BME SmartLab
BNO055 library using Bosch's code
BNO055.cpp
- Committer:
- gume
- Date:
- 2017-07-01
- Revision:
- 0:1f82672b8755
File content as of revision 0:1f82672b8755:
/*
*
****************************************************************************
* Copyright (C) 2015 - 2016 Bosch Sensortec GmbH
*
* File : bno055.c
*
* Date : 2016/03/14
*
* Revision : 2.0.3 $
*
* Usage: Sensor Driver file for BNO055 sensor
*
****************************************************************************
* \section License
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* Neither the name of the copyright holder nor the names of the
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR
* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDER
* OR CONTRIBUTORS BE LIABLE FOR ANY
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY,
* OR CONSEQUENTIAL DAMAGES(INCLUDING, BUT NOT LIMITED TO,
* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE
*
* The information provided is believed to be accurate and reliable.
* The copyright holder assumes no responsibility
* for the consequences of use
* of such information nor for any infringement of patents or
* other rights of third parties which may result from its use.
* No license is granted by implication or otherwise under any patent or
* patent rights of the copyright holder.
**************************************************************************/
/*********************************************************/
/* INCLUDES */
/*******************************************************/
#include "BNO055.h"
/*! file <BNO055 >
brief <Sensor driver for BNO055> */
/* STRUCTURE DEFINITIONS */
/*static*/ struct bno055_t *p_bno055;
/* LOCAL FUNCTIONS */
/*!
* @brief
* This API is used for initialize
* bus read, bus write function pointers,device
* address,accel revision id, gyro revision id
* mag revision id, software revision id, boot loader
* revision id and page id
*
* @param bno055 - structure pointer
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note While changing the parameter of the bno055_t
* consider the following point:
* Changing the reference value of the parameter
* will changes the local copy or local reference
* make sure your changes will not
* affect the reference value of the parameter
* (Better case don't change the reference value of the parameter)
*/
BNO055_RETURN_FUNCTION_TYPE bno055_init(struct bno055_t *bno055)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8 = BNO055_INIT_VALUE;
u8 bno055_page_zero_u8 = BNO055_PAGE_ZERO;
/* Array holding the Software revision id
*/
u8 a_SW_ID_u8[BNO055_REV_ID_SIZE] = {
BNO055_INIT_VALUE, BNO055_INIT_VALUE};
/* stuct parameters are assign to bno055*/
p_bno055 = bno055;
/* Write the default page as zero*/
com_rslt = p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_PAGE_ID_REG, &bno055_page_zero_u8, BNO055_GEN_READ_WRITE_LENGTH);
/* Read the chip id of the sensor from page
zero 0x00 register*/
com_rslt += p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_CHIP_ID_REG, &data_u8, BNO055_GEN_READ_WRITE_LENGTH);
p_bno055->chip_id = data_u8;
/* Read the accel revision id from page
zero 0x01 register*/
com_rslt += p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_REV_ID_REG, &data_u8, BNO055_GEN_READ_WRITE_LENGTH);
p_bno055->accel_rev_id = data_u8;
/* Read the mag revision id from page
zero 0x02 register*/
com_rslt += p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_MAG_REV_ID_REG, &data_u8, BNO055_GEN_READ_WRITE_LENGTH);
p_bno055->mag_rev_id = data_u8;
/* Read the gyro revision id from page
zero 0x02 register*/
com_rslt += p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_REV_ID_REG, &data_u8, BNO055_GEN_READ_WRITE_LENGTH);
p_bno055->gyro_rev_id = data_u8;
/* Read the boot loader revision from page
zero 0x06 register*/
com_rslt += p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_BL_REV_ID_REG, &data_u8, BNO055_GEN_READ_WRITE_LENGTH);
p_bno055->bl_rev_id = data_u8;
/* Read the software revision id from page
zero 0x04 and 0x05 register( 2 bytes of data)*/
com_rslt += p_bno055->BNO055_BUS_READ_FUNC(p_bno055->dev_addr,
BNO055_SW_REV_ID_LSB_REG,
a_SW_ID_u8, BNO055_LSB_MSB_READ_LENGTH);
a_SW_ID_u8[BNO055_SW_ID_LSB] = BNO055_GET_BITSLICE(
a_SW_ID_u8[BNO055_SW_ID_LSB],
BNO055_SW_REV_ID_LSB);
p_bno055->sw_rev_id = (u16)
((((u32)((u8)a_SW_ID_u8[BNO055_SW_ID_MSB])) <<
BNO055_SHIFT_EIGHT_BITS) | (a_SW_ID_u8[BNO055_SW_ID_LSB]));
/* Read the page id from the register 0x07*/
com_rslt += p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_PAGE_ID_REG, &data_u8, BNO055_GEN_READ_WRITE_LENGTH);
p_bno055->page_id = data_u8;
return com_rslt;
}
/*!
* @brief
* This API gives data to the given register and
* the data is written in the corresponding register address
*
* @param addr_u8 : Address of the register
* @param data_u8 : Data to be written to the register
* @param len_u8 : Length of the Data
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_write_register(u8 addr_u8,
u8 *data_u8, u8 len_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* Write the values of respective given register */
com_rslt = p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr, addr_u8, data_u8, len_u8);
}
return com_rslt;
}
/*!
* @brief This API reads the data from
* the given register address
*
* @param addr_u8 : Address of the register
* @param data_u8 : address of the variable,
* read value will be kept
* @param len_u8 : Length of the data
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_register(u8 addr_u8,
u8 *data_u8, u8 len_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* Read the value from given register*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr, addr_u8, data_u8, len_u8);
}
return com_rslt;
}
/*!
* @brief This API reads chip id
* from register 0x00 it is a byte of data
*
*
* @param chip_id_u8 : The chip id value 0xA0
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_chip_id(u8 *chip_id_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8 = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the chip id*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_CHIP_ID_REG, &data_u8,
BNO055_GEN_READ_WRITE_LENGTH);
*chip_id_u8 = data_u8;
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads software revision id
* from register 0x04 and 0x05 it is a two byte of data
*
* @param sw_id_u8 : The SW revision id
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_sw_rev_id(u16 *sw_id_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* array having the software revision id
data_u8[0] - LSB
data_u8[1] - MSB*/
u8 data_u8[BNO055_REV_ID_SIZE] = {BNO055_INIT_VALUE,
BNO055_INIT_VALUE};
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty*/
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the two byte value of software
revision id*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_SW_REV_ID_LSB_REG,
data_u8, BNO055_LSB_MSB_READ_LENGTH);
data_u8[BNO055_SW_ID_LSB] =
BNO055_GET_BITSLICE(data_u8[BNO055_SW_ID_LSB],
BNO055_SW_REV_ID_LSB);
*sw_id_u8 = (u16)
((((u32)((u8)data_u8[BNO055_SW_ID_MSB])) <<
BNO055_SHIFT_EIGHT_BITS)
| (data_u8[BNO055_SW_ID_LSB]));
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads page id
* from register 0x07 it is a byte of data
*
*
* @param page_id_u8 : The value of page id
*
* BNO055_PAGE_ZERO -> 0x00
* BNO055_PAGE_ONE -> 0x01
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_page_id(u8 *page_id_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8 = BNO055_INIT_VALUE;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* Read the page id form 0x07*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_PAGE_ID_REG, &data_u8, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8 = BNO055_GET_BITSLICE(data_u8,
BNO055_PAGE_ID);
*page_id_u8 = data_u8;
p_bno055->page_id = data_u8;
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write
* the page id register 0x07
*
* @param page_id_u8 : The value of page id
*
* BNO055_PAGE_ZERO -> 0x00
* BNO055_PAGE_ONE -> 0x01
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_write_page_id(u8 page_id_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* Read the current page*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_PAGE_ID_REG, &data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
/* Check condition for communication BNO055_SUCCESS*/
if (com_rslt == BNO055_SUCCESS) {
data_u8r = BNO055_SET_BITSLICE(data_u8r,
BNO055_PAGE_ID, page_id_u8);
/* Write the page id*/
com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_PAGE_ID_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS)
p_bno055->page_id = page_id_u8;
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads accel revision id
* from register 0x01 it is a byte of value
*
* @param accel_rev_id_u8 : The accel revision id 0xFB
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_rev_id(
u8 *accel_rev_id_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8 = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the accel revision id */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_REV_ID_REG,
&data_u8, BNO055_GEN_READ_WRITE_LENGTH);
*accel_rev_id_u8 = data_u8;
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads mag revision id
* from register 0x02 it is a byte of value
*
* @param mag_rev_id_u8 : The mag revision id 0x32
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_rev_id(
u8 *mag_rev_id_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8 = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the mag revision id */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_MAG_REV_ID_REG,
&data_u8, BNO055_GEN_READ_WRITE_LENGTH);
*mag_rev_id_u8 = data_u8;
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads gyro revision id
* from register 0x03 it is a byte of value
*
* @param gyro_rev_id_u8 : The gyro revision id 0xF0
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_rev_id(
u8 *gyro_rev_id_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8 = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the gyro revision id */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_REV_ID_REG,
&data_u8, BNO055_GEN_READ_WRITE_LENGTH);
*gyro_rev_id_u8 = data_u8;
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to read boot loader revision id
* from register 0x06 it is a byte of value
*
* @param bl_rev_id_u8 : The boot loader revision id
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_bl_rev_id(
u8 *bl_rev_id_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8 = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the boot loader revision id */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_BL_REV_ID_REG,
&data_u8, BNO055_GEN_READ_WRITE_LENGTH);
*bl_rev_id_u8 = data_u8;
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads acceleration data X values
* from register 0x08 and 0x09 it is a two byte data
*
*
*
*
* @param accel_x_s16 : The X raw data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_x(s16 *accel_x_s16)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the accel x value
data_u8[BNO055_SENSOR_DATA_LSB] - x-LSB
data_u8[BNO055_SENSOR_DATA_MSB] - x-MSB
*/
u8 data_u8[BNO055_ACCEL_DATA_SIZE] = {BNO055_INIT_VALUE,
BNO055_INIT_VALUE};
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the accel x axis two byte value*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_DATA_X_LSB_VALUEX_REG,
data_u8, BNO055_LSB_MSB_READ_LENGTH);
data_u8[BNO055_SENSOR_DATA_LSB] =
BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB],
BNO055_ACCEL_DATA_X_LSB_VALUEX);
data_u8[BNO055_SENSOR_DATA_MSB] =
BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB],
BNO055_ACCEL_DATA_X_MSB_VALUEX);
*accel_x_s16 = (s16)((((s32)
(s8)(data_u8[BNO055_SENSOR_DATA_MSB])) <<
(BNO055_SHIFT_EIGHT_BITS))
| (data_u8[BNO055_SENSOR_DATA_LSB]));
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads acceleration data Y values
* from register 0x0A and 0x0B it is a two byte data
*
*
*
*
* @param accel_y_s16 : The Y raw data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_y(s16 *accel_y_s16)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the accel y value
data_u8[BNO055_SENSOR_DATA_LSB] - y-LSB
data_u8[BNO055_SENSOR_DATA_MSB] - y-MSB
*/
u8 data_u8[BNO055_ACCEL_DATA_SIZE] = {BNO055_INIT_VALUE,
BNO055_INIT_VALUE};
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the accel y axis two byte value*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_DATA_Y_LSB_VALUEY_REG,
data_u8, BNO055_LSB_MSB_READ_LENGTH);
data_u8[BNO055_SENSOR_DATA_LSB] =
BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB],
BNO055_ACCEL_DATA_Y_LSB_VALUEY);
data_u8[BNO055_SENSOR_DATA_MSB] =
BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB],
BNO055_ACCEL_DATA_Y_MSB_VALUEY);
*accel_y_s16 = (s16)((((s32)
((s8)data_u8[BNO055_SENSOR_DATA_MSB])) <<
BNO055_SHIFT_EIGHT_BITS) |
(data_u8[BNO055_SENSOR_DATA_LSB]));
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads acceleration data z values
* from register 0x0C and 0x0D it is a two byte data
*
*
*
*
* @param accel_z_s16 : The z raw data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_z(s16 *accel_z_s16)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the accel z value
data_u8[BNO055_SENSOR_DATA_LSB] - z-LSB
data_u8[BNO055_SENSOR_DATA_MSB] - z-MSB
*/
u8 data_u8[BNO055_ACCEL_DATA_SIZE] = {BNO055_INIT_VALUE,
BNO055_INIT_VALUE};
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the accel z axis two byte value*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_DATA_Z_LSB_VALUEZ_REG,
data_u8, BNO055_LSB_MSB_READ_LENGTH);
data_u8[BNO055_SENSOR_DATA_LSB] =
BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB],
BNO055_ACCEL_DATA_Z_LSB_VALUEZ);
data_u8[BNO055_SENSOR_DATA_MSB] =
BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB],
BNO055_ACCEL_DATA_Z_MSB_VALUEZ);
*accel_z_s16 = (s16)((((s32)
((s8)data_u8[BNO055_SENSOR_DATA_MSB])) <<
BNO055_SHIFT_EIGHT_BITS) |
(data_u8[BNO055_SENSOR_DATA_LSB]));
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads acceleration data xyz values
* from register 0x08 to 0x0D it is a six byte data
*
*
* @param accel : The value of accel xyz data
*
* Parameter | result
* --------- | -----------------
* x | The accel x data
* y | The accel y data
* z | The accel z data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_xyz(
struct bno055_accel_t *accel)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the accel xyz value
data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB] - x->LSB
data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB] - x->MSB
data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB] - y->MSB
data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB] - y->MSB
data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB] - z->MSB
data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB] - z->MSB
*/
u8 data_u8[BNO055_ACCEL_XYZ_DATA_SIZE] = {
BNO055_INIT_VALUE, BNO055_INIT_VALUE,
BNO055_INIT_VALUE, BNO055_INIT_VALUE,
BNO055_INIT_VALUE, BNO055_INIT_VALUE};
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_DATA_X_LSB_VALUEX_REG,
data_u8, BNO055_ACCEL_XYZ_DATA_SIZE);
/* Data X*/
data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB],
BNO055_ACCEL_DATA_X_LSB_VALUEX);
data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB],
BNO055_ACCEL_DATA_X_MSB_VALUEX);
accel->x = (s16)((((s32)
((s8)data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB])) <<
BNO055_SHIFT_EIGHT_BITS)
| (data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB]));
/* Data Y*/
data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB],
BNO055_ACCEL_DATA_Y_LSB_VALUEY);
data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB],
BNO055_ACCEL_DATA_Y_MSB_VALUEY);
accel->y = (s16)((((s32)
((s8)data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB])) <<
BNO055_SHIFT_EIGHT_BITS)
| (data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB]));
/* Data Z*/
data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB],
BNO055_ACCEL_DATA_Z_LSB_VALUEZ);
data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB],
BNO055_ACCEL_DATA_Z_MSB_VALUEZ);
accel->z = (s16)((((s32)
((s8)data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB])) <<
BNO055_SHIFT_EIGHT_BITS)
| (data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB]));
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads mag data x values
* from register 0x0E and 0x0F it is a two byte data
*
*
*
*
* @param mag_x_s16 : The x raw data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_x(s16 *mag_x_s16)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the mag x value
data_u8[BNO055_SENSOR_DATA_LSB] - x->LSB
data_u8[BNO055_SENSOR_DATA_MSB] - x->MSB
*/
u8 data_u8[BNO055_MAG_DATA_SIZE] = {BNO055_INIT_VALUE,
BNO055_INIT_VALUE};
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/*Read the mag x two bytes of data */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_MAG_DATA_X_LSB_VALUEX_REG,
data_u8, BNO055_LSB_MSB_READ_LENGTH);
data_u8[BNO055_SENSOR_DATA_LSB] =
BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB],
BNO055_MAG_DATA_X_LSB_VALUEX);
data_u8[BNO055_SENSOR_DATA_MSB] =
BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB],
BNO055_MAG_DATA_X_MSB_VALUEX);
*mag_x_s16 = (s16)((((s32)
((s8)data_u8[BNO055_SENSOR_DATA_MSB])) <<
BNO055_SHIFT_EIGHT_BITS) | (
data_u8[BNO055_SENSOR_DATA_LSB]));
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads mag data y values
* from register 0x10 and 0x11 it is a two byte data
*
*
*
*
* @param mag_y_s16 : The y raw data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_y(s16 *mag_y_s16)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the mag y value
data_u8[BNO055_SENSOR_DATA_LSB] - y->LSB
data_u8[BNO055_SENSOR_DATA_MSB] - y->MSB
*/
u8 data_u8[BNO055_MAG_DATA_SIZE] = {
BNO055_INIT_VALUE, BNO055_INIT_VALUE};
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/*Read the mag y two bytes of data */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_MAG_DATA_Y_LSB_VALUEY_REG,
data_u8, BNO055_LSB_MSB_READ_LENGTH);
data_u8[BNO055_SENSOR_DATA_LSB] =
BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB],
BNO055_MAG_DATA_Y_LSB_VALUEY);
data_u8[BNO055_SENSOR_DATA_MSB] =
BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB],
BNO055_MAG_DATA_Y_MSB_VALUEY);
*mag_y_s16 = (s16)((((s32)
((s8)data_u8[BNO055_SENSOR_DATA_MSB])) <<
BNO055_SHIFT_EIGHT_BITS) |
(data_u8[BNO055_SENSOR_DATA_LSB]));
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads mag data z values
* from register 0x12 and 0x13 it is a two byte data
*
*
*
*
* @param mag_z_s16 : The z raw data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_z(s16 *mag_z_s16)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the mag z value
data_u8[BNO055_SENSOR_DATA_LSB] - z->LSB
data_u8[BNO055_SENSOR_DATA_MSB] - z->MSB
*/
u8 data_u8[BNO055_MAG_DATA_SIZE] = {
BNO055_INIT_VALUE, BNO055_INIT_VALUE};
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_MAG_DATA_Z_LSB_VALUEZ_REG,
data_u8, BNO055_LSB_MSB_READ_LENGTH);
/*Read the mag z two bytes of data */
data_u8[BNO055_SENSOR_DATA_LSB] =
BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB],
BNO055_MAG_DATA_Z_LSB_VALUEZ);
data_u8[BNO055_SENSOR_DATA_MSB] =
BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB],
BNO055_MAG_DATA_Z_MSB_VALUEZ);
*mag_z_s16 = (s16)((((s32)
((s8)data_u8[BNO055_SENSOR_DATA_MSB])) <<
BNO055_SHIFT_EIGHT_BITS)
| (data_u8[BNO055_SENSOR_DATA_LSB]));
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads mag data xyz values
* from register 0x0E to 0x13 it is a six byte data
*
*
* @param mag : The mag xyz values
*
* Parameter | result
* --------- | -----------------
* x | The mag x data
* y | The mag y data
* z | The mag z data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_xyz(struct bno055_mag_t *mag)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the mag xyz value
data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB] - x->LSB
data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB] - x->MSB
data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB] - y->MSB
data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB] - y->MSB
data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB] - z->MSB
data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB] - z->MSB
*/
u8 data_u8[BNO055_MAG_XYZ_DATA_SIZE] = {
BNO055_INIT_VALUE, BNO055_INIT_VALUE,
BNO055_INIT_VALUE, BNO055_INIT_VALUE,
BNO055_INIT_VALUE, BNO055_INIT_VALUE};
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/*Read the six byte value of mag xyz*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_MAG_DATA_X_LSB_VALUEX_REG,
data_u8, BNO055_MAG_XYZ_DATA_SIZE);
/* Data X*/
data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB],
BNO055_MAG_DATA_X_LSB_VALUEX);
data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB],
BNO055_MAG_DATA_X_MSB_VALUEX);
mag->x = (s16)((((s32)
((s8)data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB])) <<
BNO055_SHIFT_EIGHT_BITS) |
(data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB]));
/* Data Y*/
data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB],
BNO055_MAG_DATA_Y_LSB_VALUEY);
data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB],
BNO055_MAG_DATA_Y_MSB_VALUEY);
mag->y = (s16)((((s32)
((s8)data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB])) <<
BNO055_SHIFT_EIGHT_BITS) |
(data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB]));
/* Data Z*/
data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB],
BNO055_MAG_DATA_Z_LSB_VALUEZ);
data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB],
BNO055_MAG_DATA_Z_MSB_VALUEZ);
mag->z = (s16)((((s32)
((s8)data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB])) <<
BNO055_SHIFT_EIGHT_BITS)
| (data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB]));
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads gyro data x values
* from register 0x14 and 0x15 it is a two byte data
*
*
*
*
* @param gyro_x_s16 : The x raw data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_x(s16 *gyro_x_s16)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8[BNO055_GYRO_DATA_SIZE] = {
BNO055_INIT_VALUE, BNO055_INIT_VALUE};
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the gyro 16 bit x value*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_DATA_X_LSB_VALUEX_REG,
data_u8, BNO055_LSB_MSB_READ_LENGTH);
data_u8[BNO055_SENSOR_DATA_LSB] =
BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB],
BNO055_GYRO_DATA_X_LSB_VALUEX);
data_u8[BNO055_SENSOR_DATA_MSB] =
BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB],
BNO055_GYRO_DATA_X_MSB_VALUEX);
*gyro_x_s16 = (s16)((((s32)
((s8)data_u8[BNO055_SENSOR_DATA_MSB])) <<
BNO055_SHIFT_EIGHT_BITS) |
(data_u8[BNO055_SENSOR_DATA_LSB]));
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads gyro data y values
* from register 0x16 and 0x17 it is a two byte data
*
*
*
*
* @param gyro_y_s16 : The y raw data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_y(s16 *gyro_y_s16)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8[BNO055_GYRO_DATA_SIZE] = {
BNO055_INIT_VALUE, BNO055_INIT_VALUE};
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the value of gyro y */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_DATA_Y_LSB_VALUEY_REG,
data_u8, BNO055_LSB_MSB_READ_LENGTH);
data_u8[BNO055_SENSOR_DATA_LSB] =
BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB],
BNO055_GYRO_DATA_Y_LSB_VALUEY);
data_u8[BNO055_SENSOR_DATA_MSB] =
BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB],
BNO055_GYRO_DATA_Y_MSB_VALUEY);
*gyro_y_s16 = (s16)((((s32)
((s8)data_u8[BNO055_SENSOR_DATA_MSB])) <<
BNO055_SHIFT_EIGHT_BITS)
| (data_u8[BNO055_SENSOR_DATA_LSB]));
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads gyro data z values
* from register 0x18 and 0x19 it is a two byte data
*
* @param gyro_z_s16 : The z raw data
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_z(s16 *gyro_z_s16)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8[BNO055_GYRO_DATA_SIZE] = {
BNO055_INIT_VALUE, BNO055_INIT_VALUE};
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the gyro z 16 bit value*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_DATA_Z_LSB_VALUEZ_REG,
data_u8, BNO055_LSB_MSB_READ_LENGTH);
data_u8[BNO055_SENSOR_DATA_LSB] =
BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB],
BNO055_GYRO_DATA_Z_LSB_VALUEZ);
data_u8[BNO055_SENSOR_DATA_MSB] =
BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB],
BNO055_GYRO_DATA_Z_MSB_VALUEZ);
*gyro_z_s16 = (s16)((((s32)
((s8)data_u8[BNO055_SENSOR_DATA_MSB])) <<
BNO055_SHIFT_EIGHT_BITS)
| (data_u8[BNO055_SENSOR_DATA_LSB]));
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads gyro data xyz values
* from register 0x14 to 0x19 it is a six byte data
*
*
* @param gyro : The value of gyro xyz data's
*
* Parameter | result
* --------- | -----------------
* x | The gyro x data
* y | The gyro y data
* z | The gyro z data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_xyz(struct bno055_gyro_t *gyro)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the gyro xyz value
data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB] - x->LSB
data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB] - x->MSB
data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB] - y->MSB
data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB] - y->MSB
data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB] - z->MSB
data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB] - z->MSB
*/
u8 data_u8[BNO055_GYRO_XYZ_DATA_SIZE] = {
BNO055_INIT_VALUE, BNO055_INIT_VALUE,
BNO055_INIT_VALUE, BNO055_INIT_VALUE,
BNO055_INIT_VALUE, BNO055_INIT_VALUE};
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the six bytes data of gyro xyz*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_DATA_X_LSB_VALUEX_REG,
data_u8, BNO055_GYRO_XYZ_DATA_SIZE);
/* Data x*/
data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB],
BNO055_GYRO_DATA_X_LSB_VALUEX);
data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB],
BNO055_GYRO_DATA_X_MSB_VALUEX);
gyro->x = (s16)((((s32)
((s8)data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB])) <<
BNO055_SHIFT_EIGHT_BITS) |
(data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB]));
/* Data y*/
data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB],
BNO055_GYRO_DATA_Y_LSB_VALUEY);
data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB],
BNO055_GYRO_DATA_Y_MSB_VALUEY);
gyro->y = (s16)((((s32)
((s8)data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB])) <<
BNO055_SHIFT_EIGHT_BITS)
| (data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB]));
/* Data z*/
data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB],
BNO055_GYRO_DATA_Z_LSB_VALUEZ);
data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB],
BNO055_GYRO_DATA_Z_MSB_VALUEZ);
gyro->z = (s16)((((s32)
((s8)data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB])) <<
BNO055_SHIFT_EIGHT_BITS)
| (data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB]));
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads gyro data z values
* from register 0x1A and 0x1B it is a two byte data
*
* @param euler_h_s16 : The raw h data
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_h(s16 *euler_h_s16)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the Euler h value
data_u8[BNO055_SENSOR_DATA_EULER_LSB] - h->LSB
data_u8[BNO055_SENSOR_DATA_EULER_MSB] - h->MSB
*/
u8 data_u8[BNO055_EULER_DATA_SIZE] = {
BNO055_INIT_VALUE, BNO055_INIT_VALUE};
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the eulre heading data*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_EULER_H_LSB_VALUEH_REG,
data_u8, BNO055_LSB_MSB_READ_LENGTH);
data_u8[BNO055_SENSOR_DATA_EULER_LSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_EULER_LSB],
BNO055_EULER_H_LSB_VALUEH);
data_u8[BNO055_SENSOR_DATA_EULER_MSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_EULER_MSB],
BNO055_EULER_H_MSB_VALUEH);
*euler_h_s16 = (s16)((((s32)
((s8)data_u8[BNO055_SENSOR_DATA_EULER_MSB])) <<
BNO055_SHIFT_EIGHT_BITS) |
(data_u8[BNO055_SENSOR_DATA_EULER_LSB]));
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads Euler data r values
* from register 0x1C and 0x1D it is a two byte data
*
* @param euler_r_s16 : The raw r data
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_r(s16 *euler_r_s16)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the Euler r value
data_u8[BNO055_SENSOR_DATA_EULER_LSB] - r->LSB
data_u8[BNO055_SENSOR_DATA_EULER_MSB] - r->MSB
*/
u8 data_u8[BNO055_EULER_DATA_SIZE] = {
BNO055_INIT_VALUE, BNO055_INIT_VALUE};
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the Euler roll data*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_EULER_R_LSB_VALUER_REG,
data_u8, BNO055_LSB_MSB_READ_LENGTH);
data_u8[BNO055_SENSOR_DATA_EULER_LSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_EULER_LSB],
BNO055_EULER_R_LSB_VALUER);
data_u8[BNO055_SENSOR_DATA_EULER_MSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_EULER_MSB],
BNO055_EULER_R_MSB_VALUER);
*euler_r_s16 = (s16)((((s32)
((s8)data_u8[BNO055_SENSOR_DATA_EULER_MSB])) <<
BNO055_SHIFT_EIGHT_BITS)
| (data_u8[BNO055_SENSOR_DATA_EULER_LSB]));
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads Euler data p values
* from register 0x1E and 0x1F it is a two byte data
*
* @param euler_p_s16 : The raw p data
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_p(s16 *euler_p_s16)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the Euler p value
data_u8[BNO055_SENSOR_DATA_EULER_LSB] - p->LSB
data_u8[BNO055_SENSOR_DATA_EULER_MSB] - p->MSB
*/
u8 data_u8[BNO055_EULER_DATA_SIZE] = {
BNO055_INIT_VALUE, BNO055_INIT_VALUE};
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the Euler p data*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_EULER_P_LSB_VALUEP_REG,
data_u8, BNO055_LSB_MSB_READ_LENGTH);
data_u8[BNO055_SENSOR_DATA_EULER_LSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_EULER_LSB],
BNO055_EULER_P_LSB_VALUEP);
data_u8[BNO055_SENSOR_DATA_EULER_MSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_EULER_MSB],
BNO055_EULER_P_MSB_VALUEP);
*euler_p_s16 = (s16)((((s32)
((s8)data_u8[BNO055_SENSOR_DATA_EULER_MSB])) <<
BNO055_SHIFT_EIGHT_BITS)
| (data_u8[BNO055_SENSOR_DATA_EULER_LSB]));
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads Euler data hrp values
* from register 0x1A to 0x1F it is a six byte data
*
*
* @param euler : The Euler hrp data's
*
* Parameter | result
* --------- | -----------------
* h | The Euler h data
* r | The Euler r data
* p | The Euler p data
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_hrp(
struct bno055_euler_t *euler)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the Euler hrp value
data_u8[BNO055_SENSOR_DATA_EULER_HRP_H_LSB] - h->LSB
data_u8[BNO055_SENSOR_DATA_EULER_HRP_H_MSB] - h->MSB
data_u8[BNO055_SENSOR_DATA_EULER_HRP_R_LSB] - r->MSB
data_u8[BNO055_SENSOR_DATA_EULER_HRP_R_MSB] - r->MSB
data_u8[BNO055_SENSOR_DATA_EULER_HRP_P_LSB] - p->MSB
data_u8[BNO055_SENSOR_DATA_EULER_HRP_P_MSB] - p->MSB
*/
u8 data_u8[BNO055_EULER_HRP_DATA_SIZE] = {
BNO055_INIT_VALUE, BNO055_INIT_VALUE,
BNO055_INIT_VALUE, BNO055_INIT_VALUE,
BNO055_INIT_VALUE, BNO055_INIT_VALUE};
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the six byte of Euler hrp data*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_EULER_H_LSB_VALUEH_REG,
data_u8, BNO055_EULER_HRP_DATA_SIZE);
/* Data h*/
data_u8[BNO055_SENSOR_DATA_EULER_HRP_H_LSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_EULER_HRP_H_LSB],
BNO055_EULER_H_LSB_VALUEH);
data_u8[BNO055_SENSOR_DATA_EULER_HRP_H_MSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_EULER_HRP_H_MSB],
BNO055_EULER_H_MSB_VALUEH);
euler->h = (s16)((((s32)
((s8)data_u8[BNO055_SENSOR_DATA_EULER_HRP_H_MSB])) <<
BNO055_SHIFT_EIGHT_BITS) |
(data_u8[BNO055_SENSOR_DATA_EULER_HRP_H_LSB]));
/* Data r*/
data_u8[BNO055_SENSOR_DATA_EULER_HRP_R_LSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_EULER_HRP_R_LSB],
BNO055_EULER_R_LSB_VALUER);
data_u8[BNO055_SENSOR_DATA_EULER_HRP_R_MSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_EULER_HRP_R_MSB],
BNO055_EULER_R_MSB_VALUER);
euler->r = (s16)((((s32)
((s8)data_u8[BNO055_SENSOR_DATA_EULER_HRP_R_MSB])) <<
BNO055_SHIFT_EIGHT_BITS)
| (data_u8[BNO055_SENSOR_DATA_EULER_HRP_R_LSB]));
/* Data p*/
data_u8[BNO055_SENSOR_DATA_EULER_HRP_P_LSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_EULER_HRP_P_LSB],
BNO055_EULER_P_LSB_VALUEP);
data_u8[BNO055_SENSOR_DATA_EULER_HRP_P_MSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_EULER_HRP_P_MSB],
BNO055_EULER_P_MSB_VALUEP);
euler->p = (s16)((((s32)
((s8)data_u8[BNO055_SENSOR_DATA_EULER_HRP_P_MSB])) <<
BNO055_SHIFT_EIGHT_BITS)
| (data_u8[BNO055_SENSOR_DATA_EULER_HRP_P_LSB]));
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads quaternion data w values
* from register 0x20 and 0x21 it is a two byte data
*
* @param quaternion_w_s16 : The raw w data
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_w(
s16 *quaternion_w_s16)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the Quaternion w value
data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB] - w->LSB
data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB] - w->MSB
*/
u8 data_u8[BNO055_QUATERNION_DATA_SIZE] = {
BNO055_INIT_VALUE, BNO055_INIT_VALUE};
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the two byte value
of quaternion w data*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_QUATERNION_DATA_W_LSB_VALUEW_REG,
data_u8, BNO055_LSB_MSB_READ_LENGTH);
data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB],
BNO055_QUATERNION_DATA_W_LSB_VALUEW);
data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB],
BNO055_QUATERNION_DATA_W_MSB_VALUEW);
*quaternion_w_s16 = (s16)((((s32)
((s8)data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB])) <<
BNO055_SHIFT_EIGHT_BITS)
| (data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB]));
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads quaternion data x values
* from register 0x22 and 0x23 it is a two byte data
*
* @param quaternion_x_s16 : The raw x data
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_x(
s16 *quaternion_x_s16)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the quaternion x value
data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB] - x->LSB
data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB] - x->MSB
*/
u8 data_u8[BNO055_QUATERNION_DATA_SIZE] = {BNO055_INIT_VALUE,
BNO055_INIT_VALUE};
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the two byte value
of quaternion x data*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_QUATERNION_DATA_X_LSB_VALUEX_REG,
data_u8, BNO055_LSB_MSB_READ_LENGTH);
data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB],
BNO055_QUATERNION_DATA_X_LSB_VALUEX);
data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB],
BNO055_QUATERNION_DATA_X_MSB_VALUEX);
*quaternion_x_s16 = (s16)((((s32)
((s8)data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB])) <<
BNO055_SHIFT_EIGHT_BITS) |
(data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB]));
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads quaternion data y values
* from register 0x24 and 0x25 it is a two byte data
*
* @param quaternion_y_s16 : The raw y data
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_y(
s16 *quaternion_y_s16)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the quaternion y value
data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB] - y->LSB
data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB] - y->MSB
*/
u8 data_u8[BNO055_QUATERNION_DATA_SIZE] = {BNO055_INIT_VALUE,
BNO055_INIT_VALUE};
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the two byte value
of quaternion y data*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_QUATERNION_DATA_Y_LSB_VALUEY_REG,
data_u8, BNO055_LSB_MSB_READ_LENGTH);
data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB],
BNO055_QUATERNION_DATA_Y_LSB_VALUEY);
data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB] =
BNO055_GET_BITSLICE
(data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB],
BNO055_QUATERNION_DATA_Y_MSB_VALUEY);
*quaternion_y_s16 = (s16)((((s32)
((s8)data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB])) <<
BNO055_SHIFT_EIGHT_BITS)
| (data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB]));
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads quaternion data z values
* from register 0x26 and 0x27 it is a two byte data
*
* @param quaternion_z_s16 : The raw z data
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_z(
s16 *quaternion_z_s16)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the quaternion z value
data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB] - z->LSB
data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB] - z->MSB
*/
u8 data_u8[BNO055_QUATERNION_DATA_SIZE] = {
BNO055_INIT_VALUE, BNO055_INIT_VALUE};
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the two byte value
of quaternion z data*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_QUATERNION_DATA_Z_LSB_VALUEZ_REG,
data_u8, BNO055_LSB_MSB_READ_LENGTH);
data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB],
BNO055_QUATERNION_DATA_Z_LSB_VALUEZ);
data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB],
BNO055_QUATERNION_DATA_Z_MSB_VALUEZ);
*quaternion_z_s16 = (s16)((((s32)
((s8)data_u8[BNO055_SENSOR_DATA_QUATERNION_MSB])) <<
BNO055_SHIFT_EIGHT_BITS)
| (data_u8[BNO055_SENSOR_DATA_QUATERNION_LSB]));
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads Quaternion data wxyz values
* from register 0x20 to 0x27 it is a six byte data
*
*
* @param quaternion : The value of quaternion wxyz data's
*
* Parameter | result
* --------- | -----------------
* w | The quaternion w data
* x | The quaternion x data
* y | The quaternion y data
* z | The quaternion z data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_wxyz(
struct bno055_quaternion_t *quaternion)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the quaternion wxyz value
data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_LSB] - w->LSB
data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_MSB] - w->MSB
data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_LSB] - x->LSB
data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_MSB] - x->MSB
data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_LSB] - y->MSB
data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_MSB] - y->MSB
data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_LSB] - z->MSB
data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_MSB] - z->MSB
*/
u8 data_u8[BNO055_QUATERNION_WXYZ_DATA_SIZE] = {
BNO055_INIT_VALUE, BNO055_INIT_VALUE,
BNO055_INIT_VALUE, BNO055_INIT_VALUE,
BNO055_INIT_VALUE, BNO055_INIT_VALUE,
BNO055_INIT_VALUE, BNO055_INIT_VALUE};
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the eight byte value
of quaternion wxyz data*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_QUATERNION_DATA_W_LSB_VALUEW_REG,
data_u8, BNO055_QUATERNION_WXYZ_DATA_SIZE);
/* Data W*/
data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_LSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_LSB],
BNO055_QUATERNION_DATA_W_LSB_VALUEW);
data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_MSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_MSB],
BNO055_QUATERNION_DATA_W_MSB_VALUEW);
quaternion->w = (s16)((((s32)((s8)
data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_MSB])) <<
BNO055_SHIFT_EIGHT_BITS) |
(data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_LSB]));
/* Data X*/
data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_LSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_LSB],
BNO055_QUATERNION_DATA_X_LSB_VALUEX);
data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_MSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_MSB],
BNO055_QUATERNION_DATA_X_MSB_VALUEX);
quaternion->x = (s16)((((s32)((s8)
data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_MSB])) <<
BNO055_SHIFT_EIGHT_BITS) |
(data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_LSB]));
/* Data Y*/
data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_LSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_LSB],
BNO055_QUATERNION_DATA_Y_LSB_VALUEY);
data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_MSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_MSB],
BNO055_QUATERNION_DATA_Y_MSB_VALUEY);
quaternion->y = (s16)((((s32)((s8)
data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_MSB])) <<
BNO055_SHIFT_EIGHT_BITS) |
(data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_LSB]));
/* Data Z*/
data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_LSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_LSB],
BNO055_QUATERNION_DATA_Z_LSB_VALUEZ);
data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_MSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_MSB],
BNO055_QUATERNION_DATA_Z_MSB_VALUEZ);
quaternion->z = (s16)((((s32)((s8)
data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_MSB])) <<
BNO055_SHIFT_EIGHT_BITS) |
(data_u8[BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_LSB]));
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads Linear accel data x values
* from register 0x29 and 0x2A it is a two byte data
*
* @param linear_accel_x_s16 : The raw x data
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_x(
s16 *linear_accel_x_s16)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the linear accel x value
data_u8[BNO055_SENSOR_DATA_LSB] - x->LSB
data_u8[BNO055_SENSOR_DATA_MSB] - x->MSB
*/
u8 data_u8[BNO055_ACCEL_DATA_SIZE] = {
BNO055_INIT_VALUE, BNO055_INIT_VALUE};
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the two byte value
of linear accel x data*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX_REG,
data_u8, BNO055_LSB_MSB_READ_LENGTH);
data_u8[BNO055_SENSOR_DATA_LSB] =
BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB],
BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX);
data_u8[BNO055_SENSOR_DATA_MSB] =
BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB],
BNO055_LINEAR_ACCEL_DATA_X_MSB_VALUEX);
*linear_accel_x_s16 = (s16)((((s32)
((s8)data_u8[BNO055_SENSOR_DATA_MSB])) <<
BNO055_SHIFT_EIGHT_BITS)
| (data_u8[BNO055_SENSOR_DATA_LSB]));
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads Linear accel data x values
* from register 0x2B and 0x2C it is a two byte data
*
* @param linear_accel_y_s16 : The raw y data
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_y(
s16 *linear_accel_y_s16)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the linear accel y value
data_u8[BNO055_SENSOR_DATA_LSB] - y->LSB
data_u8[BNO055_SENSOR_DATA_MSB] - y->MSB
*/
u8 data_u8[BNO055_ACCEL_DATA_SIZE] = {
BNO055_INIT_VALUE, BNO055_INIT_VALUE};
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the two byte value
of linear accel y data*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY_REG,
data_u8, BNO055_LSB_MSB_READ_LENGTH);
data_u8[BNO055_SENSOR_DATA_LSB] =
BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB],
BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY);
data_u8[BNO055_SENSOR_DATA_MSB] =
BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB],
BNO055_LINEAR_ACCEL_DATA_Y_MSB_VALUEY);
*linear_accel_y_s16 = (s16)((((s32)
((s8)data_u8[BNO055_SENSOR_DATA_MSB])) <<
BNO055_SHIFT_EIGHT_BITS) | (
data_u8[BNO055_SENSOR_DATA_LSB]));
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads Linear accel data x values
* from register 0x2C and 0x2D it is a two byte data
*
* @param linear_accel_z_s16 : The raw z data
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_z(
s16 *linear_accel_z_s16)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the linear accel z value
data_u8[BNO055_SENSOR_DATA_LSB] - z->LSB
data_u8[BNO055_SENSOR_DATA_MSB] - z->MSB
*/
u8 data_u8[BNO055_ACCEL_DATA_SIZE] = {
BNO055_INIT_VALUE, BNO055_INIT_VALUE};
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the two byte value
of linear accel z data*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ_REG,
data_u8, BNO055_LSB_MSB_READ_LENGTH);
data_u8[BNO055_SENSOR_DATA_LSB] =
BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB],
BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ);
data_u8[BNO055_SENSOR_DATA_MSB] =
BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB],
BNO055_LINEAR_ACCEL_DATA_Z_MSB_VALUEZ);
*linear_accel_z_s16 = (s16)((((s32)
((s8)data_u8[BNO055_SENSOR_DATA_MSB])) <<
BNO055_SHIFT_EIGHT_BITS) | (
data_u8[BNO055_SENSOR_DATA_LSB]));
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads Linear accel data xyz values
* from register 0x28 to 0x2D it is a six byte data
*
*
* @param linear_accel : The value of linear accel xyz data's
*
* Parameter | result
* --------- | -----------------
* x | The linear accel x data
* y | The linear accel y data
* z | The linear accel z data
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_xyz(
struct bno055_linear_accel_t *linear_accel)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the linear accel xyz value
data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB] - x->LSB
data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB] - x->MSB
data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB] - y->MSB
data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB] - y->MSB
data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB] - z->MSB
data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB] - z->MSB
*/
u8 data_u8[BNO055_ACCEL_XYZ_DATA_SIZE] = {
BNO055_INIT_VALUE, BNO055_INIT_VALUE,
BNO055_INIT_VALUE, BNO055_INIT_VALUE,
BNO055_INIT_VALUE, BNO055_INIT_VALUE};
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the six byte value
of linear accel xyz data*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX_REG,
data_u8, BNO055_ACCEL_XYZ_DATA_SIZE);
/* Data x*/
data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB],
BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX);
data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB],
BNO055_LINEAR_ACCEL_DATA_X_MSB_VALUEX);
linear_accel->x = (s16)((((s32)
((s8)data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB])) <<
BNO055_SHIFT_EIGHT_BITS)
| (data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB]));
/* Data y*/
data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB],
BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY);
data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB],
BNO055_LINEAR_ACCEL_DATA_Y_MSB_VALUEY);
linear_accel->y = (s16)((((s32)
((s8)data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB])) <<
BNO055_SHIFT_EIGHT_BITS)
| (data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB]));
/* Data z*/
data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB],
BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ);
data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB],
BNO055_LINEAR_ACCEL_DATA_Z_MSB_VALUEZ);
linear_accel->z = (s16)((((s32)
((s8)data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB])) <<
BNO055_SHIFT_EIGHT_BITS)
| (data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB]));
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads gravity data x values
* from register 0x2E and 0x2F it is a two byte data
*
* @param gravity_x_s16 : The raw x data
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_x(
s16 *gravity_x_s16)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the gravity x value
data_u8[BNO055_SENSOR_DATA_LSB] - x->LSB
data_u8[BNO055_SENSOR_DATA_MSB] - x->MSB
*/
u8 data_u8[BNO055_GRAVITY_DATA_SIZE] = {
BNO055_INIT_VALUE, BNO055_INIT_VALUE};
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the two byte value
of gravity x data*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GRAVITY_DATA_X_LSB_VALUEX_REG,
data_u8, BNO055_LSB_MSB_READ_LENGTH);
data_u8[BNO055_SENSOR_DATA_LSB] =
BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB],
BNO055_GRAVITY_DATA_X_LSB_VALUEX);
data_u8[BNO055_SENSOR_DATA_MSB] =
BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB],
BNO055_GRAVITY_DATA_X_MSB_VALUEX);
*gravity_x_s16 = (s16)((((s32)
((s8)data_u8[BNO055_SENSOR_DATA_MSB])) <<
BNO055_SHIFT_EIGHT_BITS)
| (data_u8[BNO055_SENSOR_DATA_LSB]));
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads gravity data y values
* from register 0x30 and 0x31 it is a two byte data
*
* @param gravity_y_s16 : The raw y data
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_y(
s16 *gravity_y_s16)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the gravity y value
data_u8[BNO055_SENSOR_DATA_LSB] - y->LSB
data_u8[BNO055_SENSOR_DATA_MSB] - y->MSB
*/
u8 data_u8[BNO055_GRAVITY_DATA_SIZE] = {
BNO055_INIT_VALUE, BNO055_INIT_VALUE};
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the two byte value
of gravity y data*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GRAVITY_DATA_Y_LSB_VALUEY_REG,
data_u8, BNO055_LSB_MSB_READ_LENGTH);
data_u8[BNO055_SENSOR_DATA_LSB] =
BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB],
BNO055_GRAVITY_DATA_Y_LSB_VALUEY);
data_u8[BNO055_SENSOR_DATA_MSB] =
BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB],
BNO055_GRAVITY_DATA_Y_MSB_VALUEY);
*gravity_y_s16 = (s16)((((s32)
((s8)data_u8[BNO055_SENSOR_DATA_MSB])) <<
BNO055_SHIFT_EIGHT_BITS)
| (data_u8[BNO055_SENSOR_DATA_LSB]));
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads gravity data z values
* from register 0x32 and 0x33 it is a two byte data
*
* @param gravity_z_s16 : The raw z data
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_z(
s16 *gravity_z_s16)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the gravity z value
data_u8[BNO055_SENSOR_DATA_LSB] - z->LSB
data_u8[BNO055_SENSOR_DATA_MSB] - z->MSB
*/
u8 data_u8[BNO055_GRAVITY_DATA_SIZE] = {
BNO055_INIT_VALUE, BNO055_INIT_VALUE};
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the two byte value
of gravity z data*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GRAVITY_DATA_Z_LSB_VALUEZ_REG,
data_u8, BNO055_LSB_MSB_READ_LENGTH);
data_u8[BNO055_SENSOR_DATA_LSB] =
BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_LSB],
BNO055_GRAVITY_DATA_Z_LSB_VALUEZ);
data_u8[BNO055_SENSOR_DATA_MSB] =
BNO055_GET_BITSLICE(data_u8[BNO055_SENSOR_DATA_MSB],
BNO055_GRAVITY_DATA_Z_MSB_VALUEZ);
*gravity_z_s16 = (s16)((((s32)
((s8)data_u8[BNO055_SENSOR_DATA_MSB])) <<
BNO055_SHIFT_EIGHT_BITS)
| (data_u8[BNO055_SENSOR_DATA_LSB]));
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads gravity data xyz values
* from register 0x2E to 0x33 it is a six byte data
*
*
* @param gravity : The value of gravity xyz data's
*
* Parameter | result
* --------- | -----------------
* x | The gravity x data
* y | The gravity y data
* z | The gravity z data
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_xyz(
struct bno055_gravity_t *gravity)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the gravity xyz value
data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB] - x->LSB
data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB] - x->MSB
data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB] - y->MSB
data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB] - y->MSB
data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB] - z->MSB
data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB] - z->MSB
*/
u8 data_u8[BNO055_GRAVITY_XYZ_DATA_SIZE] = {
BNO055_INIT_VALUE, BNO055_INIT_VALUE,
BNO055_INIT_VALUE, BNO055_INIT_VALUE,
BNO055_INIT_VALUE, BNO055_INIT_VALUE};
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the six byte value
of gravity xyz data*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GRAVITY_DATA_X_LSB_VALUEX_REG,
data_u8, BNO055_GRAVITY_XYZ_DATA_SIZE);
/* Data x*/
data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB],
BNO055_GRAVITY_DATA_X_LSB_VALUEX);
data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB],
BNO055_GRAVITY_DATA_X_MSB_VALUEX);
gravity->x = (s16)(((s32)
((s8)data_u8[BNO055_SENSOR_DATA_XYZ_X_MSB]) <<
BNO055_SHIFT_EIGHT_BITS) |
(data_u8[BNO055_SENSOR_DATA_XYZ_X_LSB]));
/* Data y*/
data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB],
BNO055_GRAVITY_DATA_Y_LSB_VALUEY);
data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB],
BNO055_GRAVITY_DATA_Y_MSB_VALUEY);
gravity->y = (s16)((((s32)
((s8)data_u8[BNO055_SENSOR_DATA_XYZ_Y_MSB])) <<
BNO055_SHIFT_EIGHT_BITS) | (
data_u8[BNO055_SENSOR_DATA_XYZ_Y_LSB]));
/* Data z*/
data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB],
BNO055_GRAVITY_DATA_Z_LSB_VALUEZ);
data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB],
BNO055_GRAVITY_DATA_Z_MSB_VALUEZ);
gravity->z = (s16)((((s32)
((s8)data_u8[BNO055_SENSOR_DATA_XYZ_Z_MSB])) <<
BNO055_SHIFT_EIGHT_BITS)
| (data_u8[BNO055_SENSOR_DATA_XYZ_Z_LSB]));
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API reads temperature values
* from register 0x33 it is a byte data
*
* @param temp_s8 : The raw temperature data
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_temp_data(s8 *temp_s8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8 = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the raw temperature data */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_TEMP_REG, &data_u8,
BNO055_GEN_READ_WRITE_LENGTH);
*temp_s8 = data_u8;
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
#ifdef BNO055_FLOAT_ENABLE
/*!
* @brief This API is used to convert the accel x raw data
* to meterpersecseq output as float
*
* @param accel_x_f : The accel x meterpersecseq data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_x_msq(
float *accel_x_f)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s16 reg_accel_x_s16 = BNO055_INIT_VALUE;
float data_f = BNO055_INIT_VALUE;
u8 accel_unit_u8 = BNO055_INIT_VALUE;
/* Read the current accel unit and set the
unit as m/s2 if the unit is in mg*/
com_rslt = bno055_get_accel_unit(&accel_unit_u8);
if (accel_unit_u8 != BNO055_ACCEL_UNIT_MSQ)
com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MSQ);
if (com_rslt == BNO055_SUCCESS) {
/* Read the accel raw x data*/
com_rslt += bno055_read_accel_x(®_accel_x_s16);
p_bno055->delay_msec(BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw accel x to m/s2*/
data_f =
(float)(reg_accel_x_s16/BNO055_ACCEL_DIV_MSQ);
*accel_x_f = data_f;
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the accel x raw data
* to millig output as float
*
* @param accel_x_f : The accel x millig data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_x_mg(
float *accel_x_f)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s16 reg_accel_x_s16 = BNO055_INIT_VALUE;
float data_f = BNO055_INIT_VALUE;
u8 accel_unit_u8 = BNO055_INIT_VALUE;
/* Read the current accel unit and set the
unit as mg if the unit is in m/s2*/
com_rslt = bno055_get_accel_unit(&accel_unit_u8);
if (accel_unit_u8 != BNO055_ACCEL_UNIT_MG)
com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MG);
if (com_rslt == BNO055_SUCCESS) {
/* Read the accel raw x data*/
com_rslt += bno055_read_accel_x(®_accel_x_s16);
if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw accel x to m/s2*/
data_f =
(float)(reg_accel_x_s16/BNO055_ACCEL_DIV_MG);
*accel_x_f = data_f;
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the accel x raw data
* to meterpersecseq output as float
*
* @param accel_y_f : The accel y meterpersecseq data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_y_msq(
float *accel_y_f)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s16 reg_accel_y_s16 = BNO055_INIT_VALUE;
float data_f = BNO055_INIT_VALUE;
u8 accel_unit_u8 = BNO055_INIT_VALUE;
/* Read the current accel unit and set the
unit as m/s2 if the unit is in mg*/
com_rslt = bno055_get_accel_unit(&accel_unit_u8);
if (accel_unit_u8 != BNO055_ACCEL_UNIT_MSQ)
com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MSQ);
if (com_rslt == BNO055_SUCCESS) {
com_rslt += bno055_read_accel_y(®_accel_y_s16);
p_bno055->delay_msec(BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw accel y to m/s2*/
data_f =
(float)(reg_accel_y_s16/BNO055_ACCEL_DIV_MSQ);
*accel_y_f = data_f;
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the accel y raw data
* to millig output as float
*
* @param accel_y_f : The accel y millig data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_y_mg(
float *accel_y_f)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s16 reg_accel_y_s16 = BNO055_INIT_VALUE;
float data = BNO055_INIT_VALUE;
u8 accel_unit_u8 = BNO055_INIT_VALUE;
/* Read the current accel unit and set the
unit as mg if the unit is in m/s2*/
com_rslt = bno055_get_accel_unit(&accel_unit_u8);
if (accel_unit_u8 != BNO055_ACCEL_UNIT_MG)
com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MG);
if (com_rslt == BNO055_SUCCESS) {
/* Read the accel raw z data*/
com_rslt += bno055_read_accel_y(®_accel_y_s16);
if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw accel z to mg*/
data = (float)(
reg_accel_y_s16/BNO055_ACCEL_DIV_MG);
*accel_y_f = data;
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the accel z raw data
* to meterpersecseq output as float
*
* @param accel_z_f : The accel z meterpersecseq data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_z_msq(
float *accel_z_f)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s16 reg_accel_z_s16 = BNO055_INIT_VALUE;
float data_f = BNO055_INIT_VALUE;
u8 accel_unit_u8 = BNO055_INIT_VALUE;
/* Read the current accel unit and set the
unit as m/s2 if the unit is in mg*/
com_rslt = bno055_get_accel_unit(&accel_unit_u8);
if (accel_unit_u8 != BNO055_ACCEL_UNIT_MSQ)
com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MSQ);
if (com_rslt == BNO055_SUCCESS) {
/* Read the accel raw z data*/
com_rslt += bno055_read_accel_z(®_accel_z_s16);
p_bno055->delay_msec(BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw accel z to m/s2*/
data_f =
(float)(reg_accel_z_s16/BNO055_ACCEL_DIV_MSQ);
*accel_z_f = data_f;
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the accel z raw data
* to millig output as float
*
* @param accel_z_f : The accel z millig data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_z_mg(
float *accel_z_f)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s16 reg_accel_z_s16 = BNO055_INIT_VALUE;
float data_f = BNO055_INIT_VALUE;
u8 accel_unit_u8 = BNO055_INIT_VALUE;
/* Read the current accel unit and set the
unit as mg if the unit is in m/s2 */
com_rslt = bno055_get_accel_unit(&accel_unit_u8);
if (accel_unit_u8 != BNO055_ACCEL_UNIT_MG)
com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MG);
if (com_rslt == BNO055_SUCCESS) {
/* Read the accel raw z data*/
com_rslt += bno055_read_accel_z(®_accel_z_s16);
if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw accel x to mg*/
data_f =
(float)(reg_accel_z_s16/BNO055_ACCEL_DIV_MG);
*accel_z_f = data_f;
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the accel xyz raw data
* to meterpersecseq output as float
*
* @param accel_xyz : The meterpersecseq data of accel xyz
*
* Parameter | result
* --------- | -----------------
* x | meterpersecseq data of accel
* y | meterpersecseq data of accel
* z | meterpersecseq data of accel
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_xyz_msq(
struct bno055_accel_float_t *accel_xyz)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
struct bno055_accel_t reg_accel_xyz = {
BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE};
u8 accel_unit_u8 = BNO055_INIT_VALUE;
/* Read the current accel unit and set the
unit as m/s2 if the unit is in mg*/
com_rslt = bno055_get_accel_unit(&accel_unit_u8);
if (accel_unit_u8 != BNO055_ACCEL_UNIT_MSQ)
com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MSQ);
if (com_rslt == BNO055_SUCCESS) {
/* Read the accel raw xyz data*/
com_rslt += bno055_read_accel_xyz(®_accel_xyz);
if (com_rslt == BNO055_SUCCESS) {
/* Convert the accel raw xyz to meterpersecseq*/
accel_xyz->x =
(float)(reg_accel_xyz.x/BNO055_ACCEL_DIV_MSQ);
accel_xyz->y =
(float)(reg_accel_xyz.y/BNO055_ACCEL_DIV_MSQ);
accel_xyz->z =
(float)(reg_accel_xyz.z/BNO055_ACCEL_DIV_MSQ);
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the accel xyz raw data
* to millig output as float
*
* @param accel_xyz : The millig data of accel xyz
*
* Parameter | result
* --------- | -----------------
* x | millig data of accel
* y | millig data of accel
* z | millig data of accel
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_xyz_mg(
struct bno055_accel_float_t *accel_xyz)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
struct bno055_accel_t reg_accel_xyz = {
BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE};
u8 accel_unit_u8 = BNO055_INIT_VALUE;
/* Read the current accel unit and set the
unit as mg if the unit is in m/s2*/
com_rslt = bno055_get_accel_unit(&accel_unit_u8);
if (accel_unit_u8 != BNO055_ACCEL_UNIT_MG)
com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MG);
if (com_rslt == BNO055_SUCCESS) {
/* Read the accel raw y data*/
com_rslt += bno055_read_accel_xyz(®_accel_xyz);
if (com_rslt == BNO055_SUCCESS) {
/*Convert the accel raw xyz to millig */
accel_xyz->x =
(float)(reg_accel_xyz.x/BNO055_ACCEL_DIV_MG);
accel_xyz->y =
(float)(reg_accel_xyz.y/BNO055_ACCEL_DIV_MG);
accel_xyz->z =
(float)(reg_accel_xyz.z/BNO055_ACCEL_DIV_MG);
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the mag x raw data
* to microTesla output as float
*
* @param mag_x_f : The mag x microTesla data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_x_uT(
float *mag_x_f)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s16 reg_mag_x_s16 = BNO055_INIT_VALUE;
float data_f = BNO055_INIT_VALUE;
/* Read raw mag x data */
com_rslt = bno055_read_mag_x(®_mag_x_s16);
if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw mag x to microTesla*/
data_f = (float)(reg_mag_x_s16/BNO055_MAG_DIV_UT);
*mag_x_f = data_f;
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the mag y raw data
* to microTesla output as float
*
* @param mag_y_f : The mag y microTesla data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_y_uT(
float *mag_y_f)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s16 reg_mag_y_s16 = BNO055_INIT_VALUE;
float data_f = BNO055_INIT_VALUE;
/* Read raw mag y data */
com_rslt = bno055_read_mag_y(®_mag_y_s16);
if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw mag y to microTesla*/
data_f = (float)(reg_mag_y_s16/BNO055_MAG_DIV_UT);
*mag_y_f = data_f;
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the mag z raw data
* to microTesla output as float
*
* @param mag_z_f : The mag z microTesla data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_z_uT(
float *mag_z_f)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s16 reg_mag_z_s16 = BNO055_INIT_VALUE;
float data_f = BNO055_INIT_VALUE;
/* Read raw mag z data */
com_rslt = bno055_read_mag_z(®_mag_z_s16);
if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw mag z to microTesla*/
data_f = (float)(reg_mag_z_s16/BNO055_MAG_DIV_UT);
*mag_z_f = data_f;
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the mag yz raw data
* to microTesla output as float
*
* @param mag_xyz_data : The microTesla data of mag xyz
*
* Parameter | result
* --------- | -----------------
* x | microTesla data of mag
* y | microTesla data of mag
* z | microTesla data of mag
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_xyz_uT(
struct bno055_mag_float_t *mag_xyz_data)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
struct bno055_mag_t mag_xyz = {
BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE};
/* Read raw mag x data */
com_rslt = bno055_read_mag_xyz(&mag_xyz);
if (com_rslt == BNO055_SUCCESS) {
/* Convert mag raw xyz to microTesla*/
mag_xyz_data->x = (float)(mag_xyz.x/BNO055_MAG_DIV_UT);
mag_xyz_data->y = (float)(mag_xyz.y/BNO055_MAG_DIV_UT);
mag_xyz_data->z = (float)(mag_xyz.z/BNO055_MAG_DIV_UT);
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the gyro x raw data
* to dps output as float
*
* @param gyro_x_f : The gyro x dps float data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_x_dps(
float *gyro_x_f)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s16 reg_gyro_x_s16 = BNO055_INIT_VALUE;
float data_f = BNO055_INIT_VALUE;
u8 gyro_unit_u8 = BNO055_INIT_VALUE;
/* Read the current gyro unit and set the
unit as dps if the unit is in rps */
com_rslt = bno055_get_gyro_unit(&gyro_unit_u8);
if (gyro_unit_u8 != BNO055_GYRO_UNIT_DPS)
com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_DPS);
if (com_rslt == BNO055_SUCCESS) {
/* Read gyro raw x data */
com_rslt += bno055_read_gyro_x(®_gyro_x_s16);
if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw gyro x to dps*/
data_f =
(float)(reg_gyro_x_s16/BNO055_GYRO_DIV_DPS);
*gyro_x_f = data_f;
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the gyro x raw data
* to rps output as float
*
* @param gyro_x_f : The gyro x dps float data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_x_rps(
float *gyro_x_f)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s16 reg_gyro_x_s16 = BNO055_INIT_VALUE;
float data_f = BNO055_INIT_VALUE;
u8 gyro_unit_u8 = BNO055_INIT_VALUE;
/* Read the current gyro unit and set the
unit as rps if the unit is in dps */
com_rslt = bno055_get_gyro_unit(&gyro_unit_u8);
if (gyro_unit_u8 != BNO055_GYRO_UNIT_RPS)
com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_RPS);
if (com_rslt == BNO055_SUCCESS) {
/* Read gyro raw x data */
com_rslt += bno055_read_gyro_x(®_gyro_x_s16);
if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw gyro x to rps*/
data_f =
(float)(reg_gyro_x_s16/BNO055_GYRO_DIV_RPS);
*gyro_x_f = data_f;
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the gyro y raw data
* to dps output as float
*
* @param gyro_y_f : The gyro y dps float data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_y_dps(
float *gyro_y_f)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s16 reg_gyro_y_s16 = BNO055_INIT_VALUE;
float data_f = BNO055_INIT_VALUE;
u8 gyro_unit_u8 = BNO055_INIT_VALUE;
/* Read the current gyro unit and set the
unit as dps if the unit is in rps */
com_rslt = bno055_get_gyro_unit(&gyro_unit_u8);
if (gyro_unit_u8 != BNO055_GYRO_UNIT_DPS)
com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_DPS);
if (com_rslt == BNO055_SUCCESS) {
/* Read gyro raw y data */
com_rslt += bno055_read_gyro_y(®_gyro_y_s16);
if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw gyro x to dps*/
data_f =
(float)(reg_gyro_y_s16/BNO055_GYRO_DIV_DPS);
*gyro_y_f = data_f;
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the gyro y raw data
* to rps output as float
*
* @param gyro_y_f : The gyro y dps float data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_y_rps(
float *gyro_y_f)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s16 reg_gyro_y_s16 = BNO055_INIT_VALUE;
float data_f = BNO055_INIT_VALUE;
u8 gyro_unit_u8 = BNO055_INIT_VALUE;
/* Read the current gyro unit and set the
unit as rps if the unit is in dps */
com_rslt = bno055_get_gyro_unit(&gyro_unit_u8);
if (gyro_unit_u8 != BNO055_GYRO_UNIT_RPS)
com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_RPS);
if (com_rslt == BNO055_SUCCESS) {
/* Read gyro raw y data */
com_rslt += bno055_read_gyro_y(®_gyro_y_s16);
if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw gyro x to rps*/
data_f =
(float)(reg_gyro_y_s16/BNO055_GYRO_DIV_RPS);
*gyro_y_f = data_f;
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the gyro z raw data
* to dps output as float
*
* @param gyro_z_f : The gyro z dps float data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_z_dps(
float *gyro_z_f)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s16 reg_gyro_z_s16 = BNO055_INIT_VALUE;
float data_f = BNO055_INIT_VALUE;
u8 gyro_unit_u8 = BNO055_INIT_VALUE;
/* Read the current gyro unit and set the
unit as dps if the unit is in rps */
com_rslt = bno055_get_gyro_unit(&gyro_unit_u8);
if (gyro_unit_u8 != BNO055_GYRO_UNIT_DPS)
com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_DPS);
if (com_rslt == BNO055_SUCCESS) {
/* Read gyro raw z data */
com_rslt += bno055_read_gyro_z(®_gyro_z_s16);
if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw gyro x to dps*/
data_f =
(float)(reg_gyro_z_s16/BNO055_GYRO_DIV_DPS);
*gyro_z_f = data_f;
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the gyro z raw data
* to rps output as float
*
* @param gyro_z_f : The gyro z rps float data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_z_rps(
float *gyro_z_f)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s16 reg_gyro_z_s16 = BNO055_INIT_VALUE;
float data_f = BNO055_INIT_VALUE;
u8 gyro_unit_u8 = BNO055_INIT_VALUE;
/* Read the current gyro unit and set the
unit as rps if the unit is in dps */
com_rslt = bno055_get_gyro_unit(&gyro_unit_u8);
if (gyro_unit_u8 != BNO055_GYRO_UNIT_RPS)
com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_RPS);
if (com_rslt == BNO055_SUCCESS) {
/* Read gyro raw x data */
com_rslt += bno055_read_gyro_z(®_gyro_z_s16);
if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw gyro x to rps*/
data_f =
(float)(reg_gyro_z_s16/BNO055_GYRO_DIV_RPS);
*gyro_z_f = data_f;
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the gyro xyz raw data
* to dps output as float
*
* @param gyro_xyz_data : The dps data of gyro xyz
*
* Parameter | result
* --------- | -----------------
* x | dps data of gyro
* y | dps data of gyro
* z | dps data of gyro
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_xyz_dps(
struct bno055_gyro_float_t *gyro_xyz_data)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
struct bno055_gyro_t gyro_xyz = {
BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE};
u8 gyro_unit_u8 = BNO055_INIT_VALUE;
/* Read the current gyro unit and set the
unit as dps if the unit is in rps */
com_rslt = bno055_get_gyro_unit(&gyro_unit_u8);
if (gyro_unit_u8 != BNO055_GYRO_UNIT_DPS)
com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_DPS);
if (com_rslt == BNO055_SUCCESS) {
/* Read gyro raw xyz data */
com_rslt += bno055_read_gyro_xyz(&gyro_xyz);
if (com_rslt == BNO055_SUCCESS) {
/* Convert gyro raw xyz to dps*/
gyro_xyz_data->x =
(float)(gyro_xyz.x/BNO055_GYRO_DIV_DPS);
gyro_xyz_data->y =
(float)(gyro_xyz.y/BNO055_GYRO_DIV_DPS);
gyro_xyz_data->z =
(float)(gyro_xyz.z/BNO055_GYRO_DIV_DPS);
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the gyro xyz raw data
* to rps output as float
*
* @param gyro_xyz_data : The rps data of gyro xyz
*
* Parameter | result
* --------- | -----------------
* x | rps data of gyro
* y | rps data of gyro
* z | rps data of gyro
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_xyz_rps(
struct bno055_gyro_float_t *gyro_xyz_data)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
struct bno055_gyro_t gyro_xyz = {BNO055_INIT_VALUE,
BNO055_INIT_VALUE, BNO055_INIT_VALUE};
u8 gyro_unit_u8 = BNO055_INIT_VALUE;
/* Read the current gyro unit and set the
unit as rps if the unit is in dps */
com_rslt = bno055_get_gyro_unit(&gyro_unit_u8);
if (gyro_unit_u8 != BNO055_GYRO_UNIT_RPS)
com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_RPS);
if (com_rslt == BNO055_SUCCESS) {
/* Read gyro raw xyz data */
com_rslt += bno055_read_gyro_xyz(&gyro_xyz);
if (com_rslt == BNO055_SUCCESS) {
/* Convert gyro raw xyz to rps*/
gyro_xyz_data->x =
(float)(gyro_xyz.x/BNO055_GYRO_DIV_RPS);
gyro_xyz_data->y =
(float)(gyro_xyz.y/BNO055_GYRO_DIV_RPS);
gyro_xyz_data->z =
(float)(gyro_xyz.z/BNO055_GYRO_DIV_RPS);
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the Euler h raw data
* to degree output as float
*
* @param euler_h_f : The float value of Euler h degree
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_h_deg(
float *euler_h_f)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s16 reg_euler_h_s16 = BNO055_INIT_VALUE;
float data_f = BNO055_INIT_VALUE;
u8 euler_unit_u8 = BNO055_INIT_VALUE;
/* Read the current Euler unit and set the
unit as degree if the unit is in radians */
com_rslt = bno055_get_euler_unit(&euler_unit_u8);
if (euler_unit_u8 != BNO055_EULER_UNIT_DEG)
com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_DEG);
if (com_rslt == BNO055_SUCCESS) {
/* Read Euler raw h data*/
com_rslt += bno055_read_euler_h(®_euler_h_s16);
if (com_rslt == BNO055_SUCCESS) {
/* Convert raw Euler h data to degree*/
data_f =
(float)(reg_euler_h_s16/BNO055_EULER_DIV_DEG);
*euler_h_f = data_f;
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the Euler h raw data
* to radians output as float
*
* @param euler_h_f : The float value of Euler h radians
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_h_rad(
float *euler_h_f)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s16 reg_euler_h_s16 = BNO055_INIT_VALUE;
float data_f = BNO055_INIT_VALUE;
u8 euler_unit_u8 = BNO055_INIT_VALUE;
com_rslt = bno055_get_euler_unit(&euler_unit_u8);
if (euler_unit_u8 != BNO055_EULER_UNIT_RAD)
/* Read the current Euler unit and set the
unit as radians if the unit is in degree */
com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_RAD);
if (com_rslt == BNO055_SUCCESS) {
/* Read Euler raw h data*/
com_rslt += bno055_read_euler_h(®_euler_h_s16);
if (com_rslt == BNO055_SUCCESS) {
/* Convert raw Euler h data to degree*/
data_f =
(float)(reg_euler_h_s16/BNO055_EULER_DIV_RAD);
*euler_h_f = data_f;
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the Euler r raw data
* to degree output as float
*
* @param euler_r_f : The float value of Euler r degree
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_r_deg(
float *euler_r_f)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s16 reg_euler_r = BNO055_INIT_VALUE;
float data_f = BNO055_INIT_VALUE;
u8 euler_unit_u8 = BNO055_INIT_VALUE;
/* Read the current Euler unit and set the
unit as degree if the unit is in radians */
com_rslt = bno055_get_euler_unit(&euler_unit_u8);
if (euler_unit_u8 != BNO055_EULER_UNIT_DEG)
com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_DEG);
if (com_rslt == BNO055_SUCCESS) {
/* Read Euler raw r data*/
com_rslt += bno055_read_euler_r(®_euler_r);
if (com_rslt == BNO055_SUCCESS) {
/* Convert raw Euler r data to degree*/
data_f = (float)(
reg_euler_r/BNO055_EULER_DIV_DEG);
*euler_r_f = data_f;
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the Euler r raw data
* to radians output as float
*
* @param euler_r_f : The float value of Euler r radians
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_r_rad(
float *euler_r_f)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s16 reg_euler_r_f = BNO055_INIT_VALUE;
float data_f = BNO055_INIT_VALUE;
u8 euler_unit_u8 = BNO055_INIT_VALUE;
/* Read the current Euler unit and set the
unit as radians if the unit is in degree */
com_rslt = bno055_get_euler_unit(&euler_unit_u8);
if (euler_unit_u8 != BNO055_EULER_UNIT_RAD)
com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_RAD);
if (com_rslt == BNO055_SUCCESS) {
/* Read Euler raw r data*/
com_rslt += bno055_read_euler_r(®_euler_r_f);
if (com_rslt == BNO055_SUCCESS) {
/* Convert raw Euler r data to radians*/
data_f =
(float)(reg_euler_r_f/BNO055_EULER_DIV_RAD);
*euler_r_f = data_f;
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the Euler p raw data
* to degree output as float
*
* @param euler_p_f : The float value of Euler p degree
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_p_deg(
float *euler_p_f)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s16 reg_euler_p_f = BNO055_INIT_VALUE;
float data_f = BNO055_INIT_VALUE;
u8 euler_unit_u8 = BNO055_INIT_VALUE;
/* Read the current Euler unit and set the
unit as degree if the unit is in radians */
com_rslt = bno055_get_euler_unit(&euler_unit_u8);
if (euler_unit_u8 != BNO055_EULER_UNIT_DEG)
com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_DEG);
if (com_rslt == BNO055_SUCCESS) {
/* Read Euler raw p data*/
com_rslt += bno055_read_euler_p(®_euler_p_f);
if (com_rslt == BNO055_SUCCESS) {
/* Convert raw Euler p data to degree*/
data_f =
(float)(reg_euler_p_f/BNO055_EULER_DIV_DEG);
*euler_p_f = data_f;
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the Euler p raw data
* to radians output as float
*
* @param euler_p_f : The float value of Euler p radians
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_p_rad(
float *euler_p_f)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s16 reg_euler_p_f = BNO055_INIT_VALUE;
float data_f = BNO055_INIT_VALUE;
u8 euler_unit_u8 = BNO055_INIT_VALUE;
/* Read the current Euler unit and set the
unit as radians if the unit is in degree */
com_rslt = bno055_get_euler_unit(&euler_unit_u8);
if (euler_unit_u8 != BNO055_EULER_UNIT_RAD)
com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_RAD);
if (com_rslt == BNO055_SUCCESS) {
/* Read Euler raw r data*/
com_rslt += bno055_read_euler_p(®_euler_p_f);
if (com_rslt == BNO055_SUCCESS) {
/* Convert raw Euler r data to radians*/
data_f =
(float)(reg_euler_p_f/BNO055_EULER_DIV_RAD);
*euler_p_f = data_f;
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the Euler hrp raw data
* to degree output as float
*
* @param euler_hpr : The degree data of Euler hrp
*
* Parameter | result
* --------- | -----------------
* h | degree data of Euler
* r | degree data of Euler
* p | degree data of Euler
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_hpr_deg(
struct bno055_euler_float_t *euler_hpr)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
struct bno055_euler_t reg_euler = {BNO055_INIT_VALUE,
BNO055_INIT_VALUE, BNO055_INIT_VALUE};
u8 euler_unit_u8 = BNO055_INIT_VALUE;
/* Read the current Euler unit and set the
unit as degree if the unit is in radians */
com_rslt = bno055_get_euler_unit(&euler_unit_u8);
if (euler_unit_u8 != BNO055_EULER_UNIT_DEG)
com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_DEG);
if (com_rslt == BNO055_SUCCESS) {
/* Read Euler raw hrp data*/
com_rslt += bno055_read_euler_hrp(®_euler);
if (com_rslt == BNO055_SUCCESS) {
/* Convert raw Euler hrp to degree*/
euler_hpr->h =
(float)(reg_euler.h/BNO055_EULER_DIV_DEG);
euler_hpr->p =
(float)(reg_euler.p/BNO055_EULER_DIV_DEG);
euler_hpr->r =
(float)(reg_euler.r/BNO055_EULER_DIV_DEG);
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the Euler xyz raw data
* to radians output as float
*
* @param euler_hpr : The radians data of Euler hrp
*
* Parameter | result
* --------- | -----------------
* h | radians data of Euler
* r | radians data of Euler
* p | radians data of Euler
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_hpr_rad(
struct bno055_euler_float_t *euler_hpr)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
struct bno055_euler_t reg_euler = {BNO055_INIT_VALUE,
BNO055_INIT_VALUE, BNO055_INIT_VALUE};
u8 euler_unit_u8 = BNO055_INIT_VALUE;
/* Read the current Euler unit and set the
unit as radians if the unit is in degree */
com_rslt = bno055_get_euler_unit(&euler_unit_u8);
if (euler_unit_u8 != BNO055_EULER_UNIT_RAD)
com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_RAD);
if (com_rslt == BNO055_SUCCESS) {
/* Read Euler raw hrp data*/
com_rslt += bno055_read_euler_hrp(®_euler);
if (com_rslt == BNO055_SUCCESS) {
/* Convert raw hrp to radians */
euler_hpr->h =
(float)(reg_euler.h/BNO055_EULER_DIV_RAD);
euler_hpr->p =
(float)(reg_euler.p/BNO055_EULER_DIV_RAD);
euler_hpr->r =
(float)(reg_euler.r/BNO055_EULER_DIV_RAD);
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the linear
* accel x raw data to meterpersecseq output as float
*
* @param linear_accel_x_f : The float value of linear accel x meterpersecseq
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_x_msq(
float *linear_accel_x_f)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s16 reg_linear_accel_x_s16 = BNO055_INIT_VALUE;
float data_f = BNO055_INIT_VALUE;
/* Read the raw x of linear accel */
com_rslt = bno055_read_linear_accel_x(®_linear_accel_x_s16);
if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw linear accel x to m/s2*/
data_f =
(float)(reg_linear_accel_x_s16/BNO055_LINEAR_ACCEL_DIV_MSQ);
*linear_accel_x_f = data_f;
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the linear
* accel y raw data to meterpersecseq output as float
*
* @param linear_accel_y_f : The float value of linear accel y meterpersecseq
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_y_msq(
float *linear_accel_y_f)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s16 reg_linear_accel_y = BNO055_INIT_VALUE;
float data_f = BNO055_INIT_VALUE;
/* Read the raw y of linear accel */
com_rslt = bno055_read_linear_accel_y(®_linear_accel_y);
if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw linear accel x to m/s2*/
data_f = (float)
(reg_linear_accel_y/BNO055_LINEAR_ACCEL_DIV_MSQ);
*linear_accel_y_f = data_f;
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the linear
* accel z raw data to meterpersecseq output as float
*
* @param linear_accel_z_f : The float value of linear accel z meterpersecseq
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_z_msq(
float *linear_accel_z_f)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s16 reg_linear_accel_z = BNO055_INIT_VALUE;
float data_f = BNO055_INIT_VALUE;
/* Read the raw x of linear accel */
com_rslt = bno055_read_linear_accel_z(®_linear_accel_z);
if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw linear accel z to m/s2*/
data_f = (float)
(reg_linear_accel_z/BNO055_LINEAR_ACCEL_DIV_MSQ);
*linear_accel_z_f = data_f;
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the linear accel xyz raw data
* to meterpersecseq output as float
*
* @param linear_accel_xyz : The meterpersecseq data of linear accel xyz
*
* Parameter | result
* --------- | -----------------
* x | meterpersecseq data of linear accel
* y | meterpersecseq data of linear accel
* z | meterpersecseq data of linear accel
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_xyz_msq(
struct bno055_linear_accel_float_t *linear_accel_xyz)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
struct bno055_linear_accel_t reg_linear_accel = {
BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE};
/* Read the raw x of linear accel */
com_rslt = bno055_read_linear_accel_xyz(®_linear_accel);
if (com_rslt == BNO055_SUCCESS) {
linear_accel_xyz->x =
(float)(reg_linear_accel.x/BNO055_LINEAR_ACCEL_DIV_MSQ);
linear_accel_xyz->y =
(float)(reg_linear_accel.y/BNO055_LINEAR_ACCEL_DIV_MSQ);
linear_accel_xyz->z =
(float)(reg_linear_accel.z/BNO055_LINEAR_ACCEL_DIV_MSQ);
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the gravity
* x raw data to meterpersecseq output as float
*
* @param gravity_x_f : The float value of gravity x meterpersecseq
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_x_msq(
float *gravity_x_f)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s16 reg_gravity_x_s16 = BNO055_INIT_VALUE;
float data_f = BNO055_INIT_VALUE;
/* Read raw gravity of x*/
com_rslt = bno055_read_gravity_x(®_gravity_x_s16);
if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw gravity x to m/s2*/
data_f = (float)(reg_gravity_x_s16/BNO055_GRAVITY_DIV_MSQ);
*gravity_x_f = data_f;
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the gravity
* y raw data to meterpersecseq output as float
*
* @param gravity_y_f : The float value of gravity y meterpersecseq
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_y_msq(
float *gravity_y_f)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s16 reg_gravity_y_s16 = BNO055_INIT_VALUE;
float data_f = BNO055_INIT_VALUE;
/* Read raw gravity of y*/
com_rslt = bno055_read_gravity_y(®_gravity_y_s16);
if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw gravity y to m/s2*/
data_f = (float)(reg_gravity_y_s16/BNO055_GRAVITY_DIV_MSQ);
*gravity_y_f = data_f;
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the gravity
* z raw data to meterpersecseq output as float
*
* @param gravity_z_f : The float value of gravity z meterpersecseq
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_z_msq(
float *gravity_z_f)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s16 reg_gravity_z_s16 = BNO055_INIT_VALUE;
float data_f = BNO055_INIT_VALUE;
/* Read raw gravity of z */
com_rslt = bno055_read_gravity_z(®_gravity_z_s16);
if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw gravity z to m/s2*/
data_f = (float)(reg_gravity_z_s16/BNO055_GRAVITY_DIV_MSQ);
*gravity_z_f = data_f;
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the gravity xyz raw data
* to meterpersecseq output as float
*
* @param gravity_xyz : The meterpersecseq data of gravity xyz
*
* Parameter | result
* --------- | -----------------
* x | meterpersecseq data of gravity
* y | meterpersecseq data of gravity
* z | meterpersecseq data of gravity
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gravity_xyz_msq(
struct bno055_gravity_float_t *gravity_xyz)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
struct bno055_gravity_t reg_gravity_xyz = {
BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE};
/* Read raw gravity of xyz */
com_rslt = bno055_read_gravity_xyz(®_gravity_xyz);
if (com_rslt == BNO055_SUCCESS) {
/* Convert raw gravity xyz to meterpersecseq */
gravity_xyz->x =
(float)(reg_gravity_xyz.x/BNO055_GRAVITY_DIV_MSQ);
gravity_xyz->y =
(float)(reg_gravity_xyz.y/BNO055_GRAVITY_DIV_MSQ);
gravity_xyz->z =
(float)(reg_gravity_xyz.z/BNO055_GRAVITY_DIV_MSQ);
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the temperature
* data to Fahrenheit output as float
*
* @param temp_f : The float value of temperature Fahrenheit
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_temp_fahrenheit(
float *temp_f)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s8 reg_temp_s8 = BNO055_INIT_VALUE;
float data_f = BNO055_INIT_VALUE;
u8 temp_unit_u8 = BNO055_INIT_VALUE;
/* Read the current temperature unit and set the
unit as Fahrenheit if the unit is in Celsius */
com_rslt = bno055_get_temp_unit(&temp_unit_u8);
if (temp_unit_u8 != BNO055_TEMP_UNIT_FAHRENHEIT)
com_rslt += bno055_set_temp_unit(BNO055_TEMP_UNIT_FAHRENHEIT);
if (com_rslt == BNO055_SUCCESS) {
/* Read the raw temperature data */
com_rslt += bno055_read_temp_data(®_temp_s8);
if (com_rslt == BNO055_SUCCESS) {
/* Convert raw temperature data to Fahrenheit*/
data_f = (float)
(reg_temp_s8/BNO055_TEMP_DIV_FAHRENHEIT);
*temp_f = data_f;
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the temperature
* data to Celsius output as float
*
* @param temp_f : The float value of temperature Celsius
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_temp_celsius(
float *temp_f)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s8 reg_temp_s8 = BNO055_INIT_VALUE;
float data_f = BNO055_INIT_VALUE;
u8 temp_unit_u8 = BNO055_INIT_VALUE;
/* Read the current temperature unit and set the
unit as Fahrenheit if the unit is in Celsius */
com_rslt = bno055_get_temp_unit(&temp_unit_u8);
if (temp_unit_u8 != BNO055_TEMP_UNIT_CELSIUS)
com_rslt += bno055_set_temp_unit(BNO055_TEMP_UNIT_CELSIUS);
if (com_rslt == BNO055_SUCCESS) {
/* Read the raw temperature data */
com_rslt += bno055_read_temp_data(®_temp_s8);
if (com_rslt == BNO055_SUCCESS) {
/* Convert raw temperature data to Fahrenheit*/
data_f =
(float)(reg_temp_s8/BNO055_TEMP_DIV_CELSIUS);
*temp_f = data_f;
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
#endif
#ifdef BNO055_DOUBLE_ENABLE
/*!
* @brief This API is used to convert the accel x raw data
* to meterpersecseq output as double
*
* @param accel_x_d : The accel x meterpersecseq data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_x_msq(
double *accel_x_d)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s16 reg_accel_x_s16 = BNO055_INIT_VALUE;
double data_f = BNO055_INIT_VALUE;
u8 accel_unit_u8 = BNO055_INIT_VALUE;
/* Read the current accel unit and set the
unit as m/s2 if the unit is in mg*/
com_rslt = bno055_get_accel_unit(&accel_unit_u8);
if (accel_unit_u8 != BNO055_ACCEL_UNIT_MSQ)
com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MSQ);
if (com_rslt == BNO055_SUCCESS) {
/* Read the accel raw y data*/
com_rslt += bno055_read_accel_x(®_accel_x_s16);
if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw x to m/s2 */
data_f =
(double)(reg_accel_x_s16/BNO055_ACCEL_DIV_MSQ);
*accel_x_d = data_f;
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the accel x raw data
* to millig output as double
*
* @param accel_x_d : The accel x millig data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_x_mg(
double *accel_x_d)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s16 reg_accel_x_s16 = BNO055_INIT_VALUE;
double data_f = BNO055_INIT_VALUE;
u8 accel_unit_u8 = BNO055_INIT_VALUE;
/* Read the current accel unit and set the
unit as mg if the unit is in m/s2*/
com_rslt = bno055_get_accel_unit(&accel_unit_u8);
if (accel_unit_u8 != BNO055_ACCEL_UNIT_MG)
com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MG);
if (com_rslt == BNO055_SUCCESS) {
/* Read the accel raw y data*/
com_rslt += bno055_read_accel_x(®_accel_x_s16);
if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw x to mg */
data_f =
(double)(reg_accel_x_s16/BNO055_ACCEL_DIV_MG);
*accel_x_d = data_f;
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the accel y raw data
* to meterpersecseq output as double
*
* @param accel_y_d : The accel y meterpersecseq data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_y_msq(
double *accel_y_d)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s16 reg_accel_y_s16 = BNO055_INIT_VALUE;
double data_f = BNO055_INIT_VALUE;
u8 accel_unit_u8 = BNO055_INIT_VALUE;
/* Read the current accel unit and set the
unit as m/s2 if the unit is in mg*/
com_rslt = bno055_get_accel_unit(&accel_unit_u8);
if (accel_unit_u8 != BNO055_ACCEL_UNIT_MSQ)
com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MSQ);
if (com_rslt == BNO055_SUCCESS) {
/* Read the accel raw y data*/
com_rslt += bno055_read_accel_y(®_accel_y_s16);
if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw x to m/s2 */
data_f =
(double)(reg_accel_y_s16/BNO055_ACCEL_DIV_MSQ);
*accel_y_d = data_f;
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the accel y raw data
* to millig output as double
*
* @param accel_y_d : The accel y millig data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_y_mg(
double *accel_y_d)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s16 reg_accel_y_s16 = BNO055_INIT_VALUE;
double data_d = BNO055_INIT_VALUE;
u8 accel_unit_u8 = BNO055_INIT_VALUE;
/* Read the current accel unit and set the
unit as mg if the unit is in m/s2*/
com_rslt = bno055_get_accel_unit(&accel_unit_u8);
if (accel_unit_u8 != BNO055_ACCEL_UNIT_MG)
com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MG);
if (com_rslt == BNO055_SUCCESS) {
/* Read the accel raw y data*/
com_rslt += bno055_read_accel_y(®_accel_y_s16);
if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw y to mg */
data_d =
(double)(reg_accel_y_s16/BNO055_ACCEL_DIV_MG);
*accel_y_d = data_d;
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the accel z raw data
* to meterpersecseq output as double
*
* @param accel_z_d : The accel z meterpersecseq data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_z_msq(
double *accel_z_d)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s16 reg_accel_z_s16 = BNO055_INIT_VALUE;
double data_d = BNO055_INIT_VALUE;
u8 accel_unit_u8 = BNO055_INIT_VALUE;
/* Read the current accel unit and set the
unit as m/s2 if the unit is in mg*/
com_rslt = bno055_get_accel_unit(&accel_unit_u8);
if (accel_unit_u8 != BNO055_ACCEL_UNIT_MSQ)
com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MSQ);
if (com_rslt == BNO055_SUCCESS) {
/* Read the accel raw z data*/
com_rslt += bno055_read_accel_z(®_accel_z_s16);
if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw z to m/s2 */
data_d =
(double)(reg_accel_z_s16/BNO055_ACCEL_DIV_MSQ);
*accel_z_d = data_d;
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the accel z raw data
* to millig output as double
*
* @param accel_z_d : The accel z millig data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_z_mg(
double *accel_z_d)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s16 reg_accel_z_s16 = BNO055_INIT_VALUE;
double data_d = BNO055_INIT_VALUE;
u8 accel_unit_u8 = BNO055_INIT_VALUE;
/* Read the current accel unit and set the
unit as mg if the unit is in m/s2*/
com_rslt = bno055_get_accel_unit(&accel_unit_u8);
if (accel_unit_u8 != BNO055_ACCEL_UNIT_MG)
com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MG);
if (com_rslt == BNO055_SUCCESS) {
/* Read the accel raw z data*/
com_rslt += bno055_read_accel_z(®_accel_z_s16);
if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw z to mg */
data_d =
(double)(reg_accel_z_s16/BNO055_ACCEL_DIV_MG);
*accel_z_d = data_d;
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the accel xyz raw data
* to meterpersecseq output as double
*
* @param accel_xyz : The meterpersecseq data of accel xyz
*
* Parameter | result
* --------- | -----------------
* x | meterpersecseq data of accel
* y | meterpersecseq data of accel
* z | meterpersecseq data of accel
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_xyz_msq(
struct bno055_accel_double_t *accel_xyz)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
struct bno055_accel_t reg_accel_xyz = {
BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE};
u8 accel_unit_u8 = BNO055_INIT_VALUE;
/* Read the current accel unit and set the
unit as m/s2 if the unit is in mg*/
com_rslt = bno055_get_accel_unit(&accel_unit_u8);
if (accel_unit_u8 != BNO055_ACCEL_UNIT_MSQ)
com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MSQ);
if (com_rslt == BNO055_SUCCESS) {
/* Read the accel raw xyz data*/
com_rslt += bno055_read_accel_xyz(®_accel_xyz);
if (com_rslt == BNO055_SUCCESS) {
/* Convert raw xyz to m/s2*/
accel_xyz->x =
(double)(reg_accel_xyz.x/BNO055_ACCEL_DIV_MSQ);
accel_xyz->y =
(double)(reg_accel_xyz.y/BNO055_ACCEL_DIV_MSQ);
accel_xyz->z =
(double)(reg_accel_xyz.z/BNO055_ACCEL_DIV_MSQ);
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the accel xyz raw data
* to millig output as double
*
* @param accel_xyz : The millig data of accel xyz
*
* Parameter | result
* --------- | -----------------
* x | millig data of accel
* y | millig data of accel
* z | millig data of accel
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_xyz_mg(
struct bno055_accel_double_t *accel_xyz)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
struct bno055_accel_t reg_accel_xyz = {
BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE};
u8 accel_unit_u8 = BNO055_INIT_VALUE;
/* Read the current accel unit and set the
unit as m/s2 if the unit is in mg*/
com_rslt = bno055_get_accel_unit(&accel_unit_u8);
if (accel_unit_u8 != BNO055_ACCEL_UNIT_MG)
com_rslt += bno055_set_accel_unit(BNO055_ACCEL_UNIT_MG);
if (com_rslt == BNO055_SUCCESS) {
/* Read the accel raw xyz data*/
com_rslt += bno055_read_accel_xyz(®_accel_xyz);
if (com_rslt == BNO055_SUCCESS) {
/* Convert raw xyz to mg*/
accel_xyz->x =
(double)(reg_accel_xyz.x/BNO055_ACCEL_DIV_MG);
accel_xyz->y =
(double)(reg_accel_xyz.y/BNO055_ACCEL_DIV_MG);
accel_xyz->z =
(double)(reg_accel_xyz.z/BNO055_ACCEL_DIV_MG);
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the mag x raw data
* to microTesla output as double
*
* @param mag_x_d : The mag x microTesla data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_x_uT(
double *mag_x_d)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s16 reg_mag_x_s16 = BNO055_INIT_VALUE;
double data_d = BNO055_INIT_VALUE;
/* Read raw mag x data */
com_rslt = bno055_read_mag_x(®_mag_x_s16);
if (com_rslt == BNO055_SUCCESS) {
/* Convert raw mag x to microTesla */
data_d = (double)(reg_mag_x_s16/BNO055_MAG_DIV_UT);
*mag_x_d = data_d;
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the mag y raw data
* to microTesla output as double
*
* @param mag_y_d : The mag y microTesla data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_y_uT(
double *mag_y_d)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s16 reg_mag_y_s16 = BNO055_INIT_VALUE;
double data_d = BNO055_INIT_VALUE;
/* Read raw mag y data */
com_rslt = bno055_read_mag_y(®_mag_y_s16);
if (com_rslt == BNO055_SUCCESS) {
/* Convert raw mag y to microTesla */
data_d = (double)(reg_mag_y_s16/BNO055_MAG_DIV_UT);
*mag_y_d = data_d;
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the mag z raw data
* to microTesla output as double
*
* @param mag_z_d : The mag z microTesla data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_z_uT(
double *mag_z_d)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s16 reg_mag_z_s16 = BNO055_INIT_VALUE;
double data_d = BNO055_INIT_VALUE;
/* Read raw mag x */
com_rslt = bno055_read_mag_z(®_mag_z_s16);
if (com_rslt == BNO055_SUCCESS) {
/* Convert raw mag x to microTesla */
data_d = (double)(reg_mag_z_s16/BNO055_MAG_DIV_UT);
*mag_z_d = data_d;
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the mag yz raw data
* to microTesla output as double
*
* @param mag_xyz : The microTesla data of mag xyz
*
* Parameter | result
* --------- | -----------------
* x | microTesla data of mag
* y | microTesla data of mag
* z | microTesla data of mag
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_xyz_uT(
struct bno055_mag_double_t *mag_xyz)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
struct bno055_mag_t reg_mag_xyz = {
BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE};
/* Read raw mag xyz data */
com_rslt = bno055_read_mag_xyz(®_mag_xyz);
if (com_rslt == BNO055_SUCCESS) {
/* Convert raw mag xyz to microTesla*/
mag_xyz->x =
(double)(reg_mag_xyz.x/BNO055_MAG_DIV_UT);
mag_xyz->y =
(double)(reg_mag_xyz.y/BNO055_MAG_DIV_UT);
mag_xyz->z =
(double)(reg_mag_xyz.z/BNO055_MAG_DIV_UT);
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the gyro x raw data
* to dps output as double
*
* @param gyro_x_d : The gyro x dps double data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_x_dps(
double *gyro_x_d)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s16 reg_gyro_x_s16 = BNO055_INIT_VALUE;
double data_d = BNO055_INIT_VALUE;
u8 gyro_unit_u8 = BNO055_INIT_VALUE;
/* Read the current gyro unit and set the
unit as dps if the unit is in rps */
com_rslt = bno055_get_gyro_unit(&gyro_unit_u8);
if (gyro_unit_u8 != BNO055_GYRO_UNIT_DPS)
com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_DPS);
if (com_rslt == BNO055_SUCCESS) {
/* Read gyro raw x data */
com_rslt += bno055_read_gyro_x(®_gyro_x_s16);
if (com_rslt == BNO055_SUCCESS) {
/* Convert raw gyro x to dps */
data_d =
(double)(reg_gyro_x_s16/BNO055_GYRO_DIV_DPS);
*gyro_x_d = data_d;
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the gyro x raw data
* to rps output as double
*
* @param gyro_x_d : The gyro x dps double data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_x_rps(
double *gyro_x_d)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s16 reg_gyro_x_s16 = BNO055_INIT_VALUE;
double data_d = BNO055_INIT_VALUE;
u8 gyro_unit_u8 = BNO055_INIT_VALUE;
/* Read the current gyro unit and set the
unit as rps if the unit is in dps */
com_rslt = bno055_get_gyro_unit(&gyro_unit_u8);
if (gyro_unit_u8 != BNO055_GYRO_UNIT_RPS)
com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_RPS);
if (com_rslt == BNO055_SUCCESS) {
/* Read gyro raw x data */
com_rslt += bno055_read_gyro_x(®_gyro_x_s16);
if (com_rslt == BNO055_SUCCESS) {
/* Convert raw gyro x to rps */
data_d =
(double)(reg_gyro_x_s16/BNO055_GYRO_DIV_RPS);
*gyro_x_d = data_d;
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the gyro y raw data
* to dps output as double
*
* @param gyro_y_d : The gyro y dps double data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_y_dps(
double *gyro_y_d)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s16 reg_gyro_y_s16 = BNO055_INIT_VALUE;
double data_d = BNO055_INIT_VALUE;
u8 gyro_unit_u8 = BNO055_INIT_VALUE;
/* Read the current gyro unit and set the
unit as dps if the unit is in rps */
com_rslt = bno055_get_gyro_unit(&gyro_unit_u8);
if (gyro_unit_u8 != BNO055_GYRO_UNIT_DPS)
com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_DPS);
if (com_rslt == BNO055_SUCCESS) {
/* Read gyro raw y data */
com_rslt += bno055_read_gyro_y(®_gyro_y_s16);
if (com_rslt == BNO055_SUCCESS) {
/* Convert raw gyro y to dps */
data_d =
(double)(reg_gyro_y_s16/BNO055_GYRO_DIV_DPS);
*gyro_y_d = data_d;
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the gyro y raw data
* to rps output as double
*
* @param gyro_y_d : The gyro y dps double data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_y_rps(
double *gyro_y_d)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s16 reg_gyro_y_s16 = BNO055_INIT_VALUE;
double data_d = BNO055_INIT_VALUE;
u8 gyro_unit_u8 = BNO055_INIT_VALUE;
/* Read the current gyro unit and set the
unit as rps if the unit is in dps */
com_rslt = bno055_get_gyro_unit(&gyro_unit_u8);
if (gyro_unit_u8 != BNO055_GYRO_UNIT_RPS)
com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_RPS);
if (com_rslt == BNO055_SUCCESS) {
/* Read gyro raw y data */
com_rslt += bno055_read_gyro_y(®_gyro_y_s16);
if (com_rslt == BNO055_SUCCESS) {
/* Convert raw gyro y to rps */
data_d =
(double)(reg_gyro_y_s16/BNO055_GYRO_DIV_RPS);
*gyro_y_d = data_d;
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the gyro z raw data
* to dps output as double
*
* @param gyro_z_d : The gyro z dps double data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_z_dps(
double *gyro_z_d)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s16 reg_gyro_z_s16 = BNO055_INIT_VALUE;
double data_d = BNO055_INIT_VALUE;
u8 gyro_unit_u8 = BNO055_INIT_VALUE;
/* Read the current gyro unit and set the
unit as dps if the unit is in rps */
com_rslt = bno055_get_gyro_unit(&gyro_unit_u8);
if (gyro_unit_u8 != BNO055_GYRO_UNIT_DPS)
com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_DPS);
if (com_rslt == BNO055_SUCCESS) {
/* Read gyro raw z data */
com_rslt += bno055_read_gyro_z(®_gyro_z_s16);
if (com_rslt == BNO055_SUCCESS) {
/* Convert raw gyro z to dps */
data_d =
(double)(reg_gyro_z_s16/BNO055_GYRO_DIV_DPS);
*gyro_z_d = data_d;
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the gyro z raw data
* to rps output as double
*
* @param gyro_z_d : The gyro z rps double data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_z_rps(
double *gyro_z_d)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s16 reg_gyro_z_s16 = BNO055_INIT_VALUE;
double data_d = BNO055_INIT_VALUE;
u8 gyro_unit_u8 = BNO055_INIT_VALUE;
/* Read the current gyro unit and set the
unit as rps if the unit is in dps */
com_rslt = bno055_get_gyro_unit(&gyro_unit_u8);
if (gyro_unit_u8 != BNO055_GYRO_UNIT_RPS)
com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_RPS);
if (com_rslt == BNO055_SUCCESS) {
/* Read gyro raw x data */
com_rslt += bno055_read_gyro_z(®_gyro_z_s16);
if (com_rslt == BNO055_SUCCESS) {
/* Convert raw gyro x to rps */
data_d =
(double)(reg_gyro_z_s16/BNO055_GYRO_DIV_RPS);
*gyro_z_d = data_d;
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the gyro xyz raw data
* to dps output as double
*
* @param gyro_xyz : The dps data of gyro xyz
*
* Parameter | result
* --------- | -----------------
* x | dps data of gyro
* y | dps data of gyro
* z | dps data of gyro
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_xyz_dps(
struct bno055_gyro_double_t *gyro_xyz)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
struct bno055_gyro_t reg_gyro_xyz = {
BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE};
u8 gyro_unit_u8 = BNO055_INIT_VALUE;
/* Read the current gyro unit and set the
unit as dps if the unit is in rps */
com_rslt = bno055_get_gyro_unit(&gyro_unit_u8);
if (gyro_unit_u8 != BNO055_GYRO_UNIT_DPS)
com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_DPS);
if (com_rslt == BNO055_SUCCESS) {
/* Read gyro raw xyz data */
com_rslt += bno055_read_gyro_xyz(®_gyro_xyz);
if (com_rslt == BNO055_SUCCESS) {
/* Convert gyro raw xyz to dps*/
gyro_xyz->x =
(double)(reg_gyro_xyz.x/BNO055_GYRO_DIV_DPS);
gyro_xyz->y =
(double)(reg_gyro_xyz.y/BNO055_GYRO_DIV_DPS);
gyro_xyz->z =
(double)(reg_gyro_xyz.z/BNO055_GYRO_DIV_DPS);
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the gyro xyz raw data
* to rps output as double
*
* @param gyro_xyz : The rps data of gyro xyz
*
* Parameter | result
* --------- | -----------------
* x | rps data of gyro
* y | rps data of gyro
* z | rps data of gyro
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_xyz_rps(
struct bno055_gyro_double_t *gyro_xyz)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
struct bno055_gyro_t reg_gyro_xyz = {
BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE};
u8 gyro_unit_u8 = BNO055_INIT_VALUE;
/* Read the current gyro unit and set the
unit as rps if the unit is in dps */
com_rslt = bno055_get_gyro_unit(&gyro_unit_u8);
if (gyro_unit_u8 != BNO055_GYRO_UNIT_RPS)
com_rslt += bno055_set_gyro_unit(BNO055_GYRO_UNIT_RPS);
if (com_rslt == BNO055_SUCCESS) {
/* Read gyro raw x data */
com_rslt += bno055_read_gyro_xyz(®_gyro_xyz);
if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw gyro xyz to rps*/
gyro_xyz->x =
(double)(reg_gyro_xyz.x/BNO055_GYRO_DIV_RPS);
gyro_xyz->y =
(double)(reg_gyro_xyz.y/BNO055_GYRO_DIV_RPS);
gyro_xyz->z =
(double)(reg_gyro_xyz.z/BNO055_GYRO_DIV_RPS);
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the Euler h raw data
* to degree output as double
*
* @param euler_h_d : The double value of Euler h degree
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_h_deg(
double *euler_h_d)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s16 reg_euler_h_s16 = BNO055_INIT_VALUE;
double data_d = BNO055_INIT_VALUE;
u8 euler_unit_u8 = BNO055_INIT_VALUE;
/* Read the current Euler unit and set the
unit as degree if the unit is in radians */
com_rslt = bno055_get_euler_unit(&euler_unit_u8);
if (euler_unit_u8 != BNO055_EULER_UNIT_DEG)
com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_DEG);
if (com_rslt == BNO055_SUCCESS) {
/* Read Euler raw h data*/
com_rslt += bno055_read_euler_h(®_euler_h_s16);
if (com_rslt == BNO055_SUCCESS) {
/* Convert raw Euler h to degree */
data_d =
(double)(reg_euler_h_s16/BNO055_EULER_DIV_DEG);
*euler_h_d = data_d;
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the Euler h raw data
* to radians output as double
*
* @param euler_h_d : The double value of Euler h radians
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_h_rad(
double *euler_h_d)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s16 reg_euler_h_s16 = BNO055_INIT_VALUE;
double data_d = BNO055_INIT_VALUE;
u8 euler_unit_u8 = BNO055_INIT_VALUE;
/* Read the current Euler unit and set the
unit as radians if the unit is in degree */
com_rslt = bno055_get_euler_unit(&euler_unit_u8);
if (euler_unit_u8 != BNO055_EULER_UNIT_RAD)
com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_RAD);
if (com_rslt == BNO055_SUCCESS) {
/* Read Euler raw h data*/
com_rslt += bno055_read_euler_h(®_euler_h_s16);
if (com_rslt == BNO055_SUCCESS) {
/* Convert raw Euler h to radians */
data_d =
(double)(reg_euler_h_s16/BNO055_EULER_DIV_RAD);
*euler_h_d = data_d;
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the Euler r raw data
* to degree output as double
*
* @param euler_r_d : The double value of Euler r degree
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_r_deg(
double *euler_r_d)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s16 reg_euler_r_s16 = BNO055_INIT_VALUE;
double data_d = BNO055_INIT_VALUE;
u8 euler_unit_u8 = BNO055_INIT_VALUE;
/* Read the current Euler unit and set the
unit as degree if the unit is in radians */
com_rslt = bno055_get_euler_unit(&euler_unit_u8);
if (euler_unit_u8 != BNO055_EULER_UNIT_DEG)
com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_DEG);
if (com_rslt == BNO055_SUCCESS) {
/* Read Euler raw r data*/
com_rslt += bno055_read_euler_r(®_euler_r_s16);
if (com_rslt == BNO055_SUCCESS) {
/* Convert raw Euler r to degree */
data_d =
(double)(reg_euler_r_s16/BNO055_EULER_DIV_DEG);
*euler_r_d = data_d;
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the Euler r raw data
* to radians output as double
*
* @param euler_r_d : The double value of Euler r radians
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_r_rad(
double *euler_r_d)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s16 reg_euler_r_s16 = BNO055_INIT_VALUE;
double data_d = BNO055_INIT_VALUE;
u8 euler_unit_u8 = BNO055_INIT_VALUE;
/* Read the current Euler unit and set the
unit as radians if the unit is in degree */
com_rslt = bno055_get_euler_unit(&euler_unit_u8);
if (euler_unit_u8 != BNO055_EULER_UNIT_RAD)
com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_RAD);
if (com_rslt == BNO055_SUCCESS) {
/* Read Euler raw r data*/
com_rslt += bno055_read_euler_r(®_euler_r_s16);
if (com_rslt == BNO055_SUCCESS) {
/* Convert raw Euler r to radians */
data_d =
(double)(reg_euler_r_s16/BNO055_EULER_DIV_RAD);
*euler_r_d = data_d;
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the Euler p raw data
* to degree output as double
*
* @param euler_p_d : The double value of Euler p degree
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_p_deg(
double *euler_p_d)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s16 reg_euler_p_s16 = BNO055_INIT_VALUE;
double data_d = BNO055_INIT_VALUE;
u8 euler_unit_u8 = BNO055_INIT_VALUE;
/* Read the current Euler unit and set the
unit as degree if the unit is in radians */
com_rslt = bno055_get_euler_unit(&euler_unit_u8);
if (euler_unit_u8 != BNO055_EULER_UNIT_DEG)
com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_DEG);
if (com_rslt == BNO055_SUCCESS) {
/* Read Euler raw p data*/
com_rslt += bno055_read_euler_p(®_euler_p_s16);
if (com_rslt == BNO055_SUCCESS) {
/* Convert raw Euler p to degree*/
data_d =
(double)(reg_euler_p_s16/BNO055_EULER_DIV_DEG);
*euler_p_d = data_d;
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the Euler p raw data
* to radians output as double
*
* @param euler_p_d : The double value of Euler p radians
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_p_rad(
double *euler_p_d)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s16 reg_euler_p_s16 = BNO055_INIT_VALUE;
double data_d = BNO055_INIT_VALUE;
u8 euler_unit_u8 = BNO055_INIT_VALUE;
/* Read the current Euler unit and set the
unit as radians if the unit is in degree */
com_rslt = bno055_get_euler_unit(&euler_unit_u8);
if (euler_unit_u8 != BNO055_EULER_UNIT_RAD)
com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_RAD);
if (com_rslt == BNO055_SUCCESS) {
/* Read Euler raw p data*/
com_rslt += bno055_read_euler_p(®_euler_p_s16);
if (com_rslt == BNO055_SUCCESS) {
/* Convert raw p to radians*/
data_d =
(double)(reg_euler_p_s16/BNO055_EULER_DIV_RAD);
*euler_p_d = data_d;
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the Euler hpr raw data
* to degree output as double
*
* @param euler_hpr : The degree data of Euler hpr
*
* Parameter | result
* --------- | -----------------
* h | degree data of Euler
* r | degree data of Euler
* p | degree data of Euler
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_hpr_deg(
struct bno055_euler_double_t *euler_hpr)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
struct bno055_euler_t reg_euler = {BNO055_INIT_VALUE,
BNO055_INIT_VALUE, BNO055_INIT_VALUE};
u8 euler_unit_u8 = BNO055_INIT_VALUE;
/* Read the current Euler unit and set the
unit as degree if the unit is in radians */
com_rslt = bno055_get_euler_unit(&euler_unit_u8);
if (euler_unit_u8 != BNO055_EULER_UNIT_DEG)
com_rslt += bno055_set_euler_unit(BNO055_EULER_UNIT_DEG);
if (com_rslt == BNO055_SUCCESS) {
/* Read Euler raw h data*/
com_rslt += bno055_read_euler_hrp(®_euler);
if (com_rslt == BNO055_SUCCESS) {
/* Convert raw Euler hrp to degree*/
euler_hpr->h =
(double)(reg_euler.h/BNO055_EULER_DIV_DEG);
euler_hpr->p =
(double)(reg_euler.p/BNO055_EULER_DIV_DEG);
euler_hpr->r =
(double)(reg_euler.r/BNO055_EULER_DIV_DEG);
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the Euler hpr raw data
* to radians output as double
*
* @param euler_hpr : The radians data of Euler hpr
*
* Parameter | result
* --------- | -----------------
* h | radians data of Euler
* r | radians data of Euler
* p | radians data of Euler
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_hpr_rad(
struct bno055_euler_double_t *euler_hpr)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
struct bno055_euler_t reg_euler = {BNO055_INIT_VALUE,
BNO055_INIT_VALUE, BNO055_INIT_VALUE};
u8 euler_unit_u8 = BNO055_INIT_VALUE;
/* Read the current Euler unit and set the
unit as radians if the unit is in degree */
com_rslt = bno055_get_euler_unit(&euler_unit_u8);
if (euler_unit_u8 != BNO055_EULER_UNIT_RAD)
com_rslt = bno055_set_euler_unit(BNO055_EULER_UNIT_RAD);
if (com_rslt == BNO055_SUCCESS) {
/* Read the raw hrp */
com_rslt = bno055_read_euler_hrp(®_euler);
if (com_rslt == BNO055_SUCCESS) {
/* Convert raw Euler hrp to radians*/
euler_hpr->h =
(double)(reg_euler.h/BNO055_EULER_DIV_RAD);
euler_hpr->p =
(double)(reg_euler.p/BNO055_EULER_DIV_RAD);
euler_hpr->r =
(double)(reg_euler.r/BNO055_EULER_DIV_RAD);
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the linear
* accel x raw data to meterpersecseq output as double
*
* @param linear_accel_x_d : The double value of
* linear accel x meterpersecseq
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_x_msq(
double *linear_accel_x_d)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s16 reg_linear_accel_x_s16 = BNO055_INIT_VALUE;
double data_d = BNO055_INIT_VALUE;
/* Read the raw x of linear accel */
com_rslt = bno055_read_linear_accel_x(®_linear_accel_x_s16);
if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw x to m/s2 */
data_d = (double)
(reg_linear_accel_x_s16/BNO055_LINEAR_ACCEL_DIV_MSQ);
*linear_accel_x_d = data_d;
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the linear
* accel y raw data to meterpersecseq output as double
*
* @param linear_accel_y_d : The double value of
* linear accel y meterpersecseq
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_y_msq(
double *linear_accel_y_d)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s16 reg_linear_accel_y_s16 = BNO055_INIT_VALUE;
double data_d = BNO055_INIT_VALUE;
/* Read the raw x of linear accel */
com_rslt = bno055_read_linear_accel_y(®_linear_accel_y_s16);
if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw y to m/s2 */
data_d = (double)
(reg_linear_accel_y_s16/BNO055_LINEAR_ACCEL_DIV_MSQ);
*linear_accel_y_d = data_d;
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the linear
* accel z raw data to meterpersecseq output as double
*
* @param linear_accel_z_d : The double value of
* linear accel z meterpersecseq
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_z_msq(
double *linear_accel_z_d)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s16 reg_linear_accel_z_s16 = BNO055_INIT_VALUE;
double data_d = BNO055_INIT_VALUE;
/* Read the raw x of linear accel */
com_rslt = bno055_read_linear_accel_z(®_linear_accel_z_s16);
if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw z to m/s2 */
data_d =
(double)(reg_linear_accel_z_s16/BNO055_LINEAR_ACCEL_DIV_MSQ);
*linear_accel_z_d = data_d;
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the linear accel xyz raw data
* to meterpersecseq output as double
*
* @param linear_accel_xyz : The meterpersecseq data of linear accel xyz
*
* Parameter | result
* --------- | -----------------
* x | meterpersecseq data of linear accel
* y | meterpersecseq data of linear accel
* z | meterpersecseq data of linear accel
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_xyz_msq(
struct bno055_linear_accel_double_t *linear_accel_xyz)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
struct bno055_linear_accel_t reg_linear_accel_xyz = {
BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE};
/* Read the raw xyz of linear accel */
com_rslt = bno055_read_linear_accel_xyz(®_linear_accel_xyz);
if (com_rslt == BNO055_SUCCESS) {
/* Convert the raw xyz of linear accel to m/s2 */
linear_accel_xyz->x =
(double)(reg_linear_accel_xyz.x/BNO055_LINEAR_ACCEL_DIV_MSQ);
linear_accel_xyz->y =
(double)(reg_linear_accel_xyz.y/BNO055_LINEAR_ACCEL_DIV_MSQ);
linear_accel_xyz->z =
(double)(reg_linear_accel_xyz.z/BNO055_LINEAR_ACCEL_DIV_MSQ);
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the gravity
* x raw data to meterpersecseq output as double
*
* @param gravity_x_d : The double value of gravity x meterpersecseq
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_x_msq(
double *gravity_x_d)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s16 reg_gravity_x_s16 = BNO055_INIT_VALUE;
double data_d = BNO055_INIT_VALUE;
/* Read raw gravity of x*/
com_rslt = bno055_read_gravity_x(®_gravity_x_s16);
if (com_rslt == BNO055_SUCCESS) {
/* Convert raw gravity of x to m/s2 */
data_d =
(double)(reg_gravity_x_s16/BNO055_GRAVITY_DIV_MSQ);
*gravity_x_d = data_d;
} else {
com_rslt = BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the gravity
* y raw data to meterpersecseq output as double
*
* @param gravity_y_d : The double value of gravity y meterpersecseq
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_y_msq(
double *gravity_y_d)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s16 reg_gravity_y_s16 = BNO055_INIT_VALUE;
double data_d = BNO055_INIT_VALUE;
/* Read raw gravity of y */
com_rslt = bno055_read_gravity_y(®_gravity_y_s16);
if (com_rslt == BNO055_SUCCESS) {
/* convert raw gravity of y to m/s2 */
data_d =
(double)(reg_gravity_y_s16/BNO055_GRAVITY_DIV_MSQ);
*gravity_y_d = data_d;
} else {
com_rslt += BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the gravity
* z raw data to meterpersecseq output as double
*
* @param gravity_z_d : The double value of gravity z meterpersecseq
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_z_msq(
double *gravity_z_d)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s16 reg_gravity_z_s16 = BNO055_INIT_VALUE;
double data_d = BNO055_INIT_VALUE;
/* Read raw gravity of z */
com_rslt = bno055_read_gravity_z(®_gravity_z_s16);
if (com_rslt == BNO055_SUCCESS) {
/* Convert raw gravity of z to m/s2 */
data_d =
(double)(reg_gravity_z_s16/BNO055_GRAVITY_DIV_MSQ);
*gravity_z_d = data_d;
} else {
com_rslt += BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the gravity xyz raw data
* to meterpersecseq output as double
*
* @param gravity_xyz : The meterpersecseq data of gravity xyz
*
* Parameter | result
* --------- | -----------------
* x | meterpersecseq data of gravity
* y | meterpersecseq data of gravity
* z | meterpersecseq data of gravity
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gravity_xyz_msq(
struct bno055_gravity_double_t *gravity_xyz)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
struct bno055_gravity_t reg_gravity_xyz = {
BNO055_INIT_VALUE, BNO055_INIT_VALUE, BNO055_INIT_VALUE};
/* Read raw gravity of xyz */
com_rslt = bno055_read_gravity_xyz(®_gravity_xyz);
if (com_rslt == BNO055_SUCCESS) {
/* Convert raw gravity of xyz to m/s2 */
gravity_xyz->x =
(double)(reg_gravity_xyz.x/BNO055_GRAVITY_DIV_MSQ);
gravity_xyz->y =
(double)(reg_gravity_xyz.y/BNO055_GRAVITY_DIV_MSQ);
gravity_xyz->z =
(double)(reg_gravity_xyz.z/BNO055_GRAVITY_DIV_MSQ);
} else {
com_rslt += BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the temperature
* data to Fahrenheit output as double
*
* @param temp_d : The double value of temperature Fahrenheit
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_temp_fahrenheit(
double *temp_d)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s8 reg_temp_s8 = BNO055_INIT_VALUE;
double data_d = BNO055_INIT_VALUE;
u8 temp_unit_u8 = BNO055_INIT_VALUE;
/* Read the current temperature unit and set the
unit as Fahrenheit if the unit is in Celsius */
com_rslt = bno055_get_temp_unit(&temp_unit_u8);
if (temp_unit_u8 != BNO055_TEMP_UNIT_FAHRENHEIT)
com_rslt += bno055_set_temp_unit(BNO055_TEMP_UNIT_FAHRENHEIT);
if (com_rslt == BNO055_SUCCESS) {
/* Read the raw temperature data */
com_rslt += bno055_read_temp_data(®_temp_s8);
if (com_rslt == BNO055_SUCCESS) {
/* Convert raw temperature data to Fahrenheit*/
data_d = (double)(reg_temp_s8/
BNO055_TEMP_DIV_FAHRENHEIT);
*temp_d = data_d;
} else {
com_rslt += BNO055_ERROR;
}
} else {
com_rslt += BNO055_ERROR;
}
return com_rslt;
}
/*!
* @brief This API is used to convert the temperature
* data to Celsius output as double
*
* @param temp_d : The double value of temperature Celsius
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_temp_celsius(
double *temp_d)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
s8 reg_temp_s8 = BNO055_INIT_VALUE;
double data_d = BNO055_INIT_VALUE;
u8 temp_unit_u8 = BNO055_INIT_VALUE;
/* Read the current temperature unit and set the
unit as Fahrenheit if the unit is in Celsius */
com_rslt = bno055_get_temp_unit(&temp_unit_u8);
if (temp_unit_u8 != BNO055_TEMP_UNIT_CELSIUS)
com_rslt += bno055_set_temp_unit(BNO055_TEMP_UNIT_CELSIUS);
if (com_rslt == BNO055_SUCCESS) {
/* Read the raw temperature data */
com_rslt += bno055_read_temp_data(®_temp_s8);
if (com_rslt == BNO055_SUCCESS) {
/* Convert raw temperature data to Fahrenheit*/
data_d =
(double)(reg_temp_s8/BNO055_TEMP_DIV_CELSIUS);
*temp_d = data_d;
} else {
com_rslt += BNO055_ERROR;
}
} else {
com_rslt += BNO055_ERROR;
}
return com_rslt;
}
#endif
/*!
* @brief This API used to read
* mag calibration status from register from 0x35 bit 0 and 1
*
* @param mag_calib_u8 : The value of mag calib status
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_calib_stat(
u8 *mag_calib_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, mag calib
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the mag calib stat_s8 */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_MAG_CALIB_STAT_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*mag_calib_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_MAG_CALIB_STAT);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to read
* accel calibration status from register from 0x35 bit 2 and 3
*
* @param accel_calib_u8 : The value of accel calib status
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_calib_stat(
u8 *accel_calib_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty*/
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel calib
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the accel calib stat_s8 */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_CALIB_STAT_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*accel_calib_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_ACCEL_CALIB_STAT);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to read
* gyro calibration status from register from 0x35 bit 4 and 5
*
* @param gyro_calib_u8 : The value of gyro calib status
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_calib_stat(
u8 *gyro_calib_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro calib
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the gyro calib status */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_CALIB_STAT_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*gyro_calib_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_CALIB_STAT);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to read
* system calibration status from register from 0x35 bit 6 and 7
*
* @param sys_calib_u8 : The value of system calib status
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_calib_stat(
u8 *sys_calib_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty*/
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page,system calib
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the system calib */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_SYS_CALIB_STAT_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*sys_calib_u8 =
BNO055_GET_BITSLICE(data_u8r, BNO055_SYS_CALIB_STAT);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to read
* all calibration status from register from 0x35
*
* @param all_calib_u8 : The value of system calib status
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_all_calib_stat(
u8 *all_calib_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty*/
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page,system calib
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the system calib */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ALL_CALIB_STAT_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*all_calib_u8 =
BNO055_GET_BITSLICE(data_u8r, BNO055_ALL_CALIB_STAT);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to read
* self test of accel from register from 0x36 bit 0
*
* @param selftest_accel_u8 : The value of self test of accel
*
* selftest_accel_u8 | result
* -------------------- | ---------------------
* 0x00 | indicates test failed
* 0x01 | indicated test passed
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_accel(
u8 *selftest_accel_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel self test is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the accel self test */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_SELFTEST_ACCEL_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*selftest_accel_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_SELFTEST_ACCEL);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to read
* self test of mag from register from 0x36 bit 1
*
* @param selftest_mag_u8 : The value of self test of mag
*
* selftest_mag_u8 | result
* -------------------- | ---------------------
* 0x00 | indicates test failed
* 0x01 | indicated test passed
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_mag(
u8 *selftest_mag_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, self test of mag is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the mag self test */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_SELFTEST_MAG_REG, &data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
*selftest_mag_u8 =
BNO055_GET_BITSLICE(data_u8r, BNO055_SELFTEST_MAG);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to read
* self test of gyro from register from 0x36 bit 2
*
* @param selftest_gyro_u8 : The value of self test of gyro
*
* selftest_gyro_u8 | result
* -------------------- | ---------------------
* 0x00 | indicates test failed
* 0x01 | indicated test passed
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_gyro(
u8 *selftest_gyro_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page self test of gyro is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the gyro self test */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_SELFTEST_GYRO_REG, &data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
*selftest_gyro_u8 =
BNO055_GET_BITSLICE(data_u8r, BNO055_SELFTEST_GYRO);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to read
* self test of micro controller from register from 0x36 bit 3
*
* @param selftest_mcu_u8 : The value of self test of micro controller
*
* selftest_mcu_u8 | result
* -------------------- | ---------------------
* 0x00 | indicates test failed
* 0x01 | indicated test passed
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_mcu(
u8 *selftest_mcu_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page self test of micro controller
is available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the self test of micro controller*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_SELFTEST_MCU_REG, &data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
*selftest_mcu_u8 =
BNO055_GET_BITSLICE(data_u8r, BNO055_SELFTEST_MCU);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to read the stat_s8 of
* gyro anymotion interrupt from register from 0x37 bit 2
*
* @param gyro_any_motion_u8 : The value of gyro anymotion interrupt
*
* gyro_any_motion_u8 | result
* -------------------- | ---------------------
* 0x00 | indicates no interrupt triggered
* 0x01 | indicates interrupt triggered
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Gyro anymotion interrupt can be BNO055_BIT_ENABLE
* by the following APIs
*
* bno055_set_intr_mask_gyro_any_motion()
*
* bno055_set_intr_gyro_any_motion()
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_gyro_any_motion(
u8 *gyro_any_motion_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro anymotion interrupt
status is available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the gyro anymotion interrupt stat_s8*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_INTR_STAT_GYRO_ANY_MOTION_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*gyro_any_motion_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_INTR_STAT_GYRO_ANY_MOTION);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to read the stat_s8 of
* gyro highrate interrupt from register from 0x37 bit 3
*
* @param gyro_highrate_u8 : The value of gyro highrate interrupt
*
* gyro_highrate_u8 | result
* ------------------- | ---------------------
* 0x00 | indicates no interrupt triggered
* 0x01 | indicates interrupt triggered
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Gyro highrate interrupt can be configured
* by the following APIs
*
* bno055_set_intr_mask_gyro_highrate()
*
* bno055_set_intr_gyro_highrate()
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_gyro_highrate(
u8 *gyro_highrate_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro highrate is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the gyro highrate interrupt stat_s8*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_INTR_STAT_GYRO_HIGHRATE_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*gyro_highrate_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_INTR_STAT_GYRO_HIGHRATE);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to read the stat_s8 of
* accel highg interrupt from register from 0x37 bit 5
*
* @param accel_high_g_u8 : The value of accel highg interrupt
*
* accel_high_g_u8 | result
* ------------------- | ---------------------
* 0x00 | indicates no interrupt triggered
* 0x01 | indicates interrupt triggered
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Accel highg interrupt can be configured
* by the following APIs
*
* bno055_set_intr_mask_accel_high_g()
*
* bno055_set_intr_accel_high_g()
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_high_g(
u8 *accel_high_g_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel highg is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the accel highg interrupt stat_s8 */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_INTR_STAT_ACCEL_HIGH_G_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*accel_high_g_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_INTR_STAT_ACCEL_HIGH_G);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to read the stat_s8 of
* accel anymotion interrupt from register from 0x37 bit 6
*
* @param accel_any_motion_u8 : The value of accel anymotion interrupt
*
* accel_any_motion_u8 | result
* ------------------- | ---------------------
* 0x00 | indicates no interrupt triggered
* 0x01 | indicates interrupt triggered
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Accel anymotion interrupt can be configured
* by the following APIs
*
* bno055_set_intr_mask_accel_any_motion()
*
* bno055_set_intr_accel_any_motion()
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_any_motion(
u8 *accel_any_motion_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel anymotion is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the accel anymotion interrupt stat_s8 */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_INTR_STAT_ACCEL_ANY_MOTION_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*accel_any_motion_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_INTR_STAT_ACCEL_ANY_MOTION);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to read the stat_s8 of
* accel nomotion/slowmotion interrupt from register from 0x37 bit 6
*
* @param accel_no_motion_u8 : The value of accel
* nomotion/slowmotion interrupt
*
* accel_no_motion_u8 | result
* ------------------- | ---------------------
* 0x00 | indicates no interrupt triggered
* 0x01 | indicates interrupt triggered
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Accel nomotion/slowmotion interrupt can be configured
* by the following APIs
*
* bno055_set_intr_mask_accel_nomotion()
*
* bno055_set_intr_accel_nomotion()
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_no_motion(
u8 *accel_no_motion_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel
nomotion/slowmotion interrupt
is available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the stat_s8 of accel
nomotion/slowmotion interrupt*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_INTR_STAT_ACCEL_NO_MOTION_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*accel_no_motion_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_INTR_STAT_ACCEL_NO_MOTION);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API is used to read status of main clock
* from the register 0x38 bit 0
*
* @param stat_main_clk_u8 : the status of main clock
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_stat_main_clk(
u8 *stat_main_clk_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, status of main clk is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the status of main clk */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_SYS_MAIN_CLK_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*stat_main_clk_u8 =
BNO055_GET_BITSLICE(data_u8r, BNO055_SYS_MAIN_CLK);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API is used to read system status
* code from the register 0x39 it is a byte of data
*
* @param sys_stat_u8 : the status of system
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_stat_code(
u8 *sys_stat_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, the status of system is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the the status of system*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_SYS_STAT_CODE_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*sys_stat_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_SYS_STAT_CODE);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API is used to read system BNO055_ERROR
* code from the register 0x3A it is a byte of data
*
* @param sys_error_u8 : The value of system BNO055_ERROR code
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_error_code(
u8 *sys_error_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, system BNO055_ERROR code is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the system BNO055_ERROR code*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_SYS_ERROR_CODE_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*sys_error_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_SYS_ERROR_CODE);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to read the accel unit
* from register from 0x3B bit 0
*
* @param accel_unit_u8 : The value of accel unit
*
* accel_unit_u8 | result
* ------------- | ---------------
* 0x00 | BNO055_ACCEL_UNIT_MSQ
* 0x01 | BNO055_ACCEL_UNIT_MG
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_unit(
u8 *accel_unit_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel unit is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the accel unit */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_UNIT_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*accel_unit_u8 =
BNO055_GET_BITSLICE(data_u8r, BNO055_ACCEL_UNIT);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write the accel unit
* from register from 0x3B bit 0
*
* @param accel_unit_u8 : The value of accel unit
*
* accel_unit_u8 | result
* ------------- | ---------------
* 0x00 | BNO055_ACCEL_UNIT_MSQ
* 0x01 | BNO055_ACCEL_UNIT_MG
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_unit(
u8 accel_unit_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* Write the accel unit */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_UNIT_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r =
BNO055_SET_BITSLICE(data_u8r,
BNO055_ACCEL_UNIT, accel_unit_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_UNIT_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode
of previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the gyro unit
* from register from 0x3B bit 1
*
* @param gyro_unit_u8 : The value of accel unit
*
* gyro_unit_u8 | result
* ------------- | -----------
* 0x00 | BNO055_GYRO_UNIT_DPS
* 0x01 | BNO055_GYRO_UNIT_RPS
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_unit(
u8 *gyro_unit_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro unit is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the gyro unit */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_UNIT_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*gyro_unit_u8 =
BNO055_GET_BITSLICE(data_u8r, BNO055_GYRO_UNIT);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write the gyro unit
* from register from 0x3B bit 1
*
* @param gyro_unit_u8 : The value of accel unit
*
* gyro_unit_u8 | result
* ------------- | -----------
* 0x00 | BNO055_GYRO_UNIT_DPS
* 0x01 | BNO055_GYRO_UNIT_RPS
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_unit(u8 gyro_unit_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* Write the gyro unit */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_UNIT_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r =
BNO055_SET_BITSLICE(data_u8r,
BNO055_GYRO_UNIT, gyro_unit_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_UNIT_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode
of previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the Euler unit
* from register from 0x3B bit 2
*
* @param euler_unit_u8 : The value of accel unit
*
* euler_unit_u8 | result
* -------------- | -----------
* 0x00 | BNO055_EULER_UNIT_DEG
* 0x01 | BNO055_EULER_UNIT_RAD
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_euler_unit(
u8 *euler_unit_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, Euler unit is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the Euler unit */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_EULER_UNIT_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*euler_unit_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_EULER_UNIT);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write the Euler unit
* from register from 0x3B bit 2
*
* @param euler_unit_u8 : The value of Euler unit
*
* euler_unit_u8 | result
* -------------- | -----------
* 0x00 | BNO055_EULER_UNIT_DEG
* 0x01 | BNO055_EULER_UNIT_RAD
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_euler_unit(u8 euler_unit_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* Write the Euler unit*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_EULER_UNIT_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r =
BNO055_SET_BITSLICE(data_u8r,
BNO055_EULER_UNIT, euler_unit_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_EULER_UNIT_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode
of previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to write the tilt unit
* from register from 0x3B bit 3
*
* @param tilt_unit_u8 : The value of tilt unit
*
* tilt_unit_u8 | result
* --------------- | ---------
* 0x00 | degrees
* 0x01 | radians
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_tilt_unit(
u8 *tilt_unit_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, chip id is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_TILT_UNIT_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*tilt_unit_u8 =
BNO055_GET_BITSLICE(data_u8r, BNO055_TILT_UNIT);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write the tilt unit
* from register from 0x3B bit 3
*
* @param tilt_unit_u8 : The value of tilt unit
*
* tilt_unit_u8 | result
* --------------- | ---------
* 0x00 | degrees
* 0x01 | radians
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*
* \return Communication results
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_tilt_unit(u8 tilt_unit_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_TILT_UNIT_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r =
BNO055_SET_BITSLICE(data_u8r,
BNO055_TILT_UNIT, tilt_unit_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_TILT_UNIT_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode
of previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the temperature unit
* from register from 0x3B bit 4
*
* @param temp_unit_u8 : The value of temperature unit
*
* temp_unit_u8 | result
* ----------- | --------------
* 0x00 | BNO055_TEMP_UNIT_CELSIUS
* 0x01 | BNO055_TEMP_UNIT_FAHRENHEIT
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_temp_unit(
u8 *temp_unit_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, temperature unit is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the temperature unit */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_TEMP_UNIT_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*temp_unit_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_TEMP_UNIT);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write the temperature unit
* from register from 0x3B bit 4
*
* @param temp_unit_u8 : The value of temperature unit
*
* temp_unit_u8 | result
* ----------- | --------------
* 0x00 | BNO055_TEMP_UNIT_CELSIUS
* 0x01 | BNO055_TEMP_UNIT_FAHRENHEIT
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_temp_unit(
u8 temp_unit_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* Write the temperature unit */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_TEMP_UNIT_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r =
BNO055_SET_BITSLICE(data_u8r,
BNO055_TEMP_UNIT,
temp_unit_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_TEMP_UNIT_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode
of previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the current selected orientation mode
* from register from 0x3B bit 7
*
* @param data_output_format_u8 : The value of data output format
*
* data_output_format_u8 | result
* -------------------- | --------
* 0x00 | Windows
* 0x01 | Android
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_data_output_format(
u8 *data_output_format_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, data output format is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the data output format */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_DATA_OUTPUT_FORMAT_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*data_output_format_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_DATA_OUTPUT_FORMAT);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write the current selected orientation mode
* from register from 0x3B bit 7
*
* @param data_output_format_u8 : The value of data output format
*
* data_output_format_u8 | result
* -------------------- | --------
* 0x00 | Windows
* 0x01 | Android
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_data_output_format(
u8 data_output_format_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* Write the data output format */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_DATA_OUTPUT_FORMAT_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r =
BNO055_SET_BITSLICE(data_u8r,
BNO055_DATA_OUTPUT_FORMAT,
data_output_format_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_DATA_OUTPUT_FORMAT_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode
of previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*! @brief This API used to read the operation mode
* from register from 0x3D bit 0 to 3
*
* @param operation_mode_u8 : The value of operation mode
*
* operation_mode_u8 | result | comments
* ----------|----------------------------|----------------------------
* 0x00 | BNO055_OPERATION_MODE_CONFIG | Configuration mode
* 0x01 | BNO055_OPERATION_MODE_ACCONLY | Reads accel data alone
* 0x02 | BNO055_OPERATION_MODE_MAGONLY | Reads mag data alone
* 0x03 | BNO055_OPERATION_MODE_GYRONLY | Reads gyro data alone
* 0x04 | BNO055_OPERATION_MODE_ACCMAG | Reads accel and mag data
* 0x05 | BNO055_OPERATION_MODE_ACCGYRO | Reads accel and gyro data
* 0x06 | BNO055_OPERATION_MODE_MAGGYRO | Reads accel and mag data
* 0x07 | OPERATION_MODE_ANY_MOTION | Reads accel mag and gyro data
* 0x08 | BNO055_OPERATION_MODE_IMUPLUS | Inertial measurement unit
* - | - | Reads accel,gyro and fusion data
* 0x09 | BNO055_OPERATION_MODE_COMPASS | Reads accel, mag data
* - | - | and fusion data
* 0x0A | BNO055_OPERATION_MODE_M4G | Reads accel, mag data
* - | - | and fusion data
* 0x0B | BNO055_OPERATION_MODE_NDOF_FMC_OFF| Nine degrees of freedom with
* - | - | fast magnetic calibration
* - | - | Reads accel,mag, gyro
* - | - | and fusion data
* 0x0C | BNO055_OPERATION_MODE_NDOF | Nine degrees of freedom
* - | - | Reads accel,mag, gyro
* - | - | and fusion data
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note In the config mode, all sensor and fusion data
* becomes zero and it is mainly derived
* to configure the various settings of the BNO
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_operation_mode(
u8 *operation_mode_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, operation mode is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the value of operation mode*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_OPERATION_MODE_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*operation_mode_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_OPERATION_MODE);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*! @brief This API used to write the operation mode
* from register from 0x3D bit 0 to 3
*
* @param operation_mode_u8 : The value of operation mode
*
* operation_mode_u8 | result | comments
* ---------|-----------------------------------|--------------------------
* 0x00 | BNO055_OPERATION_MODE_CONFIG | Configuration mode
* 0x01 | BNO055_OPERATION_MODE_ACCONLY | Reads accel data alone
* 0x02 | BNO055_OPERATION_MODE_MAGONLY | Reads mag data alone
* 0x03 | BNO055_OPERATION_MODE_GYRONLY | Reads gyro data alone
* 0x04 | BNO055_OPERATION_MODE_ACCMAG | Reads accel and mag data
* 0x05 | BNO055_OPERATION_MODE_ACCGYRO | Reads accel and gyro data
* 0x06 | BNO055_OPERATION_MODE_MAGGYRO | Reads accel and mag data
* 0x07 | OPERATION_MODE_ANY_MOTION | Reads accel mag and
* | - | gyro data
* 0x08 | BNO055_OPERATION_MODE_IMUPLUS | Inertial measurement unit
* - | | Reads accel,gyro and
* | - | fusion data
* 0x09 | BNO055_OPERATION_MODE_COMPASS | Reads accel, mag data
* - | - | and fusion data
* 0x0A | BNO055_OPERATION_MODE_M4G | Reads accel, mag data
* - | - | and fusion data
* 0x0B | BNO055_OPERATION_MODE_NDOF_FMC_OFF| Nine degrees of freedom with
* - | - | fast magnetic calibration
* - | - | Reads accel,mag, gyro
* - | - | and fusion data
* 0x0C | BNO055_OPERATION_MODE_NDOF | Nine degrees of freedom
* - | - | Reads accel,mag, gyro
* - | - | and fusion data
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note In the config mode, all sensor and fusion data
* becomes zero and it is mainly derived
* to configure the various settings of the BNO
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_operation_mode(u8 operation_mode_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
/* If the previous operation mode is config it is
directly write the operation mode */
if (prev_opmode_u8 == BNO055_OPERATION_MODE_CONFIG) {
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_OPERATION_MODE_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r =
BNO055_SET_BITSLICE(data_u8r,
BNO055_OPERATION_MODE,
operation_mode_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_OPERATION_MODE_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
/* Config mode to other
operation mode switching
required delay of 600ms*/
p_bno055->delay_msec(
BNO055_MODE_SWITCHING_DELAY);
}
} else {
/* If the previous operation
mode is not config it is
write the config mode */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_OPERATION_MODE_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r =
BNO055_SET_BITSLICE(data_u8r,
BNO055_OPERATION_MODE,
BNO055_OPERATION_MODE_CONFIG);
com_rslt += bno055_write_register(
BNO055_OPERATION_MODE_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
/* other mode to config mode switching
required delay of 20ms*/
p_bno055->delay_msec(
BNO055_CONFIG_MODE_SWITCHING_DELAY);
}
/* Write the operation mode */
if (operation_mode_u8 !=
BNO055_OPERATION_MODE_CONFIG) {
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_OPERATION_MODE_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r = BNO055_SET_BITSLICE
(data_u8r,
BNO055_OPERATION_MODE,
operation_mode_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_OPERATION_MODE_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
/* Config mode to other
operation mode switching
required delay of 600ms*/
p_bno055->delay_msec(
BNO055_MODE_SWITCHING_DELAY);
}
}
}
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*! @brief This API used to read the power mode
* from register from 0x3E bit 0 to 1
*
* @param power_mode_u8 : The value of power mode
*
* power_mode_u8| result | comments
* ---------|---------------------------|-------------------------------------
* 0x00 |BNO055_POWER_MODE_NORMAL | In the NORMAL mode the register
* - | - | map and the internal peripherals
* - | - | of the MCU are always
* - | - | operative in this mode
* 0x01 |BNO055_POWER_MODE_LOWPOWER | This is first level of power
* | - | saving mode
* 0x02 |BNO055_POWER_MODE_SUSPEND | In suspend mode the system is
* - | - | paused and all the sensors and
* - | - | the micro controller are
* - | - | put into sleep mode.
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note For detailed about LOWPOWER mode
* refer data sheet 3.4.2
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_power_mode(
u8 *power_mode_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, power mode is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the value of power mode */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_POWER_MODE_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*power_mode_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_POWER_MODE);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*! @brief This API used to write the power mode
* from register from 0x3E bit 0 to 1
*
* @param power_mode_u8 : The value of power mode
*
*
* power_mode_u8| result | comments
* -------|----------------------------|---------------------------------
* 0x00 | BNO055_POWER_MODE_NORMAL | In the NORMAL mode the register
* - | - | map and the internal peripherals
* - | - | of the MCU are always
* - | - | operative in this mode
* 0x01 | BNO055_POWER_MODE_LOWPOWER | This is first level of power
* | - | saving mode
* 0x02 | BNO055_POWER_MODE_SUSPEND | In suspend mode the system is
* - | - | paused and all the sensors and
* - | - | the micro controller are
* - | - | put into sleep mode.
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note For detailed about LOWPOWER mode
* refer data sheet 3.4.2
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_power_mode(u8 power_mode_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* Write the value of power mode */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_POWER_MODE_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r =
BNO055_SET_BITSLICE(data_u8r,
BNO055_POWER_MODE, power_mode_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_POWER_MODE_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode
of previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the reset interrupt
* from register from 0x3F bit 6
* It resets all the interrupt bit and interrupt output
*
* @param intr_rst_u8 : The value of reset interrupt
*
* intr_rst_u8 | result
* ------------ |----------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_rst(
u8 *intr_rst_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, reset interrupt is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the value of reset interrupt*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_INTR_RST_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*intr_rst_u8 =
BNO055_GET_BITSLICE(data_u8r, BNO055_INTR_RST);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write the reset interrupt
* from register from 0x3F bit 6
* It resets all the interrupt bit and interrupt output
*
* @param intr_rst_u8 : The value of reset interrupt
*
* intr_rst_u8 | result
* -------------- |----------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_rst(u8 intr_rst_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, reset interrupt
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Write the value of reset interrupt */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_INTR_RST_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r =
BNO055_SET_BITSLICE(data_u8r,
BNO055_INTR_RST, intr_rst_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_INTR_RST_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to read the clk source
* from register from 0x3F bit 7
*
* @param clk_src_u8 : The value of clk source
*
* clk_src_u8 | result
* -------------- |----------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_clk_src(
u8 *clk_src_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, clk source is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the value of clk source */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_CLK_SRC_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*clk_src_u8 =
BNO055_GET_BITSLICE(data_u8r, BNO055_CLK_SRC);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write the clk source
* from register from 0x3F bit 7
*
* @param clk_src_u8 : The value of clk source
*
* clk_src_u8 | result
* -------------- |----------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_clk_src(u8 clk_src_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, clk source is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Write the value of clk source */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_CLK_SRC_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r =
BNO055_SET_BITSLICE(data_u8r,
BNO055_CLK_SRC, clk_src_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_CLK_SRC_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to read the reset system
* from register from 0x3F bit 5
*
* @param sys_rst_u8 : The value of reset system
*
* sys_rst_u8 | result
* -------------- |----------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note It resets the whole system
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_rst(
u8 *sys_rst_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, reset system is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the value of reset system */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_SYS_RST_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*sys_rst_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_SYS_RST);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write the reset system
* from register from 0x3F bit 5
*
* @param sys_rst_u8 : The value of reset system
*
* sys_rst_u8 | result
* -------------- |----------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note It resets the whole system
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_sys_rst(u8 sys_rst_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, reset system is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Write the value of reset system */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_SYS_RST_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r =
BNO055_SET_BITSLICE(data_u8r,
BNO055_SYS_RST, sys_rst_u8);
com_rslt =
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_SYS_RST_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to read the self test
* from register from 0x3F bit 0
*
* @param selftest_u8 : The value of self test
*
* selftest_u8 | result
* -------------- |----------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note It triggers the self test
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest(
u8 *selftest_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, self test is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the value of self test */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_SELFTEST_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*selftest_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_SELFTEST);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write the self test
* from register from 0x3F bit 0
*
* @param selftest_u8 : The value of self test
*
* selftest_u8 | result
* -------------- |----------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note It triggers the self test
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_selftest(u8 selftest_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* Write the value of self test */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_SELFTEST_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r =
BNO055_SET_BITSLICE(data_u8r,
BNO055_SELFTEST,
selftest_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_SELFTEST_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode
of previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the temperature source
* from register from 0x40 bit 0 and 1
*
* @param temp_source_u8 : The value of selected temperature source
*
* temp_source_u8 | result
* ---------------- |---------------
* 0x00 | BNO055_ACCEL_TEMP_EN
* 0X01 | BNO055_GYRO_TEMP_EN
* 0X03 | BNO055_MCU_TEMP_EN
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_temp_source(
u8 *temp_source_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, temperature source is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the value of temperature source */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_TEMP_SOURCE_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*temp_source_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_TEMP_SOURCE);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write the temperature source
* from register from 0x40 bit 0 and 1
*
* @param temp_source_u8 : The value of selected temperature source
*
* temp_source_u8 | result
* ---------------- |---------------
* 0x00 | BNO055_ACCEL_TEMP_EN
* 0X01 | BNO055_GYRO_TEMP_EN
* 0X03 | BNO055_MCU_TEMP_EN
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_temp_source(u8 temp_source_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* Write the value of temperature source*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_TEMP_SOURCE_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r =
BNO055_SET_BITSLICE(data_u8r,
BNO055_TEMP_SOURCE, temp_source_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_TEMP_SOURCE_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode
of previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the axis remap value
* from register from 0x41 bit 0 and 5
*
* @param remap_axis_u8 : The value of axis remapping
*
* remap_axis_u8 | result | comments
* ------------|-------------------|------------
* 0X21 | BNO055_REMAP_X_Y | Z=Z;X=Y;Y=X
* 0X18 | BNO055_REMAP_Y_Z | X=X;Y=Z;Z=Y
* 0X06 | BNO055_REMAP_Z_X | Y=Y;X=Z;Z=X
* 0X12 | BNO055_REMAP_X_Y_Z_TYPE0 | X=Z;Y=X;Z=Y
* 0X09 | BNO055_REMAP_X_Y_Z_TYPE1 | X=Y;Y=Z;Z=X
* 0X24 | BNO055_DEFAULT_AXIS | X=X;Y=Y;Z=Z
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note : For axis sign remap refer the following APIs
* x-axis :
*
* bno055_set_x_remap_sign()
*
* y-axis :
*
* bno055_set_y_remap_sign()
*
* z-axis :
*
* bno055_set_z_remap_sign()
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_axis_remap_value(
u8 *remap_axis_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, axis remap is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the value of axis remap*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_REMAP_AXIS_VALUE_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*remap_axis_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_REMAP_AXIS_VALUE);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write the axis remap value
* from register from 0x41 bit 0 and 5
*
* @param remap_axis_u8 : The value of axis remapping
*
* remap_axis_u8 | result | comments
* ------------|-------------------|------------
* 0X21 | BNO055_REMAP_X_Y | Z=Z;X=Y;Y=X
* 0X18 | BNO055_REMAP_Y_Z | X=X;Y=Z;Z=Y
* 0X06 | BNO055_REMAP_Z_X | Y=Y;X=Z;Z=X
* 0X12 | BNO055_REMAP_X_Y_Z_TYPE0 | X=Z;Y=X;Z=Y
* 0X09 | BNO055_REMAP_X_Y_Z_TYPE1 | X=Y;Y=Z;Z=X
* 0X24 | BNO055_DEFAULT_AXIS | X=X;Y=Y;Z=Z
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note : For axis sign remap refer the following APIs
* x-axis :
*
* bno055_set_x_remap_sign()
*
* y-axis :
*
* bno055_set_y_remap_sign()
*
* z-axis :
*
* bno055_set_z_remap_sign()
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_axis_remap_value(
u8 remap_axis_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
/* Write the value of axis remap */
if (stat_s8 == BNO055_SUCCESS) {
switch (remap_axis_u8) {
case BNO055_REMAP_X_Y:
case BNO055_REMAP_Y_Z:
case BNO055_REMAP_Z_X:
case BNO055_REMAP_X_Y_Z_TYPE0:
case BNO055_REMAP_X_Y_Z_TYPE1:
case BNO055_DEFAULT_AXIS:
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_REMAP_AXIS_VALUE_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r = BNO055_SET_BITSLICE
(data_u8r,
BNO055_REMAP_AXIS_VALUE,
remap_axis_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_REMAP_AXIS_VALUE_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
break;
default:
/* Write the default axis remap value */
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_REMAP_AXIS_VALUE_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r = BNO055_SET_BITSLICE
(data_u8r,
BNO055_REMAP_AXIS_VALUE,
BNO055_DEFAULT_AXIS);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_REMAP_AXIS_VALUE_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
break;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode
of previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the x-axis remap
* sign from register from 0x42 bit 2
*
* @param remap_x_sign_u8 : The value of x-axis remap sign
*
* remap_x_sign_u8 | result
* ------------------- |--------------------
* 0X00 | BNO055_REMAP_AXIS_POSITIVE
* 0X01 | BNO055_REMAP_AXIS_NEGATIVE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_x_sign(
u8 *remap_x_sign_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, x-axis remap sign is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the value of x-axis remap sign */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_REMAP_X_SIGN_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*remap_x_sign_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_REMAP_X_SIGN);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write the x-axis remap
* sign from register from 0x42 bit 2
*
* @param remap_x_sign_u8 : The value of x-axis remap sign
*
* remap_x_sign_u8 | result
* ------------------- |--------------------
* 0X00 | BNO055_REMAP_AXIS_POSITIVE
* 0X01 | BNO055_REMAP_AXIS_NEGATIVE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_x_sign(
u8 remap_x_sign_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* Write the value of x-axis remap */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_REMAP_X_SIGN_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r =
BNO055_SET_BITSLICE(data_u8r,
BNO055_REMAP_X_SIGN,
remap_x_sign_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_REMAP_X_SIGN_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode
of previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the y-axis remap
* sign from register from 0x42 bit 1
*
* @param remap_y_sign_u8 : The value of y-axis remap sign
*
* remap_y_sign_u8 | result
* ------------------- |--------------------
* 0X00 | BNO055_REMAP_AXIS_POSITIVE
* 0X01 | BNO055_REMAP_AXIS_NEGATIVE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_y_sign(
u8 *remap_y_sign_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, y-axis remap sign is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the value of y-axis remap sign*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_REMAP_Y_SIGN_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*remap_y_sign_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_REMAP_Y_SIGN);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write the y-axis remap
* sign from register from 0x42 bit 1
*
* @param remap_y_sign_u8 : The value of y-axis remap sign
*
* remap_y_sign_u8 | result
* ------------------- |--------------------
* 0X00 | BNO055_REMAP_AXIS_POSITIVE
* 0X01 | BNO055_REMAP_AXIS_NEGATIVE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_y_sign(
u8 remap_y_sign_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* Write the value of y-axis remap sign*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_REMAP_Y_SIGN_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r =
BNO055_SET_BITSLICE(data_u8r,
BNO055_REMAP_Y_SIGN,
remap_y_sign_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_REMAP_Y_SIGN_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode
of previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the z-axis remap
* sign from register from 0x42 bit 0
*
* @param remap_z_sign_u8 : The value of z-axis remap sign
*
* remap_z_sign_u8 | result
* ------------------- |--------------------
* 0X00 | BNO055_REMAP_AXIS_POSITIVE
* 0X01 | BNO055_REMAP_AXIS_NEGATIVE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_z_sign(
u8 *remap_z_sign_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, z-axis remap sign is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read the value of z-axis remap sign*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_REMAP_Z_SIGN_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*remap_z_sign_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_REMAP_Z_SIGN);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write the z-axis remap
* sign from register from 0x42 bit 0
*
* @param remap_z_sign_u8 : The value of z-axis remap sign
*
* remap_z_sign_u8 | result
* ------------------- |--------------------
* 0X00 | BNO055_REMAP_AXIS_POSITIVE
* 0X01 | BNO055_REMAP_AXIS_NEGATIVE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_z_sign(
u8 remap_z_sign_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* Write the value of z-axis remap sign*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_REMAP_Z_SIGN_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r =
BNO055_SET_BITSLICE(data_u8r,
BNO055_REMAP_Z_SIGN,
remap_z_sign_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_REMAP_Z_SIGN_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode
of previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API is used to read soft iron calibration matrix
* from the register 0x43 to 0x53 it is a 18 bytes of data
*
* @param sic_matrix : The value of soft iron calibration matrix
*
* sic_matrix | result
* --------------------|----------------------------------
* sic_0 | soft iron calibration matrix zero
* sic_1 | soft iron calibration matrix one
* sic_2 | soft iron calibration matrix two
* sic_3 | soft iron calibration matrix three
* sic_4 | soft iron calibration matrix four
* sic_5 | soft iron calibration matrix five
* sic_6 | soft iron calibration matrix six
* sic_7 | soft iron calibration matrix seven
* sic_8 | soft iron calibration matrix eight
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note : Each soft iron calibration matrix range from -32768 to +32767
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_sic_matrix(
struct bno055_sic_matrix_t *sic_matrix)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the soft iron calibration matrix values
data_u8[BNO055_SOFT_IRON_CALIB_0_LSB] - sic_0->LSB
data_u8[BNO055_SOFT_IRON_CALIB_0_MSB] - sic_0->MSB
data_u8[BNO055_SOFT_IRON_CALIB_1_LSB] - sic_1->LSB
data_u8[BNO055_SOFT_IRON_CALIB_1_MSB] - sic_1->MSB
data_u8[BNO055_SOFT_IRON_CALIB_2_LSB] - sic_2->LSB
data_u8[BNO055_SOFT_IRON_CALIB_2_MSB] - sic_2->MSB
data_u8[BNO055_SOFT_IRON_CALIB_3_LSB] - sic_3->LSB
data_u8[BNO055_SOFT_IRON_CALIB_3_MSB] - sic_3->MSB
data_u8[BNO055_SOFT_IRON_CALIB_4_LSB] - sic_4->LSB
data_u8[BNO055_SOFT_IRON_CALIB_4_MSB] - sic_4->MSB
data_u8[BNO055_SOFT_IRON_CALIB_5_LSB] - sic_5->LSB
data_u8[BNO055_SOFT_IRON_CALIB_5_MSB] - sic_5->MSB
data_u8[BNO055_SOFT_IRON_CALIB_6_LSB] - sic_6->LSB
data_u8[BNO055_SOFT_IRON_CALIB_6_MSB] - sic_6->MSB
data_u8[BNO055_SOFT_IRON_CALIB_7_LSB] - sic_7->LSB
data_u8[BNO055_SOFT_IRON_CALIB_7_MSB] - sic_7->MSB
data_u8[BNO055_SOFT_IRON_CALIB_8_LSB] - sic_8->LSB
data_u8[BNO055_SOFT_IRON_CALIB_8_MSB] - sic_8->MSB
*/
u8 data_u8[BNO055_SOFT_IRON_CALIBRATION_MATRIX_SIZE] = {
BNO055_INIT_VALUE, BNO055_INIT_VALUE,
BNO055_INIT_VALUE, BNO055_INIT_VALUE,
BNO055_INIT_VALUE, BNO055_INIT_VALUE,
BNO055_INIT_VALUE, BNO055_INIT_VALUE,
BNO055_INIT_VALUE, BNO055_INIT_VALUE,
BNO055_INIT_VALUE, BNO055_INIT_VALUE,
BNO055_INIT_VALUE, BNO055_INIT_VALUE,
BNO055_INIT_VALUE, BNO055_INIT_VALUE,
BNO055_INIT_VALUE, BNO055_INIT_VALUE};
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, soft iron calibration matrix is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read soft iron calibration matrix value
it is eighteen bytes of data */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_SIC_MATRIX_0_LSB_REG,
data_u8, BNO055_SOFT_IRON_CALIBRATION_MATRIX_SIZE);
if (com_rslt == BNO055_SUCCESS) {
/*soft iron calibration matrix zero*/
data_u8[BNO055_SOFT_IRON_CALIB_0_LSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SOFT_IRON_CALIB_0_LSB],
BNO055_SIC_MATRIX_0_LSB);
data_u8[BNO055_SOFT_IRON_CALIB_0_MSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SOFT_IRON_CALIB_0_MSB],
BNO055_SIC_MATRIX_0_MSB);
sic_matrix->sic_0 = (s16)((((s32)
(s8)(data_u8[BNO055_SOFT_IRON_CALIB_0_MSB])) <<
(BNO055_SHIFT_EIGHT_BITS))
| (data_u8[BNO055_SOFT_IRON_CALIB_0_LSB]));
/*soft iron calibration matrix one*/
data_u8[BNO055_SOFT_IRON_CALIB_1_LSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SOFT_IRON_CALIB_1_LSB],
BNO055_SIC_MATRIX_1_LSB);
data_u8[BNO055_SOFT_IRON_CALIB_1_MSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SOFT_IRON_CALIB_1_MSB],
BNO055_SIC_MATRIX_1_MSB);
sic_matrix->sic_1 = (s16)((((s32)
(s8)(data_u8[BNO055_SOFT_IRON_CALIB_1_MSB])) <<
(BNO055_SHIFT_EIGHT_BITS))
| (data_u8[BNO055_SOFT_IRON_CALIB_1_LSB]));
/*soft iron calibration matrix two*/
data_u8[BNO055_SOFT_IRON_CALIB_2_LSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SOFT_IRON_CALIB_2_LSB],
BNO055_SIC_MATRIX_2_LSB);
data_u8[BNO055_SOFT_IRON_CALIB_2_MSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SOFT_IRON_CALIB_2_MSB],
BNO055_SIC_MATRIX_2_MSB);
sic_matrix->sic_2 = (s16)((((s32)
(s8)(data_u8[BNO055_SOFT_IRON_CALIB_2_MSB])) <<
(BNO055_SHIFT_EIGHT_BITS))
| (data_u8[BNO055_SOFT_IRON_CALIB_2_LSB]));
/*soft iron calibration matrix three*/
data_u8[BNO055_SOFT_IRON_CALIB_3_LSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SOFT_IRON_CALIB_3_LSB],
BNO055_SIC_MATRIX_3_LSB);
data_u8[BNO055_SOFT_IRON_CALIB_3_MSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SOFT_IRON_CALIB_3_MSB],
BNO055_SIC_MATRIX_3_LSB);
sic_matrix->sic_3 = (s16)((((s32)
(s8)(data_u8[BNO055_SOFT_IRON_CALIB_3_MSB])) <<
(BNO055_SHIFT_EIGHT_BITS)) |
(data_u8[BNO055_SOFT_IRON_CALIB_3_LSB]));
/*soft iron calibration matrix four*/
data_u8[BNO055_SOFT_IRON_CALIB_4_LSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SOFT_IRON_CALIB_4_LSB],
BNO055_SIC_MATRIX_4_LSB);
data_u8[BNO055_SOFT_IRON_CALIB_4_MSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SOFT_IRON_CALIB_4_MSB],
BNO055_SIC_MATRIX_4_LSB);
sic_matrix->sic_4 = (s16)((((s32)
(s8)(data_u8[BNO055_SOFT_IRON_CALIB_4_MSB])) <<
(BNO055_SHIFT_EIGHT_BITS)) |
(data_u8[BNO055_SOFT_IRON_CALIB_4_LSB]));
/*soft iron calibration matrix five*/
data_u8[BNO055_SOFT_IRON_CALIB_5_LSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SOFT_IRON_CALIB_5_LSB],
BNO055_SIC_MATRIX_5_LSB);
data_u8[BNO055_SOFT_IRON_CALIB_5_MSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SOFT_IRON_CALIB_5_MSB],
BNO055_SIC_MATRIX_5_LSB);
sic_matrix->sic_5 = (s16)((((s32)
(s8)(data_u8[BNO055_SOFT_IRON_CALIB_5_MSB])) <<
(BNO055_SHIFT_EIGHT_BITS)) |
(data_u8[BNO055_SOFT_IRON_CALIB_5_LSB]));
/*soft iron calibration matrix six*/
data_u8[BNO055_SOFT_IRON_CALIB_6_LSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SOFT_IRON_CALIB_6_LSB],
BNO055_SIC_MATRIX_6_LSB);
data_u8[BNO055_SOFT_IRON_CALIB_6_MSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SOFT_IRON_CALIB_6_MSB],
BNO055_SIC_MATRIX_6_LSB);
sic_matrix->sic_6 = (s16)((((s32)
(s8)(data_u8[BNO055_SOFT_IRON_CALIB_6_MSB])) <<
(BNO055_SHIFT_EIGHT_BITS)) |
(data_u8[BNO055_SOFT_IRON_CALIB_6_LSB]));
/*soft iron calibration matrix seven*/
data_u8[BNO055_SOFT_IRON_CALIB_7_LSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SOFT_IRON_CALIB_7_LSB],
BNO055_SIC_MATRIX_7_LSB);
data_u8[BNO055_SOFT_IRON_CALIB_7_MSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SOFT_IRON_CALIB_7_MSB],
BNO055_SIC_MATRIX_7_LSB);
sic_matrix->sic_7 = (s16)((((s32)
(s8)(data_u8[BNO055_SOFT_IRON_CALIB_7_MSB])) <<
(BNO055_SHIFT_EIGHT_BITS)) |
(data_u8[BNO055_SOFT_IRON_CALIB_7_LSB]));
/*soft iron calibration matrix eight*/
data_u8[BNO055_SOFT_IRON_CALIB_8_LSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SOFT_IRON_CALIB_8_LSB],
BNO055_SIC_MATRIX_8_LSB);
data_u8[BNO055_SOFT_IRON_CALIB_8_MSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SOFT_IRON_CALIB_8_MSB],
BNO055_SIC_MATRIX_8_LSB);
sic_matrix->sic_8 = (s16)((((s32)
(s8)(data_u8[BNO055_SOFT_IRON_CALIB_8_MSB])) <<
(BNO055_SHIFT_EIGHT_BITS)) |
(data_u8[BNO055_SOFT_IRON_CALIB_8_LSB]));
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API is used to write soft iron calibration matrix
* from the register 0x43 to 0x53 it is a 18 bytes of data
*
* @param sic_matrix : The value of soft iron calibration matrix
*
* sic_matrix | result
* --------------------|----------------------------------
* sic_0 | soft iron calibration matrix zero
* sic_1 | soft iron calibration matrix one
* sic_2 | soft iron calibration matrix two
* sic_3 | soft iron calibration matrix three
* sic_4 | soft iron calibration matrix four
* sic_5 | soft iron calibration matrix five
* sic_6 | soft iron calibration matrix six
* sic_7 | soft iron calibration matrix seven
* sic_8 | soft iron calibration matrix eight
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note : Each soft iron calibration matrix range from -32768 to +32767
*/
BNO055_RETURN_FUNCTION_TYPE bno055_write_sic_matrix(
struct bno055_sic_matrix_t *sic_matrix)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data1_u8r = BNO055_INIT_VALUE;
u8 data2_u8r = BNO055_INIT_VALUE;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* write soft iron calibration
matrix zero value*/
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_SIC_MATRIX_0_LSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data1_u8r = ((s8)
(sic_matrix->sic_0
& BNO055_SIC_HEX_0_0_F_F_DATA));
data2_u8r =
BNO055_SET_BITSLICE(data2_u8r,
BNO055_SIC_MATRIX_0_LSB,
data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_SIC_MATRIX_0_LSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_SIC_MATRIX_0_MSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data1_u8r = ((s8)
(sic_matrix->sic_0 >>
BNO055_SHIFT_EIGHT_BITS)
& BNO055_SIC_HEX_0_0_F_F_DATA);
data2_u8r =
BNO055_SET_BITSLICE(data2_u8r,
BNO055_SIC_MATRIX_0_MSB,
data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_SIC_MATRIX_0_MSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
/* write soft iron calibration
matrix one value*/
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_SIC_MATRIX_1_LSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data1_u8r = ((s8)
(sic_matrix->sic_1
& BNO055_SIC_HEX_0_0_F_F_DATA));
data2_u8r =
BNO055_SET_BITSLICE(data2_u8r,
BNO055_SIC_MATRIX_1_LSB,
data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_SIC_MATRIX_1_LSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_SIC_MATRIX_1_MSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data1_u8r = ((s8)
(sic_matrix->sic_1 >>
BNO055_SHIFT_EIGHT_BITS)
& BNO055_SIC_HEX_0_0_F_F_DATA);
data2_u8r =
BNO055_SET_BITSLICE(data2_u8r,
BNO055_SIC_MATRIX_1_MSB,
data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_SIC_MATRIX_1_MSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
/* write soft iron calibration
matrix two value*/
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_SIC_MATRIX_2_LSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data1_u8r = ((s8)
(sic_matrix->sic_2
& BNO055_SIC_HEX_0_0_F_F_DATA));
data2_u8r =
BNO055_SET_BITSLICE(data2_u8r,
BNO055_SIC_MATRIX_2_LSB,
data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_SIC_MATRIX_2_LSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_SIC_MATRIX_2_MSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data1_u8r = ((s8)
(sic_matrix->sic_2 >>
BNO055_SHIFT_EIGHT_BITS)
& BNO055_SIC_HEX_0_0_F_F_DATA);
data2_u8r =
BNO055_SET_BITSLICE(data2_u8r,
BNO055_SIC_MATRIX_2_MSB,
data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_SIC_MATRIX_2_MSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
/* write soft iron calibration
matrix three value*/
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_SIC_MATRIX_3_LSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data1_u8r = ((s8)
(sic_matrix->sic_3
& BNO055_SIC_HEX_0_0_F_F_DATA));
data2_u8r =
BNO055_SET_BITSLICE(data2_u8r,
BNO055_SIC_MATRIX_3_LSB,
data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_SIC_MATRIX_3_LSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_SIC_MATRIX_3_MSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data1_u8r = ((s8)
(sic_matrix->sic_3 >>
BNO055_SHIFT_EIGHT_BITS)
& BNO055_SIC_HEX_0_0_F_F_DATA);
data2_u8r =
BNO055_SET_BITSLICE(data2_u8r,
BNO055_SIC_MATRIX_3_MSB,
data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_SIC_MATRIX_3_MSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
/* write soft iron calibration
matrix four value*/
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_SIC_MATRIX_4_LSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data1_u8r = ((s8)
(sic_matrix->sic_4
& BNO055_SIC_HEX_0_0_F_F_DATA));
data2_u8r =
BNO055_SET_BITSLICE(data2_u8r,
BNO055_SIC_MATRIX_4_LSB,
data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_SIC_MATRIX_4_LSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_SIC_MATRIX_4_MSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data1_u8r = ((s8)
(sic_matrix->sic_4 >>
BNO055_SHIFT_EIGHT_BITS)
& BNO055_SIC_HEX_0_0_F_F_DATA);
data2_u8r =
BNO055_SET_BITSLICE(data2_u8r,
BNO055_SIC_MATRIX_4_MSB,
data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_SIC_MATRIX_4_MSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
/* write soft iron calibration
matrix five value*/
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_SIC_MATRIX_5_LSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data1_u8r = ((s8)
(sic_matrix->sic_5
& BNO055_SIC_HEX_0_0_F_F_DATA));
data2_u8r =
BNO055_SET_BITSLICE(data2_u8r,
BNO055_SIC_MATRIX_5_LSB,
data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_SIC_MATRIX_5_LSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_SIC_MATRIX_5_MSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data1_u8r = ((s8)
(sic_matrix->sic_5 >>
BNO055_SHIFT_EIGHT_BITS)
& BNO055_SIC_HEX_0_0_F_F_DATA);
data2_u8r =
BNO055_SET_BITSLICE(data2_u8r,
BNO055_SIC_MATRIX_5_MSB,
data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_SIC_MATRIX_5_MSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
/* write soft iron calibration
matrix six value*/
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_SIC_MATRIX_6_LSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data1_u8r = ((s8)
(sic_matrix->sic_6
& BNO055_SIC_HEX_0_0_F_F_DATA));
data2_u8r =
BNO055_SET_BITSLICE(data2_u8r,
BNO055_SIC_MATRIX_6_LSB,
data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_SIC_MATRIX_6_LSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_SIC_MATRIX_6_MSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data1_u8r = ((s8)
(sic_matrix->sic_6 >>
BNO055_SHIFT_EIGHT_BITS)
& BNO055_SIC_HEX_0_0_F_F_DATA);
data2_u8r =
BNO055_SET_BITSLICE(data2_u8r,
BNO055_SIC_MATRIX_6_MSB,
data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_SIC_MATRIX_6_MSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
/* write soft iron calibration
matrix seven value*/
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_SIC_MATRIX_7_LSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data1_u8r = ((s8)
(sic_matrix->sic_7
& BNO055_SIC_HEX_0_0_F_F_DATA));
data2_u8r =
BNO055_SET_BITSLICE(data2_u8r,
BNO055_SIC_MATRIX_7_LSB,
data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_SIC_MATRIX_7_LSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_SIC_MATRIX_7_MSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data1_u8r = ((s8)
(sic_matrix->sic_7 >>
BNO055_SHIFT_EIGHT_BITS)
& BNO055_SIC_HEX_0_0_F_F_DATA);
data2_u8r =
BNO055_SET_BITSLICE(data2_u8r,
BNO055_SIC_MATRIX_7_MSB,
data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_SIC_MATRIX_7_MSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
/* write soft iron calibration
matrix eight value*/
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_SIC_MATRIX_8_LSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data1_u8r = ((s8)
(sic_matrix->sic_8
& BNO055_SIC_HEX_0_0_F_F_DATA));
data2_u8r =
BNO055_SET_BITSLICE(data2_u8r,
BNO055_SIC_MATRIX_8_LSB,
data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_SIC_MATRIX_8_LSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_SIC_MATRIX_8_MSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data1_u8r = ((s8)
(sic_matrix->sic_8 >>
BNO055_SHIFT_EIGHT_BITS)
& BNO055_SIC_HEX_0_0_F_F_DATA);
data2_u8r =
BNO055_SET_BITSLICE(data2_u8r,
BNO055_SIC_MATRIX_8_MSB,
data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_SIC_MATRIX_8_MSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode
of previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API is used to read accel offset and accel radius
* offset form register 0x55 to 0x5A and radius form 0x67 and 0x68
*
* @param accel_offset : The value of accel offset and radius
*
* bno055_accel_offset_t | result
* ------------------- | ----------------
* x | accel offset x
* y | accel offset y
* z | accel offset z
* r | accel offset r
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note The range of the accel offset varies based on
* the G-range of accel sensor.
*
* accel G range | offset range
* --------------- | --------------
* BNO055_ACCEL_RANGE_2G | +/-2000
* BNO055_ACCEL_RANGE_4G | +/-4000
* BNO055_ACCEL_RANGE_8G | +/-8000
* BNO055_ACCEL_RANGE_16G | +/-16000
*
* accel G range can be configured by using the
* bno055_set_accel_range() API
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_offset(
struct bno055_accel_offset_t *accel_offset)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the accel offset values
data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB] - offset x->LSB
data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB] - offset x->MSB
data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB] - offset y->LSB
data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB] - offset y->MSB
data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB] - offset z->LSB
data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB] - offset z->MSB
*/
u8 data_u8[BNO055_ACCEL_OFFSET_ARRAY] = {
BNO055_INIT_VALUE, BNO055_INIT_VALUE,
BNO055_INIT_VALUE, BNO055_INIT_VALUE,
BNO055_INIT_VALUE, BNO055_INIT_VALUE};
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel offset is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read accel offset value it is six bytes of data*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_OFFSET_X_LSB_REG,
data_u8, BNO055_ACCEL_OFFSET_ARRAY);
if (com_rslt == BNO055_SUCCESS) {
/* Read accel x offset value*/
data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB],
BNO055_ACCEL_OFFSET_X_LSB);
data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB],
BNO055_ACCEL_OFFSET_X_MSB);
accel_offset->x = (s16)((((s32)(s8)
(data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB])) <<
(BNO055_SHIFT_EIGHT_BITS)) |
(data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB]));
/* Read accel y offset value*/
data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB],
BNO055_ACCEL_OFFSET_Y_LSB);
data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB],
BNO055_ACCEL_OFFSET_Y_MSB);
accel_offset->y = (s16)((((s32)(s8)
(data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB])) <<
(BNO055_SHIFT_EIGHT_BITS))
| (data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB]));
/* Read accel z offset value*/
data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB],
BNO055_ACCEL_OFFSET_Z_LSB);
data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB],
BNO055_ACCEL_OFFSET_Z_MSB);
accel_offset->z = (s16)((((s32)(s8)
(data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB])) <<
(BNO055_SHIFT_EIGHT_BITS)) |
(data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB]));
/* Read accel radius value
it is two bytes of data*/
com_rslt += p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_RADIUS_LSB_REG,
data_u8,
BNO055_LSB_MSB_READ_LENGTH);
/* Array holding the accel radius values
data_u8[BNO055_OFFSET_RADIUS_LSB] - radius->LSB
data_u8[BNO055_OFFSET_RADIUS_MSB] - radius->MSB
*/
if (com_rslt == BNO055_SUCCESS) {
data_u8[BNO055_OFFSET_RADIUS_LSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_OFFSET_RADIUS_LSB],
BNO055_ACCEL_RADIUS_LSB);
data_u8[BNO055_OFFSET_RADIUS_MSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_OFFSET_RADIUS_MSB],
BNO055_ACCEL_RADIUS_MSB);
accel_offset->r = (s16)((((s32)(s8)
(data_u8[BNO055_OFFSET_RADIUS_MSB])) <<
(BNO055_SHIFT_EIGHT_BITS)) |
(data_u8[BNO055_OFFSET_RADIUS_LSB]));
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API is used to write accel offset and accel radius
* offset form register 0x55 to 0x5A and radius form 0x67 and 0x68
*
* @param accel_offset : The value of accel offset and radius
*
* bno055_accel_offset_t | result
* ------------------- | ----------------
* x | accel offset x
* y | accel offset y
* z | accel offset z
* r | accel offset r
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note The range of the accel offset varies based on
* the G-range of accel sensor.
*
* accel G range | offset range
* --------------- | --------------
* BNO055_ACCEL_RANGE_2G | +/-2000
* BNO055_ACCEL_RANGE_4G | +/-4000
* BNO055_ACCEL_RANGE_8G | +/-8000
* BNO055_ACCEL_RANGE_16G | +/-16000
*
* accel G range can be configured by using the
* bno055_set_accel_range() API
*/
BNO055_RETURN_FUNCTION_TYPE bno055_write_accel_offset(
struct bno055_accel_offset_t *accel_offset)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data1_u8r = BNO055_INIT_VALUE;
u8 data2_u8r = BNO055_INIT_VALUE;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* write accel offset x value*/
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_OFFSET_X_LSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data1_u8r = ((s8)
(accel_offset->x
& BNO055_SIC_HEX_0_0_F_F_DATA));
data2_u8r =
BNO055_SET_BITSLICE(data2_u8r,
BNO055_ACCEL_OFFSET_X_LSB,
data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_OFFSET_X_LSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_OFFSET_X_MSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data1_u8r = ((s8)
(accel_offset->x >>
BNO055_SHIFT_EIGHT_BITS)
& BNO055_SIC_HEX_0_0_F_F_DATA);
data2_u8r =
BNO055_SET_BITSLICE(data2_u8r,
BNO055_ACCEL_OFFSET_X_MSB,
data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_OFFSET_X_MSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
/* write accel offset y value*/
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_OFFSET_Y_LSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data1_u8r = ((s8)
(accel_offset->y
& BNO055_SIC_HEX_0_0_F_F_DATA));
data2_u8r =
BNO055_SET_BITSLICE(data2_u8r,
BNO055_ACCEL_OFFSET_Y_LSB,
data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_OFFSET_Y_LSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_OFFSET_Y_MSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data1_u8r = ((s8)
(accel_offset->y >>
BNO055_SHIFT_EIGHT_BITS)
& BNO055_SIC_HEX_0_0_F_F_DATA);
data2_u8r =
BNO055_SET_BITSLICE(data2_u8r,
BNO055_ACCEL_OFFSET_Y_MSB,
data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_OFFSET_Y_MSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
/* write accel offset z value*/
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_OFFSET_Z_LSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data1_u8r = ((s8)
(accel_offset->z
& BNO055_SIC_HEX_0_0_F_F_DATA));
data2_u8r =
BNO055_SET_BITSLICE(data2_u8r,
BNO055_ACCEL_OFFSET_Z_LSB,
data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_OFFSET_Z_LSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_OFFSET_Z_MSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data1_u8r = ((s8)
(accel_offset->z >>
BNO055_SHIFT_EIGHT_BITS)
& BNO055_SIC_HEX_0_0_F_F_DATA);
data2_u8r =
BNO055_SET_BITSLICE(data2_u8r,
BNO055_ACCEL_OFFSET_Z_MSB,
data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_OFFSET_Z_MSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
/*write accel radius value*/
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_RADIUS_LSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data1_u8r = ((s8)
(accel_offset->r
& BNO055_SIC_HEX_0_0_F_F_DATA));
data2_u8r =
BNO055_SET_BITSLICE(data2_u8r,
BNO055_ACCEL_RADIUS_LSB,
data1_u8r);
com_rslt =
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_RADIUS_LSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_RADIUS_MSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data1_u8r = ((s8)
(accel_offset->r >>
BNO055_SHIFT_EIGHT_BITS)
& BNO055_SIC_HEX_0_0_F_F_DATA);
data2_u8r =
BNO055_SET_BITSLICE(data2_u8r,
BNO055_ACCEL_RADIUS_MSB,
data1_u8r);
com_rslt =
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_RADIUS_MSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode
of previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API is used to read mag offset
* offset form register 0x69 to 0x6A
*
* @param mag_offset : The value of mag offset and radius
*
* bno055_mag_offset_t | result
* ------------------- | ----------------
* x | mag offset x
* y | mag offset y
* z | mag offset z
* r | mag radius r
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note The range of the magnetometer offset is +/-6400 in LSB
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_offset(
struct bno055_mag_offset_t *mag_offset)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the mag offset values
data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB] - offset x->LSB
data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB] - offset x->MSB
data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB] - offset y->LSB
data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB] - offset y->MSB
data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB] - offset z->LSB
data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB] - offset z->MSB
*/
u8 data_u8[BNO055_MAG_OFFSET_ARRAY] = {
BNO055_INIT_VALUE, BNO055_INIT_VALUE,
BNO055_INIT_VALUE, BNO055_INIT_VALUE,
BNO055_INIT_VALUE, BNO055_INIT_VALUE};
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, mag offset is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read mag offset value it the six bytes of data */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_MAG_OFFSET_X_LSB_REG,
data_u8, BNO055_MAG_OFFSET_ARRAY);
if (com_rslt == BNO055_SUCCESS) {
/* Read mag x offset value*/
data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB],
BNO055_MAG_OFFSET_X_LSB);
data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB],
BNO055_MAG_OFFSET_X_MSB);
mag_offset->x = (s16)((((s32)(s8)
(data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB])) <<
(BNO055_SHIFT_EIGHT_BITS)) |
(data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB]));
/* Read mag y offset value*/
data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB],
BNO055_MAG_OFFSET_Y_LSB);
data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB],
BNO055_MAG_OFFSET_Y_MSB);
mag_offset->y = (s16)((((s32)(s8)
(data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB])) <<
(BNO055_SHIFT_EIGHT_BITS))
| (data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB]));
/* Read mag z offset value*/
data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB],
BNO055_MAG_OFFSET_Z_LSB);
data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB],
BNO055_MAG_OFFSET_Z_MSB);
mag_offset->z = (s16)((((s32)(s8)
(data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB])) <<
(BNO055_SHIFT_EIGHT_BITS))
| (data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB]));
/* Read mag radius value
it the two bytes of data */
com_rslt += p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_MAG_RADIUS_LSB_REG,
data_u8,
BNO055_LSB_MSB_READ_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
/* Array holding the mag radius values
data_u8[BNO055_OFFSET_RADIUS_LSB] -
radius->LSB
data_u8[BNO055_OFFSET_RADIUS_MSB] -
radius->MSB
*/
data_u8[BNO055_OFFSET_RADIUS_LSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_OFFSET_RADIUS_LSB],
BNO055_MAG_RADIUS_LSB);
data_u8[BNO055_OFFSET_RADIUS_MSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_OFFSET_RADIUS_MSB],
BNO055_MAG_RADIUS_MSB);
mag_offset->r = (s16)((((s32)(s8)
(data_u8[BNO055_OFFSET_RADIUS_MSB])) <<
(BNO055_SHIFT_EIGHT_BITS)) |
(data_u8[BNO055_OFFSET_RADIUS_LSB]));
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API is used to read mag offset
* offset form register 0x69 to 0x6A
*
* @param mag_offset : The value of mag offset and radius
*
* bno055_mag_offset_t | result
* ------------------- | ----------------
* x | mag offset x
* y | mag offset y
* z | mag offset z
* r | mag radius r
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note The range of the magnetometer offset is +/-6400 in LSB
*/
BNO055_RETURN_FUNCTION_TYPE bno055_write_mag_offset(
struct bno055_mag_offset_t *mag_offset)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data1_u8r = BNO055_INIT_VALUE;
u8 data2_u8r = BNO055_INIT_VALUE;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* write Mag offset x value*/
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_MAG_OFFSET_X_LSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data1_u8r = ((s8)
(mag_offset->x
& BNO055_SIC_HEX_0_0_F_F_DATA));
data2_u8r =
BNO055_SET_BITSLICE(data2_u8r,
BNO055_MAG_OFFSET_X_LSB,
data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_MAG_OFFSET_X_LSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_MAG_OFFSET_X_MSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data1_u8r = ((s8)
(mag_offset->x >>
BNO055_SHIFT_EIGHT_BITS)
& BNO055_SIC_HEX_0_0_F_F_DATA);
data2_u8r =
BNO055_SET_BITSLICE(data2_u8r,
BNO055_MAG_OFFSET_X_MSB,
data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_MAG_OFFSET_X_MSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
/* write Mag offset y value*/
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_MAG_OFFSET_Y_LSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data1_u8r = ((s8)
(mag_offset->y &
BNO055_SIC_HEX_0_0_F_F_DATA));
data2_u8r =
BNO055_SET_BITSLICE(data2_u8r,
BNO055_MAG_OFFSET_Y_LSB,
data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_MAG_OFFSET_Y_LSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_MAG_OFFSET_Y_MSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data1_u8r = ((s8)
(mag_offset->y >>
BNO055_SHIFT_EIGHT_BITS)
& BNO055_SIC_HEX_0_0_F_F_DATA);
data2_u8r =
BNO055_SET_BITSLICE(data2_u8r,
BNO055_MAG_OFFSET_Y_MSB,
data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_MAG_OFFSET_Y_MSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
/* write Mag offset z value*/
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_MAG_OFFSET_Z_LSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data1_u8r = ((s8)
(mag_offset->z &
BNO055_SIC_HEX_0_0_F_F_DATA));
data2_u8r =
BNO055_SET_BITSLICE(data2_u8r,
BNO055_MAG_OFFSET_Z_LSB,
data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_MAG_OFFSET_Z_LSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_MAG_OFFSET_Z_MSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data1_u8r = ((s8)
(mag_offset->z >>
BNO055_SHIFT_EIGHT_BITS)
& BNO055_SIC_HEX_0_0_F_F_DATA);
data2_u8r =
BNO055_SET_BITSLICE(data2_u8r,
BNO055_MAG_OFFSET_Z_MSB,
data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_MAG_OFFSET_Z_MSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
/* write Mag radius value*/
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_MAG_RADIUS_LSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data1_u8r = ((s8)
(mag_offset->r &
BNO055_SIC_HEX_0_0_F_F_DATA));
data2_u8r =
BNO055_SET_BITSLICE(data2_u8r,
BNO055_MAG_RADIUS_LSB,
data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_MAG_RADIUS_LSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_MAG_RADIUS_MSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data1_u8r = ((s8)
(mag_offset->r >>
BNO055_SHIFT_EIGHT_BITS)
& BNO055_SIC_HEX_0_0_F_F_DATA);
data2_u8r =
BNO055_SET_BITSLICE(data2_u8r,
BNO055_MAG_RADIUS_MSB,
data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_MAG_RADIUS_MSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode
of previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API is used to read gyro offset
* offset form register 0x61 to 0x66
*
* @param gyro_offset : The value of gyro offset
*
* bno055_gyro_offset_t | result
* ------------------- | ----------------
* x | gyro offset x
* y | gyro offset y
* z | gyro offset z
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note The range of the gyro offset varies based on
* the range of gyro sensor
*
* gyro G range | offset range
* -------------------- | ------------
* BNO055_GYRO_RANGE_2000DPS | +/-32000
* BNO055_GYRO_RANGE_1000DPS | +/-16000
* BNO055_GYRO_RANGE_500DPS | +/-8000
* BNO055_GYRO_RANGE_250DPS | +/-4000
* BNO055_GYRO_RANGE_125DPS | +/-2000
*
* Gyro range can be configured by using the
* bno055_set_gyro_range() API
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_offset(
struct bno055_gyro_offset_t *gyro_offset)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
/* Array holding the gyro offset values
data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB] - offset x->LSB
data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB] - offset x->MSB
data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB] - offset y->LSB
data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB] - offset y->MSB
data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB] - offset z->LSB
data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB] - offset z->MSB
*/
u8 data_u8[BNO055_GYRO_OFFSET_ARRAY] = {
BNO055_INIT_VALUE, BNO055_INIT_VALUE,
BNO055_INIT_VALUE, BNO055_INIT_VALUE,
BNO055_INIT_VALUE, BNO055_INIT_VALUE};
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro offset is
available in the page zero*/
if (p_bno055->page_id != BNO055_PAGE_ZERO)
/* Write the page zero*/
stat_s8 = bno055_write_page_id(BNO055_PAGE_ZERO);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ZERO)) {
/* Read gyro offset value it the six bytes of data*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_OFFSET_X_LSB_REG,
data_u8, BNO055_GYRO_OFFSET_ARRAY);
if (com_rslt == BNO055_SUCCESS) {
/* Read gyro x offset value*/
data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB],
BNO055_GYRO_OFFSET_X_LSB);
data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB],
BNO055_GYRO_OFFSET_X_MSB);
gyro_offset->x = (s16)((((s32)(s8)
(data_u8[BNO055_SENSOR_OFFSET_DATA_X_MSB])) <<
(BNO055_SHIFT_EIGHT_BITS)) |
(data_u8[BNO055_SENSOR_OFFSET_DATA_X_LSB]));
/* Read gyro y offset value*/
data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB],
BNO055_GYRO_OFFSET_Y_LSB);
data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB],
BNO055_GYRO_OFFSET_Y_MSB);
gyro_offset->y = (s16)((((s32)(s8)
(data_u8[BNO055_SENSOR_OFFSET_DATA_Y_MSB])) <<
(BNO055_SHIFT_EIGHT_BITS)) |
(data_u8[BNO055_SENSOR_OFFSET_DATA_Y_LSB]));
/* Read gyro z offset value*/
data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB],
BNO055_GYRO_OFFSET_Z_LSB);
data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB] =
BNO055_GET_BITSLICE(
data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB],
BNO055_GYRO_OFFSET_Z_MSB);
gyro_offset->z = (s16)((((s32)(s8)
(data_u8[BNO055_SENSOR_OFFSET_DATA_Z_MSB])) <<
(BNO055_SHIFT_EIGHT_BITS)) |
(data_u8[BNO055_SENSOR_OFFSET_DATA_Z_LSB]));
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API is used to read gyro offset
* offset form register 0x61 to 0x66
*
* @param gyro_offset : The value of gyro offset
*
* bno055_gyro_offset_t | result
* ------------------- | ----------------
* x | gyro offset x
* y | gyro offset y
* z | gyro offset z
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note The range of the gyro offset varies based on
* the range of gyro sensor
*
* gyro G range | offset range
* -------------------- | ------------
* BNO055_GYRO_RANGE_2000DPS | +/-32000
* BNO055_GYRO_RANGE_1000DPS | +/-16000
* BNO055_GYRO_RANGE_500DPS | +/-8000
* BNO055_GYRO_RANGE_250DPS | +/-4000
* BNO055_GYRO_RANGE_125DPS | +/-2000
*
* Gyro range can be configured by using the
* bno055_set_gyro_range() API
*/
BNO055_RETURN_FUNCTION_TYPE bno055_write_gyro_offset(
struct bno055_gyro_offset_t *gyro_offset)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data1_u8r = BNO055_INIT_VALUE;
u8 data2_u8r = BNO055_INIT_VALUE;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* write gryo offset x value*/
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_OFFSET_X_LSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data1_u8r = ((s8)
(gyro_offset->x
& BNO055_SIC_HEX_0_0_F_F_DATA));
data2_u8r =
BNO055_SET_BITSLICE(data2_u8r,
BNO055_GYRO_OFFSET_X_LSB,
data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_OFFSET_X_LSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_OFFSET_X_MSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data1_u8r = ((s8)
(gyro_offset->x >>
BNO055_SHIFT_EIGHT_BITS)
& BNO055_SIC_HEX_0_0_F_F_DATA);
data2_u8r =
BNO055_SET_BITSLICE(data2_u8r,
BNO055_GYRO_OFFSET_X_MSB,
data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_OFFSET_X_MSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
/* write gryo offset y value*/
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_OFFSET_Y_LSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data1_u8r = ((s8)
(gyro_offset->y
& BNO055_SIC_HEX_0_0_F_F_DATA));
data2_u8r =
BNO055_SET_BITSLICE(data2_u8r,
BNO055_GYRO_OFFSET_Y_LSB,
data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_OFFSET_Y_LSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_OFFSET_Y_MSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data1_u8r = ((s8)
(gyro_offset->y >>
BNO055_SHIFT_EIGHT_BITS)
& BNO055_SIC_HEX_0_0_F_F_DATA);
data2_u8r =
BNO055_SET_BITSLICE(data2_u8r,
BNO055_GYRO_OFFSET_Y_MSB,
data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_OFFSET_Y_MSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
/* write gryo offset z value*/
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_OFFSET_Z_LSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data1_u8r = ((s8)
(gyro_offset->z
& BNO055_SIC_HEX_0_0_F_F_DATA));
data2_u8r =
BNO055_SET_BITSLICE(data2_u8r,
BNO055_GYRO_OFFSET_Z_LSB,
data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_OFFSET_Z_LSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
com_rslt +=
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_OFFSET_Z_MSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data1_u8r = ((s8)
(gyro_offset->z >>
BNO055_SHIFT_EIGHT_BITS)
& BNO055_SIC_HEX_0_0_F_F_DATA);
data2_u8r =
BNO055_SET_BITSLICE(data2_u8r,
BNO055_GYRO_OFFSET_Z_MSB,
data1_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_OFFSET_Z_MSB_REG,
&data2_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode
of previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/********************************************************/
/************** PAGE1 Functions *********************/
/********************************************************/
/*!
* @brief This API used to read the accel range
* from page one register from 0x08 bit 0 and 1
*
* @param accel_range_u8 : The value of accel range
* accel_range_u8 | result
* ----------------- | --------------
* 0x00 | BNO055_ACCEL_RANGE_2G
* 0x01 | BNO055_ACCEL_RANGE_4G
* 0x02 | BNO055_ACCEL_RANGE_8G
* 0x03 | BNO055_ACCEL_RANGE_16G
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_range(
u8 *accel_range_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel range is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of accel g range */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_RANGE_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*accel_range_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_ACCEL_RANGE);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write the accel range
* from page one register from 0x08 bit 0 and 1
*
* @param accel_range_u8 : The value of accel range
*
* accel_range_u8 | result
* ----------------- | --------------
* 0x00 | BNO055_ACCEL_RANGE_2G
* 0x01 | BNO055_ACCEL_RANGE_4G
* 0x02 | BNO055_ACCEL_RANGE_8G
* 0x03 | BNO055_ACCEL_RANGE_16G
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_range(
u8 accel_range_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
s8 pg_stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if (pg_stat_s8 == BNO055_SUCCESS) {
if (accel_range_u8 < BNO055_ACCEL_RANGE) {
/* Write the value of accel range*/
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_RANGE_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r = BNO055_SET_BITSLICE
(data_u8r,
BNO055_ACCEL_RANGE,
accel_range_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_RANGE_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_OUT_OF_RANGE;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the accel bandwidth
* from page one register from 0x08 bit 2 to 4
*
* @param accel_bw_u8 : The value of accel bandwidth
*
* accel_bw_u8 | result
* ----------------- | ---------------
* 0x00 | BNO055_ACCEL_BW_7_81HZ
* 0x01 | BNO055_ACCEL_BW_15_63HZ
* 0x02 | BNO055_ACCEL_BW_31_25HZ
* 0x03 | BNO055_ACCEL_BW_62_5HZ
* 0x04 | BNO055_ACCEL_BW_125HZ
* 0x05 | BNO055_ACCEL_BW_250HZ
* 0x06 | BNO055_ACCEL_BW_500HZ
* 0x07 | BNO055_ACCEL_BW_1000HZ
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_bw(
u8 *accel_bw_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel bandwidth is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of accel bandwidth */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_BW_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*accel_bw_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_ACCEL_BW);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write the accel bandwidth
* from page one register from 0x08 bit 2 to 4
*
* @param accel_bw_u8 : The value of accel bandwidth
*
* accel_bw_u8 | result
* ----------------- | ---------------
* 0x00 | BNO055_ACCEL_BW_7_81HZ
* 0x01 | BNO055_ACCEL_BW_15_63HZ
* 0x02 | BNO055_ACCEL_BW_31_25HZ
* 0x03 | BNO055_ACCEL_BW_62_5HZ
* 0x04 | BNO055_ACCEL_BW_125HZ
* 0x05 | BNO055_ACCEL_BW_250HZ
* 0x06 | BNO055_ACCEL_BW_500HZ
* 0x07 | BNO055_ACCEL_BW_1000HZ
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_bw(
u8 accel_bw_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
s8 pg_stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if (pg_stat_s8 == BNO055_SUCCESS) {
if (accel_bw_u8 <
BNO055_ACCEL_GYRO_BW_RANGE) {
/* Write the accel */
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_BW_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r = BNO055_SET_BITSLICE
(data_u8r, BNO055_ACCEL_BW,
accel_bw_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_BW_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_OUT_OF_RANGE;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the accel power mode
* from page one register from 0x08 bit 5 to 7
*
* @param accel_power_mode_u8 : The value of accel power mode
* accel_power_mode_u8 | result
* ----------------- | -------------
* 0x00 | BNO055_ACCEL_NORMAL
* 0x01 | BNO055_ACCEL_SUSPEND
* 0x02 | BNO055_ACCEL_LOWPOWER_1
* 0x03 | BNO055_ACCEL_STANDBY
* 0x04 | BNO055_ACCEL_LOWPOWER_2
* 0x05 | BNO055_ACCEL_DEEPSUSPEND
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_power_mode(
u8 *accel_power_mode_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel power mode is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of accel bandwidth */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_POWER_MODE_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*accel_power_mode_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_ACCEL_POWER_MODE);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write the accel power mode
* from page one register from 0x08 bit 5 to 7
*
* @param accel_power_mode_u8 : The value of accel power mode
* accel_power_mode_u8 | result
* ----------------- | -------------
* 0x00 | BNO055_ACCEL_NORMAL
* 0x01 | BNO055_ACCEL_SUSPEND
* 0x02 | BNO055_ACCEL_LOWPOWER_1
* 0x03 | BNO055_ACCEL_STANDBY
* 0x04 | BNO055_ACCEL_LOWPOWER_2
* 0x05 | BNO055_ACCEL_DEEPSUSPEND
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_power_mode(
u8 accel_power_mode_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
s8 pg_stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if (pg_stat_s8 == BNO055_SUCCESS) {
if (accel_power_mode_u8 <
BNO055_ACCEL_POWER_MODE_RANGE) {
/* Write the value of accel bandwidth*/
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_POWER_MODE_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r = BNO055_SET_BITSLICE
(data_u8r,
BNO055_ACCEL_POWER_MODE,
accel_power_mode_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_POWER_MODE_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_OUT_OF_RANGE;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the mag output data rate
* from page one register from 0x09 bit 0 to 2
*
* @param mag_data_output_rate_u8 : The value of mag output data rate
*
* mag_data_output_rate_u8 | result
* ---------------------- |----------------------
* 0x00 | MAG_DATA_OUTPUT_RATE_2HZ
* 0x01 | MAG_DATA_OUTPUT_RATE_6HZ
* 0x02 | MAG_DATA_OUTPUT_RATE_8HZ
* 0x03 | MAG_DATA_OUTPUT_RATE_10HZ
* 0x04 | MAG_DATA_OUTPUT_RATE_15HZ
* 0x05 | MAG_DATA_OUTPUT_RATE_20HZ
* 0x06 | MAG_DATA_OUTPUT_RATE_25HZ
* 0x07 | MAG_DATA_OUTPUT_RATE_30HZ
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_data_output_rate(
u8 *mag_data_output_rate_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, output data rate
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the mag output data rate*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_MAG_DATA_OUTPUT_RATE_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*mag_data_output_rate_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_MAG_DATA_OUTPUT_RATE);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write the mag output data rate
* from page one register from 0x09 bit 0 to 2
*
* @param mag_data_output_rate_u8 : The value of mag output data rate
*
* mag_data_output_rate_u8 | result
* ---------------------- |----------------------
* 0x00 | MAG_DATA_OUTPUT_RATE_2HZ
* 0x01 | MAG_DATA_OUTPUT_RATE_6HZ
* 0x02 | MAG_DATA_OUTPUT_RATE_8HZ
* 0x03 | MAG_DATA_OUTPUT_RATE_10HZ
* 0x04 | MAG_DATA_OUTPUT_RATE_15HZ
* 0x05 | MAG_DATA_OUTPUT_RATE_20HZ
* 0x06 | MAG_DATA_OUTPUT_RATE_25HZ
* 0x07 | MAG_DATA_OUTPUT_RATE_30HZ
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_data_output_rate(
u8 mag_data_output_rate_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
s8 pg_stat_s8 = BNO055_ERROR;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if (pg_stat_s8 == BNO055_SUCCESS) {
if (mag_data_output_rate_u8
< BNO055_MAG_OUTPUT_RANGE) {
/* Write the value of
mag output data rate*/
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_MAG_DATA_OUTPUT_RATE_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r = BNO055_SET_BITSLICE
(data_u8r,
BNO055_MAG_DATA_OUTPUT_RATE,
mag_data_output_rate_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_MAG_DATA_OUTPUT_RATE_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_OUT_OF_RANGE;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the mag operation mode
* from page one register from 0x09 bit 3 to 4
*
* @param mag_operation_mode_u8 : The value of mag operation mode
*
* mag_operation_mode_u8 | result
* ------------------------- |--------------------------
* 0x00 | MAG_OPR_MODE_LOWPOWER
* 0x01 | MAG_OPR_MODE_REGULAR
* 0x02 | MAG_OPR_MODE_ENHANCED_REGULAR
* 0x03 | MAG_OPR_MODE_HIGH_ACCURACY
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_operation_mode(
u8 *mag_operation_mode_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, mag operation mode is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of mag operation mode*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_MAG_OPERATION_MODE_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*mag_operation_mode_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_MAG_OPERATION_MODE);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write the mag operation mode
* from page one register from 0x09 bit 3 to 4
*
* @param mag_operation_mode_u8 : The value of mag operation mode
*
* mag_operation_mode_u8 | result
* ------------------------- |--------------------------
* 0x00 | MAG_OPR_MODE_LOWPOWER
* 0x01 | MAG_OPR_MODE_REGULAR
* 0x02 | MAG_OPR_MODE_ENHANCED_REGULAR
* 0x03 | MAG_OPR_MODE_HIGH_ACCURACY
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_operation_mode(
u8 mag_operation_mode_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
s8 pg_stat_s8 = BNO055_ERROR;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if (pg_stat_s8 == BNO055_SUCCESS) {
if (mag_operation_mode_u8
< BNO055_MAG_OPR_MODE_RANGE) {
/* Write the value
of mag operation mode*/
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_MAG_OPERATION_MODE_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r = BNO055_SET_BITSLICE
(data_u8r,
BNO055_MAG_OPERATION_MODE,
mag_operation_mode_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_MAG_OPERATION_MODE_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_OUT_OF_RANGE;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the mag power mode
* from page one register from 0x09 bit 4 to 6
*
* @param mag_power_mode_u8 : The value of mag power mode
*
* mag_power_mode_u8 | result
* --------------------|-----------------
* 0x00 | BNO055_MAG_POWER_MODE_NORMAL
* 0x01 | BNO055_MAG_POWER_MODE_SLEEP
* 0x02 | BNO055_MAG_POWER_MODE_SUSPEND
* 0x03 | BNO055_MAG_POWER_MODE_FORCE_MODE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_power_mode(
u8 *mag_power_mode_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, mag power mode is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of mag power mode */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_MAG_POWER_MODE_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*mag_power_mode_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_MAG_POWER_MODE);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write the mag power mode
* from page one register from 0x09 bit 4 to 6
*
* @param mag_power_mode_u8 : The value of mag power mode
*
* mag_power_mode_u8 | result
* --------------------|-----------------
* 0x00 | BNO055_MAG_POWER_MODE_NORMAL
* 0x01 | BNO055_MAG_POWER_MODE_SLEEP
* 0x02 | BNO055_MAG_POWER_MODE_SUSPEND
* 0x03 | BNO055_MAG_POWER_MODE_FORCE_MODE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_power_mode(
u8 mag_power_mode_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
s8 pg_stat_s8 = BNO055_ERROR;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode(
BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if (pg_stat_s8 == BNO055_SUCCESS) {
if (mag_power_mode_u8 <
BNO055_MAG_POWER_MODE_RANGE) {
/* Write the value of mag power mode*/
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_MAG_POWER_MODE_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r = BNO055_SET_BITSLICE
(data_u8r,
BNO055_MAG_POWER_MODE,
mag_power_mode_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_MAG_POWER_MODE_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_OUT_OF_RANGE;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the gyro range
* from page one register from 0x0A bit 0 to 3
*
* @param gyro_range_u8 : The value of gyro range
*
* gyro_range_u8 | result
* --------------------|-----------------
* 0x00 | BNO055_GYRO_RANGE_2000DPS
* 0x01 | BNO055_GYRO_RANGE_1000DPS
* 0x02 | BNO055_GYRO_RANGE_500DPS
* 0x03 | BNO055_GYRO_RANGE_250DPS
* 0x04 | BNO055_GYRO_RANGE_125DPS
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_range(
u8 *gyro_range_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro range is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of gyro range */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_RANGE_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*gyro_range_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_RANGE);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write the gyro range
* from page one register from 0x0A bit 0 to 3
*
* @param gyro_range_u8 : The value of gyro range
*
* gyro_range_u8 | result
* --------------------|-----------------
* 0x00 | BNO055_GYRO_RANGE_2000DPS
* 0x01 | BNO055_GYRO_RANGE_1000DPS
* 0x02 | BNO055_GYRO_RANGE_500DPS
* 0x03 | BNO055_GYRO_RANGE_250DPS
* 0x04 | BNO055_GYRO_RANGE_125DPS
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_range(
u8 gyro_range_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
s8 pg_stat_s8 = BNO055_ERROR;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if (pg_stat_s8 == BNO055_SUCCESS) {
if (gyro_range_u8 < BNO055_GYRO_RANGE) {
/* Write the value of gyro range*/
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_RANGE_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r = BNO055_SET_BITSLICE
(data_u8r,
BNO055_GYRO_RANGE,
gyro_range_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_RANGE_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_OUT_OF_RANGE;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the gyro bandwidth
* from page one register from 0x0A bit 3 to 5
*
* @param gyro_bw_u8 : The value of gyro bandwidth
*
* gyro_bw_u8 | result
* --------------------|-----------------
* 0x00 | BNO055_GYRO_BW_523HZ
* 0x01 | BNO055_GYRO_BW_230HZ
* 0x02 | BNO055_GYRO_BW_116HZ
* 0x03 | BNO055_GYRO_BW_47HZ
* 0x04 | BNO055_GYRO_BW_23HZ
* 0x05 | BNO055_GYRO_BW_12HZ
* 0x06 | BNO055_GYRO_BW_64HZ
* 0x07 | BNO055_GYRO_BW_32HZ
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_bw(
u8 *gyro_bw_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro bandwidth is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_BW_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*gyro_bw_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_BW);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write the gyro bandwidth
* from page one register from 0x0A bit 3 to 5
*
* @param gyro_bw_u8 : The value of gyro bandwidth
*
* gyro_bw_u8 | result
* --------------------|-----------------
* 0x00 | BNO055_GYRO_BW_523HZ
* 0x01 | BNO055_GYRO_BW_230HZ
* 0x02 | BNO055_GYRO_BW_116HZ
* 0x03 | BNO055_GYRO_BW_47HZ
* 0x04 | BNO055_GYRO_BW_23HZ
* 0x05 | BNO055_GYRO_BW_12HZ
* 0x06 | BNO055_GYRO_BW_64HZ
* 0x07 | BNO055_GYRO_BW_32HZ
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_bw(
u8 gyro_bw_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
u8 gyro_opmode = BNO055_INIT_VALUE;
u8 gyro_auto_sleep_durn = BNO055_INIT_VALUE;
s8 pg_stat_s8 = BNO055_ERROR;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if (pg_stat_s8 == BNO055_SUCCESS) {
/* Write the value of gyro bandwidth */
if ((gyro_bw_u8 == BNO055_INIT_VALUE ||
gyro_bw_u8 > BNO055_INIT_VALUE) &&
gyro_bw_u8 < BNO055_ACCEL_GYRO_BW_RANGE) {
switch (gyro_bw_u8) {
case BNO055_GYRO_BW_523HZ:
gyro_bw_u8 = BNO055_GYRO_BW_523HZ;
break;
case BNO055_GYRO_BW_230HZ:
gyro_bw_u8 = BNO055_GYRO_BW_230HZ;
break;
case BNO055_GYRO_BW_116HZ:
gyro_bw_u8 = BNO055_GYRO_BW_116HZ;
break;
case BNO055_GYRO_BW_47HZ:
gyro_bw_u8 = BNO055_GYRO_BW_47HZ;
break;
case BNO055_GYRO_BW_23HZ:
gyro_bw_u8 = BNO055_GYRO_BW_23HZ;
break;
case BNO055_GYRO_BW_12HZ:
gyro_bw_u8 = BNO055_GYRO_BW_12HZ;
break;
case BNO055_GYRO_BW_64HZ:
gyro_bw_u8 = BNO055_GYRO_BW_64HZ;
break;
case BNO055_GYRO_BW_32HZ:
gyro_bw_u8 = BNO055_GYRO_BW_32HZ;
break;
default:
break;
}
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_BW_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r = BNO055_SET_BITSLICE
(data_u8r,
BNO055_GYRO_BW,
gyro_bw_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_BW_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
}
com_rslt = bno055_get_gyro_power_mode
(&gyro_opmode);
if (com_rslt == BNO055_SUCCESS) {
if (gyro_opmode ==
BNO055_GYRO_POWER_MODE_ADVANCE_POWERSAVE) {
com_rslt +=
bno055_get_gyro_auto_sleep_durn
(&gyro_auto_sleep_durn);
if (com_rslt == BNO055_SUCCESS) {
com_rslt +=
bno055_gyro_set_auto_sleep_durn
(gyro_auto_sleep_durn,
gyro_bw_u8);
}
}
}
} else {
com_rslt = BNO055_OUT_OF_RANGE;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the gyro power mode
* from page one register from 0x0B bit 0 to 2
*
* @param gyro_power_mode_u8 : The value of gyro power mode
*
* gyro_power_mode_u8 | result
* ----------------------|----------------------------
* 0x00 | GYRO_OPR_MODE_NORMAL
* 0x01 | GYRO_OPR_MODE_FASTPOWERUP
* 0x02 | GYRO_OPR_MODE_DEEPSUSPEND
* 0x03 | GYRO_OPR_MODE_SUSPEND
* 0x04 | GYRO_OPR_MODE_ADVANCE_POWERSAVE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_power_mode(
u8 *gyro_power_mode_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro power mode is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Write the value of gyro power mode*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_POWER_MODE_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*gyro_power_mode_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_POWER_MODE);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write the gyro power mode
* from page one register from 0x0B bit 0 to 2
*
* @param gyro_power_mode_u8 : The value of gyro power mode
*
* gyro_power_mode_u8 | result
* ----------------------|----------------------------
* 0x00 | GYRO_OPR_MODE_NORMAL
* 0x01 | GYRO_OPR_MODE_FASTPOWERUP
* 0x02 | GYRO_OPR_MODE_DEEPSUSPEND
* 0x03 | GYRO_OPR_MODE_SUSPEND
* 0x04 | GYRO_OPR_MODE_ADVANCE_POWERSAVE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_power_mode(
u8 gyro_power_mode_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
u8 gyro_auto_sleep_durn = BNO055_INIT_VALUE;
u8 gyro_bw_u8 = BNO055_INIT_VALUE;
s8 pg_stat_s8 = BNO055_ERROR;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if (pg_stat_s8 == BNO055_SUCCESS) {
/* Write the value of power mode*/
if ((gyro_power_mode_u8 == BNO055_INIT_VALUE ||
gyro_power_mode_u8 > BNO055_INIT_VALUE) &&
gyro_power_mode_u8 < BNO055_GYRO_RANGE) {
switch (gyro_power_mode_u8) {
case BNO055_GYRO_POWER_MODE_NORMAL:
gyro_power_mode_u8 =
BNO055_GYRO_POWER_MODE_NORMAL;
break;
case BNO055_GYRO_POWER_MODE_FASTPOWERUP:
gyro_power_mode_u8 =
BNO055_GYRO_POWER_MODE_FASTPOWERUP;
break;
case BNO055_GYRO_POWER_MODE_DEEPSUSPEND:
gyro_power_mode_u8 =
BNO055_GYRO_POWER_MODE_DEEPSUSPEND;
break;
case BNO055_GYRO_POWER_MODE_SUSPEND:
gyro_power_mode_u8 =
BNO055_GYRO_POWER_MODE_SUSPEND;
break;
case BNO055_GYRO_POWER_MODE_ADVANCE_POWERSAVE:
com_rslt = bno055_get_gyro_bw
(&gyro_bw_u8);
com_rslt += bno055_get_gyro_auto_sleep_durn
(&gyro_auto_sleep_durn);
if (com_rslt == BNO055_SUCCESS)
bno055_gyro_set_auto_sleep_durn
(gyro_auto_sleep_durn,
gyro_bw_u8);
com_rslt +=
bno055_write_page_id(BNO055_PAGE_ONE);
gyro_power_mode_u8 =
BNO055_GYRO_POWER_MODE_ADVANCE_POWERSAVE;
break;
default:
break;
}
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_POWER_MODE_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r = BNO055_SET_BITSLICE
(data_u8r,
BNO055_GYRO_POWER_MODE,
gyro_power_mode_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_POWER_MODE_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_OUT_OF_RANGE;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the accel sleep mode
* from page one register from 0x0C bit 0
*
* @param sleep_tmr_u8 : The value of accel sleep mode
*
* sleep_tmr_u8 | result
* ----------------- |------------------------------------
* 0x00 | enable EventDrivenSampling(EDT)
* 0x01 | enable Equidistant sampling mode(EST)
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_sleep_tmr_mode(
u8 *sleep_tmr_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel sleep mode is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
/* read the value of accel sleep mode */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_SLEEP_MODE_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*sleep_tmr_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_ACCEL_SLEEP_MODE);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write the accel sleep mode
* from page one register from 0x0C bit 0
*
* @param sleep_tmr_u8 : The value of accel sleep mode
*
* sleep_tmr_u8 | result
* ----------------- |------------------------------------
* 0x00 | enable EventDrivenSampling(EDT)
* 0x01 | enable Equidistant sampling mode(EST)
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_sleep_tmr_mode(
u8 sleep_tmr_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
s8 pg_stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
pg_stat_s8 = bno055_write_page_id(
BNO055_PAGE_ONE);
if (pg_stat_s8 == BNO055_SUCCESS) {
if (sleep_tmr_u8 <
BNO055_ACCEL_SLEEP_MODE_RANGE) {
/*Write the value
of accel sleep mode*/
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_SLEEP_MODE_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r = BNO055_SET_BITSLICE
(data_u8r,
BNO055_ACCEL_SLEEP_MODE,
sleep_tmr_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_SLEEP_MODE_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_OUT_OF_RANGE;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the accel sleep duration
* from page one register from 0x0C bit 1 to 4
*
* @param sleep_durn_u8 : The value of accel sleep duration
*
* sleep_durn_u8 | result
* ---------------- |-----------------------------
* 0x05 | BNO055_ACCEL_SLEEP_DURN_0_5MS
* 0x06 | BNO055_ACCEL_SLEEP_DURN_1MS
* 0x07 | BNO055_ACCEL_SLEEP_DURN_2MS
* 0x08 | BNO055_ACCEL_SLEEP_DURN_4MS
* 0x09 | BNO055_ACCEL_SLEEP_DURN_6MS
* 0x0A | BNO055_ACCEL_SLEEP_DURN_10MS
* 0x0B | BNO055_ACCEL_SLEEP_DURN_25MS
* 0x0C | BNO055_ACCEL_SLEEP_DURN_50MS
* 0x0D | BNO055_ACCEL_SLEEP_DURN_100MS
* 0x0E | BNO055_ACCEL_SLEEP_DURN_500MS
* 0x0F | BNO055_ACCEL_SLEEP_DURN_1S
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_sleep_durn(
u8 *sleep_durn_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel sleep duration
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of accel sleep duration */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_SLEEP_DURN_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*sleep_durn_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_ACCEL_SLEEP_DURN);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write the accel sleep duration
* from page one register from 0x0C bit 1 to 4
*
* @param sleep_durn_u8 : The value of accel sleep duration
*
* sleep_durn_u8 | result
* ---------------|-----------------------------
* 0x05 | BNO055_ACCEL_SLEEP_DURN_0_5MS
* 0x06 | BNO055_ACCEL_SLEEP_DURN_1MS
* 0x07 | BNO055_ACCEL_SLEEP_DURN_2MS
* 0x08 | BNO055_ACCEL_SLEEP_DURN_4MS
* 0x09 | BNO055_ACCEL_SLEEP_DURN_6MS
* 0x0A | BNO055_ACCEL_SLEEP_DURN_10MS
* 0x0B | BNO055_ACCEL_SLEEP_DURN_25MS
* 0x0C | BNO055_ACCEL_SLEEP_DURN_50MS
* 0x0D | BNO055_ACCEL_SLEEP_DURN_100MS
* 0x0E | BNO055_ACCEL_SLEEP_DURN_500MS
* 0x0F | BNO055_ACCEL_SLEEP_DURN_1S
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_sleep_durn(
u8 sleep_durn_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
s8 pg_stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
pg_stat_s8 = bno055_write_page_id(
BNO055_PAGE_ONE);
if (pg_stat_s8 == BNO055_SUCCESS) {
if (sleep_durn_u8 <
BNO055_ACCEL_SLEEP_DURATION_RANGE) {
/* Write the accel
sleep duration*/
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_SLEEP_DURN_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r = BNO055_SET_BITSLICE
(data_u8r,
BNO055_ACCEL_SLEEP_DURN,
sleep_durn_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_SLEEP_DURN_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_OUT_OF_RANGE;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to write the gyro sleep duration
* from page one register from 0x0D bit 0 to 2
*
* @param sleep_durn_u8 : The value of gyro sleep duration
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_sleep_durn(u8 *sleep_durn_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel range is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the gyro sleep duration */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_SLEEP_DURN_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*sleep_durn_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_SLEEP_DURN);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write the gyro sleep duration
* from page one register from 0x0D bit 0 to 2
*
* @param sleep_durn_u8 : The value of gyro sleep duration
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_sleep_durn(u8 sleep_durn_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
s8 pg_stat_s8 = BNO055_ERROR;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if (pg_stat_s8 == BNO055_SUCCESS) {
if (sleep_durn_u8 <
BNO055_GYRO_AUTO_SLEEP_DURATION_RANGE) {
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_SLEEP_DURN_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
/* Write the gyro
sleep duration */
data_u8r = BNO055_SET_BITSLICE
(data_u8r,
BNO055_GYRO_SLEEP_DURN,
sleep_durn_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_SLEEP_DURN_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_OUT_OF_RANGE;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the gyro auto sleep duration
* from page one register from 0x0D bit 3 to 5
*
* @param auto_sleep_durn_u8 : The value of gyro auto sleep duration
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_auto_sleep_durn(
u8 *auto_sleep_durn_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel range is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of gyro auto sleep duration */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_AUTO_SLEEP_DURN_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*auto_sleep_durn_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_AUTO_SLEEP_DURN);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write the gyro auto sleep duration
* from page one register from 0x0D bit 3 to 5
*
* @param auto_sleep_durn_u8 : The value of gyro auto sleep duration
* @param bw : The value of gyro bandwidth
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_gyro_set_auto_sleep_durn(
u8 auto_sleep_durn_u8, u8 bw)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
u8 auto_sleep_durn_u8r;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
s8 pg_stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if (pg_stat_s8 == BNO055_SUCCESS) {
/* Write the value of gyro sleep duration */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_AUTO_SLEEP_DURN_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (auto_sleep_durn_u8 <
BNO055_GYRO_AUTO_SLEEP_DURATION_RANGE) {
switch (bw) {
case BNO055_GYRO_BW_523HZ:
if (auto_sleep_durn_u8 >
BNO055_GYRO_4MS_AUTOSLPDUR)
auto_sleep_durn_u8r =
auto_sleep_durn_u8;
else
auto_sleep_durn_u8r =
BNO055_GYRO_4MS_AUTOSLPDUR;
break;
case BNO055_GYRO_BW_230HZ:
if (auto_sleep_durn_u8 >
BNO055_GYRO_4MS_AUTOSLPDUR)
auto_sleep_durn_u8r =
auto_sleep_durn_u8;
else
auto_sleep_durn_u8r =
BNO055_GYRO_4MS_AUTOSLPDUR;
break;
case BNO055_GYRO_BW_116HZ:
if (auto_sleep_durn_u8 >
BNO055_GYRO_4MS_AUTOSLPDUR)
auto_sleep_durn_u8r =
auto_sleep_durn_u8;
else
auto_sleep_durn_u8r =
BNO055_GYRO_4MS_AUTOSLPDUR;
break;
case BNO055_GYRO_BW_47HZ:
if (auto_sleep_durn_u8 >
BNO055_GYRO_5MS_AUTOSLPDUR)
auto_sleep_durn_u8r =
auto_sleep_durn_u8;
else
auto_sleep_durn_u8r =
BNO055_GYRO_5MS_AUTOSLPDUR;
break;
case BNO055_GYRO_BW_23HZ:
if (auto_sleep_durn_u8 >
BNO055_GYRO_10MS_AUTOSLPDUR)
auto_sleep_durn_u8r =
auto_sleep_durn_u8;
else
auto_sleep_durn_u8r =
BNO055_GYRO_10MS_AUTOSLPDUR;
break;
case BNO055_GYRO_BW_12HZ:
if (auto_sleep_durn_u8 >
BNO055_GYRO_20MS_AUTOSLPDUR)
auto_sleep_durn_u8r =
auto_sleep_durn_u8;
else
auto_sleep_durn_u8r =
BNO055_GYRO_20MS_AUTOSLPDUR;
break;
case BNO055_GYRO_BW_64HZ:
if (auto_sleep_durn_u8 >
BNO055_GYRO_10MS_AUTOSLPDUR)
auto_sleep_durn_u8r =
auto_sleep_durn_u8;
else
auto_sleep_durn_u8r =
BNO055_GYRO_10MS_AUTOSLPDUR;
break;
case BNO055_GYRO_BW_32HZ:
if (auto_sleep_durn_u8 >
BNO055_GYRO_20MS_AUTOSLPDUR)
auto_sleep_durn_u8r =
auto_sleep_durn_u8;
else
auto_sleep_durn_u8r =
BNO055_GYRO_20MS_AUTOSLPDUR;
break;
default:
if (auto_sleep_durn_u8 >
BNO055_GYRO_4MS_AUTOSLPDUR)
auto_sleep_durn_u8r =
auto_sleep_durn_u8;
else
auto_sleep_durn_u8r =
BNO055_GYRO_4MS_AUTOSLPDUR;
break;
}
if (com_rslt == BNO055_SUCCESS) {
data_u8r = BNO055_SET_BITSLICE
(data_u8r,
BNO055_GYRO_AUTO_SLEEP_DURN,
auto_sleep_durn_u8r);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_AUTO_SLEEP_DURN_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_OUT_OF_RANGE;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the mag sleep mode
* from page one register from 0x0E bit 0
*
* @param sleep_mode_u8 : The value of mag sleep mode
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_sleep_mode(
u8 *sleep_mode_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page,mag sleep mode is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of mag sleep mode*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_MAG_SLEEP_MODE_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
*sleep_mode_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_MAG_SLEEP_MODE);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write the mag sleep mode
* from page one register from 0x0E bit 0
*
* @param sleep_mode_u8 : The value of mag sleep mode
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_sleep_mode(
u8 sleep_mode_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
s8 pg_stat_s8 = BNO055_ERROR;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
pg_stat_s8 = bno055_write_page_id(
BNO055_PAGE_ONE);
if (pg_stat_s8 == BNO055_SUCCESS) {
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_MAG_SLEEP_MODE_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
/* Write the value
of mag sleep mode*/
data_u8r =
BNO055_SET_BITSLICE(data_u8r,
BNO055_MAG_SLEEP_MODE,
sleep_mode_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_MAG_SLEEP_MODE_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the mag sleep duration
* from page one register from 0x0E bit 1 to 4
*
* @param sleep_durn_u8 : The value of mag sleep duration
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_sleep_durn(
u8 *sleep_durn_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page,mag sleep duration is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of mag sleep duration*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_MAG_SLEEP_DURN_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*sleep_durn_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_MAG_SLEEP_DURN);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write the mag sleep duration
* from page one register from 0x0E bit 1 to 4
*
* @param sleep_durn_u8 : The value of mag sleep duration
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_sleep_durn(
u8 sleep_durn_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
s8 pg_stat_s8 = BNO055_ERROR;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
pg_stat_s8 = bno055_write_page_id(
BNO055_PAGE_ONE);
if (pg_stat_s8 == BNO055_SUCCESS) {
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_MAG_SLEEP_DURN_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
/* Write the value of
mag sleep duration */
data_u8r =
BNO055_SET_BITSLICE(data_u8r,
BNO055_MAG_SLEEP_DURN,
sleep_durn_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_MAG_SLEEP_DURN_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the gyro anymotion interrupt mask
* from page one register from 0x0F bit 2
*
* @param gyro_any_motion_u8 : The value of gyro anymotion interrupt mask
* gyro_any_motion_u8 | result
* -------------------- |------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note While enabling the gyro anymotion interrupt
* configure the following settings
*
* Axis:
* bno055_set_gyro_any_motion_axis_enable()
*
* Filter setting:
* bno055_set_gyro_any_motion_filter()
*
* Threshold :
*
* bno055_set_gyro_any_motion_thres()
*
* Slope samples :
*
* bno055_set_gyro_any_motion_slope_samples()
*
* Awake duration :
*
* bno055_set_gyro_any_motion_awake_durn()
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_gyro_any_motion(
u8 *gyro_any_motion_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro anymotion interrupt mask is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of gyro anymotion interrupt mask*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_ANY_MOTION_INTR_MASK_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*gyro_any_motion_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_ANY_MOTION_INTR_MASK);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write the gyro anymotion interrupt mask
* from page one register from 0x0F bit 2
*
* @param gyro_any_motion_u8 : The value of gyro anymotion interrupt mask
* gyro_any_motion_u8 | result
* -------------------- |------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note While enabling the gyro anymotion interrupt
* configure the following settings
*
* Axis:
* bno055_set_gyro_any_motion_axis_enable()
*
* Filter setting:
* bno055_set_gyro_any_motion_filter()
*
* Threshold :
*
* bno055_set_gyro_any_motion_thres()
*
* Slope samples :
*
* bno055_set_gyro_any_motion_slope_samples()
*
* Awake duration :
*
* bno055_set_gyro_any_motion_awake_durn()
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_gyro_any_motion(
u8 gyro_any_motion_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel range is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Write the value of gyro anymotion interrupt mask*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_ANY_MOTION_INTR_MASK_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r =
BNO055_SET_BITSLICE(data_u8r,
BNO055_GYRO_ANY_MOTION_INTR_MASK,
gyro_any_motion_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_ANY_MOTION_INTR_MASK_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to read the gyro highrate interrupt mask
* from page one register from 0x0F bit 3
*
* @param gyro_highrate_u8 : The value of gyro highrate interrupt mask
* gyro_highrate_u8 | result
* -------------------- |------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note While enabling the gyro highrate interrupt
* configure the below settings by using
* the following API
*
* Axis :
*
* bno055_set_gyro_highrate_axis_enable()
*
* Filter :
*
* bno055_set_gyro_highrate_filter()
*
* Threshold :
*
* bno055_get_gyro_highrate_x_thres()
*
* bno055_get_gyro_highrate_y_thres()
*
* bno055_get_gyro_highrate_z_thres()
*
* Hysteresis :
*
* bno055_set_gyro_highrate_x_hyst()
*
* bno055_set_gyro_highrate_y_hyst()
*
* bno055_set_gyro_highrate_z_hyst()
*
* Duration :
*
* bno055_set_gyro_highrate_x_durn()
*
* bno055_set_gyro_highrate_y_durn()
*
* bno055_set_gyro_highrate_z_durn()
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_gyro_highrate(
u8 *gyro_highrate_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro highrate interrupt mask is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of gyro highrate interrupt mask*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_HIGHRATE_INTR_MASK_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*gyro_highrate_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_HIGHRATE_INTR_MASK);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write the gyro highrate interrupt mask
* from page one register from 0x0F bit 3
*
* @param gyro_highrate_u8 : The value of gyro highrate interrupt mask
* gyro_highrate_u8 | result
* -------------------- |------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note While enabling the gyro highrate interrupt
* configure the below settings by using
* the following APIs
*
* Axis :
*
* bno055_set_gyro_highrate_axis_enable()
*
* Filter :
*
* bno055_set_gyro_highrate_filter()
*
* Threshold :
*
* bno055_get_gyro_highrate_x_thres()
*
* bno055_get_gyro_highrate_y_thres()
*
* bno055_get_gyro_highrate_z_thres()
*
* Hysteresis :
*
* bno055_set_gyro_highrate_x_hyst()
*
* bno055_set_gyro_highrate_y_hyst()
*
* bno055_set_gyro_highrate_z_hyst()
*
* Duration :
*
* bno055_set_gyro_highrate_x_durn()
*
* bno055_set_gyro_highrate_y_durn()
*
* bno055_set_gyro_highrate_z_durn()
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_gyro_highrate(
u8 gyro_highrate_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro highrate interrupt mask is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_HIGHRATE_INTR_MASK_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
/* Write the value of gyro
highrate interrupt mask*/
data_u8r =
BNO055_SET_BITSLICE(data_u8r,
BNO055_GYRO_HIGHRATE_INTR_MASK,
gyro_highrate_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_HIGHRATE_INTR_MASK_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to read the accel highg interrupt mask
* from page one register from 0x0F bit 5
*
* @param accel_high_g_u8 : The value of accel highg interrupt mask
* accel_high_g_u8 | result
* -------------------- |------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note While enabling the accel highg interrupt
* configure the below settings by using
* the following APIs
*
* Axis :
*
* bno055_set_accel_high_g_axis_enable()
*
* Threshold :
*
* bno055_set_accel_high_g_thres()
*
* Duration :
*
* bno055_set_accel_high_g_durn()
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_high_g(
u8 *accel_high_g_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel highg interrupt mask is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of accel highg interrupt mask*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_HIGH_G_INTR_MASK_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*accel_high_g_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_ACCEL_HIGH_G_INTR_MASK);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write the accel highg interrupt mask
* from page one register from 0x0F bit 5
*
* @param accel_high_g_u8 : The value of accel highg interrupt mask
* accel_high_g_u8 | result
* -------------------- |------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note While enabling the accel highg interrupt
* configure the below settings by using
* the following APIs
*
* Axis :
*
* bno055_set_accel_high_g_axis_enable()
*
* Threshold :
*
* bno055_set_accel_high_g_thres()
*
* Duration :
*
* bno055_set_accel_high_g_durn()
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_high_g(
u8 accel_high_g_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel highg interrupt mask is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_HIGH_G_INTR_MASK_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
/* Write the value of accel
highg interrupt mask*/
data_u8r =
BNO055_SET_BITSLICE(data_u8r,
BNO055_ACCEL_HIGH_G_INTR_MASK,
accel_high_g_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_HIGH_G_INTR_MASK_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to read the accel anymotion interrupt mask
* from page one register from 0x0F bit 6
*
* @param accel_any_motion_u8 : The value of accel anymotion interrupt mask
* accel_any_motion_u8 | result
* -------------------- |------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note While enabling the accel highg interrupt
* configure the below settings by using
* the following APIs
*
* Axis :
*
* bno055_set_accel_high_g_axis_enable()
*
* Threshold :
*
* bno055_set_accel_high_g_thres()
*
* Duration :
*
* bno055_set_accel_high_g_durn()
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_any_motion(
u8 *accel_any_motion_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel anymotion interrupt mask is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
/* The value of accel anymotion interrupt mask*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_ANY_MOTION_INTR_MASK_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*accel_any_motion_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_ACCEL_ANY_MOTION_INTR_MASK);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write the accel anymotion interrupt mask
* from page one register from 0x0F bit 6
*
* @param accel_any_motion_u8 : The value of accel anymotion interrupt mask
* accel_any_motion_u8 | result
* -------------------- |------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note While enabling the accel anymotion interrupt
* configure the following settings
*
* Axis:
*
* bno055_set_accel_any_motion_no_motion_axis_enable()
*
* Duration:
*
* bno055_set_accel_any_motion_durn()
*
* Threshold:
*
* bno055_set_accel_any_motion_thres()
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_any_motion(
u8 accel_any_motion_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel anymotion interrupt mask is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Write the value of accel anymotion interrupt mask*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_ANY_MOTION_INTR_MASK_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r =
BNO055_SET_BITSLICE(data_u8r,
BNO055_ACCEL_ANY_MOTION_INTR_MASK,
accel_any_motion_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_ANY_MOTION_INTR_MASK_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to read the accel nomotion interrupt mask
* from page one register from 0x0F bit 7
*
* @param accel_nomotion_u8 : The value of accel nomotion interrupt mask
* accel_nomotion_u8 | result
* -------------------- |------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
*
* @note While enabling the accel anymotion interrupt
* configure the following settings
*
* Axis:
*
* bno055_set_accel_any_motion_no_motion_axis_enable()
*
* Duration:
*
* bno055_set_accel_any_motion_durn()
*
* Threshold:
*
* bno055_set_accel_any_motion_thres())
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_no_motion(
u8 *accel_nomotion_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel nomotion interrupt mask is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of accel nomotion interrupt mask*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_NO_MOTION_INTR_MASK_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*accel_nomotion_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_ACCEL_NO_MOTION_INTR_MASK);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write the accel nomotion interrupt mask
* from page one register from 0x0F bit 7
*
* @param accel_nomotion_u8 : The value of accel nomotion interrupt mask
* accel_nomotion_u8 | result
* -------------------- |------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note While enabling the accel nomotion interrupt
* configure the following settings
*
* Axis:
*
* bno055_set_accel_any_motion_no_motion_axis_enable()
*
* Threshold :
*
* bno055_set_accel_slow_no_motion_thres()
*
* Duration :
*
* bno055_set_accel_slow_no_motion_durn()
*
* Slow/no motion enable:
*
* bno055_set_accel_slow_no_motion_enable()
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_no_motion(
u8 accel_nomotion_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel
nomotion interrupt mask is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_NO_MOTION_INTR_MASK_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
/* Write the value of accel
nomotion interrupt mask*/
data_u8r =
BNO055_SET_BITSLICE(data_u8r,
BNO055_ACCEL_NO_MOTION_INTR_MASK,
accel_nomotion_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_NO_MOTION_INTR_MASK_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to read the gyro anymotion interrupt
* from page one register from 0x10 bit 2
*
* @param gyro_any_motion_u8 : The value of gyro anymotion interrupt
* gyro_any_motion_u8 | result
* -------------------- |------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note While enabling the gyro anymotion interrupt
* configure the following settings
*
* Axis:
* bno055_set_gyro_any_motion_axis_enable()
*
* Filter setting:
* bno055_set_gyro_any_motion_filter()
*
* Threshold :
*
* bno055_set_gyro_any_motion_thres()
*
* Slope samples :
*
* bno055_set_gyro_any_motion_slope_samples()
*
* Awake duration :
*
* bno055_set_gyro_any_motion_awake_durn()
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_gyro_any_motion(
u8 *gyro_any_motion_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro anymotion interrupt is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of gyro anymotion interrupt */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_ANY_MOTION_INTR_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*gyro_any_motion_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_ANY_MOTION_INTR);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write the gyro anymotion interrupt
* from page one register from 0x10 bit 2
*
* @param gyro_any_motion_u8 : The value of gyro anymotion interrupt
* gyro_any_motion_u8 | result
* -------------------- |------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note While enabling the gyro anymotion interrupt
* configure the following settings
*
* Axis:
* bno055_set_gyro_any_motion_axis_enable()
*
* Filter setting:
* bno055_set_gyro_any_motion_filter()
*
* Threshold :
*
* bno055_set_gyro_any_motion_thres()
*
* Slope samples :
*
* bno055_set_gyro_any_motion_slope_samples()
*
* Awake duration :
*
* bno055_set_gyro_any_motion_awake_durn()
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_gyro_any_motion(
u8 gyro_any_motion_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro anymotion interrupt is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Write the value of gyro anymotion interrupt */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_ANY_MOTION_INTR_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r =
BNO055_SET_BITSLICE(data_u8r,
BNO055_GYRO_ANY_MOTION_INTR,
gyro_any_motion_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_ANY_MOTION_INTR_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to read the gyro highrate interrupt
* from page one register from 0x10 bit 3
*
* @param gyro_highrate_u8 : The value of gyro highrate interrupt
* gyro_highrate_u8 | result
* -------------------- |------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note While enabling the gyro highrate interrupt
* configure the below settings by using
* the following APIs
*
* Axis :
*
* bno055_set_gyro_highrate_axis_enable()
*
* Filter :
*
* bno055_set_gyro_highrate_filter()
*
* Threshold :
*
* bno055_get_gyro_highrate_x_thres()
*
* bno055_get_gyro_highrate_y_thres()
*
* bno055_get_gyro_highrate_z_thres()
*
* Hysteresis :
*
* bno055_set_gyro_highrate_x_hyst()
*
* bno055_set_gyro_highrate_y_hyst()
*
* bno055_set_gyro_highrate_z_hyst()
*
* Duration :
*
* bno055_set_gyro_highrate_x_durn()
*
* bno055_set_gyro_highrate_y_durn()
*
* bno055_set_gyro_highrate_z_durn()
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_gyro_highrate(
u8 *gyro_highrate_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro highrate interrupt is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of gyro highrate interrupt */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_HIGHRATE_INTR_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*gyro_highrate_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_HIGHRATE_INTR);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write the gyro highrate interrupt
* from page one register from 0x10 bit 3
*
* @param gyro_highrate_u8 : The value of gyro highrate interrupt
* gyro_highrate_u8 | result
* -------------------- |------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note While enabling the gyro highrate interrupt
* configure the below settings by using
* the following APIs
*
* Axis :
*
* bno055_set_gyro_highrate_axis_enable()
*
* Filter :
*
* bno055_set_gyro_highrate_filter()
*
* Threshold :
*
* bno055_get_gyro_highrate_x_thres()
*
* bno055_get_gyro_highrate_y_thres()
*
* bno055_get_gyro_highrate_z_thres()
*
* Hysteresis :
*
* bno055_set_gyro_highrate_x_hyst()
*
* bno055_set_gyro_highrate_y_hyst()
*
* bno055_set_gyro_highrate_z_hyst()
*
* Duration :
*
* bno055_set_gyro_highrate_x_durn()
*
* bno055_set_gyro_highrate_y_durn()
*
* bno055_set_gyro_highrate_z_durn()
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_gyro_highrate(
u8 gyro_highrate_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro highrate interrupt is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_HIGHRATE_INTR_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
/* Write the value of gyro highrate interrupt */
data_u8r =
BNO055_SET_BITSLICE(data_u8r,
BNO055_GYRO_HIGHRATE_INTR, gyro_highrate_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_HIGHRATE_INTR_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to read the accel highg interrupt
* from page one register from 0x10 bit 5
*
* @param accel_high_g_u8 : The value of accel highg interrupt
* accel_high_g_u8 | result
* -------------------- |------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note While enabling the accel highg interrupt
* configure the below settings by using
* the following APIs
*
* Axis :
*
* bno055_set_accel_high_g_axis_enable()
*
* Threshold :
*
* bno055_set_accel_high_g_thres()
*
* Duration :
*
* bno055_set_accel_high_g_durn()
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_high_g(
u8 *accel_high_g_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel highg interrupt is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of accel highg interrupt*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_HIGH_G_INTR_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*accel_high_g_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_ACCEL_HIGH_G_INTR);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write the accel highg interrupt
* from page one register from 0x10 bit 5
*
* @param accel_high_g_u8 : The value of accel highg interrupt
* accel_high_g_u8 | result
* -------------------- |------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note While enabling the accel highg interrupt
* configure the below settings by using
* the following APIs
*
* Axis :
*
* bno055_set_accel_high_g_axis_enable()
*
* Threshold :
*
* bno055_set_accel_high_g_thres()
*
* Duration :
*
* bno055_set_accel_high_g_durn()
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_high_g(
u8 accel_high_g_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel highg interrupt is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_HIGH_G_INTR_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
/* Write the value of accel highg interrupt*/
data_u8r =
BNO055_SET_BITSLICE(data_u8r,
BNO055_ACCEL_HIGH_G_INTR,
accel_high_g_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_HIGH_G_INTR_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to read the accel anymotion interrupt
* from page one register from 0x10 bit 6
*
* @param accel_any_motion_u8 : The value of accel anymotion interrupt
* accel_any_motion_u8 | result
* -------------------- |------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note While enabling the accel anymotion interrupt
* configure the following settings
*
* Axis:
*
* bno055_set_accel_any_motion_no_motion_axis_enable()
*
* Duration:
*
* bno055_set_accel_any_motion_durn()
*
* Threshold:
*
* bno055_set_accel_any_motion_thres()
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_any_motion(
u8 *accel_any_motion_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel anymotion interrupt is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of accel anymotion interrupt */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_ANY_MOTION_INTR_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*accel_any_motion_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_ACCEL_ANY_MOTION_INTR);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write the accel anymotion interrupt
* from page one register from 0x10 bit 6
*
* @param accel_any_motion_u8 : The value of accel anymotion interrupt
* accel_any_motion_u8 | result
* -------------------- |------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note While enabling the accel anymotion interrupt
* configure the following settings
*
* Axis:
*
* bno055_set_accel_any_motion_no_motion_axis_enable()
*
* Duration:
*
* bno055_set_accel_any_motion_durn()
*
* Threshold:
*
* bno055_set_accel_any_motion_thres()
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_any_motion(
u8 accel_any_motion_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel range is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Write the value of accel anymotion interrupt */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_ANY_MOTION_INTR_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r =
BNO055_SET_BITSLICE(data_u8r,
BNO055_ACCEL_ANY_MOTION_INTR,
accel_any_motion_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_ANY_MOTION_INTR_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to read the accel nomotion interrupt
* from page one register from 0x10 bit 6
*
* @param accel_nomotion_u8 : The value of accel nomotion interrupt
* accel_nomotion_u8 | result
* -------------------- |------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note While enabling the accel nomotion interrupt
* configure the following settings
*
* Axis:
*
* bno055_set_accel_any_motion_no_motion_axis_enable()
*
* Threshold :
*
* bno055_set_accel_slow_no_motion_thres()
*
* Duration :
*
* bno055_set_accel_slow_no_motion_durn()
*
* Slow/no motion enable:
*
* bno055_set_accel_slow_no_motion_enable()
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_no_motion(
u8 *accel_nomotion_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel nomotion interrupt is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of accel nomotion interrupt*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_NO_MOTION_INTR_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*accel_nomotion_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_ACCEL_NO_MOTION_INTR);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write the accel nomotion interrupt
* from page one register from 0x10 bit 6
*
* @param accel_nomotion_u8 : The value of accel nomotion interrupt
* accel_nomotion_u8 | result
* -------------------- |------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note While enabling the accel nomotion interrupt
* configure the following settings
*
* Axis:
*
* bno055_set_accel_any_motion_no_motion_axis_enable()
*
* Threshold :
*
* bno055_set_accel_slow_no_motion_thres()
*
* Duration :
*
* bno055_set_accel_slow_no_motion_durn()
*
* Slow/no motion enable:
*
* bno055_set_accel_slow_no_motion_enable()
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_no_motion(
u8 accel_nomotion_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page,
accel nomotion interrupt is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_NO_MOTION_INTR_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
/* Write the value of
accel nomotion interrupt */
data_u8r = BNO055_SET_BITSLICE(data_u8r,
BNO055_ACCEL_NO_MOTION_INTR,
accel_nomotion_u8);
com_rslt += p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_NO_MOTION_INTR_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to read the accel any motion threshold
* from page one register from 0x11 bit 0 to 7
*
* @param accel_any_motion_thres_u8 : The value of any motion threshold
* accel_any_motion_thres_u8 | result
* ------------------------ | -------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Accel anymotion threshold dependent on the
* range values
*
* accel_range_u8 | threshold | LSB
* ------------- | ------------- | ---------
* 2g | 3.19mg | 1LSB
* 4g | 7.81mg | 1LSB
* 8g | 15.63mg | 1LSB
* 16g | 31.25mg | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_thres(
u8 *accel_any_motion_thres_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel any motion threshold is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of accel any motion threshold */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_ANY_MOTION_THRES_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
*accel_any_motion_thres_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_ACCEL_ANY_MOTION_THRES);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write the accel any motion threshold
* from page one register from 0x11 bit 0 to 7
*
* @param accel_any_motion_thres_u8 : The value of any motion threshold
* accel_any_motion_thres_u8 | result
* ------------------------ | -------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Accel anymotion threshold dependent on the
* range values
*
* accel_range_u8 | threshold | LSB
* ------------- | ------------- | ---------
* 2g | 3.19mg | 1LSB
* 4g | 7.81mg | 1LSB
* 8g | 15.63mg | 1LSB
* 16g | 31.25mg | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_thres(
u8 accel_any_motion_thres_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
s8 pg_stat_s8 = BNO055_ERROR;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if (pg_stat_s8 == BNO055_SUCCESS) {
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_ANY_MOTION_THRES_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
/* Write the value of
accel any motion threshold*/
data_u8r =
BNO055_SET_BITSLICE(data_u8r,
BNO055_ACCEL_ANY_MOTION_THRES,
accel_any_motion_thres_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_ANY_MOTION_THRES_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the accel anymotion duration
* from page one register from 0x12 bit 0 to 1
*
* @param accel_any_motion_durn_u8 : The value of accel anymotion duration
* accel_any_motion_durn_u8 | result
* ------------------------- | -------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_durn(
u8 *accel_any_motion_durn_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel anymotion duration is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of accel anymotion duration */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_ANY_MOTION_DURN_SET_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*accel_any_motion_durn_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_ACCEL_ANY_MOTION_DURN_SET);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write the accel anymotion duration
* from page one register from 0x12 bit 0 to 1
*
* @param accel_any_motion_durn_u8 : The value of accel anymotion duration
*
* accel_any_motion_durn_u8 | result
* ------------------------- | -------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_durn(
u8 accel_any_motion_durn_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
s8 pg_stat_s8 = BNO055_ERROR;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if (pg_stat_s8 == BNO055_SUCCESS) {
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_ANY_MOTION_DURN_SET_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
/* Write the value of
accel anymotion duration*/
data_u8r =
BNO055_SET_BITSLICE(data_u8r,
BNO055_ACCEL_ANY_MOTION_DURN_SET,
accel_any_motion_durn_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_ANY_MOTION_DURN_SET_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the accel anymotion enable
* from page one register from 0x12 bit 2 to 4
*
* @param data_u8 : The value of accel anymotion enable
* data_u8 | result
* ------------ | -------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
* @param channel_u8 : The value of accel anymotion axis selection
* channel_u8 | value
* -------------------------- | ----------
* BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS | 0
* BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS | 1
* BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS | 2
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_no_motion_axis_enable(
u8 channel_u8, u8 *data_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel anymotion enable is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
switch (channel_u8) {
case BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS:
/* Read the value of accel anymotion x enable*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_ANY_MOTION_X_AXIS_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*data_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_ACCEL_ANY_MOTION_X_AXIS);
break;
case BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS:
/* Read the value of accel anymotion y enable*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_ANY_MOTION_Y_AXIS_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*data_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_ACCEL_ANY_MOTION_Y_AXIS);
break;
case BNO055_ACCEL_ANY_MOTION_NO_MOTION_Z_AXIS:
/* Read the value of accel anymotion z enable*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_ANY_MOTION_Z_AXIS_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*data_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_ACCEL_ANY_MOTION_Z_AXIS);
break;
default:
com_rslt = BNO055_OUT_OF_RANGE;
break;
}
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write the accel anymotion enable
* from page one register from 0x12 bit 2 to 4
*
* @param data_u8 : The value of accel anymotion enable
* data_u8 | result
* ------------ | -------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
* @param channel_u8 : The value of accel anymotion axis selection
* channel_u8 | value
* -------------------------- | ----------
* BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS | 0
* BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS | 1
* BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS | 2
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_no_motion_axis_enable(
u8 channel_u8, u8 data_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
s8 pg_stat_s8 = BNO055_ERROR;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if (pg_stat_s8 == BNO055_SUCCESS) {
switch (channel_u8) {
case BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS:
/* Write the value of
accel anymotion x enable*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_ANY_MOTION_X_AXIS_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r = BNO055_SET_BITSLICE
(data_u8r,
BNO055_ACCEL_ANY_MOTION_X_AXIS,
data_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_ANY_MOTION_X_AXIS_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
break;
case BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS:
/* Write the value of
accel anymotion y enable*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_ANY_MOTION_Y_AXIS_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r = BNO055_SET_BITSLICE
(data_u8r,
BNO055_ACCEL_ANY_MOTION_Y_AXIS,
data_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_ANY_MOTION_Y_AXIS_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
break;
case BNO055_ACCEL_ANY_MOTION_NO_MOTION_Z_AXIS:
/* Write the value of
accel anymotion z enable*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_ANY_MOTION_Z_AXIS_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r = BNO055_SET_BITSLICE
(data_u8r,
BNO055_ACCEL_ANY_MOTION_Z_AXIS,
data_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_ANY_MOTION_Z_AXIS_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
break;
default:
com_rslt = BNO055_OUT_OF_RANGE;
break;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the accel highg enable
* from page one register from 0x12 bit 5 to 7
*
* @param data_u8 : The value of accel highg enable
* data_u8| result
* ------------ | -------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
* @param channel_u8 : The value of accel highg axis selection
* channel_u8 | value
* -------------------------- | ----------
* BNO055_ACCEL_HIGH_G_X_AXIS | 0
* BNO055_ACCEL_HIGH_G_Y_AXIS | 1
* BNO055_ACCEL_HIGH_G_Z_AXIS | 2
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_axis_enable(
u8 channel_u8, u8 *data_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel highg enable is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
switch (channel_u8) {
case BNO055_ACCEL_HIGH_G_X_AXIS:
/* Read the value of accel x highg enable*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_HIGH_G_X_AXIS_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*data_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_ACCEL_HIGH_G_X_AXIS);
break;
case BNO055_ACCEL_HIGH_G_Y_AXIS:
/* Read the value of accel y highg enable*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_HIGH_G_Y_AXIS_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*data_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_ACCEL_HIGH_G_Y_AXIS);
break;
case BNO055_ACCEL_HIGH_G_Z_AXIS:
/* Read the value of accel z highg enable*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_HIGH_G_Z_AXIS_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*data_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_ACCEL_HIGH_G_Z_AXIS);
break;
default:
com_rslt = BNO055_OUT_OF_RANGE;
break;
}
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write the accel highg enable
* from page one register from 0x12 bit 5 to 7
*
* @param data_u8 : The value of accel highg enable
* data_u8| result
* ------------ | -------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
* @param channel_u8 : The value of accel highg axis selection
* channel_u8 | value
* -------------------------- | ----------
* BNO055_ACCEL_HIGH_G_X_AXIS | 0
* BNO055_ACCEL_HIGH_G_Y_AXIS | 1
* BNO055_ACCEL_HIGH_G_Z_AXIS | 2
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_axis_enable(
u8 channel_u8, u8 data_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
s8 pg_stat_s8 = BNO055_ERROR;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if (pg_stat_s8 == BNO055_SUCCESS) {
switch (channel_u8) {
case BNO055_ACCEL_HIGH_G_X_AXIS:
/* Write the value of
accel x highg enable*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_HIGH_G_X_AXIS_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r =
BNO055_SET_BITSLICE(data_u8r,
BNO055_ACCEL_HIGH_G_X_AXIS, data_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_HIGH_G_X_AXIS_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
break;
case BNO055_ACCEL_HIGH_G_Y_AXIS:
/* Write the value of
accel y highg enable*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_HIGH_G_Y_AXIS_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r =
BNO055_SET_BITSLICE(data_u8r,
BNO055_ACCEL_HIGH_G_Y_AXIS,
data_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_HIGH_G_Y_AXIS_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
break;
case BNO055_ACCEL_HIGH_G_Z_AXIS:
/* Write the value of
accel z highg enable*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_HIGH_G_Z_AXIS_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r =
BNO055_SET_BITSLICE(data_u8r,
BNO055_ACCEL_HIGH_G_Z_AXIS, data_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_HIGH_G_Z_AXIS_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
break;
default:
com_rslt = BNO055_OUT_OF_RANGE;
break;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the accel highg duration
* from page one register from 0x13 bit 0 to 7
*
* @param accel_high_g_durn_u8 : The value of accel highg duration
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note The high-g interrupt trigger delay according
* to [highg duration + 1] * 2 ms
*
* in a range from 2 ms to 512 ms
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_durn(
u8 *accel_high_g_durn_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel highg duration is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of accel highg duration*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_HIGH_G_DURN_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*accel_high_g_durn_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_ACCEL_HIGH_G_DURN);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write the accel highg duration
* from page one register from 0x13 bit 0 to 7
*
* @param accel_high_g_durn_u8 : The value of accel highg duration
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note The high-g interrupt trigger delay according
* to [highg duration + 1] * 2 ms
*
* in a range from 2 ms to 512 ms
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_durn(
u8 accel_high_g_durn_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
s8 pg_stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
pg_stat_s8 = bno055_write_page_id(
BNO055_PAGE_ONE);
if (pg_stat_s8 == BNO055_SUCCESS) {
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_HIGH_G_DURN_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
/* Write the value of
accel highg duration*/
data_u8r =
BNO055_SET_BITSLICE(data_u8r,
BNO055_ACCEL_HIGH_G_DURN,
accel_high_g_durn_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_HIGH_G_DURN_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the accel highg threshold
* from page one register from 0x14 bit 0 to 7
*
* @param accel_high_g_thres_u8 : The value of accel highg threshold
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Accel highg interrupt threshold dependent
* for accel g range
*
* accel_range_u8 | threshold | LSB
* ------------- | ------------- | ---------
* 2g | 7.81mg | 1LSB
* 4g | 15.63mg | 1LSB
* 8g | 31.25mg | 1LSB
* 16g | 62.5mg | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_thres(
u8 *accel_high_g_thres_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, highg threshold is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of highg threshold */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_HIGH_G_THRES_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*accel_high_g_thres_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_ACCEL_HIGH_G_THRES);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write the accel highg threshold
* from page one register from 0x14 bit 0 to 7
*
* @param accel_high_g_thres_u8 : The value of accel highg threshold
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Accel highg interrupt threshold dependent
* for accel g range
*
* accel_range_u8 | threshold | LSB
* ------------- | ------------- | ---------
* 2g | 7.81mg | 1LSB
* 4g | 15.63mg | 1LSB
* 8g | 31.25mg | 1LSB
* 16g | 62.5mg | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_thres(
u8 accel_high_g_thres_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
s8 pg_stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
pg_stat_s8 = bno055_write_page_id(
BNO055_PAGE_ONE);
if (pg_stat_s8 == BNO055_SUCCESS) {
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_HIGH_G_THRES_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
/* Write the value of
accel highg threshold */
data_u8r =
BNO055_SET_BITSLICE(data_u8r,
BNO055_ACCEL_HIGH_G_THRES,
accel_high_g_thres_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_HIGH_G_THRES_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the accel slownomotion threshold
* from page one register from 0x15 bit 0 to 7
*
* @param accel_slow_no_motion_thres_u8 :
* The value of accel slownomotion threshold
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Accel slow no motion interrupt threshold dependent
* for accel g range
*
* accel_range_u8 | threshold | LSB
* ------------- | ------------- | ---------
* 2g | 3.19mg | 1LSB
* 4g | 7.81mg | 1LSB
* 8g | 15.63mg | 1LSB
* 16g | 31.25mg | 1LSB
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_thres(
u8 *accel_slow_no_motion_thres_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel slownomotion threshold is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of slownomotion threshold */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_SLOW_NO_MOTION_THRES_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*accel_slow_no_motion_thres_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_ACCEL_SLOW_NO_MOTION_THRES);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write the accel slownomotion threshold
* from page one register from 0x15 bit 0 to 7
*
* @param accel_slow_no_motion_thres_u8 :
* The value of accel slownomotion threshold
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Accel slow no motion interrupt threshold dependent
* for accel g range
*
* accel_range_u8 | threshold | LSB
* ------------- | ------------- | ---------
* 2g | 3.19mg | 1LSB
* 4g | 7.81mg | 1LSB
* 8g | 15.63mg | 1LSB
* 16g | 31.25mg | 1LSB
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_thres(
u8 accel_slow_no_motion_thres_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
s8 pg_stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if (pg_stat_s8 == BNO055_SUCCESS) {
/* Write the value of
slownomotion threshold */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_SLOW_NO_MOTION_THRES_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r =
BNO055_SET_BITSLICE(data_u8r,
BNO055_ACCEL_SLOW_NO_MOTION_THRES,
accel_slow_no_motion_thres_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_SLOW_NO_MOTION_THRES_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read accel slownomotion enable
* from page one register from 0x16 bit 0
*
* @param accel_slow_no_motion_en_u8 : The value of accel slownomotion enable
* accel_slow_no_motion_en_u8 | result
* ------------------------ | --------
* 0x01 | Slow motion
* 0x00 | No motion
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_enable(
u8 *accel_slow_no_motion_en_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel slownomotion enable is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of accel slownomotion enable */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_SLOW_NO_MOTION_ENABLE_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*accel_slow_no_motion_en_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_ACCEL_SLOW_NO_MOTION_ENABLE);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write accel slownomotion enable
* from page one register from 0x16 bit 0
*
* @param accel_slow_no_motion_en_u8 : The value of accel slownomotion enable
* accel_slow_no_motion_en_u8 | result
* ------------------------ | --------
* 0x01 | Slow motion
* 0x00 | No motion
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_enable(
u8 accel_slow_no_motion_en_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
s8 pg_stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if (pg_stat_s8 == BNO055_SUCCESS) {
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_SLOW_NO_MOTION_ENABLE_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
/* Read the value of
accel slownomotion enable */
data_u8r =
BNO055_SET_BITSLICE(data_u8r,
BNO055_ACCEL_SLOW_NO_MOTION_ENABLE,
accel_slow_no_motion_en_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_SLOW_NO_MOTION_ENABLE_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read accel slownomotion duration
* from page one register from 0x16 bit 1 to 6
*
* @param accel_slow_no_motion_durn_u8 :
* The value of accel slownomotion duration
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_durn(
u8 *accel_slow_no_motion_durn_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, accel slownomotion duration is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
/*read value of accel slownomotion duration*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_SLOW_NO_MOTION_DURN_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*accel_slow_no_motion_durn_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_ACCEL_SLOW_NO_MOTION_DURN);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write accel slownomotion duration
* from page one register from 0x16 bit 1 to 6
*
* @param accel_slow_no_motion_durn_u8 :
* The value of accel slownomotion duration
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_durn(
u8 accel_slow_no_motion_durn_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
s8 pg_stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if (pg_stat_s8 == BNO055_SUCCESS) {
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_SLOW_NO_MOTION_DURN_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
/*Write the value of accel
slownomotion duration*/
data_u8r =
BNO055_SET_BITSLICE(data_u8r,
BNO055_ACCEL_SLOW_NO_MOTION_DURN,
accel_slow_no_motion_durn_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_ACCEL_SLOW_NO_MOTION_DURN_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the gyro anymotion enable
* from page one register from 0x17 bit 0 to 2
*
* @param data_u8 : The value of gyro anymotion enable
* data_u8 | result
* ----------------- |-------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
* @param channel_u8 : The value of gyro anymotion axis selection
* channel_u8 | value
* --------------------------- | ----------
* BNO055_GYRO_ANY_MOTIONX_AXIS | 0
* BNO055_GYRO_ANY_MOTIONY_AXIS | 1
* BNO055_GYRO_ANY_MOTIONZ_AXIS | 2
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_axis_enable(
u8 channel_u8, u8 *data_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro anymotion axis is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
switch (channel_u8) {
case BNO055_GYRO_ANY_MOTION_X_AXIS:
/* Read the gyro anymotion x enable*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_ANY_MOTION_X_AXIS_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*data_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_ANY_MOTION_X_AXIS);
break;
case BNO055_GYRO_ANY_MOTION_Y_AXIS:
/* Read the gyro anymotion y enable*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_ANY_MOTION_Y_AXIS_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*data_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_ANY_MOTION_Y_AXIS);
break;
case BNO055_GYRO_ANY_MOTION_Z_AXIS:
/* Read the gyro anymotion z enable*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_ANY_MOTION_Z_AXIS_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*data_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_ANY_MOTION_Z_AXIS);
break;
default:
com_rslt = BNO055_OUT_OF_RANGE;
break;
}
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write the gyro anymotion enable
* from page one register from 0x17 bit 0 to 2
*
* @param data_u8 : The value of gyro anymotion enable
* data_u8 | result
* ----------------- |-------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
* @param channel_u8 : The value of gyro anymotion axis selection
* channel_u8 | value
* --------------------------- | ----------
* BNO055_GYRO_ANY_MOTIONX_AXIS | 0
* BNO055_GYRO_ANY_MOTIONY_AXIS | 1
* BNO055_GYRO_ANY_MOTIONZ_AXIS | 2
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_axis_enable(
u8 channel_u8, u8 data_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
s8 pg_stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if (pg_stat_s8 == BNO055_SUCCESS) {
switch (channel_u8) {
case BNO055_GYRO_ANY_MOTION_X_AXIS:
/* Write the gyro
anymotion x enable*/
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_ANY_MOTION_X_AXIS_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r = BNO055_SET_BITSLICE
(data_u8r,
BNO055_GYRO_ANY_MOTION_X_AXIS,
data_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_ANY_MOTION_X_AXIS_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
}
break;
case BNO055_GYRO_ANY_MOTION_Y_AXIS:
/* Write the gyro
anymotion y enable*/
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_ANY_MOTION_Y_AXIS_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r = BNO055_SET_BITSLICE
(data_u8r,
BNO055_GYRO_ANY_MOTION_Y_AXIS, data_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_ANY_MOTION_Y_AXIS_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
}
break;
case BNO055_GYRO_ANY_MOTION_Z_AXIS:
/* Write the gyro
anymotion z enable*/
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_ANY_MOTION_Z_AXIS_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r = BNO055_SET_BITSLICE
(data_u8r,
BNO055_GYRO_ANY_MOTION_Z_AXIS,
data_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_ANY_MOTION_Z_AXIS_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
}
break;
default:
com_rslt = BNO055_OUT_OF_RANGE;
break;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read the gyro highrate enable
* from page one register from 0x17 bit 3 to 5
*
* @param data_u8 : The value of gyro highrate enable
* data_u8 | result
* ---------------- |-------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
* @param channel_u8 : The value of gyro highrate axis selection
* channel_u8 | value
* ------------------------ | ----------
* BNO055_GYRO_HIGHRATE_X_AXIS | 0
* BNO055_GYRO_HIGHRATE_Y_AXIS | 1
* BNO055_GYRO_HIGHRATE_Z_AXIS | 2
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_axis_enable(
u8 channel_u8, u8 *data_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro highrate enable is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
switch (channel_u8) {
case BNO055_GYRO_HIGHRATE_X_AXIS:
/* Read the gyro highrate x enable */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_HIGHRATE_X_AXIS_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*data_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_HIGHRATE_X_AXIS);
break;
case BNO055_GYRO_HIGHRATE_Y_AXIS:
/* Read the gyro highrate y enable */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_HIGHRATE_Y_AXIS_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*data_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_HIGHRATE_Y_AXIS);
break;
case BNO055_GYRO_HIGHRATE_Z_AXIS:
/* Read the gyro highrate z enable */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_HIGHRATE_Z_AXIS_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*data_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_HIGHRATE_Z_AXIS);
break;
default:
com_rslt = BNO055_OUT_OF_RANGE;
break;
}
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write the gyro highrate enable
* from page one register from 0x17 bit 3 to 5
*
* @param data_u8 : The value of gyro highrate enable
* data_u8 | result
* ---------------- |-------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
* @param channel_u8 : The value of gyro highrate axis selection
* channel_u8 | value
* ------------------------ | ----------
* BNO055_GYRO_HIGHRATE_X_AXIS | 0
* BNO055_GYRO_HIGHRATE_Y_AXIS | 1
* BNO055_GYRO_HIGHRATE_Z_AXIS | 2
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_axis_enable(
u8 channel_u8, u8 data_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
s8 pg_stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if (pg_stat_s8 == BNO055_SUCCESS) {
switch (channel_u8) {
case BNO055_GYRO_HIGHRATE_X_AXIS:
/* Write the value of
gyro highrate x enable*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_HIGHRATE_X_AXIS_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r = BNO055_SET_BITSLICE
(data_u8r,
BNO055_GYRO_HIGHRATE_X_AXIS, data_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_HIGHRATE_X_AXIS_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
break;
case BNO055_GYRO_HIGHRATE_Y_AXIS:
/* Write the value of
gyro highrate y enable*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_HIGHRATE_Y_AXIS_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r =
BNO055_SET_BITSLICE(
data_u8r,
BNO055_GYRO_HIGHRATE_Y_AXIS, data_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_HIGHRATE_Y_AXIS_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
break;
case BNO055_GYRO_HIGHRATE_Z_AXIS:
/* Write the value of
gyro highrate z enable*/
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_HIGHRATE_Z_AXIS_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r = BNO055_SET_BITSLICE
(data_u8r,
BNO055_GYRO_HIGHRATE_Z_AXIS, data_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_HIGHRATE_Z_AXIS_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
break;
default:
com_rslt = BNO055_OUT_OF_RANGE;
break;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read gyro anymotion filter
* from page one register from 0x17 bit 6
*
* @param gyro_any_motion_filter_u8 : The value of gyro anymotion filter
* gyro_any_motion_filter_u8 | result
* --------------------------- |------------
* 0x00 | BNO055_GYRO_FILTERED_CONFIG
* 0x01 | BNO055_GYRO_UNFILTERED_CONFIG
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_filter(
u8 *gyro_any_motion_filter_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro anymotion filter is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of gyro anymotion filter*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_ANY_MOTION_FILTER_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*gyro_any_motion_filter_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_ANY_MOTION_FILTER);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write gyro anymotion filter
* from page one register from 0x17 bit 6
*
* @param gyro_any_motion_filter_u8 : The value of gyro anymotion filter
* gyro_any_motion_filter_u8 | result
* --------------------------- |------------
* 0x00 | BNO055_GYRO_FILTERED_CONFIG
* 0x01 | BNO055_GYRO_UNFILTERED_CONFIG
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_filter(
u8 gyro_any_motion_filter_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
s8 pg_stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if (pg_stat_s8 == BNO055_SUCCESS) {
/* Write the value of
gyro anymotion filter*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_ANY_MOTION_FILTER_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r =
BNO055_SET_BITSLICE(data_u8r,
BNO055_GYRO_ANY_MOTION_FILTER,
gyro_any_motion_filter_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_ANY_MOTION_FILTER_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read gyro highrate filter
* from page one register from 0x17 bit 7
*
* @param gyro_highrate_filter_u8 : The value of gyro highrate filter
* gyro_highrate_filter_u8 | result
* --------------------------- |------------
* 0x00 | BNO055_GYRO_FILTERED_CONFIG
* 0x01 | BNO055_GYRO_UNFILTERED_CONFIG
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_filter(
u8 *gyro_highrate_filter_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro highrate filter is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of gyro highrate filter */
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_HIGHRATE_FILTER_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*gyro_highrate_filter_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_HIGHRATE_FILTER);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write gyro highrate filter
* from page one register from 0x17 bit 7
*
* @param gyro_highrate_filter_u8 : The value of gyro highrate filter
* gyro_highrate_filter_u8 | result
* --------------------------- |------------
* 0x00 | BNO055_GYRO_FILTERED_CONFIG
* 0x01 | BNO055_GYRO_UNFILTERED_CONFIG
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_filter(
u8 gyro_highrate_filter_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
s8 pg_stat_s8 = BNO055_ERROR;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if (pg_stat_s8 == BNO055_SUCCESS) {
/* Write the value of
gyro highrate filter*/
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_HIGHRATE_FILTER_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r =
BNO055_SET_BITSLICE(data_u8r,
BNO055_GYRO_HIGHRATE_FILTER,
gyro_highrate_filter_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_HIGHRATE_FILTER_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read gyro highrate x threshold
* from page one register from 0x18 bit 0 to 4
*
* @param gyro_highrate_x_thres_u8 : The value of gyro x highrate threshold
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Gyro highrate threshold dependent on the
* selection of gyro range
*
* gyro_range_u8 | threshold | LSB
* ----------------- | ------------- | ---------
* 2000 | 62.5dps | 1LSB
* 1000 | 31.25dps | 1LSB
* 500 | 15.625dps | 1LSB
* 125 | 7.8125dps | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_thres(
u8 *gyro_highrate_x_thres_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro highrate x threshold is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of gyro highrate threshold*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_HIGHRATE_X_THRES_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*gyro_highrate_x_thres_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_HIGHRATE_X_THRES);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write gyro highrate x threshold
* from page one register from 0x18 bit 0 to 4
*
* @param gyro_highrate_x_thres_u8 : The value of gyro x highrate threshold
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Gyro highrate threshold dependent on the
* selection of gyro range
*
* gyro_range_u8 | threshold | LSB
* ----------------- | ------------- | ---------
* 2000 | 62.5dps | 1LSB
* 1000 | 31.25dps | 1LSB
* 500 | 15.625dps | 1LSB
* 125 | 7.8125dps | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_thres(
u8 gyro_highrate_x_thres_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
s8 pg_stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if (pg_stat_s8 == BNO055_SUCCESS) {
/* Write the value of
gyro highrate x threshold*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_HIGHRATE_X_THRES_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r =
BNO055_SET_BITSLICE(data_u8r,
BNO055_GYRO_HIGHRATE_X_THRES,
gyro_highrate_x_thres_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_HIGHRATE_X_THRES_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read gyro highrate x hysteresis
* from page one register from 0x18 bit 5 to 6
*
* @param gyro_highrate_x_hyst_u8 : The value of gyro highrate x hysteresis
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Gyro high rate hysteresis calculated by
*
* using this (255 + 256 * gyro_highrate_x_hyst_u8) *4 LSB
*
* The high rate value scales with the range setting
*
* gyro_range_u8 | hysteresis | LSB
* ----------------- | ------------- | ---------
* 2000 | 62.26dps | 1LSB
* 1000 | 31.13dps | 1LSB
* 500 | 15.56dps | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_hyst(
u8 *gyro_highrate_x_hyst_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page,gyro highrate x hysteresis is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of gyro highrate x hysteresis*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_HIGHRATE_X_HYST_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*gyro_highrate_x_hyst_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_HIGHRATE_X_HYST);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write gyro highrate x hysteresis
* from page one register from 0x18 bit 5 to 6
*
* @param gyro_highrate_x_hyst_u8 : The value of gyro highrate x hysteresis
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Gyro high rate hysteresis calculated by
*
* using this (255 + 256 * gyro_highrate_x_hyst_u8) *4 LSB
*
* The high rate value scales with the range setting
*
* gyro_range_u8 | hysteresis | LSB
* ----------------- | ------------- | ---------
* 2000 | 62.26dps | 1LSB
* 1000 | 31.13dps | 1LSB
* 500 | 15.56dps | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_hyst(
u8 gyro_highrate_x_hyst_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
s8 pg_stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if (pg_stat_s8 == BNO055_SUCCESS) {
/*Write the value of
gyro highrate x hysteresis*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_HIGHRATE_X_HYST_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r =
BNO055_SET_BITSLICE(data_u8r,
BNO055_GYRO_HIGHRATE_X_HYST,
gyro_highrate_x_hyst_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_HIGHRATE_X_HYST_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read gyro highrate x duration
* from page one register from 0x19 bit 0 to 7
*
* @param gyro_highrate_x_durn_u8 : The value of gyro highrate x duration
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Gyro highrate duration calculate by using the formula
*
* (1 + gyro_highrate_x_durn_u8)*2.5ms
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_durn(
u8 *gyro_highrate_x_durn_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro highrate x duration is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of gyro highrate x duration*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_HIGHRATE_X_DURN_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*gyro_highrate_x_durn_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_HIGHRATE_X_DURN);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write gyro highrate x duration
* from page one register from 0x19 bit 0 to 7
*
* @param gyro_highrate_x_durn_u8 : The value of gyro highrate x duration
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Gyro highrate duration calculate by using the formula
*
* (1 + gyro_highrate_x_durn_u8)*2.5ms
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_durn(
u8 gyro_highrate_x_durn_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
s8 pg_stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if (pg_stat_s8 == BNO055_SUCCESS) {
/* Write the value
of gyro highrate x duration*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_HIGHRATE_X_DURN_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r =
BNO055_SET_BITSLICE(data_u8r,
BNO055_GYRO_HIGHRATE_X_DURN,
gyro_highrate_x_durn_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_HIGHRATE_X_DURN_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read gyro highrate y threshold
* from page one register from 0x1A bit 0 to 4
*
* @param gyro_highrate_y_thres_u8 : The value of gyro highrate y threshold
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Gyro highrate threshold dependent on the
* selection of gyro range
*
* gyro_range_u8 | threshold | LSB
* ----------------- | ------------- | ---------
* 2000 | 62.5dps | 1LSB
* 1000 | 31.25dps | 1LSB
* 500 | 15.625dps | 1LSB
* 125 | 7.8125dps | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_thres(
u8 *gyro_highrate_y_thres_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro highrate y threshold is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of gyro highrate y threshold*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_HIGHRATE_Y_THRES_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*gyro_highrate_y_thres_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_HIGHRATE_Y_THRES);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write gyro highrate y threshold
* from page one register from 0x1A bit 0 to 4
*
* @param gyro_highrate_y_thres_u8 : The value of gyro highrate y threshold
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Gyro highrate threshold dependent on the
* selection of gyro range
*
* gyro_range_u8 | threshold | LSB
* ----------------- | ------------- | ---------
* 2000 | 62.5dps | 1LSB
* 1000 | 31.25dps | 1LSB
* 500 | 15.625dps | 1LSB
* 125 | 7.8125dps | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_thres(
u8 gyro_highrate_y_thres_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
s8 pg_stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if (pg_stat_s8 == BNO055_SUCCESS) {
/* Write the value
of gyro highrate y threshold*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_HIGHRATE_Y_THRES_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r =
BNO055_SET_BITSLICE(data_u8r,
BNO055_GYRO_HIGHRATE_Y_THRES,
gyro_highrate_y_thres_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_HIGHRATE_Y_THRES_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read gyro highrate y hysteresis
* from page one register from 0x1A bit 5 to 6
*
* @param gyro_highrate_y_hyst_u8 : The value of gyro highrate y hysteresis
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Gyro high rate hysteresis calculated by
*
* using this (255 + 256 * gyro_highrate_y_hyst_u8) *4 LSB
*
* The high rate value scales with the range setting
*
* gyro_range_u8 | hysteresis | LSB
* ----------------- | ------------- | ---------
* 2000 | 62.26dps | 1LSB
* 1000 | 31.13dps | 1LSB
* 500 | 15.56dps | 1LSB
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_hyst(
u8 *gyro_highrate_y_hyst_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro highrate y hysteresis is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of gyro highrate y hysteresis*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_HIGHRATE_Y_HYST_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*gyro_highrate_y_hyst_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_HIGHRATE_Y_HYST);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write gyro highrate y hysteresis
* from page one register from 0x1A bit 5 to 6
*
* @param gyro_highrate_y_hyst_u8 : The value of gyro highrate y hysteresis
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Gyro high rate hysteresis calculated by
*
* using this (255 + 256 * gyro_highrate_y_hyst_u8) *4 LSB
*
* The high rate value scales with the range setting
*
* gyro_range_u8 | hysteresis | LSB
* ----------------- | ------------- | ---------
* 2000 | 62.26dps | 1LSB
* 1000 | 31.13dps | 1LSB
* 500 | 15.56dps | 1LSB
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_hyst(
u8 gyro_highrate_y_hyst_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
s8 pg_stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if (pg_stat_s8 == BNO055_SUCCESS) {
/* Write the value of
gyro highrate y hysteresis*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_HIGHRATE_Y_HYST_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r =
BNO055_SET_BITSLICE(data_u8r,
BNO055_GYRO_HIGHRATE_Y_HYST,
gyro_highrate_y_hyst_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_HIGHRATE_Y_HYST_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read gyro highrate y duration
* from page one register from 0x1B bit 0 to 7
*
* @param gyro_highrate_y_durn_u8 : The value of gyro highrate y duration
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Gyro highrate duration calculate by using the formula
*
* (1 + gyro_highrate_y_durn_u8)*2.5ms
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_durn(
u8 *gyro_highrate_y_durn_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro highrate y duration is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of gyro highrate y duration*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_HIGHRATE_Y_DURN_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*gyro_highrate_y_durn_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_HIGHRATE_Y_DURN);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write gyro highrate y duration
* from page one register from 0x1B bit 0 to 7
*
* @param gyro_highrate_y_durn_u8 : The value of gyro highrate y duration
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Gyro highrate duration calculate by using the formula
*
* (1 + gyro_highrate_y_durn_u8)*2.5ms
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_durn(
u8 gyro_highrate_y_durn_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
s8 pg_stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if (pg_stat_s8 == BNO055_SUCCESS) {
/* Write the value
of gyro highrate y duration*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_HIGHRATE_Y_DURN_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r =
BNO055_SET_BITSLICE(data_u8r,
BNO055_GYRO_HIGHRATE_Y_DURN,
gyro_highrate_y_durn_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_HIGHRATE_Y_DURN_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read gyro highrate z threshold
* from page one register from 0x1C bit 0 to 4
*
* @param gyro_highrate_z_thres_u8 : The value of gyro highrate z threshold
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Gyro highrate threshold dependent on the
* selection of gyro range
*
* gyro_range_u8 | threshold | LSB
* ----------------- | ------------- | ---------
* 2000 | 62.5dps | 1LSB
* 1000 | 31.25dps | 1LSB
* 500 | 15.625dps | 1LSB
* 125 | 7.8125dps | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_thres(
u8 *gyro_highrate_z_thres_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro highrate z threshold is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of gyro highrate z threshold*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_HIGHRATE_Z_THRES_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*gyro_highrate_z_thres_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_HIGHRATE_Z_THRES);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write gyro highrate z threshold
* from page one register from 0x1C bit 0 to 4
*
* @param gyro_highrate_z_thres_u8 : The value of gyro highrate z threshold
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Gyro highrate threshold dependent on the
* selection of gyro range
*
* gyro_range_u8 | threshold | LSB
* ----------------- | ------------- | ---------
* 2000 | 62.5dps | 1LSB
* 1000 | 31.25dps | 1LSB
* 500 | 15.625dps | 1LSB
* 125 | 7.8125dps | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_thres(
u8 gyro_highrate_z_thres_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
s8 pg_stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if (pg_stat_s8 == BNO055_SUCCESS) {
/* Write the value
of gyro highrate z threshold*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_HIGHRATE_Z_THRES_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r =
BNO055_SET_BITSLICE(data_u8r,
BNO055_GYRO_HIGHRATE_Z_THRES,
gyro_highrate_z_thres_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_HIGHRATE_Z_THRES_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read gyro highrate z hysteresis
* from page one register from 0x1C bit 5 to 6
*
* @param gyro_highrate_z_hyst_u8 : The value of gyro highrate z hysteresis
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Gyro high rate hysteresis calculated by
*
* using this (255 + 256 * gyro_highrate_z_hyst_u8) *4 LSB
*
* The high rate value scales with the range setting
*
* gyro_range_u8 | hysteresis | LSB
* ----------------- | ------------- | ---------
* 2000 | 62.26dps | 1LSB
* 1000 | 31.13dps | 1LSB
* 500 | 15.56dps | 1LSB
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_hyst(
u8 *gyro_highrate_z_hyst_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro highrate z hysteresis is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of gyro highrate z hysteresis*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_HIGHRATE_Z_HYST_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
*gyro_highrate_z_hyst_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_HIGHRATE_Z_HYST);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write gyro highrate z hysteresis
* from page one register from 0x1C bit 5 to 6
*
* @param gyro_highrate_z_hyst_u8 : The value of gyro highrate z hysteresis
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Gyro high rate hysteresis calculated by
*
* using this (255 + 256 * gyro_highrate_z_hyst_u8) *4 LSB
*
* The high rate value scales with the range setting
*
* gyro_range_u8 | hysteresis | LSB
* ----------------- | ------------- | ---------
* 2000 | 62.26dps | 1LSB
* 1000 | 31.13dps | 1LSB
* 500 | 15.56dps | 1LSB
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_hyst(
u8 gyro_highrate_z_hyst_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
s8 pg_stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if (pg_stat_s8 == BNO055_SUCCESS) {
/* Write the value
of gyro highrate z hysteresis*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_HIGHRATE_Z_HYST_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r =
BNO055_SET_BITSLICE(data_u8r,
BNO055_GYRO_HIGHRATE_Z_HYST,
gyro_highrate_z_hyst_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_HIGHRATE_Z_HYST_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read gyro highrate z duration
* from page one register from 0x1D bit 0 to 7
*
* @param gyro_highrate_z_durn_u8 : The value of gyro highrate z duration
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Gyro highrate duration calculate by using the formula
*
* (1 + gyro_highrate_z_durn_u8)*2.5ms
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_durn(
u8 *gyro_highrate_z_durn_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro highrate z duration is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of gyro highrate z duration*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_HIGHRATE_Z_DURN_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*gyro_highrate_z_durn_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_HIGHRATE_Z_DURN);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write gyro highrate z duration
* from page one register from 0x1D bit 0 to 7
*
* @param gyro_highrate_z_durn_u8 : The value of gyro highrate z duration
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Gyro highrate duration calculate by using the formula
*
* (1 + gyro_highrate_z_durn_u8)*2.5ms
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_durn(
u8 gyro_highrate_z_durn_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
s8 pg_stat_s8 = BNO055_ERROR;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if (pg_stat_s8 == BNO055_SUCCESS) {
/* Write the value of
gyro highrate z duration*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_HIGHRATE_Z_DURN_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r =
BNO055_SET_BITSLICE(data_u8r,
BNO055_GYRO_HIGHRATE_Z_DURN,
gyro_highrate_z_durn_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_HIGHRATE_Z_DURN_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read gyro anymotion threshold
* from page one register from 0x1E bit 0 to 6
*
* @param gyro_any_motion_thres_u8 : The value of gyro anymotion threshold
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Gyro anymotion interrupt threshold dependent
* on the selection of gyro range
*
* gyro_range_u8 | threshold | LSB
* ----------------- | ------------- | ---------
* 2000 | 1dps | 1LSB
* 1000 | 0.5dps | 1LSB
* 500 | 0.25dps | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_thres(
u8 *gyro_any_motion_thres_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page,gyro anymotion threshold is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of gyro anymotion threshold*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_ANY_MOTION_THRES_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*gyro_any_motion_thres_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_ANY_MOTION_THRES);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write gyro anymotion threshold
* from page one register from 0x1E bit 0 to 6
*
* @param gyro_any_motion_thres_u8 : The value of gyro anymotion threshold
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Gyro anymotion interrupt threshold dependent
* on the selection of gyro range
*
* gyro_range_u8 | threshold | LSB
* ----------------- | ------------- | ---------
* 2000 | 1dps | 1LSB
* 1000 | 0.5dps | 1LSB
* 500 | 0.25dps | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_thres(
u8 gyro_any_motion_thres_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
s8 pg_stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if (pg_stat_s8 == BNO055_SUCCESS) {
/* Write the value
of gyro anymotion threshold*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_ANY_MOTION_THRES_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r =
BNO055_SET_BITSLICE(data_u8r,
BNO055_GYRO_ANY_MOTION_THRES,
gyro_any_motion_thres_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_ANY_MOTION_THRES_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read gyro anymotion slope samples
* from page one register from 0x1F bit 0 to 1
*
* @param gyro_any_motion_slope_samples_u8 :
* The value of gyro anymotion slope samples
* gyro_any_motion_slope_samples_u8 | result
* ---------------------------------- | -----------
* 0 | 8 samples
* 1 | 16 samples
* 2 | 32 samples
* 3 | 64 samples
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_slope_samples(
u8 *gyro_any_motion_slope_samples_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro anymotion slope samples is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
/*Read the value of gyro anymotion slope samples*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_SLOPE_SAMPLES_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*gyro_any_motion_slope_samples_u8 =
BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_SLOPE_SAMPLES);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write gyro anymotion slope samples
* from page one register from 0x1F bit 0 to 1
*
* @param gyro_any_motion_slope_samples_u8 :
* The value of gyro anymotion slope samples
* gyro_any_motion_slope_samples_u8 | result
* ---------------------------------- | -----------
* 0 | 8 samples
* 1 | 16 samples
* 2 | 32 samples
* 3 | 64 samples
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_slope_samples(
u8 gyro_any_motion_slope_samples_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
s8 pg_stat_s8 = BNO055_ERROR;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
pg_stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if (pg_stat_s8 == BNO055_SUCCESS) {
/* Write the value of
gyro anymotion slope samples*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_SLOPE_SAMPLES_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r =
BNO055_SET_BITSLICE(data_u8r,
BNO055_GYRO_SLOPE_SAMPLES,
gyro_any_motion_slope_samples_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_SLOPE_SAMPLES_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode of
previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}
/*!
* @brief This API used to read gyro anymotion awake duration
* from page one register from 0x1F bit 2 to 3
*
* @param gyro_awake_durn_u8 : The value of gyro anymotion awake duration
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_awake_durn(
u8 *gyro_awake_durn_u8)
{
/* Variable used to return value of
communication routine*/
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/*condition check for page, gyro anymotion awake duration is
available in the page one*/
if (p_bno055->page_id != BNO055_PAGE_ONE)
/* Write page as one */
stat_s8 = bno055_write_page_id(BNO055_PAGE_ONE);
if ((stat_s8 == BNO055_SUCCESS) ||
(p_bno055->page_id == BNO055_PAGE_ONE)) {
/* Read the value of gyro anymotion awake duration*/
com_rslt = p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_AWAKE_DURN_REG,
&data_u8r, BNO055_GEN_READ_WRITE_LENGTH);
*gyro_awake_durn_u8 = BNO055_GET_BITSLICE(data_u8r,
BNO055_GYRO_AWAKE_DURN);
} else {
com_rslt = BNO055_ERROR;
}
}
return com_rslt;
}
/*!
* @brief This API used to write gyro anymotion awake duration
* from page one register from 0x1F bit 2 to 3
*
* @param gyro_awake_durn_u8 : The value of gyro anymotion awake duration
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_awake_durn(
u8 gyro_awake_durn_u8)
{
BNO055_RETURN_FUNCTION_TYPE com_rslt = BNO055_ERROR;
u8 data_u8r = BNO055_INIT_VALUE;
s8 stat_s8 = BNO055_ERROR;
s8 pg_stat_s8 = BNO055_ERROR;
u8 prev_opmode_u8 = BNO055_OPERATION_MODE_CONFIG;
/* Check the struct p_bno055 is empty */
if (p_bno055 == BNO055_INIT_VALUE) {
return BNO055_E_NULL_PTR;
} else {
/* The write operation effective only if the operation
mode is in config mode, this part of code is checking the
current operation mode and set the config mode */
stat_s8 = bno055_get_operation_mode(&prev_opmode_u8);
if (stat_s8 == BNO055_SUCCESS) {
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
stat_s8 += bno055_set_operation_mode
(BNO055_OPERATION_MODE_CONFIG);
if (stat_s8 == BNO055_SUCCESS) {
/* Write page as one */
pg_stat_s8 = bno055_write_page_id(
BNO055_PAGE_ONE);
if (pg_stat_s8 == BNO055_SUCCESS) {
/* Write the value of gyro
anymotion awake duration*/
com_rslt =
p_bno055->BNO055_BUS_READ_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_AWAKE_DURN_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
if (com_rslt == BNO055_SUCCESS) {
data_u8r =
BNO055_SET_BITSLICE(data_u8r,
BNO055_GYRO_AWAKE_DURN,
gyro_awake_durn_u8);
com_rslt +=
p_bno055->BNO055_BUS_WRITE_FUNC
(p_bno055->dev_addr,
BNO055_GYRO_AWAKE_DURN_REG,
&data_u8r,
BNO055_GEN_READ_WRITE_LENGTH);
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
} else {
com_rslt = BNO055_ERROR;
}
}
if (prev_opmode_u8 != BNO055_OPERATION_MODE_CONFIG)
/* set the operation mode
of previous operation mode*/
com_rslt += bno055_set_operation_mode
(prev_opmode_u8);
return com_rslt;
}