BME SmartLab
BNO055 library using Bosch's code
BNO055.h
- Committer:
- gume
- Date:
- 2017-07-01
- Revision:
- 0:1f82672b8755
File content as of revision 0:1f82672b8755:
/** \mainpage
*
****************************************************************************
* Copyright (C) 2015 - 2016 Bosch Sensortec GmbH
*
* File : bno055.h
*
* Date : 2016/03/14
*
* Revision : 2.0.3 $
*
* Usage: Sensor Driver file for BNO055 sensor
*
****************************************************************************
* \section License
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* Neither the name of the copyright holder nor the names of the
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR
* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDER
* OR CONTRIBUTORS BE LIABLE FOR ANY
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY,
* OR CONSEQUENTIAL DAMAGES(INCLUDING, BUT NOT LIMITED TO,
* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE
*
* The information provided is believed to be accurate and reliable.
* The copyright holder assumes no responsibility
* for the consequences of use
* of such information nor for any infringement of patents or
* other rights of third parties which may result from its use.
* No license is granted by implication or otherwise under any patent or
* patent rights of the copyright holder.
**************************************************************************/
/*! \file BNO055.h
\brief BNO055 Sensor Driver Support Header File */
#ifndef __BNO055_H__
#define __BNO055_H__
/****************************************************************/
/**\name DATA TYPES INCLUDES */
/************************************************************/
/*!
* @brief The following definition uses for define the data types
*
* @note While porting the API please consider the following
* @note Please check the version of C standard
* @note Are you using Linux platform
*/
/*!
* @brief For the Linux platform support
* Please use the types.h for your data types definitions
*/
#ifdef __KERNEL__
#include <linux/types.h>
/* singed integer type*/
typedef int8_t s8;/**< used for signed 8bit */
typedef int16_t s16;/**< used for signed 16bit */
typedef int32_t s32;/**< used for signed 32bit */
typedef int64_t s64;/**< used for signed 64bit */
typedef u_int8_t u8;/**< used for unsigned 8bit */
typedef u_int16_t u16;/**< used for unsigned 16bit */
typedef u_int32_t u32;/**< used for unsigned 32bit */
typedef u_int64_t u64;/**< used for unsigned 64bit */
#else /* ! __KERNEL__ */
/**********************************************************
* These definition uses for define the C
* standard version data types
***********************************************************/
# if !defined(__STDC_VERSION__)
/************************************************
* compiler is C11 C standard
************************************************/
#if (__STDC_VERSION__ == 201112L)
/************************************************/
#include <stdint.h>
/************************************************/
/*unsigned integer types*/
typedef uint8_t u8;/**< used for unsigned 8bit */
typedef uint16_t u16;/**< used for unsigned 16bit */
typedef uint32_t u32;/**< used for unsigned 32bit */
typedef uint64_t u64;/**< used for unsigned 64bit */
/*signed integer types*/
typedef int8_t s8;/**< used for signed 8bit */
typedef int16_t s16;/**< used for signed 16bit */
typedef int32_t s32;/**< used for signed 32bit */
typedef int64_t s64;/**< used for signed 64bit */
/************************************************
* compiler is C99 C standard
************************************************/
#elif (__STDC_VERSION__ == 199901L)
/* stdint.h is a C99 supported c library.
which is used to fixed the integer size*/
/************************************************/
#include <stdint.h>
/************************************************/
/*unsigned integer types*/
typedef uint8_t u8;/**< used for unsigned 8bit */
typedef uint16_t u16;/**< used for unsigned 16bit */
typedef uint32_t u32;/**< used for unsigned 32bit */
typedef uint64_t u64;/**< used for unsigned 64bit */
/*signed integer types*/
typedef int8_t s8;/**< used for signed 8bit */
typedef int16_t s16;/**< used for signed 16bit */
typedef int32_t s32;/**< used for signed 32bit */
typedef int64_t s64;/**< used for signed 64bit */
/************************************************
* compiler is C89 or other C standard
************************************************/
#else /* !defined(__STDC_VERSION__) */
/*!
* @brief By default it is defined as 32 bit machine configuration
* define your data types based on your
* machine/compiler/controller configuration
*/
#define MACHINE_32_BIT
/*! @brief
* If your machine support 16 bit
* define the MACHINE_16_BIT
*/
#ifdef MACHINE_16_BIT
#include <limits.h>
/*signed integer types*/
typedef signed char s8;/**< used for signed 8bit */
typedef signed short int s16;/**< used for signed 16bit */
typedef signed long int s32;/**< used for signed 32bit */
#if defined(LONG_MAX) && LONG_MAX == 0x7fffffffffffffffL
typedef long int s64;/**< used for signed 64bit */
typedef unsigned long int u64;/**< used for unsigned 64bit */
#elif defined(LLONG_MAX) && (LLONG_MAX == 0x7fffffffffffffffLL)
typedef long long int s64;/**< used for signed 64bit */
typedef unsigned long long int u64;/**< used for unsigned 64bit */
#else
#warning Either the correct data type for signed 64 bit integer \
could not be found, or 64 bit integers are not supported in your environment.
#warning If 64 bit integers are supported on your platform, \
please set s64 manually.
#endif
/*unsigned integer types*/
typedef unsigned char u8;/**< used for unsigned 8bit */
typedef unsigned short int u16;/**< used for unsigned 16bit */
typedef unsigned long int u32;/**< used for unsigned 32bit */
/* If your machine support 32 bit
define the MACHINE_32_BIT*/
#elif defined MACHINE_32_BIT
/*signed integer types*/
typedef signed char s8;/**< used for signed 8bit */
typedef signed short int s16;/**< used for signed 16bit */
typedef signed int s32;/**< used for signed 32bit */
typedef signed long long int s64;/**< used for signed 64bit */
/*unsigned integer types*/
typedef unsigned char u8;/**< used for unsigned 8bit */
typedef unsigned short int u16;/**< used for unsigned 16bit */
typedef unsigned int u32;/**< used for unsigned 32bit */
typedef unsigned long long int u64;/**< used for unsigned 64bit */
/* If your machine support 64 bit
define the MACHINE_64_BIT*/
#elif defined MACHINE_64_BIT
/*signed integer types*/
typedef signed char s8;/**< used for signed 8bit */
typedef signed short int s16;/**< used for signed 16bit */
typedef signed int s32;/**< used for signed 32bit */
typedef signed long int s64;/**< used for signed 64bit */
/*unsigned integer types*/
typedef unsigned char u8;/**< used for unsigned 8bit */
typedef unsigned short int u16;/**< used for unsigned 16bit */
typedef unsigned int u32;/**< used for unsigned 32bit */
typedef unsigned long int u64;/**< used for unsigned 64bit */
#else
#warning The data types defined above which not supported \
define the data types manually
#endif
#endif
/*** This else will execute for the compilers
* which are not supported the C standards
* Like C89/C99/C11***/
#else
/*!
* @brief By default it is defined as 32 bit machine configuration
* define your data types based on your
* machine/compiler/controller configuration
*/
#define MACHINE_32_BIT
/* If your machine support 16 bit
define the MACHINE_16_BIT*/
#ifdef MACHINE_16_BIT
#include <limits.h>
/*signed integer types*/
typedef signed char s8;/**< used for signed 8bit */
typedef signed short int s16;/**< used for signed 16bit */
typedef signed long int s32;/**< used for signed 32bit */
#if defined(LONG_MAX) && LONG_MAX == 0x7fffffffffffffffL
typedef long int s64;/**< used for signed 64bit */
typedef unsigned long int u64;/**< used for unsigned 64bit */
#elif defined(LLONG_MAX) && (LLONG_MAX == 0x7fffffffffffffffLL)
typedef long long int s64;/**< used for signed 64bit */
typedef unsigned long long int u64;/**< used for unsigned 64bit */
#else
#warning Either the correct data type for signed 64 bit integer \
could not be found, or 64 bit integers are not supported in your environment.
#warning If 64 bit integers are supported on your platform, \
please set s64 manually.
#endif
/*unsigned integer types*/
typedef unsigned char u8;/**< used for unsigned 8bit */
typedef unsigned short int u16;/**< used for unsigned 16bit */
typedef unsigned long int u32;/**< used for unsigned 32bit */
/*! @brief If your machine support 32 bit
define the MACHINE_32_BIT*/
#elif defined MACHINE_32_BIT
/*signed integer types*/
typedef signed char s8;/**< used for signed 8bit */
typedef signed short int s16;/**< used for signed 16bit */
typedef signed int s32;/**< used for signed 32bit */
typedef signed long long int s64;/**< used for signed 64bit */
/*unsigned integer types*/
typedef unsigned char u8;/**< used for unsigned 8bit */
typedef unsigned short int u16;/**< used for unsigned 16bit */
typedef unsigned int u32;/**< used for unsigned 32bit */
typedef unsigned long long int u64;/**< used for unsigned 64bit */
/* If your machine support 64 bit
define the MACHINE_64_BIT*/
#elif defined MACHINE_64_BIT
/*signed integer types*/
typedef signed char s8;/**< used for signed 8bit */
typedef signed short int s16;/**< used for signed 16bit */
typedef signed int s32;/**< used for signed 32bit */
typedef signed long int s64;/**< used for signed 64bit */
/*unsigned integer types*/
typedef unsigned char u8;/**< used for unsigned 8bit */
typedef unsigned short int u16;/**< used for unsigned 16bit */
typedef unsigned int u32;/**< used for unsigned 32bit */
typedef unsigned long int u64;/**< used for unsigned 64bit */
#else
#warning The data types defined above which not supported \
define the data types manually
#endif
#endif
#endif
/***************************************************************/
/**\name BUS READ AND WRITE FUNCTIONS */
/***************************************************************/
#define BNO055_WR_FUNC_PTR s8 (*bus_write)\
(u8, u8, u8 *, u8)
#define BNO055_BUS_WRITE_FUNC(dev_addr, reg_addr, reg_data, wr_len)\
bus_write(dev_addr, reg_addr, reg_data, wr_len)
#define BNO055_RD_FUNC_PTR s8 \
(*bus_read)(u8, u8, u8 *, u8)
#define BNO055_BUS_READ_FUNC(dev_addr, reg_addr, reg_data, r_len)\
bus_read(dev_addr, reg_addr, reg_data, r_len)
#define BNO055_DELAY_RETURN_TYPE void
#define BNO055_DELAY_PARAM_TYPES u32
#define BNO055_DELAY_FUNC(delay_in_msec)\
delay_func(delay_in_msec)
/********************************************************/
/**\name I2C ADDRESS DEFINITION FOR BNO055 */
/********************************************************/
/* bno055 I2C Address */
#define BNO055_I2C_ADDR1 (0x28)
#define BNO055_I2C_ADDR2 (0x29)
/***************************************************/
/**\name REGISTER ADDRESS DEFINITION */
/***************************************************/
/* Page id register definition*/
#define BNO055_PAGE_ID_ADDR (0X07)
/* PAGE0 REGISTER DEFINITION START*/
#define BNO055_CHIP_ID_ADDR (0x00)
#define BNO055_ACCEL_REV_ID_ADDR (0x01)
#define BNO055_MAG_REV_ID_ADDR (0x02)
#define BNO055_GYRO_REV_ID_ADDR (0x03)
#define BNO055_SW_REV_ID_LSB_ADDR (0x04)
#define BNO055_SW_REV_ID_MSB_ADDR (0x05)
#define BNO055_BL_REV_ID_ADDR (0X06)
/* Accel data register*/
#define BNO055_ACCEL_DATA_X_LSB_ADDR (0X08)
#define BNO055_ACCEL_DATA_X_MSB_ADDR (0X09)
#define BNO055_ACCEL_DATA_Y_LSB_ADDR (0X0A)
#define BNO055_ACCEL_DATA_Y_MSB_ADDR (0X0B)
#define BNO055_ACCEL_DATA_Z_LSB_ADDR (0X0C)
#define BNO055_ACCEL_DATA_Z_MSB_ADDR (0X0D)
/*Mag data register*/
#define BNO055_MAG_DATA_X_LSB_ADDR (0X0E)
#define BNO055_MAG_DATA_X_MSB_ADDR (0X0F)
#define BNO055_MAG_DATA_Y_LSB_ADDR (0X10)
#define BNO055_MAG_DATA_Y_MSB_ADDR (0X11)
#define BNO055_MAG_DATA_Z_LSB_ADDR (0X12)
#define BNO055_MAG_DATA_Z_MSB_ADDR (0X13)
/*Gyro data registers*/
#define BNO055_GYRO_DATA_X_LSB_ADDR (0X14)
#define BNO055_GYRO_DATA_X_MSB_ADDR (0X15)
#define BNO055_GYRO_DATA_Y_LSB_ADDR (0X16)
#define BNO055_GYRO_DATA_Y_MSB_ADDR (0X17)
#define BNO055_GYRO_DATA_Z_LSB_ADDR (0X18)
#define BNO055_GYRO_DATA_Z_MSB_ADDR (0X19)
/*Euler data registers*/
#define BNO055_EULER_H_LSB_ADDR (0X1A)
#define BNO055_EULER_H_MSB_ADDR (0X1B)
#define BNO055_EULER_R_LSB_ADDR (0X1C)
#define BNO055_EULER_R_MSB_ADDR (0X1D)
#define BNO055_EULER_P_LSB_ADDR (0X1E)
#define BNO055_EULER_P_MSB_ADDR (0X1F)
/*Quaternion data registers*/
#define BNO055_QUATERNION_DATA_W_LSB_ADDR (0X20)
#define BNO055_QUATERNION_DATA_W_MSB_ADDR (0X21)
#define BNO055_QUATERNION_DATA_X_LSB_ADDR (0X22)
#define BNO055_QUATERNION_DATA_X_MSB_ADDR (0X23)
#define BNO055_QUATERNION_DATA_Y_LSB_ADDR (0X24)
#define BNO055_QUATERNION_DATA_Y_MSB_ADDR (0X25)
#define BNO055_QUATERNION_DATA_Z_LSB_ADDR (0X26)
#define BNO055_QUATERNION_DATA_Z_MSB_ADDR (0X27)
/* Linear acceleration data registers*/
#define BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR (0X28)
#define BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR (0X29)
#define BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR (0X2A)
#define BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR (0X2B)
#define BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR (0X2C)
#define BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR (0X2D)
/*Gravity data registers*/
#define BNO055_GRAVITY_DATA_X_LSB_ADDR (0X2E)
#define BNO055_GRAVITY_DATA_X_MSB_ADDR (0X2F)
#define BNO055_GRAVITY_DATA_Y_LSB_ADDR (0X30)
#define BNO055_GRAVITY_DATA_Y_MSB_ADDR (0X31)
#define BNO055_GRAVITY_DATA_Z_LSB_ADDR (0X32)
#define BNO055_GRAVITY_DATA_Z_MSB_ADDR (0X33)
/* Temperature data register*/
#define BNO055_TEMP_ADDR (0X34)
/* Status registers*/
#define BNO055_CALIB_STAT_ADDR (0X35)
#define BNO055_SELFTEST_RESULT_ADDR (0X36)
#define BNO055_INTR_STAT_ADDR (0X37)
#define BNO055_SYS_CLK_STAT_ADDR (0X38)
#define BNO055_SYS_STAT_ADDR (0X39)
#define BNO055_SYS_ERR_ADDR (0X3A)
/* Unit selection register*/
#define BNO055_UNIT_SEL_ADDR (0X3B)
#define BNO055_DATA_SELECT_ADDR (0X3C)
/* Mode registers*/
#define BNO055_OPR_MODE_ADDR (0X3D)
#define BNO055_PWR_MODE_ADDR (0X3E)
#define BNO055_SYS_TRIGGER_ADDR (0X3F)
#define BNO055_TEMP_SOURCE_ADDR (0X40)
/* Axis remap registers*/
#define BNO055_AXIS_MAP_CONFIG_ADDR (0X41)
#define BNO055_AXIS_MAP_SIGN_ADDR (0X42)
/* SIC registers*/
#define BNO055_SIC_MATRIX_0_LSB_ADDR (0X43)
#define BNO055_SIC_MATRIX_0_MSB_ADDR (0X44)
#define BNO055_SIC_MATRIX_1_LSB_ADDR (0X45)
#define BNO055_SIC_MATRIX_1_MSB_ADDR (0X46)
#define BNO055_SIC_MATRIX_2_LSB_ADDR (0X47)
#define BNO055_SIC_MATRIX_2_MSB_ADDR (0X48)
#define BNO055_SIC_MATRIX_3_LSB_ADDR (0X49)
#define BNO055_SIC_MATRIX_3_MSB_ADDR (0X4A)
#define BNO055_SIC_MATRIX_4_LSB_ADDR (0X4B)
#define BNO055_SIC_MATRIX_4_MSB_ADDR (0X4C)
#define BNO055_SIC_MATRIX_5_LSB_ADDR (0X4D)
#define BNO055_SIC_MATRIX_5_MSB_ADDR (0X4E)
#define BNO055_SIC_MATRIX_6_LSB_ADDR (0X4F)
#define BNO055_SIC_MATRIX_6_MSB_ADDR (0X50)
#define BNO055_SIC_MATRIX_7_LSB_ADDR (0X51)
#define BNO055_SIC_MATRIX_7_MSB_ADDR (0X52)
#define BNO055_SIC_MATRIX_8_LSB_ADDR (0X53)
#define BNO055_SIC_MATRIX_8_MSB_ADDR (0X54)
/* Accelerometer Offset registers*/
#define BNO055_ACCEL_OFFSET_X_LSB_ADDR (0X55)
#define BNO055_ACCEL_OFFSET_X_MSB_ADDR (0X56)
#define BNO055_ACCEL_OFFSET_Y_LSB_ADDR (0X57)
#define BNO055_ACCEL_OFFSET_Y_MSB_ADDR (0X58)
#define BNO055_ACCEL_OFFSET_Z_LSB_ADDR (0X59)
#define BNO055_ACCEL_OFFSET_Z_MSB_ADDR (0X5A)
/* Magnetometer Offset registers*/
#define BNO055_MAG_OFFSET_X_LSB_ADDR (0X5B)
#define BNO055_MAG_OFFSET_X_MSB_ADDR (0X5C)
#define BNO055_MAG_OFFSET_Y_LSB_ADDR (0X5D)
#define BNO055_MAG_OFFSET_Y_MSB_ADDR (0X5E)
#define BNO055_MAG_OFFSET_Z_LSB_ADDR (0X5F)
#define BNO055_MAG_OFFSET_Z_MSB_ADDR (0X60)
/* Gyroscope Offset registers*/
#define BNO055_GYRO_OFFSET_X_LSB_ADDR (0X61)
#define BNO055_GYRO_OFFSET_X_MSB_ADDR (0X62)
#define BNO055_GYRO_OFFSET_Y_LSB_ADDR (0X63)
#define BNO055_GYRO_OFFSET_Y_MSB_ADDR (0X64)
#define BNO055_GYRO_OFFSET_Z_LSB_ADDR (0X65)
#define BNO055_GYRO_OFFSET_Z_MSB_ADDR (0X66)
/* Radius registers*/
#define BNO055_ACCEL_RADIUS_LSB_ADDR (0X67)
#define BNO055_ACCEL_RADIUS_MSB_ADDR (0X68)
#define BNO055_MAG_RADIUS_LSB_ADDR (0X69)
#define BNO055_MAG_RADIUS_MSB_ADDR (0X6A)
/* PAGE0 REGISTERS DEFINITION END*/
/* PAGE1 REGISTERS DEFINITION START*/
/* Configuration registers*/
#define BNO055_ACCEL_CONFIG_ADDR (0X08)
#define BNO055_MAG_CONFIG_ADDR (0X09)
#define BNO055_GYRO_CONFIG_ADDR (0X0A)
#define BNO055_GYRO_MODE_CONFIG_ADDR (0X0B)
#define BNO055_ACCEL_SLEEP_CONFIG_ADDR (0X0C)
#define BNO055_GYRO_SLEEP_CONFIG_ADDR (0X0D)
#define BNO055_MAG_SLEEP_CONFIG_ADDR (0x0E)
/* Interrupt registers*/
#define BNO055_INT_MASK_ADDR (0X0F)
#define BNO055_INT_ADDR (0X10)
#define BNO055_ACCEL_ANY_MOTION_THRES_ADDR (0X11)
#define BNO055_ACCEL_INTR_SETTINGS_ADDR (0X12)
#define BNO055_ACCEL_HIGH_G_DURN_ADDR (0X13)
#define BNO055_ACCEL_HIGH_G_THRES_ADDR (0X14)
#define BNO055_ACCEL_NO_MOTION_THRES_ADDR (0X15)
#define BNO055_ACCEL_NO_MOTION_SET_ADDR (0X16)
#define BNO055_GYRO_INTR_SETING_ADDR (0X17)
#define BNO055_GYRO_HIGHRATE_X_SET_ADDR (0X18)
#define BNO055_GYRO_DURN_X_ADDR (0X19)
#define BNO055_GYRO_HIGHRATE_Y_SET_ADDR (0X1A)
#define BNO055_GYRO_DURN_Y_ADDR (0X1B)
#define BNO055_GYRO_HIGHRATE_Z_SET_ADDR (0X1C)
#define BNO055_GYRO_DURN_Z_ADDR (0X1D)
#define BNO055_GYRO_ANY_MOTION_THRES_ADDR (0X1E)
#define BNO055_GYRO_ANY_MOTION_SET_ADDR (0X1F)
/* PAGE1 REGISTERS DEFINITION END*/
#define BNO055_MDELAY_DATA_TYPE u32
/*< This refers BNO055 return type as s8 */
#define BNO055_RETURN_FUNCTION_TYPE s8
/* Compile switch definition for Float and double*/
#define BNO055_FLOAT_ENABLE
#define BNO055_DOUBLE_ENABLE
/**************************************************************/
/**\name STRUCTURE DEFINITIONS */
/**************************************************************/
/*!
* @brief bno055 struct
*/
struct bno055_t {
u8 chip_id;/**< chip_id of bno055 */
u16 sw_rev_id;/**< software revision id of bno055 */
u8 page_id;/**< page_id of bno055 */
u8 accel_rev_id;/**< accel revision id of bno055 */
u8 mag_rev_id;/**< mag revision id of bno055 */
u8 gyro_rev_id;/**< gyro revision id of bno055 */
u8 bl_rev_id;/**< boot loader revision id of bno055 */
u8 dev_addr;/**< i2c device address of bno055 */
BNO055_WR_FUNC_PTR;/**< bus write function pointer */
BNO055_RD_FUNC_PTR;/**<bus read function pointer */
void (*delay_msec)(BNO055_MDELAY_DATA_TYPE);/**< delay function pointer */
};
/*!
* @brief struct for accel data read from registers
*/
struct bno055_accel_t {
s16 x;/**< accel x data */
s16 y;/**< accel y data */
s16 z;/**< accel z data */
};
/*!
* @brief struct for Mag data read from registers
*/
struct bno055_mag_t {
s16 x;/**< mag x data */
s16 y;/**< mag y data */
s16 z;/**< mag z data */
};
/*!
* @brief struct for Gyro data read from registers
*/
struct bno055_gyro_t {
s16 x;/**< gyro x data */
s16 y;/**< gyro y data */
s16 z;/**< gyro z data */
};
/*!
* @brief struct for Euler data read from registers
*/
struct bno055_euler_t {
s16 h;/**< Euler h data */
s16 r;/**< Euler r data */
s16 p;/**< Euler p data */
};
/*!
* @brief struct for Quaternion data read from registers
*/
struct bno055_quaternion_t {
s16 w;/**< Quaternion w data */
s16 x;/**< Quaternion x data */
s16 y;/**< Quaternion y data */
s16 z;/**< Quaternion z data */
};
/*!
* @brief struct for Linear Accel data read from registers
*/
struct bno055_linear_accel_t {
s16 x; /**< Linear Accel x data */
s16 y; /**< Linear Accel y data */
s16 z; /**< Linear Accel z data */
};
/*!
* @brief struct for Gravity data read from registers
*/
struct bno055_gravity_t {
s16 x;/**< Gravity x data */
s16 y;/**< Gravity y data */
s16 z;/**< Gravity z data */
};
#ifdef BNO055_DOUBLE_ENABLE
/*!
* @brief struct for Accel-output data of precision double
*/
struct bno055_accel_double_t {
double x;/**< Accel x double data */
double y;/**< Accel y double data */
double z;/**< Accel z double data */
};
/*!
* @brief struct for Mag-output data of precision double
*/
struct bno055_mag_double_t {
double x;/**< Mag x double data */
double y;/**< Mag y double data */
double z;/**< Mag z double data */
};
/*!
* @brief struct for Gyro-output data of precision double
*/
struct bno055_gyro_double_t {
double x;/**< Gyro x double data */
double y;/**< Gyro y double data */
double z;/**< Gyro z double data */
};
/*!
* @brief struct for Euler-output data of precision double
*/
struct bno055_euler_double_t {
double h;/**< Euler h double data */
double r;/**< Euler r double data */
double p;/**< Euler p double data */
};
/*!
* @brief struct for Linear Accel-output data of precision double
*/
struct bno055_linear_accel_double_t {
double x;/**< linear accel x double data */
double y;/**< linear accel y double data */
double z;/**< linear accel z double data */
};
/*!
* @brief struct for Gravity-output data of precision double
*/
struct bno055_gravity_double_t {
double x;/**< Gravity x double data */
double y;/**< Gravity y double data */
double z;/**< Gravity z double data */
};
#endif
#ifdef BNO055_FLOAT_ENABLE
/*!
* @brief struct for Accel-output data of precision float
*/
struct bno055_accel_float_t {
float x;/**< accel x float data */
float y;/**< accel y float data */
float z;/**< accel z float data */
};
/*!
* @brief struct for Mag-output data of precision float
*/
struct bno055_mag_float_t {
float x;/**< Mag x float data */
float y;/**< Mag y float data */
float z;/**< Mag z float data */
};
/*!
* @brief struct for Gyro-output data of precision float
*/
struct bno055_gyro_float_t {
float x;/**< Gyro x float data */
float y;/**< Gyro y float data */
float z;/**< Gyro z float data */
};
/*!
* @brief struct for Euler-output data of precision float
*/
struct bno055_euler_float_t {
float h;/**< Euler h float data */
float r;/**< Euler r float data */
float p;/**< Euler p float data */
};
/*!
* @brief struct for Linear accel-output data of precision float
*/
struct bno055_linear_accel_float_t {
float x;/**< Linear accel x float data */
float y;/**< Linear accel y float data */
float z;/**< Linear accel z float data */
};
/*!
* @brief struct for Gravity-output data of precision float
*/
struct bno055_gravity_float_t {
float x;/**< Gravity x float data */
float y;/**< Gravity y float data */
float z;/**< Gravity z float data */
};
#endif
/*!
* @brief struct for Accel offset
*/
struct bno055_accel_offset_t {
s16 x;/**< Accel offset x data */
s16 y;/**< Accel offset y data */
s16 z;/**< Accel offset z data */
s16 r;/**< Accel radius r data */
};
/*!
* @brief struct for Gyro offset
*/
struct bno055_gyro_offset_t {
s16 x;/**< Gyro offset x data */
s16 y;/**< Gyro offset y data */
s16 z;/**< Gyro offset z data */
};
/*!
* @brief struct for Mag offset
*/
struct bno055_mag_offset_t {
s16 x;/**< Mag offset x data */
s16 y;/**< Mag offset y data */
s16 z;/**< Mag offset z data */
s16 r;/**< Mag radius x data */
};
/*!
* @brief struct for soft iron calibration matrix
*/
struct bno055_sic_matrix_t {
s16 sic_0;/**< soft iron calibration matrix 0 data */
s16 sic_1;/**< soft iron calibration matrix 1 data */
s16 sic_2;/**< soft iron calibration matrix 2 data */
s16 sic_3;/**< soft iron calibration matrix 3 data */
s16 sic_4;/**< soft iron calibration matrix 4 data */
s16 sic_5;/**< soft iron calibration matrix 5 data */
s16 sic_6;/**< soft iron calibration matrix 6 data */
s16 sic_7;/**< soft iron calibration matrix 7 data */
s16 sic_8;/**< soft iron calibration matrix 8 data */
};
/***************************************************/
/**\name CONSTANT DEFINITIONS */
/***************************************************/
#define BNO055_INIT_VALUE ((u8)0)
#define BNO055_GEN_READ_WRITE_LENGTH ((u8)1)
#define BNO055_LSB_MSB_READ_LENGTH ((u8)2)
#define BNO055_MAG_POWER_MODE_RANGE ((u8)4)
#define BNO055_MAG_OPR_MODE_RANGE ((u8)5)
#define BNO055_ACCEL_POWER_MODE_RANGE ((u8)6)
#define BNO055_ACCEL_SLEEP_DURATION_RANGE ((u8)16)
#define BNO055_GYRO_AUTO_SLEEP_DURATION_RANGE ((u8)8)
#define BNO055_ACCEL_GYRO_BW_RANGE ((u8)8)
#define BNO055_MAG_OUTPUT_RANGE ((u8)8)
#define BNO055_ACCEL_RANGE ((u8)5)
#define BNO055_SHIFT_EIGHT_BITS ((u8)8)
#define BNO055_GYRO_RANGE ((u8)5)
#define BNO055_ACCEL_SLEEP_MODE_RANGE ((u8)2)
/* BNO055 API BNO055_ERROR codes */
#define BNO055_E_NULL_PTR ((s8)-127)
#define BNO055_OUT_OF_RANGE ((s8)-2)
#define BNO055_SUCCESS ((u8)0)
#define BNO055_ERROR ((s8)-1)
/* Selection for bit enable and disable */
#define BNO055_BIT_ENABLE (0x01)
#define BNO055_BIT_DISABLE (0x00)
/* Page ID */
#define BNO055_PAGE_ZERO (0X00)
#define BNO055_PAGE_ONE (0X01)
/* Enable the temperature source */
#define BNO055_ACCEL_TEMP_EN (0x00)
#define BNO055_GYRO_TEMP_EN (0x01)
#define BNO055_MCU_TEMP_EN (0x03)
/*Accel unit*/
#define BNO055_ACCEL_UNIT_MSQ (0x00)
#define BNO055_ACCEL_UNIT_MG (0x01)
/*Gyro unit*/
#define BNO055_GYRO_UNIT_DPS (0x00)
#define BNO055_GYRO_UNIT_RPS (0x01)
/* Euler unit*/
#define BNO055_EULER_UNIT_DEG (0x00)
#define BNO055_EULER_UNIT_RAD (0x01)
/*Temperature unit*/
#define BNO055_TEMP_UNIT_CELSIUS (0x00)
#define BNO055_TEMP_UNIT_FAHRENHEIT (0x01)
/*Accel division factor*/
#define BNO055_ACCEL_DIV_MSQ (100.0)
#define BNO055_ACCEL_DIV_MG (1)
/*Mag division factor*/
#define BNO055_MAG_DIV_UT (16.0)
/*Gyro division factor*/
#define BNO055_GYRO_DIV_DPS (16.0)
#define BNO055_GYRO_DIV_RPS (900.0)
/*Euler division factor*/
#define BNO055_EULER_DIV_DEG (16.0)
#define BNO055_EULER_DIV_RAD (900.0)
/*Linear accel division factor*/
#define BNO055_LINEAR_ACCEL_DIV_MSQ (100.0)
/*Gravity accel division factor*/
#define BNO055_GRAVITY_DIV_MSQ (100.0)
/* Temperature division factor*/
#define BNO055_TEMP_DIV_FAHRENHEIT (0.5)
#define BNO055_TEMP_DIV_CELSIUS (1)
#define BNO055_MODE_SWITCHING_DELAY (600)
#define BNO055_CONFIG_MODE_SWITCHING_DELAY ((u8)20)
/* Operation mode settings*/
#define BNO055_OPERATION_MODE_CONFIG (0X00)
#define BNO055_OPERATION_MODE_ACCONLY (0X01)
#define BNO055_OPERATION_MODE_MAGONLY (0X02)
#define BNO055_OPERATION_MODE_GYRONLY (0X03)
#define BNO055_OPERATION_MODE_ACCMAG (0X04)
#define BNO055_OPERATION_MODE_ACCGYRO (0X05)
#define BNO055_OPERATION_MODE_MAGGYRO (0X06)
#define BNO055_OPERATION_MODE_AMG (0X07)
#define BNO055_OPERATION_MODE_IMUPLUS (0X08)
#define BNO055_OPERATION_MODE_COMPASS (0X09)
#define BNO055_OPERATION_MODE_M4G (0X0A)
#define BNO055_OPERATION_MODE_NDOF_FMC_OFF (0X0B)
#define BNO055_OPERATION_MODE_NDOF (0X0C)
/* Power mode*/
#define BNO055_POWER_MODE_NORMAL (0X00)
#define BNO055_POWER_MODE_LOWPOWER (0X01)
#define BNO055_POWER_MODE_SUSPEND (0X02)
/* PAGE-1 definitions*/
/* Accel Range */
#define BNO055_ACCEL_RANGE_2G (0X00)
#define BNO055_ACCEL_RANGE_4G (0X01)
#define BNO055_ACCEL_RANGE_8G (0X02)
#define BNO055_ACCEL_RANGE_16G (0X03)
/* Accel Bandwidth*/
#define BNO055_ACCEL_BW_7_81HZ (0x00)
#define BNO055_ACCEL_BW_15_63HZ (0x01)
#define BNO055_ACCEL_BW_31_25HZ (0x02)
#define BNO055_ACCEL_BW_62_5HZ (0X03)
#define BNO055_ACCEL_BW_125HZ (0X04)
#define BNO055_ACCEL_BW_250HZ (0X05)
#define BNO055_ACCEL_BW_500HZ (0X06)
#define BNO055_ACCEL_BW_1000HZ (0X07)
/* Accel Power mode*/
#define BNO055_ACCEL_NORMAL (0X00)
#define BNO055_ACCEL_SUSPEND (0X01)
#define BNO055_ACCEL_LOWPOWER_1 (0X02)
#define BNO055_ACCEL_STANDBY (0X03)
#define BNO055_ACCEL_LOWPOWER_2 (0X04)
#define BNO055_ACCEL_DEEPSUSPEND (0X05)
/* Mag data output rate*/
#define BNO055_MAG_DATA_OUTRATE_2HZ (0X00)
#define BNO055_MAG_DATA_OUTRATE_6HZ (0X01)
#define BNO055_MAG_DATA_OUTRATE_8HZ (0X02)
#define BNO055_MAG_DATA_OUTRATE_10HZ (0X03)
#define BNO055_MAG_DATA_OUTRATE_15HZ (0X04)
#define BNO055_MAG_DATA_OUTRATE_20HZ (0X05)
#define BNO055_MAG_DATA_OUTRATE_25HZ (0X06)
#define BNO055_MAG_DATA_OUTRATE_30HZ (0X07)
/* Mag Operation mode*/
#define BNO055_MAG_OPERATION_MODE_LOWPOWER (0X00)
#define BNO055_MAG_OPERATION_MODE_REGULAR (0X01)
#define BNO055_MAG_OPERATION_MODE_ENHANCED_REGULAR (0X02)
#define BNO055_MAG_OPERATION_MODE_HIGH_ACCURACY (0X03)
/* Mag power mode*/
#define BNO055_MAG_POWER_MODE_NORMAL (0X00)
#define BNO055_MAG_POWER_MODE_SLEEP (0X01)
#define BNO055_MAG_POWER_MODE_SUSPEND (0X02)
#define BNO055_MAG_POWER_MODE_FORCE_MODE (0X03)
/* Gyro range*/
#define BNO055_GYRO_RANGE_2000DPS (0x00)
#define BNO055_GYRO_RANGE_1000DPS (0x01)
#define BNO055_GYRO_RANGE_500DPS (0x02)
#define BNO055_GYRO_RANGE_250DPS (0x03)
#define BNO055_GYRO_RANGE_125DPS (0x04)
/* Gyro Bandwidth*/
#define BNO055_GYRO_BW_523HZ (0x00)
#define BNO055_GYRO_BW_230HZ (0x01)
#define BNO055_GYRO_BW_116HZ (0x02)
#define BNO055_GYRO_BW_47HZ (0x03)
#define BNO055_GYRO_BW_23HZ (0x04)
#define BNO055_GYRO_BW_12HZ (0x05)
#define BNO055_GYRO_BW_64HZ (0x06)
#define BNO055_GYRO_BW_32HZ (0x07)
/* Gyro power mode*/
#define BNO055_GYRO_POWER_MODE_NORMAL (0X00)
#define BNO055_GYRO_POWER_MODE_FASTPOWERUP (0X01)
#define BNO055_GYRO_POWER_MODE_DEEPSUSPEND (0X02)
#define BNO055_GYRO_POWER_MODE_SUSPEND (0X03)
#define BNO055_GYRO_POWER_MODE_ADVANCE_POWERSAVE (0X04)
/* Accel Sleep Duration */
#define BNO055_ACCEL_SLEEP_DURN_0_5MS (0x05)
/* sets sleep duration to 0.5 ms */
#define BNO055_ACCEL_SLEEP_DURN_1MS (0x06)
/* sets sleep duration to 1 ms */
#define BNO055_ACCEL_SLEEP_DURN_2MS (0x07)
/* sets sleep duration to 2 ms */
#define BNO055_ACCEL_SLEEP_DURN_4MS (0x08)
/* sets sleep duration to 4 ms */
#define BNO055_ACCEL_SLEEP_DURN_6MS (0x09)
/* sets sleep duration to 6 ms*/
#define BNO055_ACCEL_SLEEP_DURN_10MS (0x0A)
/* sets sleep duration to 10 ms */
#define BNO055_ACCEL_SLEEP_DURN_25MS (0x0B)
/* sets sleep duration to 25 ms */
#define BNO055_ACCEL_SLEEP_DURN_50MS (0x0C)
/* sets sleep duration to 50 ms */
#define BNO055_ACCEL_SLEEP_DURN_100MS (0x0D)
/* sets sleep duration to 100 ms */
#define BNO055_ACCEL_SLEEP_DURN_500MS (0x0E)
/* sets sleep duration to 500 ms */
#define BNO055_ACCEL_SLEEP_DURN_1S (0x0F)
/* sets sleep duration to 1 s */
/* Gyro Auto sleep duration*/
#define BNO055_GYRO_No_AUTOSLPDUR (0x00)
#define BNO055_GYRO_4MS_AUTOSLPDUR (0x01)
#define BNO055_GYRO_5MS_AUTOSLPDUR (0x02)
#define BNO055_GYRO_8MS_AUTOSLPDUR (0x03)
#define BNO055_GYRO_10MS_AUTOSLPDUR (0x04)
#define BNO055_GYRO_15MS_AUTOSLPDUR (0x05)
#define BNO055_GYRO_20MS_AUTOSLPDUR (0x06)
#define BNO055_GYRO_40MS_AUTOSLPDUR (0x07)
/* Accel Any/No motion axis selection*/
#define BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS (0)
#define BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS (1)
#define BNO055_ACCEL_ANY_MOTION_NO_MOTION_Z_AXIS (2)
/* Accel High g axis selection*/
#define BNO055_ACCEL_HIGH_G_X_AXIS (0)
#define BNO055_ACCEL_HIGH_G_Y_AXIS (1)
#define BNO055_ACCEL_HIGH_G_Z_AXIS (2)
/* Gyro Any motion axis selection*/
#define BNO055_GYRO_ANY_MOTION_X_AXIS (0)
#define BNO055_GYRO_ANY_MOTION_Y_AXIS (1)
#define BNO055_GYRO_ANY_MOTION_Z_AXIS (2)
/* Gyro High rate axis selection*/
#define BNO055_GYRO_HIGHRATE_X_AXIS (0)
#define BNO055_GYRO_HIGHRATE_Y_AXIS (1)
#define BNO055_GYRO_HIGHRATE_Z_AXIS (2)
/* Axis remap values*/
#define BNO055_REMAP_X_Y (0X21)
#define BNO055_REMAP_Y_Z (0X18)
#define BNO055_REMAP_Z_X (0X06)
#define BNO055_REMAP_X_Y_Z_TYPE0 (0X12)
#define BNO055_REMAP_X_Y_Z_TYPE1 (0X09)
#define BNO055_DEFAULT_AXIS (0X24)
/* Axis remap sign */
#define BNO055_REMAP_AXIS_POSITIVE (0X00)
#define BNO055_REMAP_AXIS_NEGATIVE (0X01)
/* Gyro anymotion and high rate filter configuration */
#define BNO055_GYRO_FILTERED_CONFIG (0x00)
#define BNO055_GYRO_UNFILTERED_CONFIG (0x01)
/* mask definitions*/
#define BNO055_SIC_HEX_0_0_F_F_DATA (0x00FF)
/****************************************************/
/**\name ARRAY SIZE DEFINITIONS */
/***************************************************/
#define BNO055_REV_ID_SIZE (2)
#define BNO055_ACCEL_DATA_SIZE (2)
#define BNO055_ACCEL_XYZ_DATA_SIZE (6)
#define BNO055_MAG_DATA_SIZE (2)
#define BNO055_MAG_XYZ_DATA_SIZE (6)
#define BNO055_GYRO_DATA_SIZE (2)
#define BNO055_GYRO_XYZ_DATA_SIZE (6)
#define BNO055_EULER_DATA_SIZE (2)
#define BNO055_EULER_HRP_DATA_SIZE (6)
#define BNO055_QUATERNION_DATA_SIZE (2)
#define BNO055_QUATERNION_WXYZ_DATA_SIZE (8)
#define BNO055_GRAVITY_DATA_SIZE (2)
#define BNO055_GRAVITY_XYZ_DATA_SIZE (6)
#define BNO055_ACCEL_OFFSET_ARRAY (6)
#define BNO055_MAG_OFFSET_ARRAY (6)
#define BNO055_GYRO_OFFSET_ARRAY (6)
#define BNO055_SOFT_IRON_CALIBRATION_MATRIX_SIZE (18)
/*ARRAY INDEX DEFINITIONS*/
#define BNO055_SW_ID_LSB (0)
#define BNO055_SW_ID_MSB (1)
#define BNO055_SENSOR_DATA_LSB (0)
#define BNO055_SENSOR_DATA_MSB (1)
#define BNO055_SENSOR_DATA_EULER_LSB (0)
#define BNO055_SENSOR_DATA_EULER_MSB (1)
#define BNO055_SENSOR_DATA_QUATERNION_LSB (0)
#define BNO055_SENSOR_DATA_QUATERNION_MSB (1)
#define BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_LSB (0)
#define BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_MSB (1)
#define BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_LSB (2)
#define BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_MSB (3)
#define BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_LSB (4)
#define BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_MSB (5)
#define BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_LSB (6)
#define BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_MSB (7)
#define BNO055_SENSOR_DATA_XYZ_X_LSB (0)
#define BNO055_SENSOR_DATA_XYZ_X_MSB (1)
#define BNO055_SENSOR_DATA_XYZ_Y_LSB (2)
#define BNO055_SENSOR_DATA_XYZ_Y_MSB (3)
#define BNO055_SENSOR_DATA_XYZ_Z_LSB (4)
#define BNO055_SENSOR_DATA_XYZ_Z_MSB (5)
#define BNO055_SENSOR_DATA_EULER_HRP_H_LSB (0)
#define BNO055_SENSOR_DATA_EULER_HRP_H_MSB (1)
#define BNO055_SENSOR_DATA_EULER_HRP_R_LSB (2)
#define BNO055_SENSOR_DATA_EULER_HRP_R_MSB (3)
#define BNO055_SENSOR_DATA_EULER_HRP_P_LSB (4)
#define BNO055_SENSOR_DATA_EULER_HRP_P_MSB (5)
#define BNO055_SOFT_IRON_CALIB_0_LSB (0)
#define BNO055_SOFT_IRON_CALIB_0_MSB (1)
#define BNO055_SOFT_IRON_CALIB_1_LSB (2)
#define BNO055_SOFT_IRON_CALIB_1_MSB (3)
#define BNO055_SOFT_IRON_CALIB_2_LSB (4)
#define BNO055_SOFT_IRON_CALIB_2_MSB (5)
#define BNO055_SOFT_IRON_CALIB_3_LSB (6)
#define BNO055_SOFT_IRON_CALIB_3_MSB (7)
#define BNO055_SOFT_IRON_CALIB_4_LSB (8)
#define BNO055_SOFT_IRON_CALIB_4_MSB (9)
#define BNO055_SOFT_IRON_CALIB_5_LSB (10)
#define BNO055_SOFT_IRON_CALIB_5_MSB (11)
#define BNO055_SOFT_IRON_CALIB_6_LSB (12)
#define BNO055_SOFT_IRON_CALIB_6_MSB (13)
#define BNO055_SOFT_IRON_CALIB_7_LSB (14)
#define BNO055_SOFT_IRON_CALIB_7_MSB (15)
#define BNO055_SOFT_IRON_CALIB_8_LSB (16)
#define BNO055_SOFT_IRON_CALIB_8_MSB (17)
#define BNO055_SENSOR_OFFSET_DATA_X_LSB (0)
#define BNO055_SENSOR_OFFSET_DATA_X_MSB (1)
#define BNO055_SENSOR_OFFSET_DATA_Y_LSB (2)
#define BNO055_SENSOR_OFFSET_DATA_Y_MSB (3)
#define BNO055_SENSOR_OFFSET_DATA_Z_LSB (4)
#define BNO055_SENSOR_OFFSET_DATA_Z_MSB (5)
#define BNO055_OFFSET_RADIUS_LSB (0)
#define BNO055_OFFSET_RADIUS_MSB (1)
/*********************************************************/
/**\name PAGE0 DATA REGISTERS DEFINITION */
/*********************************************************/
/* Chip ID */
#define BNO055_CHIP_ID_POS (0)
#define BNO055_CHIP_ID_MSK (0xFF)
#define BNO055_CHIP_ID_LEN (8)
#define BNO055_CHIP_ID_REG BNO055_CHIP_ID_ADDR
/* Accel revision id*/
#define BNO055_ACCEL_REV_ID_POS (0)
#define BNO055_ACCEL_REV_ID_MSK (0xFF)
#define BNO055_ACCEL_REV_ID_LEN (8)
#define BNO055_ACCEL_REV_ID_REG BNO055_ACCEL_REV_ID_ADDR
/* Mag revision id*/
#define BNO055_MAG_REV_ID_POS (0)
#define BNO055_MAG_REV_ID_MSK (0xFF)
#define BNO055_MAG_REV_ID_LEN (8)
#define BNO055_MAG_REV_ID_REG BNO055_MAG_REV_ID_ADDR
/* Gyro revision id*/
#define BNO055_GYRO_REV_ID_POS (0)
#define BNO055_GYRO_REV_ID_MSK (0xFF)
#define BNO055_GYRO_REV_ID_LEN (8)
#define BNO055_GYRO_REV_ID_REG BNO055_GYRO_REV_ID_ADDR
/*Software revision id LSB*/
#define BNO055_SW_REV_ID_LSB_POS (0)
#define BNO055_SW_REV_ID_LSB_MSK (0xFF)
#define BNO055_SW_REV_ID_LSB_LEN (8)
#define BNO055_SW_REV_ID_LSB_REG BNO055_SW_REV_ID_LSB_ADDR
/*Software revision id MSB*/
#define BNO055_SW_REV_ID_MSB_POS (0)
#define BNO055_SW_REV_ID_MSB_MSK (0xFF)
#define BNO055_SW_REV_ID_MSB_LEN (8)
#define BNO055_SW_REV_ID_MSB_REG BNO055_SW_REV_ID_MSB_ADDR
/* BOOTLODER revision id*/
#define BNO055_BL_REV_ID_POS (0)
#define BNO055_BL_REV_ID_MSK (0xFF)
#define BNO055_BL_REV_ID_LEN (8)
#define BNO055_BL_REV_ID_REG BNO055_BL_REV_ID_ADDR
/*Page id*/
#define BNO055_PAGE_ID_POS (0)
#define BNO055_PAGE_ID_MSK (0xFF)
#define BNO055_PAGE_ID_LEN (8)
#define BNO055_PAGE_ID_REG BNO055_PAGE_ID_ADDR
/* Accel data X-LSB register*/
#define BNO055_ACCEL_DATA_X_LSB_VALUEX_POS (0)
#define BNO055_ACCEL_DATA_X_LSB_VALUEX_MSK (0xFF)
#define BNO055_ACCEL_DATA_X_LSB_VALUEX_LEN (8)
#define BNO055_ACCEL_DATA_X_LSB_VALUEX_REG \
BNO055_ACCEL_DATA_X_LSB_ADDR
/* Accel data X-MSB register*/
#define BNO055_ACCEL_DATA_X_MSB_VALUEX_POS (0)
#define BNO055_ACCEL_DATA_X_MSB_VALUEX_MSK (0xFF)
#define BNO055_ACCEL_DATA_X_MSB_VALUEX_LEN (8)
#define BNO055_ACCEL_DATA_X_MSB_VALUEX_REG \
BNO055_ACCEL_DATA_X_MSB_ADDR
/* Accel data Y-LSB register*/
#define BNO055_ACCEL_DATA_Y_LSB_VALUEY_POS (0)
#define BNO055_ACCEL_DATA_Y_LSB_VALUEY_MSK (0xFF)
#define BNO055_ACCEL_DATA_Y_LSB_VALUEY_LEN (8)
#define BNO055_ACCEL_DATA_Y_LSB_VALUEY_REG \
BNO055_ACCEL_DATA_Y_LSB_ADDR
/* Accel data Y-MSB register*/
#define BNO055_ACCEL_DATA_Y_MSB_VALUEY_POS (0)
#define BNO055_ACCEL_DATA_Y_MSB_VALUEY_MSK (0xFF)
#define BNO055_ACCEL_DATA_Y_MSB_VALUEY_LEN (8)
#define BNO055_ACCEL_DATA_Y_MSB_VALUEY_REG \
BNO055_ACCEL_DATA_Y_MSB_ADDR
/* Accel data Z-LSB register*/
#define BNO055_ACCEL_DATA_Z_LSB_VALUEZ_POS (0)
#define BNO055_ACCEL_DATA_Z_LSB_VALUEZ_MSK (0xFF)
#define BNO055_ACCEL_DATA_Z_LSB_VALUEZ_LEN (8)
#define BNO055_ACCEL_DATA_Z_LSB_VALUEZ_REG \
BNO055_ACCEL_DATA_Z_LSB_ADDR
/* Accel data Z-MSB register*/
#define BNO055_ACCEL_DATA_Z_MSB_VALUEZ_POS (0)
#define BNO055_ACCEL_DATA_Z_MSB_VALUEZ_MSK (0xFF)
#define BNO055_ACCEL_DATA_Z_MSB_VALUEZ_LEN (8)
#define BNO055_ACCEL_DATA_Z_MSB_VALUEZ_REG \
BNO055_ACCEL_DATA_Z_MSB_ADDR
/* Mag data X-LSB register*/
#define BNO055_MAG_DATA_X_LSB_VALUEX_POS (0)
#define BNO055_MAG_DATA_X_LSB_VALUEX_MSK (0xFF)
#define BNO055_MAG_DATA_X_LSB_VALUEX_LEN (8)
#define BNO055_MAG_DATA_X_LSB_VALUEX_REG \
BNO055_MAG_DATA_X_LSB_ADDR
/* Mag data X-MSB register*/
#define BNO055_MAG_DATA_X_MSB_VALUEX_POS (0)
#define BNO055_MAG_DATA_X_MSB_VALUEX_MSK (0xFF)
#define BNO055_MAG_DATA_X_MSB_VALUEX_LEN (8)
#define BNO055_MAG_DATA_X_MSB_VALUEX_REG BNO055_MAG_DATA_X_MSB_ADDR
/* Mag data Y-LSB register*/
#define BNO055_MAG_DATA_Y_LSB_VALUEY_POS (0)
#define BNO055_MAG_DATA_Y_LSB_VALUEY_MSK (0xFF)
#define BNO055_MAG_DATA_Y_LSB_VALUEY_LEN (8)
#define BNO055_MAG_DATA_Y_LSB_VALUEY_REG BNO055_MAG_DATA_Y_LSB_ADDR
/* Mag data Y-MSB register*/
#define BNO055_MAG_DATA_Y_MSB_VALUEY_POS (0)
#define BNO055_MAG_DATA_Y_MSB_VALUEY_MSK (0xFF)
#define BNO055_MAG_DATA_Y_MSB_VALUEY_LEN (8)
#define BNO055_MAG_DATA_Y_MSB_VALUEY_REG BNO055_MAG_DATA_Y_MSB_ADDR
/* Mag data Z-LSB register*/
#define BNO055_MAG_DATA_Z_LSB_VALUEZ_POS (0)
#define BNO055_MAG_DATA_Z_LSB_VALUEZ_MSK (0xFF)
#define BNO055_MAG_DATA_Z_LSB_VALUEZ_LEN (8)
#define BNO055_MAG_DATA_Z_LSB_VALUEZ_REG BNO055_MAG_DATA_Z_LSB_ADDR
/* Mag data Z-MSB register*/
#define BNO055_MAG_DATA_Z_MSB_VALUEZ_POS (0)
#define BNO055_MAG_DATA_Z_MSB_VALUEZ_MSK (0xFF)
#define BNO055_MAG_DATA_Z_MSB_VALUEZ_LEN (8)
#define BNO055_MAG_DATA_Z_MSB_VALUEZ_REG BNO055_MAG_DATA_Z_MSB_ADDR
/* Gyro data X-LSB register*/
#define BNO055_GYRO_DATA_X_LSB_VALUEX_POS (0)
#define BNO055_GYRO_DATA_X_LSB_VALUEX_MSK (0xFF)
#define BNO055_GYRO_DATA_X_LSB_VALUEX_LEN (8)
#define BNO055_GYRO_DATA_X_LSB_VALUEX_REG BNO055_GYRO_DATA_X_LSB_ADDR
/* Gyro data X-MSB register*/
#define BNO055_GYRO_DATA_X_MSB_VALUEX_POS (0)
#define BNO055_GYRO_DATA_X_MSB_VALUEX_MSK (0xFF)
#define BNO055_GYRO_DATA_X_MSB_VALUEX_LEN (8)
#define BNO055_GYRO_DATA_X_MSB_VALUEX_REG BNO055_GYRO_DATA_X_MSB_ADDR
/* Gyro data Y-LSB register*/
#define BNO055_GYRO_DATA_Y_LSB_VALUEY_POS (0)
#define BNO055_GYRO_DATA_Y_LSB_VALUEY_MSK (0xFF)
#define BNO055_GYRO_DATA_Y_LSB_VALUEY_LEN (8)
#define BNO055_GYRO_DATA_Y_LSB_VALUEY_REG BNO055_GYRO_DATA_Y_LSB_ADDR
/* Gyro data Y-MSB register*/
#define BNO055_GYRO_DATA_Y_MSB_VALUEY_POS (0)
#define BNO055_GYRO_DATA_Y_MSB_VALUEY_MSK (0xFF)
#define BNO055_GYRO_DATA_Y_MSB_VALUEY_LEN (8)
#define BNO055_GYRO_DATA_Y_MSB_VALUEY_REG BNO055_GYRO_DATA_Y_MSB_ADDR
/* Gyro data Z-LSB register*/
#define BNO055_GYRO_DATA_Z_LSB_VALUEZ_POS (0)
#define BNO055_GYRO_DATA_Z_LSB_VALUEZ_MSK (0xFF)
#define BNO055_GYRO_DATA_Z_LSB_VALUEZ_LEN (8)
#define BNO055_GYRO_DATA_Z_LSB_VALUEZ_REG BNO055_GYRO_DATA_Z_LSB_ADDR
/* Gyro data Z-MSB register*/
#define BNO055_GYRO_DATA_Z_MSB_VALUEZ_POS (0)
#define BNO055_GYRO_DATA_Z_MSB_VALUEZ_MSK (0xFF)
#define BNO055_GYRO_DATA_Z_MSB_VALUEZ_LEN (8)
#define BNO055_GYRO_DATA_Z_MSB_VALUEZ_REG BNO055_GYRO_DATA_Z_MSB_ADDR
/* Euler data HEADING-LSB register*/
#define BNO055_EULER_H_LSB_VALUEH_POS (0)
#define BNO055_EULER_H_LSB_VALUEH_MSK (0xFF)
#define BNO055_EULER_H_LSB_VALUEH_LEN (8)
#define BNO055_EULER_H_LSB_VALUEH_REG BNO055_EULER_H_LSB_ADDR
/* Euler data HEADING-MSB register*/
#define BNO055_EULER_H_MSB_VALUEH_POS (0)
#define BNO055_EULER_H_MSB_VALUEH_MSK (0xFF)
#define BNO055_EULER_H_MSB_VALUEH_LEN (8)
#define BNO055_EULER_H_MSB_VALUEH_REG BNO055_EULER_H_MSB_ADDR
/* Euler data ROLL-LSB register*/
#define BNO055_EULER_R_LSB_VALUER_POS (0)
#define BNO055_EULER_R_LSB_VALUER_MSK (0xFF)
#define BNO055_EULER_R_LSB_VALUER_LEN (8)
#define BNO055_EULER_R_LSB_VALUER_REG BNO055_EULER_R_LSB_ADDR
/* Euler data ROLL-MSB register*/
#define BNO055_EULER_R_MSB_VALUER_POS (0)
#define BNO055_EULER_R_MSB_VALUER_MSK (0xFF)
#define BNO055_EULER_R_MSB_VALUER_LEN (8)
#define BNO055_EULER_R_MSB_VALUER_REG BNO055_EULER_R_MSB_ADDR
/* Euler data PITCH-LSB register*/
#define BNO055_EULER_P_LSB_VALUEP_POS (0)
#define BNO055_EULER_P_LSB_VALUEP_MSK (0xFF)
#define BNO055_EULER_P_LSB_VALUEP_LEN (8)
#define BNO055_EULER_P_LSB_VALUEP_REG BNO055_EULER_P_LSB_ADDR
/* Euler data HEADING-MSB register*/
#define BNO055_EULER_P_MSB_VALUEP_POS (0)
#define BNO055_EULER_P_MSB_VALUEP_MSK (0xFF)
#define BNO055_EULER_P_MSB_VALUEP_LEN (8)
#define BNO055_EULER_P_MSB_VALUEP_REG BNO055_EULER_P_MSB_ADDR
/* Quaternion data W-LSB register*/
#define BNO055_QUATERNION_DATA_W_LSB_VALUEW_POS (0)
#define BNO055_QUATERNION_DATA_W_LSB_VALUEW_MSK (0xFF)
#define BNO055_QUATERNION_DATA_W_LSB_VALUEW_LEN (8)
#define BNO055_QUATERNION_DATA_W_LSB_VALUEW_REG \
BNO055_QUATERNION_DATA_W_LSB_ADDR
/* Quaternion data W-MSB register*/
#define BNO055_QUATERNION_DATA_W_MSB_VALUEW_POS (0)
#define BNO055_QUATERNION_DATA_W_MSB_VALUEW_MSK (0xFF)
#define BNO055_QUATERNION_DATA_W_MSB_VALUEW_LEN (8)
#define BNO055_QUATERNION_DATA_W_MSB_VALUEW_REG \
BNO055_QUATERNION_DATA_W_MSB_ADDR
/* Quaternion data X-LSB register*/
#define BNO055_QUATERNION_DATA_X_LSB_VALUEX_POS (0)
#define BNO055_QUATERNION_DATA_X_LSB_VALUEX_MSK (0xFF)
#define BNO055_QUATERNION_DATA_X_LSB_VALUEX_LEN (8)
#define BNO055_QUATERNION_DATA_X_LSB_VALUEX_REG \
BNO055_QUATERNION_DATA_X_LSB_ADDR
/* Quaternion data X-MSB register*/
#define BNO055_QUATERNION_DATA_X_MSB_VALUEX_POS (0)
#define BNO055_QUATERNION_DATA_X_MSB_VALUEX_MSK (0xFF)
#define BNO055_QUATERNION_DATA_X_MSB_VALUEX_LEN (8)
#define BNO055_QUATERNION_DATA_X_MSB_VALUEX_REG \
BNO055_QUATERNION_DATA_X_MSB_ADDR
/* Quaternion data Y-LSB register*/
#define BNO055_QUATERNION_DATA_Y_LSB_VALUEY_POS (0)
#define BNO055_QUATERNION_DATA_Y_LSB_VALUEY_MSK (0xFF)
#define BNO055_QUATERNION_DATA_Y_LSB_VALUEY_LEN (8)
#define BNO055_QUATERNION_DATA_Y_LSB_VALUEY_REG \
BNO055_QUATERNION_DATA_Y_LSB_ADDR
/* Quaternion data Y-MSB register*/
#define BNO055_QUATERNION_DATA_Y_MSB_VALUEY_POS (0)
#define BNO055_QUATERNION_DATA_Y_MSB_VALUEY_MSK (0xFF)
#define BNO055_QUATERNION_DATA_Y_MSB_VALUEY_LEN (8)
#define BNO055_QUATERNION_DATA_Y_MSB_VALUEY_REG \
BNO055_QUATERNION_DATA_Y_MSB_ADDR
/* Quaternion data Z-LSB register*/
#define BNO055_QUATERNION_DATA_Z_LSB_VALUEZ_POS (0)
#define BNO055_QUATERNION_DATA_Z_LSB_VALUEZ_MSK (0xFF)
#define BNO055_QUATERNION_DATA_Z_LSB_VALUEZ_LEN (8)
#define BNO055_QUATERNION_DATA_Z_LSB_VALUEZ_REG \
BNO055_QUATERNION_DATA_Z_LSB_ADDR
/* Quaternion data Z-MSB register*/
#define BNO055_QUATERNION_DATA_Z_MSB_VALUEZ_POS (0)
#define BNO055_QUATERNION_DATA_Z_MSB_VALUEZ_MSK (0xFF)
#define BNO055_QUATERNION_DATA_Z_MSB_VALUEZ_LEN (8)
#define BNO055_QUATERNION_DATA_Z_MSB_VALUEZ_REG \
BNO055_QUATERNION_DATA_Z_MSB_ADDR
/* Linear acceleration data X-LSB register*/
#define BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX_POS (0)
#define BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX_MSK (0xFF)
#define BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX_LEN (8)
#define BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX_REG \
BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR
/* Linear acceleration data X-MSB register*/
#define BNO055_LINEAR_ACCEL_DATA_X_MSB_VALUEX_POS (0)
#define BNO055_LINEAR_ACCEL_DATA_X_MSB_VALUEX_MSK (0xFF)
#define BNO055_LINEAR_ACCEL_DATA_X_MSB_VALUEX_LEN (8)
#define BNO055_LINEAR_ACCEL_DATA_X_MSB_VALUEX_REG \
BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR
/* Linear acceleration data Y-LSB register*/
#define BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY_POS (0)
#define BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY_MSK (0xFF)
#define BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY_LEN (8)
#define BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY_REG \
BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR
/* Linear acceleration data Y-MSB register*/
#define BNO055_LINEAR_ACCEL_DATA_Y_MSB_VALUEY_POS (0)
#define BNO055_LINEAR_ACCEL_DATA_Y_MSB_VALUEY_MSK (0xFF)
#define BNO055_LINEAR_ACCEL_DATA_Y_MSB_VALUEY_LEN (8)
#define BNO055_LINEAR_ACCEL_DATA_Y_MSB_VALUEY_REG \
BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR
/* Linear acceleration data Z-LSB register*/
#define BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ_POS (0)
#define BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ_MSK (0xFF)
#define BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ_LEN (8)
#define BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ_REG \
BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR
/* Linear acceleration data Z-MSB register*/
#define BNO055_LINEAR_ACCEL_DATA_Z_MSB_VALUEZ_POS (0)
#define BNO055_LINEAR_ACCEL_DATA_Z_MSB_VALUEZ_MSK (0xFF)
#define BNO055_LINEAR_ACCEL_DATA_Z_MSB_VALUEZ_LEN (8)
#define BNO055_LINEAR_ACCEL_DATA_Z_MSB_VALUEZ_REG \
BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR
/* Gravity data X-LSB register*/
#define BNO055_GRAVITY_DATA_X_LSB_VALUEX_POS (0)
#define BNO055_GRAVITY_DATA_X_LSB_VALUEX_MSK (0xFF)
#define BNO055_GRAVITY_DATA_X_LSB_VALUEX_LEN (8)
#define BNO055_GRAVITY_DATA_X_LSB_VALUEX_REG \
BNO055_GRAVITY_DATA_X_LSB_ADDR
/* Gravity data X-MSB register*/
#define BNO055_GRAVITY_DATA_X_MSB_VALUEX_POS (0)
#define BNO055_GRAVITY_DATA_X_MSB_VALUEX_MSK (0xFF)
#define BNO055_GRAVITY_DATA_X_MSB_VALUEX_LEN (8)
#define BNO055_GRAVITY_DATA_X_MSB_VALUEX_REG \
BNO055_GRAVITY_DATA_X_MSB_ADDR
/* Gravity data Y-LSB register*/
#define BNO055_GRAVITY_DATA_Y_LSB_VALUEY_POS (0)
#define BNO055_GRAVITY_DATA_Y_LSB_VALUEY_MSK (0xFF)
#define BNO055_GRAVITY_DATA_Y_LSB_VALUEY_LEN (8)
#define BNO055_GRAVITY_DATA_Y_LSB_VALUEY_REG \
BNO055_GRAVITY_DATA_Y_LSB_ADDR
/* Gravity data Y-MSB register*/
#define BNO055_GRAVITY_DATA_Y_MSB_VALUEY_POS (0)
#define BNO055_GRAVITY_DATA_Y_MSB_VALUEY_MSK (0xFF)
#define BNO055_GRAVITY_DATA_Y_MSB_VALUEY_LEN (8)
#define BNO055_GRAVITY_DATA_Y_MSB_VALUEY_REG \
BNO055_GRAVITY_DATA_Y_MSB_ADDR
/* Gravity data Z-LSB register*/
#define BNO055_GRAVITY_DATA_Z_LSB_VALUEZ_POS (0)
#define BNO055_GRAVITY_DATA_Z_LSB_VALUEZ_MSK (0xFF)
#define BNO055_GRAVITY_DATA_Z_LSB_VALUEZ_LEN (8)
#define BNO055_GRAVITY_DATA_Z_LSB_VALUEZ_REG \
BNO055_GRAVITY_DATA_Z_LSB_ADDR
/* Gravity data Z-MSB register*/
#define BNO055_GRAVITY_DATA_Z_MSB_VALUEZ_POS (0)
#define BNO055_GRAVITY_DATA_Z_MSB_VALUEZ_MSK (0xFF)
#define BNO055_GRAVITY_DATA_Z_MSB_VALUEZ_LEN (8)
#define BNO055_GRAVITY_DATA_Z_MSB_VALUEZ_REG \
BNO055_GRAVITY_DATA_Z_MSB_ADDR
/* Temperature register*/
#define BNO055_TEMP_POS (0)
#define BNO055_TEMP_MSK (0xFF)
#define BNO055_TEMP_LEN (8)
#define BNO055_TEMP_REG BNO055_TEMP_ADDR
/*Mag_Calib status register*/
#define BNO055_MAG_CALIB_STAT_POS (0)
#define BNO055_MAG_CALIB_STAT_MSK (0X03)
#define BNO055_MAG_CALIB_STAT_LEN (2)
#define BNO055_MAG_CALIB_STAT_REG BNO055_CALIB_STAT_ADDR
/*Acc_Calib status register*/
#define BNO055_ACCEL_CALIB_STAT_POS (2)
#define BNO055_ACCEL_CALIB_STAT_MSK (0X0C)
#define BNO055_ACCEL_CALIB_STAT_LEN (2)
#define BNO055_ACCEL_CALIB_STAT_REG BNO055_CALIB_STAT_ADDR
/*Gyro_Calib status register*/
#define BNO055_GYRO_CALIB_STAT_POS (4)
#define BNO055_GYRO_CALIB_STAT_MSK (0X30)
#define BNO055_GYRO_CALIB_STAT_LEN (2)
#define BNO055_GYRO_CALIB_STAT_REG BNO055_CALIB_STAT_ADDR
/*Sys_Calib status register*/
#define BNO055_SYS_CALIB_STAT_POS (6)
#define BNO055_SYS_CALIB_STAT_MSK (0XC0)
#define BNO055_SYS_CALIB_STAT_LEN (2)
#define BNO055_SYS_CALIB_STAT_REG BNO055_CALIB_STAT_ADDR
/*All_Calib status register*/
#define BNO055_ALL_CALIB_STAT_POS (0)
#define BNO055_ALL_CALIB_STAT_MSK (0XFF)
#define BNO055_ALL_CALIB_STAT_LEN (8)
#define BNO055_ALL_CALIB_STAT_REG BNO055_CALIB_STAT_ADDR
/*ST_ACCEL register*/
#define BNO055_SELFTEST_ACCEL_POS (0)
#define BNO055_SELFTEST_ACCEL_MSK (0X01)
#define BNO055_SELFTEST_ACCEL_LEN (1)
#define BNO055_SELFTEST_ACCEL_REG BNO055_SELFTEST_RESULT_ADDR
/*ST_MAG register*/
#define BNO055_SELFTEST_MAG_POS (1)
#define BNO055_SELFTEST_MAG_MSK (0X02)
#define BNO055_SELFTEST_MAG_LEN (1)
#define BNO055_SELFTEST_MAG_REG BNO055_SELFTEST_RESULT_ADDR
/*ST_GYRO register*/
#define BNO055_SELFTEST_GYRO_POS (2)
#define BNO055_SELFTEST_GYRO_MSK (0X04)
#define BNO055_SELFTEST_GYRO_LEN (1)
#define BNO055_SELFTEST_GYRO_REG BNO055_SELFTEST_RESULT_ADDR
/*ST_MCU register*/
#define BNO055_SELFTEST_MCU_POS (3)
#define BNO055_SELFTEST_MCU_MSK (0X08)
#define BNO055_SELFTEST_MCU_LEN (1)
#define BNO055_SELFTEST_MCU_REG BNO055_SELFTEST_RESULT_ADDR
/*Interrupt status registers*/
#define BNO055_INTR_STAT_GYRO_ANY_MOTION_POS (2)
#define BNO055_INTR_STAT_GYRO_ANY_MOTION_MSK (0X04)
#define BNO055_INTR_STAT_GYRO_ANY_MOTION_LEN (1)
#define BNO055_INTR_STAT_GYRO_ANY_MOTION_REG BNO055_INTR_STAT_ADDR
#define BNO055_INTR_STAT_GYRO_HIGHRATE_POS (3)
#define BNO055_INTR_STAT_GYRO_HIGHRATE_MSK (0X08)
#define BNO055_INTR_STAT_GYRO_HIGHRATE_LEN (1)
#define BNO055_INTR_STAT_GYRO_HIGHRATE_REG BNO055_INTR_STAT_ADDR
#define BNO055_INTR_STAT_ACCEL_HIGH_G_POS (5)
#define BNO055_INTR_STAT_ACCEL_HIGH_G_MSK (0X20)
#define BNO055_INTR_STAT_ACCEL_HIGH_G_LEN (1)
#define BNO055_INTR_STAT_ACCEL_HIGH_G_REG BNO055_INTR_STAT_ADDR
#define BNO055_INTR_STAT_ACCEL_ANY_MOTION_POS (6)
#define BNO055_INTR_STAT_ACCEL_ANY_MOTION_MSK (0X40)
#define BNO055_INTR_STAT_ACCEL_ANY_MOTION_LEN (1)
#define BNO055_INTR_STAT_ACCEL_ANY_MOTION_REG BNO055_INTR_STAT_ADDR
#define BNO055_INTR_STAT_ACCEL_NO_MOTION_POS (7)
#define BNO055_INTR_STAT_ACCEL_NO_MOTION_MSK (0X80)
#define BNO055_INTR_STAT_ACCEL_NO_MOTION_LEN (1)
#define BNO055_INTR_STAT_ACCEL_NO_MOTION_REG BNO055_INTR_STAT_ADDR
/* system clock status register*/
#define BNO055_SYS_MAIN_CLK_POS (0)
#define BNO055_SYS_MAIN_CLK_MSK (0X10)
#define BNO055_SYS_MAIN_CLK_LEN (1)
#define BNO055_SYS_MAIN_CLK_REG BNO055_SYS_CLK_STAT_ADDR
/* System registers*/
#define BNO055_SYS_STAT_CODE_POS (0)
#define BNO055_SYS_STAT_CODE_MSK (0XFF)
#define BNO055_SYS_STAT_CODE_LEN (8)
#define BNO055_SYS_STAT_CODE_REG BNO055_SYS_STAT_ADDR
#define BNO055_SYS_ERROR_CODE_POS (0)
#define BNO055_SYS_ERROR_CODE_MSK (0XFF)
#define BNO055_SYS_ERROR_CODE_LEN (8)
#define BNO055_SYS_ERROR_CODE_REG BNO055_SYS_ERR_ADDR
/* Accel_Unit register*/
#define BNO055_ACCEL_UNIT_POS (0)
#define BNO055_ACCEL_UNIT_MSK (0X01)
#define BNO055_ACCEL_UNIT_LEN (1)
#define BNO055_ACCEL_UNIT_REG BNO055_UNIT_SEL_ADDR
/* Gyro_Unit register*/
#define BNO055_GYRO_UNIT_POS (1)
#define BNO055_GYRO_UNIT_MSK (0X02)
#define BNO055_GYRO_UNIT_LEN (1)
#define BNO055_GYRO_UNIT_REG BNO055_UNIT_SEL_ADDR
/* Euler_Unit register*/
#define BNO055_EULER_UNIT_POS (2)
#define BNO055_EULER_UNIT_MSK (0X04)
#define BNO055_EULER_UNIT_LEN (1)
#define BNO055_EULER_UNIT_REG BNO055_UNIT_SEL_ADDR
/* Tilt_Unit register*/
#define BNO055_TILT_UNIT_POS (3)
#define BNO055_TILT_UNIT_MSK (0X08)
#define BNO055_TILT_UNIT_LEN (1)
#define BNO055_TILT_UNIT_REG BNO055_UNIT_SEL_ADDR
/* Temperature_Unit register*/
#define BNO055_TEMP_UNIT_POS (4)
#define BNO055_TEMP_UNIT_MSK (0X10)
#define BNO055_TEMP_UNIT_LEN (1)
#define BNO055_TEMP_UNIT_REG BNO055_UNIT_SEL_ADDR
/* ORI android-windows register*/
#define BNO055_DATA_OUTPUT_FORMAT_POS (7)
#define BNO055_DATA_OUTPUT_FORMAT_MSK (0X80)
#define BNO055_DATA_OUTPUT_FORMAT_LEN (1)
#define BNO055_DATA_OUTPUT_FORMAT_REG BNO055_UNIT_SEL_ADDR
/*Operation Mode data register*/
#define BNO055_OPERATION_MODE_POS (0)
#define BNO055_OPERATION_MODE_MSK (0X0F)
#define BNO055_OPERATION_MODE_LEN (4)
#define BNO055_OPERATION_MODE_REG BNO055_OPR_MODE_ADDR
/* Power Mode register*/
#define BNO055_POWER_MODE_POS (0)
#define BNO055_POWER_MODE_MSK (0X03)
#define BNO055_POWER_MODE_LEN (2)
#define BNO055_POWER_MODE_REG BNO055_PWR_MODE_ADDR
/*Self Test register*/
#define BNO055_SELFTEST_POS (0)
#define BNO055_SELFTEST_MSK (0X01)
#define BNO055_SELFTEST_LEN (1)
#define BNO055_SELFTEST_REG BNO055_SYS_TRIGGER_ADDR
/* RST_SYS register*/
#define BNO055_SYS_RST_POS (5)
#define BNO055_SYS_RST_MSK (0X20)
#define BNO055_SYS_RST_LEN (1)
#define BNO055_SYS_RST_REG BNO055_SYS_TRIGGER_ADDR
/* RST_INT register*/
#define BNO055_INTR_RST_POS (6)
#define BNO055_INTR_RST_MSK (0X40)
#define BNO055_INTR_RST_LEN (1)
#define BNO055_INTR_RST_REG BNO055_SYS_TRIGGER_ADDR
/* CLK_SRC register*/
#define BNO055_CLK_SRC_POS (7)
#define BNO055_CLK_SRC_MSK (0X80)
#define BNO055_CLK_SRC_LEN (1)
#define BNO055_CLK_SRC_REG BNO055_SYS_TRIGGER_ADDR
/* Temp source register*/
#define BNO055_TEMP_SOURCE_POS (0)
#define BNO055_TEMP_SOURCE_MSK (0X03)
#define BNO055_TEMP_SOURCE_LEN (2)
#define BNO055_TEMP_SOURCE_REG BNO055_TEMP_SOURCE_ADDR
/* Axis remap value register*/
#define BNO055_REMAP_AXIS_VALUE_POS (0)
#define BNO055_REMAP_AXIS_VALUE_MSK (0X3F)
#define BNO055_REMAP_AXIS_VALUE_LEN (6)
#define BNO055_REMAP_AXIS_VALUE_REG BNO055_AXIS_MAP_CONFIG_ADDR
/* Axis sign value register*/
#define BNO055_REMAP_Z_SIGN_POS (0)
#define BNO055_REMAP_Z_SIGN_MSK (0X01)
#define BNO055_REMAP_Z_SIGN_LEN (1)
#define BNO055_REMAP_Z_SIGN_REG BNO055_AXIS_MAP_SIGN_ADDR
#define BNO055_REMAP_Y_SIGN_POS (1)
#define BNO055_REMAP_Y_SIGN_MSK (0X02)
#define BNO055_REMAP_Y_SIGN_LEN (1)
#define BNO055_REMAP_Y_SIGN_REG BNO055_AXIS_MAP_SIGN_ADDR
#define BNO055_REMAP_X_SIGN_POS (2)
#define BNO055_REMAP_X_SIGN_MSK (0X04)
#define BNO055_REMAP_X_SIGN_LEN (1)
#define BNO055_REMAP_X_SIGN_REG BNO055_AXIS_MAP_SIGN_ADDR
/* Soft Iron Calibration matrix register*/
#define BNO055_SIC_MATRIX_0_LSB_POS (0)
#define BNO055_SIC_MATRIX_0_LSB_MSK (0XFF)
#define BNO055_SIC_MATRIX_0_LSB_LEN (8)
#define BNO055_SIC_MATRIX_0_LSB_REG BNO055_SIC_MATRIX_0_LSB_ADDR
#define BNO055_SIC_MATRIX_0_MSB_POS (0)
#define BNO055_SIC_MATRIX_0_MSB_MSK (0XFF)
#define BNO055_SIC_MATRIX_0_MSB_LEN (8)
#define BNO055_SIC_MATRIX_0_MSB_REG BNO055_SIC_MATRIX_0_MSB_ADDR
#define BNO055_SIC_MATRIX_1_LSB_POS (0)
#define BNO055_SIC_MATRIX_1_LSB_MSK (0XFF)
#define BNO055_SIC_MATRIX_1_LSB_LEN (8)
#define BNO055_SIC_MATRIX_1_LSB_REG BNO055_SIC_MATRIX_1_LSB_ADDR
#define BNO055_SIC_MATRIX_1_MSB_POS (0)
#define BNO055_SIC_MATRIX_1_MSB_MSK (0XFF)
#define BNO055_SIC_MATRIX_1_MSB_LEN (8)
#define BNO055_SIC_MATRIX_1_MSB_REG BNO055_SIC_MATRIX_1_MSB_ADDR
#define BNO055_SIC_MATRIX_2_LSB_POS (0)
#define BNO055_SIC_MATRIX_2_LSB_MSK (0XFF)
#define BNO055_SIC_MATRIX_2_LSB_LEN (8)
#define BNO055_SIC_MATRIX_2_LSB_REG BNO055_SIC_MATRIX_2_LSB_ADDR
#define BNO055_SIC_MATRIX_2_MSB_POS (0)
#define BNO055_SIC_MATRIX_2_MSB_MSK (0XFF)
#define BNO055_SIC_MATRIX_2_MSB_LEN (8)
#define BNO055_SIC_MATRIX_2_MSB_REG BNO055_SIC_MATRIX_2_MSB_ADDR
#define BNO055_SIC_MATRIX_3_LSB_POS (0)
#define BNO055_SIC_MATRIX_3_LSB_MSK (0XFF)
#define BNO055_SIC_MATRIX_3_LSB_LEN (8)
#define BNO055_SIC_MATRIX_3_LSB_REG BNO055_SIC_MATRIX_3_LSB_ADDR
#define BNO055_SIC_MATRIX_3_MSB_POS (0)
#define BNO055_SIC_MATRIX_3_MSB_MSK (0XFF)
#define BNO055_SIC_MATRIX_3_MSB_LEN (8)
#define BNO055_SIC_MATRIX_3_MSB_REG BNO055_SIC_MATRIX_3_MSB_ADDR
#define BNO055_SIC_MATRIX_4_LSB_POS (0)
#define BNO055_SIC_MATRIX_4_LSB_MSK (0XFF)
#define BNO055_SIC_MATRIX_4_LSB_LEN (8)
#define BNO055_SIC_MATRIX_4_LSB_REG BNO055_SIC_MATRIX_4_LSB_ADDR
#define BNO055_SIC_MATRIX_4_MSB_POS (0)
#define BNO055_SIC_MATRIX_4_MSB_MSK (0XFF)
#define BNO055_SIC_MATRIX_4_MSB_LEN (8)
#define BNO055_SIC_MATRIX_4_MSB_REG BNO055_SIC_MATRIX_4_MSB_ADDR
#define BNO055_SIC_MATRIX_5_LSB_POS (0)
#define BNO055_SIC_MATRIX_5_LSB_MSK (0XFF)
#define BNO055_SIC_MATRIX_5_LSB_LEN (8)
#define BNO055_SIC_MATRIX_5_LSB_REG BNO055_SIC_MATRIX_5_LSB_ADDR
#define BNO055_SIC_MATRIX_5_MSB_POS (0)
#define BNO055_SIC_MATRIX_5_MSB_MSK (0XFF)
#define BNO055_SIC_MATRIX_5_MSB_LEN (8)
#define BNO055_SIC_MATRIX_5_MSB_REG BNO055_SIC_MATRIX_5_MSB_ADDR
#define BNO055_SIC_MATRIX_6_LSB_POS (0)
#define BNO055_SIC_MATRIX_6_LSB_MSK (0XFF)
#define BNO055_SIC_MATRIX_6_LSB_LEN (8)
#define BNO055_SIC_MATRIX_6_LSB_REG BNO055_SIC_MATRIX_6_LSB_ADDR
#define BNO055_SIC_MATRIX_6_MSB_POS (0)
#define BNO055_SIC_MATRIX_6_MSB_MSK (0XFF)
#define BNO055_SIC_MATRIX_6_MSB_LEN (8)
#define BNO055_SIC_MATRIX_6_MSB_REG BNO055_SIC_MATRIX_6_MSB_ADDR
#define BNO055_SIC_MATRIX_7_LSB_POS (0)
#define BNO055_SIC_MATRIX_7_LSB_MSK (0XFF)
#define BNO055_SIC_MATRIX_7_LSB_LEN (8)
#define BNO055_SIC_MATRIX_7_LSB_REG BNO055_SIC_MATRIX_7_LSB_ADDR
#define BNO055_SIC_MATRIX_7_MSB_POS (0)
#define BNO055_SIC_MATRIX_7_MSB_MSK (0XFF)
#define BNO055_SIC_MATRIX_7_MSB_LEN (8)
#define BNO055_SIC_MATRIX_7_MSB_REG BNO055_SIC_MATRIX_7_MSB_ADDR
#define BNO055_SIC_MATRIX_8_LSB_POS (0)
#define BNO055_SIC_MATRIX_8_LSB_MSK (0XFF)
#define BNO055_SIC_MATRIX_8_LSB_LEN (8)
#define BNO055_SIC_MATRIX_8_LSB_REG BNO055_SIC_MATRIX_8_LSB_ADDR
#define BNO055_SIC_MATRIX_8_MSB_POS (0)
#define BNO055_SIC_MATRIX_8_MSB_MSK (0XFF)
#define BNO055_SIC_MATRIX_8_MSB_LEN (8)
#define BNO055_SIC_MATRIX_8_MSB_REG BNO055_SIC_MATRIX_8_MSB_ADDR
/*Accel Offset registers*/
#define BNO055_ACCEL_OFFSET_X_LSB_POS (0)
#define BNO055_ACCEL_OFFSET_X_LSB_MSK (0XFF)
#define BNO055_ACCEL_OFFSET_X_LSB_LEN (8)
#define BNO055_ACCEL_OFFSET_X_LSB_REG BNO055_ACCEL_OFFSET_X_LSB_ADDR
#define BNO055_ACCEL_OFFSET_X_MSB_POS (0)
#define BNO055_ACCEL_OFFSET_X_MSB_MSK (0XFF)
#define BNO055_ACCEL_OFFSET_X_MSB_LEN (8)
#define BNO055_ACCEL_OFFSET_X_MSB_REG BNO055_ACCEL_OFFSET_X_MSB_ADDR
#define BNO055_ACCEL_OFFSET_Y_LSB_POS (0)
#define BNO055_ACCEL_OFFSET_Y_LSB_MSK (0XFF)
#define BNO055_ACCEL_OFFSET_Y_LSB_LEN (8)
#define BNO055_ACCEL_OFFSET_Y_LSB_REG BNO055_ACCEL_OFFSET_Y_LSB_ADDR
#define BNO055_ACCEL_OFFSET_Y_MSB_POS (0)
#define BNO055_ACCEL_OFFSET_Y_MSB_MSK (0XFF)
#define BNO055_ACCEL_OFFSET_Y_MSB_LEN (8)
#define BNO055_ACCEL_OFFSET_Y_MSB_REG BNO055_ACCEL_OFFSET_Y_MSB_ADDR
#define BNO055_ACCEL_OFFSET_Z_LSB_POS (0)
#define BNO055_ACCEL_OFFSET_Z_LSB_MSK (0XFF)
#define BNO055_ACCEL_OFFSET_Z_LSB_LEN (8)
#define BNO055_ACCEL_OFFSET_Z_LSB_REG BNO055_ACCEL_OFFSET_Z_LSB_ADDR
#define BNO055_ACCEL_OFFSET_Z_MSB_POS (0)
#define BNO055_ACCEL_OFFSET_Z_MSB_MSK (0XFF)
#define BNO055_ACCEL_OFFSET_Z_MSB_LEN (8)
#define BNO055_ACCEL_OFFSET_Z_MSB_REG BNO055_ACCEL_OFFSET_Z_MSB_ADDR
/*Mag Offset registers*/
#define BNO055_MAG_OFFSET_X_LSB_POS (0)
#define BNO055_MAG_OFFSET_X_LSB_MSK (0XFF)
#define BNO055_MAG_OFFSET_X_LSB_LEN (8)
#define BNO055_MAG_OFFSET_X_LSB_REG BNO055_MAG_OFFSET_X_LSB_ADDR
#define BNO055_MAG_OFFSET_X_MSB_POS (0)
#define BNO055_MAG_OFFSET_X_MSB_MSK (0XFF)
#define BNO055_MAG_OFFSET_X_MSB_LEN (8)
#define BNO055_MAG_OFFSET_X_MSB_REG BNO055_MAG_OFFSET_X_MSB_ADDR
#define BNO055_MAG_OFFSET_Y_LSB_POS (0)
#define BNO055_MAG_OFFSET_Y_LSB_MSK (0XFF)
#define BNO055_MAG_OFFSET_Y_LSB_LEN (8)
#define BNO055_MAG_OFFSET_Y_LSB_REG BNO055_MAG_OFFSET_Y_LSB_ADDR
#define BNO055_MAG_OFFSET_Y_MSB_POS (0)
#define BNO055_MAG_OFFSET_Y_MSB_MSK (0XFF)
#define BNO055_MAG_OFFSET_Y_MSB_LEN (8)
#define BNO055_MAG_OFFSET_Y_MSB_REG BNO055_MAG_OFFSET_Y_MSB_ADDR
#define BNO055_MAG_OFFSET_Z_LSB_POS (0)
#define BNO055_MAG_OFFSET_Z_LSB_MSK (0XFF)
#define BNO055_MAG_OFFSET_Z_LSB_LEN (8)
#define BNO055_MAG_OFFSET_Z_LSB_REG BNO055_MAG_OFFSET_Z_LSB_ADDR
#define BNO055_MAG_OFFSET_Z_MSB_POS (0)
#define BNO055_MAG_OFFSET_Z_MSB_MSK (0XFF)
#define BNO055_MAG_OFFSET_Z_MSB_LEN (8)
#define BNO055_MAG_OFFSET_Z_MSB_REG BNO055_MAG_OFFSET_Z_MSB_ADDR
/* Gyro Offset registers*/
#define BNO055_GYRO_OFFSET_X_LSB_POS (0)
#define BNO055_GYRO_OFFSET_X_LSB_MSK (0XFF)
#define BNO055_GYRO_OFFSET_X_LSB_LEN (8)
#define BNO055_GYRO_OFFSET_X_LSB_REG BNO055_GYRO_OFFSET_X_LSB_ADDR
#define BNO055_GYRO_OFFSET_X_MSB_POS (0)
#define BNO055_GYRO_OFFSET_X_MSB_MSK (0XFF)
#define BNO055_GYRO_OFFSET_X_MSB_LEN (8)
#define BNO055_GYRO_OFFSET_X_MSB_REG BNO055_GYRO_OFFSET_X_MSB_ADDR
#define BNO055_GYRO_OFFSET_Y_LSB_POS (0)
#define BNO055_GYRO_OFFSET_Y_LSB_MSK (0XFF)
#define BNO055_GYRO_OFFSET_Y_LSB_LEN (8)
#define BNO055_GYRO_OFFSET_Y_LSB_REG BNO055_GYRO_OFFSET_Y_LSB_ADDR
#define BNO055_GYRO_OFFSET_Y_MSB_POS (0)
#define BNO055_GYRO_OFFSET_Y_MSB_MSK (0XFF)
#define BNO055_GYRO_OFFSET_Y_MSB_LEN (8)
#define BNO055_GYRO_OFFSET_Y_MSB_REG BNO055_GYRO_OFFSET_Y_MSB_ADDR
#define BNO055_GYRO_OFFSET_Z_LSB_POS (0)
#define BNO055_GYRO_OFFSET_Z_LSB_MSK (0XFF)
#define BNO055_GYRO_OFFSET_Z_LSB_LEN (8)
#define BNO055_GYRO_OFFSET_Z_LSB_REG BNO055_GYRO_OFFSET_Z_LSB_ADDR
#define BNO055_GYRO_OFFSET_Z_MSB_POS (0)
#define BNO055_GYRO_OFFSET_Z_MSB_MSK (0XFF)
#define BNO055_GYRO_OFFSET_Z_MSB_LEN (8)
#define BNO055_GYRO_OFFSET_Z_MSB_REG BNO055_GYRO_OFFSET_Z_MSB_ADDR
/* Radius register definition*/
#define BNO055_ACCEL_RADIUS_LSB_POS (0)
#define BNO055_ACCEL_RADIUS_LSB_MSK (0XFF)
#define BNO055_ACCEL_RADIUS_LSB_LEN (8)
#define BNO055_ACCEL_RADIUS_LSB_REG BNO055_ACCEL_RADIUS_LSB_ADDR
#define BNO055_ACCEL_RADIUS_MSB_POS (0)
#define BNO055_ACCEL_RADIUS_MSB_MSK (0XFF)
#define BNO055_ACCEL_RADIUS_MSB_LEN (8)
#define BNO055_ACCEL_RADIUS_MSB_REG BNO055_ACCEL_RADIUS_MSB_ADDR
#define BNO055_MAG_RADIUS_LSB_POS (0)
#define BNO055_MAG_RADIUS_LSB_MSK (0XFF)
#define BNO055_MAG_RADIUS_LSB_LEN (8)
#define BNO055_MAG_RADIUS_LSB_REG BNO055_MAG_RADIUS_LSB_ADDR
#define BNO055_MAG_RADIUS_MSB_POS (0)
#define BNO055_MAG_RADIUS_MSB_MSK (0XFF)
#define BNO055_MAG_RADIUS_MSB_LEN (8)
#define BNO055_MAG_RADIUS_MSB_REG BNO055_MAG_RADIUS_MSB_ADDR
/* PAGE0 DATA REGISTERS DEFINITION END*/
/*************************************************/
/**\name PAGE1 DATA REGISTERS DEFINITION */
/*************************************************/
/* Configuration registers*/
/* Accel range configuration register*/
#define BNO055_ACCEL_RANGE_POS (0)
#define BNO055_ACCEL_RANGE_MSK (0X03)
#define BNO055_ACCEL_RANGE_LEN (2)
#define BNO055_ACCEL_RANGE_REG BNO055_ACCEL_CONFIG_ADDR
/* Accel bandwidth configuration register*/
#define BNO055_ACCEL_BW_POS (2)
#define BNO055_ACCEL_BW_MSK (0X1C)
#define BNO055_ACCEL_BW_LEN (3)
#define BNO055_ACCEL_BW_REG BNO055_ACCEL_CONFIG_ADDR
/* Accel power mode configuration register*/
#define BNO055_ACCEL_POWER_MODE_POS (5)
#define BNO055_ACCEL_POWER_MODE_MSK (0XE0)
#define BNO055_ACCEL_POWER_MODE_LEN (3)
#define BNO055_ACCEL_POWER_MODE_REG BNO055_ACCEL_CONFIG_ADDR
/* Mag data output rate configuration register*/
#define BNO055_MAG_DATA_OUTPUT_RATE_POS (0)
#define BNO055_MAG_DATA_OUTPUT_RATE_MSK (0X07)
#define BNO055_MAG_DATA_OUTPUT_RATE_LEN (3)
#define BNO055_MAG_DATA_OUTPUT_RATE_REG BNO055_MAG_CONFIG_ADDR
/* Mag operation mode configuration register*/
#define BNO055_MAG_OPERATION_MODE_POS (3)
#define BNO055_MAG_OPERATION_MODE_MSK (0X18)
#define BNO055_MAG_OPERATION_MODE_LEN (2)
#define BNO055_MAG_OPERATION_MODE_REG BNO055_MAG_CONFIG_ADDR
/* Mag power mode configuration register*/
#define BNO055_MAG_POWER_MODE_POS (5)
#define BNO055_MAG_POWER_MODE_MSK (0X60)
#define BNO055_MAG_POWER_MODE_LEN (2)
#define BNO055_MAG_POWER_MODE_REG BNO055_MAG_CONFIG_ADDR
/* Gyro range configuration register*/
#define BNO055_GYRO_RANGE_POS (0)
#define BNO055_GYRO_RANGE_MSK (0X07)
#define BNO055_GYRO_RANGE_LEN (3)
#define BNO055_GYRO_RANGE_REG BNO055_GYRO_CONFIG_ADDR
/* Gyro bandwidth configuration register*/
#define BNO055_GYRO_BW_POS (3)
#define BNO055_GYRO_BW_MSK (0X38)
#define BNO055_GYRO_BW_LEN (3)
#define BNO055_GYRO_BW_REG BNO055_GYRO_CONFIG_ADDR
/* Gyro power mode configuration register*/
#define BNO055_GYRO_POWER_MODE_POS (0)
#define BNO055_GYRO_POWER_MODE_MSK (0X07)
#define BNO055_GYRO_POWER_MODE_LEN (3)
#define BNO055_GYRO_POWER_MODE_REG BNO055_GYRO_MODE_CONFIG_ADDR
/* Sleep configuration registers*/
/* Accel sleep mode configuration register*/
#define BNO055_ACCEL_SLEEP_MODE_POS (0)
#define BNO055_ACCEL_SLEEP_MODE_MSK (0X01)
#define BNO055_ACCEL_SLEEP_MODE_LEN (1)
#define BNO055_ACCEL_SLEEP_MODE_REG BNO055_ACCEL_SLEEP_CONFIG_ADDR
/* Accel sleep duration configuration register*/
#define BNO055_ACCEL_SLEEP_DURN_POS (1)
#define BNO055_ACCEL_SLEEP_DURN_MSK (0X1E)
#define BNO055_ACCEL_SLEEP_DURN_LEN (4)
#define BNO055_ACCEL_SLEEP_DURN_REG BNO055_ACCEL_SLEEP_CONFIG_ADDR
/* Gyro sleep duration configuration register*/
#define BNO055_GYRO_SLEEP_DURN_POS (0)
#define BNO055_GYRO_SLEEP_DURN_MSK (0X07)
#define BNO055_GYRO_SLEEP_DURN_LEN (3)
#define BNO055_GYRO_SLEEP_DURN_REG BNO055_GYRO_SLEEP_CONFIG_ADDR
/* Gyro auto sleep duration configuration register*/
#define BNO055_GYRO_AUTO_SLEEP_DURN_POS (3)
#define BNO055_GYRO_AUTO_SLEEP_DURN_MSK (0X38)
#define BNO055_GYRO_AUTO_SLEEP_DURN_LEN (3)
#define BNO055_GYRO_AUTO_SLEEP_DURN_REG BNO055_GYRO_SLEEP_CONFIG_ADDR
/* Mag sleep mode configuration register*/
#define BNO055_MAG_SLEEP_MODE_POS (0)
#define BNO055_MAG_SLEEP_MODE_MSK (0X01)
#define BNO055_MAG_SLEEP_MODE_LEN (1)
#define BNO055_MAG_SLEEP_MODE_REG BNO055_MAG_SLEEP_CONFIG_ADDR
/* Mag sleep duration configuration register*/
#define BNO055_MAG_SLEEP_DURN_POS (1)
#define BNO055_MAG_SLEEP_DURN_MSK (0X1E)
#define BNO055_MAG_SLEEP_DURN_LEN (4)
#define BNO055_MAG_SLEEP_DURN_REG BNO055_MAG_SLEEP_CONFIG_ADDR
/* Interrupt registers*/
/* Gyro any motion interrupt msk register*/
#define BNO055_GYRO_ANY_MOTION_INTR_MASK_POS (2)
#define BNO055_GYRO_ANY_MOTION_INTR_MASK_MSK (0X04)
#define BNO055_GYRO_ANY_MOTION_INTR_MASK_LEN (1)
#define BNO055_GYRO_ANY_MOTION_INTR_MASK_REG BNO055_INT_MASK_ADDR
/* Gyro high rate interrupt msk register*/
#define BNO055_GYRO_HIGHRATE_INTR_MASK_POS (3)
#define BNO055_GYRO_HIGHRATE_INTR_MASK_MSK (0X08)
#define BNO055_GYRO_HIGHRATE_INTR_MASK_LEN (1)
#define BNO055_GYRO_HIGHRATE_INTR_MASK_REG BNO055_INT_MASK_ADDR
/* Accel high g interrupt msk register*/
#define BNO055_ACCEL_HIGH_G_INTR_MASK_POS (5)
#define BNO055_ACCEL_HIGH_G_INTR_MASK_MSK (0X20)
#define BNO055_ACCEL_HIGH_G_INTR_MASK_LEN (1)
#define BNO055_ACCEL_HIGH_G_INTR_MASK_REG BNO055_INT_MASK_ADDR
/* Accel any motion interrupt msk register*/
#define BNO055_ACCEL_ANY_MOTION_INTR_MASK_POS (6)
#define BNO055_ACCEL_ANY_MOTION_INTR_MASK_MSK (0X40)
#define BNO055_ACCEL_ANY_MOTION_INTR_MASK_LEN (1)
#define BNO055_ACCEL_ANY_MOTION_INTR_MASK_REG BNO055_INT_MASK_ADDR
/* Accel any motion interrupt msk register*/
#define BNO055_ACCEL_NO_MOTION_INTR_MASK_POS (7)
#define BNO055_ACCEL_NO_MOTION_INTR_MASK_MSK (0X80)
#define BNO055_ACCEL_NO_MOTION_INTR_MASK_LEN (1)
#define BNO055_ACCEL_NO_MOTION_INTR_MASK_REG BNO055_INT_MASK_ADDR
/* Gyro any motion interrupt register*/
#define BNO055_GYRO_ANY_MOTION_INTR_POS (2)
#define BNO055_GYRO_ANY_MOTION_INTR_MSK (0X04)
#define BNO055_GYRO_ANY_MOTION_INTR_LEN (1)
#define BNO055_GYRO_ANY_MOTION_INTR_REG BNO055_INT_ADDR
/* Gyro high rate interrupt register*/
#define BNO055_GYRO_HIGHRATE_INTR_POS (3)
#define BNO055_GYRO_HIGHRATE_INTR_MSK (0X08)
#define BNO055_GYRO_HIGHRATE_INTR_LEN (1)
#define BNO055_GYRO_HIGHRATE_INTR_REG BNO055_INT_ADDR
/* Accel high g interrupt register*/
#define BNO055_ACCEL_HIGH_G_INTR_POS (5)
#define BNO055_ACCEL_HIGH_G_INTR_MSK (0X20)
#define BNO055_ACCEL_HIGH_G_INTR_LEN (1)
#define BNO055_ACCEL_HIGH_G_INTR_REG BNO055_INT_ADDR
/* Accel any motion interrupt register*/
#define BNO055_ACCEL_ANY_MOTION_INTR_POS (6)
#define BNO055_ACCEL_ANY_MOTION_INTR_MSK (0X40)
#define BNO055_ACCEL_ANY_MOTION_INTR_LEN (1)
#define BNO055_ACCEL_ANY_MOTION_INTR_REG BNO055_INT_ADDR
/*Accel any motion interrupt register*/
#define BNO055_ACCEL_NO_MOTION_INTR_POS (7)
#define BNO055_ACCEL_NO_MOTION_INTR_MSK (0X80)
#define BNO055_ACCEL_NO_MOTION_INTR_LEN (1)
#define BNO055_ACCEL_NO_MOTION_INTR_REG BNO055_INT_ADDR
/*Accel any motion threshold setting*/
#define BNO055_ACCEL_ANY_MOTION_THRES_POS (0)
#define BNO055_ACCEL_ANY_MOTION_THRES_MSK (0XFF)
#define BNO055_ACCEL_ANY_MOTION_THRES_LEN (8)
#define BNO055_ACCEL_ANY_MOTION_THRES_REG BNO055_ACCEL_ANY_MOTION_THRES_ADDR
/*Accel interrupt setting register*/
#define BNO055_ACCEL_ANY_MOTION_DURN_SET_POS (0)
#define BNO055_ACCEL_ANY_MOTION_DURN_SET_MSK (0X03)
#define BNO055_ACCEL_ANY_MOTION_DURN_SET_LEN (2)
#define BNO055_ACCEL_ANY_MOTION_DURN_SET_REG BNO055_ACCEL_INTR_SETTINGS_ADDR
/* Accel AM/NM axis selection register*/
#define BNO055_ACCEL_ANY_MOTION_X_AXIS_POS (2)
#define BNO055_ACCEL_ANY_MOTION_X_AXIS_MSK (0X04)
#define BNO055_ACCEL_ANY_MOTION_X_AXIS_LEN (1)
#define BNO055_ACCEL_ANY_MOTION_X_AXIS_REG BNO055_ACCEL_INTR_SETTINGS_ADDR
#define BNO055_ACCEL_ANY_MOTION_Y_AXIS_POS (3)
#define BNO055_ACCEL_ANY_MOTION_Y_AXIS_MSK (0X08)
#define BNO055_ACCEL_ANY_MOTION_Y_AXIS_LEN (1)
#define BNO055_ACCEL_ANY_MOTION_Y_AXIS_REG BNO055_ACCEL_INTR_SETTINGS_ADDR
#define BNO055_ACCEL_ANY_MOTION_Z_AXIS_POS (4)
#define BNO055_ACCEL_ANY_MOTION_Z_AXIS_MSK (0X10)
#define BNO055_ACCEL_ANY_MOTION_Z_AXIS_LEN (1)
#define BNO055_ACCEL_ANY_MOTION_Z_AXIS_REG BNO055_ACCEL_INTR_SETTINGS_ADDR
/* Accel high g axis selection register*/
#define BNO055_ACCEL_HIGH_G_X_AXIS_POS (5)
#define BNO055_ACCEL_HIGH_G_X_AXIS_MSK (0X20)
#define BNO055_ACCEL_HIGH_G_X_AXIS_LEN (1)
#define BNO055_ACCEL_HIGH_G_X_AXIS_REG BNO055_ACCEL_INTR_SETTINGS_ADDR
#define BNO055_ACCEL_HIGH_G_Y_AXIS_POS (6)
#define BNO055_ACCEL_HIGH_G_Y_AXIS_MSK (0X40)
#define BNO055_ACCEL_HIGH_G_Y_AXIS_LEN (1)
#define BNO055_ACCEL_HIGH_G_Y_AXIS_REG BNO055_ACCEL_INTR_SETTINGS_ADDR
#define BNO055_ACCEL_HIGH_G_Z_AXIS_POS (7)
#define BNO055_ACCEL_HIGH_G_Z_AXIS_MSK (0X80)
#define BNO055_ACCEL_HIGH_G_Z_AXIS_LEN (1)
#define BNO055_ACCEL_HIGH_G_Z_AXIS_REG BNO055_ACCEL_INTR_SETTINGS_ADDR
/* Accel High g duration setting register*/
#define BNO055_ACCEL_HIGH_G_DURN_POS (0)
#define BNO055_ACCEL_HIGH_G_DURN_MSK (0XFF)
#define BNO055_ACCEL_HIGH_G_DURN_LEN (8)
#define BNO055_ACCEL_HIGH_G_DURN_REG BNO055_ACCEL_HIGH_G_DURN_ADDR
/* Accel High g threshold setting register*/
#define BNO055_ACCEL_HIGH_G_THRES_POS (0)
#define BNO055_ACCEL_HIGH_G_THRES_MSK (0XFF)
#define BNO055_ACCEL_HIGH_G_THRES_LEN (8)
#define BNO055_ACCEL_HIGH_G_THRES_REG BNO055_ACCEL_HIGH_G_THRES_ADDR
/* Accel no/slow motion threshold setting*/
#define BNO055_ACCEL_SLOW_NO_MOTION_THRES_POS (0)
#define BNO055_ACCEL_SLOW_NO_MOTION_THRES_MSK (0XFF)
#define BNO055_ACCEL_SLOW_NO_MOTION_THRES_LEN (8)
#define BNO055_ACCEL_SLOW_NO_MOTION_THRES_REG \
BNO055_ACCEL_NO_MOTION_THRES_ADDR
/* Accel no/slow motion enable setting*/
#define BNO055_ACCEL_SLOW_NO_MOTION_ENABLE_POS (0)
#define BNO055_ACCEL_SLOW_NO_MOTION_ENABLE_MSK (0X01)
#define BNO055_ACCEL_SLOW_NO_MOTION_ENABLE_LEN (1)
#define BNO055_ACCEL_SLOW_NO_MOTION_ENABLE_REG BNO055_ACCEL_NO_MOTION_SET_ADDR
/* Accel no/slow motion duration setting*/
#define BNO055_ACCEL_SLOW_NO_MOTION_DURN_POS (1)
#define BNO055_ACCEL_SLOW_NO_MOTION_DURN_MSK (0X7E)
#define BNO055_ACCEL_SLOW_NO_MOTION_DURN_LEN (6)
#define BNO055_ACCEL_SLOW_NO_MOTION_DURN_REG BNO055_ACCEL_NO_MOTION_SET_ADDR
/*Gyro interrupt setting register*/
/*Gyro any motion axis setting*/
#define BNO055_GYRO_ANY_MOTION_X_AXIS_POS (0)
#define BNO055_GYRO_ANY_MOTION_X_AXIS_MSK (0X01)
#define BNO055_GYRO_ANY_MOTION_X_AXIS_LEN (1)
#define BNO055_GYRO_ANY_MOTION_X_AXIS_REG BNO055_GYRO_INTR_SETING_ADDR
#define BNO055_GYRO_ANY_MOTION_Y_AXIS_POS (1)
#define BNO055_GYRO_ANY_MOTION_Y_AXIS_MSK (0X02)
#define BNO055_GYRO_ANY_MOTION_Y_AXIS_LEN (1)
#define BNO055_GYRO_ANY_MOTION_Y_AXIS_REG BNO055_GYRO_INTR_SETING_ADDR
#define BNO055_GYRO_ANY_MOTION_Z_AXIS_POS (2)
#define BNO055_GYRO_ANY_MOTION_Z_AXIS_MSK (0X04)
#define BNO055_GYRO_ANY_MOTION_Z_AXIS_LEN (1)
#define BNO055_GYRO_ANY_MOTION_Z_AXIS_REG BNO055_GYRO_INTR_SETING_ADDR
/*Gyro high rate axis setting*/
#define BNO055_GYRO_HIGHRATE_X_AXIS_POS (3)
#define BNO055_GYRO_HIGHRATE_X_AXIS_MSK (0X08)
#define BNO055_GYRO_HIGHRATE_X_AXIS_LEN (1)
#define BNO055_GYRO_HIGHRATE_X_AXIS_REG BNO055_GYRO_INTR_SETING_ADDR
#define BNO055_GYRO_HIGHRATE_Y_AXIS_POS (4)
#define BNO055_GYRO_HIGHRATE_Y_AXIS_MSK (0X10)
#define BNO055_GYRO_HIGHRATE_Y_AXIS_LEN (1)
#define BNO055_GYRO_HIGHRATE_Y_AXIS_REG BNO055_GYRO_INTR_SETING_ADDR
#define BNO055_GYRO_HIGHRATE_Z_AXIS_POS (5)
#define BNO055_GYRO_HIGHRATE_Z_AXIS_MSK (0X20)
#define BNO055_GYRO_HIGHRATE_Z_AXIS_LEN (1)
#define BNO055_GYRO_HIGHRATE_Z_AXIS_REG BNO055_GYRO_INTR_SETING_ADDR
/* Gyro filter setting*/
#define BNO055_GYRO_ANY_MOTION_FILTER_POS (6)
#define BNO055_GYRO_ANY_MOTION_FILTER_MSK (0X40)
#define BNO055_GYRO_ANY_MOTION_FILTER_LEN (1)
#define BNO055_GYRO_ANY_MOTION_FILTER_REG BNO055_GYRO_INTR_SETING_ADDR
#define BNO055_GYRO_HIGHRATE_FILTER_POS (7)
#define BNO055_GYRO_HIGHRATE_FILTER_MSK (0X80)
#define BNO055_GYRO_HIGHRATE_FILTER_LEN (1)
#define BNO055_GYRO_HIGHRATE_FILTER_REG BNO055_GYRO_INTR_SETING_ADDR
/* Gyro high rate X axis settings*/
#define BNO055_GYRO_HIGHRATE_X_THRES_POS (0)
#define BNO055_GYRO_HIGHRATE_X_THRES_MSK (0X1F)
#define BNO055_GYRO_HIGHRATE_X_THRES_LEN (5)
#define BNO055_GYRO_HIGHRATE_X_THRES_REG BNO055_GYRO_HIGHRATE_X_SET_ADDR
#define BNO055_GYRO_HIGHRATE_X_HYST_POS (5)
#define BNO055_GYRO_HIGHRATE_X_HYST_MSK (0X60)
#define BNO055_GYRO_HIGHRATE_X_HYST_LEN (2)
#define BNO055_GYRO_HIGHRATE_X_HYST_REG BNO055_GYRO_HIGHRATE_X_SET_ADDR
#define BNO055_GYRO_HIGHRATE_X_DURN_POS (0)
#define BNO055_GYRO_HIGHRATE_X_DURN_MSK (0XFF)
#define BNO055_GYRO_HIGHRATE_X_DURN_LEN (8)
#define BNO055_GYRO_HIGHRATE_X_DURN_REG BNO055_GYRO_DURN_X_ADDR
/* Gyro high rate Y axis settings*/
#define BNO055_GYRO_HIGHRATE_Y_THRES_POS (0)
#define BNO055_GYRO_HIGHRATE_Y_THRES_MSK (0X1F)
#define BNO055_GYRO_HIGHRATE_Y_THRES_LEN (5)
#define BNO055_GYRO_HIGHRATE_Y_THRES_REG BNO055_GYRO_HIGHRATE_Y_SET_ADDR
#define BNO055_GYRO_HIGHRATE_Y_HYST_POS (5)
#define BNO055_GYRO_HIGHRATE_Y_HYST_MSK (0X60)
#define BNO055_GYRO_HIGHRATE_Y_HYST_LEN (2)
#define BNO055_GYRO_HIGHRATE_Y_HYST_REG BNO055_GYRO_HIGHRATE_Y_SET_ADDR
#define BNO055_GYRO_HIGHRATE_Y_DURN_POS (0)
#define BNO055_GYRO_HIGHRATE_Y_DURN_MSK (0XFF)
#define BNO055_GYRO_HIGHRATE_Y_DURN_LEN (8)
#define BNO055_GYRO_HIGHRATE_Y_DURN_REG BNO055_GYRO_DURN_Y_ADDR
/* Gyro high rate Z axis settings*/
#define BNO055_GYRO_HIGHRATE_Z_THRES_POS (0)
#define BNO055_GYRO_HIGHRATE_Z_THRES_MSK (0X1F)
#define BNO055_GYRO_HIGHRATE_Z_THRES_LEN (5)
#define BNO055_GYRO_HIGHRATE_Z_THRES_REG BNO055_GYRO_HIGHRATE_Z_SET_ADDR
#define BNO055_GYRO_HIGHRATE_Z_HYST_POS (5)
#define BNO055_GYRO_HIGHRATE_Z_HYST_MSK (0X60)
#define BNO055_GYRO_HIGHRATE_Z_HYST_LEN (2)
#define BNO055_GYRO_HIGHRATE_Z_HYST_REG BNO055_GYRO_HIGHRATE_Z_SET_ADDR
#define BNO055_GYRO_HIGHRATE_Z_DURN_POS (0)
#define BNO055_GYRO_HIGHRATE_Z_DURN_MSK (0XFF)
#define BNO055_GYRO_HIGHRATE_Z_DURN_LEN (8)
#define BNO055_GYRO_HIGHRATE_Z_DURN_REG (BNO055_GYRO_DURN_Z_ADDR)
/*Gyro any motion threshold setting*/
#define BNO055_GYRO_ANY_MOTION_THRES_POS (0)
#define BNO055_GYRO_ANY_MOTION_THRES_MSK (0X7F)
#define BNO055_GYRO_ANY_MOTION_THRES_LEN (7)
#define BNO055_GYRO_ANY_MOTION_THRES_REG \
BNO055_GYRO_ANY_MOTION_THRES_ADDR
/* Gyro any motion slope sample setting*/
#define BNO055_GYRO_SLOPE_SAMPLES_POS (0)
#define BNO055_GYRO_SLOPE_SAMPLES_MSK (0X03)
#define BNO055_GYRO_SLOPE_SAMPLES_LEN (2)
#define BNO055_GYRO_SLOPE_SAMPLES_REG BNO055_GYRO_ANY_MOTION_SET_ADDR
/* Gyro awake duration setting*/
#define BNO055_GYRO_AWAKE_DURN_POS (2)
#define BNO055_GYRO_AWAKE_DURN_MSK (0X0C)
#define BNO055_GYRO_AWAKE_DURN_LEN (2)
#define BNO055_GYRO_AWAKE_DURN_REG BNO055_GYRO_ANY_MOTION_SET_ADDR
/* PAGE1 DATA REGISTERS DEFINITION END*/
/*************************************************/
/**\name GET AND SET BITSLICE FUNCTIONS */
/*************************************************/
#define BNO055_GET_BITSLICE(regvar, bitname)\
((regvar & bitname##_MSK) >> bitname##_POS)
#define BNO055_SET_BITSLICE(regvar, bitname, val)\
((regvar & ~bitname##_MSK) | ((val<<bitname##_POS)&bitname##_MSK))
/*************************************************/
/**\name FUNCTION DECLARATION */
/*************************************************/
/**************************************************/
/**\name INITIALIZATION AND REVISION ID FUNCTIONS */
/**************************************************/
/*!
* @brief
* This API is used for initialize
* bus read, bus write function pointers,device
* address,accel revision id, gyro revision id
* mag revision id, software revision id, boot loader
* revision id and page id
*
* @param bno055 - structure pointer
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note While changing the parameter of the bno055_t
* consider the following point:
* Changing the reference value of the parameter
* will changes the local copy or local reference
* make sure your changes will not
* affect the reference value of the parameter
* (Better case don't change the reference value of the parameter)
*/
BNO055_RETURN_FUNCTION_TYPE bno055_init(struct bno055_t *bno055);
/*!
* @brief
* This API gives data to the given register and
* the data is written in the corresponding register address
*
* @param addr_u8 : Address of the register
* @param data_u8 : Data to be written to the register
* @param len_u8 : Length of the Data
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_write_register(u8 addr_u8,
u8 *data_u8, u8 len_u8);
/*!
* @brief This API reads the data from
* the given register address
*
* @param addr_u8 : Address of the register
* @param data_u8 : address of the variable,
* read value will be kept
* @param len_u8 : Length of the data
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_register(u8 addr_u8,
u8 *data_u8, u8 len_u8);
/*!
* @brief This API reads chip id
* from register 0x00 it is a byte of data
*
*
* @param chip_id_u8 : The chip id value 0xA0
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_chip_id(u8 *chip_id_u8);
/*!
* @brief This API reads software revision id
* from register 0x04 and 0x05 it is a two byte of data
*
* @param sw_id_u8 : The SW revision id
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_sw_rev_id(u16 *sw_id_u8);
/*!
* @brief This API reads page id
* from register 0x07 it is a byte of data
*
*
* @param page_id_u8 : The value of page id
*
* BNO055_PAGE_ZERO -> 0x00
* BNO055_PAGE_ONE -> 0x01
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_page_id(u8 *page_id_u8);
/*!
* @brief This API used to write
* the page id register 0x07
*
* @param page_id_u8 : The value of page id
*
* BNO055_PAGE_ZERO -> 0x00
* BNO055_PAGE_ONE -> 0x01
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_write_page_id(u8 page_id_u8);
/*!
* @brief This API reads accel revision id
* from register 0x01 it is a byte of value
*
* @param accel_rev_id_u8 : The accel revision id 0xFB
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_rev_id(
u8 *accel_rev_id_u8);
/*!
* @brief This API reads mag revision id
* from register 0x02 it is a byte of value
*
* @param mag_rev_id_u8 : The mag revision id 0x32
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_rev_id(
u8 *mag_rev_id_u8);
/*!
* @brief This API reads gyro revision id
* from register 0x03 it is a byte of value
*
* @param gyro_rev_id_u8 : The gyro revision id 0xF0
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_rev_id(
u8 *gyro_rev_id_u8);
/*!
* @brief This API used to read boot loader revision id
* from register 0x06 it is a byte of value
*
* @param bl_rev_id_u8 : The boot loader revision id
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_bl_rev_id(
u8 *bl_rev_id_u8);
/**************************************************/
/**\name ACCEL DATA READ FUNCTIONS */
/**************************************************/
/*!
* @brief This API reads acceleration data X values
* from register 0x08 and 0x09 it is a two byte data
*
*
*
*
* @param accel_x_s16 : The X raw data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_x(s16 *accel_x_s16);
/*!
* @brief This API reads acceleration data Y values
* from register 0x0A and 0x0B it is a two byte data
*
*
*
*
* @param accel_y_s16 : The Y raw data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_y(s16 *accel_y_s16);
/*!
* @brief This API reads acceleration data z values
* from register 0x0C and 0x0D it is a two byte data
*
*
*
*
* @param accel_z_s16 : The z raw data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_z(s16 *accel_z_s16);
/*!
* @brief This API reads acceleration data xyz values
* from register 0x08 to 0x0D it is a six byte data
*
*
* @param accel : The value of accel xyz data
*
* Parameter | result
* --------- | -----------------
* x | The accel x data
* y | The accel y data
* z | The accel z data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_xyz(
struct bno055_accel_t *accel);
/**************************************************/
/**\name MAG DATA READ FUNCTIONS */
/**************************************************/
/*!
* @brief This API reads mag data x values
* from register 0x0E and 0x0F it is a two byte data
*
*
*
*
* @param mag_x_s16 : The x raw data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_x(s16 *mag_x_s16);
/*!
* @brief This API reads mag data y values
* from register 0x10 and 0x11 it is a two byte data
*
*
*
*
* @param mag_y_s16 : The y raw data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_y(s16 *mag_y_s16);
/*!
* @brief This API reads mag data z values
* from register 0x12 and 0x13 it is a two byte data
*
*
*
*
* @param mag_z_s16 : The z raw data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_z(s16 *mag_z_s16);
/*!
* @brief This API reads mag data xyz values
* from register 0x0E to 0x13 it is a six byte data
*
*
* @param mag : The mag xyz values
*
* Parameter | result
* --------- | -----------------
* x | The mag x data
* y | The mag y data
* z | The mag z data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_xyz(struct bno055_mag_t *mag);
/**************************************************/
/**\name GYRO DATA READ FUNCTIONS */
/**************************************************/
/*!
* @brief This API reads gyro data x values
* from register 0x14 and 0x15 it is a two byte data
*
*
*
*
* @param gyro_x_s16 : The x raw data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_x(s16 *gyro_x_s16);
/*!
* @brief This API reads gyro data y values
* from register 0x16 and 0x17 it is a two byte data
*
*
*
*
* @param gyro_y_s16 : The y raw data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_y(s16 *gyro_y_s16);
/*!
* @brief This API reads gyro data z values
* from register 0x18 and 0x19 it is a two byte data
*
* @param gyro_z_s16 : The z raw data
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_z(s16 *gyro_z_s16);
/*!
* @brief This API reads gyro data xyz values
* from register 0x14 to 0x19 it is a six byte data
*
*
* @param gyro : The value of gyro xyz data's
*
* Parameter | result
* --------- | -----------------
* x | The gyro x data
* y | The gyro y data
* z | The gyro z data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_xyz(struct bno055_gyro_t *gyro);
/**************************************************/
/**\name EULER DATA READ FUNCTIONS */
/**************************************************/
/*!
* @brief This API reads gyro data z values
* from register 0x1A and 0x1B it is a two byte data
*
* @param euler_h_s16 : The raw h data
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_h(s16 *euler_h_s16);
/*!
* @brief This API reads Euler data r values
* from register 0x1C and 0x1D it is a two byte data
*
* @param euler_r_s16 : The raw r data
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_r(s16 *euler_r_s16);
/*!
* @brief This API reads Euler data p values
* from register 0x1E and 0x1F it is a two byte data
*
* @param euler_p_s16 : The raw p data
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_p(s16 *euler_p_s16);
/*!
* @brief This API reads Euler data hrp values
* from register 0x1A to 0x1F it is a six byte data
*
*
* @param euler : The Euler hrp data's
*
* Parameter | result
* --------- | -----------------
* h | The Euler h data
* r | The Euler r data
* p | The Euler p data
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_hrp(
struct bno055_euler_t *euler);
/**************************************************/
/**\name QUATERNION DATA READ FUNCTIONS */
/**************************************************/
/*!
* @brief This API reads quaternion data w values
* from register 0x20 and 0x21 it is a two byte data
*
* @param quaternion_w_s16 : The raw w data
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_w(
s16 *quaternion_w_s16);
/*!
* @brief This API reads quaternion data x values
* from register 0x22 and 0x23 it is a two byte data
*
* @param quaternion_x_s16 : The raw x data
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_x(
s16 *quaternion_x_s16);
/*!
* @brief This API reads quaternion data y values
* from register 0x24 and 0x25 it is a two byte data
*
* @param quaternion_y_s16 : The raw y data
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_y(
s16 *quaternion_y_s16);
/*!
* @brief This API reads quaternion data z values
* from register 0x26 and 0x27 it is a two byte data
*
* @param quaternion_z_s16 : The raw z data
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_z(
s16 *quaternion_z_s16);
/*!
* @brief This API reads Quaternion data wxyz values
* from register 0x20 to 0x27 it is a six byte data
*
*
* @param quaternion : The value of quaternion wxyz data's
*
* Parameter | result
* --------- | -----------------
* w | The quaternion w data
* x | The quaternion x data
* y | The quaternion y data
* z | The quaternion z data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_wxyz(
struct bno055_quaternion_t *quaternion);
/**************************************************/
/**\name LINEAR ACCEL DATA READ FUNCTIONS */
/**************************************************/
/*!
* @brief This API reads Linear accel data x values
* from register 0x29 and 0x2A it is a two byte data
*
* @param linear_accel_x_s16 : The raw x data
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_x(
s16 *linear_accel_x_s16);
/*!
* @brief This API reads Linear accel data x values
* from register 0x2B and 0x2C it is a two byte data
*
* @param linear_accel_y_s16 : The raw y data
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_y(
s16 *linear_accel_y_s16);
/*!
* @brief This API reads Linear accel data x values
* from register 0x2C and 0x2D it is a two byte data
*
* @param linear_accel_z_s16 : The raw z data
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_z(
s16 *linear_accel_z_s16);
/*!
* @brief This API reads Linear accel data xyz values
* from register 0x28 to 0x2D it is a six byte data
*
*
* @param linear_accel : The value of linear accel xyz data's
*
* Parameter | result
* --------- | -----------------
* x | The linear accel x data
* y | The linear accel y data
* z | The linear accel z data
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_xyz(
struct bno055_linear_accel_t *linear_accel);
/**************************************************/
/**\name GRAVITY DATA READ FUNCTIONS */
/**************************************************/
/*!
* @brief This API reads gravity data x values
* from register 0x2E and 0x2F it is a two byte data
*
* @param gravity_x_s16 : The raw x data
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_x(
s16 *gravity_x_s16);
/*!
* @brief This API reads gravity data y values
* from register 0x30 and 0x31 it is a two byte data
*
* @param gravity_y_s16 : The raw y data
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_y(
s16 *gravity_y_s16);
/*!
* @brief This API reads gravity data z values
* from register 0x32 and 0x33 it is a two byte data
*
* @param gravity_z_s16 : The raw z data
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_z(
s16 *gravity_z_s16);
/*!
* @brief This API reads gravity data xyz values
* from register 0x2E to 0x33 it is a six byte data
*
*
* @param gravity : The value of gravity xyz data's
*
* Parameter | result
* --------- | -----------------
* x | The gravity x data
* y | The gravity y data
* z | The gravity z data
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_xyz(
struct bno055_gravity_t *gravity);
/**************************************************/
/**\name TEMPERATURE DATA READ FUNCTIONS */
/**************************************************/
/*!
* @brief This API reads temperature values
* from register 0x33 it is a byte data
*
* @param temp_s8 : The raw temperature data
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_temp_data(s8 *temp_s8);
#ifdef BNO055_FLOAT_ENABLE
/********************************************************************/
/**\name FUNCTIONS FOR READING ACCEL DATA OUTPUT AS FLOAT PRECISION */
/********************************************************************/
/*!
* @brief This API is used to convert the accel x raw data
* to meterpersecseq output as float
*
* @param accel_x_f : The accel x meterpersecseq data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_x_msq(
float *accel_x_f);
/*!
* @brief This API is used to convert the accel x raw data
* to meterpersecseq output as float
*
* @param accel_y_f : The accel y meterpersecseq data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_y_msq(
float *accel_y_f);
/*!
* @brief This API is used to convert the accel z raw data
* to meterpersecseq output as float
*
* @param accel_z_f : The accel z meterpersecseq data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_z_msq(
float *accel_z_f);
/*!
* @brief This API is used to convert the accel y raw data
* to millig output as float
*
* @param accel_x_f : The accel y millig data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_x_mg(
float *accel_x_f);
/*!
* @brief This API is used to convert the accel y raw data
* to millig output as float
*
* @param accel_y_f : The accel y millig data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_y_mg(
float *accel_y_f);
/*!
* @brief This API is used to convert the accel z raw data
* to millig output as float
*
* @param accel_z_f : The accel z millig data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_z_mg(
float *accel_z_f);
/*!
* @brief This API is used to convert the accel xyz raw data
* to meterpersecseq output as float
*
* @param accel_xyz : The meterpersecseq data of accel xyz
*
* Parameter | result
* --------- | -----------------
* x | meterpersecseq data of accel
* y | meterpersecseq data of accel
* z | meterpersecseq data of accel
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_xyz_msq(
struct bno055_accel_float_t *accel_xyz);
/*!
* @brief This API is used to convert the accel xyz raw data
* to millig output as float
*
* @param accel_xyz : The millig data of accel xyz
*
* Parameter | result
* --------- | -----------------
* x | millig data of accel
* y | millig data of accel
* z | millig data of accel
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_xyz_mg(
struct bno055_accel_float_t *accel_xyz);
/********************************************************************/
/**\name FUNCTIONS FOR READING MAG DATA OUTPUT AS FLOAT PRECISION */
/********************************************************************/
/*!
* @brief This API is used to convert the mag x raw data
* to microTesla output as float
*
* @param mag_x_f : The mag x microTesla data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_x_uT(
float *mag_x_f);
/*!
* @brief This API is used to convert the mag y raw data
* to microTesla output as float
*
* @param mag_y_f : The mag y microTesla data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_y_uT(
float *mag_y_f);
/*!
* @brief This API is used to convert the mag z raw data
* to microTesla output as float
*
* @param mag_z_f : The mag z microTesla data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_z_uT(
float *mag_z_f);
/*!
* @brief This API is used to convert the mag yz raw data
* to microTesla output as float
*
* @param mag_xyz_data : The microTesla data of mag xyz
*
* Parameter | result
* --------- | -----------------
* x | microTesla data of mag
* y | microTesla data of mag
* z | microTesla data of mag
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_xyz_uT(
struct bno055_mag_float_t *mag_xyz_data);
/********************************************************************/
/**\name FUNCTIONS FOR READING GYRO DATA OUTPUT AS FLOAT PRECISION */
/********************************************************************/
/*!
* @brief This API is used to convert the gyro x raw data
* to dps output as float
*
* @param gyro_x_f : The gyro x dps float data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_x_dps(
float *gyro_x_f);
/*!
* @brief This API is used to convert the gyro x raw data
* to rps output as float
*
* @param gyro_x_f : The gyro x dps float data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_x_rps(
float *gyro_x_f);
/*!
* @brief This API is used to convert the gyro y raw data
* to dps output as float
*
* @param gyro_y_f : The gyro y dps float data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_y_dps(
float *gyro_y_f);
/*!
* @brief This API is used to convert the gyro y raw data
* to rps output as float
*
* @param gyro_y_f : The gyro y dps float data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_y_rps(
float *gyro_y_f);
/*!
* @brief This API is used to convert the gyro z raw data
* to dps output as float
*
* @param gyro_z_f : The gyro z dps float data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_z_dps(
float *gyro_z_f);
/*!
* @brief This API is used to convert the gyro z raw data
* to rps output as float
*
* @param gyro_z_f : The gyro z rps float data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_z_rps(
float *gyro_z_f);
/*!
* @brief This API is used to convert the gyro xyz raw data
* to dps output as float
*
* @param gyro_xyz_data : The dps data of gyro xyz
*
* Parameter | result
* --------- | -----------------
* x | dps data of gyro
* y | dps data of gyro
* z | dps data of gyro
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_xyz_dps(
struct bno055_gyro_float_t *gyro_xyz_data);
/*!
* @brief This API is used to convert the gyro xyz raw data
* to rps output as float
*
* @param gyro_xyz_data : The rps data of gyro xyz
*
* Parameter | result
* --------- | -----------------
* x | rps data of gyro
* y | rps data of gyro
* z | rps data of gyro
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_xyz_rps(
struct bno055_gyro_float_t *gyro_xyz_data);
/********************************************************************/
/**\name FUNCTIONS FOR READING EULER DATA OUTPUT AS FLOAT PRECISION */
/********************************************************************/
/*!
* @brief This API is used to convert the Euler h raw data
* to degree output as float
*
* @param euler_h_f : The float value of Euler h degree
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_h_deg(
float *euler_h_f);
/*!
* @brief This API is used to convert the Euler h raw data
* to radians output as float
*
* @param euler_h_f : The float value of Euler h radians
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_h_rad(
float *euler_h_f);
/*!
* @brief This API is used to convert the Euler r raw data
* to degree output as float
*
* @param euler_r_f : The float value of Euler r degree
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_r_deg(
float *euler_r_f);
/*!
* @brief This API is used to convert the Euler r raw data
* to radians output as float
*
* @param euler_r_f : The float value of Euler r radians
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_r_rad(
float *euler_r_f);
/*!
* @brief This API is used to convert the Euler p raw data
* to degree output as float
*
* @param euler_p_f : The float value of Euler p degree
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_p_deg(
float *euler_p_f);
/*!
* @brief This API is used to convert the Euler p raw data
* to radians output as float
*
* @param euler_p_f : The float value of Euler p radians
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_p_rad(
float *euler_p_f);
/*!
* @brief This API is used to convert the Euler hrp raw data
* to degree output as float
*
* @param euler_hpr : The degree data of Euler hrp
*
* Parameter | result
* --------- | -----------------
* h | degree data of Euler
* r | degree data of Euler
* p | degree data of Euler
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_hpr_deg(
struct bno055_euler_float_t *euler_hpr);
/*!
* @brief This API is used to convert the Euler xyz raw data
* to radians output as float
*
* @param euler_hpr : The radians data of Euler hrp
*
* Parameter | result
* --------- | -----------------
* h | radians data of Euler
* r | radians data of Euler
* p | radians data of Euler
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_hpr_rad(
struct bno055_euler_float_t *euler_hpr);
/***************************************************************************/
/**\name FUNCTIONS FOR READING LINEAR ACCEL DATA OUTPUT AS FLOAT PRECISION */
/**************************************************************************/
/*!
* @brief This API is used to convert the linear
* accel x raw data to meterpersecseq output as float
*
* @param linear_accel_x_f : The float value of linear accel x meterpersecseq
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_x_msq(
float *linear_accel_x_f);
/*!
* @brief This API is used to convert the linear
* accel y raw data to meterpersecseq output as float
*
* @param linear_accel_y_f : The float value of linear accel y meterpersecseq
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_y_msq(
float *linear_accel_y_f);
/*!
* @brief This API is used to convert the linear
* accel z raw data to meterpersecseq output as float
*
* @param linear_accel_z_f : The float value of linear accel z meterpersecseq
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_z_msq(
float *linear_accel_z_f);
/*!
* @brief This API is used to convert the linear accel xyz raw data
* to meterpersecseq output as float
*
* @param linear_accel_xyz : The meterpersecseq data of linear accel xyz
*
* Parameter | result
* --------- | -----------------
* x | meterpersecseq data of linear accel
* y | meterpersecseq data of linear accel
* z | meterpersecseq data of linear accel
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_xyz_msq(
struct bno055_linear_accel_float_t *linear_accel_xyz);
/********************************************************************/
/**\name FUNCTIONS FOR READING GRAVITY DATA OUTPUT AS FLOAT PRECISION */
/********************************************************************/
/*!
* @brief This API is used to convert the gravity
* x raw data to meterpersecseq output as float
*
* @param gravity_x_f : The float value of gravity x meterpersecseq
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_x_msq(
float *gravity_x_f);
/*!
* @brief This API is used to convert the gravity
* y raw data to meterpersecseq output as float
*
* @param gravity_y_f : The float value of gravity y meterpersecseq
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_y_msq(
float *gravity_y_f);
/*!
* @brief This API is used to convert the gravity
* z raw data to meterpersecseq output as float
*
* @param gravity_z_f : The float value of gravity z meterpersecseq
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_z_msq(
float *gravity_z_f);
/*!
* @brief This API is used to convert the gravity xyz raw data
* to meterpersecseq output as float
*
* @param gravity_xyz : The meterpersecseq data of gravity xyz
*
* Parameter | result
* --------- | -----------------
* x | meterpersecseq data of gravity
* y | meterpersecseq data of gravity
* z | meterpersecseq data of gravity
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gravity_xyz_msq(
struct bno055_gravity_float_t *gravity_xyz);
/**************************************************************************/
/**\name FUNCTIONS FOR READING TEMPERATURE DATA OUTPUT AS FLOAT PRECISION */
/*************************************************************************/
/*!
* @brief This API is used to convert the temperature
* data to Fahrenheit output as float
*
* @param temp_f : The float value of temperature Fahrenheit
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_temp_fahrenheit(
float *temp_f);
/*!
* @brief This API is used to convert the temperature
* data to Celsius output as float
*
* @param temp_f : The float value of temperature Celsius
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_temp_celsius(
float *temp_f);
#endif
#ifdef BNO055_DOUBLE_ENABLE
/**************************************************************************/
/**\name FUNCTIONS FOR READING ACCEL DATA OUTPUT AS DOUBLE PRECISION */
/*************************************************************************/
/*!
* @brief This API is used to convert the accel x raw data
* to meterpersecseq output as double
*
* @param accel_x_d : The accel x meterpersecseq data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_x_msq(
double *accel_x_d);
/*!
* @brief This API is used to convert the accel y raw data
* to meterpersecseq output as double
*
* @param accel_y_d : The accel y meterpersecseq data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_y_msq(
double *accel_y_d);
/*!
* @brief This API is used to convert the accel z raw data
* to meterpersecseq output as double
*
* @param accel_z_d : The accel z meterpersecseq data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_z_msq(
double *accel_z_d);
/*!
* @brief This API is used to convert the accel x raw data
* to millig output as double
*
* @param accel_x_d : The accel x millig data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_x_mg(
double *accel_x_d);
/*!
* @brief This API is used to convert the accel y raw data
* to millig output as double
*
* @param accel_y_d : The accel y millig data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_y_mg(
double *accel_y_d);
/*!
* @brief This API is used to convert the accel z raw data
* to millig output as double
*
* @param accel_z_d : The accel z millig data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_z_mg(
double *accel_z_d);
/*!
* @brief This API is used to convert the accel xyz raw data
* to meterpersecseq output as double
*
* @param accel_xyz : The meterpersecseq data of accel xyz
*
* Parameter | result
* --------- | -----------------
* x | meterpersecseq data of accel
* y | meterpersecseq data of accel
* z | meterpersecseq data of accel
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_xyz_msq(
struct bno055_accel_double_t *accel_xyz);
/*!
* @brief This API is used to convert the accel xyz raw data
* to millig output as double
*
* @param accel_xyz : The millig data of accel xyz
*
* Parameter | result
* --------- | -----------------
* x | millig data of accel
* y | millig data of accel
* z | millig data of accel
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_xyz_mg(
struct bno055_accel_double_t *accel_xyz);
/**************************************************************************/
/**\name FUNCTIONS FOR READING MAG DATA OUTPUT AS DOUBLE PRECISION */
/*************************************************************************/
/*!
* @brief This API is used to convert the mag x raw data
* to microTesla output as double
*
* @param mag_x_d : The mag x microTesla data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_x_uT(
double *mag_x_d);
/*!
* @brief This API is used to convert the mag x raw data
* to microTesla output as double
*
* @param mag_y_d : The mag x microTesla data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_y_uT(
double *mag_y_d);
/*!
* @brief This API is used to convert the mag z raw data
* to microTesla output as double
*
* @param mag_z_d : The mag z microTesla data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_z_uT(
double *mag_z_d);
/*!
* @brief This API is used to convert the mag yz raw data
* to microTesla output as double
*
* @param mag_xyz : The microTesla data of mag xyz
*
* Parameter | result
* --------- | -----------------
* x | microTesla data of mag
* y | microTesla data of mag
* z | microTesla data of mag
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_xyz_uT(
struct bno055_mag_double_t *mag_xyz);
/**************************************************************************/
/**\name FUNCTIONS FOR READING GYRO DATA OUTPUT AS DOUBLE PRECISION */
/*************************************************************************/
/*!
* @brief This API is used to convert the gyro x raw data
* to dps output as double
*
* @param gyro_x_d : The gyro x dps double data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_x_dps(
double *gyro_x_d);
/*!
* @brief This API is used to convert the gyro y raw data
* to dps output as double
*
* @param gyro_y_d : The gyro y dps double data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_y_dps(
double *gyro_y_d);
/*!
* @brief This API is used to convert the gyro z raw data
* to dps output as double
*
* @param gyro_z_d : The gyro z dps double data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_z_dps(
double *gyro_z_d);
/*!
* @brief This API is used to convert the gyro x raw data
* to rps output as double
*
* @param gyro_x_d : The gyro x dps double data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_x_rps(
double *gyro_x_d);
/*!
* @brief This API is used to convert the gyro y raw data
* to rps output as double
*
* @param gyro_y_d : The gyro y dps double data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_y_rps(
double *gyro_y_d);
/*!
* @brief This API is used to convert the gyro z raw data
* to rps output as double
*
* @param gyro_z_d : The gyro z rps double data
*
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_z_rps(
double *gyro_z_d);
/*!
* @brief This API is used to convert the gyro xyz raw data
* to dps output as double
*
* @param gyro_xyz : The dps data of gyro xyz
*
* Parameter | result
* --------- | -----------------
* x | dps data of gyro
* y | dps data of gyro
* z | dps data of gyro
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_xyz_dps(
struct bno055_gyro_double_t *gyro_xyz);
/*!
* @brief This API is used to convert the gyro xyz raw data
* to rps output as double
*
* @param gyro_xyz : The rps data of gyro xyz
*
* Parameter | result
* --------- | -----------------
* x | rps data of gyro
* y | rps data of gyro
* z | rps data of gyro
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_xyz_rps(
struct bno055_gyro_double_t *gyro_xyz);
/**************************************************************************/
/**\name FUNCTIONS FOR READING EULER DATA OUTPUT AS DOUBLE PRECISION */
/*************************************************************************/
/*!
* @brief This API is used to convert the Euler h raw data
* to degree output as double
*
* @param euler_h_d : The double value of Euler h degree
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_h_deg(
double *euler_h_d);
/*!
* @brief This API is used to convert the Euler p raw data
* to degree output as double
*
* @param euler_p_d : The double value of Euler p degree
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_p_deg(
double *euler_p_d);
/*!
* @brief This API is used to convert the Euler r raw data
* to degree output as double
*
* @param euler_r_d : The double value of Euler r degree
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_r_deg(
double *euler_r_d);
/*!
* @brief This API is used to convert the Euler h raw data
* to radians output as double
*
* @param euler_h_d : The double value of Euler h radians
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_h_rad(
double *euler_h_d);
/*!
* @brief This API is used to convert the Euler p raw data
* to radians output as double
*
* @param euler_p_d : The double value of Euler p radians
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_p_rad(
double *euler_p_d);
/*!
* @brief This API is used to convert the Euler r raw data
* to radians output as double
*
* @param euler_r_d : The double value of Euler r radians
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_r_rad(
double *euler_r_d);
/*!
* @brief This API is used to convert the Euler hpr raw data
* to degree output as double
*
* @param euler_hpr : The degree data of Euler hpr
*
* Parameter | result
* --------- | -----------------
* h | degree data of Euler
* r | degree data of Euler
* p | degree data of Euler
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_hpr_deg(
struct bno055_euler_double_t *euler_hpr);
/*!
* @brief This API is used to convert the Euler hpr raw data
* to radians output as double
*
* @param euler_hpr : The radians data of Euler hpr
*
* Parameter | result
* --------- | -----------------
* h | radians data of Euler
* r | radians data of Euler
* p | radians data of Euler
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_hpr_rad(
struct bno055_euler_double_t *euler_hpr);
/****************************************************************************/
/**\name FUNCTIONS FOR READING LINEAR ACCEL DATA OUTPUT AS DOUBLE PRECISION */
/****************************************************************************/
/*!
* @brief This API is used to convert the linear
* accel x raw data to meterpersecseq output as double
*
* @param linear_accel_x_d : The double value of
* linear accel x meterpersecseq
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_x_msq(
double *linear_accel_x_d);
/*!
* @brief This API is used to convert the linear
* accel y raw data to meterpersecseq output as double
*
* @param linear_accel_y_d : The double value of
* linear accel y meterpersecseq
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_y_msq(
double *linear_accel_y_d);
/*!
* @brief This API is used to convert the linear
* accel z raw data to meterpersecseq output as double
*
* @param linear_accel_z_d : The double value of
* linear accel z meterpersecseq
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_z_msq(
double *linear_accel_z_d);
/*!
* @brief This API is used to convert the linear accel xyz raw data
* to meterpersecseq output as double
*
* @param linear_accel_xyz : The meterpersecseq data of linear accel xyz
*
* Parameter | result
* --------- | -----------------
* x | meterpersecseq data of linear accel
* y | meterpersecseq data of linear accel
* z | meterpersecseq data of linear accel
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_xyz_msq(
struct bno055_linear_accel_double_t *linear_accel_xyz);
/**************************************************************************/
/**\name FUNCTIONS FOR READING GRAVITY DATA OUTPUT AS DOUBLE PRECISION */
/*************************************************************************/
/*!
* @brief This API is used to convert the gravity
* x raw data to meterpersecseq output as double
*
* @param gravity_x_d : The double value of gravity x meterpersecseq
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_x_msq(
double *gravity_x_d);
/*!
* @brief This API is used to convert the gravity
* y raw data to meterpersecseq output as double
*
* @param gravity_y_d : The double value of gravity y meterpersecseq
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_y_msq(
double *gravity_y_d);
/*!
* @brief This API is used to convert the gravity
* z raw data to meterpersecseq output as double
*
* @param gravity_z_d : The double value of gravity z meterpersecseq
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_z_msq(
double *gravity_z_d);
/*!
* @brief This API is used to convert the gravity xyz raw data
* to meterpersecseq output as double
*
* @param gravity_xyz : The meterpersecseq data of gravity xyz
*
* Parameter | result
* --------- | -----------------
* x | meterpersecseq data of gravity
* y | meterpersecseq data of gravity
* z | meterpersecseq data of gravity
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gravity_xyz_msq(
struct bno055_gravity_double_t *gravity_xyz);
/**************************************************************************/
/**\name FUNCTIONS FOR READING TEMPERATURE DATA OUTPUT AS DOUBLE PRECISION*/
/*************************************************************************/
/*!
* @brief This API is used to convert the temperature
* data to Fahrenheit output as double
*
* @param temp_d : The double value of temperature Fahrenheit
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_temp_fahrenheit(
double *temp_d);
/*!
* @brief This API is used to convert the temperature
* data to Celsius output as double
*
* @param temp_d : The double value of temperature Celsius
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_temp_celsius(
double *temp_d);
#endif
/**************************************************************************/
/**\name FUNCTIONS FOR READING ACCEL,MAG,GYRO AND SYSTEM CALIBRATION STATUS*/
/*************************************************************************/
/*!
* @brief This API used to read
* mag calibration status from register from 0x35 bit 0 and 1
*
* @param mag_calib_u8 : The value of mag calib status
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_calib_stat(
u8 *mag_calib_u8);
/*!
* @brief This API used to read
* accel calibration status from register from 0x35 bit 2 and 3
*
* @param accel_calib_u8 : The value of accel calib status
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_calib_stat(
u8 *accel_calib_u8);
/*!
* @brief This API used to read
* gyro calibration status from register from 0x35 bit 4 and 5
*
* @param gyro_calib_u8 : The value of gyro calib status
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_calib_stat(
u8 *gyro_calib_u8);
/*!
* @brief This API used to read
* system calibration status from register from 0x35 bit 6 and 7
*
* @param sys_calib_u8 : The value of system calib status
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_calib_stat(
u8 *sys_calib_u8);
/*!
* @brief This API used to read
* all calibration status from register from 0x35
*
* @param all_calib_u8 : The value of all calib status
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_all_calib_stat(
u8 *all_calib_u8);
/******************************************************************/
/**\name FUNCTIONS FOR READING ACCEL,MAG,GYRO AND SYSTEM SELF TEST */
/******************************************************************/
/*!
* @brief This API used to read
* self test of accel from register from 0x36 bit 0
*
* @param selftest_accel_u8 : The value of self test of accel
*
* selftest_accel_u8 | result
* -------------------- | ---------------------
* 0x00 | indicates test failed
* 0x01 | indicated test passed
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_accel(
u8 *selftest_accel_u8);
/*!
* @brief This API used to read
* self test of mag from register from 0x36 bit 1
*
* @param selftest_mag_u8 : The value of self test of mag
*
* selftest_mag_u8 | result
* -------------------- | ---------------------
* 0x00 | indicates test failed
* 0x01 | indicated test passed
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_mag(
u8 *selftest_mag_u8);
/*!
* @brief This API used to read
* self test of gyro from register from 0x36 bit 2
*
* @param selftest_gyro_u8 : The value of self test of gyro
*
* selftest_gyro_u8 | result
* -------------------- | ---------------------
* 0x00 | indicates test failed
* 0x01 | indicated test passed
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_gyro(
u8 *selftest_gyro_u8);
/*!
* @brief This API used to read
* self test of micro controller from register from 0x36 bit 3
*
* @param selftest_mcu_u8 : The value of self test of micro controller
*
* selftest_mcu_u8 | result
* -------------------- | ---------------------
* 0x00 | indicates test failed
* 0x01 | indicated test passed
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_mcu(
u8 *selftest_mcu_u8);
/*****************************************************/
/**\name FUNCTIONS FOR READING GYRO INTERRUPT STATUS */
/*****************************************************/
/*!
* @brief This API used to read the stat_s8 of
* gyro anymotion interrupt from register from 0x37 bit 2
*
* @param gyro_any_motion_u8 : The value of gyro anymotion interrupt
*
* gyro_any_motion_u8 | result
* -------------------- | ---------------------
* 0x00 | indicates no interrupt triggered
* 0x01 | indicates interrupt triggered
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Gyro anymotion interrupt can be BNO055_BIT_ENABLE
* by the following APIs
*
* bno055_set_intr_mask_gyro_any_motion()
*
* bno055_set_intr_gyro_any_motion()
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_gyro_any_motion(
u8 *gyro_any_motion_u8);
/*!
* @brief This API used to read the stat_s8 of
* gyro highrate interrupt from register from 0x37 bit 3
*
* @param gyro_highrate_u8 : The value of gyro highrate interrupt
*
* gyro_highrate_u8 | result
* ------------------- | ---------------------
* 0x00 | indicates no interrupt triggered
* 0x01 | indicates interrupt triggered
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Gyro highrate interrupt can be configured
* by the following APIs
*
* bno055_set_intr_mask_gyro_highrate()
*
* bno055_set_intr_gyro_highrate()
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_gyro_highrate(
u8 *gyro_highrate_u8);
/*****************************************************/
/**\name FUNCTIONS FOR READING ACCEL INTERRUPT STATUS */
/*****************************************************/
/*!
* @brief This API used to read the status of
* accel highg interrupt from register from 0x37 bit 5
*
* @param accel_high_g_u8 : The value of accel highg interrupt
*
* accel_high_g_u8 | result
* ------------------- | ---------------------
* 0x00 | indicates no interrupt triggered
* 0x01 | indicates interrupt triggered
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Accel highg interrupt can be configured
* by the following APIs
*
* bno055_set_intr_mask_accel_high_g()
*
* bno055_set_intr_accel_high_g()
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_high_g(
u8 *accel_high_g_u8);
/*!
* @brief This API used to read the stat_s8 of
* accel anymotion interrupt from register from 0x37 bit 6
*
* @param accel_any_motion_u8 : The value of accel anymotion interrupt
*
* accel_any_motion_u8 | result
* ------------------- | ---------------------
* 0x00 | indicates no interrupt triggered
* 0x01 | indicates interrupt triggered
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Accel anymotion interrupt can be configured
* by the following APIs
*
* bno055_set_intr_mask_accel_any_motion()
*
* bno055_set_intr_accel_any_motion()
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_any_motion(
u8 *accel_any_motion_u8);
/*!
* @brief This API used to read the stat_s8 of
* accel nomotion/slowmotion interrupt from register from 0x37 bit 6
*
* @param accel_no_motion_u8 :
* The value of accel nomotion/slowmotion interrupt
*
* accel_no_motion_u8 | result
* ------------------- | ---------------------
* 0x00 | indicates no interrupt triggered
* 0x01 | indicates interrupt triggered
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Accel nomotion/slowmotion interrupt can be configured
* by the following APIs
*
* bno055_set_intr_mask_accel_nomotion()
*
* bno055_set_intr_accel_nomotion()
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_no_motion(
u8 *accel_no_motion_u8);
/**************************************************************************/
/**\name FUNCTIONS FOR READING SYSTEM CLOCK, STATUS AND BNO055_ERROR CODE */
/*************************************************************************/
/*!
* @brief This API is used to read status of main clock
* from the register 0x38 bit 0
*
* @param stat_main_clk_u8 : the status of main clock
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_stat_main_clk(
u8 *stat_main_clk_u8);
/*!
* @brief This API is used to read system status
* code from the register 0x39 it is a byte of data
*
* @param sys_stat_u8 : the status of system
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_stat_code(
u8 *sys_stat_u8);
/*!
* @brief This API is used to read system BNO055_ERROR
* code from the register 0x3A it is a byte of data
*
* @param sys_error_u8 : The value of system BNO055_ERROR code
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_error_code(
u8 *sys_error_u8);
/********************************************/
/**\name FUNCTIONS FOR ACCEL UNIT SELECTION */
/********************************************/
/*!
* @brief This API used to read the accel unit
* from register from 0x3B bit 0
*
* @param accel_unit_u8 : The value of accel unit
*
* accel_unit_u8 | result
* ------------- | ---------------
* 0x00 | BNO055_ACCEL_UNIT_MSQ
* 0x01 | BNO055_ACCEL_UNIT_MG
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_unit(
u8 *accel_unit_u8);
/*!
* @brief This API used to write the accel unit
* from register from 0x3B bit 0
*
* @param accel_unit_u8 : The value of accel unit
*
* accel_unit_u8 | result
* ------------- | ---------------
* 0x00 | BNO055_ACCEL_UNIT_MSQ
* 0x01 | BNO055_ACCEL_UNIT_MG
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_unit(
u8 accel_unit_u8);
/********************************************/
/**\name FUNCTIONS FOR GYRO UNIT SELECTION */
/********************************************/
/*!
* @brief This API used to read the gyro unit
* from register from 0x3B bit 1
*
* @param gyro_unit_u8 : The value of accel unit
*
* gyro_unit_u8 | result
* ------------- | -----------
* 0x00 | BNO055_GYRO_UNIT_DPS
* 0x01 | BNO055_GYRO_UNIT_RPS
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_unit(
u8 *gyro_unit_u8);
/*!
* @brief This API used to write the gyro unit
* from register from 0x3B bit 1
*
* @param gyro_unit_u8 : The value of accel unit
*
* gyro_unit_u8 | result
* ------------- | -----------
* 0x00 | BNO055_GYRO_UNIT_DPS
* 0x01 | BNO055_GYRO_UNIT_RPS
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_unit(u8 gyro_unit_u8);
/********************************************/
/**\name FUNCTIONS FOR EULER UNIT SELECTION */
/********************************************/
/*!
* @brief This API used to read the Euler unit
* from register from 0x3B bit 2
*
* @param euler_unit_u8 : The value of accel unit
*
* euler_unit_u8 | result
* -------------- | -----------
* 0x00 | BNO055_EULER_UNIT_DEG
* 0x01 | BNO055_EULER_UNIT_RAD
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_euler_unit(
u8 *euler_unit_u8);
/*!
* @brief This API used to write the Euler unit
* from register from 0x3B bit 2
*
* @param euler_unit_u8 : The value of Euler unit
*
* euler_unit_u8 | result
* -------------- | -----------
* 0x00 | BNO055_EULER_UNIT_DEG
* 0x01 | BNO055_EULER_UNIT_RAD
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_euler_unit(u8 euler_unit_u8);
/********************************************/
/**\name FUNCTIONS FOR TILT UNIT SELECTION */
/********************************************/
/*!
* @brief This API used to write the tilt unit
* from register from 0x3B bit 3
*
* @param tilt_unit_u8 : The value of tilt unit
*
* tilt_unit_u8 | result
* --------------- | ---------
* 0x00 | degrees
* 0x01 | radians
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_tilt_unit(
u8 *tilt_unit_u8);
/*!
* @brief This API used to write the tilt unit
* from register from 0x3B bit 3
*
* @param tilt_unit_u8 : The value of tilt unit
*
* tilt_unit_u8 | result
* --------------- | ---------
* 0x00 | degrees
* 0x01 | radians
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*
* \return Communication results
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_tilt_unit(
u8 tilt_unit_u8);
/**************************************************/
/**\name FUNCTIONS FOR TEMPERATURE UNIT SELECTION */
/**************************************************/
/*!
* @brief This API used to read the temperature unit
* from register from 0x3B bit 4
*
* @param temp_unit_u8 : The value of temperature unit
*
* temp_unit_u8 | result
* ----------- | --------------
* 0x00 | BNO055_TEMP_UNIT_CELSIUS
* 0x01 | BNO055_TEMP_UNIT_FAHRENHEIT
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_temp_unit(
u8 *temp_unit_u8);
/*!
* @brief This API used to write the temperature unit
* from register from 0x3B bit 4
*
* @param temp_unit_u8 : The value of temperature unit
*
* temp_unit_u8 | result
* ----------- | --------------
* 0x00 | BNO055_TEMP_UNIT_CELSIUS
* 0x01 | BNO055_TEMP_UNIT_FAHRENHEIT
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_temp_unit(
u8 temp_unit_u8);
/**************************************************/
/**\name FUNCTIONS FOR DATA OUTPUT FORMAT SELECT */
/**************************************************/
/*!
* @brief This API used to read the current selected orientation mode
* from register from 0x3B bit 7
*
* @param data_output_format_u8 : The value of data output format
*
* data_output_format_u8 | result
* -------------------- | --------
* 0x00 | Windows
* 0x01 | Android
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_data_output_format(
u8 *data_output_format_u8);
/*!
* @brief This API used to read the current selected orientation mode
* from register from 0x3B bit 7
*
* @param data_output_format_u8 : The value of data output format
*
* data_output_format_u8 | result
* -------------------- | --------
* 0x00 | Windows
* 0x01 | Android
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_data_output_format(
u8 data_output_format_u8);
/**************************************************/
/**\name FUNCTIONS FOR DATA OPERATION MODE */
/**************************************************/
/*! @brief This API used to read the operation mode
* from register from 0x3D bit 0 to 3
*
* @param operation_mode_u8 : The value of operation mode
*
* operation_mode_u8 | result | comments
* ----------|----------------------------|----------------------------
* 0x00 | BNO055_OPERATION_MODE_CONFIG | Configuration mode
* 0x01 | BNO055_OPERATION_MODE_ACCONLY | Reads accel data alone
* 0x02 | BNO055_OPERATION_MODE_MAGONLY | Reads mag data alone
* 0x03 | BNO055_OPERATION_MODE_GYRONLY | Reads gyro data alone
* 0x04 | BNO055_OPERATION_MODE_ACCMAG | Reads accel and mag data
* 0x05 | BNO055_OPERATION_MODE_ACCGYRO | Reads accel and gyro data
* 0x06 | BNO055_OPERATION_MODE_MAGGYRO | Reads accel and mag data
* 0x07 | OPERATION_MODE_ANY_MOTION | Reads accel mag and gyro data
* 0x08 | BNO055_OPERATION_MODE_IMUPLUS | Inertial measurement unit
* - | - | Reads accel,gyro and fusion data
* 0x09 | BNO055_OPERATION_MODE_COMPASS | Reads accel, mag data
* - | - | and fusion data
* 0x0A | BNO055_OPERATION_MODE_M4G | Reads accel, mag data
* - | - | and fusion data
* 0x0B | BNO055_OPERATION_MODE_NDOF_FMC_OFF| Nine degrees of freedom with
* - | - | fast magnetic calibration
* - | - | Reads accel,mag, gyro
* - | - | and fusion data
* 0x0C | BNO055_OPERATION_MODE_NDOF | Nine degrees of freedom
* - | - | Reads accel,mag, gyro
* - | - | and fusion data
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note In the config mode, all sensor and fusion data
* becomes zero and it is mainly derived
* to configure the various settings of the BNO
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_operation_mode(
u8 *operation_mode_u8);
/*! @brief This API used to write the operation mode
* from register from 0x3D bit 0 to 3
*
* @param operation_mode_u8 : The value of operation mode
*
* operation_mode_u8 | result | comments
* ---------|-----------------------------------|--------------------------
* 0x00 | BNO055_OPERATION_MODE_CONFIG | Configuration mode
* 0x01 | BNO055_OPERATION_MODE_ACCONLY | Reads accel data alone
* 0x02 | BNO055_OPERATION_MODE_MAGONLY | Reads mag data alone
* 0x03 | BNO055_OPERATION_MODE_GYRONLY | Reads gyro data alone
* 0x04 | BNO055_OPERATION_MODE_ACCMAG | Reads accel and mag data
* 0x05 | BNO055_OPERATION_MODE_ACCGYRO | Reads accel and gyro data
* 0x06 | BNO055_OPERATION_MODE_MAGGYRO | Reads accel and mag data
* 0x07 | OPERATION_MODE_ANY_MOTION | Reads accel mag and
* | - | gyro data
* 0x08 | BNO055_OPERATION_MODE_IMUPLUS | Inertial measurement unit
* - | | Reads accel,gyro and
* | - | fusion data
* 0x09 | BNO055_OPERATION_MODE_COMPASS | Reads accel, mag data
* - | - | and fusion data
* 0x0A | BNO055_OPERATION_MODE_M4G | Reads accel, mag data
* - | - | and fusion data
* 0x0B | BNO055_OPERATION_MODE_NDOF_FMC_OFF| Nine degrees of freedom with
* - | - | fast magnetic calibration
* - | - | Reads accel,mag, gyro
* - | - | and fusion data
* 0x0C | BNO055_OPERATION_MODE_NDOF | Nine degrees of freedom
* - | - | Reads accel,mag, gyro
* - | - | and fusion data
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note In the config mode, all sensor and fusion data
* becomes zero and it is mainly derived
* to configure the various settings of the BNO
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_operation_mode(u8 operation_mode_u8);
/**************************************************/
/**\name FUNCTIONS FOR POWER MODE */
/**************************************************/
/*! @brief This API used to read the power mode
* from register from 0x3E bit 0 to 1
*
* @param power_mode_u8 : The value of power mode
*
* power_mode_u8| result | comments
* ---------|---------------------------|-------------------------------------
* 0x00 |BNO055_POWER_MODE_NORMAL | In the NORMAL mode the register
* - | - | map and the internal peripherals
* - | - | of the MCU are always
* - | - | operative in this mode
* 0x01 |BNO055_POWER_MODE_LOWPOWER | This is first level of power
* | - | saving mode
* 0x02 |BNO055_POWER_MODE_SUSPEND | In suspend mode the system is
* - | - | paused and all the sensors and
* - | - | the micro controller are
* - | - | put into sleep mode.
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note For detailed about LOWPOWER mode
* refer data sheet 3.4.2
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_power_mode(
u8 *power_mode_u8);
/*! @brief This API used to write the power mode
* from register from 0x3E bit 0 to 1
*
* @param power_mode_u8 : The value of power mode
*
*
* power_mode_u8| result | comments
* -------|----------------------------|---------------------------------
* 0x00 | BNO055_POWER_MODE_NORMAL | In the NORMAL mode the register
* - | - | map and the internal peripherals
* - | - | of the MCU are always
* - | - | operative in this mode
* 0x01 | BNO055_POWER_MODE_LOWPOWER | This is first level of power
* | - | saving mode
* 0x02 | BNO055_POWER_MODE_SUSPEND | In suspend mode the system is
* - | - | paused and all the sensors and
* - | - | the micro controller are
* - | - | put into sleep mode.
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note For detailed about LOWPOWER mode
* refer data sheet 3.4.2
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_power_mode(u8 power_mode_u8);
/**************************************************/
/**\name FUNCTIONS FOR RESET INTERRUPT */
/**************************************************/
/*!
* @brief This API used to read the reset interrupt
* from register from 0x3F bit 6
* It resets all the interrupt bit and interrupt output
*
* @param intr_rst_u8 : The value of reset interrupt
*
* intr_rst_u8 | result
* -------------|----------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_rst(
u8 *intr_rst_u8);
/*!
* @brief This API used to write the reset interrupt
* from register from 0x3F bit 6
* It resets all the interrupt bit and interrupt output
*
* @param intr_rst_u8 : The value of reset interrupt
*
* intr_rst_u8 | result
* -------------- |----------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_rst(u8 intr_rst_u8);
/**************************************************/
/**\name FUNCTIONS FOR CLOCK SOURCE */
/**************************************************/
/*!
* @brief This API used to read the clk source
* from register from 0x3F bit 7
*
* @param clk_src_u8 : The value of clk source
*
* clk_src_u8 | result
* -------------|----------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_clk_src(
u8 *clk_src_u8);
/*!
* @brief This API used to write the clk source
* from register from 0x3F bit 7
*
* @param clk_src_u8 : The value of clk source
*
* clk_src_u8 | result
* -------------- |----------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_clk_src(u8 clk_src_u8);
/**************************************************/
/**\name FUNCTIONS FOR RESET SYSTEM */
/**************************************************/
/*!
* @brief This API used to read the reset system
* from register from 0x3F bit 5
*
* @param sys_rst_u8 : The value of reset system
*
* sys_rst_u8 | result
* -------------- |----------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note It resets the whole system
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_rst(
u8 *sys_rst_u8);
/*!
* @brief This API used to write the reset system
* from register from 0x3F bit 5
*
* @param sys_rst_u8 : The value of reset system
*
* sys_rst_u8 | result
* -------------- |----------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note It resets the whole system
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_sys_rst(u8 sys_rst_u8);
/**************************************************/
/**\name FUNCTIONS FOR SELF TEST */
/**************************************************/
/*!
* @brief This API used to read the self test
* from register from 0x3F bit 0
*
* @param selftest_u8 : The value of self test
*
* selftest_u8 | result
* -------------- |----------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note It triggers the self test
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest(
u8 *selftest_u8);
/*!
* @brief This API used to write the self test
* from register from 0x3F bit 0
*
* @param selftest_u8 : The value of self test
*
* selftest_u8 | result
* -------------- |----------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note It triggers the self test
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_selftest(u8 selftest_u8);
/**************************************************/
/**\name FUNCTIONS FOR TEMPERATURE SOURCE */
/**************************************************/
/*!
* @brief This API used to read the temperature source
* from register from 0x40 bit 0 and 1
*
* @param temp_source_u8 : The value of selected temperature source
*
* temp_source_u8 | result
* ---------------- |---------------
* 0x00 | BNO055_ACCEL_TEMP_EN
* 0X01 | BNO055_GYRO_TEMP_EN
* 0X03 | BNO055_MCU_TEMP_EN
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_temp_source(
u8 *temp_source_u8);
/*!
* @brief This API used to write the temperature source
* from register from 0x40 bit 0 and 1
*
* @param temp_source_u8 : The value of selected temperature source
*
* temp_source_u8 | result
* ---------------- |---------------
* 0x00 | BNO055_ACCEL_TEMP_EN
* 0X01 | BNO055_GYRO_TEMP_EN
* 0X03 | BNO055_MCU_TEMP_EN
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_temp_source(u8 temp_source_u8);
/**************************************************/
/**\name APIs FOR AXIS REMAP */
/**************************************************/
/*!
* @brief This API used to read the axis remap value
* from register from 0x41 bit 0 and 5
*
* @param remap_axis_u8 : The value of axis remapping
*
* remap_axis_u8 | result | comments
* ------------|-------------------|------------
* 0X21 | BNO055_REMAP_X_Y | Z=Z;X=Y;Y=X
* 0X18 | BNO055_REMAP_Y_Z | X=X;Y=Z;Z=Y
* 0X06 | BNO055_REMAP_Z_X | Y=Y;X=Z;Z=X
* 0X12 | BNO055_REMAP_X_Y_Z_TYPE0 | X=Z;Y=X;Z=Y
* 0X09 | BNO055_REMAP_X_Y_Z_TYPE1 | X=Y;Y=Z;Z=X
* 0X24 | BNO055_DEFAULT_AXIS | X=X;Y=Y;Z=Z
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note : For axis sign remap refer the following APIs
* x-axis :
*
* bno055_set_x_remap_sign()
*
* y-axis :
*
* bno055_set_y_remap_sign()
*
* z-axis :
*
* bno055_set_z_remap_sign()
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_axis_remap_value(
u8 *remap_axis_u8);
/*!
* @brief This API used to write the axis remap value
* from register from 0x41 bit 0 and 5
*
* @param remap_axis_u8 : The value of axis remapping
*
* remap_axis_u8 | result | comments
* ------------|--------------------------|------------
* 0X21 | BNO055_REMAP_X_Y | Z=Z;X=Y;Y=X
* 0X18 | BNO055_REMAP_Y_Z | X=X;Y=Z;Z=Y
* 0X06 | BNO055_REMAP_Z_X | Y=Y;X=Z;Z=X
* 0X12 | BNO055_REMAP_X_Y_Z_TYPE0 | X=Z;Y=X;Z=Y
* 0X09 | BNO055_REMAP_X_Y_Z_TYPE1 | X=Y;Y=Z;Z=X
* 0X24 | BNO055_DEFAULT_AXIS | X=X;Y=Y;Z=Z
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note : For axis sign remap refer the following APIs
* x-axis :
*
* bno055_set_x_remap_sign()
*
* y-axis :
*
* bno055_set_y_remap_sign()
*
* z-axis :
*
* bno055_set_z_remap_sign()
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_axis_remap_value(
u8 remap_axis_u8);
/**************************************************/
/**\name APIs FOR AXIS REMAP SIGN */
/**************************************************/
/*!
* @brief This API used to read the x-axis remap
* sign from register from 0x42 bit 2
*
* @param remap_x_sign_u8 : The value of x-axis remap sign
*
* remap_x_sign_u8 | result
* ------------------- |--------------------
* 0X00 | BNO055_REMAP_AXIS_POSITIVE
* 0X01 | BNO055_REMAP_AXIS_NEGATIVE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_x_sign(
u8 *remap_x_sign_u8);
/*!
* @brief This API used to write the x-axis remap
* sign from register from 0x42 bit 2
*
* @param remap_x_sign_u8 : The value of x-axis remap sign
*
* remap_x_sign_u8 | result
* ------------------- |--------------------
* 0X00 | BNO055_REMAP_AXIS_POSITIVE
* 0X01 | BNO055_REMAP_AXIS_NEGATIVE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_x_sign(
u8 remap_x_sign_u8);
/*!
* @brief This API used to read the y-axis remap
* sign from register from 0x42 bit 1
*
* @param remap_y_sign_u8 : The value of y-axis remap sign
*
* remap_y_sign_u8 | result
* ------------------- |--------------------
* 0X00 | BNO055_REMAP_AXIS_POSITIVE
* 0X01 | BNO055_REMAP_AXIS_NEGATIVE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_y_sign(
u8 *remap_y_sign_u8);
/*!
* @brief This API used to write the y-axis remap
* sign from register from 0x42 bit 1
*
* @param remap_y_sign_u8 : The value of y-axis remap sign
*
* remap_y_sign_u8 | result
* ------------------- |--------------------
* 0X00 | BNO055_REMAP_AXIS_POSITIVE
* 0X01 | BNO055_REMAP_AXIS_NEGATIVE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_y_sign(
u8 remap_y_sign_u8);
/*!
* @brief This API used to read the z-axis remap
* sign from register from 0x42 bit 0
*
* @param remap_z_sign_u8 : The value of z-axis remap sign
*
* remap_z_sign_u8 | result
* ------------------- |--------------------
* 0X00 | BNO055_REMAP_AXIS_POSITIVE
* 0X01 | BNO055_REMAP_AXIS_NEGATIVE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_z_sign(
u8 *remap_z_sign_u8);
/*!
* @brief This API used to write the z-axis remap
* sign from register from 0x42 bit 0
*
* @param remap_z_sign_u8 : The value of z-axis remap sign
*
* remap_z_sign_u8 | result
* ------------------|--------------------
* 0X00 | BNO055_REMAP_AXIS_POSITIVE
* 0X01 | BNO055_REMAP_AXIS_NEGATIVE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_z_sign(
u8 remap_z_sign_u8);
/*****************************************************/
/**\name FUNCTIONS FOR SOFT IRON CALIBRATION MATRIX */
/*****************************************************/
/*!
* @brief This API is used to read soft iron calibration matrix
* from the register 0x43 to 0x53 it is a 18 bytes of data
*
* @param sic_matrix : The value of soft iron calibration matrix
*
* sic_matrix | result
* --------------------|----------------------------------
* sic_0 | soft iron calibration matrix zero
* sic_1 | soft iron calibration matrix one
* sic_2 | soft iron calibration matrix two
* sic_3 | soft iron calibration matrix three
* sic_4 | soft iron calibration matrix four
* sic_5 | soft iron calibration matrix five
* sic_6 | soft iron calibration matrix six
* sic_7 | soft iron calibration matrix seven
* sic_8 | soft iron calibration matrix eight
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note : Each soft iron calibration matrix range from -32768 to +32767
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_sic_matrix(
struct bno055_sic_matrix_t *sic_matrix);
/*!
* @brief This API is used to write soft iron calibration matrix
* from the register 0x43 to 0x53 it is a 18 bytes of data
*
* @param sic_matrix : The value of soft iron calibration matrix
*
* sic_matrix | result
* --------------------|----------------------------------
* sic_0 | soft iron calibration matrix zero
* sic_1 | soft iron calibration matrix one
* sic_2 | soft iron calibration matrix two
* sic_3 | soft iron calibration matrix three
* sic_4 | soft iron calibration matrix four
* sic_5 | soft iron calibration matrix five
* sic_6 | soft iron calibration matrix six
* sic_7 | soft iron calibration matrix seven
* sic_8 | soft iron calibration matrix eight
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note : Each soft iron calibration matrix range from -32768 to +32767
*/
BNO055_RETURN_FUNCTION_TYPE bno055_write_sic_matrix(
struct bno055_sic_matrix_t *sic_matrix);
/*****************************************************/
/**\name FUNCTIONS FOR ACCEL OFFSET AND RADIUS */
/*****************************************************/
/*!
* @brief This API is used to read accel offset and accel radius
* offset form register 0x55 to 0x5A and radius form 0x67 and 0x68
*
* @param accel_offset : The value of accel offset and radius
*
* bno055_accel_offset_t | result
* ------------------- | ----------------
* x | accel offset x
* y | accel offset y
* z | accel offset z
* r | accel offset r
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note The range of the accel offset varies based on
* the G-range of accel sensor.
*
* accel G range | offset range
* --------------- | --------------
* BNO055_ACCEL_RANGE_2G | +/-2000
* BNO055_ACCEL_RANGE_4G | +/-4000
* BNO055_ACCEL_RANGE_8G | +/-8000
* BNO055_ACCEL_RANGE_16G | +/-16000
*
* accel G range can be configured by using the
* bno055_set_accel_range() API
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_offset(
struct bno055_accel_offset_t *accel_offset);
/*!
* @brief This API is used to write accel offset and accel radius
* offset form register 0x55 to 0x5A and radius form 0x67 and 0x68
*
* @param accel_offset : The value of accel offset and radius
*
* bno055_accel_offset_t | result
* ------------------- | ----------------
* x | accel offset x
* y | accel offset y
* z | accel offset z
* r | accel offset r
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note The range of the accel offset varies based on
* the G-range of accel sensor.
*
* accel G range | offset range
* --------------- | --------------
* BNO055_ACCEL_RANGE_2G | +/-2000
* BNO055_ACCEL_RANGE_4G | +/-4000
* BNO055_ACCEL_RANGE_8G | +/-8000
* BNO055_ACCEL_RANGE_16G | +/-16000
*
* accel G range can be configured by using the
* bno055_set_accel_range() API
*/
BNO055_RETURN_FUNCTION_TYPE bno055_write_accel_offset(
struct bno055_accel_offset_t *accel_offset);
/*****************************************************/
/**\name FUNCTIONS FOR MAG OFFSET AND RADIUS*/
/*****************************************************/
/*!
* @brief This API is used to read mag offset
* offset form register 0x69 to 0x6A
*
* @param mag_offset : The value of mag offset and radius
*
* bno055_mag_offset_t | result
* ------------------- | ----------------
* x | mag offset x
* y | mag offset y
* z | mag offset z
* r | mag radius r
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note The range of the magnetometer offset is +/-6400 in LSB
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_offset(
struct bno055_mag_offset_t *mag_offset);
/*!
* @brief This API is used to read mag offset
* offset form register 0x69 to 0x6A
*
* @param mag_offset : The value of mag offset and radius
*
* bno055_mag_offset_t | result
* ------------------- | ----------------
* x | mag offset x
* y | mag offset y
* z | mag offset z
* r | mag radius r
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note The range of the magnetometer offset is +/-6400 in LSB
*/
BNO055_RETURN_FUNCTION_TYPE bno055_write_mag_offset(
struct bno055_mag_offset_t *mag_offset);
/*****************************************************/
/**\name FUNCTIONS FOR GYRO OFFSET */
/*****************************************************/
/*!
* @brief This API is used to read gyro offset
* offset form register 0x61 to 0x66
*
* @param gyro_offset : The value of gyro offset
*
* bno055_gyro_offset_t | result
* ------------------- | ----------------
* x | gyro offset x
* y | gyro offset y
* z | gyro offset z
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note The range of the gyro offset varies based on
* the range of gyro sensor
*
* gyro G range | offset range
* -------------------- | ------------
* BNO055_GYRO_RANGE_2000DPS | +/-32000
* BNO055_GYRO_RANGE_1000DPS | +/-16000
* BNO055_GYRO_RANGE_500DPS | +/-8000
* BNO055_GYRO_RANGE_250DPS | +/-4000
* BNO055_GYRO_RANGE_125DPS | +/-2000
*
* Gyro range can be configured by using the
* bno055_set_gyro_range() API
*/
BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_offset(
struct bno055_gyro_offset_t *gyro_offset);
/*!
* @brief This API is used to read gyro offset
* offset form register 0x61 to 0x66
*
* @param gyro_offset : The value of gyro offset
*
* bno055_gyro_offset_t | result
* ------------------- | ----------------
* x | gyro offset x
* y | gyro offset y
* z | gyro offset z
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note The range of the gyro offset varies based on
* the range of gyro sensor
*
* gyro G range | offset range
* -------------------- | ------------
* BNO055_GYRO_RANGE_2000DPS | +/-32000
* BNO055_GYRO_RANGE_1000DPS | +/-16000
* BNO055_GYRO_RANGE_500DPS | +/-8000
* BNO055_GYRO_RANGE_250DPS | +/-4000
* BNO055_GYRO_RANGE_125DPS | +/-2000
*
* Gyro range can be configured by using the
* bno055_set_gyro_range() API
*/
BNO055_RETURN_FUNCTION_TYPE bno055_write_gyro_offset(
struct bno055_gyro_offset_t *gyro_offset);
/********************************************************/
/************** PAGE1 Functions *********************/
/********************************************************/
/*****************************************************/
/**\name FUNCTIONS FOR ACCEL CONFIGURATION */
/*****************************************************/
/*!
* @brief This API used to read the accel range
* from page one register from 0x08 bit 0 and 1
*
* @param accel_range_u8 : The value of accel range
* accel_range_u8 | result
* ----------------- | --------------
* 0x00 | BNO055_ACCEL_RANGE_2G
* 0x01 | BNO055_ACCEL_RANGE_4G
* 0x02 | BNO055_ACCEL_RANGE_8G
* 0x03 | BNO055_ACCEL_RANGE_16G
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_range(
u8 *accel_range_u8);
/*!
* @brief This API used to write the accel range
* from page one register from 0x08 bit 0 and 1
*
* @param accel_range_u8 : The value of accel range
*
* accel_range_u8 | result
* ----------------- | --------------
* 0x00 | BNO055_ACCEL_RANGE_2G
* 0x01 | BNO055_ACCEL_RANGE_4G
* 0x02 | BNO055_ACCEL_RANGE_8G
* 0x03 | BNO055_ACCEL_RANGE_16G
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_range(
u8 accel_range_u8);
/*!
* @brief This API used to read the accel bandwidth
* from page one register from 0x08 bit 2 to 4
*
* @param accel_bw_u8 : The value of accel bandwidth
*
* accel_bw_u8 | result
* ----------------- | ---------------
* 0x00 | BNO055_ACCEL_BW_7_81HZ
* 0x01 | BNO055_ACCEL_BW_15_63HZ
* 0x02 | BNO055_ACCEL_BW_31_25HZ
* 0x03 | BNO055_ACCEL_BW_62_5HZ
* 0x04 | BNO055_ACCEL_BW_125HZ
* 0x05 | BNO055_ACCEL_BW_250HZ
* 0x06 | BNO055_ACCEL_BW_500HZ
* 0x07 | BNO055_ACCEL_BW_1000HZ
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_bw(
u8 *accel_bw_u8);
/*!
* @brief This API used to write the accel bandwidth
* from page one register from 0x08 bit 2 to 4
*
* @param accel_bw_u8 : The value of accel bandwidth
*
* accel_bw_u8 | result
* ----------------- | ---------------
* 0x00 | BNO055_ACCEL_BW_7_81HZ
* 0x01 | BNO055_ACCEL_BW_15_63HZ
* 0x02 | BNO055_ACCEL_BW_31_25HZ
* 0x03 | BNO055_ACCEL_BW_62_5HZ
* 0x04 | BNO055_ACCEL_BW_125HZ
* 0x05 | BNO055_ACCEL_BW_250HZ
* 0x06 | BNO055_ACCEL_BW_500HZ
* 0x07 | BNO055_ACCEL_BW_1000HZ
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_bw(
u8 accel_bw_u8);
/*!
* @brief This API used to read the accel power mode
* from page one register from 0x08 bit 5 to 7
*
* @param accel_power_mode_u8 : The value of accel power mode
* accel_power_mode_u8 | result
* ----------------- | -------------
* 0x00 | BNO055_ACCEL_NORMAL
* 0x01 | BNO055_ACCEL_SUSPEND
* 0x02 | BNO055_ACCEL_LOWPOWER_1
* 0x03 | BNO055_ACCEL_STANDBY
* 0x04 | BNO055_ACCEL_LOWPOWER_2
* 0x05 | BNO055_ACCEL_DEEPSUSPEND
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_power_mode(
u8 *accel_power_mode_u8);
/*!
* @brief This API used to write the accel power mode
* from page one register from 0x08 bit 5 to 7
*
* @param accel_power_mode_u8 : The value of accel power mode
* accel_power_mode_u8 | result
* ----------------- | -------------
* 0x00 | BNO055_ACCEL_NORMAL
* 0x01 | BNO055_ACCEL_SUSPEND
* 0x02 | BNO055_ACCEL_LOWPOWER_1
* 0x03 | BNO055_ACCEL_STANDBY
* 0x04 | BNO055_ACCEL_LOWPOWER_2
* 0x05 | BNO055_ACCEL_DEEPSUSPEND
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_power_mode(
u8 accel_power_mode_u8);
/*****************************************************/
/**\name FUNCTIONS FOR MAG CONFIGURATION */
/*****************************************************/
/*!
* @brief This API used to read the mag output data rate
* from page one register from 0x09 bit 0 to 2
*
* @param mag_data_output_rate_u8 : The value of mag output data rate
*
* mag_data_output_rate_u8 | result
* ---------------------- |----------------------
* 0x00 | MAG_DATA_OUTPUT_RATE_2HZ
* 0x01 | MAG_DATA_OUTPUT_RATE_6HZ
* 0x02 | MAG_DATA_OUTPUT_RATE_8HZ
* 0x03 | MAG_DATA_OUTPUT_RATE_10HZ
* 0x04 | MAG_DATA_OUTPUT_RATE_15HZ
* 0x05 | MAG_DATA_OUTPUT_RATE_20HZ
* 0x06 | MAG_DATA_OUTPUT_RATE_25HZ
* 0x07 | MAG_DATA_OUTPUT_RATE_30HZ
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_data_output_rate(
u8 *mag_data_output_rate_u8);
/*!
* @brief This API used to write the mag output data rate
* from page one register from 0x09 bit 0 to 2
*
* @param mag_data_output_rate_u8 : The value of mag output data rate
*
* mag_data_output_rate_u8 | result
* ---------------------- |----------------------
* 0x00 | MAG_DATA_OUTPUT_RATE_2HZ
* 0x01 | MAG_DATA_OUTPUT_RATE_6HZ
* 0x02 | MAG_DATA_OUTPUT_RATE_8HZ
* 0x03 | MAG_DATA_OUTPUT_RATE_10HZ
* 0x04 | MAG_DATA_OUTPUT_RATE_15HZ
* 0x05 | MAG_DATA_OUTPUT_RATE_20HZ
* 0x06 | MAG_DATA_OUTPUT_RATE_25HZ
* 0x07 | MAG_DATA_OUTPUT_RATE_30HZ
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_data_output_rate(
u8 mag_data_output_rate_u8);
/*!
* @brief This API used to read the mag operation mode
* from page one register from 0x09 bit 3 to 4
*
* @param mag_operation_mode_u8 : The value of mag operation mode
*
* mag_operation_mode_u8 | result
* ------------------------|--------------------------
* 0x00 | MAG_OPR_MODE_LOWPOWER
* 0x01 | MAG_OPR_MODE_REGULAR
* 0x02 | MAG_OPR_MODE_ENHANCED_REGULAR
* 0x03 | MAG_OPR_MODE_HIGH_ACCURACY
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_operation_mode(
u8 *mag_operation_mode_u8);
/*!
* @brief This API used to write the mag operation mode
* from page one register from 0x09 bit 3 to 4
*
* @param mag_operation_mode_u8 : The value of mag operation mode
*
* mag_operation_mode_u8 | result
* ------------------------|--------------------------
* 0x00 | MAG_OPR_MODE_LOWPOWER
* 0x01 | MAG_OPR_MODE_REGULAR
* 0x02 | MAG_OPR_MODE_ENHANCED_REGULAR
* 0x03 | MAG_OPR_MODE_HIGH_ACCURACY
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_operation_mode(
u8 mag_operation_mode_u8);
/*!
* @brief This API used to read the mag power mode
* from page one register from 0x09 bit 4 to 6
*
* @param mag_power_mode_u8 : The value of mag power mode
*
* mag_power_mode_u8 | result
* --------------------|-----------------
* 0x00 | BNO055_MAG_POWER_MODE_NORMAL
* 0x01 | BNO055_MAG_POWER_MODE_SLEEP
* 0x02 | BNO055_MAG_POWER_MODE_SUSPEND
* 0x03 | BNO055_MAG_POWER_MODE_FORCE_MODE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_power_mode(
u8 *mag_power_mode_u8);
/*!
* @brief This API used to write the mag power mode
* from page one register from 0x09 bit 4 to 6
*
* @param mag_power_mode_u8 : The value of mag power mode
*
* mag_power_mode_u8 | result
* ------------------|-----------------
* 0x00 | BNO055_MAG_POWER_MODE_NORMAL
* 0x01 | BNO055_MAG_POWER_MODE_SLEEP
* 0x02 | BNO055_MAG_POWER_MODE_SUSPEND
* 0x03 | BNO055_MAG_POWER_MODE_FORCE_MODE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_power_mode(
u8 mag_power_mode_u8);
/*****************************************************/
/**\name FUNCTIONS FOR GYRO CONFIGURATION */
/*****************************************************/
/*!
* @brief This API used to read the gyro range
* from page one register from 0x0A bit 0 to 3
*
* @param gyro_range_u8 : The value of gyro range
*
* gyro_range_u8 | result
* --------------------|-----------------
* 0x00 | BNO055_GYRO_RANGE_2000DPS
* 0x01 | BNO055_GYRO_RANGE_1000DPS
* 0x02 | BNO055_GYRO_RANGE_500DPS
* 0x03 | BNO055_GYRO_RANGE_250DPS
* 0x04 | BNO055_GYRO_RANGE_125DPS
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_range(
u8 *gyro_range_u8);
/*!
* @brief This API used to write the gyro range
* from page one register from 0x0A bit 0 to 3
*
* @param gyro_range_u8 : The value of gyro range
*
* gyro_range_u8 | result
* --------------------|-----------------
* 0x00 | BNO055_GYRO_RANGE_2000DPS
* 0x01 | BNO055_GYRO_RANGE_1000DPS
* 0x02 | BNO055_GYRO_RANGE_500DPS
* 0x03 | BNO055_GYRO_RANGE_250DPS
* 0x04 | BNO055_GYRO_RANGE_125DPS
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_range(
u8 gyro_range_u8);
/*!
* @brief This API used to read the gyro bandwidth
* from page one register from 0x0A bit 3 to 5
*
* @param gyro_bw_u8 : The value of gyro bandwidth
*
* gyro_bw_u8 | result
* --------------------|-----------------
* 0x00 | BNO055_GYRO_BW_523HZ
* 0x01 | BNO055_GYRO_BW_230HZ
* 0x02 | BNO055_GYRO_BW_116HZ
* 0x03 | BNO055_GYRO_BW_47HZ
* 0x04 | BNO055_GYRO_BW_23HZ
* 0x05 | BNO055_GYRO_BW_12HZ
* 0x06 | BNO055_GYRO_BW_64HZ
* 0x07 | BNO055_GYRO_BW_32HZ
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_bw(
u8 *gyro_bw_u8);
/*!
* @brief This API used to write the gyro bandwidth
* from page one register from 0x0A bit 3 to 5
*
* @param gyro_bw_u8 : The value of gyro bandwidth
*
* gyro_bw_u8 | result
* --------------------|-----------------
* 0x00 | BNO055_GYRO_BW_523HZ
* 0x01 | BNO055_GYRO_BW_230HZ
* 0x02 | BNO055_GYRO_BW_116HZ
* 0x03 | BNO055_GYRO_BW_47HZ
* 0x04 | BNO055_GYRO_BW_23HZ
* 0x05 | BNO055_GYRO_BW_12HZ
* 0x06 | BNO055_GYRO_BW_64HZ
* 0x07 | BNO055_GYRO_BW_32HZ
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_bw(
u8 gyro_bw_u8);
/*!
* @brief This API used to read the gyro power mode
* from page one register from 0x0B bit 0 to 2
*
* @param gyro_power_mode_u8 : The value of gyro power mode
*
* gyro_power_mode_u8 | result
* ----------------------|----------------------------
* 0x00 | GYRO_OPR_MODE_NORMAL
* 0x01 | GYRO_OPR_MODE_FASTPOWERUP
* 0x02 | GYRO_OPR_MODE_DEEPSUSPEND
* 0x03 | GYRO_OPR_MODE_SUSPEND
* 0x04 | GYRO_OPR_MODE_ADVANCE_POWERSAVE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_power_mode(
u8 *gyro_power_mode_u8);
/*!
* @brief This API used to write the gyro power mode
* from page one register from 0x0B bit 0 to 2
*
* @param gyro_power_mode_u8 : The value of gyro power mode
*
* gyro_power_mode_u8 | result
* ----------------------|----------------------------
* 0x00 | GYRO_OPR_MODE_NORMAL
* 0x01 | GYRO_OPR_MODE_FASTPOWERUP
* 0x02 | GYRO_OPR_MODE_DEEPSUSPEND
* 0x03 | GYRO_OPR_MODE_SUSPEND
* 0x04 | GYRO_OPR_MODE_ADVANCE_POWERSAVE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_power_mode(
u8 gyro_power_mode_u8);
/*****************************************************/
/**\name FUNCTIONS FOR ACCEL SLEEP SETTINGS */
/*****************************************************/
/*!
* @brief This API used to read the accel sleep mode
* from page one register from 0x0C bit 0
*
* @param sleep_tmr_u8 : The value of accel sleep mode
*
* sleep_tmr_u8 | result
* ----------------- |------------------------------------
* 0x00 | enable EventDrivenSampling(EDT)
* 0x01 | enable Equidistant sampling mode(EST)
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_sleep_tmr_mode(
u8 *sleep_tmr_u8);
/*!
* @brief This API used to write the accel sleep mode
* from page one register from 0x0C bit 0
*
* @param sleep_tmr_u8 : The value of accel sleep mode
*
* sleep_tmr_u8 | result
* ----------------- |------------------------------------
* 0x00 | enable EventDrivenSampling(EDT)
* 0x01 | enable Equidistant sampling mode(EST)
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_sleep_tmr_mode(
u8 sleep_tmr_u8);
/*!
* @brief This API used to read the accel sleep duration
* from page one register from 0x0C bit 1 to 4
*
* @param sleep_durn_u8 : The value of accel sleep duration
*
* sleep_durn_u8 | result
* ---------------- |-----------------------------
* 0x05 | BNO055_ACCEL_SLEEP_DURN_0_5MS
* 0x06 | BNO055_ACCEL_SLEEP_DURN_1MS
* 0x07 | BNO055_ACCEL_SLEEP_DURN_2MS
* 0x08 | BNO055_ACCEL_SLEEP_DURN_4MS
* 0x09 | BNO055_ACCEL_SLEEP_DURN_6MS
* 0x0A | BNO055_ACCEL_SLEEP_DURN_10MS
* 0x0B | BNO055_ACCEL_SLEEP_DURN_25MS
* 0x0C | BNO055_ACCEL_SLEEP_DURN_50MS
* 0x0D | BNO055_ACCEL_SLEEP_DURN_100MS
* 0x0E | BNO055_ACCEL_SLEEP_DURN_500MS
* 0x0F | BNO055_ACCEL_SLEEP_DURN_1S
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_sleep_durn(
u8 *sleep_durn_u8);
/*!
* @brief This API used to write the accel sleep duration
* from page one register from 0x0C bit 1 to 4
*
* @param sleep_durn_u8 : The value of accel sleep duration
*
* sleep_durn_u8 | result
* ---------------- |-----------------------------
* 0x05 | BNO055_ACCEL_SLEEP_DURN_0_5MS
* 0x06 | BNO055_ACCEL_SLEEP_DURN_1MS
* 0x07 | BNO055_ACCEL_SLEEP_DURN_2MS
* 0x08 | BNO055_ACCEL_SLEEP_DURN_4MS
* 0x09 | BNO055_ACCEL_SLEEP_DURN_6MS
* 0x0A | BNO055_ACCEL_SLEEP_DURN_10MS
* 0x0B | BNO055_ACCEL_SLEEP_DURN_25MS
* 0x0C | BNO055_ACCEL_SLEEP_DURN_50MS
* 0x0D | BNO055_ACCEL_SLEEP_DURN_100MS
* 0x0E | BNO055_ACCEL_SLEEP_DURN_500MS
* 0x0F | BNO055_ACCEL_SLEEP_DURN_1S
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_sleep_durn(
u8 sleep_durn_u8);
/*****************************************************/
/**\name FUNCTIONS FOR GYRO SLEEP SETTINGS */
/*****************************************************/
/*!
* @brief This API used to write the gyro sleep duration
* from page one register from 0x0D bit 0 to 2
*
* @param sleep_durn_u8 : The value of gyro sleep duration
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_sleep_durn(
u8 *sleep_durn_u8);
/*!
* @brief This API used to write the gyro sleep duration
* from page one register from 0x0D bit 0 to 2
*
* @param sleep_durn_u8 : The value of gyro sleep duration
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_sleep_durn(
u8 sleep_durn);
/*!
* @brief This API used to read the gyro auto sleep duration
* from page one register from 0x0D bit 3 to 5
*
* @param auto_sleep_durn_u8 : The value of gyro auto sleep duration
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_auto_sleep_durn(
u8 *auto_sleep_durn_u8);
/*!
* @brief This API used to write the gyro auto sleep duration
* from page one register from 0x0D bit 3 to 5
*
* @param auto_sleep_durn_u8 : The value of gyro auto sleep duration
* @param bw : The value of gyro bandwidth
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_gyro_set_auto_sleep_durn(
u8 auto_sleep_durn_u8, u8 bw);
/*****************************************************/
/**\name FUNCTIONS FOR MAG SLEEP SETTINGS */
/*****************************************************/
/*!
* @brief This API used to read the mag sleep mode
* from page one register from 0x0E bit 0
*
* @param sleep_mode_u8 : The value of mag sleep mode
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_sleep_mode(
u8 *sleep_mode_u8);
/*!
* @brief This API used to write the mag sleep mode
* from page one register from 0x0E bit 0
*
* @param sleep_mode_u8 : The value of mag sleep mode
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_sleep_mode(
u8 sleep_mode_u8);
/*!
* @brief This API used to read the mag sleep duration
* from page one register from 0x0E bit 1 to 4
*
* @param sleep_durn_u8 : The value of mag sleep duration
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_sleep_durn(
u8 *sleep_durn_u8);
/*!
* @brief This API used to write the mag sleep duration
* from page one register from 0x0E bit 1 to 4
*
* @param sleep_durn_u8 : The value of mag sleep duration
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_sleep_durn(
u8 sleep_durn_u8);
/*****************************************************/
/**\name FUNCTIONS FOR GYRO INTERRUPT MASK */
/*****************************************************/
/*!
* @brief This API used to read the gyro anymotion interrupt mask
* from page one register from 0x0F bit 2
*
* @param gyro_any_motion_u8 : The value of gyro anymotion interrupt mask
* gyro_any_motion_u8 | result
* -------------------- |------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note While enabling the gyro anymotion interrupt
* configure the following settings
*
* Axis:
* bno055_set_gyro_any_motion_axis_enable()
*
* Filter setting:
* bno055_set_gyro_any_motion_filter()
*
* Threshold :
*
* bno055_set_gyro_any_motion_thres()
*
* Slope samples :
*
* bno055_set_gyro_any_motion_slope_samples()
*
* Awake duration :
*
* bno055_set_gyro_any_motion_awake_durn()
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_gyro_any_motion(
u8 *gyro_any_motion_u8);
/*!
* @brief This API used to write the gyro anymotion interrupt mask
* from page one register from 0x0F bit 2
*
* @param gyro_any_motion_u8 : The value of gyro anymotion interrupt mask
* gyro_any_motion_u8 | result
* -------------------- |------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note While enabling the gyro anymotion interrupt
* configure the following settings
*
* Axis:
* bno055_set_gyro_any_motion_axis_enable()
*
* Filter setting:
* bno055_set_gyro_any_motion_filter()
*
* Threshold :
*
* bno055_set_gyro_any_motion_thres()
*
* Slope samples :
*
* bno055_set_gyro_any_motion_slope_samples()
*
* Awake duration :
*
* bno055_set_gyro_any_motion_awake_durn()
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_gyro_any_motion(
u8 gyro_any_motion_u8);
/*!
* @brief This API used to read the gyro highrate interrupt mask
* from page one register from 0x0F bit 3
*
* @param gyro_highrate_u8 : The value of gyro highrate interrupt mask
* gyro_highrate_u8 | result
* -------------------- |------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note While enabling the gyro highrate interrupt
* configure the below settings by using
* the following APIs
*
* Axis :
*
* bno055_set_gyro_highrate_axis_enable()
*
* Filter :
*
* bno055_set_gyro_highrate_filter()
*
* Threshold :
*
* bno055_get_gyro_highrate_x_thres()
*
* bno055_get_gyro_highrate_y_thres()
*
* bno055_get_gyro_highrate_z_thres()
*
* Hysteresis :
*
* bno055_set_gyro_highrate_x_hyst()
*
* bno055_set_gyro_highrate_y_hyst()
*
* bno055_set_gyro_highrate_z_hyst()
*
* Duration :
*
* bno055_set_gyro_highrate_x_durn()
*
* bno055_set_gyro_highrate_y_durn()
*
* bno055_set_gyro_highrate_z_durn()
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_gyro_highrate(
u8 *gyro_highrate_u8);
/*!
* @brief This API used to write the gyro highrate interrupt mask
* from page one register from 0x0F bit 3
*
* @param gyro_highrate_u8 : The value of gyro highrate interrupt mask
* gyro_highrate_u8 | result
* -------------------- |------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note While enabling the gyro highrate interrupt
* configure the below settings by using
* the following APIs
*
* Axis :
*
* bno055_set_gyro_highrate_axis_enable()
*
* Filter :
*
* bno055_set_gyro_highrate_filter()
*
* Threshold :
*
* bno055_get_gyro_highrate_x_thres()
*
* bno055_get_gyro_highrate_y_thres()
*
* bno055_get_gyro_highrate_z_thres()
*
* Hysteresis :
*
* bno055_set_gyro_highrate_x_hyst()
*
* bno055_set_gyro_highrate_y_hyst()
*
* bno055_set_gyro_highrate_z_hyst()
*
* Duration :
*
* bno055_set_gyro_highrate_x_durn()
*
* bno055_set_gyro_highrate_y_durn()
*
* bno055_set_gyro_highrate_z_durn()
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_gyro_highrate(
u8 gyro_highrate_u8);
/*****************************************************/
/**\name APIs FOR ACCEL INTERRUPT MASK */
/*****************************************************/
/*!
* @brief This API used to read the accel highg interrupt mask
* from page one register from 0x0F bit 5
*
* @param accel_high_g_u8 : The value of accel highg interrupt mask
* accel_high_g_u8 | result
* -------------------- |------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note While enabling the accel highg interrupt
* configure the below settings by using
* the following APIs
*
* Axis :
*
* bno055_set_accel_high_g_axis_enable()
*
* Threshold :
*
* bno055_set_accel_high_g_thres()
*
* Duration :
*
* bno055_set_accel_high_g_durn()
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_high_g(
u8 *accel_high_g_u8);
/*!
* @brief This API used to write the accel highg interrupt mask
* from page one register from 0x0F bit 5
*
* @param accel_high_g_u8 : The value of accel highg interrupt mask
* accel_high_g_u8 | result
* -------------------- |------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note While enabling the accel highg interrupt
* configure the below settings by using
* the following APIs
*
* Axis :
*
* bno055_set_accel_high_g_axis_enable()
*
* Threshold :
*
* bno055_set_accel_high_g_thres()
*
* Duration :
*
* bno055_set_accel_high_g_durn()
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_high_g(
u8 accel_high_g_u8);
/*!
* @brief This API used to read the accel anymotion interrupt mask
* from page one register from 0x0F bit 6
*
* @param accel_any_motion_u8 : The value of accel anymotion interrupt mask
* accel_any_motion_u8 | result
* -------------------- |------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note While enabling the accel highg interrupt
* configure the below settings by using
* the following APIs
*
* Axis :
*
* bno055_set_accel_high_g_axis_enable()
*
* Threshold :
*
* bno055_set_accel_high_g_thres()
*
* Duration :
*
* bno055_set_accel_high_g_durn()
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_any_motion(
u8 *accel_any_motion_u8);
/*!
* @brief This API used to write the accel anymotion interrupt mask
* from page one register from 0x0F bit 6
*
* @param accel_any_motion_u8 : The value of accel anymotion interrupt mask
* accel_any_motion_u8 | result
* -------------------- |------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note While enabling the accel anymotion interrupt
* configure the following settings
*
* Axis:
*
* bno055_set_accel_any_motion_no_motion_axis_enable()
*
* Duration:
*
* bno055_set_accel_any_motion_durn()
*
* Threshold:
*
* bno055_set_accel_any_motion_thres()
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_any_motion(
u8 accel_any_motion_u8);
/*!
* @brief This API used to read the accel nomotion interrupt mask
* from page one register from 0x0F bit 7
*
* @param accel_nomotion_u8 : The value of accel nomotion interrupt mask
* accel_nomotion_u8 | result
* -------------------- |------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
*
* @note While enabling the accel anymotion interrupt
* configure the following settings
*
* Axis:
*
* bno055_set_accel_any_motion_no_motion_axis_enable()
*
* Duration:
*
* bno055_set_accel_any_motion_durn()
*
* Threshold:
*
* bno055_set_accel_any_motion_thres())
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_no_motion(
u8 *accel_nomotion_u8);
/*!
* @brief This API used to write the accel nomotion interrupt mask
* from page one register from 0x0F bit 7
*
* @param accel_nomotion_u8 : The value of accel nomotion interrupt mask
* accel_nomotion_u8 | result
* -------------------- |------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note While enabling the accel nomotion interrupt
* configure the following settings
*
* Axis:
*
* bno055_set_accel_any_motion_no_motion_axis_enable()
*
* Threshold :
*
* bno055_set_accel_slow_no_motion_thres()
*
* Duration :
*
* bno055_set_accel_slow_no_motion_durn()
*
* Slow/no motion enable:
*
* bno055_set_accel_slow_no_motion_enable()
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_no_motion(
u8 accel_nomotion_u8);
/*****************************************************/
/**\name FUNCTIONS FOR GYRO INTERRUPT */
/*****************************************************/
/*!
* @brief This API used to read the gyro anymotion interrupt
* from page one register from 0x10 bit 2
*
* @param gyro_any_motion_u8 : The value of gyro anymotion interrupt
* gyro_any_motion_u8 | result
* -------------------- |------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note While enabling the gyro anymotion interrupt
* configure the following settings
*
* Axis:
* bno055_set_gyro_any_motion_axis_enable()
*
* Filter setting:
* bno055_set_gyro_any_motion_filter()
*
* Threshold :
*
* bno055_set_gyro_any_motion_thres()
*
* Slope samples :
*
* bno055_set_gyro_any_motion_slope_samples()
*
* Awake duration :
*
* bno055_set_gyro_any_motion_awake_durn()
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_gyro_any_motion(
u8 *gyro_any_motion_u8);
/*!
* @brief This API used to write the gyro anymotion interrupt
* from page one register from 0x10 bit 2
*
* @param gyro_any_motion_u8 : The value of gyro anymotion interrupt
* gyro_any_motion_u8 | result
* -------------------- |------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note While enabling the gyro anymotion interrupt
* configure the following settings
*
* Axis:
* bno055_set_gyro_any_motion_axis_enable()
*
* Filter setting:
* bno055_set_gyro_any_motion_filter()
*
* Threshold :
*
* bno055_set_gyro_any_motion_thres()
*
* Slope samples :
*
* bno055_set_gyro_any_motion_slope_samples()
*
* Awake duration :
*
* bno055_set_gyro_any_motion_awake_durn()
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_gyro_any_motion(
u8 gyro_any_motion_u8);
/*!
* @brief This API used to read the gyro highrate interrupt
* from page one register from 0x10 bit 3
*
* @param gyro_highrate_u8 : The value of gyro highrate interrupt
* gyro_highrate_u8 | result
* -------------------- |------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note While enabling the gyro highrate interrupt
* configure the below settings by using
* the following APIs
*
* Axis :
*
* bno055_set_gyro_highrate_axis_enable()
*
* Filter :
*
* bno055_set_gyro_highrate_filter()
*
* Threshold :
*
* bno055_get_gyro_highrate_x_thres()
*
* bno055_get_gyro_highrate_y_thres()
*
* bno055_get_gyro_highrate_z_thres()
*
* Hysteresis :
*
* bno055_set_gyro_highrate_x_hyst()
*
* bno055_set_gyro_highrate_y_hyst()
*
* bno055_set_gyro_highrate_z_hyst()
*
* Duration :
*
* bno055_set_gyro_highrate_x_durn()
*
* bno055_set_gyro_highrate_y_durn()
*
* bno055_set_gyro_highrate_z_durn()
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_gyro_highrate(
u8 *gyro_highrate_u8);
/*!
* @brief This API used to write the gyro highrate interrupt
* from page one register from 0x10 bit 3
*
* @param gyro_highrate_u8 : The value of gyro highrate interrupt
* gyro_highrate_u8 | result
* -------------------- |------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note While enabling the gyro highrate interrupt
* configure the below settings by using
* the following APIs
*
* Axis :
*
* bno055_set_gyro_highrate_axis_enable()
*
* Filter :
*
* bno055_set_gyro_highrate_filter()
*
* Threshold :
*
* bno055_get_gyro_highrate_x_thres()
*
* bno055_get_gyro_highrate_y_thres()
*
* bno055_get_gyro_highrate_z_thres()
*
* Hysteresis :
*
* bno055_set_gyro_highrate_x_hyst()
*
* bno055_set_gyro_highrate_y_hyst()
*
* bno055_set_gyro_highrate_z_hyst()
*
* Duration :
*
* bno055_set_gyro_highrate_x_durn()
*
* bno055_set_gyro_highrate_y_durn()
*
* bno055_set_gyro_highrate_z_durn()
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_gyro_highrate(
u8 gyro_highrate_u8);
/*****************************************************/
/**\name FUNCTIONS FOR ACCEL INTERRUPT */
/*****************************************************/
/*!
* @brief This API used to read the accel highg interrupt
* from page one register from 0x10 bit 5
*
* @param accel_high_g_u8 : The value of accel highg interrupt
* accel_high_g_u8 | result
* -------------------- |------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note While enabling the accel highg interrupt
* configure the below settings by using
* the following APIs
*
* Axis :
*
* bno055_set_accel_high_g_axis_enable()
*
* Threshold :
*
* bno055_set_accel_high_g_thres()
*
* Duration :
*
* bno055_set_accel_high_g_durn()
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_high_g(
u8 *accel_high_g_u8);
/*!
* @brief This API used to write the accel highg interrupt
* from page one register from 0x10 bit 5
*
* @param accel_high_g_u8 : The value of accel highg interrupt
* accel_high_g_u8 | result
* -------------------- |------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note While enabling the accel highg interrupt
* configure the below settings by using
* the following APIs
*
* Axis :
*
* bno055_set_accel_high_g_axis_enable()
*
* Threshold :
*
* bno055_set_accel_high_g_thres()
*
* Duration :
*
* bno055_set_accel_high_g_durn()
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_high_g(
u8 accel_high_g_u8);
/*!
* @brief This API used to read the accel anymotion interrupt
* from page one register from 0x10 bit 6
*
* @param accel_any_motion_u8 : The value of accel anymotion interrupt
* accel_any_motion_u8 | result
* -------------------- |------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note While enabling the accel anymotion interrupt
* configure the following settings
*
* Axis:
*
* bno055_set_accel_any_motion_no_motion_axis_enable()
*
* Duration:
*
* bno055_set_accel_any_motion_durn()
*
* Threshold:
*
* bno055_set_accel_any_motion_thres()
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_any_motion(
u8 *accel_any_motion_u8);
/*!
* @brief This API used to write the accel anymotion interrupt
* from page one register from 0x10 bit 6
*
* @param accel_any_motion_u8 : The value of accel anymotion interrupt
* accel_any_motion_u8 | result
* -------------------- |------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note While enabling the accel anymotion interrupt
* configure the following settings
*
* Axis:
*
* bno055_set_accel_any_motion_no_motion_axis_enable()
*
* Duration:
*
* bno055_set_accel_any_motion_durn()
*
* Threshold:
*
* bno055_set_accel_any_motion_thres()
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_any_motion(
u8 accel_any_motion_u8);
/*!
* @brief This API used to read the accel nomotion interrupt
* from page one register from 0x10 bit 6
*
* @param accel_nomotion_u8 : The value of accel nomotion interrupt
* accel_nomotion_u8 | result
* -------------------- |------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note While enabling the accel nomotion interrupt
* configure the following settings
*
* Axis:
*
* bno055_set_accel_any_motion_no_motion_axis_enable()
*
* Threshold :
*
* bno055_set_accel_slow_no_motion_thres()
*
* Duration :
*
* bno055_set_accel_slow_no_motion_durn()
*
* Slow/no motion enable:
*
* bno055_set_accel_slow_no_motion_enable()
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_no_motion(
u8 *accel_nomotion_u8);
/*!
* @brief This API used to write the accel nomotion interrupt
* from page one register from 0x10 bit 6
*
* @param accel_nomotion_u8 : The value of accel nomotion interrupt
* accel_nomotion_u8 | result
* -------------------- |------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note While enabling the accel nomotion interrupt
* configure the following settings
*
* Axis:
*
* bno055_set_accel_any_motion_no_motion_axis_enable()
*
* Threshold :
*
* bno055_set_accel_slow_no_motion_thres()
*
* Duration :
*
* bno055_set_accel_slow_no_motion_durn()
*
* Slow/no motion enable:
*
* bno055_set_accel_slow_no_motion_enable()
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_no_motion(
u8 accel_nomotion_u8);
/*****************************************************/
/**\name FUNCTIONS FOR ACCEL ANY_MOTION THRESHOLD */
/*****************************************************/
/*!
* @brief This API used to read the accel any motion threshold
* from page one register from 0x11 bit 0 to 7
*
* @param accel_any_motion_thres_u8 : The value of any motion threshold
* accel_any_motion_thres_u8 | result
* ------------------------ | -------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Accel anymotion threshold dependent on the
* range values
*
* accel_range_u8 | threshold | LSB
* ------------- | ------------- | ---------
* 2g | 3.19mg | 1LSB
* 4g | 7.81mg | 1LSB
* 8g | 15.63mg | 1LSB
* 16g | 31.25mg | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_thres(
u8 *accel_any_motion_thres_u8);
/*!
* @brief This API used to write the accel any motion threshold
* from page one register from 0x11 bit 0 to 7
*
* @param accel_any_motion_thres_u8 : The value of any motion threshold
* accel_any_motion_thres_u8 | result
* ------------------------ | -------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Accel anymotion threshold dependent on the
* range values
*
* accel_range_u8 | threshold | LSB
* ------------- | ------------- | ---------
* 2g | 3.19mg | 1LSB
* 4g | 7.81mg | 1LSB
* 8g | 15.63mg | 1LSB
* 16g | 31.25mg | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_thres(
u8 accel_any_motion_thres_u8);
/*****************************************************/
/**\name FUNCTIONS FOR ACCEL ANY_MOTION DURATION */
/*****************************************************/
/*!
* @brief This API used to read the accel anymotion duration
* from page one register from 0x12 bit 0 to 1
*
* @param accel_any_motion_durn_u8 : The value of accel anymotion duration
* accel_any_motion_durn_u8 | result
* ------------------------- | -------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_durn(
u8 *accel_any_motion_durn_u8);
/*!
* @brief This API used to write the accel anymotion duration
* from page one register from 0x12 bit 0 to 1
*
* @param accel_any_motion_durn_u8 : The value of accel anymotion duration
*
* accel_any_motion_durn_u8 | result
* ------------------------- | -------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_durn(
u8 accel_any_motion_durn_u8);
/*****************************************************/
/**\name FUNCTIONS FOR ACCEL ANY_MOTION AXIS ENABLE */
/*****************************************************/
/*!
* @brief This API used to read the accel anymotion enable
* from page one register from 0x12 bit 2 to 4
*
* @param data_u8 : The value of accel anymotion enable
* data_u8 | result
* ------------ | -------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
* @param channel_u8 : The value of accel anymotion axis selection
* channel_u8 | value
* -------------------------- | ----------
* BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS | 0
* BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS | 1
* BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS | 2
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_no_motion_axis_enable(
u8 channel_u8, u8 *data_u8);
/*!
* @brief This API used to write the accel anymotion enable
* from page one register from 0x12 bit 2 to 4
*
* @param data_u8 : The value of accel anymotion enable
* data_u8 | result
* ------------ | -------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
* @param channel_u8 : The value of accel anymotion axis selection
* channel_u8 | value
* -------------------------- | ----------
* BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS | 0
* BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS | 1
* BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS | 2
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_no_motion_axis_enable(
u8 channel_u8, u8 data_u8);
/*****************************************************/
/**\name FUNCTIONS FOR ACCEL HIGHG AXIS ENABLE */
/*****************************************************/
/*!
* @brief This API used to read the accel highg enable
* from page one register from 0x12 bit 5 to 7
*
* @param data_u8 : The value of accel highg enable
* data_u8| result
* ------------ | -------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
* @param channel_u8 : The value of accel highg axis selection
* channel_u8 | value
* -------------------------- | ----------
* BNO055_ACCEL_HIGH_G_X_AXIS | 0
* BNO055_ACCEL_HIGH_G_Y_AXIS | 1
* BNO055_ACCEL_HIGH_G_Z_AXIS | 2
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_axis_enable(
u8 channel_u8, u8 *data_u8);
/*!
* @brief This API used to write the accel highg enable
* from page one register from 0x12 bit 5 to 7
*
* @param data_u8 : The value of accel highg enable
* data_u8| result
* ------------ | -------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
* @param channel_u8 : The value of accel highg axis selection
* channel_u8 | value
* -------------------------- | ----------
* BNO055_ACCEL_HIGH_G_X_AXIS | 0
* BNO055_ACCEL_HIGH_G_Y_AXIS | 1
* BNO055_ACCEL_HIGH_G_Z_AXIS | 2
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_axis_enable(
u8 channel_u8, u8 data_u8);
/*****************************************************/
/**\name FUNCTIONS FOR ACCEL HIGHG DURATION */
/*****************************************************/
/*!
* @brief This API used to read the accel highg duration
* from page one register from 0x13 bit 0 to 7
*
* @param accel_high_g_durn_u8 : The value of accel highg duration
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note The high-g interrupt trigger delay according
* to [highg duration + 1] * 2 ms
*
* in a range from 2 ms to 512 ms
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_durn(
u8 *accel_high_g_durn_u8);
/*!
* @brief This API used to write the accel highg duration
* from page one register from 0x13 bit 0 to 7
*
* @param accel_high_g_durn_u8 : The value of accel highg duration
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note The high-g interrupt trigger delay according
* to [highg duration + 1] * 2 ms
*
* in a range from 2 ms to 512 ms
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_durn(
u8 accel_high_g_durn_u8);
/*****************************************************/
/**\name FUNCTIONS FOR ACCEL HIGHG THRESHOLD */
/*****************************************************/
/*!
* @brief This API used to read the accel highg threshold
* from page one register from 0x14 bit 0 to 7
*
* @param accel_high_g_thres_u8 : The value of accel highg threshold
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Accel highg interrupt threshold dependent
* for accel g range
*
* accel_range_u8 | threshold | LSB
* ------------- | ------------- | ---------
* 2g | 7.81mg | 1LSB
* 4g | 15.63mg | 1LSB
* 8g | 31.25mg | 1LSB
* 16g | 62.5mg | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_thres(
u8 *accel_high_g_thres_u8);
/*!
* @brief This API used to write the accel highg threshold
* from page one register from 0x14 bit 0 to 7
*
* @param accel_high_g_thres_u8 : The value of accel highg threshold
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Accel highg interrupt threshold dependent
* for accel g range
*
* accel_range_u8 | threshold | LSB
* ------------- | ------------- | ---------
* 2g | 7.81mg | 1LSB
* 4g | 15.63mg | 1LSB
* 8g | 31.25mg | 1LSB
* 16g | 62.5mg | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_thres(
u8 accel_high_g_thres_u8);
/**************************************************************/
/**\name FUNCTIONS FOR ACCEL SLOWNOMOTION THRESHOLD */
/**************************************************************/
/*!
* @brief This API used to read the accel slownomotion threshold
* from page one register from 0x15 bit 0 to 7
*
* @param accel_slow_no_motion_thres_u8 :
* The value of accel slownomotion threshold
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Accel slow no motion interrupt threshold dependent
* for accel g range
*
* accel_range_u8 | threshold | LSB
* ------------- | ------------- | ---------
* 2g | 3.19mg | 1LSB
* 4g | 7.81mg | 1LSB
* 8g | 15.63mg | 1LSB
* 16g | 31.25mg | 1LSB
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_thres(
u8 *accel_slow_no_motion_thres_u8);
/*!
* @brief This API used to write the accel slownomotion threshold
* from page one register from 0x15 bit 0 to 7
*
* @param accel_slow_no_motion_thres_u8 :
* The value of accel slownomotion threshold
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Accel slow no motion interrupt threshold dependent
* for accel g range
*
* accel_range_u8 | threshold | LSB
* ------------- | ------------- | ---------
* 2g | 3.19mg | 1LSB
* 4g | 7.81mg | 1LSB
* 8g | 15.63mg | 1LSB
* 16g | 31.25mg | 1LSB
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_thres(
u8 accel_slow_no_motion_thres_u8);
/**************************************************************/
/**\name FUNCTIONS FOR ACCEL SLOWNOMOTION ENABLE */
/**************************************************************/
/*!
* @brief This API used to read accel slownomotion enable
* from page one register from 0x16 bit 0
*
* @param accel_slow_no_motion_en_u8 : The value of accel slownomotion enable
* accel_slow_no_motion_en_u8 | result
* ------------------------ | --------
* 0x01 | Slow motion
* 0x00 | No motion
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_enable(
u8 *accel_slow_no_motion_en_u8);
/*!
* @brief This API used to write accel slownomotion enable
* from page one register from 0x16 bit 0
*
* @param accel_slow_no_motion_en_u8 : The value of accel slownomotion enable
* accel_slow_no_motion_en_u8 | result
* ------------------------ | --------
* 0x01 | Slow motion
* 0x00 | No motion
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_enable(
u8 accel_slow_no_motion_en_u8);
/**************************************************************/
/**\name FUNCTIONS FOR ACCEL SLOWNOMOTION DURATION */
/**************************************************************/
/*!
* @brief This API used to read accel slownomotion duration
* from page one register from 0x16 bit 1 to 6
*
* @param accel_slow_no_motion_durn_u8 :
* The value of accel slownomotion duration
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_durn(
u8 *accel_slow_no_motion_durn_u8);
/*!
* @brief This API used to write accel slownomotion duration
* from page one register from 0x16 bit 1 to 6
*
* @param accel_slow_no_motion_durn_u8 :
* The value of accel slownomotion duration
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_durn(
u8 accel_slow_no_motion_durn_u8);
/**************************************************************/
/**\name FUNCTIONS FOR GYRO ANY_MOTION AXIS ENABLE */
/**************************************************************/
/*!
* @brief This API used to read the gyro anymotion enable
* from page one register from 0x17 bit 0 to 2
*
* @param data_u8 : The value of gyro anymotion enable
* data_u8 | result
* ----------------- |-------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
* @param channel_u8 : The value of gyro anymotion axis selection
* channel_u8 | value
* --------------------------- | ----------
* BNO055_GYRO_ANY_MOTIONX_AXIS | 0
* BNO055_GYRO_ANY_MOTIONY_AXIS | 1
* BNO055_GYRO_ANY_MOTIONZ_AXIS | 2
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_axis_enable(
u8 channel_u8, u8 *data_u8);
/*!
* @brief This API used to write the gyro anymotion enable
* from page one register from 0x17 bit 0 to 2
*
* @param data_u8 : The value of gyro anymotion enable
* data_u8 | result
* ----------------- |-------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
* @param channel_u8 : The value of gyro anymotion axis selection
* channel_u8 | value
* --------------------------- | ----------
* BNO055_GYRO_ANY_MOTIONX_AXIS | 0
* BNO055_GYRO_ANY_MOTIONY_AXIS | 1
* BNO055_GYRO_ANY_MOTIONZ_AXIS | 2
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_axis_enable(
u8 channel_u8, u8 data_u8);
/**************************************************************/
/**\name FUNCTIONS FOR GYRO HIGHRATE ENABLE */
/**************************************************************/
/*!
* @brief This API used to read the gyro highrate enable
* from page one register from 0x17 bit 3 to 5
*
* @param data_u8 : The value of gyro highrate enable
* data_u8 | result
* ---------------- |-------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
* @param channel_u8 : The value of gyro highrate axis selection
* channel_u8 | value
* ------------------------ | ----------
* BNO055_GYRO_HIGHRATE_X_AXIS | 0
* BNO055_GYRO_HIGHRATE_Y_AXIS | 1
* BNO055_GYRO_HIGHRATE_Z_AXIS | 2
*
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_axis_enable(
u8 channel_u8, u8 *data_u8);
/**************************************************************/
/**\name FUNCTIONS FOR GYRO HIGHRATE AXIS ENABLE */
/**************************************************************/
/*!
* @brief This API used to write the gyro highrate enable
* from page one register from 0x17 bit 3 to 5
*
* @param data_u8 : The value of gyro highrate enable
* data_u8 | result
* ---------------- |-------------
* 0x01 | BNO055_BIT_ENABLE
* 0x00 | BNO055_BIT_DISABLE
* @param channel_u8 : The value of gyro highrate axis selection
* channel_u8 | value
* ------------------------ | ----------
* BNO055_GYRO_HIGHRATE_X_AXIS | 0
* BNO055_GYRO_HIGHRATE_Y_AXIS | 1
* BNO055_GYRO_HIGHRATE_Z_AXIS | 2
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_axis_enable(
u8 channel_u8, u8 data_u8);
/**************************************************************/
/**\name FUNCTIONS FOR GYRO ANY_MOTION FILTER */
/**************************************************************/
/*!
* @brief This API used to read gyro anymotion filter
* from page one register from 0x17 bit 6
*
* @param gyro_any_motion_filter_u8 : The value of gyro anymotion filter
* gyro_any_motion_filter_u8 | result
* --------------------------- |------------
* 0x00 | BNO055_GYRO_FILTERED_CONFIG
* 0x01 | BNO055_GYRO_UNFILTERED_CONFIG
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_filter(
u8 *gyro_any_motion_filter_u8);
/*!
* @brief This API used to write gyro anymotion filter
* from page one register from 0x17 bit 6
*
* @param gyro_any_motion_filter_u8 : The value of gyro anymotion filter
* gyro_any_motion_filter_u8 | result
* --------------------------- |------------
* 0x00 | BNO055_GYRO_FILTERED_CONFIG
* 0x01 | BNO055_GYRO_UNFILTERED_CONFIG
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_filter(
u8 gyro_any_motion_filter_u8);
/**************************************************************/
/**\name FUNCTIONS FOR GYRO HIGHRATE FILTER */
/**************************************************************/
/*!
* @brief This API used to read gyro highrate filter
* from page one register from 0x17 bit 7
*
* @param gyro_highrate_filter_u8 : The value of gyro highrate filter
* gyro_highrate_filter_u8 | result
* --------------------------- |------------
* 0x00 | BNO055_GYRO_FILTERED_CONFIG
* 0x01 | BNO055_GYRO_UNFILTERED_CONFIG
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_filter(
u8 *gyro_highrate_filter_u8);
/*!
* @brief This API used to write gyro highrate filter
* from page one register from 0x17 bit 7
*
* @param gyro_highrate_filter_u8 : The value of gyro highrate filter
* gyro_highrate_filter_u8 | result
* --------------------------- |------------
* 0x00 | BNO055_GYRO_FILTERED_CONFIG
* 0x01 | BNO055_GYRO_UNFILTERED_CONFIG
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_filter(
u8 gyro_highrate_filter_u8);
/**************************************************************/
/**\name FUNCTIONS FOR GYRO HIGHRATE X THRESHOLD */
/**************************************************************/
/*!
* @brief This API used to read gyro highrate x threshold
* from page one register from 0x18 bit 0 to 4
*
* @param gyro_highrate_x_thres_u8 : The value of gyro x highrate threshold
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Gyro highrate threshold dependent on the
* selection of gyro range
*
* gyro_range_u8 | threshold | LSB
* ----------------- | ------------- | ---------
* 2000 | 62.5dps | 1LSB
* 1000 | 31.25dps | 1LSB
* 500 | 15.625dps | 1LSB
* 125 | 7.8125dps | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_thres(
u8 *gyro_highrate_x_thres_u8);
/*!
* @brief This API used to write gyro highrate x threshold
* from page one register from 0x18 bit 0 to 4
*
* @param gyro_highrate_x_thres_u8 : The value of gyro x highrate threshold
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Gyro highrate threshold dependent on the
* selection of gyro range
*
* gyro_range_u8 | threshold | LSB
* ----------------- | ------------- | ---------
* 2000 | 62.5dps | 1LSB
* 1000 | 31.25dps | 1LSB
* 500 | 15.625dps | 1LSB
* 125 | 7.8125dps | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_thres(
u8 gyro_highrate_x_thres_u8);
/**************************************************************/
/**\name FUNCTIONS FOR GYRO HIGHRATE X HYSTERESIS */
/**************************************************************/
/*!
* @brief This API used to read gyro highrate x hysteresis
* from page one register from 0x18 bit 5 to 6
*
* @param gyro_highrate_x_hyst_u8 : The value of gyro highrate x hysteresis
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Gyro high rate hysteresis calculated by
*
* using this (255 + 256 * gyro_highrate_x_hyst_u8) *4 LSB
*
* The high rate value scales with the range setting
*
* gyro_range_u8 | hysteresis | LSB
* ----------------- | ------------- | ---------
* 2000 | 62.26dps | 1LSB
* 1000 | 31.13dps | 1LSB
* 500 | 15.56dps | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_hyst(
u8 *gyro_highrate_x_hyst_u8);
/*!
* @brief This API used to write gyro highrate x hysteresis
* from page one register from 0x18 bit 5 to 6
*
* @param gyro_highrate_x_hyst_u8 : The value of gyro highrate x hysteresis
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Gyro high rate hysteresis calculated by
*
* using this (255 + 256 * gyro_highrate_x_hyst_u8) *4 LSB
*
* The high rate value scales with the range setting
*
* gyro_range_u8 | hysteresis | LSB
* ----------------- | ------------- | ---------
* 2000 | 62.26dps | 1LSB
* 1000 | 31.13dps | 1LSB
* 500 | 15.56dps | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_hyst(
u8 gyro_highrate_x_hyst_u8);
/**************************************************************/
/**\name FUNCTIONS FOR GYRO HIGHRATE X DURATION */
/**************************************************************/
/*!
* @brief This API used to read gyro highrate x duration
* from page one register from 0x19 bit 0 to 7
*
* @param gyro_highrate_x_durn_u8 : The value of gyro highrate x duration
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Gyro highrate duration calculate by using the formula
*
* (1 + gyro_highrate_x_durn_u8)*2.5ms
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_durn(
u8 *gyro_highrate_x_durn_u8);
/*!
* @brief This API used to write gyro highrate x duration
* from page one register from 0x19 bit 0 to 7
*
* @param gyro_highrate_x_durn_u8 : The value of gyro highrate x duration
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Gyro highrate duration calculate by using the formula
*
* (1 + gyro_highrate_x_durn_u8)*2.5ms
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_durn(
u8 gyro_highrate_x_durn_u8);
/**************************************************************/
/**\name FUNCTIONS FOR GYRO HIGHRATE Y THRESHOLD */
/**************************************************************/
/*!
* @brief This API used to read gyro highrate y threshold
* from page one register from 0x1A bit 0 to 4
*
* @param gyro_highrate_y_thres_u8 : The value of gyro highrate y threshold
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Gyro highrate threshold dependent on the
* selection of gyro range
*
* gyro_range_u8 | threshold | LSB
* ----------------- | ------------- | ---------
* 2000 | 62.5dps | 1LSB
* 1000 | 31.25dps | 1LSB
* 500 | 15.625dps | 1LSB
* 125 | 7.8125dps | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_thres(
u8 *gyro_highrate_y_thres_u8);
/*!
* @brief This API used to write gyro highrate y threshold
* from page one register from 0x1A bit 0 to 4
*
* @param gyro_highrate_y_thres_u8 : The value of gyro highrate y threshold
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Gyro highrate threshold dependent on the
* selection of gyro range
*
* gyro_range_u8 | threshold | LSB
* ----------------- | ------------- | ---------
* 2000 | 62.5dps | 1LSB
* 1000 | 31.25dps | 1LSB
* 500 | 15.625dps | 1LSB
* 125 | 7.8125dps | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_thres(
u8 gyro_highrate_y_thres_u8);
/**************************************************************/
/**\name FUNCTIONS FOR GYRO HIGHRATE Y HYSTERESIS */
/**************************************************************/
/*!
* @brief This API used to read gyro highrate y hysteresis
* from page one register from 0x1A bit 5 to 6
*
* @param gyro_highrate_y_hyst_u8 : The value of gyro highrate y hysteresis
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Gyro high rate hysteresis calculated by
*
* using this (255 + 256 * gyro_highrate_y_hyst_u8) *4 LSB
*
* The high rate value scales with the range setting
*
* gyro_range_u8 | hysteresis | LSB
* ----------------- | ------------- | ---------
* 2000 | 62.26dps | 1LSB
* 1000 | 31.13dps | 1LSB
* 500 | 15.56dps | 1LSB
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_hyst(
u8 *gyro_highrate_y_hyst_u8);
/*!
* @brief This API used to write gyro highrate y hysteresis
* from page one register from 0x1A bit 5 to 6
*
* @param gyro_highrate_y_hyst_u8 : The value of gyro highrate y hysteresis
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Gyro high rate hysteresis calculated by
*
* using this (255 + 256 * gyro_highrate_y_hyst_u8) *4 LSB
*
* The high rate value scales with the range setting
*
* gyro_range_u8 | hysteresis | LSB
* ----------------- | ------------- | ---------
* 2000 | 62.26dps | 1LSB
* 1000 | 31.13dps | 1LSB
* 500 | 15.56dps | 1LSB
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_hyst(
u8 gyro_highrate_y_hyst_u8);
/**************************************************************/
/**\name FUNCTIONS FOR GYRO HIGHRATE Y DURATION */
/**************************************************************/
/*!
* @brief This API used to read gyro highrate y duration
* from page one register from 0x1B bit 0 to 7
*
* @param gyro_highrate_y_durn_u8 : The value of gyro highrate y duration
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Gyro highrate duration calculate by using the formula
*
* (1 + gyro_highrate_y_durn_u8)*2.5ms
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_durn(
u8 *gyro_highrate_y_durn_u8);
/*!
* @brief This API used to write gyro highrate y duration
* from page one register from 0x1B bit 0 to 7
*
* @param gyro_highrate_y_durn_u8 : The value of gyro highrate y duration
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Gyro highrate duration calculate by using the formula
*
* (1 + gyro_highrate_y_durn_u8)*2.5ms
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_durn(
u8 gyro_highrate_y_durn_u8);
/**************************************************************/
/**\name FUNCTIONS FOR GYRO HIGHRATE Z THRESHOLD */
/**************************************************************/
/*!
* @brief This API used to read gyro highrate z threshold
* from page one register from 0x1C bit 0 to 4
*
* @param gyro_highrate_z_thres_u8 : The value of gyro highrate z threshold
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Gyro highrate threshold dependent on the
* selection of gyro range
*
* gyro_range_u8 | threshold | LSB
* ----------------- | ------------- | ---------
* 2000 | 62.5dps | 1LSB
* 1000 | 31.25dps | 1LSB
* 500 | 15.625dps | 1LSB
* 125 | 7.8125dps | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_thres(
u8 *gyro_highrate_z_thres_u8);
/*!
* @brief This API used to write gyro highrate z threshold
* from page one register from 0x1C bit 0 to 4
*
* @param gyro_highrate_z_thres_u8 : The value of gyro highrate z threshold
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Gyro highrate threshold dependent on the
* selection of gyro range
*
* gyro_range_u8 | threshold | LSB
* ----------------- | ------------- | ---------
* 2000 | 62.5dps | 1LSB
* 1000 | 31.25dps | 1LSB
* 500 | 15.625dps | 1LSB
* 125 | 7.8125dps | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_thres(
u8 gyro_highrate_z_thres_u8);
/**************************************************************/
/**\name FUNCTIONS FOR GYRO HIGHRATE Z HYSTERESIS */
/**************************************************************/
/*!
* @brief This API used to read gyro highrate z hysteresis
* from page one register from 0x1C bit 5 to 6
*
* @param gyro_highrate_z_hyst_u8 : The value of gyro highrate z hysteresis
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Gyro high rate hysteresis calculated by
*
* using this (255 + 256 * gyro_highrate_z_hyst_u8) *4 LSB
*
* The high rate value scales with the range setting
*
* gyro_range_u8 | hysteresis | LSB
* ----------------- | ------------- | ---------
* 2000 | 62.26dps | 1LSB
* 1000 | 31.13dps | 1LSB
* 500 | 15.56dps | 1LSB
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_hyst(
u8 *gyro_highrate_z_hyst_u8);
/*!
* @brief This API used to write gyro highrate z hysteresis
* from page one register from 0x1C bit 5 to 6
*
* @param gyro_highrate_z_hyst_u8 : The value of gyro highrate z hysteresis
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Gyro high rate hysteresis calculated by
*
* using this (255 + 256 * gyro_highrate_z_hyst_u8) *4 LSB
*
* The high rate value scales with the range setting
*
* gyro_range_u8 | hysteresis | LSB
* ----------------- | ------------- | ---------
* 2000 | 62.26dps | 1LSB
* 1000 | 31.13dps | 1LSB
* 500 | 15.56dps | 1LSB
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_hyst(
u8 gyro_highrate_z_hyst_u8);
/**************************************************************/
/**\name FUNCTIONS FOR GYRO HIGHRATE Z DURATION */
/**************************************************************/
/*!
* @brief This API used to read gyro highrate z duration
* from page one register from 0x1D bit 0 to 7
*
* @param gyro_highrate_z_durn_u8 : The value of gyro highrate z duration
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Gyro highrate duration calculate by using the formula
*
* (1 + gyro_highrate_z_durn_u8)*2.5ms
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_durn(
u8 *gyro_highrate_z_durn_u8);
/*!
* @brief This API used to write gyro highrate z duration
* from page one register from 0x1D bit 0 to 7
*
* @param gyro_highrate_z_durn_u8 : The value of gyro highrate z duration
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Gyro highrate duration calculate by using the formula
*
* (1 + gyro_highrate_z_durn_u8)*2.5ms
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_durn(
u8 gyro_highrate_z_durn_u8);
/**************************************************************/
/**\name FUNCTIONS FOR GYRO ANY_MOTION THRESHOLD */
/**************************************************************/
/*!
* @brief This API used to read gyro anymotion threshold
* from page one register from 0x1E bit 0 to 6
*
* @param gyro_any_motion_thres_u8 : The value of gyro anymotion threshold
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Gyro anymotion interrupt threshold dependent
* on the selection of gyro range
*
* gyro_range_u8 | threshold | LSB
* ----------------- | ------------- | ---------
* 2000 | 1dps | 1LSB
* 1000 | 0.5dps | 1LSB
* 500 | 0.25dps | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_thres(
u8 *gyro_any_motion_thres_u8);
/*!
* @brief This API used to write gyro anymotion threshold
* from page one register from 0x1E bit 0 to 6
*
* @param gyro_any_motion_thres_u8 : The value of gyro anymotion threshold
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
* @note Gyro anymotion interrupt threshold dependent
* on the selection of gyro range
*
* gyro_range_u8 | threshold | LSB
* ----------------- | ------------- | ---------
* 2000 | 1dps | 1LSB
* 1000 | 0.5dps | 1LSB
* 500 | 0.25dps | 1LSB
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_thres(
u8 gyro_any_motion_thres_u8);
/**************************************************************/
/**\name FUNCTIONS FOR GYRO ANY_MOTION SLOPE SAMPLES */
/**************************************************************/
/*!
* @brief This API used to read gyro anymotion slope samples
* from page one register from 0x1F bit 0 to 1
*
* @param gyro_any_motion_slope_samples_u8 :
* The value of gyro anymotion slope samples
* gyro_any_motion_slope_samples_u8 | result
* ---------------------------------- | -----------
* 0 | 8 samples
* 1 | 16 samples
* 2 | 32 samples
* 3 | 64 samples
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_slope_samples(
u8 *gyro_any_motion_slope_samples_u8);
/*!
* @brief This API used to write gyro anymotion slope samples
* from page one register from 0x1F bit 0 to 1
*
* @param gyro_any_motion_slope_samples_u8 :
* The value of gyro anymotion slope samples
* gyro_any_motion_slope_samples_u8 | result
* ---------------------------------- | -----------
* 0 | 8 samples
* 1 | 16 samples
* 2 | 32 samples
* 3 | 64 samples
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_slope_samples(
u8 gyro_any_motion_slope_samples_u8);
/**************************************************************/
/**\name FUNCTIONS FOR GYRO ANY_MOTION AWAKE DURATION */
/**************************************************************/
/*!
* @brief This API used to read gyro anymotion awake duration
* from page one register from 0x1F bit 2 to 3
*
* @param gyro_awake_durn_u8 : The value of gyro anymotion awake duration
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_awake_durn(
u8 *gyro_awake_durn_u8);
/*!
* @brief This API used to write gyro anymotion awake duration
* from page one register from 0x1F bit 2 to 3
*
* @param gyro_awake_durn_u8 : The value of gyro anymotion awake duration
*
* @return results of bus communication function
* @retval 0 -> BNO055_SUCCESS
* @retval 1 -> BNO055_ERROR
*
*/
BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_awake_durn(
u8 gyro_awake_durn_u8);
#endif