYRO_ANY_MOTION_Z_AXIS, + data_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_ANY_MOTION_Z_AXIS_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + } + break; + default: + com_rslt = BNO055_OUT_OF_RANGE; + break; + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } +} else { +com_rslt = BNO055_ERROR; +} +} +if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode of + previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); +return com_rslt; +} +/*! + * @brief This API used to read the gyro highrate enable + * from page one register from 0x17 bit 3 to 5 + * + * @param data_u8 : The value of gyro highrate enable + * data_u8 | result + * ---------------- |------------- + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * @param channel_u8 : The value of gyro highrate axis selection + * channel_u8 | value + * ------------------------ | ---------- + * BNO055_GYRO_HIGHRATE_X_AXIS | 0 + * BNO055_GYRO_HIGHRATE_Y_AXIS | 1 + * BNO055_GYRO_HIGHRATE_Z_AXIS | 2 + * + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_axis_enable( +u8 channel_u8, u8 *data_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, gyro highrate enable is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + switch (channel_u8) { + case BNO055_GYRO_HIGHRATE_X_AXIS: + /* Read the gyro highrate x enable */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_HIGHRATE_X_AXIS_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *data_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_GYRO_HIGHRATE_X_AXIS); + break; + case BNO055_GYRO_HIGHRATE_Y_AXIS: + /* Read the gyro highrate y enable */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_HIGHRATE_Y_AXIS_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *data_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_GYRO_HIGHRATE_Y_AXIS); + break; + case BNO055_GYRO_HIGHRATE_Z_AXIS: + /* Read the gyro highrate z enable */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_HIGHRATE_Z_AXIS_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *data_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_GYRO_HIGHRATE_Z_AXIS); + break; + default: + com_rslt = BNO055_OUT_OF_RANGE; + break; + } + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write the gyro highrate enable + * from page one register from 0x17 bit 3 to 5 + * + * @param data_u8 : The value of gyro highrate enable + * data_u8 | result + * ---------------- |------------- + * 0x01 | BNO055_BIT_ENABLE + * 0x00 | BNO055_BIT_DISABLE + * @param channel_u8 : The value of gyro highrate axis selection + * channel_u8 | value + * ------------------------ | ---------- + * BNO055_GYRO_HIGHRATE_X_AXIS | 0 + * BNO055_GYRO_HIGHRATE_Y_AXIS | 1 + * BNO055_GYRO_HIGHRATE_Z_AXIS | 2 + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_axis_enable( +u8 channel_u8, u8 data_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +s8 stat_s8 = BNO055_ERROR; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +s8 pg_stat_s8 = BNO055_ERROR; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; +} else { +/* The write operation effective only if the operation +mode is in config mode, this part of code is checking the +current operation mode and set the config mode */ +stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); +if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + if (stat_s8 == BNO055_SUCCESS) { + /* Write page as one */ + pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if (pg_stat_s8 == BNO055_SUCCESS) { + switch (channel_u8) { + case BNO055_GYRO_HIGHRATE_X_AXIS: + /* Write the value of + gyro highrate x enable*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_HIGHRATE_X_AXIS_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = BNO055_SET_BITSLICE + (data_u8r, + BNO055_GYRO_HIGHRATE_X_AXIS, data_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_HIGHRATE_X_AXIS_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + break; + case BNO055_GYRO_HIGHRATE_Y_AXIS: + /* Write the value of + gyro highrate y enable*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_HIGHRATE_Y_AXIS_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = + BNO055_SET_BITSLICE( + data_u8r, + BNO055_GYRO_HIGHRATE_Y_AXIS, data_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_HIGHRATE_Y_AXIS_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + break; + case BNO055_GYRO_HIGHRATE_Z_AXIS: + /* Write the value of + gyro highrate z enable*/ + com_rslt = + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_HIGHRATE_Z_AXIS_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = BNO055_SET_BITSLICE + (data_u8r, + BNO055_GYRO_HIGHRATE_Z_AXIS, data_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_HIGHRATE_Z_AXIS_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + break; + default: + com_rslt = BNO055_OUT_OF_RANGE; + break; + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } +} +if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode of + previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); +return com_rslt; +} +/*! + * @brief This API used to read gyro anymotion filter + * from page one register from 0x17 bit 6 + * + * @param gyro_any_motion_filter_u8 : The value of gyro anymotion filter + * gyro_any_motion_filter_u8 | result + * --------------------------- |------------ + * 0x00 | BNO055_GYRO_FILTERED_CONFIG + * 0x01 | BNO055_GYRO_UNFILTERED_CONFIG + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_filter( +u8 *gyro_any_motion_filter_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, gyro anymotion filter is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + /* Read the value of gyro anymotion filter*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_ANY_MOTION_FILTER_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *gyro_any_motion_filter_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_GYRO_ANY_MOTION_FILTER); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write gyro anymotion filter + * from page one register from 0x17 bit 6 + * + * @param gyro_any_motion_filter_u8 : The value of gyro anymotion filter + * gyro_any_motion_filter_u8 | result + * --------------------------- |------------ + * 0x00 | BNO055_GYRO_FILTERED_CONFIG + * 0x01 | BNO055_GYRO_UNFILTERED_CONFIG + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_filter( +u8 gyro_any_motion_filter_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +s8 stat_s8 = BNO055_ERROR; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +s8 pg_stat_s8 = BNO055_ERROR; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; +} else { +/* The write operation effective only if the operation +mode is in config mode, this part of code is checking the +current operation mode and set the config mode */ +stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); +if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + if (stat_s8 == BNO055_SUCCESS) { + /* Write page as one */ + pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if (pg_stat_s8 == BNO055_SUCCESS) { + /* Write the value of + gyro anymotion filter*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_ANY_MOTION_FILTER_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = + BNO055_SET_BITSLICE(data_u8r, + BNO055_GYRO_ANY_MOTION_FILTER, + gyro_any_motion_filter_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_ANY_MOTION_FILTER_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } +} +if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode of + previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); +return com_rslt; +} +/*! + * @brief This API used to read gyro highrate filter + * from page one register from 0x17 bit 7 + * + * @param gyro_highrate_filter_u8 : The value of gyro highrate filter + * gyro_highrate_filter_u8 | result + * --------------------------- |------------ + * 0x00 | BNO055_GYRO_FILTERED_CONFIG + * 0x01 | BNO055_GYRO_UNFILTERED_CONFIG + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_filter( +u8 *gyro_highrate_filter_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, gyro highrate filter is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + /* Read the value of gyro highrate filter */ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_HIGHRATE_FILTER_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *gyro_highrate_filter_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_GYRO_HIGHRATE_FILTER); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write gyro highrate filter + * from page one register from 0x17 bit 7 + * + * @param gyro_highrate_filter_u8 : The value of gyro highrate filter + * gyro_highrate_filter_u8 | result + * --------------------------- |------------ + * 0x00 | BNO055_GYRO_FILTERED_CONFIG + * 0x01 | BNO055_GYRO_UNFILTERED_CONFIG + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_filter( +u8 gyro_highrate_filter_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +s8 stat_s8 = BNO055_ERROR; +s8 pg_stat_s8 = BNO055_ERROR; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; +} else { +/* The write operation effective only if the operation +mode is in config mode, this part of code is checking the +current operation mode and set the config mode */ +stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); +if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + if (stat_s8 == BNO055_SUCCESS) { + /* Write page as one */ + pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if (pg_stat_s8 == BNO055_SUCCESS) { + /* Write the value of + gyro highrate filter*/ + com_rslt = + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_HIGHRATE_FILTER_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = + BNO055_SET_BITSLICE(data_u8r, + BNO055_GYRO_HIGHRATE_FILTER, + gyro_highrate_filter_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_HIGHRATE_FILTER_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } +} +if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode of + previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); +return com_rslt; +} +/*! + * @brief This API used to read gyro highrate x threshold + * from page one register from 0x18 bit 0 to 4 + * + * @param gyro_highrate_x_thres_u8 : The value of gyro x highrate threshold + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Gyro highrate threshold dependent on the + * selection of gyro range + * + * gyro_range_u8 | threshold | LSB + * ----------------- | ------------- | --------- + * 2000 | 62.5dps | 1LSB + * 1000 | 31.25dps | 1LSB + * 500 | 15.625dps | 1LSB + * 125 | 7.8125dps | 1LSB + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_thres( +u8 *gyro_highrate_x_thres_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, gyro highrate x threshold is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + /* Read the value of gyro highrate threshold*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_HIGHRATE_X_THRES_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *gyro_highrate_x_thres_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_GYRO_HIGHRATE_X_THRES); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write gyro highrate x threshold + * from page one register from 0x18 bit 0 to 4 + * + * @param gyro_highrate_x_thres_u8 : The value of gyro x highrate threshold + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Gyro highrate threshold dependent on the + * selection of gyro range + * + * gyro_range_u8 | threshold | LSB + * ----------------- | ------------- | --------- + * 2000 | 62.5dps | 1LSB + * 1000 | 31.25dps | 1LSB + * 500 | 15.625dps | 1LSB + * 125 | 7.8125dps | 1LSB + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_thres( +u8 gyro_highrate_x_thres_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +s8 stat_s8 = BNO055_ERROR; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +s8 pg_stat_s8 = BNO055_ERROR; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; +} else { +/* The write operation effective only if the operation +mode is in config mode, this part of code is checking the +current operation mode and set the config mode */ +stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); +if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + if (stat_s8 == BNO055_SUCCESS) { + /* Write page as one */ + pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if (pg_stat_s8 == BNO055_SUCCESS) { + /* Write the value of + gyro highrate x threshold*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_HIGHRATE_X_THRES_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = + BNO055_SET_BITSLICE(data_u8r, + BNO055_GYRO_HIGHRATE_X_THRES, + gyro_highrate_x_thres_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_HIGHRATE_X_THRES_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } +} +if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode of + previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); +return com_rslt; +} +/*! + * @brief This API used to read gyro highrate x hysteresis + * from page one register from 0x18 bit 5 to 6 + * + * @param gyro_highrate_x_hyst_u8 : The value of gyro highrate x hysteresis + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Gyro high rate hysteresis calculated by + * + * using this (255 + 256 * gyro_highrate_x_hyst_u8) *4 LSB + * + * The high rate value scales with the range setting + * + * gyro_range_u8 | hysteresis | LSB + * ----------------- | ------------- | --------- + * 2000 | 62.26dps | 1LSB + * 1000 | 31.13dps | 1LSB + * 500 | 15.56dps | 1LSB + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_hyst( +u8 *gyro_highrate_x_hyst_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page,gyro highrate x hysteresis is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + /* Read the value of gyro highrate x hysteresis*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_HIGHRATE_X_HYST_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *gyro_highrate_x_hyst_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_GYRO_HIGHRATE_X_HYST); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write gyro highrate x hysteresis + * from page one register from 0x18 bit 5 to 6 + * + * @param gyro_highrate_x_hyst_u8 : The value of gyro highrate x hysteresis + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Gyro high rate hysteresis calculated by + * + * using this (255 + 256 * gyro_highrate_x_hyst_u8) *4 LSB + * + * The high rate value scales with the range setting + * + * gyro_range_u8 | hysteresis | LSB + * ----------------- | ------------- | --------- + * 2000 | 62.26dps | 1LSB + * 1000 | 31.13dps | 1LSB + * 500 | 15.56dps | 1LSB + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_hyst( +u8 gyro_highrate_x_hyst_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +s8 stat_s8 = BNO055_ERROR; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +s8 pg_stat_s8 = BNO055_ERROR; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; +} else { +/* The write operation effective only if the operation +mode is in config mode, this part of code is checking the +current operation mode and set the config mode */ +stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); +if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + if (stat_s8 == BNO055_SUCCESS) { + /* Write page as one */ + pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if (pg_stat_s8 == BNO055_SUCCESS) { + /*Write the value of + gyro highrate x hysteresis*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_HIGHRATE_X_HYST_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = + BNO055_SET_BITSLICE(data_u8r, + BNO055_GYRO_HIGHRATE_X_HYST, + gyro_highrate_x_hyst_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_HIGHRATE_X_HYST_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } +} +if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode of + previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); +return com_rslt; +} +/*! + * @brief This API used to read gyro highrate x duration + * from page one register from 0x19 bit 0 to 7 + * + * @param gyro_highrate_x_durn_u8 : The value of gyro highrate x duration + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Gyro highrate duration calculate by using the formula + * + * (1 + gyro_highrate_x_durn_u8)*2.5ms + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_durn( +u8 *gyro_highrate_x_durn_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, gyro highrate x duration is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + /* Read the value of gyro highrate x duration*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_HIGHRATE_X_DURN_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *gyro_highrate_x_durn_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_GYRO_HIGHRATE_X_DURN); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write gyro highrate x duration + * from page one register from 0x19 bit 0 to 7 + * + * @param gyro_highrate_x_durn_u8 : The value of gyro highrate x duration + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Gyro highrate duration calculate by using the formula + * + * (1 + gyro_highrate_x_durn_u8)*2.5ms + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_durn( +u8 gyro_highrate_x_durn_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +s8 stat_s8 = BNO055_ERROR; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +s8 pg_stat_s8 = BNO055_ERROR; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { +/* The write operation effective only if the operation +mode is in config mode, this part of code is checking the +current operation mode and set the config mode */ +stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); +if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + if (stat_s8 == BNO055_SUCCESS) { + /* Write page as one */ + pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if (pg_stat_s8 == BNO055_SUCCESS) { + /* Write the value + of gyro highrate x duration*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_HIGHRATE_X_DURN_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = + BNO055_SET_BITSLICE(data_u8r, + BNO055_GYRO_HIGHRATE_X_DURN, + gyro_highrate_x_durn_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_HIGHRATE_X_DURN_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode of + previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); + return com_rslt; +} +/*! + * @brief This API used to read gyro highrate y threshold + * from page one register from 0x1A bit 0 to 4 + * + * @param gyro_highrate_y_thres_u8 : The value of gyro highrate y threshold + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Gyro highrate threshold dependent on the + * selection of gyro range + * + * gyro_range_u8 | threshold | LSB + * ----------------- | ------------- | --------- + * 2000 | 62.5dps | 1LSB + * 1000 | 31.25dps | 1LSB + * 500 | 15.625dps | 1LSB + * 125 | 7.8125dps | 1LSB + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_thres( +u8 *gyro_highrate_y_thres_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, gyro highrate y threshold is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + /* Read the value of gyro highrate y threshold*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_HIGHRATE_Y_THRES_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *gyro_highrate_y_thres_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_GYRO_HIGHRATE_Y_THRES); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write gyro highrate y threshold + * from page one register from 0x1A bit 0 to 4 + * + * @param gyro_highrate_y_thres_u8 : The value of gyro highrate y threshold + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Gyro highrate threshold dependent on the + * selection of gyro range + * + * gyro_range_u8 | threshold | LSB + * ----------------- | ------------- | --------- + * 2000 | 62.5dps | 1LSB + * 1000 | 31.25dps | 1LSB + * 500 | 15.625dps | 1LSB + * 125 | 7.8125dps | 1LSB + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_thres( +u8 gyro_highrate_y_thres_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +s8 stat_s8 = BNO055_ERROR; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +s8 pg_stat_s8 = BNO055_ERROR; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; +} else { +/* The write operation effective only if the operation +mode is in config mode, this part of code is checking the +current operation mode and set the config mode */ +stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); +if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + if (stat_s8 == BNO055_SUCCESS) { + /* Write page as one */ + pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if (pg_stat_s8 == BNO055_SUCCESS) { + /* Write the value + of gyro highrate y threshold*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_HIGHRATE_Y_THRES_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = + BNO055_SET_BITSLICE(data_u8r, + BNO055_GYRO_HIGHRATE_Y_THRES, + gyro_highrate_y_thres_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_HIGHRATE_Y_THRES_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } +} +if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode of + previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); +return com_rslt; +} +/*! + * @brief This API used to read gyro highrate y hysteresis + * from page one register from 0x1A bit 5 to 6 + * + * @param gyro_highrate_y_hyst_u8 : The value of gyro highrate y hysteresis + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Gyro high rate hysteresis calculated by + * + * using this (255 + 256 * gyro_highrate_y_hyst_u8) *4 LSB + * + * The high rate value scales with the range setting + * + * gyro_range_u8 | hysteresis | LSB + * ----------------- | ------------- | --------- + * 2000 | 62.26dps | 1LSB + * 1000 | 31.13dps | 1LSB + * 500 | 15.56dps | 1LSB + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_hyst( +u8 *gyro_highrate_y_hyst_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, gyro highrate y hysteresis is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + /* Read the value of gyro highrate y hysteresis*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_HIGHRATE_Y_HYST_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *gyro_highrate_y_hyst_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_GYRO_HIGHRATE_Y_HYST); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write gyro highrate y hysteresis + * from page one register from 0x1A bit 5 to 6 + * + * @param gyro_highrate_y_hyst_u8 : The value of gyro highrate y hysteresis + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Gyro high rate hysteresis calculated by + * + * using this (255 + 256 * gyro_highrate_y_hyst_u8) *4 LSB + * + * The high rate value scales with the range setting + * + * gyro_range_u8 | hysteresis | LSB + * ----------------- | ------------- | --------- + * 2000 | 62.26dps | 1LSB + * 1000 | 31.13dps | 1LSB + * 500 | 15.56dps | 1LSB + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_hyst( +u8 gyro_highrate_y_hyst_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +s8 stat_s8 = BNO055_ERROR; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +s8 pg_stat_s8 = BNO055_ERROR; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; +} else { +/* The write operation effective only if the operation +mode is in config mode, this part of code is checking the +current operation mode and set the config mode */ +stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); +if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + if (stat_s8 == BNO055_SUCCESS) { + /* Write page as one */ + pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if (pg_stat_s8 == BNO055_SUCCESS) { + /* Write the value of + gyro highrate y hysteresis*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_HIGHRATE_Y_HYST_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = + BNO055_SET_BITSLICE(data_u8r, + BNO055_GYRO_HIGHRATE_Y_HYST, + gyro_highrate_y_hyst_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_HIGHRATE_Y_HYST_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } +} +if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode of + previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); +return com_rslt; +} +/*! + * @brief This API used to read gyro highrate y duration + * from page one register from 0x1B bit 0 to 7 + * + * @param gyro_highrate_y_durn_u8 : The value of gyro highrate y duration + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Gyro highrate duration calculate by using the formula + * + * (1 + gyro_highrate_y_durn_u8)*2.5ms + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_durn( +u8 *gyro_highrate_y_durn_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, gyro highrate y duration is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + /* Read the value of gyro highrate y duration*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_HIGHRATE_Y_DURN_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *gyro_highrate_y_durn_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_GYRO_HIGHRATE_Y_DURN); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write gyro highrate y duration + * from page one register from 0x1B bit 0 to 7 + * + * @param gyro_highrate_y_durn_u8 : The value of gyro highrate y duration + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Gyro highrate duration calculate by using the formula + * + * (1 + gyro_highrate_y_durn_u8)*2.5ms + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_durn( +u8 gyro_highrate_y_durn_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +s8 stat_s8 = BNO055_ERROR; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +s8 pg_stat_s8 = BNO055_ERROR; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { +/* The write operation effective only if the operation +mode is in config mode, this part of code is checking the +current operation mode and set the config mode */ +stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); +if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + + if (stat_s8 == BNO055_SUCCESS) { + /* Write page as one */ + pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if (pg_stat_s8 == BNO055_SUCCESS) { + /* Write the value + of gyro highrate y duration*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_HIGHRATE_Y_DURN_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = + BNO055_SET_BITSLICE(data_u8r, + BNO055_GYRO_HIGHRATE_Y_DURN, + gyro_highrate_y_durn_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_HIGHRATE_Y_DURN_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode of + previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); + return com_rslt; +} +/*! + * @brief This API used to read gyro highrate z threshold + * from page one register from 0x1C bit 0 to 4 + * + * @param gyro_highrate_z_thres_u8 : The value of gyro highrate z threshold + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Gyro highrate threshold dependent on the + * selection of gyro range + * + * gyro_range_u8 | threshold | LSB + * ----------------- | ------------- | --------- + * 2000 | 62.5dps | 1LSB + * 1000 | 31.25dps | 1LSB + * 500 | 15.625dps | 1LSB + * 125 | 7.8125dps | 1LSB + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_thres( +u8 *gyro_highrate_z_thres_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, gyro highrate z threshold is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + /* Read the value of gyro highrate z threshold*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_HIGHRATE_Z_THRES_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *gyro_highrate_z_thres_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_GYRO_HIGHRATE_Z_THRES); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write gyro highrate z threshold + * from page one register from 0x1C bit 0 to 4 + * + * @param gyro_highrate_z_thres_u8 : The value of gyro highrate z threshold + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Gyro highrate threshold dependent on the + * selection of gyro range + * + * gyro_range_u8 | threshold | LSB + * ----------------- | ------------- | --------- + * 2000 | 62.5dps | 1LSB + * 1000 | 31.25dps | 1LSB + * 500 | 15.625dps | 1LSB + * 125 | 7.8125dps | 1LSB + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_thres( +u8 gyro_highrate_z_thres_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +s8 stat_s8 = BNO055_ERROR; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +s8 pg_stat_s8 = BNO055_ERROR; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; +} else { +/* The write operation effective only if the operation +mode is in config mode, this part of code is checking the +current operation mode and set the config mode */ +stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); +if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + if (stat_s8 == BNO055_SUCCESS) { + /* Write page as one */ + pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if (pg_stat_s8 == BNO055_SUCCESS) { + /* Write the value + of gyro highrate z threshold*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_HIGHRATE_Z_THRES_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = + BNO055_SET_BITSLICE(data_u8r, + BNO055_GYRO_HIGHRATE_Z_THRES, + gyro_highrate_z_thres_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_HIGHRATE_Z_THRES_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } +} +if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode of + previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); +return com_rslt; +} +/*! + * @brief This API used to read gyro highrate z hysteresis + * from page one register from 0x1C bit 5 to 6 + * + * @param gyro_highrate_z_hyst_u8 : The value of gyro highrate z hysteresis + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Gyro high rate hysteresis calculated by + * + * using this (255 + 256 * gyro_highrate_z_hyst_u8) *4 LSB + * + * The high rate value scales with the range setting + * + * gyro_range_u8 | hysteresis | LSB + * ----------------- | ------------- | --------- + * 2000 | 62.26dps | 1LSB + * 1000 | 31.13dps | 1LSB + * 500 | 15.56dps | 1LSB + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_hyst( +u8 *gyro_highrate_z_hyst_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, gyro highrate z hysteresis is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + /* Read the value of gyro highrate z hysteresis*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_HIGHRATE_Z_HYST_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + *gyro_highrate_z_hyst_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_GYRO_HIGHRATE_Z_HYST); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write gyro highrate z hysteresis + * from page one register from 0x1C bit 5 to 6 + * + * @param gyro_highrate_z_hyst_u8 : The value of gyro highrate z hysteresis + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Gyro high rate hysteresis calculated by + * + * using this (255 + 256 * gyro_highrate_z_hyst_u8) *4 LSB + * + * The high rate value scales with the range setting + * + * gyro_range_u8 | hysteresis | LSB + * ----------------- | ------------- | --------- + * 2000 | 62.26dps | 1LSB + * 1000 | 31.13dps | 1LSB + * 500 | 15.56dps | 1LSB + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_hyst( +u8 gyro_highrate_z_hyst_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +s8 stat_s8 = BNO055_ERROR; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +s8 pg_stat_s8 = BNO055_ERROR; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; +} else { +/* The write operation effective only if the operation +mode is in config mode, this part of code is checking the +current operation mode and set the config mode */ +stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); +if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + if (stat_s8 == BNO055_SUCCESS) { + /* Write page as one */ + pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if (pg_stat_s8 == BNO055_SUCCESS) { + /* Write the value + of gyro highrate z hysteresis*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_HIGHRATE_Z_HYST_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = + BNO055_SET_BITSLICE(data_u8r, + BNO055_GYRO_HIGHRATE_Z_HYST, + gyro_highrate_z_hyst_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_HIGHRATE_Z_HYST_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } +} +if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode of + previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); +return com_rslt; +} +/*! + * @brief This API used to read gyro highrate z duration + * from page one register from 0x1D bit 0 to 7 + * + * @param gyro_highrate_z_durn_u8 : The value of gyro highrate z duration + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Gyro highrate duration calculate by using the formula + * + * (1 + gyro_highrate_z_durn_u8)*2.5ms + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_durn( +u8 *gyro_highrate_z_durn_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, gyro highrate z duration is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + /* Read the value of gyro highrate z duration*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_HIGHRATE_Z_DURN_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *gyro_highrate_z_durn_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_GYRO_HIGHRATE_Z_DURN); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write gyro highrate z duration + * from page one register from 0x1D bit 0 to 7 + * + * @param gyro_highrate_z_durn_u8 : The value of gyro highrate z duration + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Gyro highrate duration calculate by using the formula + * + * (1 + gyro_highrate_z_durn_u8)*2.5ms + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_durn( +u8 gyro_highrate_z_durn_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +s8 stat_s8 = BNO055_ERROR; +s8 pg_stat_s8 = BNO055_ERROR; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; +} else { +/* The write operation effective only if the operation +mode is in config mode, this part of code is checking the +current operation mode and set the config mode */ +stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); +if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + if (stat_s8 == BNO055_SUCCESS) { + /* Write page as one */ + pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if (pg_stat_s8 == BNO055_SUCCESS) { + /* Write the value of + gyro highrate z duration*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_HIGHRATE_Z_DURN_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = + BNO055_SET_BITSLICE(data_u8r, + BNO055_GYRO_HIGHRATE_Z_DURN, + gyro_highrate_z_durn_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_HIGHRATE_Z_DURN_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode of + previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); + return com_rslt; +} +/*! + * @brief This API used to read gyro anymotion threshold + * from page one register from 0x1E bit 0 to 6 + * + * @param gyro_any_motion_thres_u8 : The value of gyro anymotion threshold + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Gyro anymotion interrupt threshold dependent + * on the selection of gyro range + * + * gyro_range_u8 | threshold | LSB + * ----------------- | ------------- | --------- + * 2000 | 1dps | 1LSB + * 1000 | 0.5dps | 1LSB + * 500 | 0.25dps | 1LSB + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_thres( +u8 *gyro_any_motion_thres_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page,gyro anymotion threshold is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + /* Read the value of gyro anymotion threshold*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_ANY_MOTION_THRES_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *gyro_any_motion_thres_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_GYRO_ANY_MOTION_THRES); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write gyro anymotion threshold + * from page one register from 0x1E bit 0 to 6 + * + * @param gyro_any_motion_thres_u8 : The value of gyro anymotion threshold + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + * @note Gyro anymotion interrupt threshold dependent + * on the selection of gyro range + * + * gyro_range_u8 | threshold | LSB + * ----------------- | ------------- | --------- + * 2000 | 1dps | 1LSB + * 1000 | 0.5dps | 1LSB + * 500 | 0.25dps | 1LSB + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_thres( +u8 gyro_any_motion_thres_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +s8 stat_s8 = BNO055_ERROR; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +s8 pg_stat_s8 = BNO055_ERROR; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; +} else { +/* The write operation effective only if the operation +mode is in config mode, this part of code is checking the +current operation mode and set the config mode */ +stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); +if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + if (stat_s8 == BNO055_SUCCESS) { + /* Write page as one */ + pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if (pg_stat_s8 == BNO055_SUCCESS) { + /* Write the value + of gyro anymotion threshold*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_ANY_MOTION_THRES_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = + BNO055_SET_BITSLICE(data_u8r, + BNO055_GYRO_ANY_MOTION_THRES, + gyro_any_motion_thres_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_ANY_MOTION_THRES_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } +} +if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode of + previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); +return com_rslt; +} +/*! + * @brief This API used to read gyro anymotion slope samples + * from page one register from 0x1F bit 0 to 1 + * + * @param gyro_any_motion_slope_samples_u8 : + * The value of gyro anymotion slope samples + * gyro_any_motion_slope_samples_u8 | result + * ---------------------------------- | ----------- + * 0 | 8 samples + * 1 | 16 samples + * 2 | 32 samples + * 3 | 64 samples + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_slope_samples( +u8 *gyro_any_motion_slope_samples_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, gyro anymotion slope samples is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + /*Read the value of gyro anymotion slope samples*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_SLOPE_SAMPLES_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *gyro_any_motion_slope_samples_u8 = + BNO055_GET_BITSLICE(data_u8r, + BNO055_GYRO_SLOPE_SAMPLES); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write gyro anymotion slope samples + * from page one register from 0x1F bit 0 to 1 + * + * @param gyro_any_motion_slope_samples_u8 : + * The value of gyro anymotion slope samples + * gyro_any_motion_slope_samples_u8 | result + * ---------------------------------- | ----------- + * 0 | 8 samples + * 1 | 16 samples + * 2 | 32 samples + * 3 | 64 samples + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_slope_samples( +u8 gyro_any_motion_slope_samples_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +s8 stat_s8 = BNO055_ERROR; +s8 pg_stat_s8 = BNO055_ERROR; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; +} else { +/* The write operation effective only if the operation +mode is in config mode, this part of code is checking the +current operation mode and set the config mode */ +stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); +if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + if (stat_s8 == BNO055_SUCCESS) { + /* Write page as one */ + pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if (pg_stat_s8 == BNO055_SUCCESS) { + /* Write the value of + gyro anymotion slope samples*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_SLOPE_SAMPLES_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = + BNO055_SET_BITSLICE(data_u8r, + BNO055_GYRO_SLOPE_SAMPLES, + gyro_any_motion_slope_samples_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_SLOPE_SAMPLES_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode of + previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); + return com_rslt; +} +/*! + * @brief This API used to read gyro anymotion awake duration + * from page one register from 0x1F bit 2 to 3 + * + * @param gyro_awake_durn_u8 : The value of gyro anymotion awake duration + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_awake_durn( +u8 *gyro_awake_durn_u8) +{ + /* Variable used to return value of + communication routine*/ + BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; + u8 data_u8r = BNO055_INIT_VALUE; + s8 stat_s8 = BNO055_ERROR; + /* Check the struct p_bno055 is empty */ + if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /*condition check for page, gyro anymotion awake duration is + available in the page one*/ + if (p_bno055->page_id != BNO055_PAGE_ONE) + /* Write page as one */ + stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE); + if ((stat_s8 == BNO055_SUCCESS) || + (p_bno055->page_id == BNO055_PAGE_ONE)) { + /* Read the value of gyro anymotion awake duration*/ + com_rslt = p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_AWAKE_DURN_REG, + &data_u8r, BNO055_GEN_READ_WRITE_LENGTH); + *gyro_awake_durn_u8 = BNO055_GET_BITSLICE(data_u8r, + BNO055_GYRO_AWAKE_DURN); + } else { + com_rslt = BNO055_ERROR; + } + } + return com_rslt; +} +/*! + * @brief This API used to write gyro anymotion awake duration + * from page one register from 0x1F bit 2 to 3 + * + * @param gyro_awake_durn_u8 : The value of gyro anymotion awake duration + * + * @return results of bus communication function + * @retval 0 -> BNO055_SUCCESS + * @retval 1 -> BNO055_ERROR + * + */ +BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_awake_durn( +u8 gyro_awake_durn_u8) +{ +BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR; +u8 data_u8r = BNO055_INIT_VALUE; +s8 stat_s8 = BNO055_ERROR; +s8 pg_stat_s8 = BNO055_ERROR; +u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG; +/* Check the struct p_bno055 is empty */ +if (p_bno055 == BNO055_INIT_VALUE) { + return BNO055_E_NULL_PTR; + } else { + /* The write operation effective only if the operation + mode is in config mode, this part of code is checking the + current operation mode and set the config mode */ + stat_s8 = bno055_get_operation_mode(&prev_opmode_u8); + if (stat_s8 == BNO055_SUCCESS) { + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + stat_s8 += bno055_set_operation_mode + (BNO055_OPERATION_MODE_CONFIG); + if (stat_s8 == BNO055_SUCCESS) { + /* Write page as one */ + pg_stat_s8 = bno055_write_page_id( + BNO055_PAGE_ONE); + if (pg_stat_s8 == BNO055_SUCCESS) { + /* Write the value of gyro + anymotion awake duration*/ + com_rslt = + p_bno055->BNO055_BUS_READ_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_AWAKE_DURN_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + if (com_rslt == BNO055_SUCCESS) { + data_u8r = + BNO055_SET_BITSLICE(data_u8r, + BNO055_GYRO_AWAKE_DURN, + gyro_awake_durn_u8); + com_rslt += + p_bno055->BNO055_BUS_WRITE_FUNC + (p_bno055->dev_addr, + BNO055_GYRO_AWAKE_DURN_REG, + &data_u8r, + BNO055_GEN_READ_WRITE_LENGTH); + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } else { + com_rslt = BNO055_ERROR; + } + } + if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG) + /* set the operation mode + of previous operation mode*/ + com_rslt += bno055_set_operation_mode + (prev_opmode_u8); + return com_rslt; +} \ No newline at end of file