BNO055 library using Bosch's code

Revision:
0:1f82672b8755
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BNO055.h	Sat Jul 01 01:24:03 2017 +0000
@@ -0,0 +1,7993 @@
+/** \mainpage
+*
+****************************************************************************
+* Copyright (C) 2015 - 2016 Bosch Sensortec GmbH
+*
+* File : bno055.h
+*
+* 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.
+**************************************************************************/
+/*! \file BNO055.h
+    \brief BNO055 Sensor Driver Support Header File */
+
+#ifndef __BNO055_H__
+#define __BNO055_H__
+/****************************************************************/
+/**\name    DATA TYPES INCLUDES     */
+/************************************************************/
+/*!
+* @brief The following definition uses for define the data types
+*
+* @note While porting the API please consider the following
+* @note Please check the version of C standard
+* @note Are you using Linux platform
+*/
+
+/*!
+* @brief For the Linux platform support
+* Please use the types.h for your data types definitions
+*/
+#ifdef  __KERNEL__
+
+#include <linux/types.h>
+/* singed integer type*/
+typedef int8_t s8;/**< used for signed 8bit */
+typedef int16_t s16;/**< used for signed 16bit */
+typedef int32_t s32;/**< used for signed 32bit */
+typedef int64_t s64;/**< used for signed 64bit */
+
+typedef u_int8_t u8;/**< used for unsigned 8bit */
+typedef u_int16_t u16;/**< used for unsigned 16bit */
+typedef u_int32_t u32;/**< used for unsigned 32bit */
+typedef u_int64_t u64;/**< used for unsigned 64bit */
+
+
+
+#else /* ! __KERNEL__ */
+/**********************************************************
+* These definition uses for define the C
+* standard version data types
+***********************************************************/
+# if !defined(__STDC_VERSION__)
+
+/************************************************
+ * compiler is C11 C standard
+************************************************/
+#if (__STDC_VERSION__ == 201112L)
+
+/************************************************/
+#include <stdint.h>
+/************************************************/
+
+/*unsigned integer types*/
+typedef uint8_t u8;/**< used for unsigned 8bit */
+typedef uint16_t u16;/**< used for unsigned 16bit */
+typedef uint32_t u32;/**< used for unsigned 32bit */
+typedef uint64_t u64;/**< used for unsigned 64bit */
+
+/*signed integer types*/
+typedef int8_t s8;/**< used for signed 8bit */
+typedef int16_t s16;/**< used for signed 16bit */
+typedef int32_t s32;/**< used for signed 32bit */
+typedef int64_t s64;/**< used for signed 64bit */
+/************************************************
+ * compiler is C99 C standard
+************************************************/
+
+#elif (__STDC_VERSION__ == 199901L)
+
+/* stdint.h is a C99 supported c library.
+which is used to fixed the integer size*/
+/************************************************/
+#include <stdint.h>
+/************************************************/
+
+/*unsigned integer types*/
+typedef uint8_t u8;/**< used for unsigned 8bit */
+typedef uint16_t u16;/**< used for unsigned 16bit */
+typedef uint32_t u32;/**< used for unsigned 32bit */
+typedef uint64_t u64;/**< used for unsigned 64bit */
+
+/*signed integer types*/
+typedef int8_t s8;/**< used for signed 8bit */
+typedef int16_t s16;/**< used for signed 16bit */
+typedef int32_t s32;/**< used for signed 32bit */
+typedef int64_t s64;/**< used for signed 64bit */
+/************************************************
+ * compiler is C89 or other C standard
+************************************************/
+
+#else /*  !defined(__STDC_VERSION__) */
+/*!
+* @brief By default it is defined as 32 bit machine configuration
+*   define your data types based on your
+*   machine/compiler/controller configuration
+*/
+#define  MACHINE_32_BIT
+
+/*! @brief
+ *  If your machine support 16 bit
+ *  define the MACHINE_16_BIT
+ */
+#ifdef MACHINE_16_BIT
+#include <limits.h>
+/*signed integer types*/
+typedef signed char  s8;/**< used for signed 8bit */
+typedef signed short int s16;/**< used for signed 16bit */
+typedef signed long int s32;/**< used for signed 32bit */
+
+#if defined(LONG_MAX) && LONG_MAX == 0x7fffffffffffffffL
+typedef long int s64;/**< used for signed 64bit */
+typedef unsigned long int u64;/**< used for unsigned 64bit */
+#elif defined(LLONG_MAX) && (LLONG_MAX == 0x7fffffffffffffffLL)
+typedef long long int s64;/**< used for signed 64bit */
+typedef unsigned long long int u64;/**< used for unsigned 64bit */
+#else
+#warning Either the correct data type for signed 64 bit integer \
+could not be found, or 64 bit integers are not supported in your environment.
+#warning If 64 bit integers are supported on your platform, \
+please set s64 manually.
+#endif
+
+/*unsigned integer types*/
+typedef unsigned char u8;/**< used for unsigned 8bit */
+typedef unsigned short int u16;/**< used for unsigned 16bit */
+typedef unsigned long int u32;/**< used for unsigned 32bit */
+
+/* If your machine support 32 bit
+define the MACHINE_32_BIT*/
+#elif defined MACHINE_32_BIT
+/*signed integer types*/
+typedef signed char  s8;/**< used for signed 8bit */
+typedef signed short int s16;/**< used for signed 16bit */
+typedef signed int s32;/**< used for signed 32bit */
+typedef signed long long int s64;/**< used for signed 64bit */
+
+/*unsigned integer types*/
+typedef unsigned char u8;/**< used for unsigned 8bit */
+typedef unsigned short int u16;/**< used for unsigned 16bit */
+typedef unsigned int u32;/**< used for unsigned 32bit */
+typedef unsigned long long int u64;/**< used for unsigned 64bit */
+
+/* If your machine support 64 bit
+define the MACHINE_64_BIT*/
+#elif defined MACHINE_64_BIT
+/*signed integer types*/
+typedef signed char  s8;/**< used for signed 8bit */
+typedef signed short int s16;/**< used for signed 16bit */
+typedef signed int s32;/**< used for signed 32bit */
+typedef signed long int s64;/**< used for signed 64bit */
+
+/*unsigned integer types*/
+typedef unsigned char u8;/**< used for unsigned 8bit */
+typedef unsigned short int u16;/**< used for unsigned 16bit */
+typedef unsigned int u32;/**< used for unsigned 32bit */
+typedef unsigned long int u64;/**< used for unsigned 64bit */
+
+#else
+#warning The data types defined above which not supported \
+define the data types manually
+#endif
+#endif
+
+/*** This else will execute for the compilers
+ *  which are not supported the C standards
+ *  Like C89/C99/C11***/
+#else
+/*!
+* @brief By default it is defined as 32 bit machine configuration
+*   define your data types based on your
+*   machine/compiler/controller configuration
+*/
+#define  MACHINE_32_BIT
+
+/* If your machine support 16 bit
+define the MACHINE_16_BIT*/
+#ifdef MACHINE_16_BIT
+#include <limits.h>
+/*signed integer types*/
+typedef signed char  s8;/**< used for signed 8bit */
+typedef signed short int s16;/**< used for signed 16bit */
+typedef signed long int s32;/**< used for signed 32bit */
+
+#if defined(LONG_MAX) && LONG_MAX == 0x7fffffffffffffffL
+typedef long int s64;/**< used for signed 64bit */
+typedef unsigned long int u64;/**< used for unsigned 64bit */
+#elif defined(LLONG_MAX) && (LLONG_MAX == 0x7fffffffffffffffLL)
+typedef long long int s64;/**< used for signed 64bit */
+typedef unsigned long long int u64;/**< used for unsigned 64bit */
+#else
+#warning Either the correct data type for signed 64 bit integer \
+could not be found, or 64 bit integers are not supported in your environment.
+#warning If 64 bit integers are supported on your platform, \
+please set s64 manually.
+#endif
+
+/*unsigned integer types*/
+typedef unsigned char u8;/**< used for unsigned 8bit */
+typedef unsigned short int u16;/**< used for unsigned 16bit */
+typedef unsigned long int u32;/**< used for unsigned 32bit */
+
+/*! @brief If your machine support 32 bit
+define the MACHINE_32_BIT*/
+#elif defined MACHINE_32_BIT
+/*signed integer types*/
+typedef signed char  s8;/**< used for signed 8bit */
+typedef signed short int s16;/**< used for signed 16bit */
+typedef signed int s32;/**< used for signed 32bit */
+typedef signed long long int s64;/**< used for signed 64bit */
+
+/*unsigned integer types*/
+typedef unsigned char u8;/**< used for unsigned 8bit */
+typedef unsigned short int u16;/**< used for unsigned 16bit */
+typedef unsigned int u32;/**< used for unsigned 32bit */
+typedef unsigned long long int u64;/**< used for unsigned 64bit */
+
+/* If your machine support 64 bit
+define the MACHINE_64_BIT*/
+#elif defined MACHINE_64_BIT
+/*signed integer types*/
+typedef signed char  s8;/**< used for signed 8bit */
+typedef signed short int s16;/**< used for signed 16bit */
+typedef signed int s32;/**< used for signed 32bit */
+typedef signed long int s64;/**< used for signed 64bit */
+
+/*unsigned integer types*/
+typedef unsigned char u8;/**< used for unsigned 8bit */
+typedef unsigned short int u16;/**< used for unsigned 16bit */
+typedef unsigned int u32;/**< used for unsigned 32bit */
+typedef unsigned long int u64;/**< used for unsigned 64bit */
+
+#else
+#warning The data types defined above which not supported \
+define the data types manually
+#endif
+#endif
+#endif
+/***************************************************************/
+/**\name    BUS READ AND WRITE FUNCTIONS           */
+/***************************************************************/
+#define BNO055_WR_FUNC_PTR s8 (*bus_write)\
+(u8, u8, u8 *, u8)
+
+#define BNO055_BUS_WRITE_FUNC(dev_addr, reg_addr, reg_data, wr_len)\
+    bus_write(dev_addr, reg_addr, reg_data, wr_len)
+
+#define BNO055_RD_FUNC_PTR s8 \
+(*bus_read)(u8, u8, u8 *, u8)
+
+#define BNO055_BUS_READ_FUNC(dev_addr, reg_addr, reg_data, r_len)\
+bus_read(dev_addr, reg_addr, reg_data, r_len)
+
+#define BNO055_DELAY_RETURN_TYPE void
+
+#define BNO055_DELAY_PARAM_TYPES u32
+
+#define BNO055_DELAY_FUNC(delay_in_msec)\
+    delay_func(delay_in_msec)
+
+/********************************************************/
+/**\name    I2C ADDRESS DEFINITION FOR BNO055           */
+/********************************************************/
+/* bno055 I2C Address */
+#define BNO055_I2C_ADDR1                (0x28)
+#define BNO055_I2C_ADDR2                (0x29)
+
+/***************************************************/
+/**\name    REGISTER ADDRESS DEFINITION  */
+/***************************************************/
+/* Page id register definition*/
+#define BNO055_PAGE_ID_ADDR                 (0X07)
+
+/* PAGE0 REGISTER DEFINITION START*/
+#define BNO055_CHIP_ID_ADDR                 (0x00)
+#define BNO055_ACCEL_REV_ID_ADDR            (0x01)
+#define BNO055_MAG_REV_ID_ADDR              (0x02)
+#define BNO055_GYRO_REV_ID_ADDR             (0x03)
+#define BNO055_SW_REV_ID_LSB_ADDR           (0x04)
+#define BNO055_SW_REV_ID_MSB_ADDR           (0x05)
+#define BNO055_BL_REV_ID_ADDR               (0X06)
+
+/* Accel data register*/
+#define BNO055_ACCEL_DATA_X_LSB_ADDR            (0X08)
+#define BNO055_ACCEL_DATA_X_MSB_ADDR            (0X09)
+#define BNO055_ACCEL_DATA_Y_LSB_ADDR            (0X0A)
+#define BNO055_ACCEL_DATA_Y_MSB_ADDR            (0X0B)
+#define BNO055_ACCEL_DATA_Z_LSB_ADDR            (0X0C)
+#define BNO055_ACCEL_DATA_Z_MSB_ADDR            (0X0D)
+
+/*Mag data register*/
+#define BNO055_MAG_DATA_X_LSB_ADDR          (0X0E)
+#define BNO055_MAG_DATA_X_MSB_ADDR          (0X0F)
+#define BNO055_MAG_DATA_Y_LSB_ADDR          (0X10)
+#define BNO055_MAG_DATA_Y_MSB_ADDR          (0X11)
+#define BNO055_MAG_DATA_Z_LSB_ADDR          (0X12)
+#define BNO055_MAG_DATA_Z_MSB_ADDR          (0X13)
+
+/*Gyro data registers*/
+#define BNO055_GYRO_DATA_X_LSB_ADDR         (0X14)
+#define BNO055_GYRO_DATA_X_MSB_ADDR         (0X15)
+#define BNO055_GYRO_DATA_Y_LSB_ADDR         (0X16)
+#define BNO055_GYRO_DATA_Y_MSB_ADDR         (0X17)
+#define BNO055_GYRO_DATA_Z_LSB_ADDR         (0X18)
+#define BNO055_GYRO_DATA_Z_MSB_ADDR         (0X19)
+
+/*Euler data registers*/
+#define BNO055_EULER_H_LSB_ADDR         (0X1A)
+#define BNO055_EULER_H_MSB_ADDR         (0X1B)
+
+#define BNO055_EULER_R_LSB_ADDR         (0X1C)
+#define BNO055_EULER_R_MSB_ADDR         (0X1D)
+
+#define BNO055_EULER_P_LSB_ADDR         (0X1E)
+#define BNO055_EULER_P_MSB_ADDR         (0X1F)
+
+/*Quaternion data registers*/
+#define BNO055_QUATERNION_DATA_W_LSB_ADDR   (0X20)
+#define BNO055_QUATERNION_DATA_W_MSB_ADDR   (0X21)
+#define BNO055_QUATERNION_DATA_X_LSB_ADDR   (0X22)
+#define BNO055_QUATERNION_DATA_X_MSB_ADDR   (0X23)
+#define BNO055_QUATERNION_DATA_Y_LSB_ADDR   (0X24)
+#define BNO055_QUATERNION_DATA_Y_MSB_ADDR   (0X25)
+#define BNO055_QUATERNION_DATA_Z_LSB_ADDR   (0X26)
+#define BNO055_QUATERNION_DATA_Z_MSB_ADDR   (0X27)
+
+/* Linear acceleration data registers*/
+#define BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR         (0X28)
+#define BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR         (0X29)
+#define BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR         (0X2A)
+#define BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR         (0X2B)
+#define BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR         (0X2C)
+#define BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR         (0X2D)
+
+/*Gravity data registers*/
+#define BNO055_GRAVITY_DATA_X_LSB_ADDR          (0X2E)
+#define BNO055_GRAVITY_DATA_X_MSB_ADDR          (0X2F)
+#define BNO055_GRAVITY_DATA_Y_LSB_ADDR          (0X30)
+#define BNO055_GRAVITY_DATA_Y_MSB_ADDR          (0X31)
+#define BNO055_GRAVITY_DATA_Z_LSB_ADDR          (0X32)
+#define BNO055_GRAVITY_DATA_Z_MSB_ADDR          (0X33)
+
+/* Temperature data register*/
+#define BNO055_TEMP_ADDR                    (0X34)
+
+/* Status registers*/
+#define BNO055_CALIB_STAT_ADDR              (0X35)
+#define BNO055_SELFTEST_RESULT_ADDR         (0X36)
+#define BNO055_INTR_STAT_ADDR               (0X37)
+#define BNO055_SYS_CLK_STAT_ADDR            (0X38)
+#define BNO055_SYS_STAT_ADDR                (0X39)
+#define BNO055_SYS_ERR_ADDR                 (0X3A)
+
+/* Unit selection register*/
+#define BNO055_UNIT_SEL_ADDR                (0X3B)
+#define BNO055_DATA_SELECT_ADDR             (0X3C)
+
+/* Mode registers*/
+#define BNO055_OPR_MODE_ADDR                (0X3D)
+#define BNO055_PWR_MODE_ADDR                (0X3E)
+
+#define BNO055_SYS_TRIGGER_ADDR             (0X3F)
+#define BNO055_TEMP_SOURCE_ADDR             (0X40)
+/* Axis remap registers*/
+#define BNO055_AXIS_MAP_CONFIG_ADDR         (0X41)
+#define BNO055_AXIS_MAP_SIGN_ADDR           (0X42)
+
+/* SIC registers*/
+#define BNO055_SIC_MATRIX_0_LSB_ADDR        (0X43)
+#define BNO055_SIC_MATRIX_0_MSB_ADDR        (0X44)
+#define BNO055_SIC_MATRIX_1_LSB_ADDR        (0X45)
+#define BNO055_SIC_MATRIX_1_MSB_ADDR        (0X46)
+#define BNO055_SIC_MATRIX_2_LSB_ADDR        (0X47)
+#define BNO055_SIC_MATRIX_2_MSB_ADDR        (0X48)
+#define BNO055_SIC_MATRIX_3_LSB_ADDR        (0X49)
+#define BNO055_SIC_MATRIX_3_MSB_ADDR        (0X4A)
+#define BNO055_SIC_MATRIX_4_LSB_ADDR        (0X4B)
+#define BNO055_SIC_MATRIX_4_MSB_ADDR        (0X4C)
+#define BNO055_SIC_MATRIX_5_LSB_ADDR        (0X4D)
+#define BNO055_SIC_MATRIX_5_MSB_ADDR        (0X4E)
+#define BNO055_SIC_MATRIX_6_LSB_ADDR        (0X4F)
+#define BNO055_SIC_MATRIX_6_MSB_ADDR        (0X50)
+#define BNO055_SIC_MATRIX_7_LSB_ADDR        (0X51)
+#define BNO055_SIC_MATRIX_7_MSB_ADDR        (0X52)
+#define BNO055_SIC_MATRIX_8_LSB_ADDR        (0X53)
+#define BNO055_SIC_MATRIX_8_MSB_ADDR        (0X54)
+
+/* Accelerometer Offset registers*/
+#define BNO055_ACCEL_OFFSET_X_LSB_ADDR              (0X55)
+#define BNO055_ACCEL_OFFSET_X_MSB_ADDR              (0X56)
+#define BNO055_ACCEL_OFFSET_Y_LSB_ADDR              (0X57)
+#define BNO055_ACCEL_OFFSET_Y_MSB_ADDR              (0X58)
+#define BNO055_ACCEL_OFFSET_Z_LSB_ADDR              (0X59)
+#define BNO055_ACCEL_OFFSET_Z_MSB_ADDR              (0X5A)
+
+/* Magnetometer Offset registers*/
+#define BNO055_MAG_OFFSET_X_LSB_ADDR                (0X5B)
+#define BNO055_MAG_OFFSET_X_MSB_ADDR                (0X5C)
+#define BNO055_MAG_OFFSET_Y_LSB_ADDR                (0X5D)
+#define BNO055_MAG_OFFSET_Y_MSB_ADDR                (0X5E)
+#define BNO055_MAG_OFFSET_Z_LSB_ADDR                (0X5F)
+#define BNO055_MAG_OFFSET_Z_MSB_ADDR                (0X60)
+
+/* Gyroscope Offset registers*/
+#define BNO055_GYRO_OFFSET_X_LSB_ADDR               (0X61)
+#define BNO055_GYRO_OFFSET_X_MSB_ADDR               (0X62)
+#define BNO055_GYRO_OFFSET_Y_LSB_ADDR               (0X63)
+#define BNO055_GYRO_OFFSET_Y_MSB_ADDR               (0X64)
+#define BNO055_GYRO_OFFSET_Z_LSB_ADDR               (0X65)
+#define BNO055_GYRO_OFFSET_Z_MSB_ADDR               (0X66)
+
+/* Radius registers*/
+#define BNO055_ACCEL_RADIUS_LSB_ADDR                (0X67)
+#define BNO055_ACCEL_RADIUS_MSB_ADDR                (0X68)
+#define BNO055_MAG_RADIUS_LSB_ADDR                  (0X69)
+#define BNO055_MAG_RADIUS_MSB_ADDR                  (0X6A)
+/* PAGE0 REGISTERS DEFINITION END*/
+
+/* PAGE1 REGISTERS DEFINITION START*/
+/* Configuration registers*/
+#define BNO055_ACCEL_CONFIG_ADDR                (0X08)
+#define BNO055_MAG_CONFIG_ADDR                  (0X09)
+#define BNO055_GYRO_CONFIG_ADDR                 (0X0A)
+#define BNO055_GYRO_MODE_CONFIG_ADDR            (0X0B)
+#define BNO055_ACCEL_SLEEP_CONFIG_ADDR          (0X0C)
+#define BNO055_GYRO_SLEEP_CONFIG_ADDR           (0X0D)
+#define BNO055_MAG_SLEEP_CONFIG_ADDR            (0x0E)
+
+/* Interrupt registers*/
+#define BNO055_INT_MASK_ADDR                    (0X0F)
+#define BNO055_INT_ADDR                         (0X10)
+#define BNO055_ACCEL_ANY_MOTION_THRES_ADDR      (0X11)
+#define BNO055_ACCEL_INTR_SETTINGS_ADDR         (0X12)
+#define BNO055_ACCEL_HIGH_G_DURN_ADDR           (0X13)
+#define BNO055_ACCEL_HIGH_G_THRES_ADDR          (0X14)
+#define BNO055_ACCEL_NO_MOTION_THRES_ADDR       (0X15)
+#define BNO055_ACCEL_NO_MOTION_SET_ADDR         (0X16)
+#define BNO055_GYRO_INTR_SETING_ADDR            (0X17)
+#define BNO055_GYRO_HIGHRATE_X_SET_ADDR         (0X18)
+#define BNO055_GYRO_DURN_X_ADDR                 (0X19)
+#define BNO055_GYRO_HIGHRATE_Y_SET_ADDR         (0X1A)
+#define BNO055_GYRO_DURN_Y_ADDR                 (0X1B)
+#define BNO055_GYRO_HIGHRATE_Z_SET_ADDR         (0X1C)
+#define BNO055_GYRO_DURN_Z_ADDR                 (0X1D)
+#define BNO055_GYRO_ANY_MOTION_THRES_ADDR       (0X1E)
+#define BNO055_GYRO_ANY_MOTION_SET_ADDR         (0X1F)
+/* PAGE1 REGISTERS DEFINITION END*/
+
+
+#define BNO055_MDELAY_DATA_TYPE     u32
+
+/*< This refers BNO055 return type as s8 */
+#define BNO055_RETURN_FUNCTION_TYPE s8
+
+/* Compile switch definition for Float and double*/
+#define BNO055_FLOAT_ENABLE
+#define BNO055_DOUBLE_ENABLE
+/**************************************************************/
+/**\name    STRUCTURE DEFINITIONS                         */
+/**************************************************************/
+/*!
+*   @brief bno055 struct
+*/
+struct bno055_t {
+u8 chip_id;/**< chip_id of bno055 */
+u16 sw_rev_id;/**< software revision id of bno055 */
+u8 page_id;/**< page_id of bno055 */
+u8 accel_rev_id;/**< accel revision id of bno055 */
+u8 mag_rev_id;/**< mag revision id of bno055 */
+u8 gyro_rev_id;/**< gyro revision id of bno055 */
+u8 bl_rev_id;/**< boot loader revision id of bno055 */
+u8 dev_addr;/**< i2c device address of bno055 */
+BNO055_WR_FUNC_PTR;/**< bus write function pointer */
+BNO055_RD_FUNC_PTR;/**<bus read function pointer */
+void (*delay_msec)(BNO055_MDELAY_DATA_TYPE);/**< delay function pointer */
+};
+/*!
+* @brief struct for accel data read from registers
+*/
+struct bno055_accel_t {
+s16 x;/**< accel x data */
+s16 y;/**< accel y data */
+s16 z;/**< accel z data */
+};
+/*!
+* @brief struct for Mag data read from registers
+*/
+struct bno055_mag_t {
+s16 x;/**< mag x data */
+s16 y;/**< mag y data */
+s16 z;/**< mag z data */
+};
+/*!
+* @brief struct for Gyro data read from registers
+*/
+struct bno055_gyro_t {
+s16 x;/**< gyro x data */
+s16 y;/**< gyro y data */
+s16 z;/**< gyro z data */
+};
+/*!
+* @brief struct for Euler data read from registers
+*/
+struct bno055_euler_t {
+s16 h;/**< Euler h data */
+s16 r;/**< Euler r data */
+s16 p;/**< Euler p data */
+};
+/*!
+* @brief struct for Quaternion data read from registers
+*/
+struct bno055_quaternion_t {
+s16 w;/**< Quaternion w data */
+s16 x;/**< Quaternion x data */
+s16 y;/**< Quaternion y data */
+s16 z;/**< Quaternion z data */
+};
+/*!
+* @brief struct for Linear Accel data read from registers
+*/
+struct bno055_linear_accel_t {
+s16 x; /**< Linear Accel x data */
+s16 y; /**< Linear Accel y data */
+s16 z; /**< Linear Accel z data */
+};
+/*!
+* @brief struct for Gravity data read from registers
+*/
+struct bno055_gravity_t {
+s16 x;/**< Gravity x data */
+s16 y;/**< Gravity y data */
+s16 z;/**< Gravity z data */
+};
+#ifdef  BNO055_DOUBLE_ENABLE
+/*!
+* @brief struct for Accel-output data of precision double
+*/
+struct bno055_accel_double_t {
+double x;/**< Accel x double data */
+double y;/**< Accel y double data */
+double z;/**< Accel z double data */
+};
+/*!
+* @brief struct for Mag-output data of precision double
+*/
+struct bno055_mag_double_t {
+double x;/**< Mag x double data */
+double y;/**< Mag y double data */
+double z;/**< Mag z double data */
+};
+/*!
+* @brief struct for Gyro-output data of precision double
+*/
+struct bno055_gyro_double_t {
+double x;/**< Gyro x double data */
+double y;/**< Gyro y double data */
+double z;/**< Gyro z double data */
+};
+/*!
+* @brief struct for Euler-output data of precision double
+*/
+struct bno055_euler_double_t {
+double h;/**< Euler h double data */
+double r;/**< Euler r double data */
+double p;/**< Euler p double data */
+};
+/*!
+* @brief struct for Linear Accel-output data of precision double
+*/
+struct bno055_linear_accel_double_t {
+double x;/**< linear accel x double data */
+double y;/**< linear accel y double data */
+double z;/**< linear accel z double data */
+};
+/*!
+* @brief struct for Gravity-output data of precision double
+*/
+struct bno055_gravity_double_t {
+double x;/**< Gravity x double data */
+double y;/**< Gravity y double data */
+double z;/**< Gravity z double data */
+};
+#endif
+#ifdef  BNO055_FLOAT_ENABLE
+/*!
+* @brief struct for Accel-output data of precision float
+*/
+struct bno055_accel_float_t {
+float x;/**< accel x float data */
+float y;/**< accel y float data */
+float z;/**< accel z float data */
+};
+/*!
+* @brief struct for Mag-output data of precision float
+*/
+struct bno055_mag_float_t {
+float x;/**< Mag x float data */
+float y;/**< Mag y float data */
+float z;/**< Mag z float data */
+};
+/*!
+* @brief struct for Gyro-output data of precision float
+*/
+struct bno055_gyro_float_t {
+float x;/**< Gyro x float data */
+float y;/**< Gyro y float data */
+float z;/**< Gyro z float data */
+};
+/*!
+* @brief struct for Euler-output data of precision float
+*/
+struct bno055_euler_float_t {
+float h;/**< Euler h float data */
+float r;/**< Euler r float data */
+float p;/**< Euler p float data */
+};
+/*!
+* @brief struct for Linear accel-output data of precision float
+*/
+struct bno055_linear_accel_float_t {
+float x;/**< Linear accel x float data */
+float y;/**< Linear accel y float data */
+float z;/**< Linear accel z float data */
+};
+/*!
+* @brief struct for Gravity-output data of precision float
+*/
+struct bno055_gravity_float_t {
+float x;/**< Gravity x float data */
+float y;/**< Gravity y float data */
+float z;/**< Gravity z float data */
+};
+#endif
+/*!
+* @brief struct for Accel offset
+*/
+struct bno055_accel_offset_t {
+s16 x;/**< Accel offset x data */
+s16 y;/**< Accel offset y data */
+s16 z;/**< Accel offset z data */
+s16 r;/**< Accel radius r data */
+};
+/*!
+* @brief struct for Gyro offset
+*/
+struct bno055_gyro_offset_t {
+s16 x;/**< Gyro offset x data */
+s16 y;/**< Gyro offset y data */
+s16 z;/**< Gyro offset z data */
+};
+/*!
+* @brief struct for Mag offset
+*/
+struct bno055_mag_offset_t {
+s16 x;/**< Mag offset x data */
+s16 y;/**< Mag offset y data */
+s16 z;/**< Mag offset z data */
+s16 r;/**< Mag radius x data */
+};
+/*!
+* @brief struct for soft iron calibration matrix
+*/
+struct bno055_sic_matrix_t {
+s16 sic_0;/**< soft iron calibration matrix 0 data */
+s16 sic_1;/**< soft iron calibration matrix 1 data */
+s16 sic_2;/**< soft iron calibration matrix 2 data */
+s16 sic_3;/**< soft iron calibration matrix 3 data */
+s16 sic_4;/**< soft iron calibration matrix 4 data */
+s16 sic_5;/**< soft iron calibration matrix 5 data */
+s16 sic_6;/**< soft iron calibration matrix 6 data */
+s16 sic_7;/**< soft iron calibration matrix 7 data */
+s16 sic_8;/**< soft iron calibration matrix 8 data */
+};
+/***************************************************/
+/**\name    CONSTANT DEFINITIONS                   */
+/***************************************************/
+#define  BNO055_INIT_VALUE                      ((u8)0)
+#define  BNO055_GEN_READ_WRITE_LENGTH           ((u8)1)
+#define  BNO055_LSB_MSB_READ_LENGTH             ((u8)2)
+#define  BNO055_MAG_POWER_MODE_RANGE            ((u8)4)
+#define  BNO055_MAG_OPR_MODE_RANGE              ((u8)5)
+#define  BNO055_ACCEL_POWER_MODE_RANGE          ((u8)6)
+#define  BNO055_ACCEL_SLEEP_DURATION_RANGE      ((u8)16)
+#define  BNO055_GYRO_AUTO_SLEEP_DURATION_RANGE  ((u8)8)
+#define  BNO055_ACCEL_GYRO_BW_RANGE     ((u8)8)
+#define  BNO055_MAG_OUTPUT_RANGE        ((u8)8)
+#define  BNO055_ACCEL_RANGE             ((u8)5)
+#define  BNO055_SHIFT_EIGHT_BITS        ((u8)8)
+#define  BNO055_GYRO_RANGE              ((u8)5)
+#define  BNO055_ACCEL_SLEEP_MODE_RANGE  ((u8)2)
+/*  BNO055 API BNO055_ERROR codes */
+#define BNO055_E_NULL_PTR   ((s8)-127)
+#define BNO055_OUT_OF_RANGE ((s8)-2)
+#define BNO055_SUCCESS      ((u8)0)
+#define BNO055_ERROR        ((s8)-1)
+
+/* Selection for bit enable and disable */
+#define BNO055_BIT_ENABLE       (0x01)
+#define BNO055_BIT_DISABLE      (0x00)
+
+/* Page ID */
+#define BNO055_PAGE_ZERO        (0X00)
+#define BNO055_PAGE_ONE         (0X01)
+
+/* Enable the temperature source */
+#define BNO055_ACCEL_TEMP_EN    (0x00)
+#define BNO055_GYRO_TEMP_EN     (0x01)
+#define BNO055_MCU_TEMP_EN      (0x03)
+
+/*Accel unit*/
+#define BNO055_ACCEL_UNIT_MSQ   (0x00)
+#define BNO055_ACCEL_UNIT_MG    (0x01)
+
+/*Gyro unit*/
+#define BNO055_GYRO_UNIT_DPS    (0x00)
+#define BNO055_GYRO_UNIT_RPS    (0x01)
+
+/* Euler unit*/
+#define BNO055_EULER_UNIT_DEG   (0x00)
+#define BNO055_EULER_UNIT_RAD   (0x01)
+
+/*Temperature unit*/
+#define BNO055_TEMP_UNIT_CELSIUS        (0x00)
+#define BNO055_TEMP_UNIT_FAHRENHEIT     (0x01)
+
+/*Accel division factor*/
+#define BNO055_ACCEL_DIV_MSQ    (100.0)
+#define BNO055_ACCEL_DIV_MG     (1)
+
+/*Mag division factor*/
+#define BNO055_MAG_DIV_UT   (16.0)
+
+/*Gyro division factor*/
+#define BNO055_GYRO_DIV_DPS     (16.0)
+#define BNO055_GYRO_DIV_RPS     (900.0)
+
+/*Euler division factor*/
+#define BNO055_EULER_DIV_DEG        (16.0)
+#define BNO055_EULER_DIV_RAD        (900.0)
+
+/*Linear accel division factor*/
+#define BNO055_LINEAR_ACCEL_DIV_MSQ (100.0)
+
+/*Gravity accel division factor*/
+#define BNO055_GRAVITY_DIV_MSQ  (100.0)
+
+/* Temperature division factor*/
+#define BNO055_TEMP_DIV_FAHRENHEIT  (0.5)
+#define BNO055_TEMP_DIV_CELSIUS     (1)
+
+#define BNO055_MODE_SWITCHING_DELAY        (600)
+#define BNO055_CONFIG_MODE_SWITCHING_DELAY ((u8)20)
+
+
+
+/* Operation mode settings*/
+#define BNO055_OPERATION_MODE_CONFIG            (0X00)
+#define BNO055_OPERATION_MODE_ACCONLY           (0X01)
+#define BNO055_OPERATION_MODE_MAGONLY           (0X02)
+#define BNO055_OPERATION_MODE_GYRONLY           (0X03)
+#define BNO055_OPERATION_MODE_ACCMAG            (0X04)
+#define BNO055_OPERATION_MODE_ACCGYRO           (0X05)
+#define BNO055_OPERATION_MODE_MAGGYRO           (0X06)
+#define BNO055_OPERATION_MODE_AMG               (0X07)
+#define BNO055_OPERATION_MODE_IMUPLUS           (0X08)
+#define BNO055_OPERATION_MODE_COMPASS           (0X09)
+#define BNO055_OPERATION_MODE_M4G               (0X0A)
+#define BNO055_OPERATION_MODE_NDOF_FMC_OFF      (0X0B)
+#define BNO055_OPERATION_MODE_NDOF              (0X0C)
+
+/* Power mode*/
+#define BNO055_POWER_MODE_NORMAL    (0X00)
+#define BNO055_POWER_MODE_LOWPOWER  (0X01)
+#define BNO055_POWER_MODE_SUSPEND   (0X02)
+
+/* PAGE-1 definitions*/
+/* Accel Range */
+
+#define BNO055_ACCEL_RANGE_2G       (0X00)
+#define BNO055_ACCEL_RANGE_4G       (0X01)
+#define BNO055_ACCEL_RANGE_8G       (0X02)
+#define BNO055_ACCEL_RANGE_16G      (0X03)
+
+/* Accel Bandwidth*/
+#define BNO055_ACCEL_BW_7_81HZ      (0x00)
+#define BNO055_ACCEL_BW_15_63HZ     (0x01)
+#define BNO055_ACCEL_BW_31_25HZ     (0x02)
+#define BNO055_ACCEL_BW_62_5HZ      (0X03)
+#define BNO055_ACCEL_BW_125HZ       (0X04)
+#define BNO055_ACCEL_BW_250HZ       (0X05)
+#define BNO055_ACCEL_BW_500HZ       (0X06)
+#define BNO055_ACCEL_BW_1000HZ      (0X07)
+
+/* Accel Power mode*/
+#define BNO055_ACCEL_NORMAL         (0X00)
+#define BNO055_ACCEL_SUSPEND        (0X01)
+#define BNO055_ACCEL_LOWPOWER_1     (0X02)
+#define BNO055_ACCEL_STANDBY        (0X03)
+#define BNO055_ACCEL_LOWPOWER_2     (0X04)
+#define BNO055_ACCEL_DEEPSUSPEND    (0X05)
+
+/* Mag data output rate*/
+#define BNO055_MAG_DATA_OUTRATE_2HZ         (0X00)
+#define BNO055_MAG_DATA_OUTRATE_6HZ         (0X01)
+#define BNO055_MAG_DATA_OUTRATE_8HZ         (0X02)
+#define BNO055_MAG_DATA_OUTRATE_10HZ        (0X03)
+#define BNO055_MAG_DATA_OUTRATE_15HZ        (0X04)
+#define BNO055_MAG_DATA_OUTRATE_20HZ        (0X05)
+#define BNO055_MAG_DATA_OUTRATE_25HZ        (0X06)
+#define BNO055_MAG_DATA_OUTRATE_30HZ        (0X07)
+
+/* Mag Operation mode*/
+#define BNO055_MAG_OPERATION_MODE_LOWPOWER              (0X00)
+#define BNO055_MAG_OPERATION_MODE_REGULAR               (0X01)
+#define BNO055_MAG_OPERATION_MODE_ENHANCED_REGULAR      (0X02)
+#define BNO055_MAG_OPERATION_MODE_HIGH_ACCURACY         (0X03)
+
+/* Mag power mode*/
+#define BNO055_MAG_POWER_MODE_NORMAL            (0X00)
+#define BNO055_MAG_POWER_MODE_SLEEP             (0X01)
+#define BNO055_MAG_POWER_MODE_SUSPEND           (0X02)
+#define BNO055_MAG_POWER_MODE_FORCE_MODE        (0X03)
+
+/* Gyro range*/
+#define BNO055_GYRO_RANGE_2000DPS       (0x00)
+#define BNO055_GYRO_RANGE_1000DPS       (0x01)
+#define BNO055_GYRO_RANGE_500DPS        (0x02)
+#define BNO055_GYRO_RANGE_250DPS        (0x03)
+#define BNO055_GYRO_RANGE_125DPS        (0x04)
+
+/* Gyro Bandwidth*/
+#define BNO055_GYRO_BW_523HZ    (0x00)
+#define BNO055_GYRO_BW_230HZ    (0x01)
+#define BNO055_GYRO_BW_116HZ    (0x02)
+#define BNO055_GYRO_BW_47HZ     (0x03)
+#define BNO055_GYRO_BW_23HZ     (0x04)
+#define BNO055_GYRO_BW_12HZ     (0x05)
+#define BNO055_GYRO_BW_64HZ     (0x06)
+#define BNO055_GYRO_BW_32HZ     (0x07)
+
+/* Gyro power mode*/
+#define BNO055_GYRO_POWER_MODE_NORMAL               (0X00)
+#define BNO055_GYRO_POWER_MODE_FASTPOWERUP          (0X01)
+#define BNO055_GYRO_POWER_MODE_DEEPSUSPEND          (0X02)
+#define BNO055_GYRO_POWER_MODE_SUSPEND              (0X03)
+#define BNO055_GYRO_POWER_MODE_ADVANCE_POWERSAVE    (0X04)
+
+/* Accel Sleep Duration */
+#define BNO055_ACCEL_SLEEP_DURN_0_5MS        (0x05)
+/* sets sleep duration to 0.5 ms  */
+#define BNO055_ACCEL_SLEEP_DURN_1MS          (0x06)
+/* sets sleep duration to 1 ms */
+#define BNO055_ACCEL_SLEEP_DURN_2MS          (0x07)
+/* sets sleep duration to 2 ms */
+#define BNO055_ACCEL_SLEEP_DURN_4MS          (0x08)
+/* sets sleep duration to 4 ms */
+#define BNO055_ACCEL_SLEEP_DURN_6MS          (0x09)
+/* sets sleep duration to 6 ms*/
+#define BNO055_ACCEL_SLEEP_DURN_10MS         (0x0A)
+/* sets sleep duration to 10 ms */
+#define BNO055_ACCEL_SLEEP_DURN_25MS         (0x0B)
+ /* sets sleep duration to 25 ms */
+#define BNO055_ACCEL_SLEEP_DURN_50MS         (0x0C)
+ /* sets sleep duration to 50 ms */
+#define BNO055_ACCEL_SLEEP_DURN_100MS        (0x0D)
+ /* sets sleep duration to 100 ms */
+#define BNO055_ACCEL_SLEEP_DURN_500MS        (0x0E)
+ /* sets sleep duration to 500 ms */
+#define BNO055_ACCEL_SLEEP_DURN_1S           (0x0F)
+/* sets sleep duration to 1 s */
+
+/* Gyro Auto sleep duration*/
+#define BNO055_GYRO_No_AUTOSLPDUR       (0x00)
+#define BNO055_GYRO_4MS_AUTOSLPDUR      (0x01)
+#define BNO055_GYRO_5MS_AUTOSLPDUR      (0x02)
+#define BNO055_GYRO_8MS_AUTOSLPDUR      (0x03)
+#define BNO055_GYRO_10MS_AUTOSLPDUR     (0x04)
+#define BNO055_GYRO_15MS_AUTOSLPDUR     (0x05)
+#define BNO055_GYRO_20MS_AUTOSLPDUR     (0x06)
+#define BNO055_GYRO_40MS_AUTOSLPDUR     (0x07)
+
+/* Accel Any/No motion axis selection*/
+#define BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS        (0)
+#define BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS        (1)
+#define BNO055_ACCEL_ANY_MOTION_NO_MOTION_Z_AXIS        (2)
+
+/* Accel High g axis selection*/
+#define BNO055_ACCEL_HIGH_G_X_AXIS      (0)
+#define BNO055_ACCEL_HIGH_G_Y_AXIS      (1)
+#define BNO055_ACCEL_HIGH_G_Z_AXIS      (2)
+
+/* Gyro Any motion axis selection*/
+#define BNO055_GYRO_ANY_MOTION_X_AXIS       (0)
+#define BNO055_GYRO_ANY_MOTION_Y_AXIS       (1)
+#define BNO055_GYRO_ANY_MOTION_Z_AXIS       (2)
+
+
+/* Gyro High rate axis selection*/
+#define BNO055_GYRO_HIGHRATE_X_AXIS     (0)
+#define BNO055_GYRO_HIGHRATE_Y_AXIS     (1)
+#define BNO055_GYRO_HIGHRATE_Z_AXIS     (2)
+
+/* Axis remap values*/
+#define BNO055_REMAP_X_Y            (0X21)
+#define BNO055_REMAP_Y_Z            (0X18)
+#define BNO055_REMAP_Z_X            (0X06)
+#define BNO055_REMAP_X_Y_Z_TYPE0    (0X12)
+#define BNO055_REMAP_X_Y_Z_TYPE1    (0X09)
+#define BNO055_DEFAULT_AXIS         (0X24)
+
+/* Axis remap sign */
+#define BNO055_REMAP_AXIS_POSITIVE  (0X00)
+#define BNO055_REMAP_AXIS_NEGATIVE  (0X01)
+
+/* Gyro anymotion and high rate filter configuration */
+#define BNO055_GYRO_FILTERED_CONFIG     (0x00)
+#define BNO055_GYRO_UNFILTERED_CONFIG   (0x01)
+
+/* mask definitions*/
+#define BNO055_SIC_HEX_0_0_F_F_DATA     (0x00FF)
+/****************************************************/
+/**\name    ARRAY SIZE DEFINITIONS      */
+/***************************************************/
+#define BNO055_REV_ID_SIZE                      (2)
+#define BNO055_ACCEL_DATA_SIZE                  (2)
+#define BNO055_ACCEL_XYZ_DATA_SIZE              (6)
+#define BNO055_MAG_DATA_SIZE                    (2)
+#define BNO055_MAG_XYZ_DATA_SIZE                (6)
+#define BNO055_GYRO_DATA_SIZE                   (2)
+#define BNO055_GYRO_XYZ_DATA_SIZE               (6)
+#define BNO055_EULER_DATA_SIZE                  (2)
+#define BNO055_EULER_HRP_DATA_SIZE              (6)
+#define BNO055_QUATERNION_DATA_SIZE             (2)
+#define BNO055_QUATERNION_WXYZ_DATA_SIZE        (8)
+#define BNO055_GRAVITY_DATA_SIZE                (2)
+#define BNO055_GRAVITY_XYZ_DATA_SIZE            (6)
+#define BNO055_ACCEL_OFFSET_ARRAY               (6)
+#define BNO055_MAG_OFFSET_ARRAY                 (6)
+#define BNO055_GYRO_OFFSET_ARRAY                (6)
+#define BNO055_SOFT_IRON_CALIBRATION_MATRIX_SIZE        (18)
+
+
+/*ARRAY INDEX DEFINITIONS*/
+#define BNO055_SW_ID_LSB                        (0)
+#define BNO055_SW_ID_MSB                        (1)
+#define BNO055_SENSOR_DATA_LSB                  (0)
+#define BNO055_SENSOR_DATA_MSB                  (1)
+#define BNO055_SENSOR_DATA_EULER_LSB            (0)
+#define BNO055_SENSOR_DATA_EULER_MSB            (1)
+#define BNO055_SENSOR_DATA_QUATERNION_LSB       (0)
+#define BNO055_SENSOR_DATA_QUATERNION_MSB       (1)
+
+#define BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_LSB            (0)
+#define BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_MSB            (1)
+#define BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_LSB            (2)
+#define BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_MSB            (3)
+#define BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_LSB            (4)
+#define BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_MSB            (5)
+#define BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_LSB            (6)
+#define BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_MSB            (7)
+
+#define BNO055_SENSOR_DATA_XYZ_X_LSB                (0)
+#define BNO055_SENSOR_DATA_XYZ_X_MSB                (1)
+#define BNO055_SENSOR_DATA_XYZ_Y_LSB                (2)
+#define BNO055_SENSOR_DATA_XYZ_Y_MSB                (3)
+#define BNO055_SENSOR_DATA_XYZ_Z_LSB                (4)
+#define BNO055_SENSOR_DATA_XYZ_Z_MSB                (5)
+
+
+#define BNO055_SENSOR_DATA_EULER_HRP_H_LSB          (0)
+#define BNO055_SENSOR_DATA_EULER_HRP_H_MSB          (1)
+#define BNO055_SENSOR_DATA_EULER_HRP_R_LSB          (2)
+#define BNO055_SENSOR_DATA_EULER_HRP_R_MSB          (3)
+#define BNO055_SENSOR_DATA_EULER_HRP_P_LSB          (4)
+#define BNO055_SENSOR_DATA_EULER_HRP_P_MSB          (5)
+
+#define BNO055_SOFT_IRON_CALIB_0_LSB    (0)
+#define BNO055_SOFT_IRON_CALIB_0_MSB    (1)
+#define BNO055_SOFT_IRON_CALIB_1_LSB    (2)
+#define BNO055_SOFT_IRON_CALIB_1_MSB    (3)
+#define BNO055_SOFT_IRON_CALIB_2_LSB    (4)
+#define BNO055_SOFT_IRON_CALIB_2_MSB    (5)
+#define BNO055_SOFT_IRON_CALIB_3_LSB    (6)
+#define BNO055_SOFT_IRON_CALIB_3_MSB    (7)
+#define BNO055_SOFT_IRON_CALIB_4_LSB    (8)
+#define BNO055_SOFT_IRON_CALIB_4_MSB    (9)
+#define BNO055_SOFT_IRON_CALIB_5_LSB    (10)
+#define BNO055_SOFT_IRON_CALIB_5_MSB    (11)
+#define BNO055_SOFT_IRON_CALIB_6_LSB    (12)
+#define BNO055_SOFT_IRON_CALIB_6_MSB    (13)
+#define BNO055_SOFT_IRON_CALIB_7_LSB    (14)
+#define BNO055_SOFT_IRON_CALIB_7_MSB    (15)
+#define BNO055_SOFT_IRON_CALIB_8_LSB    (16)
+#define BNO055_SOFT_IRON_CALIB_8_MSB    (17)
+
+#define BNO055_SENSOR_OFFSET_DATA_X_LSB (0)
+#define BNO055_SENSOR_OFFSET_DATA_X_MSB (1)
+#define BNO055_SENSOR_OFFSET_DATA_Y_LSB (2)
+#define BNO055_SENSOR_OFFSET_DATA_Y_MSB (3)
+#define BNO055_SENSOR_OFFSET_DATA_Z_LSB (4)
+#define BNO055_SENSOR_OFFSET_DATA_Z_MSB (5)
+
+#define BNO055_OFFSET_RADIUS_LSB (0)
+#define BNO055_OFFSET_RADIUS_MSB (1)
+/*********************************************************/
+/**\name PAGE0 DATA REGISTERS DEFINITION */
+/*********************************************************/
+/* Chip ID */
+#define BNO055_CHIP_ID_POS             (0)
+#define BNO055_CHIP_ID_MSK             (0xFF)
+#define BNO055_CHIP_ID_LEN             (8)
+#define BNO055_CHIP_ID_REG             BNO055_CHIP_ID_ADDR
+
+/* Accel revision id*/
+#define BNO055_ACCEL_REV_ID_POS             (0)
+#define BNO055_ACCEL_REV_ID_MSK             (0xFF)
+#define BNO055_ACCEL_REV_ID_LEN             (8)
+#define BNO055_ACCEL_REV_ID_REG             BNO055_ACCEL_REV_ID_ADDR
+
+/* Mag revision id*/
+#define BNO055_MAG_REV_ID_POS             (0)
+#define BNO055_MAG_REV_ID_MSK             (0xFF)
+#define BNO055_MAG_REV_ID_LEN             (8)
+#define BNO055_MAG_REV_ID_REG             BNO055_MAG_REV_ID_ADDR
+
+/* Gyro revision id*/
+#define BNO055_GYRO_REV_ID_POS             (0)
+#define BNO055_GYRO_REV_ID_MSK             (0xFF)
+#define BNO055_GYRO_REV_ID_LEN             (8)
+#define BNO055_GYRO_REV_ID_REG             BNO055_GYRO_REV_ID_ADDR
+
+/*Software revision id LSB*/
+#define BNO055_SW_REV_ID_LSB_POS             (0)
+#define BNO055_SW_REV_ID_LSB_MSK             (0xFF)
+#define BNO055_SW_REV_ID_LSB_LEN             (8)
+#define BNO055_SW_REV_ID_LSB_REG             BNO055_SW_REV_ID_LSB_ADDR
+
+/*Software revision id MSB*/
+#define BNO055_SW_REV_ID_MSB_POS             (0)
+#define BNO055_SW_REV_ID_MSB_MSK             (0xFF)
+#define BNO055_SW_REV_ID_MSB_LEN             (8)
+#define BNO055_SW_REV_ID_MSB_REG             BNO055_SW_REV_ID_MSB_ADDR
+
+/* BOOTLODER revision id*/
+#define BNO055_BL_REV_ID_POS             (0)
+#define BNO055_BL_REV_ID_MSK             (0xFF)
+#define BNO055_BL_REV_ID_LEN             (8)
+#define BNO055_BL_REV_ID_REG             BNO055_BL_REV_ID_ADDR
+
+/*Page id*/
+#define BNO055_PAGE_ID_POS             (0)
+#define BNO055_PAGE_ID_MSK             (0xFF)
+#define BNO055_PAGE_ID_LEN             (8)
+#define BNO055_PAGE_ID_REG             BNO055_PAGE_ID_ADDR
+
+/* Accel data X-LSB register*/
+#define BNO055_ACCEL_DATA_X_LSB_VALUEX_POS             (0)
+#define BNO055_ACCEL_DATA_X_LSB_VALUEX_MSK             (0xFF)
+#define BNO055_ACCEL_DATA_X_LSB_VALUEX_LEN             (8)
+#define BNO055_ACCEL_DATA_X_LSB_VALUEX_REG             \
+BNO055_ACCEL_DATA_X_LSB_ADDR
+
+/* Accel data X-MSB register*/
+#define BNO055_ACCEL_DATA_X_MSB_VALUEX_POS             (0)
+#define BNO055_ACCEL_DATA_X_MSB_VALUEX_MSK             (0xFF)
+#define BNO055_ACCEL_DATA_X_MSB_VALUEX_LEN             (8)
+#define BNO055_ACCEL_DATA_X_MSB_VALUEX_REG             \
+BNO055_ACCEL_DATA_X_MSB_ADDR
+
+/* Accel data Y-LSB register*/
+#define BNO055_ACCEL_DATA_Y_LSB_VALUEY_POS             (0)
+#define BNO055_ACCEL_DATA_Y_LSB_VALUEY_MSK             (0xFF)
+#define BNO055_ACCEL_DATA_Y_LSB_VALUEY_LEN             (8)
+#define BNO055_ACCEL_DATA_Y_LSB_VALUEY_REG             \
+BNO055_ACCEL_DATA_Y_LSB_ADDR
+
+/* Accel data Y-MSB register*/
+#define BNO055_ACCEL_DATA_Y_MSB_VALUEY_POS             (0)
+#define BNO055_ACCEL_DATA_Y_MSB_VALUEY_MSK             (0xFF)
+#define BNO055_ACCEL_DATA_Y_MSB_VALUEY_LEN             (8)
+#define BNO055_ACCEL_DATA_Y_MSB_VALUEY_REG             \
+BNO055_ACCEL_DATA_Y_MSB_ADDR
+
+/* Accel data Z-LSB register*/
+#define BNO055_ACCEL_DATA_Z_LSB_VALUEZ_POS      (0)
+#define BNO055_ACCEL_DATA_Z_LSB_VALUEZ_MSK      (0xFF)
+#define BNO055_ACCEL_DATA_Z_LSB_VALUEZ_LEN      (8)
+#define BNO055_ACCEL_DATA_Z_LSB_VALUEZ_REG     \
+BNO055_ACCEL_DATA_Z_LSB_ADDR
+
+/* Accel data Z-MSB register*/
+#define BNO055_ACCEL_DATA_Z_MSB_VALUEZ_POS      (0)
+#define BNO055_ACCEL_DATA_Z_MSB_VALUEZ_MSK      (0xFF)
+#define BNO055_ACCEL_DATA_Z_MSB_VALUEZ_LEN      (8)
+#define BNO055_ACCEL_DATA_Z_MSB_VALUEZ_REG     \
+BNO055_ACCEL_DATA_Z_MSB_ADDR
+
+/* Mag data X-LSB register*/
+#define BNO055_MAG_DATA_X_LSB_VALUEX_POS             (0)
+#define BNO055_MAG_DATA_X_LSB_VALUEX_MSK             (0xFF)
+#define BNO055_MAG_DATA_X_LSB_VALUEX_LEN             (8)
+#define BNO055_MAG_DATA_X_LSB_VALUEX_REG             \
+BNO055_MAG_DATA_X_LSB_ADDR
+
+/* Mag data X-MSB register*/
+#define BNO055_MAG_DATA_X_MSB_VALUEX_POS             (0)
+#define BNO055_MAG_DATA_X_MSB_VALUEX_MSK             (0xFF)
+#define BNO055_MAG_DATA_X_MSB_VALUEX_LEN             (8)
+#define BNO055_MAG_DATA_X_MSB_VALUEX_REG             BNO055_MAG_DATA_X_MSB_ADDR
+
+/* Mag data Y-LSB register*/
+#define BNO055_MAG_DATA_Y_LSB_VALUEY_POS             (0)
+#define BNO055_MAG_DATA_Y_LSB_VALUEY_MSK             (0xFF)
+#define BNO055_MAG_DATA_Y_LSB_VALUEY_LEN             (8)
+#define BNO055_MAG_DATA_Y_LSB_VALUEY_REG             BNO055_MAG_DATA_Y_LSB_ADDR
+
+/* Mag data Y-MSB register*/
+#define BNO055_MAG_DATA_Y_MSB_VALUEY_POS             (0)
+#define BNO055_MAG_DATA_Y_MSB_VALUEY_MSK             (0xFF)
+#define BNO055_MAG_DATA_Y_MSB_VALUEY_LEN             (8)
+#define BNO055_MAG_DATA_Y_MSB_VALUEY_REG             BNO055_MAG_DATA_Y_MSB_ADDR
+
+/* Mag data Z-LSB register*/
+#define BNO055_MAG_DATA_Z_LSB_VALUEZ_POS             (0)
+#define BNO055_MAG_DATA_Z_LSB_VALUEZ_MSK             (0xFF)
+#define BNO055_MAG_DATA_Z_LSB_VALUEZ_LEN             (8)
+#define BNO055_MAG_DATA_Z_LSB_VALUEZ_REG             BNO055_MAG_DATA_Z_LSB_ADDR
+
+/* Mag data Z-MSB register*/
+#define BNO055_MAG_DATA_Z_MSB_VALUEZ_POS             (0)
+#define BNO055_MAG_DATA_Z_MSB_VALUEZ_MSK             (0xFF)
+#define BNO055_MAG_DATA_Z_MSB_VALUEZ_LEN             (8)
+#define BNO055_MAG_DATA_Z_MSB_VALUEZ_REG             BNO055_MAG_DATA_Z_MSB_ADDR
+
+/* Gyro data X-LSB register*/
+#define BNO055_GYRO_DATA_X_LSB_VALUEX_POS   (0)
+#define BNO055_GYRO_DATA_X_LSB_VALUEX_MSK   (0xFF)
+#define BNO055_GYRO_DATA_X_LSB_VALUEX_LEN   (8)
+#define BNO055_GYRO_DATA_X_LSB_VALUEX_REG   BNO055_GYRO_DATA_X_LSB_ADDR
+
+/* Gyro data X-MSB register*/
+#define BNO055_GYRO_DATA_X_MSB_VALUEX_POS   (0)
+#define BNO055_GYRO_DATA_X_MSB_VALUEX_MSK   (0xFF)
+#define BNO055_GYRO_DATA_X_MSB_VALUEX_LEN   (8)
+#define BNO055_GYRO_DATA_X_MSB_VALUEX_REG   BNO055_GYRO_DATA_X_MSB_ADDR
+
+/* Gyro data Y-LSB register*/
+#define BNO055_GYRO_DATA_Y_LSB_VALUEY_POS   (0)
+#define BNO055_GYRO_DATA_Y_LSB_VALUEY_MSK   (0xFF)
+#define BNO055_GYRO_DATA_Y_LSB_VALUEY_LEN   (8)
+#define BNO055_GYRO_DATA_Y_LSB_VALUEY_REG   BNO055_GYRO_DATA_Y_LSB_ADDR
+
+/* Gyro data Y-MSB register*/
+#define BNO055_GYRO_DATA_Y_MSB_VALUEY_POS   (0)
+#define BNO055_GYRO_DATA_Y_MSB_VALUEY_MSK   (0xFF)
+#define BNO055_GYRO_DATA_Y_MSB_VALUEY_LEN   (8)
+#define BNO055_GYRO_DATA_Y_MSB_VALUEY_REG   BNO055_GYRO_DATA_Y_MSB_ADDR
+
+/* Gyro data Z-LSB register*/
+#define BNO055_GYRO_DATA_Z_LSB_VALUEZ_POS   (0)
+#define BNO055_GYRO_DATA_Z_LSB_VALUEZ_MSK   (0xFF)
+#define BNO055_GYRO_DATA_Z_LSB_VALUEZ_LEN   (8)
+#define BNO055_GYRO_DATA_Z_LSB_VALUEZ_REG   BNO055_GYRO_DATA_Z_LSB_ADDR
+
+/* Gyro data Z-MSB register*/
+#define BNO055_GYRO_DATA_Z_MSB_VALUEZ_POS   (0)
+#define BNO055_GYRO_DATA_Z_MSB_VALUEZ_MSK   (0xFF)
+#define BNO055_GYRO_DATA_Z_MSB_VALUEZ_LEN   (8)
+#define BNO055_GYRO_DATA_Z_MSB_VALUEZ_REG   BNO055_GYRO_DATA_Z_MSB_ADDR
+
+/* Euler data HEADING-LSB register*/
+#define BNO055_EULER_H_LSB_VALUEH_POS   (0)
+#define BNO055_EULER_H_LSB_VALUEH_MSK   (0xFF)
+#define BNO055_EULER_H_LSB_VALUEH_LEN   (8)
+#define BNO055_EULER_H_LSB_VALUEH_REG  BNO055_EULER_H_LSB_ADDR
+
+/* Euler data HEADING-MSB register*/
+#define BNO055_EULER_H_MSB_VALUEH_POS  (0)
+#define BNO055_EULER_H_MSB_VALUEH_MSK  (0xFF)
+#define BNO055_EULER_H_MSB_VALUEH_LEN  (8)
+#define BNO055_EULER_H_MSB_VALUEH_REG  BNO055_EULER_H_MSB_ADDR
+
+/* Euler data ROLL-LSB register*/
+#define BNO055_EULER_R_LSB_VALUER_POS  (0)
+#define BNO055_EULER_R_LSB_VALUER_MSK  (0xFF)
+#define BNO055_EULER_R_LSB_VALUER_LEN  (8)
+#define BNO055_EULER_R_LSB_VALUER_REG  BNO055_EULER_R_LSB_ADDR
+
+/* Euler data ROLL-MSB register*/
+#define BNO055_EULER_R_MSB_VALUER_POS  (0)
+#define BNO055_EULER_R_MSB_VALUER_MSK  (0xFF)
+#define BNO055_EULER_R_MSB_VALUER_LEN  (8)
+#define BNO055_EULER_R_MSB_VALUER_REG  BNO055_EULER_R_MSB_ADDR
+
+/* Euler data PITCH-LSB register*/
+#define BNO055_EULER_P_LSB_VALUEP_POS  (0)
+#define BNO055_EULER_P_LSB_VALUEP_MSK  (0xFF)
+#define BNO055_EULER_P_LSB_VALUEP_LEN  (8)
+#define BNO055_EULER_P_LSB_VALUEP_REG  BNO055_EULER_P_LSB_ADDR
+
+/* Euler data HEADING-MSB register*/
+#define BNO055_EULER_P_MSB_VALUEP_POS  (0)
+#define BNO055_EULER_P_MSB_VALUEP_MSK  (0xFF)
+#define BNO055_EULER_P_MSB_VALUEP_LEN  (8)
+#define BNO055_EULER_P_MSB_VALUEP_REG  BNO055_EULER_P_MSB_ADDR
+
+/* Quaternion data W-LSB register*/
+#define BNO055_QUATERNION_DATA_W_LSB_VALUEW_POS  (0)
+#define BNO055_QUATERNION_DATA_W_LSB_VALUEW_MSK  (0xFF)
+#define BNO055_QUATERNION_DATA_W_LSB_VALUEW_LEN  (8)
+#define BNO055_QUATERNION_DATA_W_LSB_VALUEW_REG  \
+BNO055_QUATERNION_DATA_W_LSB_ADDR
+
+/* Quaternion data W-MSB register*/
+#define BNO055_QUATERNION_DATA_W_MSB_VALUEW_POS  (0)
+#define BNO055_QUATERNION_DATA_W_MSB_VALUEW_MSK  (0xFF)
+#define BNO055_QUATERNION_DATA_W_MSB_VALUEW_LEN  (8)
+#define BNO055_QUATERNION_DATA_W_MSB_VALUEW_REG  \
+BNO055_QUATERNION_DATA_W_MSB_ADDR
+
+/* Quaternion data X-LSB register*/
+#define BNO055_QUATERNION_DATA_X_LSB_VALUEX_POS  (0)
+#define BNO055_QUATERNION_DATA_X_LSB_VALUEX_MSK  (0xFF)
+#define BNO055_QUATERNION_DATA_X_LSB_VALUEX_LEN  (8)
+#define BNO055_QUATERNION_DATA_X_LSB_VALUEX_REG  \
+BNO055_QUATERNION_DATA_X_LSB_ADDR
+
+/* Quaternion data X-MSB register*/
+#define BNO055_QUATERNION_DATA_X_MSB_VALUEX_POS  (0)
+#define BNO055_QUATERNION_DATA_X_MSB_VALUEX_MSK  (0xFF)
+#define BNO055_QUATERNION_DATA_X_MSB_VALUEX_LEN  (8)
+#define BNO055_QUATERNION_DATA_X_MSB_VALUEX_REG \
+BNO055_QUATERNION_DATA_X_MSB_ADDR
+
+/* Quaternion data Y-LSB register*/
+#define BNO055_QUATERNION_DATA_Y_LSB_VALUEY_POS  (0)
+#define BNO055_QUATERNION_DATA_Y_LSB_VALUEY_MSK  (0xFF)
+#define BNO055_QUATERNION_DATA_Y_LSB_VALUEY_LEN  (8)
+#define BNO055_QUATERNION_DATA_Y_LSB_VALUEY_REG \
+BNO055_QUATERNION_DATA_Y_LSB_ADDR
+
+/* Quaternion data Y-MSB register*/
+#define BNO055_QUATERNION_DATA_Y_MSB_VALUEY_POS  (0)
+#define BNO055_QUATERNION_DATA_Y_MSB_VALUEY_MSK  (0xFF)
+#define BNO055_QUATERNION_DATA_Y_MSB_VALUEY_LEN  (8)
+#define BNO055_QUATERNION_DATA_Y_MSB_VALUEY_REG  \
+BNO055_QUATERNION_DATA_Y_MSB_ADDR
+
+/* Quaternion data Z-LSB register*/
+#define BNO055_QUATERNION_DATA_Z_LSB_VALUEZ_POS  (0)
+#define BNO055_QUATERNION_DATA_Z_LSB_VALUEZ_MSK  (0xFF)
+#define BNO055_QUATERNION_DATA_Z_LSB_VALUEZ_LEN  (8)
+#define BNO055_QUATERNION_DATA_Z_LSB_VALUEZ_REG \
+BNO055_QUATERNION_DATA_Z_LSB_ADDR
+
+/* Quaternion data Z-MSB register*/
+#define BNO055_QUATERNION_DATA_Z_MSB_VALUEZ_POS  (0)
+#define BNO055_QUATERNION_DATA_Z_MSB_VALUEZ_MSK  (0xFF)
+#define BNO055_QUATERNION_DATA_Z_MSB_VALUEZ_LEN  (8)
+#define BNO055_QUATERNION_DATA_Z_MSB_VALUEZ_REG  \
+BNO055_QUATERNION_DATA_Z_MSB_ADDR
+
+/* Linear acceleration data X-LSB register*/
+#define BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX_POS  (0)
+#define BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX_MSK  (0xFF)
+#define BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX_LEN  (8)
+#define BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX_REG  \
+BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR
+
+/* Linear acceleration data X-MSB register*/
+#define BNO055_LINEAR_ACCEL_DATA_X_MSB_VALUEX_POS  (0)
+#define BNO055_LINEAR_ACCEL_DATA_X_MSB_VALUEX_MSK  (0xFF)
+#define BNO055_LINEAR_ACCEL_DATA_X_MSB_VALUEX_LEN  (8)
+#define BNO055_LINEAR_ACCEL_DATA_X_MSB_VALUEX_REG  \
+BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR
+
+/* Linear acceleration data Y-LSB register*/
+#define BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY_POS  (0)
+#define BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY_MSK  (0xFF)
+#define BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY_LEN  (8)
+#define BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY_REG  \
+BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR
+
+/* Linear acceleration data Y-MSB register*/
+#define BNO055_LINEAR_ACCEL_DATA_Y_MSB_VALUEY_POS  (0)
+#define BNO055_LINEAR_ACCEL_DATA_Y_MSB_VALUEY_MSK  (0xFF)
+#define BNO055_LINEAR_ACCEL_DATA_Y_MSB_VALUEY_LEN  (8)
+#define BNO055_LINEAR_ACCEL_DATA_Y_MSB_VALUEY_REG  \
+BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR
+
+/* Linear acceleration data Z-LSB register*/
+#define BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ_POS  (0)
+#define BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ_MSK  (0xFF)
+#define BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ_LEN  (8)
+#define BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ_REG \
+BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR
+
+/* Linear acceleration data Z-MSB register*/
+#define BNO055_LINEAR_ACCEL_DATA_Z_MSB_VALUEZ_POS  (0)
+#define BNO055_LINEAR_ACCEL_DATA_Z_MSB_VALUEZ_MSK  (0xFF)
+#define BNO055_LINEAR_ACCEL_DATA_Z_MSB_VALUEZ_LEN  (8)
+#define BNO055_LINEAR_ACCEL_DATA_Z_MSB_VALUEZ_REG  \
+BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR
+
+/* Gravity data X-LSB register*/
+#define BNO055_GRAVITY_DATA_X_LSB_VALUEX_POS  (0)
+#define BNO055_GRAVITY_DATA_X_LSB_VALUEX_MSK  (0xFF)
+#define BNO055_GRAVITY_DATA_X_LSB_VALUEX_LEN  (8)
+#define BNO055_GRAVITY_DATA_X_LSB_VALUEX_REG  \
+BNO055_GRAVITY_DATA_X_LSB_ADDR
+
+/* Gravity data X-MSB register*/
+#define BNO055_GRAVITY_DATA_X_MSB_VALUEX_POS  (0)
+#define BNO055_GRAVITY_DATA_X_MSB_VALUEX_MSK  (0xFF)
+#define BNO055_GRAVITY_DATA_X_MSB_VALUEX_LEN  (8)
+#define BNO055_GRAVITY_DATA_X_MSB_VALUEX_REG  \
+BNO055_GRAVITY_DATA_X_MSB_ADDR
+
+/* Gravity data Y-LSB register*/
+#define BNO055_GRAVITY_DATA_Y_LSB_VALUEY_POS  (0)
+#define BNO055_GRAVITY_DATA_Y_LSB_VALUEY_MSK  (0xFF)
+#define BNO055_GRAVITY_DATA_Y_LSB_VALUEY_LEN  (8)
+#define BNO055_GRAVITY_DATA_Y_LSB_VALUEY_REG  \
+BNO055_GRAVITY_DATA_Y_LSB_ADDR
+
+/* Gravity data Y-MSB register*/
+#define BNO055_GRAVITY_DATA_Y_MSB_VALUEY_POS  (0)
+#define BNO055_GRAVITY_DATA_Y_MSB_VALUEY_MSK  (0xFF)
+#define BNO055_GRAVITY_DATA_Y_MSB_VALUEY_LEN  (8)
+#define BNO055_GRAVITY_DATA_Y_MSB_VALUEY_REG  \
+BNO055_GRAVITY_DATA_Y_MSB_ADDR
+
+/* Gravity data Z-LSB register*/
+#define BNO055_GRAVITY_DATA_Z_LSB_VALUEZ_POS  (0)
+#define BNO055_GRAVITY_DATA_Z_LSB_VALUEZ_MSK  (0xFF)
+#define BNO055_GRAVITY_DATA_Z_LSB_VALUEZ_LEN  (8)
+#define BNO055_GRAVITY_DATA_Z_LSB_VALUEZ_REG  \
+BNO055_GRAVITY_DATA_Z_LSB_ADDR
+
+/* Gravity data Z-MSB register*/
+#define BNO055_GRAVITY_DATA_Z_MSB_VALUEZ_POS  (0)
+#define BNO055_GRAVITY_DATA_Z_MSB_VALUEZ_MSK  (0xFF)
+#define BNO055_GRAVITY_DATA_Z_MSB_VALUEZ_LEN  (8)
+#define BNO055_GRAVITY_DATA_Z_MSB_VALUEZ_REG  \
+BNO055_GRAVITY_DATA_Z_MSB_ADDR
+
+/* Temperature register*/
+#define BNO055_TEMP_POS             (0)
+#define BNO055_TEMP_MSK             (0xFF)
+#define BNO055_TEMP_LEN             (8)
+#define BNO055_TEMP_REG             BNO055_TEMP_ADDR
+
+/*Mag_Calib status register*/
+#define BNO055_MAG_CALIB_STAT_POS             (0)
+#define BNO055_MAG_CALIB_STAT_MSK             (0X03)
+#define BNO055_MAG_CALIB_STAT_LEN             (2)
+#define BNO055_MAG_CALIB_STAT_REG             BNO055_CALIB_STAT_ADDR
+
+/*Acc_Calib status register*/
+#define BNO055_ACCEL_CALIB_STAT_POS             (2)
+#define BNO055_ACCEL_CALIB_STAT_MSK             (0X0C)
+#define BNO055_ACCEL_CALIB_STAT_LEN             (2)
+#define BNO055_ACCEL_CALIB_STAT_REG             BNO055_CALIB_STAT_ADDR
+
+/*Gyro_Calib status register*/
+#define BNO055_GYRO_CALIB_STAT_POS             (4)
+#define BNO055_GYRO_CALIB_STAT_MSK             (0X30)
+#define BNO055_GYRO_CALIB_STAT_LEN             (2)
+#define BNO055_GYRO_CALIB_STAT_REG             BNO055_CALIB_STAT_ADDR
+
+/*Sys_Calib status register*/
+#define BNO055_SYS_CALIB_STAT_POS             (6)
+#define BNO055_SYS_CALIB_STAT_MSK             (0XC0)
+#define BNO055_SYS_CALIB_STAT_LEN             (2)
+#define BNO055_SYS_CALIB_STAT_REG             BNO055_CALIB_STAT_ADDR
+
+/*All_Calib status register*/
+#define BNO055_ALL_CALIB_STAT_POS             (0)
+#define BNO055_ALL_CALIB_STAT_MSK             (0XFF)
+#define BNO055_ALL_CALIB_STAT_LEN             (8)
+#define BNO055_ALL_CALIB_STAT_REG             BNO055_CALIB_STAT_ADDR
+
+/*ST_ACCEL register*/
+#define BNO055_SELFTEST_ACCEL_POS             (0)
+#define BNO055_SELFTEST_ACCEL_MSK             (0X01)
+#define BNO055_SELFTEST_ACCEL_LEN             (1)
+#define BNO055_SELFTEST_ACCEL_REG             BNO055_SELFTEST_RESULT_ADDR
+
+/*ST_MAG register*/
+#define BNO055_SELFTEST_MAG_POS             (1)
+#define BNO055_SELFTEST_MAG_MSK             (0X02)
+#define BNO055_SELFTEST_MAG_LEN             (1)
+#define BNO055_SELFTEST_MAG_REG             BNO055_SELFTEST_RESULT_ADDR
+
+/*ST_GYRO register*/
+#define BNO055_SELFTEST_GYRO_POS             (2)
+#define BNO055_SELFTEST_GYRO_MSK             (0X04)
+#define BNO055_SELFTEST_GYRO_LEN             (1)
+#define BNO055_SELFTEST_GYRO_REG             BNO055_SELFTEST_RESULT_ADDR
+
+/*ST_MCU register*/
+#define BNO055_SELFTEST_MCU_POS             (3)
+#define BNO055_SELFTEST_MCU_MSK             (0X08)
+#define BNO055_SELFTEST_MCU_LEN             (1)
+#define BNO055_SELFTEST_MCU_REG             BNO055_SELFTEST_RESULT_ADDR
+
+/*Interrupt status registers*/
+#define BNO055_INTR_STAT_GYRO_ANY_MOTION_POS        (2)
+#define BNO055_INTR_STAT_GYRO_ANY_MOTION_MSK        (0X04)
+#define BNO055_INTR_STAT_GYRO_ANY_MOTION_LEN        (1)
+#define BNO055_INTR_STAT_GYRO_ANY_MOTION_REG        BNO055_INTR_STAT_ADDR
+
+#define BNO055_INTR_STAT_GYRO_HIGHRATE_POS      (3)
+#define BNO055_INTR_STAT_GYRO_HIGHRATE_MSK      (0X08)
+#define BNO055_INTR_STAT_GYRO_HIGHRATE_LEN      (1)
+#define BNO055_INTR_STAT_GYRO_HIGHRATE_REG      BNO055_INTR_STAT_ADDR
+
+#define BNO055_INTR_STAT_ACCEL_HIGH_G_POS       (5)
+#define BNO055_INTR_STAT_ACCEL_HIGH_G_MSK       (0X20)
+#define BNO055_INTR_STAT_ACCEL_HIGH_G_LEN       (1)
+#define BNO055_INTR_STAT_ACCEL_HIGH_G_REG       BNO055_INTR_STAT_ADDR
+
+#define BNO055_INTR_STAT_ACCEL_ANY_MOTION_POS       (6)
+#define BNO055_INTR_STAT_ACCEL_ANY_MOTION_MSK       (0X40)
+#define BNO055_INTR_STAT_ACCEL_ANY_MOTION_LEN       (1)
+#define BNO055_INTR_STAT_ACCEL_ANY_MOTION_REG       BNO055_INTR_STAT_ADDR
+
+#define BNO055_INTR_STAT_ACCEL_NO_MOTION_POS        (7)
+#define BNO055_INTR_STAT_ACCEL_NO_MOTION_MSK        (0X80)
+#define BNO055_INTR_STAT_ACCEL_NO_MOTION_LEN        (1)
+#define BNO055_INTR_STAT_ACCEL_NO_MOTION_REG        BNO055_INTR_STAT_ADDR
+
+/* system clock status register*/
+#define BNO055_SYS_MAIN_CLK_POS     (0)
+#define BNO055_SYS_MAIN_CLK_MSK     (0X10)
+#define BNO055_SYS_MAIN_CLK_LEN     (1)
+#define BNO055_SYS_MAIN_CLK_REG     BNO055_SYS_CLK_STAT_ADDR
+
+/* System registers*/
+#define BNO055_SYS_STAT_CODE_POS        (0)
+#define BNO055_SYS_STAT_CODE_MSK        (0XFF)
+#define BNO055_SYS_STAT_CODE_LEN        (8)
+#define BNO055_SYS_STAT_CODE_REG        BNO055_SYS_STAT_ADDR
+
+#define BNO055_SYS_ERROR_CODE_POS           (0)
+#define BNO055_SYS_ERROR_CODE_MSK           (0XFF)
+#define BNO055_SYS_ERROR_CODE_LEN           (8)
+#define BNO055_SYS_ERROR_CODE_REG           BNO055_SYS_ERR_ADDR
+
+/* Accel_Unit register*/
+#define BNO055_ACCEL_UNIT_POS             (0)
+#define BNO055_ACCEL_UNIT_MSK             (0X01)
+#define BNO055_ACCEL_UNIT_LEN             (1)
+#define BNO055_ACCEL_UNIT_REG             BNO055_UNIT_SEL_ADDR
+
+/* Gyro_Unit register*/
+#define BNO055_GYRO_UNIT_POS             (1)
+#define BNO055_GYRO_UNIT_MSK             (0X02)
+#define BNO055_GYRO_UNIT_LEN             (1)
+#define BNO055_GYRO_UNIT_REG             BNO055_UNIT_SEL_ADDR
+
+/* Euler_Unit register*/
+#define BNO055_EULER_UNIT_POS             (2)
+#define BNO055_EULER_UNIT_MSK             (0X04)
+#define BNO055_EULER_UNIT_LEN             (1)
+#define BNO055_EULER_UNIT_REG             BNO055_UNIT_SEL_ADDR
+
+/* Tilt_Unit register*/
+#define BNO055_TILT_UNIT_POS             (3)
+#define BNO055_TILT_UNIT_MSK             (0X08)
+#define BNO055_TILT_UNIT_LEN             (1)
+#define BNO055_TILT_UNIT_REG             BNO055_UNIT_SEL_ADDR
+
+/* Temperature_Unit register*/
+#define BNO055_TEMP_UNIT_POS             (4)
+#define BNO055_TEMP_UNIT_MSK             (0X10)
+#define BNO055_TEMP_UNIT_LEN             (1)
+#define BNO055_TEMP_UNIT_REG             BNO055_UNIT_SEL_ADDR
+
+/* ORI android-windows register*/
+#define BNO055_DATA_OUTPUT_FORMAT_POS             (7)
+#define BNO055_DATA_OUTPUT_FORMAT_MSK             (0X80)
+#define BNO055_DATA_OUTPUT_FORMAT_LEN             (1)
+#define BNO055_DATA_OUTPUT_FORMAT_REG             BNO055_UNIT_SEL_ADDR
+/*Operation Mode data register*/
+#define BNO055_OPERATION_MODE_POS           (0)
+#define BNO055_OPERATION_MODE_MSK           (0X0F)
+#define BNO055_OPERATION_MODE_LEN           (4)
+#define BNO055_OPERATION_MODE_REG           BNO055_OPR_MODE_ADDR
+/* Power Mode register*/
+#define BNO055_POWER_MODE_POS             (0)
+#define BNO055_POWER_MODE_MSK             (0X03)
+#define BNO055_POWER_MODE_LEN             (2)
+#define BNO055_POWER_MODE_REG             BNO055_PWR_MODE_ADDR
+
+/*Self Test register*/
+#define BNO055_SELFTEST_POS         (0)
+#define BNO055_SELFTEST_MSK         (0X01)
+#define BNO055_SELFTEST_LEN         (1)
+#define BNO055_SELFTEST_REG         BNO055_SYS_TRIGGER_ADDR
+
+/* RST_SYS register*/
+#define BNO055_SYS_RST_POS             (5)
+#define BNO055_SYS_RST_MSK             (0X20)
+#define BNO055_SYS_RST_LEN             (1)
+#define BNO055_SYS_RST_REG             BNO055_SYS_TRIGGER_ADDR
+
+/* RST_INT register*/
+#define BNO055_INTR_RST_POS             (6)
+#define BNO055_INTR_RST_MSK             (0X40)
+#define BNO055_INTR_RST_LEN             (1)
+#define BNO055_INTR_RST_REG             BNO055_SYS_TRIGGER_ADDR
+
+/* CLK_SRC register*/
+#define BNO055_CLK_SRC_POS             (7)
+#define BNO055_CLK_SRC_MSK             (0X80)
+#define BNO055_CLK_SRC_LEN             (1)
+#define BNO055_CLK_SRC_REG             BNO055_SYS_TRIGGER_ADDR
+
+/* Temp source register*/
+#define BNO055_TEMP_SOURCE_POS      (0)
+#define BNO055_TEMP_SOURCE_MSK      (0X03)
+#define BNO055_TEMP_SOURCE_LEN      (2)
+#define BNO055_TEMP_SOURCE_REG      BNO055_TEMP_SOURCE_ADDR
+
+/* Axis remap value register*/
+#define BNO055_REMAP_AXIS_VALUE_POS     (0)
+#define BNO055_REMAP_AXIS_VALUE_MSK     (0X3F)
+#define BNO055_REMAP_AXIS_VALUE_LEN     (6)
+#define BNO055_REMAP_AXIS_VALUE_REG     BNO055_AXIS_MAP_CONFIG_ADDR
+
+/* Axis sign value register*/
+#define BNO055_REMAP_Z_SIGN_POS     (0)
+#define BNO055_REMAP_Z_SIGN_MSK     (0X01)
+#define BNO055_REMAP_Z_SIGN_LEN     (1)
+#define BNO055_REMAP_Z_SIGN_REG     BNO055_AXIS_MAP_SIGN_ADDR
+
+#define BNO055_REMAP_Y_SIGN_POS     (1)
+#define BNO055_REMAP_Y_SIGN_MSK     (0X02)
+#define BNO055_REMAP_Y_SIGN_LEN     (1)
+#define BNO055_REMAP_Y_SIGN_REG     BNO055_AXIS_MAP_SIGN_ADDR
+
+#define BNO055_REMAP_X_SIGN_POS     (2)
+#define BNO055_REMAP_X_SIGN_MSK     (0X04)
+#define BNO055_REMAP_X_SIGN_LEN     (1)
+#define BNO055_REMAP_X_SIGN_REG     BNO055_AXIS_MAP_SIGN_ADDR
+
+/* Soft Iron Calibration matrix register*/
+#define BNO055_SIC_MATRIX_0_LSB_POS     (0)
+#define BNO055_SIC_MATRIX_0_LSB_MSK     (0XFF)
+#define BNO055_SIC_MATRIX_0_LSB_LEN     (8)
+#define BNO055_SIC_MATRIX_0_LSB_REG     BNO055_SIC_MATRIX_0_LSB_ADDR
+
+#define BNO055_SIC_MATRIX_0_MSB_POS     (0)
+#define BNO055_SIC_MATRIX_0_MSB_MSK     (0XFF)
+#define BNO055_SIC_MATRIX_0_MSB_LEN     (8)
+#define BNO055_SIC_MATRIX_0_MSB_REG     BNO055_SIC_MATRIX_0_MSB_ADDR
+
+#define BNO055_SIC_MATRIX_1_LSB_POS     (0)
+#define BNO055_SIC_MATRIX_1_LSB_MSK     (0XFF)
+#define BNO055_SIC_MATRIX_1_LSB_LEN     (8)
+#define BNO055_SIC_MATRIX_1_LSB_REG     BNO055_SIC_MATRIX_1_LSB_ADDR
+
+#define BNO055_SIC_MATRIX_1_MSB_POS     (0)
+#define BNO055_SIC_MATRIX_1_MSB_MSK     (0XFF)
+#define BNO055_SIC_MATRIX_1_MSB_LEN     (8)
+#define BNO055_SIC_MATRIX_1_MSB_REG     BNO055_SIC_MATRIX_1_MSB_ADDR
+
+#define BNO055_SIC_MATRIX_2_LSB_POS     (0)
+#define BNO055_SIC_MATRIX_2_LSB_MSK     (0XFF)
+#define BNO055_SIC_MATRIX_2_LSB_LEN     (8)
+#define BNO055_SIC_MATRIX_2_LSB_REG     BNO055_SIC_MATRIX_2_LSB_ADDR
+
+#define BNO055_SIC_MATRIX_2_MSB_POS     (0)
+#define BNO055_SIC_MATRIX_2_MSB_MSK     (0XFF)
+#define BNO055_SIC_MATRIX_2_MSB_LEN     (8)
+#define BNO055_SIC_MATRIX_2_MSB_REG     BNO055_SIC_MATRIX_2_MSB_ADDR
+
+#define BNO055_SIC_MATRIX_3_LSB_POS     (0)
+#define BNO055_SIC_MATRIX_3_LSB_MSK     (0XFF)
+#define BNO055_SIC_MATRIX_3_LSB_LEN     (8)
+#define BNO055_SIC_MATRIX_3_LSB_REG     BNO055_SIC_MATRIX_3_LSB_ADDR
+
+#define BNO055_SIC_MATRIX_3_MSB_POS     (0)
+#define BNO055_SIC_MATRIX_3_MSB_MSK     (0XFF)
+#define BNO055_SIC_MATRIX_3_MSB_LEN     (8)
+#define BNO055_SIC_MATRIX_3_MSB_REG     BNO055_SIC_MATRIX_3_MSB_ADDR
+
+#define BNO055_SIC_MATRIX_4_LSB_POS     (0)
+#define BNO055_SIC_MATRIX_4_LSB_MSK     (0XFF)
+#define BNO055_SIC_MATRIX_4_LSB_LEN     (8)
+#define BNO055_SIC_MATRIX_4_LSB_REG     BNO055_SIC_MATRIX_4_LSB_ADDR
+
+#define BNO055_SIC_MATRIX_4_MSB_POS     (0)
+#define BNO055_SIC_MATRIX_4_MSB_MSK     (0XFF)
+#define BNO055_SIC_MATRIX_4_MSB_LEN     (8)
+#define BNO055_SIC_MATRIX_4_MSB_REG     BNO055_SIC_MATRIX_4_MSB_ADDR
+
+#define BNO055_SIC_MATRIX_5_LSB_POS     (0)
+#define BNO055_SIC_MATRIX_5_LSB_MSK     (0XFF)
+#define BNO055_SIC_MATRIX_5_LSB_LEN     (8)
+#define BNO055_SIC_MATRIX_5_LSB_REG     BNO055_SIC_MATRIX_5_LSB_ADDR
+
+#define BNO055_SIC_MATRIX_5_MSB_POS     (0)
+#define BNO055_SIC_MATRIX_5_MSB_MSK     (0XFF)
+#define BNO055_SIC_MATRIX_5_MSB_LEN     (8)
+#define BNO055_SIC_MATRIX_5_MSB_REG     BNO055_SIC_MATRIX_5_MSB_ADDR
+
+#define BNO055_SIC_MATRIX_6_LSB_POS     (0)
+#define BNO055_SIC_MATRIX_6_LSB_MSK     (0XFF)
+#define BNO055_SIC_MATRIX_6_LSB_LEN     (8)
+#define BNO055_SIC_MATRIX_6_LSB_REG     BNO055_SIC_MATRIX_6_LSB_ADDR
+
+#define BNO055_SIC_MATRIX_6_MSB_POS     (0)
+#define BNO055_SIC_MATRIX_6_MSB_MSK     (0XFF)
+#define BNO055_SIC_MATRIX_6_MSB_LEN     (8)
+#define BNO055_SIC_MATRIX_6_MSB_REG     BNO055_SIC_MATRIX_6_MSB_ADDR
+
+#define BNO055_SIC_MATRIX_7_LSB_POS     (0)
+#define BNO055_SIC_MATRIX_7_LSB_MSK     (0XFF)
+#define BNO055_SIC_MATRIX_7_LSB_LEN     (8)
+#define BNO055_SIC_MATRIX_7_LSB_REG     BNO055_SIC_MATRIX_7_LSB_ADDR
+
+#define BNO055_SIC_MATRIX_7_MSB_POS     (0)
+#define BNO055_SIC_MATRIX_7_MSB_MSK     (0XFF)
+#define BNO055_SIC_MATRIX_7_MSB_LEN     (8)
+#define BNO055_SIC_MATRIX_7_MSB_REG     BNO055_SIC_MATRIX_7_MSB_ADDR
+
+#define BNO055_SIC_MATRIX_8_LSB_POS     (0)
+#define BNO055_SIC_MATRIX_8_LSB_MSK     (0XFF)
+#define BNO055_SIC_MATRIX_8_LSB_LEN     (8)
+#define BNO055_SIC_MATRIX_8_LSB_REG     BNO055_SIC_MATRIX_8_LSB_ADDR
+
+#define BNO055_SIC_MATRIX_8_MSB_POS     (0)
+#define BNO055_SIC_MATRIX_8_MSB_MSK     (0XFF)
+#define BNO055_SIC_MATRIX_8_MSB_LEN     (8)
+#define BNO055_SIC_MATRIX_8_MSB_REG     BNO055_SIC_MATRIX_8_MSB_ADDR
+
+/*Accel Offset registers*/
+#define BNO055_ACCEL_OFFSET_X_LSB_POS       (0)
+#define BNO055_ACCEL_OFFSET_X_LSB_MSK       (0XFF)
+#define BNO055_ACCEL_OFFSET_X_LSB_LEN       (8)
+#define BNO055_ACCEL_OFFSET_X_LSB_REG       BNO055_ACCEL_OFFSET_X_LSB_ADDR
+
+#define BNO055_ACCEL_OFFSET_X_MSB_POS       (0)
+#define BNO055_ACCEL_OFFSET_X_MSB_MSK       (0XFF)
+#define BNO055_ACCEL_OFFSET_X_MSB_LEN       (8)
+#define BNO055_ACCEL_OFFSET_X_MSB_REG       BNO055_ACCEL_OFFSET_X_MSB_ADDR
+
+#define BNO055_ACCEL_OFFSET_Y_LSB_POS       (0)
+#define BNO055_ACCEL_OFFSET_Y_LSB_MSK       (0XFF)
+#define BNO055_ACCEL_OFFSET_Y_LSB_LEN       (8)
+#define BNO055_ACCEL_OFFSET_Y_LSB_REG       BNO055_ACCEL_OFFSET_Y_LSB_ADDR
+
+#define BNO055_ACCEL_OFFSET_Y_MSB_POS       (0)
+#define BNO055_ACCEL_OFFSET_Y_MSB_MSK       (0XFF)
+#define BNO055_ACCEL_OFFSET_Y_MSB_LEN       (8)
+#define BNO055_ACCEL_OFFSET_Y_MSB_REG       BNO055_ACCEL_OFFSET_Y_MSB_ADDR
+
+#define BNO055_ACCEL_OFFSET_Z_LSB_POS       (0)
+#define BNO055_ACCEL_OFFSET_Z_LSB_MSK       (0XFF)
+#define BNO055_ACCEL_OFFSET_Z_LSB_LEN       (8)
+#define BNO055_ACCEL_OFFSET_Z_LSB_REG       BNO055_ACCEL_OFFSET_Z_LSB_ADDR
+
+#define BNO055_ACCEL_OFFSET_Z_MSB_POS       (0)
+#define BNO055_ACCEL_OFFSET_Z_MSB_MSK       (0XFF)
+#define BNO055_ACCEL_OFFSET_Z_MSB_LEN       (8)
+#define BNO055_ACCEL_OFFSET_Z_MSB_REG       BNO055_ACCEL_OFFSET_Z_MSB_ADDR
+
+/*Mag Offset registers*/
+#define BNO055_MAG_OFFSET_X_LSB_POS     (0)
+#define BNO055_MAG_OFFSET_X_LSB_MSK     (0XFF)
+#define BNO055_MAG_OFFSET_X_LSB_LEN     (8)
+#define BNO055_MAG_OFFSET_X_LSB_REG     BNO055_MAG_OFFSET_X_LSB_ADDR
+
+#define BNO055_MAG_OFFSET_X_MSB_POS     (0)
+#define BNO055_MAG_OFFSET_X_MSB_MSK     (0XFF)
+#define BNO055_MAG_OFFSET_X_MSB_LEN     (8)
+#define BNO055_MAG_OFFSET_X_MSB_REG     BNO055_MAG_OFFSET_X_MSB_ADDR
+
+#define BNO055_MAG_OFFSET_Y_LSB_POS     (0)
+#define BNO055_MAG_OFFSET_Y_LSB_MSK     (0XFF)
+#define BNO055_MAG_OFFSET_Y_LSB_LEN     (8)
+#define BNO055_MAG_OFFSET_Y_LSB_REG     BNO055_MAG_OFFSET_Y_LSB_ADDR
+
+#define BNO055_MAG_OFFSET_Y_MSB_POS     (0)
+#define BNO055_MAG_OFFSET_Y_MSB_MSK     (0XFF)
+#define BNO055_MAG_OFFSET_Y_MSB_LEN     (8)
+#define BNO055_MAG_OFFSET_Y_MSB_REG     BNO055_MAG_OFFSET_Y_MSB_ADDR
+
+#define BNO055_MAG_OFFSET_Z_LSB_POS     (0)
+#define BNO055_MAG_OFFSET_Z_LSB_MSK     (0XFF)
+#define BNO055_MAG_OFFSET_Z_LSB_LEN     (8)
+#define BNO055_MAG_OFFSET_Z_LSB_REG     BNO055_MAG_OFFSET_Z_LSB_ADDR
+
+#define BNO055_MAG_OFFSET_Z_MSB_POS     (0)
+#define BNO055_MAG_OFFSET_Z_MSB_MSK     (0XFF)
+#define BNO055_MAG_OFFSET_Z_MSB_LEN     (8)
+#define BNO055_MAG_OFFSET_Z_MSB_REG     BNO055_MAG_OFFSET_Z_MSB_ADDR
+
+/* Gyro Offset registers*/
+#define BNO055_GYRO_OFFSET_X_LSB_POS        (0)
+#define BNO055_GYRO_OFFSET_X_LSB_MSK        (0XFF)
+#define BNO055_GYRO_OFFSET_X_LSB_LEN        (8)
+#define BNO055_GYRO_OFFSET_X_LSB_REG        BNO055_GYRO_OFFSET_X_LSB_ADDR
+
+#define BNO055_GYRO_OFFSET_X_MSB_POS        (0)
+#define BNO055_GYRO_OFFSET_X_MSB_MSK        (0XFF)
+#define BNO055_GYRO_OFFSET_X_MSB_LEN        (8)
+#define BNO055_GYRO_OFFSET_X_MSB_REG        BNO055_GYRO_OFFSET_X_MSB_ADDR
+
+#define BNO055_GYRO_OFFSET_Y_LSB_POS        (0)
+#define BNO055_GYRO_OFFSET_Y_LSB_MSK        (0XFF)
+#define BNO055_GYRO_OFFSET_Y_LSB_LEN        (8)
+#define BNO055_GYRO_OFFSET_Y_LSB_REG        BNO055_GYRO_OFFSET_Y_LSB_ADDR
+
+#define BNO055_GYRO_OFFSET_Y_MSB_POS        (0)
+#define BNO055_GYRO_OFFSET_Y_MSB_MSK        (0XFF)
+#define BNO055_GYRO_OFFSET_Y_MSB_LEN        (8)
+#define BNO055_GYRO_OFFSET_Y_MSB_REG        BNO055_GYRO_OFFSET_Y_MSB_ADDR
+
+#define BNO055_GYRO_OFFSET_Z_LSB_POS        (0)
+#define BNO055_GYRO_OFFSET_Z_LSB_MSK        (0XFF)
+#define BNO055_GYRO_OFFSET_Z_LSB_LEN        (8)
+#define BNO055_GYRO_OFFSET_Z_LSB_REG        BNO055_GYRO_OFFSET_Z_LSB_ADDR
+
+#define BNO055_GYRO_OFFSET_Z_MSB_POS        (0)
+#define BNO055_GYRO_OFFSET_Z_MSB_MSK        (0XFF)
+#define BNO055_GYRO_OFFSET_Z_MSB_LEN        (8)
+#define BNO055_GYRO_OFFSET_Z_MSB_REG        BNO055_GYRO_OFFSET_Z_MSB_ADDR
+
+/* Radius register definition*/
+#define BNO055_ACCEL_RADIUS_LSB_POS     (0)
+#define BNO055_ACCEL_RADIUS_LSB_MSK     (0XFF)
+#define BNO055_ACCEL_RADIUS_LSB_LEN     (8)
+#define BNO055_ACCEL_RADIUS_LSB_REG     BNO055_ACCEL_RADIUS_LSB_ADDR
+
+#define BNO055_ACCEL_RADIUS_MSB_POS     (0)
+#define BNO055_ACCEL_RADIUS_MSB_MSK     (0XFF)
+#define BNO055_ACCEL_RADIUS_MSB_LEN     (8)
+#define BNO055_ACCEL_RADIUS_MSB_REG     BNO055_ACCEL_RADIUS_MSB_ADDR
+
+#define BNO055_MAG_RADIUS_LSB_POS       (0)
+#define BNO055_MAG_RADIUS_LSB_MSK       (0XFF)
+#define BNO055_MAG_RADIUS_LSB_LEN       (8)
+#define BNO055_MAG_RADIUS_LSB_REG       BNO055_MAG_RADIUS_LSB_ADDR
+
+#define BNO055_MAG_RADIUS_MSB_POS       (0)
+#define BNO055_MAG_RADIUS_MSB_MSK       (0XFF)
+#define BNO055_MAG_RADIUS_MSB_LEN       (8)
+#define BNO055_MAG_RADIUS_MSB_REG       BNO055_MAG_RADIUS_MSB_ADDR
+
+/* PAGE0 DATA REGISTERS DEFINITION END*/
+/*************************************************/
+/**\name PAGE1 DATA REGISTERS DEFINITION   */
+/*************************************************/
+/* Configuration registers*/
+/* Accel range configuration register*/
+#define BNO055_ACCEL_RANGE_POS      (0)
+#define BNO055_ACCEL_RANGE_MSK      (0X03)
+#define BNO055_ACCEL_RANGE_LEN      (2)
+#define BNO055_ACCEL_RANGE_REG      BNO055_ACCEL_CONFIG_ADDR
+
+/* Accel bandwidth configuration register*/
+#define BNO055_ACCEL_BW_POS         (2)
+#define BNO055_ACCEL_BW_MSK         (0X1C)
+#define BNO055_ACCEL_BW_LEN         (3)
+#define BNO055_ACCEL_BW_REG         BNO055_ACCEL_CONFIG_ADDR
+
+/* Accel power mode configuration register*/
+#define BNO055_ACCEL_POWER_MODE_POS     (5)
+#define BNO055_ACCEL_POWER_MODE_MSK     (0XE0)
+#define BNO055_ACCEL_POWER_MODE_LEN     (3)
+#define BNO055_ACCEL_POWER_MODE_REG     BNO055_ACCEL_CONFIG_ADDR
+
+/* Mag data output rate configuration register*/
+#define BNO055_MAG_DATA_OUTPUT_RATE_POS     (0)
+#define BNO055_MAG_DATA_OUTPUT_RATE_MSK     (0X07)
+#define BNO055_MAG_DATA_OUTPUT_RATE_LEN     (3)
+#define BNO055_MAG_DATA_OUTPUT_RATE_REG     BNO055_MAG_CONFIG_ADDR
+
+/* Mag operation mode configuration register*/
+#define BNO055_MAG_OPERATION_MODE_POS       (3)
+#define BNO055_MAG_OPERATION_MODE_MSK       (0X18)
+#define BNO055_MAG_OPERATION_MODE_LEN       (2)
+#define BNO055_MAG_OPERATION_MODE_REG       BNO055_MAG_CONFIG_ADDR
+
+/* Mag power mode configuration register*/
+#define BNO055_MAG_POWER_MODE_POS       (5)
+#define BNO055_MAG_POWER_MODE_MSK       (0X60)
+#define BNO055_MAG_POWER_MODE_LEN       (2)
+#define BNO055_MAG_POWER_MODE_REG       BNO055_MAG_CONFIG_ADDR
+
+/* Gyro range configuration register*/
+#define BNO055_GYRO_RANGE_POS       (0)
+#define BNO055_GYRO_RANGE_MSK       (0X07)
+#define BNO055_GYRO_RANGE_LEN       (3)
+#define BNO055_GYRO_RANGE_REG       BNO055_GYRO_CONFIG_ADDR
+
+/* Gyro bandwidth configuration register*/
+#define BNO055_GYRO_BW_POS      (3)
+#define BNO055_GYRO_BW_MSK      (0X38)
+#define BNO055_GYRO_BW_LEN      (3)
+#define BNO055_GYRO_BW_REG      BNO055_GYRO_CONFIG_ADDR
+
+/* Gyro power mode configuration register*/
+#define BNO055_GYRO_POWER_MODE_POS      (0)
+#define BNO055_GYRO_POWER_MODE_MSK      (0X07)
+#define BNO055_GYRO_POWER_MODE_LEN      (3)
+#define BNO055_GYRO_POWER_MODE_REG      BNO055_GYRO_MODE_CONFIG_ADDR
+
+/* Sleep configuration registers*/
+/* Accel sleep mode configuration register*/
+#define BNO055_ACCEL_SLEEP_MODE_POS     (0)
+#define BNO055_ACCEL_SLEEP_MODE_MSK     (0X01)
+#define BNO055_ACCEL_SLEEP_MODE_LEN     (1)
+#define BNO055_ACCEL_SLEEP_MODE_REG     BNO055_ACCEL_SLEEP_CONFIG_ADDR
+
+/* Accel sleep duration configuration register*/
+#define BNO055_ACCEL_SLEEP_DURN_POS     (1)
+#define BNO055_ACCEL_SLEEP_DURN_MSK     (0X1E)
+#define BNO055_ACCEL_SLEEP_DURN_LEN     (4)
+#define BNO055_ACCEL_SLEEP_DURN_REG     BNO055_ACCEL_SLEEP_CONFIG_ADDR
+
+/* Gyro sleep duration configuration register*/
+#define BNO055_GYRO_SLEEP_DURN_POS      (0)
+#define BNO055_GYRO_SLEEP_DURN_MSK      (0X07)
+#define BNO055_GYRO_SLEEP_DURN_LEN      (3)
+#define BNO055_GYRO_SLEEP_DURN_REG      BNO055_GYRO_SLEEP_CONFIG_ADDR
+
+/* Gyro auto sleep duration configuration register*/
+#define BNO055_GYRO_AUTO_SLEEP_DURN_POS     (3)
+#define BNO055_GYRO_AUTO_SLEEP_DURN_MSK     (0X38)
+#define BNO055_GYRO_AUTO_SLEEP_DURN_LEN     (3)
+#define BNO055_GYRO_AUTO_SLEEP_DURN_REG     BNO055_GYRO_SLEEP_CONFIG_ADDR
+
+/* Mag sleep mode configuration register*/
+#define BNO055_MAG_SLEEP_MODE_POS       (0)
+#define BNO055_MAG_SLEEP_MODE_MSK       (0X01)
+#define BNO055_MAG_SLEEP_MODE_LEN       (1)
+#define BNO055_MAG_SLEEP_MODE_REG       BNO055_MAG_SLEEP_CONFIG_ADDR
+
+/* Mag sleep duration configuration register*/
+#define BNO055_MAG_SLEEP_DURN_POS       (1)
+#define BNO055_MAG_SLEEP_DURN_MSK       (0X1E)
+#define BNO055_MAG_SLEEP_DURN_LEN       (4)
+#define BNO055_MAG_SLEEP_DURN_REG       BNO055_MAG_SLEEP_CONFIG_ADDR
+
+/* Interrupt registers*/
+/* Gyro any motion interrupt msk register*/
+#define BNO055_GYRO_ANY_MOTION_INTR_MASK_POS        (2)
+#define BNO055_GYRO_ANY_MOTION_INTR_MASK_MSK        (0X04)
+#define BNO055_GYRO_ANY_MOTION_INTR_MASK_LEN        (1)
+#define BNO055_GYRO_ANY_MOTION_INTR_MASK_REG        BNO055_INT_MASK_ADDR
+
+/* Gyro high rate interrupt msk register*/
+#define BNO055_GYRO_HIGHRATE_INTR_MASK_POS      (3)
+#define BNO055_GYRO_HIGHRATE_INTR_MASK_MSK      (0X08)
+#define BNO055_GYRO_HIGHRATE_INTR_MASK_LEN      (1)
+#define BNO055_GYRO_HIGHRATE_INTR_MASK_REG      BNO055_INT_MASK_ADDR
+
+/* Accel high g interrupt msk register*/
+#define BNO055_ACCEL_HIGH_G_INTR_MASK_POS       (5)
+#define BNO055_ACCEL_HIGH_G_INTR_MASK_MSK       (0X20)
+#define BNO055_ACCEL_HIGH_G_INTR_MASK_LEN       (1)
+#define BNO055_ACCEL_HIGH_G_INTR_MASK_REG       BNO055_INT_MASK_ADDR
+
+/* Accel any motion interrupt msk register*/
+#define BNO055_ACCEL_ANY_MOTION_INTR_MASK_POS       (6)
+#define BNO055_ACCEL_ANY_MOTION_INTR_MASK_MSK       (0X40)
+#define BNO055_ACCEL_ANY_MOTION_INTR_MASK_LEN       (1)
+#define BNO055_ACCEL_ANY_MOTION_INTR_MASK_REG       BNO055_INT_MASK_ADDR
+
+/* Accel any motion interrupt msk register*/
+#define BNO055_ACCEL_NO_MOTION_INTR_MASK_POS        (7)
+#define BNO055_ACCEL_NO_MOTION_INTR_MASK_MSK        (0X80)
+#define BNO055_ACCEL_NO_MOTION_INTR_MASK_LEN        (1)
+#define BNO055_ACCEL_NO_MOTION_INTR_MASK_REG        BNO055_INT_MASK_ADDR
+
+/* Gyro any motion interrupt register*/
+#define BNO055_GYRO_ANY_MOTION_INTR_POS     (2)
+#define BNO055_GYRO_ANY_MOTION_INTR_MSK     (0X04)
+#define BNO055_GYRO_ANY_MOTION_INTR_LEN     (1)
+#define BNO055_GYRO_ANY_MOTION_INTR_REG     BNO055_INT_ADDR
+
+/* Gyro high rate interrupt register*/
+#define BNO055_GYRO_HIGHRATE_INTR_POS       (3)
+#define BNO055_GYRO_HIGHRATE_INTR_MSK       (0X08)
+#define BNO055_GYRO_HIGHRATE_INTR_LEN       (1)
+#define BNO055_GYRO_HIGHRATE_INTR_REG       BNO055_INT_ADDR
+
+/* Accel high g interrupt register*/
+#define BNO055_ACCEL_HIGH_G_INTR_POS        (5)
+#define BNO055_ACCEL_HIGH_G_INTR_MSK        (0X20)
+#define BNO055_ACCEL_HIGH_G_INTR_LEN        (1)
+#define BNO055_ACCEL_HIGH_G_INTR_REG        BNO055_INT_ADDR
+
+/* Accel any motion interrupt register*/
+#define BNO055_ACCEL_ANY_MOTION_INTR_POS        (6)
+#define BNO055_ACCEL_ANY_MOTION_INTR_MSK        (0X40)
+#define BNO055_ACCEL_ANY_MOTION_INTR_LEN        (1)
+#define BNO055_ACCEL_ANY_MOTION_INTR_REG        BNO055_INT_ADDR
+
+/*Accel any motion interrupt register*/
+#define BNO055_ACCEL_NO_MOTION_INTR_POS     (7)
+#define BNO055_ACCEL_NO_MOTION_INTR_MSK     (0X80)
+#define BNO055_ACCEL_NO_MOTION_INTR_LEN     (1)
+#define BNO055_ACCEL_NO_MOTION_INTR_REG     BNO055_INT_ADDR
+
+/*Accel any motion threshold setting*/
+#define BNO055_ACCEL_ANY_MOTION_THRES_POS   (0)
+#define BNO055_ACCEL_ANY_MOTION_THRES_MSK   (0XFF)
+#define BNO055_ACCEL_ANY_MOTION_THRES_LEN   (8)
+#define BNO055_ACCEL_ANY_MOTION_THRES_REG  BNO055_ACCEL_ANY_MOTION_THRES_ADDR
+
+/*Accel interrupt setting register*/
+#define BNO055_ACCEL_ANY_MOTION_DURN_SET_POS        (0)
+#define BNO055_ACCEL_ANY_MOTION_DURN_SET_MSK        (0X03)
+#define BNO055_ACCEL_ANY_MOTION_DURN_SET_LEN        (2)
+#define BNO055_ACCEL_ANY_MOTION_DURN_SET_REG  BNO055_ACCEL_INTR_SETTINGS_ADDR
+
+/* Accel AM/NM axis selection register*/
+#define BNO055_ACCEL_ANY_MOTION_X_AXIS_POS      (2)
+#define BNO055_ACCEL_ANY_MOTION_X_AXIS_MSK      (0X04)
+#define BNO055_ACCEL_ANY_MOTION_X_AXIS_LEN      (1)
+#define BNO055_ACCEL_ANY_MOTION_X_AXIS_REG  BNO055_ACCEL_INTR_SETTINGS_ADDR
+
+#define BNO055_ACCEL_ANY_MOTION_Y_AXIS_POS      (3)
+#define BNO055_ACCEL_ANY_MOTION_Y_AXIS_MSK      (0X08)
+#define BNO055_ACCEL_ANY_MOTION_Y_AXIS_LEN      (1)
+#define BNO055_ACCEL_ANY_MOTION_Y_AXIS_REG  BNO055_ACCEL_INTR_SETTINGS_ADDR
+
+#define BNO055_ACCEL_ANY_MOTION_Z_AXIS_POS      (4)
+#define BNO055_ACCEL_ANY_MOTION_Z_AXIS_MSK      (0X10)
+#define BNO055_ACCEL_ANY_MOTION_Z_AXIS_LEN      (1)
+#define BNO055_ACCEL_ANY_MOTION_Z_AXIS_REG  BNO055_ACCEL_INTR_SETTINGS_ADDR
+
+/* Accel high g axis selection register*/
+#define BNO055_ACCEL_HIGH_G_X_AXIS_POS      (5)
+#define BNO055_ACCEL_HIGH_G_X_AXIS_MSK      (0X20)
+#define BNO055_ACCEL_HIGH_G_X_AXIS_LEN      (1)
+#define BNO055_ACCEL_HIGH_G_X_AXIS_REG      BNO055_ACCEL_INTR_SETTINGS_ADDR
+
+#define BNO055_ACCEL_HIGH_G_Y_AXIS_POS      (6)
+#define BNO055_ACCEL_HIGH_G_Y_AXIS_MSK      (0X40)
+#define BNO055_ACCEL_HIGH_G_Y_AXIS_LEN      (1)
+#define BNO055_ACCEL_HIGH_G_Y_AXIS_REG      BNO055_ACCEL_INTR_SETTINGS_ADDR
+
+#define BNO055_ACCEL_HIGH_G_Z_AXIS_POS      (7)
+#define BNO055_ACCEL_HIGH_G_Z_AXIS_MSK      (0X80)
+#define BNO055_ACCEL_HIGH_G_Z_AXIS_LEN      (1)
+#define BNO055_ACCEL_HIGH_G_Z_AXIS_REG      BNO055_ACCEL_INTR_SETTINGS_ADDR
+
+/* Accel High g duration setting register*/
+#define BNO055_ACCEL_HIGH_G_DURN_POS        (0)
+#define BNO055_ACCEL_HIGH_G_DURN_MSK        (0XFF)
+#define BNO055_ACCEL_HIGH_G_DURN_LEN        (8)
+#define BNO055_ACCEL_HIGH_G_DURN_REG        BNO055_ACCEL_HIGH_G_DURN_ADDR
+
+/* Accel High g threshold setting register*/
+#define BNO055_ACCEL_HIGH_G_THRES_POS       (0)
+#define BNO055_ACCEL_HIGH_G_THRES_MSK       (0XFF)
+#define BNO055_ACCEL_HIGH_G_THRES_LEN       (8)
+#define BNO055_ACCEL_HIGH_G_THRES_REG       BNO055_ACCEL_HIGH_G_THRES_ADDR
+
+/* Accel no/slow motion threshold setting*/
+#define BNO055_ACCEL_SLOW_NO_MOTION_THRES_POS       (0)
+#define BNO055_ACCEL_SLOW_NO_MOTION_THRES_MSK       (0XFF)
+#define BNO055_ACCEL_SLOW_NO_MOTION_THRES_LEN       (8)
+#define BNO055_ACCEL_SLOW_NO_MOTION_THRES_REG       \
+BNO055_ACCEL_NO_MOTION_THRES_ADDR
+
+/* Accel no/slow motion enable setting*/
+#define BNO055_ACCEL_SLOW_NO_MOTION_ENABLE_POS      (0)
+#define BNO055_ACCEL_SLOW_NO_MOTION_ENABLE_MSK      (0X01)
+#define BNO055_ACCEL_SLOW_NO_MOTION_ENABLE_LEN      (1)
+#define BNO055_ACCEL_SLOW_NO_MOTION_ENABLE_REG BNO055_ACCEL_NO_MOTION_SET_ADDR
+
+/* Accel no/slow motion duration setting*/
+#define BNO055_ACCEL_SLOW_NO_MOTION_DURN_POS        (1)
+#define BNO055_ACCEL_SLOW_NO_MOTION_DURN_MSK        (0X7E)
+#define BNO055_ACCEL_SLOW_NO_MOTION_DURN_LEN        (6)
+#define BNO055_ACCEL_SLOW_NO_MOTION_DURN_REG   BNO055_ACCEL_NO_MOTION_SET_ADDR
+
+/*Gyro interrupt setting register*/
+/*Gyro any motion axis setting*/
+#define BNO055_GYRO_ANY_MOTION_X_AXIS_POS       (0)
+#define BNO055_GYRO_ANY_MOTION_X_AXIS_MSK       (0X01)
+#define BNO055_GYRO_ANY_MOTION_X_AXIS_LEN       (1)
+#define BNO055_GYRO_ANY_MOTION_X_AXIS_REG    BNO055_GYRO_INTR_SETING_ADDR
+
+#define BNO055_GYRO_ANY_MOTION_Y_AXIS_POS       (1)
+#define BNO055_GYRO_ANY_MOTION_Y_AXIS_MSK       (0X02)
+#define BNO055_GYRO_ANY_MOTION_Y_AXIS_LEN       (1)
+#define BNO055_GYRO_ANY_MOTION_Y_AXIS_REG    BNO055_GYRO_INTR_SETING_ADDR
+
+#define BNO055_GYRO_ANY_MOTION_Z_AXIS_POS       (2)
+#define BNO055_GYRO_ANY_MOTION_Z_AXIS_MSK       (0X04)
+#define BNO055_GYRO_ANY_MOTION_Z_AXIS_LEN       (1)
+#define BNO055_GYRO_ANY_MOTION_Z_AXIS_REG     BNO055_GYRO_INTR_SETING_ADDR
+
+/*Gyro high rate axis setting*/
+#define BNO055_GYRO_HIGHRATE_X_AXIS_POS     (3)
+#define BNO055_GYRO_HIGHRATE_X_AXIS_MSK     (0X08)
+#define BNO055_GYRO_HIGHRATE_X_AXIS_LEN     (1)
+#define BNO055_GYRO_HIGHRATE_X_AXIS_REG     BNO055_GYRO_INTR_SETING_ADDR
+
+#define BNO055_GYRO_HIGHRATE_Y_AXIS_POS     (4)
+#define BNO055_GYRO_HIGHRATE_Y_AXIS_MSK     (0X10)
+#define BNO055_GYRO_HIGHRATE_Y_AXIS_LEN     (1)
+#define BNO055_GYRO_HIGHRATE_Y_AXIS_REG     BNO055_GYRO_INTR_SETING_ADDR
+
+#define BNO055_GYRO_HIGHRATE_Z_AXIS_POS     (5)
+#define BNO055_GYRO_HIGHRATE_Z_AXIS_MSK     (0X20)
+#define BNO055_GYRO_HIGHRATE_Z_AXIS_LEN     (1)
+#define BNO055_GYRO_HIGHRATE_Z_AXIS_REG     BNO055_GYRO_INTR_SETING_ADDR
+
+/* Gyro filter setting*/
+#define BNO055_GYRO_ANY_MOTION_FILTER_POS       (6)
+#define BNO055_GYRO_ANY_MOTION_FILTER_MSK       (0X40)
+#define BNO055_GYRO_ANY_MOTION_FILTER_LEN       (1)
+#define BNO055_GYRO_ANY_MOTION_FILTER_REG    BNO055_GYRO_INTR_SETING_ADDR
+
+#define BNO055_GYRO_HIGHRATE_FILTER_POS     (7)
+#define BNO055_GYRO_HIGHRATE_FILTER_MSK     (0X80)
+#define BNO055_GYRO_HIGHRATE_FILTER_LEN     (1)
+#define BNO055_GYRO_HIGHRATE_FILTER_REG     BNO055_GYRO_INTR_SETING_ADDR
+
+/* Gyro high rate X axis settings*/
+#define BNO055_GYRO_HIGHRATE_X_THRES_POS        (0)
+#define BNO055_GYRO_HIGHRATE_X_THRES_MSK        (0X1F)
+#define BNO055_GYRO_HIGHRATE_X_THRES_LEN        (5)
+#define BNO055_GYRO_HIGHRATE_X_THRES_REG    BNO055_GYRO_HIGHRATE_X_SET_ADDR
+
+#define BNO055_GYRO_HIGHRATE_X_HYST_POS     (5)
+#define BNO055_GYRO_HIGHRATE_X_HYST_MSK     (0X60)
+#define BNO055_GYRO_HIGHRATE_X_HYST_LEN     (2)
+#define BNO055_GYRO_HIGHRATE_X_HYST_REG     BNO055_GYRO_HIGHRATE_X_SET_ADDR
+
+#define BNO055_GYRO_HIGHRATE_X_DURN_POS     (0)
+#define BNO055_GYRO_HIGHRATE_X_DURN_MSK     (0XFF)
+#define BNO055_GYRO_HIGHRATE_X_DURN_LEN     (8)
+#define BNO055_GYRO_HIGHRATE_X_DURN_REG     BNO055_GYRO_DURN_X_ADDR
+
+/* Gyro high rate Y axis settings*/
+#define BNO055_GYRO_HIGHRATE_Y_THRES_POS        (0)
+#define BNO055_GYRO_HIGHRATE_Y_THRES_MSK        (0X1F)
+#define BNO055_GYRO_HIGHRATE_Y_THRES_LEN        (5)
+#define BNO055_GYRO_HIGHRATE_Y_THRES_REG    BNO055_GYRO_HIGHRATE_Y_SET_ADDR
+
+#define BNO055_GYRO_HIGHRATE_Y_HYST_POS     (5)
+#define BNO055_GYRO_HIGHRATE_Y_HYST_MSK     (0X60)
+#define BNO055_GYRO_HIGHRATE_Y_HYST_LEN     (2)
+#define BNO055_GYRO_HIGHRATE_Y_HYST_REG     BNO055_GYRO_HIGHRATE_Y_SET_ADDR
+
+#define BNO055_GYRO_HIGHRATE_Y_DURN_POS     (0)
+#define BNO055_GYRO_HIGHRATE_Y_DURN_MSK     (0XFF)
+#define BNO055_GYRO_HIGHRATE_Y_DURN_LEN     (8)
+#define BNO055_GYRO_HIGHRATE_Y_DURN_REG     BNO055_GYRO_DURN_Y_ADDR
+
+/* Gyro high rate Z axis settings*/
+#define BNO055_GYRO_HIGHRATE_Z_THRES_POS        (0)
+#define BNO055_GYRO_HIGHRATE_Z_THRES_MSK        (0X1F)
+#define BNO055_GYRO_HIGHRATE_Z_THRES_LEN        (5)
+#define BNO055_GYRO_HIGHRATE_Z_THRES_REG    BNO055_GYRO_HIGHRATE_Z_SET_ADDR
+
+#define BNO055_GYRO_HIGHRATE_Z_HYST_POS     (5)
+#define BNO055_GYRO_HIGHRATE_Z_HYST_MSK     (0X60)
+#define BNO055_GYRO_HIGHRATE_Z_HYST_LEN     (2)
+#define BNO055_GYRO_HIGHRATE_Z_HYST_REG     BNO055_GYRO_HIGHRATE_Z_SET_ADDR
+
+#define BNO055_GYRO_HIGHRATE_Z_DURN_POS     (0)
+#define BNO055_GYRO_HIGHRATE_Z_DURN_MSK     (0XFF)
+#define BNO055_GYRO_HIGHRATE_Z_DURN_LEN     (8)
+#define BNO055_GYRO_HIGHRATE_Z_DURN_REG     (BNO055_GYRO_DURN_Z_ADDR)
+
+/*Gyro any motion threshold setting*/
+#define BNO055_GYRO_ANY_MOTION_THRES_POS        (0)
+#define BNO055_GYRO_ANY_MOTION_THRES_MSK        (0X7F)
+#define BNO055_GYRO_ANY_MOTION_THRES_LEN        (7)
+#define BNO055_GYRO_ANY_MOTION_THRES_REG        \
+BNO055_GYRO_ANY_MOTION_THRES_ADDR
+
+/* Gyro any motion slope sample setting*/
+#define BNO055_GYRO_SLOPE_SAMPLES_POS       (0)
+#define BNO055_GYRO_SLOPE_SAMPLES_MSK       (0X03)
+#define BNO055_GYRO_SLOPE_SAMPLES_LEN       (2)
+#define BNO055_GYRO_SLOPE_SAMPLES_REG       BNO055_GYRO_ANY_MOTION_SET_ADDR
+
+/* Gyro awake duration setting*/
+#define BNO055_GYRO_AWAKE_DURN_POS      (2)
+#define BNO055_GYRO_AWAKE_DURN_MSK      (0X0C)
+#define BNO055_GYRO_AWAKE_DURN_LEN      (2)
+#define BNO055_GYRO_AWAKE_DURN_REG      BNO055_GYRO_ANY_MOTION_SET_ADDR
+
+/* PAGE1 DATA REGISTERS DEFINITION END*/
+/*************************************************/
+/**\name GET AND SET BITSLICE FUNCTIONS    */
+/*************************************************/
+#define BNO055_GET_BITSLICE(regvar, bitname)\
+((regvar & bitname##_MSK) >> bitname##_POS)
+
+
+#define BNO055_SET_BITSLICE(regvar, bitname, val)\
+((regvar & ~bitname##_MSK) | ((val<<bitname##_POS)&bitname##_MSK))
+/*************************************************/
+/**\name FUNCTION DECLARATION    */
+/*************************************************/
+/**************************************************/
+/**\name INITIALIZATION AND REVISION ID FUNCTIONS */
+/**************************************************/
+/*!
+ *  @brief
+ *  This 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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/**************************************************/
+/**\name ACCEL DATA READ FUNCTIONS */
+/**************************************************/
+/*!
+ *  @brief This API reads acceleration data X values
+ *  from register 0x08 and 0x09 it is a two byte data
+ *
+ *
+ *
+ *
+ *  @param 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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/**************************************************/
+/**\name MAG DATA READ FUNCTIONS */
+/**************************************************/
+/*!
+ *  @brief This API reads mag data x values
+ *  from register 0x0E and 0x0F it is a two byte data
+ *
+ *
+ *
+ *
+ *  @param 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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/**************************************************/
+/**\name GYRO DATA READ FUNCTIONS */
+/**************************************************/
+/*!
+ *  @brief This API reads gyro data x values
+ *  from register 0x14 and 0x15 it is a two byte data
+ *
+ *
+ *
+ *
+ *  @param 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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/**************************************************/
+/**\name EULER DATA READ FUNCTIONS */
+/**************************************************/
+/*!
+ *  @brief This API reads gyro data z values
+ *  from register 0x1A and 0x1B it is a two byte data
+ *
+ *  @param 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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/**************************************************/
+/**\name QUATERNION DATA READ FUNCTIONS */
+/**************************************************/
+/*!
+ *  @brief This API reads quaternion data w values
+ *  from register 0x20 and 0x21 it is a two byte data
+ *
+ *  @param 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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/**************************************************/
+/**\name LINEAR ACCEL DATA READ FUNCTIONS */
+/**************************************************/
+/*!
+ *  @brief This API reads Linear accel data x values
+ *  from register 0x29 and 0x2A it is a two byte data
+ *
+ *  @param 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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/**************************************************/
+/**\name GRAVITY DATA READ FUNCTIONS */
+/**************************************************/
+/*!
+ *  @brief This API reads gravity data x values
+ *  from register 0x2E and 0x2F it is a two byte data
+ *
+ *  @param 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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+  * @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);
+/**************************************************/
+/**\name TEMPERATURE DATA READ FUNCTIONS */
+/**************************************************/
+/*!
+ *  @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);
+#ifdef  BNO055_FLOAT_ENABLE
+/********************************************************************/
+/**\name FUNCTIONS FOR READING ACCEL DATA OUTPUT AS FLOAT PRECISION */
+/********************************************************************/
+/*!
+ *  @brief This API is used to convert the accel x raw data
+ *  to meterpersecseq output as float
+ *
+ *  @param 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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @brief This API is used to convert the accel y raw data
+ *  to millig output as float
+ *
+ *  @param accel_x_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_x_mg(
+float *accel_x_f);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/********************************************************************/
+/**\name FUNCTIONS FOR READING MAG DATA OUTPUT AS FLOAT PRECISION */
+/********************************************************************/
+/*!
+ *  @brief This API is used to convert the mag x raw data
+ *  to microTesla output as float
+ *
+ *  @param 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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/********************************************************************/
+/**\name FUNCTIONS FOR READING GYRO DATA OUTPUT AS FLOAT PRECISION */
+/********************************************************************/
+/*!
+ *  @brief This API is used to convert the gyro x raw data
+ *  to dps output as float
+ *
+ *  @param 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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/********************************************************************/
+/**\name FUNCTIONS FOR READING EULER DATA OUTPUT AS FLOAT PRECISION */
+/********************************************************************/
+/*!
+ *  @brief This API is used to convert the Euler h raw data
+ *  to degree output as float
+ *
+ *  @param 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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/***************************************************************************/
+/**\name FUNCTIONS FOR READING LINEAR ACCEL DATA OUTPUT AS FLOAT PRECISION */
+/**************************************************************************/
+/*!
+ *  @brief This API is used to convert the linear
+ *  accel x raw data to meterpersecseq output as float
+ *
+ *  @param 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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/********************************************************************/
+/**\name FUNCTIONS FOR READING GRAVITY DATA OUTPUT AS FLOAT PRECISION */
+/********************************************************************/
+/*!
+ *  @brief This API is used to convert the gravity
+ *  x raw data to meterpersecseq output as float
+ *
+ *  @param 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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/**************************************************************************/
+/**\name FUNCTIONS FOR READING TEMPERATURE DATA OUTPUT AS FLOAT PRECISION */
+/*************************************************************************/
+/*!
+ *  @brief This API is used to convert the temperature
+ *  data to Fahrenheit output as float
+ *
+ *  @param 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);
+/*!
+ *  @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);
+#endif
+#ifdef  BNO055_DOUBLE_ENABLE
+/**************************************************************************/
+/**\name FUNCTIONS FOR READING ACCEL DATA OUTPUT AS DOUBLE PRECISION */
+/*************************************************************************/
+/*!
+ *  @brief This API is used to convert the accel x raw data
+ *  to meterpersecseq output as double
+ *
+ *  @param 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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/**************************************************************************/
+/**\name FUNCTIONS FOR READING MAG DATA OUTPUT AS DOUBLE PRECISION */
+/*************************************************************************/
+/*!
+ *  @brief This API is used to convert the mag x raw data
+ *  to microTesla output as double
+ *
+ *  @param 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);
+/*!
+ *  @brief This API is used to convert the mag x raw data
+ *  to microTesla output as double
+ *
+ *  @param mag_y_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_y_uT(
+double *mag_y_d);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/**************************************************************************/
+/**\name FUNCTIONS FOR READING GYRO DATA OUTPUT AS DOUBLE PRECISION */
+/*************************************************************************/
+/*!
+ *  @brief This API is used to convert the gyro x raw data
+ *  to dps output as double
+ *
+ *  @param 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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/**************************************************************************/
+/**\name FUNCTIONS FOR READING EULER DATA OUTPUT AS DOUBLE PRECISION */
+/*************************************************************************/
+/*!
+ *  @brief This API is used to convert the Euler h raw data
+ *  to degree output as double
+ *
+ *  @param 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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/****************************************************************************/
+/**\name FUNCTIONS FOR READING LINEAR ACCEL DATA OUTPUT AS DOUBLE PRECISION */
+/****************************************************************************/
+/*!
+ *  @brief This API is used to convert the linear
+ *  accel x raw data to meterpersecseq output as double
+ *
+ *  @param 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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/**************************************************************************/
+/**\name FUNCTIONS FOR READING GRAVITY DATA OUTPUT AS DOUBLE PRECISION */
+/*************************************************************************/
+/*!
+ *  @brief This API is used to convert the gravity
+ *  x raw data to meterpersecseq output as double
+ *
+ *  @param 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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/**************************************************************************/
+/**\name FUNCTIONS FOR READING TEMPERATURE DATA OUTPUT AS DOUBLE PRECISION*/
+/*************************************************************************/
+/*!
+ *  @brief This API is used to convert the temperature
+ *  data to Fahrenheit output as double
+ *
+ *  @param 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);
+/*!
+ *  @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);
+#endif
+/**************************************************************************/
+/**\name FUNCTIONS FOR READING ACCEL,MAG,GYRO AND SYSTEM CALIBRATION STATUS*/
+/*************************************************************************/
+/*!
+ *  @brief This API used to read
+ *  mag calibration status from register from 0x35 bit 0 and 1
+ *
+ *  @param 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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @brief This API used to read
+ *  all calibration status from register from 0x35
+ *
+ *  @param all_calib_u8 : The value of all 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);
+/******************************************************************/
+/**\name FUNCTIONS FOR READING ACCEL,MAG,GYRO AND SYSTEM SELF TEST */
+/******************************************************************/
+/*!
+ *  @brief This API used to read
+ *  self test of accel from register from 0x36 bit 0
+ *
+ *  @param 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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*****************************************************/
+/**\name FUNCTIONS FOR READING GYRO INTERRUPT STATUS */
+/*****************************************************/
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*****************************************************/
+/**\name FUNCTIONS FOR READING ACCEL INTERRUPT STATUS */
+/*****************************************************/
+/*!
+ *  @brief This API used to read the status of
+ *  accel highg interrupt from register from 0x37 bit 5
+ *
+ *  @param 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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/**************************************************************************/
+/**\name FUNCTIONS FOR READING SYSTEM CLOCK, STATUS AND BNO055_ERROR CODE */
+/*************************************************************************/
+/*!
+ *  @brief This API is used to read status of main clock
+ *  from the register 0x38 bit 0
+ *
+ *  @param 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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/********************************************/
+/**\name FUNCTIONS FOR ACCEL UNIT SELECTION */
+/********************************************/
+/*!
+ *  @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);
+/*!
+ *  @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);
+/********************************************/
+/**\name FUNCTIONS FOR GYRO UNIT SELECTION */
+/********************************************/
+/*!
+ *  @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);
+/*!
+ *  @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);
+/********************************************/
+/**\name FUNCTIONS FOR EULER UNIT SELECTION */
+/********************************************/
+/*!
+ *  @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);
+/*!
+ *  @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);
+/********************************************/
+/**\name FUNCTIONS FOR TILT UNIT SELECTION */
+/********************************************/
+/*!
+ *  @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);
+/*!
+ *  @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);
+/**************************************************/
+/**\name FUNCTIONS FOR TEMPERATURE UNIT SELECTION */
+/**************************************************/
+/*!
+ *  @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);
+/*!
+ *  @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);
+/**************************************************/
+/**\name FUNCTIONS FOR DATA OUTPUT FORMAT SELECT */
+/**************************************************/
+/*!
+ *  @brief This API used to read the current selected orientation mode
+ *  from register from 0x3B bit 7
+ *
+ *  @param 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);
+/*!
+ *  @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_set_data_output_format(
+u8 data_output_format_u8);
+/**************************************************/
+/**\name FUNCTIONS FOR DATA OPERATION MODE  */
+/**************************************************/
+/*! @brief This API used to read the operation mode
+ *  from register from 0x3D bit 0 to 3
+ *
+ *  @param 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);
+/*! @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);
+/**************************************************/
+/**\name FUNCTIONS FOR POWER MODE  */
+/**************************************************/
+/*! @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);
+/*! @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);
+/**************************************************/
+/**\name FUNCTIONS FOR RESET INTERRUPT  */
+/**************************************************/
+/*!
+ *  @brief This API used to read the reset interrupt
+ *  from register from 0x3F bit 6
+ *  It resets all the interrupt bit and interrupt output
+ *
+ *  @param 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);
+/*!
+ *  @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);
+/**************************************************/
+/**\name FUNCTIONS FOR CLOCK SOURCE  */
+/**************************************************/
+/*!
+ *  @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);
+/*!
+ *  @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);
+/**************************************************/
+/**\name FUNCTIONS FOR RESET SYSTEM  */
+/**************************************************/
+/*!
+ *  @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);
+/*!
+ *  @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);
+/**************************************************/
+/**\name FUNCTIONS FOR SELF TEST  */
+/**************************************************/
+/*!
+ *  @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);
+/*!
+ *  @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);
+/**************************************************/
+/**\name FUNCTIONS FOR TEMPERATURE SOURCE  */
+/**************************************************/
+/*!
+ *  @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);
+/*!
+ *  @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);
+/**************************************************/
+/**\name APIs FOR AXIS REMAP  */
+/**************************************************/
+/*!
+ *  @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);
+/*!
+ *  @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);
+/**************************************************/
+/**\name APIs FOR AXIS REMAP SIGN  */
+/**************************************************/
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*****************************************************/
+/**\name FUNCTIONS FOR SOFT IRON CALIBRATION MATRIX  */
+/*****************************************************/
+/*!
+ *  @brief This API is used to read soft iron calibration matrix
+ *  from the register 0x43 to 0x53 it is a 18 bytes of data
+ *
+ *  @param sic_matrix : The value of soft iron calibration matrix
+ *
+ *  sic_matrix         |           result
+ * --------------------|----------------------------------
+ *       sic_0         | soft iron calibration matrix zero
+ *       sic_1         | soft iron calibration matrix one
+ *       sic_2         | soft iron calibration matrix two
+ *       sic_3         | soft iron calibration matrix three
+ *       sic_4         | soft iron calibration matrix four
+ *       sic_5         | soft iron calibration matrix five
+ *       sic_6         | soft iron calibration matrix six
+ *       sic_7         | soft iron calibration matrix seven
+ *       sic_8         | soft iron calibration matrix eight
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> 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);
+/*!
+ *  @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);
+/*****************************************************/
+/**\name FUNCTIONS FOR ACCEL OFFSET AND RADIUS */
+/*****************************************************/
+/*!
+ *  @brief This API is used to read accel offset and accel radius
+ *  offset form register 0x55 to 0x5A and radius form 0x67 and 0x68
+ *
+ *  @param accel_offset : The value of accel offset and radius
+ *
+ *      bno055_accel_offset_t |     result
+ *      ------------------- | ----------------
+ *               x          |  accel offset x
+ *               y          |  accel offset y
+ *               z          |  accel offset z
+ *               r          |  accel offset r
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> 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);
+/*!
+ *  @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);
+/*****************************************************/
+/**\name FUNCTIONS FOR MAG OFFSET AND RADIUS*/
+/*****************************************************/
+/*!
+ *  @brief This API is used to read mag offset
+ *  offset form register 0x69 to 0x6A
+ *
+ *  @param mag_offset :  The value of mag offset and radius
+ *
+ *      bno055_mag_offset_t   |     result
+ *      ------------------- | ----------------
+ *               x          |  mag offset x
+ *               y          |  mag offset y
+ *               z          |  mag offset z
+ *               r          |  mag radius r
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> 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);
+/*!
+ *  @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);
+/*****************************************************/
+/**\name FUNCTIONS FOR GYRO OFFSET */
+/*****************************************************/
+/*!
+ *  @brief This API is used to read gyro offset
+ *  offset form register 0x61 to 0x66
+ *
+ *  @param gyro_offset : The value of gyro offset
+ *
+ *      bno055_gyro_offset_t  |     result
+ *      ------------------- | ----------------
+ *               x          |  gyro offset x
+ *               y          |  gyro offset y
+ *               z          |  gyro offset z
+ *
+ *
+ *  @return results of bus communication function
+ *  @retval 0 -> 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);
+/*!
+ *  @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);
+/********************************************************/
+/************** PAGE1 Functions *********************/
+/********************************************************/
+/*****************************************************/
+/**\name FUNCTIONS FOR ACCEL CONFIGURATION */
+/*****************************************************/
+/*!
+ *  @brief This API used to read the accel range
+ *  from page one register from 0x08 bit 0 and 1
+ *
+ *  @param 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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*****************************************************/
+/**\name FUNCTIONS FOR MAG CONFIGURATION */
+/*****************************************************/
+/*!
+ *  @brief This API used to read the mag output data rate
+ *  from page one register from 0x09 bit 0 to 2
+ *
+ *  @param 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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*****************************************************/
+/**\name FUNCTIONS FOR GYRO CONFIGURATION */
+/*****************************************************/
+/*!
+ *  @brief This API used to read the gyro range
+ *  from page one register from 0x0A bit 0 to 3
+ *
+ *  @param 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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*****************************************************/
+/**\name FUNCTIONS FOR ACCEL SLEEP SETTINGS  */
+/*****************************************************/
+/*!
+ *  @brief This API used to read the accel sleep mode
+ *  from page one register from 0x0C bit 0
+ *
+ *  @param 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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*****************************************************/
+/**\name FUNCTIONS FOR GYRO SLEEP SETTINGS  */
+/*****************************************************/
+/*!
+ *  @brief This API used to write the gyro sleep duration
+ *  from page one register from 0x0D bit 0 to 2
+ *
+ *  @param 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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*****************************************************/
+/**\name FUNCTIONS FOR MAG SLEEP SETTINGS  */
+/*****************************************************/
+/*!
+ *  @brief This API used to read the mag sleep mode
+ *  from page one register from 0x0E bit 0
+ *
+ *  @param 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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*****************************************************/
+/**\name FUNCTIONS FOR GYRO INTERRUPT MASK  */
+/*****************************************************/
+/*!
+ *  @brief This API used to read the gyro anymotion interrupt mask
+ *  from page one register from 0x0F bit 2
+ *
+ *  @param 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);
+/*!
+ *  @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);
+/*!
+ *  @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 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_mask_gyro_highrate(
+u8 *gyro_highrate_u8);
+/*!
+ *  @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);
+/*****************************************************/
+/**\name APIs FOR ACCEL INTERRUPT MASK  */
+/*****************************************************/
+/*!
+ *  @brief This API used to read the accel highg interrupt mask
+ *  from page one register from 0x0F bit 5
+ *
+ *  @param 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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*****************************************************/
+/**\name FUNCTIONS FOR GYRO INTERRUPT */
+/*****************************************************/
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*****************************************************/
+/**\name FUNCTIONS FOR ACCEL INTERRUPT  */
+/*****************************************************/
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*!
+ *  @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);
+/*****************************************************/
+/**\name FUNCTIONS FOR ACCEL ANY_MOTION THRESHOLD  */
+/*****************************************************/
+/*!
+ *  @brief This API used to read the accel any motion threshold
+ *  from page one register from 0x11 bit 0 to 7
+ *
+ *  @param 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);
+/*!
+ *  @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);
+/*****************************************************/
+/**\name FUNCTIONS FOR ACCEL ANY_MOTION DURATION  */
+/*****************************************************/
+/*!
+ *  @brief This API used to read the accel anymotion duration
+ *  from page one register from 0x12 bit 0 to 1
+ *
+ *  @param 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);
+/*!
+ *  @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);
+/*****************************************************/
+/**\name FUNCTIONS FOR ACCEL ANY_MOTION AXIS ENABLE  */
+/*****************************************************/
+/*!
+ *  @brief This API used to read the accel anymotion enable
+ *  from page one register from 0x12 bit 2 to 4
+ *
+ *  @param 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);
+/*!
+ *  @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);
+/*****************************************************/
+/**\name FUNCTIONS FOR ACCEL HIGHG AXIS ENABLE  */
+/*****************************************************/
+/*!
+ *  @brief This API used to read the accel highg enable
+ *  from page one register from 0x12 bit 5 to 7
+ *
+ *  @param 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);
+/*!
+ *  @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);
+/*****************************************************/
+/**\name FUNCTIONS FOR ACCEL HIGHG DURATION */
+/*****************************************************/
+/*!
+ *  @brief This API used to read the accel highg duration
+ *  from page one register from 0x13 bit 0 to 7
+ *
+ *  @param 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);
+/*!
+ *  @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);
+/*****************************************************/
+/**\name FUNCTIONS FOR ACCEL HIGHG THRESHOLD */
+/*****************************************************/
+/*!
+ *  @brief This API used to read the accel highg threshold
+ *  from page one register from 0x14 bit 0 to 7
+ *
+ *  @param 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);
+/*!
+ *  @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);
+/**************************************************************/
+/**\name FUNCTIONS FOR ACCEL SLOWNOMOTION THRESHOLD */
+/**************************************************************/
+/*!
+ *  @brief This API used to read the accel slownomotion threshold
+ *  from page one register from 0x15 bit 0 to 7
+ *
+ *  @param 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);
+/*!
+ *  @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);
+/**************************************************************/
+/**\name FUNCTIONS FOR ACCEL SLOWNOMOTION ENABLE */
+/**************************************************************/
+/*!
+ *  @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);
+/*!
+ *  @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);
+/**************************************************************/
+/**\name FUNCTIONS FOR ACCEL SLOWNOMOTION DURATION */
+/**************************************************************/
+/*!
+ *  @brief This API used to read accel slownomotion duration
+ *  from page one register from 0x16 bit 1 to 6
+ *
+ *  @param 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);
+/*!
+ *  @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);
+/**************************************************************/
+/**\name FUNCTIONS FOR GYRO ANY_MOTION AXIS ENABLE */
+/**************************************************************/
+/*!
+ *  @brief This API used to read the gyro anymotion enable
+ *  from page one register from 0x17 bit 0 to 2
+ *
+ *  @param 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);
+/*!
+ *  @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);
+/**************************************************************/
+/**\name FUNCTIONS FOR GYRO HIGHRATE ENABLE */
+/**************************************************************/
+/*!
+ *  @brief This API used to read the gyro highrate enable
+ *  from page one register from 0x17 bit 3 to 5
+ *
+ *  @param 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);
+/**************************************************************/
+/**\name FUNCTIONS FOR GYRO HIGHRATE AXIS ENABLE */
+/**************************************************************/
+/*!
+ *  @brief This API used to write the gyro highrate enable
+ *  from page one register from 0x17 bit 3 to 5
+ *
+ *  @param 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);
+/**************************************************************/
+/**\name FUNCTIONS FOR GYRO ANY_MOTION FILTER */
+/**************************************************************/
+/*!
+ *  @brief This API used to read gyro anymotion filter
+ *  from page one register from 0x17 bit 6
+ *
+ *  @param 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);
+/*!
+ *  @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);
+/**************************************************************/
+/**\name FUNCTIONS FOR GYRO HIGHRATE FILTER */
+/**************************************************************/
+/*!
+ *  @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);
+/*!
+ *  @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);
+/**************************************************************/
+/**\name FUNCTIONS FOR GYRO HIGHRATE X THRESHOLD */
+/**************************************************************/
+/*!
+ *  @brief This API used to read gyro highrate x threshold
+ *  from page one register from 0x18 bit 0 to 4
+ *
+ *  @param 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);
+/*!
+ *  @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);
+/**************************************************************/
+/**\name FUNCTIONS FOR GYRO HIGHRATE X HYSTERESIS */
+/**************************************************************/
+/*!
+ *  @brief This API used to read gyro highrate x hysteresis
+ *  from page one register from 0x18 bit 5 to 6
+ *
+ *  @param 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);
+/*!
+ *  @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);
+/**************************************************************/
+/**\name FUNCTIONS FOR GYRO HIGHRATE X DURATION */
+/**************************************************************/
+/*!
+ *  @brief This API used to read gyro highrate x duration
+ *  from page one register from 0x19 bit 0 to 7
+ *
+ *  @param 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);
+/*!
+ *  @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);
+/**************************************************************/
+/**\name FUNCTIONS FOR GYRO HIGHRATE Y THRESHOLD */
+/**************************************************************/
+/*!
+ *  @brief This API used to read gyro highrate y threshold
+ *  from page one register from 0x1A bit 0 to 4
+ *
+ *  @param 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);
+/*!
+ *  @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);
+/**************************************************************/
+/**\name FUNCTIONS FOR GYRO HIGHRATE Y HYSTERESIS */
+/**************************************************************/
+/*!
+ *  @brief This API used to read gyro highrate y hysteresis
+ *  from page one register from 0x1A bit 5 to 6
+ *
+ *  @param 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);
+/*!
+ *  @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);
+/**************************************************************/
+/**\name FUNCTIONS FOR GYRO HIGHRATE Y DURATION */
+/**************************************************************/
+/*!
+ *  @brief This API used to read gyro highrate y duration
+ *  from page one register from 0x1B bit 0 to 7
+ *
+ *  @param 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);
+/*!
+ *  @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);
+/**************************************************************/
+/**\name FUNCTIONS FOR GYRO HIGHRATE Z THRESHOLD */
+/**************************************************************/
+/*!
+ *  @brief This API used to read gyro highrate z threshold
+ *  from page one register from 0x1C bit 0 to 4
+ *
+ *  @param 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);
+/*!
+ *  @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);
+/**************************************************************/
+/**\name FUNCTIONS FOR GYRO HIGHRATE Z HYSTERESIS */
+/**************************************************************/
+/*!
+ *  @brief This API used to read gyro highrate z hysteresis
+ *  from page one register from 0x1C bit 5 to 6
+ *
+ *  @param 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);
+/*!
+ *  @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);
+/**************************************************************/
+/**\name FUNCTIONS FOR GYRO HIGHRATE Z DURATION */
+/**************************************************************/
+/*!
+ *  @brief This API used to read gyro highrate z duration
+ *  from page one register from 0x1D bit 0 to 7
+ *
+ *  @param 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);
+/*!
+ *  @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);
+/**************************************************************/
+/**\name FUNCTIONS FOR GYRO ANY_MOTION THRESHOLD */
+/**************************************************************/
+/*!
+ *  @brief This API used to read gyro anymotion threshold
+ *  from page one register from 0x1E bit 0 to 6
+ *
+ *  @param 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);
+/*!
+ *  @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);
+/**************************************************************/
+/**\name FUNCTIONS FOR GYRO ANY_MOTION SLOPE SAMPLES */
+/**************************************************************/
+/*!
+ *  @brief This API used to read gyro anymotion slope samples
+ *  from page one register from 0x1F bit 0 to 1
+ *
+ *  @param 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);
+/*!
+ *  @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);
+/**************************************************************/
+/**\name FUNCTIONS FOR GYRO ANY_MOTION AWAKE DURATION */
+/**************************************************************/
+/*!
+ *  @brief This API used to read gyro anymotion awake duration
+ *  from page one register from 0x1F bit 2 to 3
+ *
+ *  @param 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);
+/*!
+ *  @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);
+#endif
\ No newline at end of file