BME SmartLab
/
BNO055_from_Bosch
Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Embed:
(wiki syntax)
Show/hide line numbers
BNO055.h
Go to the documentation of this file.
00001 /** \mainpage 00002 * 00003 **************************************************************************** 00004 * Copyright (C) 2015 - 2016 Bosch Sensortec GmbH 00005 * 00006 * File : bno055.h 00007 * 00008 * Date : 2016/03/14 00009 * 00010 * Revision : 2.0.3 $ 00011 * 00012 * Usage: Sensor Driver file for BNO055 sensor 00013 * 00014 **************************************************************************** 00015 * \section License 00016 * 00017 * Redistribution and use in source and binary forms, with or without 00018 * modification, are permitted provided that the following conditions are met: 00019 * 00020 * Redistributions of source code must retain the above copyright 00021 * notice, this list of conditions and the following disclaimer. 00022 * 00023 * Redistributions in binary form must reproduce the above copyright 00024 * notice, this list of conditions and the following disclaimer in the 00025 * documentation and/or other materials provided with the distribution. 00026 * 00027 * Neither the name of the copyright holder nor the names of the 00028 * contributors may be used to endorse or promote products derived from 00029 * this software without specific prior written permission. 00030 * 00031 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND 00032 * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR 00033 * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 00034 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00035 * DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDER 00036 * OR CONTRIBUTORS BE LIABLE FOR ANY 00037 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, 00038 * OR CONSEQUENTIAL DAMAGES(INCLUDING, BUT NOT LIMITED TO, 00039 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00040 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) 00041 * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, 00042 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00043 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00044 * ANY WAY OUT OF THE USE OF THIS 00045 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE 00046 * 00047 * The information provided is believed to be accurate and reliable. 00048 * The copyright holder assumes no responsibility 00049 * for the consequences of use 00050 * of such information nor for any infringement of patents or 00051 * other rights of third parties which may result from its use. 00052 * No license is granted by implication or otherwise under any patent or 00053 * patent rights of the copyright holder. 00054 **************************************************************************/ 00055 /*! \file BNO055.h 00056 \brief BNO055 Sensor Driver Support Header File */ 00057 00058 #ifndef __BNO055_H__ 00059 #define __BNO055_H__ 00060 /****************************************************************/ 00061 /**\name DATA TYPES INCLUDES */ 00062 /************************************************************/ 00063 /*! 00064 * @brief The following definition uses for define the data types 00065 * 00066 * @note While porting the API please consider the following 00067 * @note Please check the version of C standard 00068 * @note Are you using Linux platform 00069 */ 00070 00071 /*! 00072 * @brief For the Linux platform support 00073 * Please use the types.h for your data types definitions 00074 */ 00075 #ifdef __KERNEL__ 00076 00077 #include <linux/types.h> 00078 /* singed integer type*/ 00079 typedef int8_t s8;/**< used for signed 8bit */ 00080 typedef int16_t s16;/**< used for signed 16bit */ 00081 typedef int32_t s32;/**< used for signed 32bit */ 00082 typedef int64_t s64;/**< used for signed 64bit */ 00083 00084 typedef u_int8_t u8;/**< used for unsigned 8bit */ 00085 typedef u_int16_t u16;/**< used for unsigned 16bit */ 00086 typedef u_int32_t u32;/**< used for unsigned 32bit */ 00087 typedef u_int64_t u64;/**< used for unsigned 64bit */ 00088 00089 00090 00091 #else /* ! __KERNEL__ */ 00092 /********************************************************** 00093 * These definition uses for define the C 00094 * standard version data types 00095 ***********************************************************/ 00096 # if !defined(__STDC_VERSION__) 00097 00098 /************************************************ 00099 * compiler is C11 C standard 00100 ************************************************/ 00101 #if (__STDC_VERSION__ == 201112L) 00102 00103 /************************************************/ 00104 #include <stdint.h> 00105 /************************************************/ 00106 00107 /*unsigned integer types*/ 00108 typedef uint8_t u8;/**< used for unsigned 8bit */ 00109 typedef uint16_t u16;/**< used for unsigned 16bit */ 00110 typedef uint32_t u32;/**< used for unsigned 32bit */ 00111 typedef uint64_t u64;/**< used for unsigned 64bit */ 00112 00113 /*signed integer types*/ 00114 typedef int8_t s8;/**< used for signed 8bit */ 00115 typedef int16_t s16;/**< used for signed 16bit */ 00116 typedef int32_t s32;/**< used for signed 32bit */ 00117 typedef int64_t s64;/**< used for signed 64bit */ 00118 /************************************************ 00119 * compiler is C99 C standard 00120 ************************************************/ 00121 00122 #elif (__STDC_VERSION__ == 199901L) 00123 00124 /* stdint.h is a C99 supported c library. 00125 which is used to fixed the integer size*/ 00126 /************************************************/ 00127 #include <stdint.h> 00128 /************************************************/ 00129 00130 /*unsigned integer types*/ 00131 typedef uint8_t u8;/**< used for unsigned 8bit */ 00132 typedef uint16_t u16;/**< used for unsigned 16bit */ 00133 typedef uint32_t u32;/**< used for unsigned 32bit */ 00134 typedef uint64_t u64;/**< used for unsigned 64bit */ 00135 00136 /*signed integer types*/ 00137 typedef int8_t s8;/**< used for signed 8bit */ 00138 typedef int16_t s16;/**< used for signed 16bit */ 00139 typedef int32_t s32;/**< used for signed 32bit */ 00140 typedef int64_t s64;/**< used for signed 64bit */ 00141 /************************************************ 00142 * compiler is C89 or other C standard 00143 ************************************************/ 00144 00145 #else /* !defined(__STDC_VERSION__) */ 00146 /*! 00147 * @brief By default it is defined as 32 bit machine configuration 00148 * define your data types based on your 00149 * machine/compiler/controller configuration 00150 */ 00151 #define MACHINE_32_BIT 00152 00153 /*! @brief 00154 * If your machine support 16 bit 00155 * define the MACHINE_16_BIT 00156 */ 00157 #ifdef MACHINE_16_BIT 00158 #include <limits.h> 00159 /*signed integer types*/ 00160 typedef signed char s8;/**< used for signed 8bit */ 00161 typedef signed short int s16;/**< used for signed 16bit */ 00162 typedef signed long int s32;/**< used for signed 32bit */ 00163 00164 #if defined(LONG_MAX) && LONG_MAX == 0x7fffffffffffffffL 00165 typedef long int s64;/**< used for signed 64bit */ 00166 typedef unsigned long int u64;/**< used for unsigned 64bit */ 00167 #elif defined(LLONG_MAX) && (LLONG_MAX == 0x7fffffffffffffffLL) 00168 typedef long long int s64;/**< used for signed 64bit */ 00169 typedef unsigned long long int u64;/**< used for unsigned 64bit */ 00170 #else 00171 #warning Either the correct data type for signed 64 bit integer \ 00172 could not be found, or 64 bit integers are not supported in your environment. 00173 #warning If 64 bit integers are supported on your platform, \ 00174 please set s64 manually. 00175 #endif 00176 00177 /*unsigned integer types*/ 00178 typedef unsigned char u8;/**< used for unsigned 8bit */ 00179 typedef unsigned short int u16;/**< used for unsigned 16bit */ 00180 typedef unsigned long int u32;/**< used for unsigned 32bit */ 00181 00182 /* If your machine support 32 bit 00183 define the MACHINE_32_BIT*/ 00184 #elif defined MACHINE_32_BIT 00185 /*signed integer types*/ 00186 typedef signed char s8;/**< used for signed 8bit */ 00187 typedef signed short int s16;/**< used for signed 16bit */ 00188 typedef signed int s32;/**< used for signed 32bit */ 00189 typedef signed long long int s64;/**< used for signed 64bit */ 00190 00191 /*unsigned integer types*/ 00192 typedef unsigned char u8;/**< used for unsigned 8bit */ 00193 typedef unsigned short int u16;/**< used for unsigned 16bit */ 00194 typedef unsigned int u32;/**< used for unsigned 32bit */ 00195 typedef unsigned long long int u64;/**< used for unsigned 64bit */ 00196 00197 /* If your machine support 64 bit 00198 define the MACHINE_64_BIT*/ 00199 #elif defined MACHINE_64_BIT 00200 /*signed integer types*/ 00201 typedef signed char s8;/**< used for signed 8bit */ 00202 typedef signed short int s16;/**< used for signed 16bit */ 00203 typedef signed int s32;/**< used for signed 32bit */ 00204 typedef signed long int s64;/**< used for signed 64bit */ 00205 00206 /*unsigned integer types*/ 00207 typedef unsigned char u8;/**< used for unsigned 8bit */ 00208 typedef unsigned short int u16;/**< used for unsigned 16bit */ 00209 typedef unsigned int u32;/**< used for unsigned 32bit */ 00210 typedef unsigned long int u64;/**< used for unsigned 64bit */ 00211 00212 #else 00213 #warning The data types defined above which not supported \ 00214 define the data types manually 00215 #endif 00216 #endif 00217 00218 /*** This else will execute for the compilers 00219 * which are not supported the C standards 00220 * Like C89/C99/C11***/ 00221 #else 00222 /*! 00223 * @brief By default it is defined as 32 bit machine configuration 00224 * define your data types based on your 00225 * machine/compiler/controller configuration 00226 */ 00227 #define MACHINE_32_BIT 00228 00229 /* If your machine support 16 bit 00230 define the MACHINE_16_BIT*/ 00231 #ifdef MACHINE_16_BIT 00232 #include <limits.h> 00233 /*signed integer types*/ 00234 typedef signed char s8;/**< used for signed 8bit */ 00235 typedef signed short int s16;/**< used for signed 16bit */ 00236 typedef signed long int s32;/**< used for signed 32bit */ 00237 00238 #if defined(LONG_MAX) && LONG_MAX == 0x7fffffffffffffffL 00239 typedef long int s64;/**< used for signed 64bit */ 00240 typedef unsigned long int u64;/**< used for unsigned 64bit */ 00241 #elif defined(LLONG_MAX) && (LLONG_MAX == 0x7fffffffffffffffLL) 00242 typedef long long int s64;/**< used for signed 64bit */ 00243 typedef unsigned long long int u64;/**< used for unsigned 64bit */ 00244 #else 00245 #warning Either the correct data type for signed 64 bit integer \ 00246 could not be found, or 64 bit integers are not supported in your environment. 00247 #warning If 64 bit integers are supported on your platform, \ 00248 please set s64 manually. 00249 #endif 00250 00251 /*unsigned integer types*/ 00252 typedef unsigned char u8;/**< used for unsigned 8bit */ 00253 typedef unsigned short int u16;/**< used for unsigned 16bit */ 00254 typedef unsigned long int u32;/**< used for unsigned 32bit */ 00255 00256 /*! @brief If your machine support 32 bit 00257 define the MACHINE_32_BIT*/ 00258 #elif defined MACHINE_32_BIT 00259 /*signed integer types*/ 00260 typedef signed char s8;/**< used for signed 8bit */ 00261 typedef signed short int s16;/**< used for signed 16bit */ 00262 typedef signed int s32;/**< used for signed 32bit */ 00263 typedef signed long long int s64;/**< used for signed 64bit */ 00264 00265 /*unsigned integer types*/ 00266 typedef unsigned char u8;/**< used for unsigned 8bit */ 00267 typedef unsigned short int u16;/**< used for unsigned 16bit */ 00268 typedef unsigned int u32;/**< used for unsigned 32bit */ 00269 typedef unsigned long long int u64;/**< used for unsigned 64bit */ 00270 00271 /* If your machine support 64 bit 00272 define the MACHINE_64_BIT*/ 00273 #elif defined MACHINE_64_BIT 00274 /*signed integer types*/ 00275 typedef signed char s8;/**< used for signed 8bit */ 00276 typedef signed short int s16;/**< used for signed 16bit */ 00277 typedef signed int s32;/**< used for signed 32bit */ 00278 typedef signed long int s64;/**< used for signed 64bit */ 00279 00280 /*unsigned integer types*/ 00281 typedef unsigned char u8;/**< used for unsigned 8bit */ 00282 typedef unsigned short int u16;/**< used for unsigned 16bit */ 00283 typedef unsigned int u32;/**< used for unsigned 32bit */ 00284 typedef unsigned long int u64;/**< used for unsigned 64bit */ 00285 00286 #else 00287 #warning The data types defined above which not supported \ 00288 define the data types manually 00289 #endif 00290 #endif 00291 #endif 00292 /***************************************************************/ 00293 /**\name BUS READ AND WRITE FUNCTIONS */ 00294 /***************************************************************/ 00295 #define BNO055_WR_FUNC_PTR s8 (*bus_write)\ 00296 (u8, u8, u8 *, u8) 00297 00298 #define BNO055_BUS_WRITE_FUNC(dev_addr, reg_addr, reg_data, wr_len)\ 00299 bus_write(dev_addr, reg_addr, reg_data, wr_len) 00300 00301 #define BNO055_RD_FUNC_PTR s8 \ 00302 (*bus_read)(u8, u8, u8 *, u8) 00303 00304 #define BNO055_BUS_READ_FUNC(dev_addr, reg_addr, reg_data, r_len)\ 00305 bus_read(dev_addr, reg_addr, reg_data, r_len) 00306 00307 #define BNO055_DELAY_RETURN_TYPE void 00308 00309 #define BNO055_DELAY_PARAM_TYPES u32 00310 00311 #define BNO055_DELAY_FUNC(delay_in_msec)\ 00312 delay_func(delay_in_msec) 00313 00314 /********************************************************/ 00315 /**\name I2C ADDRESS DEFINITION FOR BNO055 */ 00316 /********************************************************/ 00317 /* bno055 I2C Address */ 00318 #define BNO055_I2C_ADDR1 (0x28) 00319 #define BNO055_I2C_ADDR2 (0x29) 00320 00321 /***************************************************/ 00322 /**\name REGISTER ADDRESS DEFINITION */ 00323 /***************************************************/ 00324 /* Page id register definition*/ 00325 #define BNO055_PAGE_ID_ADDR (0X07) 00326 00327 /* PAGE0 REGISTER DEFINITION START*/ 00328 #define BNO055_CHIP_ID_ADDR (0x00) 00329 #define BNO055_ACCEL_REV_ID_ADDR (0x01) 00330 #define BNO055_MAG_REV_ID_ADDR (0x02) 00331 #define BNO055_GYRO_REV_ID_ADDR (0x03) 00332 #define BNO055_SW_REV_ID_LSB_ADDR (0x04) 00333 #define BNO055_SW_REV_ID_MSB_ADDR (0x05) 00334 #define BNO055_BL_REV_ID_ADDR (0X06) 00335 00336 /* Accel data register*/ 00337 #define BNO055_ACCEL_DATA_X_LSB_ADDR (0X08) 00338 #define BNO055_ACCEL_DATA_X_MSB_ADDR (0X09) 00339 #define BNO055_ACCEL_DATA_Y_LSB_ADDR (0X0A) 00340 #define BNO055_ACCEL_DATA_Y_MSB_ADDR (0X0B) 00341 #define BNO055_ACCEL_DATA_Z_LSB_ADDR (0X0C) 00342 #define BNO055_ACCEL_DATA_Z_MSB_ADDR (0X0D) 00343 00344 /*Mag data register*/ 00345 #define BNO055_MAG_DATA_X_LSB_ADDR (0X0E) 00346 #define BNO055_MAG_DATA_X_MSB_ADDR (0X0F) 00347 #define BNO055_MAG_DATA_Y_LSB_ADDR (0X10) 00348 #define BNO055_MAG_DATA_Y_MSB_ADDR (0X11) 00349 #define BNO055_MAG_DATA_Z_LSB_ADDR (0X12) 00350 #define BNO055_MAG_DATA_Z_MSB_ADDR (0X13) 00351 00352 /*Gyro data registers*/ 00353 #define BNO055_GYRO_DATA_X_LSB_ADDR (0X14) 00354 #define BNO055_GYRO_DATA_X_MSB_ADDR (0X15) 00355 #define BNO055_GYRO_DATA_Y_LSB_ADDR (0X16) 00356 #define BNO055_GYRO_DATA_Y_MSB_ADDR (0X17) 00357 #define BNO055_GYRO_DATA_Z_LSB_ADDR (0X18) 00358 #define BNO055_GYRO_DATA_Z_MSB_ADDR (0X19) 00359 00360 /*Euler data registers*/ 00361 #define BNO055_EULER_H_LSB_ADDR (0X1A) 00362 #define BNO055_EULER_H_MSB_ADDR (0X1B) 00363 00364 #define BNO055_EULER_R_LSB_ADDR (0X1C) 00365 #define BNO055_EULER_R_MSB_ADDR (0X1D) 00366 00367 #define BNO055_EULER_P_LSB_ADDR (0X1E) 00368 #define BNO055_EULER_P_MSB_ADDR (0X1F) 00369 00370 /*Quaternion data registers*/ 00371 #define BNO055_QUATERNION_DATA_W_LSB_ADDR (0X20) 00372 #define BNO055_QUATERNION_DATA_W_MSB_ADDR (0X21) 00373 #define BNO055_QUATERNION_DATA_X_LSB_ADDR (0X22) 00374 #define BNO055_QUATERNION_DATA_X_MSB_ADDR (0X23) 00375 #define BNO055_QUATERNION_DATA_Y_LSB_ADDR (0X24) 00376 #define BNO055_QUATERNION_DATA_Y_MSB_ADDR (0X25) 00377 #define BNO055_QUATERNION_DATA_Z_LSB_ADDR (0X26) 00378 #define BNO055_QUATERNION_DATA_Z_MSB_ADDR (0X27) 00379 00380 /* Linear acceleration data registers*/ 00381 #define BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR (0X28) 00382 #define BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR (0X29) 00383 #define BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR (0X2A) 00384 #define BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR (0X2B) 00385 #define BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR (0X2C) 00386 #define BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR (0X2D) 00387 00388 /*Gravity data registers*/ 00389 #define BNO055_GRAVITY_DATA_X_LSB_ADDR (0X2E) 00390 #define BNO055_GRAVITY_DATA_X_MSB_ADDR (0X2F) 00391 #define BNO055_GRAVITY_DATA_Y_LSB_ADDR (0X30) 00392 #define BNO055_GRAVITY_DATA_Y_MSB_ADDR (0X31) 00393 #define BNO055_GRAVITY_DATA_Z_LSB_ADDR (0X32) 00394 #define BNO055_GRAVITY_DATA_Z_MSB_ADDR (0X33) 00395 00396 /* Temperature data register*/ 00397 #define BNO055_TEMP_ADDR (0X34) 00398 00399 /* Status registers*/ 00400 #define BNO055_CALIB_STAT_ADDR (0X35) 00401 #define BNO055_SELFTEST_RESULT_ADDR (0X36) 00402 #define BNO055_INTR_STAT_ADDR (0X37) 00403 #define BNO055_SYS_CLK_STAT_ADDR (0X38) 00404 #define BNO055_SYS_STAT_ADDR (0X39) 00405 #define BNO055_SYS_ERR_ADDR (0X3A) 00406 00407 /* Unit selection register*/ 00408 #define BNO055_UNIT_SEL_ADDR (0X3B) 00409 #define BNO055_DATA_SELECT_ADDR (0X3C) 00410 00411 /* Mode registers*/ 00412 #define BNO055_OPR_MODE_ADDR (0X3D) 00413 #define BNO055_PWR_MODE_ADDR (0X3E) 00414 00415 #define BNO055_SYS_TRIGGER_ADDR (0X3F) 00416 #define BNO055_TEMP_SOURCE_ADDR (0X40) 00417 /* Axis remap registers*/ 00418 #define BNO055_AXIS_MAP_CONFIG_ADDR (0X41) 00419 #define BNO055_AXIS_MAP_SIGN_ADDR (0X42) 00420 00421 /* SIC registers*/ 00422 #define BNO055_SIC_MATRIX_0_LSB_ADDR (0X43) 00423 #define BNO055_SIC_MATRIX_0_MSB_ADDR (0X44) 00424 #define BNO055_SIC_MATRIX_1_LSB_ADDR (0X45) 00425 #define BNO055_SIC_MATRIX_1_MSB_ADDR (0X46) 00426 #define BNO055_SIC_MATRIX_2_LSB_ADDR (0X47) 00427 #define BNO055_SIC_MATRIX_2_MSB_ADDR (0X48) 00428 #define BNO055_SIC_MATRIX_3_LSB_ADDR (0X49) 00429 #define BNO055_SIC_MATRIX_3_MSB_ADDR (0X4A) 00430 #define BNO055_SIC_MATRIX_4_LSB_ADDR (0X4B) 00431 #define BNO055_SIC_MATRIX_4_MSB_ADDR (0X4C) 00432 #define BNO055_SIC_MATRIX_5_LSB_ADDR (0X4D) 00433 #define BNO055_SIC_MATRIX_5_MSB_ADDR (0X4E) 00434 #define BNO055_SIC_MATRIX_6_LSB_ADDR (0X4F) 00435 #define BNO055_SIC_MATRIX_6_MSB_ADDR (0X50) 00436 #define BNO055_SIC_MATRIX_7_LSB_ADDR (0X51) 00437 #define BNO055_SIC_MATRIX_7_MSB_ADDR (0X52) 00438 #define BNO055_SIC_MATRIX_8_LSB_ADDR (0X53) 00439 #define BNO055_SIC_MATRIX_8_MSB_ADDR (0X54) 00440 00441 /* Accelerometer Offset registers*/ 00442 #define BNO055_ACCEL_OFFSET_X_LSB_ADDR (0X55) 00443 #define BNO055_ACCEL_OFFSET_X_MSB_ADDR (0X56) 00444 #define BNO055_ACCEL_OFFSET_Y_LSB_ADDR (0X57) 00445 #define BNO055_ACCEL_OFFSET_Y_MSB_ADDR (0X58) 00446 #define BNO055_ACCEL_OFFSET_Z_LSB_ADDR (0X59) 00447 #define BNO055_ACCEL_OFFSET_Z_MSB_ADDR (0X5A) 00448 00449 /* Magnetometer Offset registers*/ 00450 #define BNO055_MAG_OFFSET_X_LSB_ADDR (0X5B) 00451 #define BNO055_MAG_OFFSET_X_MSB_ADDR (0X5C) 00452 #define BNO055_MAG_OFFSET_Y_LSB_ADDR (0X5D) 00453 #define BNO055_MAG_OFFSET_Y_MSB_ADDR (0X5E) 00454 #define BNO055_MAG_OFFSET_Z_LSB_ADDR (0X5F) 00455 #define BNO055_MAG_OFFSET_Z_MSB_ADDR (0X60) 00456 00457 /* Gyroscope Offset registers*/ 00458 #define BNO055_GYRO_OFFSET_X_LSB_ADDR (0X61) 00459 #define BNO055_GYRO_OFFSET_X_MSB_ADDR (0X62) 00460 #define BNO055_GYRO_OFFSET_Y_LSB_ADDR (0X63) 00461 #define BNO055_GYRO_OFFSET_Y_MSB_ADDR (0X64) 00462 #define BNO055_GYRO_OFFSET_Z_LSB_ADDR (0X65) 00463 #define BNO055_GYRO_OFFSET_Z_MSB_ADDR (0X66) 00464 00465 /* Radius registers*/ 00466 #define BNO055_ACCEL_RADIUS_LSB_ADDR (0X67) 00467 #define BNO055_ACCEL_RADIUS_MSB_ADDR (0X68) 00468 #define BNO055_MAG_RADIUS_LSB_ADDR (0X69) 00469 #define BNO055_MAG_RADIUS_MSB_ADDR (0X6A) 00470 /* PAGE0 REGISTERS DEFINITION END*/ 00471 00472 /* PAGE1 REGISTERS DEFINITION START*/ 00473 /* Configuration registers*/ 00474 #define BNO055_ACCEL_CONFIG_ADDR (0X08) 00475 #define BNO055_MAG_CONFIG_ADDR (0X09) 00476 #define BNO055_GYRO_CONFIG_ADDR (0X0A) 00477 #define BNO055_GYRO_MODE_CONFIG_ADDR (0X0B) 00478 #define BNO055_ACCEL_SLEEP_CONFIG_ADDR (0X0C) 00479 #define BNO055_GYRO_SLEEP_CONFIG_ADDR (0X0D) 00480 #define BNO055_MAG_SLEEP_CONFIG_ADDR (0x0E) 00481 00482 /* Interrupt registers*/ 00483 #define BNO055_INT_MASK_ADDR (0X0F) 00484 #define BNO055_INT_ADDR (0X10) 00485 #define BNO055_ACCEL_ANY_MOTION_THRES_ADDR (0X11) 00486 #define BNO055_ACCEL_INTR_SETTINGS_ADDR (0X12) 00487 #define BNO055_ACCEL_HIGH_G_DURN_ADDR (0X13) 00488 #define BNO055_ACCEL_HIGH_G_THRES_ADDR (0X14) 00489 #define BNO055_ACCEL_NO_MOTION_THRES_ADDR (0X15) 00490 #define BNO055_ACCEL_NO_MOTION_SET_ADDR (0X16) 00491 #define BNO055_GYRO_INTR_SETING_ADDR (0X17) 00492 #define BNO055_GYRO_HIGHRATE_X_SET_ADDR (0X18) 00493 #define BNO055_GYRO_DURN_X_ADDR (0X19) 00494 #define BNO055_GYRO_HIGHRATE_Y_SET_ADDR (0X1A) 00495 #define BNO055_GYRO_DURN_Y_ADDR (0X1B) 00496 #define BNO055_GYRO_HIGHRATE_Z_SET_ADDR (0X1C) 00497 #define BNO055_GYRO_DURN_Z_ADDR (0X1D) 00498 #define BNO055_GYRO_ANY_MOTION_THRES_ADDR (0X1E) 00499 #define BNO055_GYRO_ANY_MOTION_SET_ADDR (0X1F) 00500 /* PAGE1 REGISTERS DEFINITION END*/ 00501 00502 00503 #define BNO055_MDELAY_DATA_TYPE u32 00504 00505 /*< This refers BNO055 return type as s8 */ 00506 #define BNO055_RETURN_FUNCTION_TYPE s8 00507 00508 /* Compile switch definition for Float and double*/ 00509 #define BNO055_FLOAT_ENABLE 00510 #define BNO055_DOUBLE_ENABLE 00511 /**************************************************************/ 00512 /**\name STRUCTURE DEFINITIONS */ 00513 /**************************************************************/ 00514 /*! 00515 * @brief bno055 struct 00516 */ 00517 struct bno055_t { 00518 u8 chip_id;/**< chip_id of bno055 */ 00519 u16 sw_rev_id;/**< software revision id of bno055 */ 00520 u8 page_id;/**< page_id of bno055 */ 00521 u8 accel_rev_id;/**< accel revision id of bno055 */ 00522 u8 mag_rev_id;/**< mag revision id of bno055 */ 00523 u8 gyro_rev_id;/**< gyro revision id of bno055 */ 00524 u8 bl_rev_id;/**< boot loader revision id of bno055 */ 00525 u8 dev_addr;/**< i2c device address of bno055 */ 00526 BNO055_WR_FUNC_PTR;/**< bus write function pointer */ 00527 BNO055_RD_FUNC_PTR;/**<bus read function pointer */ 00528 void (*delay_msec)(BNO055_MDELAY_DATA_TYPE);/**< delay function pointer */ 00529 }; 00530 /*! 00531 * @brief struct for accel data read from registers 00532 */ 00533 struct bno055_accel_t { 00534 s16 x;/**< accel x data */ 00535 s16 y;/**< accel y data */ 00536 s16 z;/**< accel z data */ 00537 }; 00538 /*! 00539 * @brief struct for Mag data read from registers 00540 */ 00541 struct bno055_mag_t { 00542 s16 x;/**< mag x data */ 00543 s16 y;/**< mag y data */ 00544 s16 z;/**< mag z data */ 00545 }; 00546 /*! 00547 * @brief struct for Gyro data read from registers 00548 */ 00549 struct bno055_gyro_t { 00550 s16 x;/**< gyro x data */ 00551 s16 y;/**< gyro y data */ 00552 s16 z;/**< gyro z data */ 00553 }; 00554 /*! 00555 * @brief struct for Euler data read from registers 00556 */ 00557 struct bno055_euler_t { 00558 s16 h;/**< Euler h data */ 00559 s16 r;/**< Euler r data */ 00560 s16 p;/**< Euler p data */ 00561 }; 00562 /*! 00563 * @brief struct for Quaternion data read from registers 00564 */ 00565 struct bno055_quaternion_t { 00566 s16 w;/**< Quaternion w data */ 00567 s16 x;/**< Quaternion x data */ 00568 s16 y;/**< Quaternion y data */ 00569 s16 z;/**< Quaternion z data */ 00570 }; 00571 /*! 00572 * @brief struct for Linear Accel data read from registers 00573 */ 00574 struct bno055_linear_accel_t { 00575 s16 x; /**< Linear Accel x data */ 00576 s16 y; /**< Linear Accel y data */ 00577 s16 z; /**< Linear Accel z data */ 00578 }; 00579 /*! 00580 * @brief struct for Gravity data read from registers 00581 */ 00582 struct bno055_gravity_t { 00583 s16 x;/**< Gravity x data */ 00584 s16 y;/**< Gravity y data */ 00585 s16 z;/**< Gravity z data */ 00586 }; 00587 #ifdef BNO055_DOUBLE_ENABLE 00588 /*! 00589 * @brief struct for Accel-output data of precision double 00590 */ 00591 struct bno055_accel_double_t { 00592 double x;/**< Accel x double data */ 00593 double y;/**< Accel y double data */ 00594 double z;/**< Accel z double data */ 00595 }; 00596 /*! 00597 * @brief struct for Mag-output data of precision double 00598 */ 00599 struct bno055_mag_double_t { 00600 double x;/**< Mag x double data */ 00601 double y;/**< Mag y double data */ 00602 double z;/**< Mag z double data */ 00603 }; 00604 /*! 00605 * @brief struct for Gyro-output data of precision double 00606 */ 00607 struct bno055_gyro_double_t { 00608 double x;/**< Gyro x double data */ 00609 double y;/**< Gyro y double data */ 00610 double z;/**< Gyro z double data */ 00611 }; 00612 /*! 00613 * @brief struct for Euler-output data of precision double 00614 */ 00615 struct bno055_euler_double_t { 00616 double h;/**< Euler h double data */ 00617 double r;/**< Euler r double data */ 00618 double p;/**< Euler p double data */ 00619 }; 00620 /*! 00621 * @brief struct for Linear Accel-output data of precision double 00622 */ 00623 struct bno055_linear_accel_double_t { 00624 double x;/**< linear accel x double data */ 00625 double y;/**< linear accel y double data */ 00626 double z;/**< linear accel z double data */ 00627 }; 00628 /*! 00629 * @brief struct for Gravity-output data of precision double 00630 */ 00631 struct bno055_gravity_double_t { 00632 double x;/**< Gravity x double data */ 00633 double y;/**< Gravity y double data */ 00634 double z;/**< Gravity z double data */ 00635 }; 00636 #endif 00637 #ifdef BNO055_FLOAT_ENABLE 00638 /*! 00639 * @brief struct for Accel-output data of precision float 00640 */ 00641 struct bno055_accel_float_t { 00642 float x;/**< accel x float data */ 00643 float y;/**< accel y float data */ 00644 float z;/**< accel z float data */ 00645 }; 00646 /*! 00647 * @brief struct for Mag-output data of precision float 00648 */ 00649 struct bno055_mag_float_t { 00650 float x;/**< Mag x float data */ 00651 float y;/**< Mag y float data */ 00652 float z;/**< Mag z float data */ 00653 }; 00654 /*! 00655 * @brief struct for Gyro-output data of precision float 00656 */ 00657 struct bno055_gyro_float_t { 00658 float x;/**< Gyro x float data */ 00659 float y;/**< Gyro y float data */ 00660 float z;/**< Gyro z float data */ 00661 }; 00662 /*! 00663 * @brief struct for Euler-output data of precision float 00664 */ 00665 struct bno055_euler_float_t { 00666 float h;/**< Euler h float data */ 00667 float r;/**< Euler r float data */ 00668 float p;/**< Euler p float data */ 00669 }; 00670 /*! 00671 * @brief struct for Linear accel-output data of precision float 00672 */ 00673 struct bno055_linear_accel_float_t { 00674 float x;/**< Linear accel x float data */ 00675 float y;/**< Linear accel y float data */ 00676 float z;/**< Linear accel z float data */ 00677 }; 00678 /*! 00679 * @brief struct for Gravity-output data of precision float 00680 */ 00681 struct bno055_gravity_float_t { 00682 float x;/**< Gravity x float data */ 00683 float y;/**< Gravity y float data */ 00684 float z;/**< Gravity z float data */ 00685 }; 00686 #endif 00687 /*! 00688 * @brief struct for Accel offset 00689 */ 00690 struct bno055_accel_offset_t { 00691 s16 x;/**< Accel offset x data */ 00692 s16 y;/**< Accel offset y data */ 00693 s16 z;/**< Accel offset z data */ 00694 s16 r;/**< Accel radius r data */ 00695 }; 00696 /*! 00697 * @brief struct for Gyro offset 00698 */ 00699 struct bno055_gyro_offset_t { 00700 s16 x;/**< Gyro offset x data */ 00701 s16 y;/**< Gyro offset y data */ 00702 s16 z;/**< Gyro offset z data */ 00703 }; 00704 /*! 00705 * @brief struct for Mag offset 00706 */ 00707 struct bno055_mag_offset_t { 00708 s16 x;/**< Mag offset x data */ 00709 s16 y;/**< Mag offset y data */ 00710 s16 z;/**< Mag offset z data */ 00711 s16 r;/**< Mag radius x data */ 00712 }; 00713 /*! 00714 * @brief struct for soft iron calibration matrix 00715 */ 00716 struct bno055_sic_matrix_t { 00717 s16 sic_0;/**< soft iron calibration matrix 0 data */ 00718 s16 sic_1;/**< soft iron calibration matrix 1 data */ 00719 s16 sic_2;/**< soft iron calibration matrix 2 data */ 00720 s16 sic_3;/**< soft iron calibration matrix 3 data */ 00721 s16 sic_4;/**< soft iron calibration matrix 4 data */ 00722 s16 sic_5;/**< soft iron calibration matrix 5 data */ 00723 s16 sic_6;/**< soft iron calibration matrix 6 data */ 00724 s16 sic_7;/**< soft iron calibration matrix 7 data */ 00725 s16 sic_8;/**< soft iron calibration matrix 8 data */ 00726 }; 00727 /***************************************************/ 00728 /**\name CONSTANT DEFINITIONS */ 00729 /***************************************************/ 00730 #define BNO055_INIT_VALUE ((u8)0) 00731 #define BNO055_GEN_READ_WRITE_LENGTH ((u8)1) 00732 #define BNO055_LSB_MSB_READ_LENGTH ((u8)2) 00733 #define BNO055_MAG_POWER_MODE_RANGE ((u8)4) 00734 #define BNO055_MAG_OPR_MODE_RANGE ((u8)5) 00735 #define BNO055_ACCEL_POWER_MODE_RANGE ((u8)6) 00736 #define BNO055_ACCEL_SLEEP_DURATION_RANGE ((u8)16) 00737 #define BNO055_GYRO_AUTO_SLEEP_DURATION_RANGE ((u8)8) 00738 #define BNO055_ACCEL_GYRO_BW_RANGE ((u8)8) 00739 #define BNO055_MAG_OUTPUT_RANGE ((u8)8) 00740 #define BNO055_ACCEL_RANGE ((u8)5) 00741 #define BNO055_SHIFT_EIGHT_BITS ((u8)8) 00742 #define BNO055_GYRO_RANGE ((u8)5) 00743 #define BNO055_ACCEL_SLEEP_MODE_RANGE ((u8)2) 00744 /* BNO055 API BNO055_ERROR codes */ 00745 #define BNO055_E_NULL_PTR ((s8)-127) 00746 #define BNO055_OUT_OF_RANGE ((s8)-2) 00747 #define BNO055_SUCCESS ((u8)0) 00748 #define BNO055_ERROR ((s8)-1) 00749 00750 /* Selection for bit enable and disable */ 00751 #define BNO055_BIT_ENABLE (0x01) 00752 #define BNO055_BIT_DISABLE (0x00) 00753 00754 /* Page ID */ 00755 #define BNO055_PAGE_ZERO (0X00) 00756 #define BNO055_PAGE_ONE (0X01) 00757 00758 /* Enable the temperature source */ 00759 #define BNO055_ACCEL_TEMP_EN (0x00) 00760 #define BNO055_GYRO_TEMP_EN (0x01) 00761 #define BNO055_MCU_TEMP_EN (0x03) 00762 00763 /*Accel unit*/ 00764 #define BNO055_ACCEL_UNIT_MSQ (0x00) 00765 #define BNO055_ACCEL_UNIT_MG (0x01) 00766 00767 /*Gyro unit*/ 00768 #define BNO055_GYRO_UNIT_DPS (0x00) 00769 #define BNO055_GYRO_UNIT_RPS (0x01) 00770 00771 /* Euler unit*/ 00772 #define BNO055_EULER_UNIT_DEG (0x00) 00773 #define BNO055_EULER_UNIT_RAD (0x01) 00774 00775 /*Temperature unit*/ 00776 #define BNO055_TEMP_UNIT_CELSIUS (0x00) 00777 #define BNO055_TEMP_UNIT_FAHRENHEIT (0x01) 00778 00779 /*Accel division factor*/ 00780 #define BNO055_ACCEL_DIV_MSQ (100.0) 00781 #define BNO055_ACCEL_DIV_MG (1) 00782 00783 /*Mag division factor*/ 00784 #define BNO055_MAG_DIV_UT (16.0) 00785 00786 /*Gyro division factor*/ 00787 #define BNO055_GYRO_DIV_DPS (16.0) 00788 #define BNO055_GYRO_DIV_RPS (900.0) 00789 00790 /*Euler division factor*/ 00791 #define BNO055_EULER_DIV_DEG (16.0) 00792 #define BNO055_EULER_DIV_RAD (900.0) 00793 00794 /*Linear accel division factor*/ 00795 #define BNO055_LINEAR_ACCEL_DIV_MSQ (100.0) 00796 00797 /*Gravity accel division factor*/ 00798 #define BNO055_GRAVITY_DIV_MSQ (100.0) 00799 00800 /* Temperature division factor*/ 00801 #define BNO055_TEMP_DIV_FAHRENHEIT (0.5) 00802 #define BNO055_TEMP_DIV_CELSIUS (1) 00803 00804 #define BNO055_MODE_SWITCHING_DELAY (600) 00805 #define BNO055_CONFIG_MODE_SWITCHING_DELAY ((u8)20) 00806 00807 00808 00809 /* Operation mode settings*/ 00810 #define BNO055_OPERATION_MODE_CONFIG (0X00) 00811 #define BNO055_OPERATION_MODE_ACCONLY (0X01) 00812 #define BNO055_OPERATION_MODE_MAGONLY (0X02) 00813 #define BNO055_OPERATION_MODE_GYRONLY (0X03) 00814 #define BNO055_OPERATION_MODE_ACCMAG (0X04) 00815 #define BNO055_OPERATION_MODE_ACCGYRO (0X05) 00816 #define BNO055_OPERATION_MODE_MAGGYRO (0X06) 00817 #define BNO055_OPERATION_MODE_AMG (0X07) 00818 #define BNO055_OPERATION_MODE_IMUPLUS (0X08) 00819 #define BNO055_OPERATION_MODE_COMPASS (0X09) 00820 #define BNO055_OPERATION_MODE_M4G (0X0A) 00821 #define BNO055_OPERATION_MODE_NDOF_FMC_OFF (0X0B) 00822 #define BNO055_OPERATION_MODE_NDOF (0X0C) 00823 00824 /* Power mode*/ 00825 #define BNO055_POWER_MODE_NORMAL (0X00) 00826 #define BNO055_POWER_MODE_LOWPOWER (0X01) 00827 #define BNO055_POWER_MODE_SUSPEND (0X02) 00828 00829 /* PAGE-1 definitions*/ 00830 /* Accel Range */ 00831 00832 #define BNO055_ACCEL_RANGE_2G (0X00) 00833 #define BNO055_ACCEL_RANGE_4G (0X01) 00834 #define BNO055_ACCEL_RANGE_8G (0X02) 00835 #define BNO055_ACCEL_RANGE_16G (0X03) 00836 00837 /* Accel Bandwidth*/ 00838 #define BNO055_ACCEL_BW_7_81HZ (0x00) 00839 #define BNO055_ACCEL_BW_15_63HZ (0x01) 00840 #define BNO055_ACCEL_BW_31_25HZ (0x02) 00841 #define BNO055_ACCEL_BW_62_5HZ (0X03) 00842 #define BNO055_ACCEL_BW_125HZ (0X04) 00843 #define BNO055_ACCEL_BW_250HZ (0X05) 00844 #define BNO055_ACCEL_BW_500HZ (0X06) 00845 #define BNO055_ACCEL_BW_1000HZ (0X07) 00846 00847 /* Accel Power mode*/ 00848 #define BNO055_ACCEL_NORMAL (0X00) 00849 #define BNO055_ACCEL_SUSPEND (0X01) 00850 #define BNO055_ACCEL_LOWPOWER_1 (0X02) 00851 #define BNO055_ACCEL_STANDBY (0X03) 00852 #define BNO055_ACCEL_LOWPOWER_2 (0X04) 00853 #define BNO055_ACCEL_DEEPSUSPEND (0X05) 00854 00855 /* Mag data output rate*/ 00856 #define BNO055_MAG_DATA_OUTRATE_2HZ (0X00) 00857 #define BNO055_MAG_DATA_OUTRATE_6HZ (0X01) 00858 #define BNO055_MAG_DATA_OUTRATE_8HZ (0X02) 00859 #define BNO055_MAG_DATA_OUTRATE_10HZ (0X03) 00860 #define BNO055_MAG_DATA_OUTRATE_15HZ (0X04) 00861 #define BNO055_MAG_DATA_OUTRATE_20HZ (0X05) 00862 #define BNO055_MAG_DATA_OUTRATE_25HZ (0X06) 00863 #define BNO055_MAG_DATA_OUTRATE_30HZ (0X07) 00864 00865 /* Mag Operation mode*/ 00866 #define BNO055_MAG_OPERATION_MODE_LOWPOWER (0X00) 00867 #define BNO055_MAG_OPERATION_MODE_REGULAR (0X01) 00868 #define BNO055_MAG_OPERATION_MODE_ENHANCED_REGULAR (0X02) 00869 #define BNO055_MAG_OPERATION_MODE_HIGH_ACCURACY (0X03) 00870 00871 /* Mag power mode*/ 00872 #define BNO055_MAG_POWER_MODE_NORMAL (0X00) 00873 #define BNO055_MAG_POWER_MODE_SLEEP (0X01) 00874 #define BNO055_MAG_POWER_MODE_SUSPEND (0X02) 00875 #define BNO055_MAG_POWER_MODE_FORCE_MODE (0X03) 00876 00877 /* Gyro range*/ 00878 #define BNO055_GYRO_RANGE_2000DPS (0x00) 00879 #define BNO055_GYRO_RANGE_1000DPS (0x01) 00880 #define BNO055_GYRO_RANGE_500DPS (0x02) 00881 #define BNO055_GYRO_RANGE_250DPS (0x03) 00882 #define BNO055_GYRO_RANGE_125DPS (0x04) 00883 00884 /* Gyro Bandwidth*/ 00885 #define BNO055_GYRO_BW_523HZ (0x00) 00886 #define BNO055_GYRO_BW_230HZ (0x01) 00887 #define BNO055_GYRO_BW_116HZ (0x02) 00888 #define BNO055_GYRO_BW_47HZ (0x03) 00889 #define BNO055_GYRO_BW_23HZ (0x04) 00890 #define BNO055_GYRO_BW_12HZ (0x05) 00891 #define BNO055_GYRO_BW_64HZ (0x06) 00892 #define BNO055_GYRO_BW_32HZ (0x07) 00893 00894 /* Gyro power mode*/ 00895 #define BNO055_GYRO_POWER_MODE_NORMAL (0X00) 00896 #define BNO055_GYRO_POWER_MODE_FASTPOWERUP (0X01) 00897 #define BNO055_GYRO_POWER_MODE_DEEPSUSPEND (0X02) 00898 #define BNO055_GYRO_POWER_MODE_SUSPEND (0X03) 00899 #define BNO055_GYRO_POWER_MODE_ADVANCE_POWERSAVE (0X04) 00900 00901 /* Accel Sleep Duration */ 00902 #define BNO055_ACCEL_SLEEP_DURN_0_5MS (0x05) 00903 /* sets sleep duration to 0.5 ms */ 00904 #define BNO055_ACCEL_SLEEP_DURN_1MS (0x06) 00905 /* sets sleep duration to 1 ms */ 00906 #define BNO055_ACCEL_SLEEP_DURN_2MS (0x07) 00907 /* sets sleep duration to 2 ms */ 00908 #define BNO055_ACCEL_SLEEP_DURN_4MS (0x08) 00909 /* sets sleep duration to 4 ms */ 00910 #define BNO055_ACCEL_SLEEP_DURN_6MS (0x09) 00911 /* sets sleep duration to 6 ms*/ 00912 #define BNO055_ACCEL_SLEEP_DURN_10MS (0x0A) 00913 /* sets sleep duration to 10 ms */ 00914 #define BNO055_ACCEL_SLEEP_DURN_25MS (0x0B) 00915 /* sets sleep duration to 25 ms */ 00916 #define BNO055_ACCEL_SLEEP_DURN_50MS (0x0C) 00917 /* sets sleep duration to 50 ms */ 00918 #define BNO055_ACCEL_SLEEP_DURN_100MS (0x0D) 00919 /* sets sleep duration to 100 ms */ 00920 #define BNO055_ACCEL_SLEEP_DURN_500MS (0x0E) 00921 /* sets sleep duration to 500 ms */ 00922 #define BNO055_ACCEL_SLEEP_DURN_1S (0x0F) 00923 /* sets sleep duration to 1 s */ 00924 00925 /* Gyro Auto sleep duration*/ 00926 #define BNO055_GYRO_No_AUTOSLPDUR (0x00) 00927 #define BNO055_GYRO_4MS_AUTOSLPDUR (0x01) 00928 #define BNO055_GYRO_5MS_AUTOSLPDUR (0x02) 00929 #define BNO055_GYRO_8MS_AUTOSLPDUR (0x03) 00930 #define BNO055_GYRO_10MS_AUTOSLPDUR (0x04) 00931 #define BNO055_GYRO_15MS_AUTOSLPDUR (0x05) 00932 #define BNO055_GYRO_20MS_AUTOSLPDUR (0x06) 00933 #define BNO055_GYRO_40MS_AUTOSLPDUR (0x07) 00934 00935 /* Accel Any/No motion axis selection*/ 00936 #define BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS (0) 00937 #define BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS (1) 00938 #define BNO055_ACCEL_ANY_MOTION_NO_MOTION_Z_AXIS (2) 00939 00940 /* Accel High g axis selection*/ 00941 #define BNO055_ACCEL_HIGH_G_X_AXIS (0) 00942 #define BNO055_ACCEL_HIGH_G_Y_AXIS (1) 00943 #define BNO055_ACCEL_HIGH_G_Z_AXIS (2) 00944 00945 /* Gyro Any motion axis selection*/ 00946 #define BNO055_GYRO_ANY_MOTION_X_AXIS (0) 00947 #define BNO055_GYRO_ANY_MOTION_Y_AXIS (1) 00948 #define BNO055_GYRO_ANY_MOTION_Z_AXIS (2) 00949 00950 00951 /* Gyro High rate axis selection*/ 00952 #define BNO055_GYRO_HIGHRATE_X_AXIS (0) 00953 #define BNO055_GYRO_HIGHRATE_Y_AXIS (1) 00954 #define BNO055_GYRO_HIGHRATE_Z_AXIS (2) 00955 00956 /* Axis remap values*/ 00957 #define BNO055_REMAP_X_Y (0X21) 00958 #define BNO055_REMAP_Y_Z (0X18) 00959 #define BNO055_REMAP_Z_X (0X06) 00960 #define BNO055_REMAP_X_Y_Z_TYPE0 (0X12) 00961 #define BNO055_REMAP_X_Y_Z_TYPE1 (0X09) 00962 #define BNO055_DEFAULT_AXIS (0X24) 00963 00964 /* Axis remap sign */ 00965 #define BNO055_REMAP_AXIS_POSITIVE (0X00) 00966 #define BNO055_REMAP_AXIS_NEGATIVE (0X01) 00967 00968 /* Gyro anymotion and high rate filter configuration */ 00969 #define BNO055_GYRO_FILTERED_CONFIG (0x00) 00970 #define BNO055_GYRO_UNFILTERED_CONFIG (0x01) 00971 00972 /* mask definitions*/ 00973 #define BNO055_SIC_HEX_0_0_F_F_DATA (0x00FF) 00974 /****************************************************/ 00975 /**\name ARRAY SIZE DEFINITIONS */ 00976 /***************************************************/ 00977 #define BNO055_REV_ID_SIZE (2) 00978 #define BNO055_ACCEL_DATA_SIZE (2) 00979 #define BNO055_ACCEL_XYZ_DATA_SIZE (6) 00980 #define BNO055_MAG_DATA_SIZE (2) 00981 #define BNO055_MAG_XYZ_DATA_SIZE (6) 00982 #define BNO055_GYRO_DATA_SIZE (2) 00983 #define BNO055_GYRO_XYZ_DATA_SIZE (6) 00984 #define BNO055_EULER_DATA_SIZE (2) 00985 #define BNO055_EULER_HRP_DATA_SIZE (6) 00986 #define BNO055_QUATERNION_DATA_SIZE (2) 00987 #define BNO055_QUATERNION_WXYZ_DATA_SIZE (8) 00988 #define BNO055_GRAVITY_DATA_SIZE (2) 00989 #define BNO055_GRAVITY_XYZ_DATA_SIZE (6) 00990 #define BNO055_ACCEL_OFFSET_ARRAY (6) 00991 #define BNO055_MAG_OFFSET_ARRAY (6) 00992 #define BNO055_GYRO_OFFSET_ARRAY (6) 00993 #define BNO055_SOFT_IRON_CALIBRATION_MATRIX_SIZE (18) 00994 00995 00996 /*ARRAY INDEX DEFINITIONS*/ 00997 #define BNO055_SW_ID_LSB (0) 00998 #define BNO055_SW_ID_MSB (1) 00999 #define BNO055_SENSOR_DATA_LSB (0) 01000 #define BNO055_SENSOR_DATA_MSB (1) 01001 #define BNO055_SENSOR_DATA_EULER_LSB (0) 01002 #define BNO055_SENSOR_DATA_EULER_MSB (1) 01003 #define BNO055_SENSOR_DATA_QUATERNION_LSB (0) 01004 #define BNO055_SENSOR_DATA_QUATERNION_MSB (1) 01005 01006 #define BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_LSB (0) 01007 #define BNO055_SENSOR_DATA_QUATERNION_WXYZ_W_MSB (1) 01008 #define BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_LSB (2) 01009 #define BNO055_SENSOR_DATA_QUATERNION_WXYZ_X_MSB (3) 01010 #define BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_LSB (4) 01011 #define BNO055_SENSOR_DATA_QUATERNION_WXYZ_Y_MSB (5) 01012 #define BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_LSB (6) 01013 #define BNO055_SENSOR_DATA_QUATERNION_WXYZ_Z_MSB (7) 01014 01015 #define BNO055_SENSOR_DATA_XYZ_X_LSB (0) 01016 #define BNO055_SENSOR_DATA_XYZ_X_MSB (1) 01017 #define BNO055_SENSOR_DATA_XYZ_Y_LSB (2) 01018 #define BNO055_SENSOR_DATA_XYZ_Y_MSB (3) 01019 #define BNO055_SENSOR_DATA_XYZ_Z_LSB (4) 01020 #define BNO055_SENSOR_DATA_XYZ_Z_MSB (5) 01021 01022 01023 #define BNO055_SENSOR_DATA_EULER_HRP_H_LSB (0) 01024 #define BNO055_SENSOR_DATA_EULER_HRP_H_MSB (1) 01025 #define BNO055_SENSOR_DATA_EULER_HRP_R_LSB (2) 01026 #define BNO055_SENSOR_DATA_EULER_HRP_R_MSB (3) 01027 #define BNO055_SENSOR_DATA_EULER_HRP_P_LSB (4) 01028 #define BNO055_SENSOR_DATA_EULER_HRP_P_MSB (5) 01029 01030 #define BNO055_SOFT_IRON_CALIB_0_LSB (0) 01031 #define BNO055_SOFT_IRON_CALIB_0_MSB (1) 01032 #define BNO055_SOFT_IRON_CALIB_1_LSB (2) 01033 #define BNO055_SOFT_IRON_CALIB_1_MSB (3) 01034 #define BNO055_SOFT_IRON_CALIB_2_LSB (4) 01035 #define BNO055_SOFT_IRON_CALIB_2_MSB (5) 01036 #define BNO055_SOFT_IRON_CALIB_3_LSB (6) 01037 #define BNO055_SOFT_IRON_CALIB_3_MSB (7) 01038 #define BNO055_SOFT_IRON_CALIB_4_LSB (8) 01039 #define BNO055_SOFT_IRON_CALIB_4_MSB (9) 01040 #define BNO055_SOFT_IRON_CALIB_5_LSB (10) 01041 #define BNO055_SOFT_IRON_CALIB_5_MSB (11) 01042 #define BNO055_SOFT_IRON_CALIB_6_LSB (12) 01043 #define BNO055_SOFT_IRON_CALIB_6_MSB (13) 01044 #define BNO055_SOFT_IRON_CALIB_7_LSB (14) 01045 #define BNO055_SOFT_IRON_CALIB_7_MSB (15) 01046 #define BNO055_SOFT_IRON_CALIB_8_LSB (16) 01047 #define BNO055_SOFT_IRON_CALIB_8_MSB (17) 01048 01049 #define BNO055_SENSOR_OFFSET_DATA_X_LSB (0) 01050 #define BNO055_SENSOR_OFFSET_DATA_X_MSB (1) 01051 #define BNO055_SENSOR_OFFSET_DATA_Y_LSB (2) 01052 #define BNO055_SENSOR_OFFSET_DATA_Y_MSB (3) 01053 #define BNO055_SENSOR_OFFSET_DATA_Z_LSB (4) 01054 #define BNO055_SENSOR_OFFSET_DATA_Z_MSB (5) 01055 01056 #define BNO055_OFFSET_RADIUS_LSB (0) 01057 #define BNO055_OFFSET_RADIUS_MSB (1) 01058 /*********************************************************/ 01059 /**\name PAGE0 DATA REGISTERS DEFINITION */ 01060 /*********************************************************/ 01061 /* Chip ID */ 01062 #define BNO055_CHIP_ID_POS (0) 01063 #define BNO055_CHIP_ID_MSK (0xFF) 01064 #define BNO055_CHIP_ID_LEN (8) 01065 #define BNO055_CHIP_ID_REG BNO055_CHIP_ID_ADDR 01066 01067 /* Accel revision id*/ 01068 #define BNO055_ACCEL_REV_ID_POS (0) 01069 #define BNO055_ACCEL_REV_ID_MSK (0xFF) 01070 #define BNO055_ACCEL_REV_ID_LEN (8) 01071 #define BNO055_ACCEL_REV_ID_REG BNO055_ACCEL_REV_ID_ADDR 01072 01073 /* Mag revision id*/ 01074 #define BNO055_MAG_REV_ID_POS (0) 01075 #define BNO055_MAG_REV_ID_MSK (0xFF) 01076 #define BNO055_MAG_REV_ID_LEN (8) 01077 #define BNO055_MAG_REV_ID_REG BNO055_MAG_REV_ID_ADDR 01078 01079 /* Gyro revision id*/ 01080 #define BNO055_GYRO_REV_ID_POS (0) 01081 #define BNO055_GYRO_REV_ID_MSK (0xFF) 01082 #define BNO055_GYRO_REV_ID_LEN (8) 01083 #define BNO055_GYRO_REV_ID_REG BNO055_GYRO_REV_ID_ADDR 01084 01085 /*Software revision id LSB*/ 01086 #define BNO055_SW_REV_ID_LSB_POS (0) 01087 #define BNO055_SW_REV_ID_LSB_MSK (0xFF) 01088 #define BNO055_SW_REV_ID_LSB_LEN (8) 01089 #define BNO055_SW_REV_ID_LSB_REG BNO055_SW_REV_ID_LSB_ADDR 01090 01091 /*Software revision id MSB*/ 01092 #define BNO055_SW_REV_ID_MSB_POS (0) 01093 #define BNO055_SW_REV_ID_MSB_MSK (0xFF) 01094 #define BNO055_SW_REV_ID_MSB_LEN (8) 01095 #define BNO055_SW_REV_ID_MSB_REG BNO055_SW_REV_ID_MSB_ADDR 01096 01097 /* BOOTLODER revision id*/ 01098 #define BNO055_BL_REV_ID_POS (0) 01099 #define BNO055_BL_REV_ID_MSK (0xFF) 01100 #define BNO055_BL_REV_ID_LEN (8) 01101 #define BNO055_BL_REV_ID_REG BNO055_BL_REV_ID_ADDR 01102 01103 /*Page id*/ 01104 #define BNO055_PAGE_ID_POS (0) 01105 #define BNO055_PAGE_ID_MSK (0xFF) 01106 #define BNO055_PAGE_ID_LEN (8) 01107 #define BNO055_PAGE_ID_REG BNO055_PAGE_ID_ADDR 01108 01109 /* Accel data X-LSB register*/ 01110 #define BNO055_ACCEL_DATA_X_LSB_VALUEX_POS (0) 01111 #define BNO055_ACCEL_DATA_X_LSB_VALUEX_MSK (0xFF) 01112 #define BNO055_ACCEL_DATA_X_LSB_VALUEX_LEN (8) 01113 #define BNO055_ACCEL_DATA_X_LSB_VALUEX_REG \ 01114 BNO055_ACCEL_DATA_X_LSB_ADDR 01115 01116 /* Accel data X-MSB register*/ 01117 #define BNO055_ACCEL_DATA_X_MSB_VALUEX_POS (0) 01118 #define BNO055_ACCEL_DATA_X_MSB_VALUEX_MSK (0xFF) 01119 #define BNO055_ACCEL_DATA_X_MSB_VALUEX_LEN (8) 01120 #define BNO055_ACCEL_DATA_X_MSB_VALUEX_REG \ 01121 BNO055_ACCEL_DATA_X_MSB_ADDR 01122 01123 /* Accel data Y-LSB register*/ 01124 #define BNO055_ACCEL_DATA_Y_LSB_VALUEY_POS (0) 01125 #define BNO055_ACCEL_DATA_Y_LSB_VALUEY_MSK (0xFF) 01126 #define BNO055_ACCEL_DATA_Y_LSB_VALUEY_LEN (8) 01127 #define BNO055_ACCEL_DATA_Y_LSB_VALUEY_REG \ 01128 BNO055_ACCEL_DATA_Y_LSB_ADDR 01129 01130 /* Accel data Y-MSB register*/ 01131 #define BNO055_ACCEL_DATA_Y_MSB_VALUEY_POS (0) 01132 #define BNO055_ACCEL_DATA_Y_MSB_VALUEY_MSK (0xFF) 01133 #define BNO055_ACCEL_DATA_Y_MSB_VALUEY_LEN (8) 01134 #define BNO055_ACCEL_DATA_Y_MSB_VALUEY_REG \ 01135 BNO055_ACCEL_DATA_Y_MSB_ADDR 01136 01137 /* Accel data Z-LSB register*/ 01138 #define BNO055_ACCEL_DATA_Z_LSB_VALUEZ_POS (0) 01139 #define BNO055_ACCEL_DATA_Z_LSB_VALUEZ_MSK (0xFF) 01140 #define BNO055_ACCEL_DATA_Z_LSB_VALUEZ_LEN (8) 01141 #define BNO055_ACCEL_DATA_Z_LSB_VALUEZ_REG \ 01142 BNO055_ACCEL_DATA_Z_LSB_ADDR 01143 01144 /* Accel data Z-MSB register*/ 01145 #define BNO055_ACCEL_DATA_Z_MSB_VALUEZ_POS (0) 01146 #define BNO055_ACCEL_DATA_Z_MSB_VALUEZ_MSK (0xFF) 01147 #define BNO055_ACCEL_DATA_Z_MSB_VALUEZ_LEN (8) 01148 #define BNO055_ACCEL_DATA_Z_MSB_VALUEZ_REG \ 01149 BNO055_ACCEL_DATA_Z_MSB_ADDR 01150 01151 /* Mag data X-LSB register*/ 01152 #define BNO055_MAG_DATA_X_LSB_VALUEX_POS (0) 01153 #define BNO055_MAG_DATA_X_LSB_VALUEX_MSK (0xFF) 01154 #define BNO055_MAG_DATA_X_LSB_VALUEX_LEN (8) 01155 #define BNO055_MAG_DATA_X_LSB_VALUEX_REG \ 01156 BNO055_MAG_DATA_X_LSB_ADDR 01157 01158 /* Mag data X-MSB register*/ 01159 #define BNO055_MAG_DATA_X_MSB_VALUEX_POS (0) 01160 #define BNO055_MAG_DATA_X_MSB_VALUEX_MSK (0xFF) 01161 #define BNO055_MAG_DATA_X_MSB_VALUEX_LEN (8) 01162 #define BNO055_MAG_DATA_X_MSB_VALUEX_REG BNO055_MAG_DATA_X_MSB_ADDR 01163 01164 /* Mag data Y-LSB register*/ 01165 #define BNO055_MAG_DATA_Y_LSB_VALUEY_POS (0) 01166 #define BNO055_MAG_DATA_Y_LSB_VALUEY_MSK (0xFF) 01167 #define BNO055_MAG_DATA_Y_LSB_VALUEY_LEN (8) 01168 #define BNO055_MAG_DATA_Y_LSB_VALUEY_REG BNO055_MAG_DATA_Y_LSB_ADDR 01169 01170 /* Mag data Y-MSB register*/ 01171 #define BNO055_MAG_DATA_Y_MSB_VALUEY_POS (0) 01172 #define BNO055_MAG_DATA_Y_MSB_VALUEY_MSK (0xFF) 01173 #define BNO055_MAG_DATA_Y_MSB_VALUEY_LEN (8) 01174 #define BNO055_MAG_DATA_Y_MSB_VALUEY_REG BNO055_MAG_DATA_Y_MSB_ADDR 01175 01176 /* Mag data Z-LSB register*/ 01177 #define BNO055_MAG_DATA_Z_LSB_VALUEZ_POS (0) 01178 #define BNO055_MAG_DATA_Z_LSB_VALUEZ_MSK (0xFF) 01179 #define BNO055_MAG_DATA_Z_LSB_VALUEZ_LEN (8) 01180 #define BNO055_MAG_DATA_Z_LSB_VALUEZ_REG BNO055_MAG_DATA_Z_LSB_ADDR 01181 01182 /* Mag data Z-MSB register*/ 01183 #define BNO055_MAG_DATA_Z_MSB_VALUEZ_POS (0) 01184 #define BNO055_MAG_DATA_Z_MSB_VALUEZ_MSK (0xFF) 01185 #define BNO055_MAG_DATA_Z_MSB_VALUEZ_LEN (8) 01186 #define BNO055_MAG_DATA_Z_MSB_VALUEZ_REG BNO055_MAG_DATA_Z_MSB_ADDR 01187 01188 /* Gyro data X-LSB register*/ 01189 #define BNO055_GYRO_DATA_X_LSB_VALUEX_POS (0) 01190 #define BNO055_GYRO_DATA_X_LSB_VALUEX_MSK (0xFF) 01191 #define BNO055_GYRO_DATA_X_LSB_VALUEX_LEN (8) 01192 #define BNO055_GYRO_DATA_X_LSB_VALUEX_REG BNO055_GYRO_DATA_X_LSB_ADDR 01193 01194 /* Gyro data X-MSB register*/ 01195 #define BNO055_GYRO_DATA_X_MSB_VALUEX_POS (0) 01196 #define BNO055_GYRO_DATA_X_MSB_VALUEX_MSK (0xFF) 01197 #define BNO055_GYRO_DATA_X_MSB_VALUEX_LEN (8) 01198 #define BNO055_GYRO_DATA_X_MSB_VALUEX_REG BNO055_GYRO_DATA_X_MSB_ADDR 01199 01200 /* Gyro data Y-LSB register*/ 01201 #define BNO055_GYRO_DATA_Y_LSB_VALUEY_POS (0) 01202 #define BNO055_GYRO_DATA_Y_LSB_VALUEY_MSK (0xFF) 01203 #define BNO055_GYRO_DATA_Y_LSB_VALUEY_LEN (8) 01204 #define BNO055_GYRO_DATA_Y_LSB_VALUEY_REG BNO055_GYRO_DATA_Y_LSB_ADDR 01205 01206 /* Gyro data Y-MSB register*/ 01207 #define BNO055_GYRO_DATA_Y_MSB_VALUEY_POS (0) 01208 #define BNO055_GYRO_DATA_Y_MSB_VALUEY_MSK (0xFF) 01209 #define BNO055_GYRO_DATA_Y_MSB_VALUEY_LEN (8) 01210 #define BNO055_GYRO_DATA_Y_MSB_VALUEY_REG BNO055_GYRO_DATA_Y_MSB_ADDR 01211 01212 /* Gyro data Z-LSB register*/ 01213 #define BNO055_GYRO_DATA_Z_LSB_VALUEZ_POS (0) 01214 #define BNO055_GYRO_DATA_Z_LSB_VALUEZ_MSK (0xFF) 01215 #define BNO055_GYRO_DATA_Z_LSB_VALUEZ_LEN (8) 01216 #define BNO055_GYRO_DATA_Z_LSB_VALUEZ_REG BNO055_GYRO_DATA_Z_LSB_ADDR 01217 01218 /* Gyro data Z-MSB register*/ 01219 #define BNO055_GYRO_DATA_Z_MSB_VALUEZ_POS (0) 01220 #define BNO055_GYRO_DATA_Z_MSB_VALUEZ_MSK (0xFF) 01221 #define BNO055_GYRO_DATA_Z_MSB_VALUEZ_LEN (8) 01222 #define BNO055_GYRO_DATA_Z_MSB_VALUEZ_REG BNO055_GYRO_DATA_Z_MSB_ADDR 01223 01224 /* Euler data HEADING-LSB register*/ 01225 #define BNO055_EULER_H_LSB_VALUEH_POS (0) 01226 #define BNO055_EULER_H_LSB_VALUEH_MSK (0xFF) 01227 #define BNO055_EULER_H_LSB_VALUEH_LEN (8) 01228 #define BNO055_EULER_H_LSB_VALUEH_REG BNO055_EULER_H_LSB_ADDR 01229 01230 /* Euler data HEADING-MSB register*/ 01231 #define BNO055_EULER_H_MSB_VALUEH_POS (0) 01232 #define BNO055_EULER_H_MSB_VALUEH_MSK (0xFF) 01233 #define BNO055_EULER_H_MSB_VALUEH_LEN (8) 01234 #define BNO055_EULER_H_MSB_VALUEH_REG BNO055_EULER_H_MSB_ADDR 01235 01236 /* Euler data ROLL-LSB register*/ 01237 #define BNO055_EULER_R_LSB_VALUER_POS (0) 01238 #define BNO055_EULER_R_LSB_VALUER_MSK (0xFF) 01239 #define BNO055_EULER_R_LSB_VALUER_LEN (8) 01240 #define BNO055_EULER_R_LSB_VALUER_REG BNO055_EULER_R_LSB_ADDR 01241 01242 /* Euler data ROLL-MSB register*/ 01243 #define BNO055_EULER_R_MSB_VALUER_POS (0) 01244 #define BNO055_EULER_R_MSB_VALUER_MSK (0xFF) 01245 #define BNO055_EULER_R_MSB_VALUER_LEN (8) 01246 #define BNO055_EULER_R_MSB_VALUER_REG BNO055_EULER_R_MSB_ADDR 01247 01248 /* Euler data PITCH-LSB register*/ 01249 #define BNO055_EULER_P_LSB_VALUEP_POS (0) 01250 #define BNO055_EULER_P_LSB_VALUEP_MSK (0xFF) 01251 #define BNO055_EULER_P_LSB_VALUEP_LEN (8) 01252 #define BNO055_EULER_P_LSB_VALUEP_REG BNO055_EULER_P_LSB_ADDR 01253 01254 /* Euler data HEADING-MSB register*/ 01255 #define BNO055_EULER_P_MSB_VALUEP_POS (0) 01256 #define BNO055_EULER_P_MSB_VALUEP_MSK (0xFF) 01257 #define BNO055_EULER_P_MSB_VALUEP_LEN (8) 01258 #define BNO055_EULER_P_MSB_VALUEP_REG BNO055_EULER_P_MSB_ADDR 01259 01260 /* Quaternion data W-LSB register*/ 01261 #define BNO055_QUATERNION_DATA_W_LSB_VALUEW_POS (0) 01262 #define BNO055_QUATERNION_DATA_W_LSB_VALUEW_MSK (0xFF) 01263 #define BNO055_QUATERNION_DATA_W_LSB_VALUEW_LEN (8) 01264 #define BNO055_QUATERNION_DATA_W_LSB_VALUEW_REG \ 01265 BNO055_QUATERNION_DATA_W_LSB_ADDR 01266 01267 /* Quaternion data W-MSB register*/ 01268 #define BNO055_QUATERNION_DATA_W_MSB_VALUEW_POS (0) 01269 #define BNO055_QUATERNION_DATA_W_MSB_VALUEW_MSK (0xFF) 01270 #define BNO055_QUATERNION_DATA_W_MSB_VALUEW_LEN (8) 01271 #define BNO055_QUATERNION_DATA_W_MSB_VALUEW_REG \ 01272 BNO055_QUATERNION_DATA_W_MSB_ADDR 01273 01274 /* Quaternion data X-LSB register*/ 01275 #define BNO055_QUATERNION_DATA_X_LSB_VALUEX_POS (0) 01276 #define BNO055_QUATERNION_DATA_X_LSB_VALUEX_MSK (0xFF) 01277 #define BNO055_QUATERNION_DATA_X_LSB_VALUEX_LEN (8) 01278 #define BNO055_QUATERNION_DATA_X_LSB_VALUEX_REG \ 01279 BNO055_QUATERNION_DATA_X_LSB_ADDR 01280 01281 /* Quaternion data X-MSB register*/ 01282 #define BNO055_QUATERNION_DATA_X_MSB_VALUEX_POS (0) 01283 #define BNO055_QUATERNION_DATA_X_MSB_VALUEX_MSK (0xFF) 01284 #define BNO055_QUATERNION_DATA_X_MSB_VALUEX_LEN (8) 01285 #define BNO055_QUATERNION_DATA_X_MSB_VALUEX_REG \ 01286 BNO055_QUATERNION_DATA_X_MSB_ADDR 01287 01288 /* Quaternion data Y-LSB register*/ 01289 #define BNO055_QUATERNION_DATA_Y_LSB_VALUEY_POS (0) 01290 #define BNO055_QUATERNION_DATA_Y_LSB_VALUEY_MSK (0xFF) 01291 #define BNO055_QUATERNION_DATA_Y_LSB_VALUEY_LEN (8) 01292 #define BNO055_QUATERNION_DATA_Y_LSB_VALUEY_REG \ 01293 BNO055_QUATERNION_DATA_Y_LSB_ADDR 01294 01295 /* Quaternion data Y-MSB register*/ 01296 #define BNO055_QUATERNION_DATA_Y_MSB_VALUEY_POS (0) 01297 #define BNO055_QUATERNION_DATA_Y_MSB_VALUEY_MSK (0xFF) 01298 #define BNO055_QUATERNION_DATA_Y_MSB_VALUEY_LEN (8) 01299 #define BNO055_QUATERNION_DATA_Y_MSB_VALUEY_REG \ 01300 BNO055_QUATERNION_DATA_Y_MSB_ADDR 01301 01302 /* Quaternion data Z-LSB register*/ 01303 #define BNO055_QUATERNION_DATA_Z_LSB_VALUEZ_POS (0) 01304 #define BNO055_QUATERNION_DATA_Z_LSB_VALUEZ_MSK (0xFF) 01305 #define BNO055_QUATERNION_DATA_Z_LSB_VALUEZ_LEN (8) 01306 #define BNO055_QUATERNION_DATA_Z_LSB_VALUEZ_REG \ 01307 BNO055_QUATERNION_DATA_Z_LSB_ADDR 01308 01309 /* Quaternion data Z-MSB register*/ 01310 #define BNO055_QUATERNION_DATA_Z_MSB_VALUEZ_POS (0) 01311 #define BNO055_QUATERNION_DATA_Z_MSB_VALUEZ_MSK (0xFF) 01312 #define BNO055_QUATERNION_DATA_Z_MSB_VALUEZ_LEN (8) 01313 #define BNO055_QUATERNION_DATA_Z_MSB_VALUEZ_REG \ 01314 BNO055_QUATERNION_DATA_Z_MSB_ADDR 01315 01316 /* Linear acceleration data X-LSB register*/ 01317 #define BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX_POS (0) 01318 #define BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX_MSK (0xFF) 01319 #define BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX_LEN (8) 01320 #define BNO055_LINEAR_ACCEL_DATA_X_LSB_VALUEX_REG \ 01321 BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR 01322 01323 /* Linear acceleration data X-MSB register*/ 01324 #define BNO055_LINEAR_ACCEL_DATA_X_MSB_VALUEX_POS (0) 01325 #define BNO055_LINEAR_ACCEL_DATA_X_MSB_VALUEX_MSK (0xFF) 01326 #define BNO055_LINEAR_ACCEL_DATA_X_MSB_VALUEX_LEN (8) 01327 #define BNO055_LINEAR_ACCEL_DATA_X_MSB_VALUEX_REG \ 01328 BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR 01329 01330 /* Linear acceleration data Y-LSB register*/ 01331 #define BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY_POS (0) 01332 #define BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY_MSK (0xFF) 01333 #define BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY_LEN (8) 01334 #define BNO055_LINEAR_ACCEL_DATA_Y_LSB_VALUEY_REG \ 01335 BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR 01336 01337 /* Linear acceleration data Y-MSB register*/ 01338 #define BNO055_LINEAR_ACCEL_DATA_Y_MSB_VALUEY_POS (0) 01339 #define BNO055_LINEAR_ACCEL_DATA_Y_MSB_VALUEY_MSK (0xFF) 01340 #define BNO055_LINEAR_ACCEL_DATA_Y_MSB_VALUEY_LEN (8) 01341 #define BNO055_LINEAR_ACCEL_DATA_Y_MSB_VALUEY_REG \ 01342 BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR 01343 01344 /* Linear acceleration data Z-LSB register*/ 01345 #define BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ_POS (0) 01346 #define BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ_MSK (0xFF) 01347 #define BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ_LEN (8) 01348 #define BNO055_LINEAR_ACCEL_DATA_Z_LSB_VALUEZ_REG \ 01349 BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR 01350 01351 /* Linear acceleration data Z-MSB register*/ 01352 #define BNO055_LINEAR_ACCEL_DATA_Z_MSB_VALUEZ_POS (0) 01353 #define BNO055_LINEAR_ACCEL_DATA_Z_MSB_VALUEZ_MSK (0xFF) 01354 #define BNO055_LINEAR_ACCEL_DATA_Z_MSB_VALUEZ_LEN (8) 01355 #define BNO055_LINEAR_ACCEL_DATA_Z_MSB_VALUEZ_REG \ 01356 BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR 01357 01358 /* Gravity data X-LSB register*/ 01359 #define BNO055_GRAVITY_DATA_X_LSB_VALUEX_POS (0) 01360 #define BNO055_GRAVITY_DATA_X_LSB_VALUEX_MSK (0xFF) 01361 #define BNO055_GRAVITY_DATA_X_LSB_VALUEX_LEN (8) 01362 #define BNO055_GRAVITY_DATA_X_LSB_VALUEX_REG \ 01363 BNO055_GRAVITY_DATA_X_LSB_ADDR 01364 01365 /* Gravity data X-MSB register*/ 01366 #define BNO055_GRAVITY_DATA_X_MSB_VALUEX_POS (0) 01367 #define BNO055_GRAVITY_DATA_X_MSB_VALUEX_MSK (0xFF) 01368 #define BNO055_GRAVITY_DATA_X_MSB_VALUEX_LEN (8) 01369 #define BNO055_GRAVITY_DATA_X_MSB_VALUEX_REG \ 01370 BNO055_GRAVITY_DATA_X_MSB_ADDR 01371 01372 /* Gravity data Y-LSB register*/ 01373 #define BNO055_GRAVITY_DATA_Y_LSB_VALUEY_POS (0) 01374 #define BNO055_GRAVITY_DATA_Y_LSB_VALUEY_MSK (0xFF) 01375 #define BNO055_GRAVITY_DATA_Y_LSB_VALUEY_LEN (8) 01376 #define BNO055_GRAVITY_DATA_Y_LSB_VALUEY_REG \ 01377 BNO055_GRAVITY_DATA_Y_LSB_ADDR 01378 01379 /* Gravity data Y-MSB register*/ 01380 #define BNO055_GRAVITY_DATA_Y_MSB_VALUEY_POS (0) 01381 #define BNO055_GRAVITY_DATA_Y_MSB_VALUEY_MSK (0xFF) 01382 #define BNO055_GRAVITY_DATA_Y_MSB_VALUEY_LEN (8) 01383 #define BNO055_GRAVITY_DATA_Y_MSB_VALUEY_REG \ 01384 BNO055_GRAVITY_DATA_Y_MSB_ADDR 01385 01386 /* Gravity data Z-LSB register*/ 01387 #define BNO055_GRAVITY_DATA_Z_LSB_VALUEZ_POS (0) 01388 #define BNO055_GRAVITY_DATA_Z_LSB_VALUEZ_MSK (0xFF) 01389 #define BNO055_GRAVITY_DATA_Z_LSB_VALUEZ_LEN (8) 01390 #define BNO055_GRAVITY_DATA_Z_LSB_VALUEZ_REG \ 01391 BNO055_GRAVITY_DATA_Z_LSB_ADDR 01392 01393 /* Gravity data Z-MSB register*/ 01394 #define BNO055_GRAVITY_DATA_Z_MSB_VALUEZ_POS (0) 01395 #define BNO055_GRAVITY_DATA_Z_MSB_VALUEZ_MSK (0xFF) 01396 #define BNO055_GRAVITY_DATA_Z_MSB_VALUEZ_LEN (8) 01397 #define BNO055_GRAVITY_DATA_Z_MSB_VALUEZ_REG \ 01398 BNO055_GRAVITY_DATA_Z_MSB_ADDR 01399 01400 /* Temperature register*/ 01401 #define BNO055_TEMP_POS (0) 01402 #define BNO055_TEMP_MSK (0xFF) 01403 #define BNO055_TEMP_LEN (8) 01404 #define BNO055_TEMP_REG BNO055_TEMP_ADDR 01405 01406 /*Mag_Calib status register*/ 01407 #define BNO055_MAG_CALIB_STAT_POS (0) 01408 #define BNO055_MAG_CALIB_STAT_MSK (0X03) 01409 #define BNO055_MAG_CALIB_STAT_LEN (2) 01410 #define BNO055_MAG_CALIB_STAT_REG BNO055_CALIB_STAT_ADDR 01411 01412 /*Acc_Calib status register*/ 01413 #define BNO055_ACCEL_CALIB_STAT_POS (2) 01414 #define BNO055_ACCEL_CALIB_STAT_MSK (0X0C) 01415 #define BNO055_ACCEL_CALIB_STAT_LEN (2) 01416 #define BNO055_ACCEL_CALIB_STAT_REG BNO055_CALIB_STAT_ADDR 01417 01418 /*Gyro_Calib status register*/ 01419 #define BNO055_GYRO_CALIB_STAT_POS (4) 01420 #define BNO055_GYRO_CALIB_STAT_MSK (0X30) 01421 #define BNO055_GYRO_CALIB_STAT_LEN (2) 01422 #define BNO055_GYRO_CALIB_STAT_REG BNO055_CALIB_STAT_ADDR 01423 01424 /*Sys_Calib status register*/ 01425 #define BNO055_SYS_CALIB_STAT_POS (6) 01426 #define BNO055_SYS_CALIB_STAT_MSK (0XC0) 01427 #define BNO055_SYS_CALIB_STAT_LEN (2) 01428 #define BNO055_SYS_CALIB_STAT_REG BNO055_CALIB_STAT_ADDR 01429 01430 /*All_Calib status register*/ 01431 #define BNO055_ALL_CALIB_STAT_POS (0) 01432 #define BNO055_ALL_CALIB_STAT_MSK (0XFF) 01433 #define BNO055_ALL_CALIB_STAT_LEN (8) 01434 #define BNO055_ALL_CALIB_STAT_REG BNO055_CALIB_STAT_ADDR 01435 01436 /*ST_ACCEL register*/ 01437 #define BNO055_SELFTEST_ACCEL_POS (0) 01438 #define BNO055_SELFTEST_ACCEL_MSK (0X01) 01439 #define BNO055_SELFTEST_ACCEL_LEN (1) 01440 #define BNO055_SELFTEST_ACCEL_REG BNO055_SELFTEST_RESULT_ADDR 01441 01442 /*ST_MAG register*/ 01443 #define BNO055_SELFTEST_MAG_POS (1) 01444 #define BNO055_SELFTEST_MAG_MSK (0X02) 01445 #define BNO055_SELFTEST_MAG_LEN (1) 01446 #define BNO055_SELFTEST_MAG_REG BNO055_SELFTEST_RESULT_ADDR 01447 01448 /*ST_GYRO register*/ 01449 #define BNO055_SELFTEST_GYRO_POS (2) 01450 #define BNO055_SELFTEST_GYRO_MSK (0X04) 01451 #define BNO055_SELFTEST_GYRO_LEN (1) 01452 #define BNO055_SELFTEST_GYRO_REG BNO055_SELFTEST_RESULT_ADDR 01453 01454 /*ST_MCU register*/ 01455 #define BNO055_SELFTEST_MCU_POS (3) 01456 #define BNO055_SELFTEST_MCU_MSK (0X08) 01457 #define BNO055_SELFTEST_MCU_LEN (1) 01458 #define BNO055_SELFTEST_MCU_REG BNO055_SELFTEST_RESULT_ADDR 01459 01460 /*Interrupt status registers*/ 01461 #define BNO055_INTR_STAT_GYRO_ANY_MOTION_POS (2) 01462 #define BNO055_INTR_STAT_GYRO_ANY_MOTION_MSK (0X04) 01463 #define BNO055_INTR_STAT_GYRO_ANY_MOTION_LEN (1) 01464 #define BNO055_INTR_STAT_GYRO_ANY_MOTION_REG BNO055_INTR_STAT_ADDR 01465 01466 #define BNO055_INTR_STAT_GYRO_HIGHRATE_POS (3) 01467 #define BNO055_INTR_STAT_GYRO_HIGHRATE_MSK (0X08) 01468 #define BNO055_INTR_STAT_GYRO_HIGHRATE_LEN (1) 01469 #define BNO055_INTR_STAT_GYRO_HIGHRATE_REG BNO055_INTR_STAT_ADDR 01470 01471 #define BNO055_INTR_STAT_ACCEL_HIGH_G_POS (5) 01472 #define BNO055_INTR_STAT_ACCEL_HIGH_G_MSK (0X20) 01473 #define BNO055_INTR_STAT_ACCEL_HIGH_G_LEN (1) 01474 #define BNO055_INTR_STAT_ACCEL_HIGH_G_REG BNO055_INTR_STAT_ADDR 01475 01476 #define BNO055_INTR_STAT_ACCEL_ANY_MOTION_POS (6) 01477 #define BNO055_INTR_STAT_ACCEL_ANY_MOTION_MSK (0X40) 01478 #define BNO055_INTR_STAT_ACCEL_ANY_MOTION_LEN (1) 01479 #define BNO055_INTR_STAT_ACCEL_ANY_MOTION_REG BNO055_INTR_STAT_ADDR 01480 01481 #define BNO055_INTR_STAT_ACCEL_NO_MOTION_POS (7) 01482 #define BNO055_INTR_STAT_ACCEL_NO_MOTION_MSK (0X80) 01483 #define BNO055_INTR_STAT_ACCEL_NO_MOTION_LEN (1) 01484 #define BNO055_INTR_STAT_ACCEL_NO_MOTION_REG BNO055_INTR_STAT_ADDR 01485 01486 /* system clock status register*/ 01487 #define BNO055_SYS_MAIN_CLK_POS (0) 01488 #define BNO055_SYS_MAIN_CLK_MSK (0X10) 01489 #define BNO055_SYS_MAIN_CLK_LEN (1) 01490 #define BNO055_SYS_MAIN_CLK_REG BNO055_SYS_CLK_STAT_ADDR 01491 01492 /* System registers*/ 01493 #define BNO055_SYS_STAT_CODE_POS (0) 01494 #define BNO055_SYS_STAT_CODE_MSK (0XFF) 01495 #define BNO055_SYS_STAT_CODE_LEN (8) 01496 #define BNO055_SYS_STAT_CODE_REG BNO055_SYS_STAT_ADDR 01497 01498 #define BNO055_SYS_ERROR_CODE_POS (0) 01499 #define BNO055_SYS_ERROR_CODE_MSK (0XFF) 01500 #define BNO055_SYS_ERROR_CODE_LEN (8) 01501 #define BNO055_SYS_ERROR_CODE_REG BNO055_SYS_ERR_ADDR 01502 01503 /* Accel_Unit register*/ 01504 #define BNO055_ACCEL_UNIT_POS (0) 01505 #define BNO055_ACCEL_UNIT_MSK (0X01) 01506 #define BNO055_ACCEL_UNIT_LEN (1) 01507 #define BNO055_ACCEL_UNIT_REG BNO055_UNIT_SEL_ADDR 01508 01509 /* Gyro_Unit register*/ 01510 #define BNO055_GYRO_UNIT_POS (1) 01511 #define BNO055_GYRO_UNIT_MSK (0X02) 01512 #define BNO055_GYRO_UNIT_LEN (1) 01513 #define BNO055_GYRO_UNIT_REG BNO055_UNIT_SEL_ADDR 01514 01515 /* Euler_Unit register*/ 01516 #define BNO055_EULER_UNIT_POS (2) 01517 #define BNO055_EULER_UNIT_MSK (0X04) 01518 #define BNO055_EULER_UNIT_LEN (1) 01519 #define BNO055_EULER_UNIT_REG BNO055_UNIT_SEL_ADDR 01520 01521 /* Tilt_Unit register*/ 01522 #define BNO055_TILT_UNIT_POS (3) 01523 #define BNO055_TILT_UNIT_MSK (0X08) 01524 #define BNO055_TILT_UNIT_LEN (1) 01525 #define BNO055_TILT_UNIT_REG BNO055_UNIT_SEL_ADDR 01526 01527 /* Temperature_Unit register*/ 01528 #define BNO055_TEMP_UNIT_POS (4) 01529 #define BNO055_TEMP_UNIT_MSK (0X10) 01530 #define BNO055_TEMP_UNIT_LEN (1) 01531 #define BNO055_TEMP_UNIT_REG BNO055_UNIT_SEL_ADDR 01532 01533 /* ORI android-windows register*/ 01534 #define BNO055_DATA_OUTPUT_FORMAT_POS (7) 01535 #define BNO055_DATA_OUTPUT_FORMAT_MSK (0X80) 01536 #define BNO055_DATA_OUTPUT_FORMAT_LEN (1) 01537 #define BNO055_DATA_OUTPUT_FORMAT_REG BNO055_UNIT_SEL_ADDR 01538 /*Operation Mode data register*/ 01539 #define BNO055_OPERATION_MODE_POS (0) 01540 #define BNO055_OPERATION_MODE_MSK (0X0F) 01541 #define BNO055_OPERATION_MODE_LEN (4) 01542 #define BNO055_OPERATION_MODE_REG BNO055_OPR_MODE_ADDR 01543 /* Power Mode register*/ 01544 #define BNO055_POWER_MODE_POS (0) 01545 #define BNO055_POWER_MODE_MSK (0X03) 01546 #define BNO055_POWER_MODE_LEN (2) 01547 #define BNO055_POWER_MODE_REG BNO055_PWR_MODE_ADDR 01548 01549 /*Self Test register*/ 01550 #define BNO055_SELFTEST_POS (0) 01551 #define BNO055_SELFTEST_MSK (0X01) 01552 #define BNO055_SELFTEST_LEN (1) 01553 #define BNO055_SELFTEST_REG BNO055_SYS_TRIGGER_ADDR 01554 01555 /* RST_SYS register*/ 01556 #define BNO055_SYS_RST_POS (5) 01557 #define BNO055_SYS_RST_MSK (0X20) 01558 #define BNO055_SYS_RST_LEN (1) 01559 #define BNO055_SYS_RST_REG BNO055_SYS_TRIGGER_ADDR 01560 01561 /* RST_INT register*/ 01562 #define BNO055_INTR_RST_POS (6) 01563 #define BNO055_INTR_RST_MSK (0X40) 01564 #define BNO055_INTR_RST_LEN (1) 01565 #define BNO055_INTR_RST_REG BNO055_SYS_TRIGGER_ADDR 01566 01567 /* CLK_SRC register*/ 01568 #define BNO055_CLK_SRC_POS (7) 01569 #define BNO055_CLK_SRC_MSK (0X80) 01570 #define BNO055_CLK_SRC_LEN (1) 01571 #define BNO055_CLK_SRC_REG BNO055_SYS_TRIGGER_ADDR 01572 01573 /* Temp source register*/ 01574 #define BNO055_TEMP_SOURCE_POS (0) 01575 #define BNO055_TEMP_SOURCE_MSK (0X03) 01576 #define BNO055_TEMP_SOURCE_LEN (2) 01577 #define BNO055_TEMP_SOURCE_REG BNO055_TEMP_SOURCE_ADDR 01578 01579 /* Axis remap value register*/ 01580 #define BNO055_REMAP_AXIS_VALUE_POS (0) 01581 #define BNO055_REMAP_AXIS_VALUE_MSK (0X3F) 01582 #define BNO055_REMAP_AXIS_VALUE_LEN (6) 01583 #define BNO055_REMAP_AXIS_VALUE_REG BNO055_AXIS_MAP_CONFIG_ADDR 01584 01585 /* Axis sign value register*/ 01586 #define BNO055_REMAP_Z_SIGN_POS (0) 01587 #define BNO055_REMAP_Z_SIGN_MSK (0X01) 01588 #define BNO055_REMAP_Z_SIGN_LEN (1) 01589 #define BNO055_REMAP_Z_SIGN_REG BNO055_AXIS_MAP_SIGN_ADDR 01590 01591 #define BNO055_REMAP_Y_SIGN_POS (1) 01592 #define BNO055_REMAP_Y_SIGN_MSK (0X02) 01593 #define BNO055_REMAP_Y_SIGN_LEN (1) 01594 #define BNO055_REMAP_Y_SIGN_REG BNO055_AXIS_MAP_SIGN_ADDR 01595 01596 #define BNO055_REMAP_X_SIGN_POS (2) 01597 #define BNO055_REMAP_X_SIGN_MSK (0X04) 01598 #define BNO055_REMAP_X_SIGN_LEN (1) 01599 #define BNO055_REMAP_X_SIGN_REG BNO055_AXIS_MAP_SIGN_ADDR 01600 01601 /* Soft Iron Calibration matrix register*/ 01602 #define BNO055_SIC_MATRIX_0_LSB_POS (0) 01603 #define BNO055_SIC_MATRIX_0_LSB_MSK (0XFF) 01604 #define BNO055_SIC_MATRIX_0_LSB_LEN (8) 01605 #define BNO055_SIC_MATRIX_0_LSB_REG BNO055_SIC_MATRIX_0_LSB_ADDR 01606 01607 #define BNO055_SIC_MATRIX_0_MSB_POS (0) 01608 #define BNO055_SIC_MATRIX_0_MSB_MSK (0XFF) 01609 #define BNO055_SIC_MATRIX_0_MSB_LEN (8) 01610 #define BNO055_SIC_MATRIX_0_MSB_REG BNO055_SIC_MATRIX_0_MSB_ADDR 01611 01612 #define BNO055_SIC_MATRIX_1_LSB_POS (0) 01613 #define BNO055_SIC_MATRIX_1_LSB_MSK (0XFF) 01614 #define BNO055_SIC_MATRIX_1_LSB_LEN (8) 01615 #define BNO055_SIC_MATRIX_1_LSB_REG BNO055_SIC_MATRIX_1_LSB_ADDR 01616 01617 #define BNO055_SIC_MATRIX_1_MSB_POS (0) 01618 #define BNO055_SIC_MATRIX_1_MSB_MSK (0XFF) 01619 #define BNO055_SIC_MATRIX_1_MSB_LEN (8) 01620 #define BNO055_SIC_MATRIX_1_MSB_REG BNO055_SIC_MATRIX_1_MSB_ADDR 01621 01622 #define BNO055_SIC_MATRIX_2_LSB_POS (0) 01623 #define BNO055_SIC_MATRIX_2_LSB_MSK (0XFF) 01624 #define BNO055_SIC_MATRIX_2_LSB_LEN (8) 01625 #define BNO055_SIC_MATRIX_2_LSB_REG BNO055_SIC_MATRIX_2_LSB_ADDR 01626 01627 #define BNO055_SIC_MATRIX_2_MSB_POS (0) 01628 #define BNO055_SIC_MATRIX_2_MSB_MSK (0XFF) 01629 #define BNO055_SIC_MATRIX_2_MSB_LEN (8) 01630 #define BNO055_SIC_MATRIX_2_MSB_REG BNO055_SIC_MATRIX_2_MSB_ADDR 01631 01632 #define BNO055_SIC_MATRIX_3_LSB_POS (0) 01633 #define BNO055_SIC_MATRIX_3_LSB_MSK (0XFF) 01634 #define BNO055_SIC_MATRIX_3_LSB_LEN (8) 01635 #define BNO055_SIC_MATRIX_3_LSB_REG BNO055_SIC_MATRIX_3_LSB_ADDR 01636 01637 #define BNO055_SIC_MATRIX_3_MSB_POS (0) 01638 #define BNO055_SIC_MATRIX_3_MSB_MSK (0XFF) 01639 #define BNO055_SIC_MATRIX_3_MSB_LEN (8) 01640 #define BNO055_SIC_MATRIX_3_MSB_REG BNO055_SIC_MATRIX_3_MSB_ADDR 01641 01642 #define BNO055_SIC_MATRIX_4_LSB_POS (0) 01643 #define BNO055_SIC_MATRIX_4_LSB_MSK (0XFF) 01644 #define BNO055_SIC_MATRIX_4_LSB_LEN (8) 01645 #define BNO055_SIC_MATRIX_4_LSB_REG BNO055_SIC_MATRIX_4_LSB_ADDR 01646 01647 #define BNO055_SIC_MATRIX_4_MSB_POS (0) 01648 #define BNO055_SIC_MATRIX_4_MSB_MSK (0XFF) 01649 #define BNO055_SIC_MATRIX_4_MSB_LEN (8) 01650 #define BNO055_SIC_MATRIX_4_MSB_REG BNO055_SIC_MATRIX_4_MSB_ADDR 01651 01652 #define BNO055_SIC_MATRIX_5_LSB_POS (0) 01653 #define BNO055_SIC_MATRIX_5_LSB_MSK (0XFF) 01654 #define BNO055_SIC_MATRIX_5_LSB_LEN (8) 01655 #define BNO055_SIC_MATRIX_5_LSB_REG BNO055_SIC_MATRIX_5_LSB_ADDR 01656 01657 #define BNO055_SIC_MATRIX_5_MSB_POS (0) 01658 #define BNO055_SIC_MATRIX_5_MSB_MSK (0XFF) 01659 #define BNO055_SIC_MATRIX_5_MSB_LEN (8) 01660 #define BNO055_SIC_MATRIX_5_MSB_REG BNO055_SIC_MATRIX_5_MSB_ADDR 01661 01662 #define BNO055_SIC_MATRIX_6_LSB_POS (0) 01663 #define BNO055_SIC_MATRIX_6_LSB_MSK (0XFF) 01664 #define BNO055_SIC_MATRIX_6_LSB_LEN (8) 01665 #define BNO055_SIC_MATRIX_6_LSB_REG BNO055_SIC_MATRIX_6_LSB_ADDR 01666 01667 #define BNO055_SIC_MATRIX_6_MSB_POS (0) 01668 #define BNO055_SIC_MATRIX_6_MSB_MSK (0XFF) 01669 #define BNO055_SIC_MATRIX_6_MSB_LEN (8) 01670 #define BNO055_SIC_MATRIX_6_MSB_REG BNO055_SIC_MATRIX_6_MSB_ADDR 01671 01672 #define BNO055_SIC_MATRIX_7_LSB_POS (0) 01673 #define BNO055_SIC_MATRIX_7_LSB_MSK (0XFF) 01674 #define BNO055_SIC_MATRIX_7_LSB_LEN (8) 01675 #define BNO055_SIC_MATRIX_7_LSB_REG BNO055_SIC_MATRIX_7_LSB_ADDR 01676 01677 #define BNO055_SIC_MATRIX_7_MSB_POS (0) 01678 #define BNO055_SIC_MATRIX_7_MSB_MSK (0XFF) 01679 #define BNO055_SIC_MATRIX_7_MSB_LEN (8) 01680 #define BNO055_SIC_MATRIX_7_MSB_REG BNO055_SIC_MATRIX_7_MSB_ADDR 01681 01682 #define BNO055_SIC_MATRIX_8_LSB_POS (0) 01683 #define BNO055_SIC_MATRIX_8_LSB_MSK (0XFF) 01684 #define BNO055_SIC_MATRIX_8_LSB_LEN (8) 01685 #define BNO055_SIC_MATRIX_8_LSB_REG BNO055_SIC_MATRIX_8_LSB_ADDR 01686 01687 #define BNO055_SIC_MATRIX_8_MSB_POS (0) 01688 #define BNO055_SIC_MATRIX_8_MSB_MSK (0XFF) 01689 #define BNO055_SIC_MATRIX_8_MSB_LEN (8) 01690 #define BNO055_SIC_MATRIX_8_MSB_REG BNO055_SIC_MATRIX_8_MSB_ADDR 01691 01692 /*Accel Offset registers*/ 01693 #define BNO055_ACCEL_OFFSET_X_LSB_POS (0) 01694 #define BNO055_ACCEL_OFFSET_X_LSB_MSK (0XFF) 01695 #define BNO055_ACCEL_OFFSET_X_LSB_LEN (8) 01696 #define BNO055_ACCEL_OFFSET_X_LSB_REG BNO055_ACCEL_OFFSET_X_LSB_ADDR 01697 01698 #define BNO055_ACCEL_OFFSET_X_MSB_POS (0) 01699 #define BNO055_ACCEL_OFFSET_X_MSB_MSK (0XFF) 01700 #define BNO055_ACCEL_OFFSET_X_MSB_LEN (8) 01701 #define BNO055_ACCEL_OFFSET_X_MSB_REG BNO055_ACCEL_OFFSET_X_MSB_ADDR 01702 01703 #define BNO055_ACCEL_OFFSET_Y_LSB_POS (0) 01704 #define BNO055_ACCEL_OFFSET_Y_LSB_MSK (0XFF) 01705 #define BNO055_ACCEL_OFFSET_Y_LSB_LEN (8) 01706 #define BNO055_ACCEL_OFFSET_Y_LSB_REG BNO055_ACCEL_OFFSET_Y_LSB_ADDR 01707 01708 #define BNO055_ACCEL_OFFSET_Y_MSB_POS (0) 01709 #define BNO055_ACCEL_OFFSET_Y_MSB_MSK (0XFF) 01710 #define BNO055_ACCEL_OFFSET_Y_MSB_LEN (8) 01711 #define BNO055_ACCEL_OFFSET_Y_MSB_REG BNO055_ACCEL_OFFSET_Y_MSB_ADDR 01712 01713 #define BNO055_ACCEL_OFFSET_Z_LSB_POS (0) 01714 #define BNO055_ACCEL_OFFSET_Z_LSB_MSK (0XFF) 01715 #define BNO055_ACCEL_OFFSET_Z_LSB_LEN (8) 01716 #define BNO055_ACCEL_OFFSET_Z_LSB_REG BNO055_ACCEL_OFFSET_Z_LSB_ADDR 01717 01718 #define BNO055_ACCEL_OFFSET_Z_MSB_POS (0) 01719 #define BNO055_ACCEL_OFFSET_Z_MSB_MSK (0XFF) 01720 #define BNO055_ACCEL_OFFSET_Z_MSB_LEN (8) 01721 #define BNO055_ACCEL_OFFSET_Z_MSB_REG BNO055_ACCEL_OFFSET_Z_MSB_ADDR 01722 01723 /*Mag Offset registers*/ 01724 #define BNO055_MAG_OFFSET_X_LSB_POS (0) 01725 #define BNO055_MAG_OFFSET_X_LSB_MSK (0XFF) 01726 #define BNO055_MAG_OFFSET_X_LSB_LEN (8) 01727 #define BNO055_MAG_OFFSET_X_LSB_REG BNO055_MAG_OFFSET_X_LSB_ADDR 01728 01729 #define BNO055_MAG_OFFSET_X_MSB_POS (0) 01730 #define BNO055_MAG_OFFSET_X_MSB_MSK (0XFF) 01731 #define BNO055_MAG_OFFSET_X_MSB_LEN (8) 01732 #define BNO055_MAG_OFFSET_X_MSB_REG BNO055_MAG_OFFSET_X_MSB_ADDR 01733 01734 #define BNO055_MAG_OFFSET_Y_LSB_POS (0) 01735 #define BNO055_MAG_OFFSET_Y_LSB_MSK (0XFF) 01736 #define BNO055_MAG_OFFSET_Y_LSB_LEN (8) 01737 #define BNO055_MAG_OFFSET_Y_LSB_REG BNO055_MAG_OFFSET_Y_LSB_ADDR 01738 01739 #define BNO055_MAG_OFFSET_Y_MSB_POS (0) 01740 #define BNO055_MAG_OFFSET_Y_MSB_MSK (0XFF) 01741 #define BNO055_MAG_OFFSET_Y_MSB_LEN (8) 01742 #define BNO055_MAG_OFFSET_Y_MSB_REG BNO055_MAG_OFFSET_Y_MSB_ADDR 01743 01744 #define BNO055_MAG_OFFSET_Z_LSB_POS (0) 01745 #define BNO055_MAG_OFFSET_Z_LSB_MSK (0XFF) 01746 #define BNO055_MAG_OFFSET_Z_LSB_LEN (8) 01747 #define BNO055_MAG_OFFSET_Z_LSB_REG BNO055_MAG_OFFSET_Z_LSB_ADDR 01748 01749 #define BNO055_MAG_OFFSET_Z_MSB_POS (0) 01750 #define BNO055_MAG_OFFSET_Z_MSB_MSK (0XFF) 01751 #define BNO055_MAG_OFFSET_Z_MSB_LEN (8) 01752 #define BNO055_MAG_OFFSET_Z_MSB_REG BNO055_MAG_OFFSET_Z_MSB_ADDR 01753 01754 /* Gyro Offset registers*/ 01755 #define BNO055_GYRO_OFFSET_X_LSB_POS (0) 01756 #define BNO055_GYRO_OFFSET_X_LSB_MSK (0XFF) 01757 #define BNO055_GYRO_OFFSET_X_LSB_LEN (8) 01758 #define BNO055_GYRO_OFFSET_X_LSB_REG BNO055_GYRO_OFFSET_X_LSB_ADDR 01759 01760 #define BNO055_GYRO_OFFSET_X_MSB_POS (0) 01761 #define BNO055_GYRO_OFFSET_X_MSB_MSK (0XFF) 01762 #define BNO055_GYRO_OFFSET_X_MSB_LEN (8) 01763 #define BNO055_GYRO_OFFSET_X_MSB_REG BNO055_GYRO_OFFSET_X_MSB_ADDR 01764 01765 #define BNO055_GYRO_OFFSET_Y_LSB_POS (0) 01766 #define BNO055_GYRO_OFFSET_Y_LSB_MSK (0XFF) 01767 #define BNO055_GYRO_OFFSET_Y_LSB_LEN (8) 01768 #define BNO055_GYRO_OFFSET_Y_LSB_REG BNO055_GYRO_OFFSET_Y_LSB_ADDR 01769 01770 #define BNO055_GYRO_OFFSET_Y_MSB_POS (0) 01771 #define BNO055_GYRO_OFFSET_Y_MSB_MSK (0XFF) 01772 #define BNO055_GYRO_OFFSET_Y_MSB_LEN (8) 01773 #define BNO055_GYRO_OFFSET_Y_MSB_REG BNO055_GYRO_OFFSET_Y_MSB_ADDR 01774 01775 #define BNO055_GYRO_OFFSET_Z_LSB_POS (0) 01776 #define BNO055_GYRO_OFFSET_Z_LSB_MSK (0XFF) 01777 #define BNO055_GYRO_OFFSET_Z_LSB_LEN (8) 01778 #define BNO055_GYRO_OFFSET_Z_LSB_REG BNO055_GYRO_OFFSET_Z_LSB_ADDR 01779 01780 #define BNO055_GYRO_OFFSET_Z_MSB_POS (0) 01781 #define BNO055_GYRO_OFFSET_Z_MSB_MSK (0XFF) 01782 #define BNO055_GYRO_OFFSET_Z_MSB_LEN (8) 01783 #define BNO055_GYRO_OFFSET_Z_MSB_REG BNO055_GYRO_OFFSET_Z_MSB_ADDR 01784 01785 /* Radius register definition*/ 01786 #define BNO055_ACCEL_RADIUS_LSB_POS (0) 01787 #define BNO055_ACCEL_RADIUS_LSB_MSK (0XFF) 01788 #define BNO055_ACCEL_RADIUS_LSB_LEN (8) 01789 #define BNO055_ACCEL_RADIUS_LSB_REG BNO055_ACCEL_RADIUS_LSB_ADDR 01790 01791 #define BNO055_ACCEL_RADIUS_MSB_POS (0) 01792 #define BNO055_ACCEL_RADIUS_MSB_MSK (0XFF) 01793 #define BNO055_ACCEL_RADIUS_MSB_LEN (8) 01794 #define BNO055_ACCEL_RADIUS_MSB_REG BNO055_ACCEL_RADIUS_MSB_ADDR 01795 01796 #define BNO055_MAG_RADIUS_LSB_POS (0) 01797 #define BNO055_MAG_RADIUS_LSB_MSK (0XFF) 01798 #define BNO055_MAG_RADIUS_LSB_LEN (8) 01799 #define BNO055_MAG_RADIUS_LSB_REG BNO055_MAG_RADIUS_LSB_ADDR 01800 01801 #define BNO055_MAG_RADIUS_MSB_POS (0) 01802 #define BNO055_MAG_RADIUS_MSB_MSK (0XFF) 01803 #define BNO055_MAG_RADIUS_MSB_LEN (8) 01804 #define BNO055_MAG_RADIUS_MSB_REG BNO055_MAG_RADIUS_MSB_ADDR 01805 01806 /* PAGE0 DATA REGISTERS DEFINITION END*/ 01807 /*************************************************/ 01808 /**\name PAGE1 DATA REGISTERS DEFINITION */ 01809 /*************************************************/ 01810 /* Configuration registers*/ 01811 /* Accel range configuration register*/ 01812 #define BNO055_ACCEL_RANGE_POS (0) 01813 #define BNO055_ACCEL_RANGE_MSK (0X03) 01814 #define BNO055_ACCEL_RANGE_LEN (2) 01815 #define BNO055_ACCEL_RANGE_REG BNO055_ACCEL_CONFIG_ADDR 01816 01817 /* Accel bandwidth configuration register*/ 01818 #define BNO055_ACCEL_BW_POS (2) 01819 #define BNO055_ACCEL_BW_MSK (0X1C) 01820 #define BNO055_ACCEL_BW_LEN (3) 01821 #define BNO055_ACCEL_BW_REG BNO055_ACCEL_CONFIG_ADDR 01822 01823 /* Accel power mode configuration register*/ 01824 #define BNO055_ACCEL_POWER_MODE_POS (5) 01825 #define BNO055_ACCEL_POWER_MODE_MSK (0XE0) 01826 #define BNO055_ACCEL_POWER_MODE_LEN (3) 01827 #define BNO055_ACCEL_POWER_MODE_REG BNO055_ACCEL_CONFIG_ADDR 01828 01829 /* Mag data output rate configuration register*/ 01830 #define BNO055_MAG_DATA_OUTPUT_RATE_POS (0) 01831 #define BNO055_MAG_DATA_OUTPUT_RATE_MSK (0X07) 01832 #define BNO055_MAG_DATA_OUTPUT_RATE_LEN (3) 01833 #define BNO055_MAG_DATA_OUTPUT_RATE_REG BNO055_MAG_CONFIG_ADDR 01834 01835 /* Mag operation mode configuration register*/ 01836 #define BNO055_MAG_OPERATION_MODE_POS (3) 01837 #define BNO055_MAG_OPERATION_MODE_MSK (0X18) 01838 #define BNO055_MAG_OPERATION_MODE_LEN (2) 01839 #define BNO055_MAG_OPERATION_MODE_REG BNO055_MAG_CONFIG_ADDR 01840 01841 /* Mag power mode configuration register*/ 01842 #define BNO055_MAG_POWER_MODE_POS (5) 01843 #define BNO055_MAG_POWER_MODE_MSK (0X60) 01844 #define BNO055_MAG_POWER_MODE_LEN (2) 01845 #define BNO055_MAG_POWER_MODE_REG BNO055_MAG_CONFIG_ADDR 01846 01847 /* Gyro range configuration register*/ 01848 #define BNO055_GYRO_RANGE_POS (0) 01849 #define BNO055_GYRO_RANGE_MSK (0X07) 01850 #define BNO055_GYRO_RANGE_LEN (3) 01851 #define BNO055_GYRO_RANGE_REG BNO055_GYRO_CONFIG_ADDR 01852 01853 /* Gyro bandwidth configuration register*/ 01854 #define BNO055_GYRO_BW_POS (3) 01855 #define BNO055_GYRO_BW_MSK (0X38) 01856 #define BNO055_GYRO_BW_LEN (3) 01857 #define BNO055_GYRO_BW_REG BNO055_GYRO_CONFIG_ADDR 01858 01859 /* Gyro power mode configuration register*/ 01860 #define BNO055_GYRO_POWER_MODE_POS (0) 01861 #define BNO055_GYRO_POWER_MODE_MSK (0X07) 01862 #define BNO055_GYRO_POWER_MODE_LEN (3) 01863 #define BNO055_GYRO_POWER_MODE_REG BNO055_GYRO_MODE_CONFIG_ADDR 01864 01865 /* Sleep configuration registers*/ 01866 /* Accel sleep mode configuration register*/ 01867 #define BNO055_ACCEL_SLEEP_MODE_POS (0) 01868 #define BNO055_ACCEL_SLEEP_MODE_MSK (0X01) 01869 #define BNO055_ACCEL_SLEEP_MODE_LEN (1) 01870 #define BNO055_ACCEL_SLEEP_MODE_REG BNO055_ACCEL_SLEEP_CONFIG_ADDR 01871 01872 /* Accel sleep duration configuration register*/ 01873 #define BNO055_ACCEL_SLEEP_DURN_POS (1) 01874 #define BNO055_ACCEL_SLEEP_DURN_MSK (0X1E) 01875 #define BNO055_ACCEL_SLEEP_DURN_LEN (4) 01876 #define BNO055_ACCEL_SLEEP_DURN_REG BNO055_ACCEL_SLEEP_CONFIG_ADDR 01877 01878 /* Gyro sleep duration configuration register*/ 01879 #define BNO055_GYRO_SLEEP_DURN_POS (0) 01880 #define BNO055_GYRO_SLEEP_DURN_MSK (0X07) 01881 #define BNO055_GYRO_SLEEP_DURN_LEN (3) 01882 #define BNO055_GYRO_SLEEP_DURN_REG BNO055_GYRO_SLEEP_CONFIG_ADDR 01883 01884 /* Gyro auto sleep duration configuration register*/ 01885 #define BNO055_GYRO_AUTO_SLEEP_DURN_POS (3) 01886 #define BNO055_GYRO_AUTO_SLEEP_DURN_MSK (0X38) 01887 #define BNO055_GYRO_AUTO_SLEEP_DURN_LEN (3) 01888 #define BNO055_GYRO_AUTO_SLEEP_DURN_REG BNO055_GYRO_SLEEP_CONFIG_ADDR 01889 01890 /* Mag sleep mode configuration register*/ 01891 #define BNO055_MAG_SLEEP_MODE_POS (0) 01892 #define BNO055_MAG_SLEEP_MODE_MSK (0X01) 01893 #define BNO055_MAG_SLEEP_MODE_LEN (1) 01894 #define BNO055_MAG_SLEEP_MODE_REG BNO055_MAG_SLEEP_CONFIG_ADDR 01895 01896 /* Mag sleep duration configuration register*/ 01897 #define BNO055_MAG_SLEEP_DURN_POS (1) 01898 #define BNO055_MAG_SLEEP_DURN_MSK (0X1E) 01899 #define BNO055_MAG_SLEEP_DURN_LEN (4) 01900 #define BNO055_MAG_SLEEP_DURN_REG BNO055_MAG_SLEEP_CONFIG_ADDR 01901 01902 /* Interrupt registers*/ 01903 /* Gyro any motion interrupt msk register*/ 01904 #define BNO055_GYRO_ANY_MOTION_INTR_MASK_POS (2) 01905 #define BNO055_GYRO_ANY_MOTION_INTR_MASK_MSK (0X04) 01906 #define BNO055_GYRO_ANY_MOTION_INTR_MASK_LEN (1) 01907 #define BNO055_GYRO_ANY_MOTION_INTR_MASK_REG BNO055_INT_MASK_ADDR 01908 01909 /* Gyro high rate interrupt msk register*/ 01910 #define BNO055_GYRO_HIGHRATE_INTR_MASK_POS (3) 01911 #define BNO055_GYRO_HIGHRATE_INTR_MASK_MSK (0X08) 01912 #define BNO055_GYRO_HIGHRATE_INTR_MASK_LEN (1) 01913 #define BNO055_GYRO_HIGHRATE_INTR_MASK_REG BNO055_INT_MASK_ADDR 01914 01915 /* Accel high g interrupt msk register*/ 01916 #define BNO055_ACCEL_HIGH_G_INTR_MASK_POS (5) 01917 #define BNO055_ACCEL_HIGH_G_INTR_MASK_MSK (0X20) 01918 #define BNO055_ACCEL_HIGH_G_INTR_MASK_LEN (1) 01919 #define BNO055_ACCEL_HIGH_G_INTR_MASK_REG BNO055_INT_MASK_ADDR 01920 01921 /* Accel any motion interrupt msk register*/ 01922 #define BNO055_ACCEL_ANY_MOTION_INTR_MASK_POS (6) 01923 #define BNO055_ACCEL_ANY_MOTION_INTR_MASK_MSK (0X40) 01924 #define BNO055_ACCEL_ANY_MOTION_INTR_MASK_LEN (1) 01925 #define BNO055_ACCEL_ANY_MOTION_INTR_MASK_REG BNO055_INT_MASK_ADDR 01926 01927 /* Accel any motion interrupt msk register*/ 01928 #define BNO055_ACCEL_NO_MOTION_INTR_MASK_POS (7) 01929 #define BNO055_ACCEL_NO_MOTION_INTR_MASK_MSK (0X80) 01930 #define BNO055_ACCEL_NO_MOTION_INTR_MASK_LEN (1) 01931 #define BNO055_ACCEL_NO_MOTION_INTR_MASK_REG BNO055_INT_MASK_ADDR 01932 01933 /* Gyro any motion interrupt register*/ 01934 #define BNO055_GYRO_ANY_MOTION_INTR_POS (2) 01935 #define BNO055_GYRO_ANY_MOTION_INTR_MSK (0X04) 01936 #define BNO055_GYRO_ANY_MOTION_INTR_LEN (1) 01937 #define BNO055_GYRO_ANY_MOTION_INTR_REG BNO055_INT_ADDR 01938 01939 /* Gyro high rate interrupt register*/ 01940 #define BNO055_GYRO_HIGHRATE_INTR_POS (3) 01941 #define BNO055_GYRO_HIGHRATE_INTR_MSK (0X08) 01942 #define BNO055_GYRO_HIGHRATE_INTR_LEN (1) 01943 #define BNO055_GYRO_HIGHRATE_INTR_REG BNO055_INT_ADDR 01944 01945 /* Accel high g interrupt register*/ 01946 #define BNO055_ACCEL_HIGH_G_INTR_POS (5) 01947 #define BNO055_ACCEL_HIGH_G_INTR_MSK (0X20) 01948 #define BNO055_ACCEL_HIGH_G_INTR_LEN (1) 01949 #define BNO055_ACCEL_HIGH_G_INTR_REG BNO055_INT_ADDR 01950 01951 /* Accel any motion interrupt register*/ 01952 #define BNO055_ACCEL_ANY_MOTION_INTR_POS (6) 01953 #define BNO055_ACCEL_ANY_MOTION_INTR_MSK (0X40) 01954 #define BNO055_ACCEL_ANY_MOTION_INTR_LEN (1) 01955 #define BNO055_ACCEL_ANY_MOTION_INTR_REG BNO055_INT_ADDR 01956 01957 /*Accel any motion interrupt register*/ 01958 #define BNO055_ACCEL_NO_MOTION_INTR_POS (7) 01959 #define BNO055_ACCEL_NO_MOTION_INTR_MSK (0X80) 01960 #define BNO055_ACCEL_NO_MOTION_INTR_LEN (1) 01961 #define BNO055_ACCEL_NO_MOTION_INTR_REG BNO055_INT_ADDR 01962 01963 /*Accel any motion threshold setting*/ 01964 #define BNO055_ACCEL_ANY_MOTION_THRES_POS (0) 01965 #define BNO055_ACCEL_ANY_MOTION_THRES_MSK (0XFF) 01966 #define BNO055_ACCEL_ANY_MOTION_THRES_LEN (8) 01967 #define BNO055_ACCEL_ANY_MOTION_THRES_REG BNO055_ACCEL_ANY_MOTION_THRES_ADDR 01968 01969 /*Accel interrupt setting register*/ 01970 #define BNO055_ACCEL_ANY_MOTION_DURN_SET_POS (0) 01971 #define BNO055_ACCEL_ANY_MOTION_DURN_SET_MSK (0X03) 01972 #define BNO055_ACCEL_ANY_MOTION_DURN_SET_LEN (2) 01973 #define BNO055_ACCEL_ANY_MOTION_DURN_SET_REG BNO055_ACCEL_INTR_SETTINGS_ADDR 01974 01975 /* Accel AM/NM axis selection register*/ 01976 #define BNO055_ACCEL_ANY_MOTION_X_AXIS_POS (2) 01977 #define BNO055_ACCEL_ANY_MOTION_X_AXIS_MSK (0X04) 01978 #define BNO055_ACCEL_ANY_MOTION_X_AXIS_LEN (1) 01979 #define BNO055_ACCEL_ANY_MOTION_X_AXIS_REG BNO055_ACCEL_INTR_SETTINGS_ADDR 01980 01981 #define BNO055_ACCEL_ANY_MOTION_Y_AXIS_POS (3) 01982 #define BNO055_ACCEL_ANY_MOTION_Y_AXIS_MSK (0X08) 01983 #define BNO055_ACCEL_ANY_MOTION_Y_AXIS_LEN (1) 01984 #define BNO055_ACCEL_ANY_MOTION_Y_AXIS_REG BNO055_ACCEL_INTR_SETTINGS_ADDR 01985 01986 #define BNO055_ACCEL_ANY_MOTION_Z_AXIS_POS (4) 01987 #define BNO055_ACCEL_ANY_MOTION_Z_AXIS_MSK (0X10) 01988 #define BNO055_ACCEL_ANY_MOTION_Z_AXIS_LEN (1) 01989 #define BNO055_ACCEL_ANY_MOTION_Z_AXIS_REG BNO055_ACCEL_INTR_SETTINGS_ADDR 01990 01991 /* Accel high g axis selection register*/ 01992 #define BNO055_ACCEL_HIGH_G_X_AXIS_POS (5) 01993 #define BNO055_ACCEL_HIGH_G_X_AXIS_MSK (0X20) 01994 #define BNO055_ACCEL_HIGH_G_X_AXIS_LEN (1) 01995 #define BNO055_ACCEL_HIGH_G_X_AXIS_REG BNO055_ACCEL_INTR_SETTINGS_ADDR 01996 01997 #define BNO055_ACCEL_HIGH_G_Y_AXIS_POS (6) 01998 #define BNO055_ACCEL_HIGH_G_Y_AXIS_MSK (0X40) 01999 #define BNO055_ACCEL_HIGH_G_Y_AXIS_LEN (1) 02000 #define BNO055_ACCEL_HIGH_G_Y_AXIS_REG BNO055_ACCEL_INTR_SETTINGS_ADDR 02001 02002 #define BNO055_ACCEL_HIGH_G_Z_AXIS_POS (7) 02003 #define BNO055_ACCEL_HIGH_G_Z_AXIS_MSK (0X80) 02004 #define BNO055_ACCEL_HIGH_G_Z_AXIS_LEN (1) 02005 #define BNO055_ACCEL_HIGH_G_Z_AXIS_REG BNO055_ACCEL_INTR_SETTINGS_ADDR 02006 02007 /* Accel High g duration setting register*/ 02008 #define BNO055_ACCEL_HIGH_G_DURN_POS (0) 02009 #define BNO055_ACCEL_HIGH_G_DURN_MSK (0XFF) 02010 #define BNO055_ACCEL_HIGH_G_DURN_LEN (8) 02011 #define BNO055_ACCEL_HIGH_G_DURN_REG BNO055_ACCEL_HIGH_G_DURN_ADDR 02012 02013 /* Accel High g threshold setting register*/ 02014 #define BNO055_ACCEL_HIGH_G_THRES_POS (0) 02015 #define BNO055_ACCEL_HIGH_G_THRES_MSK (0XFF) 02016 #define BNO055_ACCEL_HIGH_G_THRES_LEN (8) 02017 #define BNO055_ACCEL_HIGH_G_THRES_REG BNO055_ACCEL_HIGH_G_THRES_ADDR 02018 02019 /* Accel no/slow motion threshold setting*/ 02020 #define BNO055_ACCEL_SLOW_NO_MOTION_THRES_POS (0) 02021 #define BNO055_ACCEL_SLOW_NO_MOTION_THRES_MSK (0XFF) 02022 #define BNO055_ACCEL_SLOW_NO_MOTION_THRES_LEN (8) 02023 #define BNO055_ACCEL_SLOW_NO_MOTION_THRES_REG \ 02024 BNO055_ACCEL_NO_MOTION_THRES_ADDR 02025 02026 /* Accel no/slow motion enable setting*/ 02027 #define BNO055_ACCEL_SLOW_NO_MOTION_ENABLE_POS (0) 02028 #define BNO055_ACCEL_SLOW_NO_MOTION_ENABLE_MSK (0X01) 02029 #define BNO055_ACCEL_SLOW_NO_MOTION_ENABLE_LEN (1) 02030 #define BNO055_ACCEL_SLOW_NO_MOTION_ENABLE_REG BNO055_ACCEL_NO_MOTION_SET_ADDR 02031 02032 /* Accel no/slow motion duration setting*/ 02033 #define BNO055_ACCEL_SLOW_NO_MOTION_DURN_POS (1) 02034 #define BNO055_ACCEL_SLOW_NO_MOTION_DURN_MSK (0X7E) 02035 #define BNO055_ACCEL_SLOW_NO_MOTION_DURN_LEN (6) 02036 #define BNO055_ACCEL_SLOW_NO_MOTION_DURN_REG BNO055_ACCEL_NO_MOTION_SET_ADDR 02037 02038 /*Gyro interrupt setting register*/ 02039 /*Gyro any motion axis setting*/ 02040 #define BNO055_GYRO_ANY_MOTION_X_AXIS_POS (0) 02041 #define BNO055_GYRO_ANY_MOTION_X_AXIS_MSK (0X01) 02042 #define BNO055_GYRO_ANY_MOTION_X_AXIS_LEN (1) 02043 #define BNO055_GYRO_ANY_MOTION_X_AXIS_REG BNO055_GYRO_INTR_SETING_ADDR 02044 02045 #define BNO055_GYRO_ANY_MOTION_Y_AXIS_POS (1) 02046 #define BNO055_GYRO_ANY_MOTION_Y_AXIS_MSK (0X02) 02047 #define BNO055_GYRO_ANY_MOTION_Y_AXIS_LEN (1) 02048 #define BNO055_GYRO_ANY_MOTION_Y_AXIS_REG BNO055_GYRO_INTR_SETING_ADDR 02049 02050 #define BNO055_GYRO_ANY_MOTION_Z_AXIS_POS (2) 02051 #define BNO055_GYRO_ANY_MOTION_Z_AXIS_MSK (0X04) 02052 #define BNO055_GYRO_ANY_MOTION_Z_AXIS_LEN (1) 02053 #define BNO055_GYRO_ANY_MOTION_Z_AXIS_REG BNO055_GYRO_INTR_SETING_ADDR 02054 02055 /*Gyro high rate axis setting*/ 02056 #define BNO055_GYRO_HIGHRATE_X_AXIS_POS (3) 02057 #define BNO055_GYRO_HIGHRATE_X_AXIS_MSK (0X08) 02058 #define BNO055_GYRO_HIGHRATE_X_AXIS_LEN (1) 02059 #define BNO055_GYRO_HIGHRATE_X_AXIS_REG BNO055_GYRO_INTR_SETING_ADDR 02060 02061 #define BNO055_GYRO_HIGHRATE_Y_AXIS_POS (4) 02062 #define BNO055_GYRO_HIGHRATE_Y_AXIS_MSK (0X10) 02063 #define BNO055_GYRO_HIGHRATE_Y_AXIS_LEN (1) 02064 #define BNO055_GYRO_HIGHRATE_Y_AXIS_REG BNO055_GYRO_INTR_SETING_ADDR 02065 02066 #define BNO055_GYRO_HIGHRATE_Z_AXIS_POS (5) 02067 #define BNO055_GYRO_HIGHRATE_Z_AXIS_MSK (0X20) 02068 #define BNO055_GYRO_HIGHRATE_Z_AXIS_LEN (1) 02069 #define BNO055_GYRO_HIGHRATE_Z_AXIS_REG BNO055_GYRO_INTR_SETING_ADDR 02070 02071 /* Gyro filter setting*/ 02072 #define BNO055_GYRO_ANY_MOTION_FILTER_POS (6) 02073 #define BNO055_GYRO_ANY_MOTION_FILTER_MSK (0X40) 02074 #define BNO055_GYRO_ANY_MOTION_FILTER_LEN (1) 02075 #define BNO055_GYRO_ANY_MOTION_FILTER_REG BNO055_GYRO_INTR_SETING_ADDR 02076 02077 #define BNO055_GYRO_HIGHRATE_FILTER_POS (7) 02078 #define BNO055_GYRO_HIGHRATE_FILTER_MSK (0X80) 02079 #define BNO055_GYRO_HIGHRATE_FILTER_LEN (1) 02080 #define BNO055_GYRO_HIGHRATE_FILTER_REG BNO055_GYRO_INTR_SETING_ADDR 02081 02082 /* Gyro high rate X axis settings*/ 02083 #define BNO055_GYRO_HIGHRATE_X_THRES_POS (0) 02084 #define BNO055_GYRO_HIGHRATE_X_THRES_MSK (0X1F) 02085 #define BNO055_GYRO_HIGHRATE_X_THRES_LEN (5) 02086 #define BNO055_GYRO_HIGHRATE_X_THRES_REG BNO055_GYRO_HIGHRATE_X_SET_ADDR 02087 02088 #define BNO055_GYRO_HIGHRATE_X_HYST_POS (5) 02089 #define BNO055_GYRO_HIGHRATE_X_HYST_MSK (0X60) 02090 #define BNO055_GYRO_HIGHRATE_X_HYST_LEN (2) 02091 #define BNO055_GYRO_HIGHRATE_X_HYST_REG BNO055_GYRO_HIGHRATE_X_SET_ADDR 02092 02093 #define BNO055_GYRO_HIGHRATE_X_DURN_POS (0) 02094 #define BNO055_GYRO_HIGHRATE_X_DURN_MSK (0XFF) 02095 #define BNO055_GYRO_HIGHRATE_X_DURN_LEN (8) 02096 #define BNO055_GYRO_HIGHRATE_X_DURN_REG BNO055_GYRO_DURN_X_ADDR 02097 02098 /* Gyro high rate Y axis settings*/ 02099 #define BNO055_GYRO_HIGHRATE_Y_THRES_POS (0) 02100 #define BNO055_GYRO_HIGHRATE_Y_THRES_MSK (0X1F) 02101 #define BNO055_GYRO_HIGHRATE_Y_THRES_LEN (5) 02102 #define BNO055_GYRO_HIGHRATE_Y_THRES_REG BNO055_GYRO_HIGHRATE_Y_SET_ADDR 02103 02104 #define BNO055_GYRO_HIGHRATE_Y_HYST_POS (5) 02105 #define BNO055_GYRO_HIGHRATE_Y_HYST_MSK (0X60) 02106 #define BNO055_GYRO_HIGHRATE_Y_HYST_LEN (2) 02107 #define BNO055_GYRO_HIGHRATE_Y_HYST_REG BNO055_GYRO_HIGHRATE_Y_SET_ADDR 02108 02109 #define BNO055_GYRO_HIGHRATE_Y_DURN_POS (0) 02110 #define BNO055_GYRO_HIGHRATE_Y_DURN_MSK (0XFF) 02111 #define BNO055_GYRO_HIGHRATE_Y_DURN_LEN (8) 02112 #define BNO055_GYRO_HIGHRATE_Y_DURN_REG BNO055_GYRO_DURN_Y_ADDR 02113 02114 /* Gyro high rate Z axis settings*/ 02115 #define BNO055_GYRO_HIGHRATE_Z_THRES_POS (0) 02116 #define BNO055_GYRO_HIGHRATE_Z_THRES_MSK (0X1F) 02117 #define BNO055_GYRO_HIGHRATE_Z_THRES_LEN (5) 02118 #define BNO055_GYRO_HIGHRATE_Z_THRES_REG BNO055_GYRO_HIGHRATE_Z_SET_ADDR 02119 02120 #define BNO055_GYRO_HIGHRATE_Z_HYST_POS (5) 02121 #define BNO055_GYRO_HIGHRATE_Z_HYST_MSK (0X60) 02122 #define BNO055_GYRO_HIGHRATE_Z_HYST_LEN (2) 02123 #define BNO055_GYRO_HIGHRATE_Z_HYST_REG BNO055_GYRO_HIGHRATE_Z_SET_ADDR 02124 02125 #define BNO055_GYRO_HIGHRATE_Z_DURN_POS (0) 02126 #define BNO055_GYRO_HIGHRATE_Z_DURN_MSK (0XFF) 02127 #define BNO055_GYRO_HIGHRATE_Z_DURN_LEN (8) 02128 #define BNO055_GYRO_HIGHRATE_Z_DURN_REG (BNO055_GYRO_DURN_Z_ADDR) 02129 02130 /*Gyro any motion threshold setting*/ 02131 #define BNO055_GYRO_ANY_MOTION_THRES_POS (0) 02132 #define BNO055_GYRO_ANY_MOTION_THRES_MSK (0X7F) 02133 #define BNO055_GYRO_ANY_MOTION_THRES_LEN (7) 02134 #define BNO055_GYRO_ANY_MOTION_THRES_REG \ 02135 BNO055_GYRO_ANY_MOTION_THRES_ADDR 02136 02137 /* Gyro any motion slope sample setting*/ 02138 #define BNO055_GYRO_SLOPE_SAMPLES_POS (0) 02139 #define BNO055_GYRO_SLOPE_SAMPLES_MSK (0X03) 02140 #define BNO055_GYRO_SLOPE_SAMPLES_LEN (2) 02141 #define BNO055_GYRO_SLOPE_SAMPLES_REG BNO055_GYRO_ANY_MOTION_SET_ADDR 02142 02143 /* Gyro awake duration setting*/ 02144 #define BNO055_GYRO_AWAKE_DURN_POS (2) 02145 #define BNO055_GYRO_AWAKE_DURN_MSK (0X0C) 02146 #define BNO055_GYRO_AWAKE_DURN_LEN (2) 02147 #define BNO055_GYRO_AWAKE_DURN_REG BNO055_GYRO_ANY_MOTION_SET_ADDR 02148 02149 /* PAGE1 DATA REGISTERS DEFINITION END*/ 02150 /*************************************************/ 02151 /**\name GET AND SET BITSLICE FUNCTIONS */ 02152 /*************************************************/ 02153 #define BNO055_GET_BITSLICE(regvar, bitname)\ 02154 ((regvar & bitname##_MSK) >> bitname##_POS) 02155 02156 02157 #define BNO055_SET_BITSLICE(regvar, bitname, val)\ 02158 ((regvar & ~bitname##_MSK) | ((val<<bitname##_POS)&bitname##_MSK)) 02159 /*************************************************/ 02160 /**\name FUNCTION DECLARATION */ 02161 /*************************************************/ 02162 /**************************************************/ 02163 /**\name INITIALIZATION AND REVISION ID FUNCTIONS */ 02164 /**************************************************/ 02165 /*! 02166 * @brief 02167 * This API is used for initialize 02168 * bus read, bus write function pointers,device 02169 * address,accel revision id, gyro revision id 02170 * mag revision id, software revision id, boot loader 02171 * revision id and page id 02172 * 02173 * @param bno055 - structure pointer 02174 * 02175 * 02176 * @return results of bus communication function 02177 * @retval 0 -> BNO055_SUCCESS 02178 * @retval 1 -> BNO055_ERROR 02179 * 02180 * @note While changing the parameter of the bno055_t 02181 * consider the following point: 02182 * Changing the reference value of the parameter 02183 * will changes the local copy or local reference 02184 * make sure your changes will not 02185 * affect the reference value of the parameter 02186 * (Better case don't change the reference value of the parameter) 02187 */ 02188 BNO055_RETURN_FUNCTION_TYPE bno055_init(struct bno055_t *bno055); 02189 /*! 02190 * @brief 02191 * This API gives data to the given register and 02192 * the data is written in the corresponding register address 02193 * 02194 * @param addr_u8 : Address of the register 02195 * @param data_u8 : Data to be written to the register 02196 * @param len_u8 : Length of the Data 02197 * 02198 * @return results of bus communication function 02199 * @retval 0 -> BNO055_SUCCESS 02200 * @retval 1 -> BNO055_ERROR 02201 * 02202 * 02203 */ 02204 BNO055_RETURN_FUNCTION_TYPE bno055_write_register(u8 addr_u8, 02205 u8 *data_u8, u8 len_u8); 02206 /*! 02207 * @brief This API reads the data from 02208 * the given register address 02209 * 02210 * @param addr_u8 : Address of the register 02211 * @param data_u8 : address of the variable, 02212 * read value will be kept 02213 * @param len_u8 : Length of the data 02214 * 02215 * 02216 * @return results of bus communication function 02217 * @retval 0 -> BNO055_SUCCESS 02218 * @retval 1 -> BNO055_ERROR 02219 * 02220 */ 02221 BNO055_RETURN_FUNCTION_TYPE bno055_read_register(u8 addr_u8, 02222 u8 *data_u8, u8 len_u8); 02223 /*! 02224 * @brief This API reads chip id 02225 * from register 0x00 it is a byte of data 02226 * 02227 * 02228 * @param chip_id_u8 : The chip id value 0xA0 02229 * 02230 * @return results of bus communication function 02231 * @retval 0 -> BNO055_SUCCESS 02232 * @retval 1 -> BNO055_ERROR 02233 */ 02234 BNO055_RETURN_FUNCTION_TYPE bno055_read_chip_id(u8 *chip_id_u8); 02235 /*! 02236 * @brief This API reads software revision id 02237 * from register 0x04 and 0x05 it is a two byte of data 02238 * 02239 * @param sw_id_u8 : The SW revision id 02240 * 02241 * @return results of bus communication function 02242 * @retval 0 -> BNO055_SUCCESS 02243 * @retval 1 -> BNO055_ERROR 02244 * 02245 * 02246 */ 02247 BNO055_RETURN_FUNCTION_TYPE bno055_read_sw_rev_id(u16 *sw_id_u8); 02248 /*! 02249 * @brief This API reads page id 02250 * from register 0x07 it is a byte of data 02251 * 02252 * 02253 * @param page_id_u8 : The value of page id 02254 * 02255 * BNO055_PAGE_ZERO -> 0x00 02256 * BNO055_PAGE_ONE -> 0x01 02257 * 02258 * @return results of bus communication function 02259 * @retval 0 -> BNO055_SUCCESS 02260 * @retval 1 -> BNO055_ERROR 02261 * 02262 * 02263 */ 02264 BNO055_RETURN_FUNCTION_TYPE bno055_read_page_id(u8 *page_id_u8); 02265 /*! 02266 * @brief This API used to write 02267 * the page id register 0x07 02268 * 02269 * @param page_id_u8 : The value of page id 02270 * 02271 * BNO055_PAGE_ZERO -> 0x00 02272 * BNO055_PAGE_ONE -> 0x01 02273 * 02274 * @return results of bus communication function 02275 * @retval 0 -> BNO055_SUCCESS 02276 * @retval 1 -> BNO055_ERROR 02277 * 02278 * 02279 */ 02280 BNO055_RETURN_FUNCTION_TYPE bno055_write_page_id(u8 page_id_u8); 02281 /*! 02282 * @brief This API reads accel revision id 02283 * from register 0x01 it is a byte of value 02284 * 02285 * @param accel_rev_id_u8 : The accel revision id 0xFB 02286 * 02287 * @return results of bus communication function 02288 * @retval 0 -> BNO055_SUCCESS 02289 * @retval 1 -> BNO055_ERROR 02290 * 02291 * 02292 */ 02293 BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_rev_id( 02294 u8 *accel_rev_id_u8); 02295 /*! 02296 * @brief This API reads mag revision id 02297 * from register 0x02 it is a byte of value 02298 * 02299 * @param mag_rev_id_u8 : The mag revision id 0x32 02300 * 02301 * @return results of bus communication function 02302 * @retval 0 -> BNO055_SUCCESS 02303 * @retval 1 -> BNO055_ERROR 02304 * 02305 * 02306 */ 02307 BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_rev_id( 02308 u8 *mag_rev_id_u8); 02309 /*! 02310 * @brief This API reads gyro revision id 02311 * from register 0x03 it is a byte of value 02312 * 02313 * @param gyro_rev_id_u8 : The gyro revision id 0xF0 02314 * 02315 * 02316 * 02317 * @return results of bus communication function 02318 * @retval 0 -> BNO055_SUCCESS 02319 * @retval 1 -> BNO055_ERROR 02320 * 02321 * 02322 */ 02323 BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_rev_id( 02324 u8 *gyro_rev_id_u8); 02325 /*! 02326 * @brief This API used to read boot loader revision id 02327 * from register 0x06 it is a byte of value 02328 * 02329 * @param bl_rev_id_u8 : The boot loader revision id 02330 * 02331 * 02332 * @return results of bus communication function 02333 * @retval 0 -> BNO055_SUCCESS 02334 * @retval 1 -> BNO055_ERROR 02335 * 02336 * 02337 */ 02338 BNO055_RETURN_FUNCTION_TYPE bno055_read_bl_rev_id( 02339 u8 *bl_rev_id_u8); 02340 /**************************************************/ 02341 /**\name ACCEL DATA READ FUNCTIONS */ 02342 /**************************************************/ 02343 /*! 02344 * @brief This API reads acceleration data X values 02345 * from register 0x08 and 0x09 it is a two byte data 02346 * 02347 * 02348 * 02349 * 02350 * @param accel_x_s16 : The X raw data 02351 * 02352 * 02353 * 02354 * @return results of bus communication function 02355 * @retval 0 -> BNO055_SUCCESS 02356 * @retval 1 -> BNO055_ERROR 02357 * 02358 * 02359 */ 02360 BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_x(s16 *accel_x_s16); 02361 /*! 02362 * @brief This API reads acceleration data Y values 02363 * from register 0x0A and 0x0B it is a two byte data 02364 * 02365 * 02366 * 02367 * 02368 * @param accel_y_s16 : The Y raw data 02369 * 02370 * 02371 * 02372 * @return results of bus communication function 02373 * @retval 0 -> BNO055_SUCCESS 02374 * @retval 1 -> BNO055_ERROR 02375 * 02376 * 02377 */ 02378 BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_y(s16 *accel_y_s16); 02379 /*! 02380 * @brief This API reads acceleration data z values 02381 * from register 0x0C and 0x0D it is a two byte data 02382 * 02383 * 02384 * 02385 * 02386 * @param accel_z_s16 : The z raw data 02387 * 02388 * 02389 * 02390 * @return results of bus communication function 02391 * @retval 0 -> BNO055_SUCCESS 02392 * @retval 1 -> BNO055_ERROR 02393 * 02394 * 02395 */ 02396 BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_z(s16 *accel_z_s16); 02397 /*! 02398 * @brief This API reads acceleration data xyz values 02399 * from register 0x08 to 0x0D it is a six byte data 02400 * 02401 * 02402 * @param accel : The value of accel xyz data 02403 * 02404 * Parameter | result 02405 * --------- | ----------------- 02406 * x | The accel x data 02407 * y | The accel y data 02408 * z | The accel z data 02409 * 02410 * 02411 * 02412 * @return results of bus communication function 02413 * @retval 0 -> BNO055_SUCCESS 02414 * @retval 1 -> BNO055_ERROR 02415 * 02416 */ 02417 BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_xyz( 02418 struct bno055_accel_t *accel); 02419 /**************************************************/ 02420 /**\name MAG DATA READ FUNCTIONS */ 02421 /**************************************************/ 02422 /*! 02423 * @brief This API reads mag data x values 02424 * from register 0x0E and 0x0F it is a two byte data 02425 * 02426 * 02427 * 02428 * 02429 * @param mag_x_s16 : The x raw data 02430 * 02431 * 02432 * 02433 * @return results of bus communication function 02434 * @retval 0 -> BNO055_SUCCESS 02435 * @retval 1 -> BNO055_ERROR 02436 * 02437 * 02438 * 02439 */ 02440 BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_x(s16 *mag_x_s16); 02441 /*! 02442 * @brief This API reads mag data y values 02443 * from register 0x10 and 0x11 it is a two byte data 02444 * 02445 * 02446 * 02447 * 02448 * @param mag_y_s16 : The y raw data 02449 * 02450 * 02451 * 02452 * @return results of bus communication function 02453 * @retval 0 -> BNO055_SUCCESS 02454 * @retval 1 -> BNO055_ERROR 02455 * 02456 * 02457 */ 02458 BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_y(s16 *mag_y_s16); 02459 /*! 02460 * @brief This API reads mag data z values 02461 * from register 0x12 and 0x13 it is a two byte data 02462 * 02463 * 02464 * 02465 * 02466 * @param mag_z_s16 : The z raw data 02467 * 02468 * 02469 * 02470 * @return results of bus communication function 02471 * @retval 0 -> BNO055_SUCCESS 02472 * @retval 1 -> BNO055_ERROR 02473 * 02474 * 02475 * 02476 */ 02477 BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_z(s16 *mag_z_s16); 02478 /*! 02479 * @brief This API reads mag data xyz values 02480 * from register 0x0E to 0x13 it is a six byte data 02481 * 02482 * 02483 * @param mag : The mag xyz values 02484 * 02485 * Parameter | result 02486 * --------- | ----------------- 02487 * x | The mag x data 02488 * y | The mag y data 02489 * z | The mag z data 02490 * 02491 * 02492 * 02493 * @return results of bus communication function 02494 * @retval 0 -> BNO055_SUCCESS 02495 * @retval 1 -> BNO055_ERROR 02496 * 02497 */ 02498 BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_xyz(struct bno055_mag_t *mag); 02499 /**************************************************/ 02500 /**\name GYRO DATA READ FUNCTIONS */ 02501 /**************************************************/ 02502 /*! 02503 * @brief This API reads gyro data x values 02504 * from register 0x14 and 0x15 it is a two byte data 02505 * 02506 * 02507 * 02508 * 02509 * @param gyro_x_s16 : The x raw data 02510 * 02511 * 02512 * 02513 * @return results of bus communication function 02514 * @retval 0 -> BNO055_SUCCESS 02515 * @retval 1 -> BNO055_ERROR 02516 * 02517 * 02518 */ 02519 BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_x(s16 *gyro_x_s16); 02520 /*! 02521 * @brief This API reads gyro data y values 02522 * from register 0x16 and 0x17 it is a two byte data 02523 * 02524 * 02525 * 02526 * 02527 * @param gyro_y_s16 : The y raw data 02528 * 02529 * 02530 * 02531 * @return results of bus communication function 02532 * @retval 0 -> BNO055_SUCCESS 02533 * @retval 1 -> BNO055_ERROR 02534 * 02535 * 02536 */ 02537 BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_y(s16 *gyro_y_s16); 02538 /*! 02539 * @brief This API reads gyro data z values 02540 * from register 0x18 and 0x19 it is a two byte data 02541 * 02542 * @param gyro_z_s16 : The z raw data 02543 * 02544 * @return results of bus communication function 02545 * @retval 0 -> BNO055_SUCCESS 02546 * @retval 1 -> BNO055_ERROR 02547 * 02548 * 02549 */ 02550 BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_z(s16 *gyro_z_s16); 02551 /*! 02552 * @brief This API reads gyro data xyz values 02553 * from register 0x14 to 0x19 it is a six byte data 02554 * 02555 * 02556 * @param gyro : The value of gyro xyz data's 02557 * 02558 * Parameter | result 02559 * --------- | ----------------- 02560 * x | The gyro x data 02561 * y | The gyro y data 02562 * z | The gyro z data 02563 * 02564 * 02565 * 02566 * @return results of bus communication function 02567 * @retval 0 -> BNO055_SUCCESS 02568 * @retval 1 -> BNO055_ERROR 02569 * 02570 */ 02571 BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_xyz(struct bno055_gyro_t *gyro); 02572 /**************************************************/ 02573 /**\name EULER DATA READ FUNCTIONS */ 02574 /**************************************************/ 02575 /*! 02576 * @brief This API reads gyro data z values 02577 * from register 0x1A and 0x1B it is a two byte data 02578 * 02579 * @param euler_h_s16 : The raw h data 02580 * 02581 * @return results of bus communication function 02582 * @retval 0 -> BNO055_SUCCESS 02583 * @retval 1 -> BNO055_ERROR 02584 * 02585 */ 02586 BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_h(s16 *euler_h_s16); 02587 /*! 02588 * @brief This API reads Euler data r values 02589 * from register 0x1C and 0x1D it is a two byte data 02590 * 02591 * @param euler_r_s16 : The raw r data 02592 * 02593 * @return results of bus communication function 02594 * @retval 0 -> BNO055_SUCCESS 02595 * @retval 1 -> BNO055_ERROR 02596 * 02597 */ 02598 BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_r(s16 *euler_r_s16); 02599 /*! 02600 * @brief This API reads Euler data p values 02601 * from register 0x1E and 0x1F it is a two byte data 02602 * 02603 * @param euler_p_s16 : The raw p data 02604 * 02605 * @return results of bus communication function 02606 * @retval 0 -> BNO055_SUCCESS 02607 * @retval 1 -> BNO055_ERROR 02608 * 02609 * 02610 */ 02611 BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_p(s16 *euler_p_s16); 02612 /*! 02613 * @brief This API reads Euler data hrp values 02614 * from register 0x1A to 0x1F it is a six byte data 02615 * 02616 * 02617 * @param euler : The Euler hrp data's 02618 * 02619 * Parameter | result 02620 * --------- | ----------------- 02621 * h | The Euler h data 02622 * r | The Euler r data 02623 * p | The Euler p data 02624 * 02625 * 02626 * @return results of bus communication function 02627 * @retval 0 -> BNO055_SUCCESS 02628 * @retval 1 -> BNO055_ERROR 02629 * 02630 */ 02631 BNO055_RETURN_FUNCTION_TYPE bno055_read_euler_hrp( 02632 struct bno055_euler_t *euler); 02633 /**************************************************/ 02634 /**\name QUATERNION DATA READ FUNCTIONS */ 02635 /**************************************************/ 02636 /*! 02637 * @brief This API reads quaternion data w values 02638 * from register 0x20 and 0x21 it is a two byte data 02639 * 02640 * @param quaternion_w_s16 : The raw w data 02641 * 02642 * @return results of bus communication function 02643 * @retval 0 -> BNO055_SUCCESS 02644 * @retval 1 -> BNO055_ERROR 02645 * 02646 * 02647 */ 02648 BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_w( 02649 s16 *quaternion_w_s16); 02650 /*! 02651 * @brief This API reads quaternion data x values 02652 * from register 0x22 and 0x23 it is a two byte data 02653 * 02654 * @param quaternion_x_s16 : The raw x data 02655 * 02656 * @return results of bus communication function 02657 * @retval 0 -> BNO055_SUCCESS 02658 * @retval 1 -> BNO055_ERROR 02659 * 02660 * 02661 */ 02662 BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_x( 02663 s16 *quaternion_x_s16); 02664 /*! 02665 * @brief This API reads quaternion data y values 02666 * from register 0x24 and 0x25 it is a two byte data 02667 * 02668 * @param quaternion_y_s16 : The raw y data 02669 * 02670 * @return results of bus communication function 02671 * @retval 0 -> BNO055_SUCCESS 02672 * @retval 1 -> BNO055_ERROR 02673 * 02674 * 02675 */ 02676 BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_y( 02677 s16 *quaternion_y_s16); 02678 /*! 02679 * @brief This API reads quaternion data z values 02680 * from register 0x26 and 0x27 it is a two byte data 02681 * 02682 * @param quaternion_z_s16 : The raw z data 02683 * 02684 * @return results of bus communication function 02685 * @retval 0 -> BNO055_SUCCESS 02686 * @retval 1 -> BNO055_ERROR 02687 * 02688 * 02689 */ 02690 BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_z( 02691 s16 *quaternion_z_s16); 02692 /*! 02693 * @brief This API reads Quaternion data wxyz values 02694 * from register 0x20 to 0x27 it is a six byte data 02695 * 02696 * 02697 * @param quaternion : The value of quaternion wxyz data's 02698 * 02699 * Parameter | result 02700 * --------- | ----------------- 02701 * w | The quaternion w data 02702 * x | The quaternion x data 02703 * y | The quaternion y data 02704 * z | The quaternion z data 02705 * 02706 * 02707 * 02708 * @return results of bus communication function 02709 * @retval 0 -> BNO055_SUCCESS 02710 * @retval 1 -> BNO055_ERROR 02711 * 02712 */ 02713 BNO055_RETURN_FUNCTION_TYPE bno055_read_quaternion_wxyz( 02714 struct bno055_quaternion_t *quaternion); 02715 /**************************************************/ 02716 /**\name LINEAR ACCEL DATA READ FUNCTIONS */ 02717 /**************************************************/ 02718 /*! 02719 * @brief This API reads Linear accel data x values 02720 * from register 0x29 and 0x2A it is a two byte data 02721 * 02722 * @param linear_accel_x_s16 : The raw x data 02723 * 02724 * @return results of bus communication function 02725 * @retval 0 -> BNO055_SUCCESS 02726 * @retval 1 -> BNO055_ERROR 02727 * 02728 * 02729 */ 02730 BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_x( 02731 s16 *linear_accel_x_s16); 02732 /*! 02733 * @brief This API reads Linear accel data x values 02734 * from register 0x2B and 0x2C it is a two byte data 02735 * 02736 * @param linear_accel_y_s16 : The raw y data 02737 * 02738 * @return results of bus communication function 02739 * @retval 0 -> BNO055_SUCCESS 02740 * @retval 1 -> BNO055_ERROR 02741 * 02742 * 02743 */ 02744 BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_y( 02745 s16 *linear_accel_y_s16); 02746 /*! 02747 * @brief This API reads Linear accel data x values 02748 * from register 0x2C and 0x2D it is a two byte data 02749 * 02750 * @param linear_accel_z_s16 : The raw z data 02751 * 02752 * @return results of bus communication function 02753 * @retval 0 -> BNO055_SUCCESS 02754 * @retval 1 -> BNO055_ERROR 02755 * 02756 * 02757 */ 02758 BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_z( 02759 s16 *linear_accel_z_s16); 02760 /*! 02761 * @brief This API reads Linear accel data xyz values 02762 * from register 0x28 to 0x2D it is a six byte data 02763 * 02764 * 02765 * @param linear_accel : The value of linear accel xyz data's 02766 * 02767 * Parameter | result 02768 * --------- | ----------------- 02769 * x | The linear accel x data 02770 * y | The linear accel y data 02771 * z | The linear accel z data 02772 * 02773 * 02774 * @return results of bus communication function 02775 * @retval 0 -> BNO055_SUCCESS 02776 * @retval 1 -> BNO055_ERROR 02777 */ 02778 BNO055_RETURN_FUNCTION_TYPE bno055_read_linear_accel_xyz( 02779 struct bno055_linear_accel_t *linear_accel); 02780 /**************************************************/ 02781 /**\name GRAVITY DATA READ FUNCTIONS */ 02782 /**************************************************/ 02783 /*! 02784 * @brief This API reads gravity data x values 02785 * from register 0x2E and 0x2F it is a two byte data 02786 * 02787 * @param gravity_x_s16 : The raw x data 02788 * 02789 * @return results of bus communication function 02790 * @retval 0 -> BNO055_SUCCESS 02791 * @retval 1 -> BNO055_ERROR 02792 * 02793 * 02794 */ 02795 BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_x( 02796 s16 *gravity_x_s16); 02797 /*! 02798 * @brief This API reads gravity data y values 02799 * from register 0x30 and 0x31 it is a two byte data 02800 * 02801 * @param gravity_y_s16 : The raw y data 02802 * 02803 * @return results of bus communication function 02804 * @retval 0 -> BNO055_SUCCESS 02805 * @retval 1 -> BNO055_ERROR 02806 * 02807 * 02808 */ 02809 BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_y( 02810 s16 *gravity_y_s16); 02811 /*! 02812 * @brief This API reads gravity data z values 02813 * from register 0x32 and 0x33 it is a two byte data 02814 * 02815 * @param gravity_z_s16 : The raw z data 02816 * 02817 * @return results of bus communication function 02818 * @retval 0 -> BNO055_SUCCESS 02819 * @retval 1 -> BNO055_ERROR 02820 * 02821 * 02822 */ 02823 BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_z( 02824 s16 *gravity_z_s16); 02825 /*! 02826 * @brief This API reads gravity data xyz values 02827 * from register 0x2E to 0x33 it is a six byte data 02828 * 02829 * 02830 * @param gravity : The value of gravity xyz data's 02831 * 02832 * Parameter | result 02833 * --------- | ----------------- 02834 * x | The gravity x data 02835 * y | The gravity y data 02836 * z | The gravity z data 02837 * 02838 * 02839 * @return results of bus communication function 02840 * @retval 0 -> BNO055_SUCCESS 02841 * @retval 1 -> BNO055_ERROR 02842 * 02843 */ 02844 BNO055_RETURN_FUNCTION_TYPE bno055_read_gravity_xyz( 02845 struct bno055_gravity_t *gravity); 02846 /**************************************************/ 02847 /**\name TEMPERATURE DATA READ FUNCTIONS */ 02848 /**************************************************/ 02849 /*! 02850 * @brief This API reads temperature values 02851 * from register 0x33 it is a byte data 02852 * 02853 * @param temp_s8 : The raw temperature data 02854 * 02855 * @return results of bus communication function 02856 * @retval 0 -> BNO055_SUCCESS 02857 * @retval 1 -> BNO055_ERROR 02858 * 02859 * 02860 */ 02861 BNO055_RETURN_FUNCTION_TYPE bno055_read_temp_data(s8 *temp_s8); 02862 #ifdef BNO055_FLOAT_ENABLE 02863 /********************************************************************/ 02864 /**\name FUNCTIONS FOR READING ACCEL DATA OUTPUT AS FLOAT PRECISION */ 02865 /********************************************************************/ 02866 /*! 02867 * @brief This API is used to convert the accel x raw data 02868 * to meterpersecseq output as float 02869 * 02870 * @param accel_x_f : The accel x meterpersecseq data 02871 * 02872 * 02873 * 02874 * @return results of bus communication function 02875 * @retval 0 -> BNO055_SUCCESS 02876 * @retval 1 -> BNO055_ERROR 02877 * 02878 * 02879 */ 02880 BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_x_msq( 02881 float *accel_x_f); 02882 /*! 02883 * @brief This API is used to convert the accel x raw data 02884 * to meterpersecseq output as float 02885 * 02886 * @param accel_y_f : The accel y meterpersecseq data 02887 * 02888 * 02889 * 02890 * @return results of bus communication function 02891 * @retval 0 -> BNO055_SUCCESS 02892 * @retval 1 -> BNO055_ERROR 02893 * 02894 * 02895 */ 02896 BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_y_msq( 02897 float *accel_y_f); 02898 /*! 02899 * @brief This API is used to convert the accel z raw data 02900 * to meterpersecseq output as float 02901 * 02902 * @param accel_z_f : The accel z meterpersecseq data 02903 * 02904 * 02905 * 02906 * @return results of bus communication function 02907 * @retval 0 -> BNO055_SUCCESS 02908 * @retval 1 -> BNO055_ERROR 02909 * 02910 * 02911 */ 02912 BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_z_msq( 02913 float *accel_z_f); 02914 /*! 02915 * @brief This API is used to convert the accel y raw data 02916 * to millig output as float 02917 * 02918 * @param accel_x_f : The accel y millig data 02919 * 02920 * 02921 * 02922 * @return results of bus communication function 02923 * @retval 0 -> BNO055_SUCCESS 02924 * @retval 1 -> BNO055_ERROR 02925 * 02926 */ 02927 BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_x_mg( 02928 float *accel_x_f); 02929 /*! 02930 * @brief This API is used to convert the accel y raw data 02931 * to millig output as float 02932 * 02933 * @param accel_y_f : The accel y millig data 02934 * 02935 * 02936 * 02937 * @return results of bus communication function 02938 * @retval 0 -> BNO055_SUCCESS 02939 * @retval 1 -> BNO055_ERROR 02940 * 02941 */ 02942 BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_y_mg( 02943 float *accel_y_f); 02944 /*! 02945 * @brief This API is used to convert the accel z raw data 02946 * to millig output as float 02947 * 02948 * @param accel_z_f : The accel z millig data 02949 * 02950 * 02951 * 02952 * @return results of bus communication function 02953 * @retval 0 -> BNO055_SUCCESS 02954 * @retval 1 -> BNO055_ERROR 02955 * 02956 * 02957 */ 02958 BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_z_mg( 02959 float *accel_z_f); 02960 /*! 02961 * @brief This API is used to convert the accel xyz raw data 02962 * to meterpersecseq output as float 02963 * 02964 * @param accel_xyz : The meterpersecseq data of accel xyz 02965 * 02966 * Parameter | result 02967 * --------- | ----------------- 02968 * x | meterpersecseq data of accel 02969 * y | meterpersecseq data of accel 02970 * z | meterpersecseq data of accel 02971 * 02972 * @return results of bus communication function 02973 * @retval 0 -> BNO055_SUCCESS 02974 * @retval 1 -> BNO055_ERROR 02975 * 02976 * 02977 */ 02978 BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_xyz_msq( 02979 struct bno055_accel_float_t *accel_xyz); 02980 /*! 02981 * @brief This API is used to convert the accel xyz raw data 02982 * to millig output as float 02983 * 02984 * @param accel_xyz : The millig data of accel xyz 02985 * 02986 * Parameter | result 02987 * --------- | ----------------- 02988 * x | millig data of accel 02989 * y | millig data of accel 02990 * z | millig data of accel 02991 * 02992 * 02993 * @return results of bus communication function 02994 * @retval 0 -> BNO055_SUCCESS 02995 * @retval 1 -> BNO055_ERROR 02996 * 02997 * 02998 */ 02999 BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_accel_xyz_mg( 03000 struct bno055_accel_float_t *accel_xyz); 03001 /********************************************************************/ 03002 /**\name FUNCTIONS FOR READING MAG DATA OUTPUT AS FLOAT PRECISION */ 03003 /********************************************************************/ 03004 /*! 03005 * @brief This API is used to convert the mag x raw data 03006 * to microTesla output as float 03007 * 03008 * @param mag_x_f : The mag x microTesla data 03009 * 03010 * 03011 * 03012 * @return results of bus communication function 03013 * @retval 0 -> BNO055_SUCCESS 03014 * @retval 1 -> BNO055_ERROR 03015 * 03016 * 03017 */ 03018 BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_x_uT( 03019 float *mag_x_f); 03020 /*! 03021 * @brief This API is used to convert the mag y raw data 03022 * to microTesla output as float 03023 * 03024 * @param mag_y_f : The mag y microTesla data 03025 * 03026 * 03027 * 03028 * @return results of bus communication function 03029 * @retval 0 -> BNO055_SUCCESS 03030 * @retval 1 -> BNO055_ERROR 03031 * 03032 */ 03033 BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_y_uT( 03034 float *mag_y_f); 03035 /*! 03036 * @brief This API is used to convert the mag z raw data 03037 * to microTesla output as float 03038 * 03039 * @param mag_z_f : The mag z microTesla data 03040 * 03041 * 03042 * 03043 * @return results of bus communication function 03044 * @retval 0 -> BNO055_SUCCESS 03045 * @retval 1 -> BNO055_ERROR 03046 * 03047 */ 03048 BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_z_uT( 03049 float *mag_z_f); 03050 /*! 03051 * @brief This API is used to convert the mag yz raw data 03052 * to microTesla output as float 03053 * 03054 * @param mag_xyz_data : The microTesla data of mag xyz 03055 * 03056 * Parameter | result 03057 * --------- | ----------------- 03058 * x | microTesla data of mag 03059 * y | microTesla data of mag 03060 * z | microTesla data of mag 03061 * 03062 * 03063 * @return results of bus communication function 03064 * @retval 0 -> BNO055_SUCCESS 03065 * @retval 1 -> BNO055_ERROR 03066 * 03067 */ 03068 BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_mag_xyz_uT( 03069 struct bno055_mag_float_t *mag_xyz_data); 03070 /********************************************************************/ 03071 /**\name FUNCTIONS FOR READING GYRO DATA OUTPUT AS FLOAT PRECISION */ 03072 /********************************************************************/ 03073 /*! 03074 * @brief This API is used to convert the gyro x raw data 03075 * to dps output as float 03076 * 03077 * @param gyro_x_f : The gyro x dps float data 03078 * 03079 * 03080 * 03081 * @return results of bus communication function 03082 * @retval 0 -> BNO055_SUCCESS 03083 * @retval 1 -> BNO055_ERROR 03084 */ 03085 BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_x_dps( 03086 float *gyro_x_f); 03087 /*! 03088 * @brief This API is used to convert the gyro x raw data 03089 * to rps output as float 03090 * 03091 * @param gyro_x_f : The gyro x dps float data 03092 * 03093 * 03094 * 03095 * @return results of bus communication function 03096 * @retval 0 -> BNO055_SUCCESS 03097 * @retval 1 -> BNO055_ERROR 03098 * 03099 */ 03100 BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_x_rps( 03101 float *gyro_x_f); 03102 /*! 03103 * @brief This API is used to convert the gyro y raw data 03104 * to dps output as float 03105 * 03106 * @param gyro_y_f : The gyro y dps float data 03107 * 03108 * 03109 * 03110 * @return results of bus communication function 03111 * @retval 0 -> BNO055_SUCCESS 03112 * @retval 1 -> BNO055_ERROR 03113 * 03114 */ 03115 BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_y_dps( 03116 float *gyro_y_f); 03117 /*! 03118 * @brief This API is used to convert the gyro y raw data 03119 * to rps output as float 03120 * 03121 * @param gyro_y_f : The gyro y dps float data 03122 * 03123 * 03124 * 03125 * @return results of bus communication function 03126 * @retval 0 -> BNO055_SUCCESS 03127 * @retval 1 -> BNO055_ERROR 03128 * 03129 * 03130 */ 03131 BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_y_rps( 03132 float *gyro_y_f); 03133 /*! 03134 * @brief This API is used to convert the gyro z raw data 03135 * to dps output as float 03136 * 03137 * @param gyro_z_f : The gyro z dps float data 03138 * 03139 * 03140 * 03141 * @return results of bus communication function 03142 * @retval 0 -> BNO055_SUCCESS 03143 * @retval 1 -> BNO055_ERROR 03144 * 03145 */ 03146 BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_z_dps( 03147 float *gyro_z_f); 03148 /*! 03149 * @brief This API is used to convert the gyro z raw data 03150 * to rps output as float 03151 * 03152 * @param gyro_z_f : The gyro z rps float data 03153 * 03154 * 03155 * 03156 * @return results of bus communication function 03157 * @retval 0 -> BNO055_SUCCESS 03158 * @retval 1 -> BNO055_ERROR 03159 * 03160 */ 03161 BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_z_rps( 03162 float *gyro_z_f); 03163 /*! 03164 * @brief This API is used to convert the gyro xyz raw data 03165 * to dps output as float 03166 * 03167 * @param gyro_xyz_data : The dps data of gyro xyz 03168 * 03169 * Parameter | result 03170 * --------- | ----------------- 03171 * x | dps data of gyro 03172 * y | dps data of gyro 03173 * z | dps data of gyro 03174 * 03175 * 03176 * @return results of bus communication function 03177 * @retval 0 -> BNO055_SUCCESS 03178 * @retval 1 -> BNO055_ERROR 03179 * 03180 * 03181 */ 03182 BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_xyz_dps( 03183 struct bno055_gyro_float_t *gyro_xyz_data); 03184 /*! 03185 * @brief This API is used to convert the gyro xyz raw data 03186 * to rps output as float 03187 * 03188 * @param gyro_xyz_data : The rps data of gyro xyz 03189 * 03190 * Parameter | result 03191 * --------- | ----------------- 03192 * x | rps data of gyro 03193 * y | rps data of gyro 03194 * z | rps data of gyro 03195 * 03196 * 03197 * @return results of bus communication function 03198 * @retval 0 -> BNO055_SUCCESS 03199 * @retval 1 -> BNO055_ERROR 03200 * 03201 * 03202 */ 03203 BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gyro_xyz_rps( 03204 struct bno055_gyro_float_t *gyro_xyz_data); 03205 /********************************************************************/ 03206 /**\name FUNCTIONS FOR READING EULER DATA OUTPUT AS FLOAT PRECISION */ 03207 /********************************************************************/ 03208 /*! 03209 * @brief This API is used to convert the Euler h raw data 03210 * to degree output as float 03211 * 03212 * @param euler_h_f : The float value of Euler h degree 03213 * 03214 * @return results of bus communication function 03215 * @retval 0 -> BNO055_SUCCESS 03216 * @retval 1 -> BNO055_ERROR 03217 * 03218 * 03219 */ 03220 BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_h_deg( 03221 float *euler_h_f); 03222 /*! 03223 * @brief This API is used to convert the Euler h raw data 03224 * to radians output as float 03225 * 03226 * @param euler_h_f : The float value of Euler h radians 03227 * 03228 * @return results of bus communication function 03229 * @retval 0 -> BNO055_SUCCESS 03230 * @retval 1 -> BNO055_ERROR 03231 * 03232 * 03233 */ 03234 BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_h_rad( 03235 float *euler_h_f); 03236 /*! 03237 * @brief This API is used to convert the Euler r raw data 03238 * to degree output as float 03239 * 03240 * @param euler_r_f : The float value of Euler r degree 03241 * 03242 * @return results of bus communication function 03243 * @retval 0 -> BNO055_SUCCESS 03244 * @retval 1 -> BNO055_ERROR 03245 * 03246 */ 03247 BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_r_deg( 03248 float *euler_r_f); 03249 /*! 03250 * @brief This API is used to convert the Euler r raw data 03251 * to radians output as float 03252 * 03253 * @param euler_r_f : The float value of Euler r radians 03254 * 03255 * @return results of bus communication function 03256 * @retval 0 -> BNO055_SUCCESS 03257 * @retval 1 -> BNO055_ERROR 03258 * 03259 */ 03260 BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_r_rad( 03261 float *euler_r_f); 03262 /*! 03263 * @brief This API is used to convert the Euler p raw data 03264 * to degree output as float 03265 * 03266 * @param euler_p_f : The float value of Euler p degree 03267 * 03268 * @return results of bus communication function 03269 * @retval 0 -> BNO055_SUCCESS 03270 * @retval 1 -> BNO055_ERROR 03271 * 03272 */ 03273 BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_p_deg( 03274 float *euler_p_f); 03275 /*! 03276 * @brief This API is used to convert the Euler p raw data 03277 * to radians output as float 03278 * 03279 * @param euler_p_f : The float value of Euler p radians 03280 * 03281 * @return results of bus communication function 03282 * @retval 0 -> BNO055_SUCCESS 03283 * @retval 1 -> BNO055_ERROR 03284 * 03285 * 03286 */ 03287 BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_p_rad( 03288 float *euler_p_f); 03289 /*! 03290 * @brief This API is used to convert the Euler hrp raw data 03291 * to degree output as float 03292 * 03293 * @param euler_hpr : The degree data of Euler hrp 03294 * 03295 * Parameter | result 03296 * --------- | ----------------- 03297 * h | degree data of Euler 03298 * r | degree data of Euler 03299 * p | degree data of Euler 03300 * 03301 * 03302 * @return results of bus communication function 03303 * @retval 0 -> BNO055_SUCCESS 03304 * @retval 1 -> BNO055_ERROR 03305 * 03306 */ 03307 BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_hpr_deg( 03308 struct bno055_euler_float_t *euler_hpr); 03309 /*! 03310 * @brief This API is used to convert the Euler xyz raw data 03311 * to radians output as float 03312 * 03313 * @param euler_hpr : The radians data of Euler hrp 03314 * 03315 * Parameter | result 03316 * --------- | ----------------- 03317 * h | radians data of Euler 03318 * r | radians data of Euler 03319 * p | radians data of Euler 03320 * 03321 * 03322 * @return results of bus communication function 03323 * @retval 0 -> BNO055_SUCCESS 03324 * @retval 1 -> BNO055_ERROR 03325 * 03326 */ 03327 BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_euler_hpr_rad( 03328 struct bno055_euler_float_t *euler_hpr); 03329 /***************************************************************************/ 03330 /**\name FUNCTIONS FOR READING LINEAR ACCEL DATA OUTPUT AS FLOAT PRECISION */ 03331 /**************************************************************************/ 03332 /*! 03333 * @brief This API is used to convert the linear 03334 * accel x raw data to meterpersecseq output as float 03335 * 03336 * @param linear_accel_x_f : The float value of linear accel x meterpersecseq 03337 * 03338 * @return results of bus communication function 03339 * @retval 0 -> BNO055_SUCCESS 03340 * @retval 1 -> BNO055_ERROR 03341 */ 03342 BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_x_msq( 03343 float *linear_accel_x_f); 03344 /*! 03345 * @brief This API is used to convert the linear 03346 * accel y raw data to meterpersecseq output as float 03347 * 03348 * @param linear_accel_y_f : The float value of linear accel y meterpersecseq 03349 * 03350 * @return results of bus communication function 03351 * @retval 0 -> BNO055_SUCCESS 03352 * @retval 1 -> BNO055_ERROR 03353 */ 03354 BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_y_msq( 03355 float *linear_accel_y_f); 03356 /*! 03357 * @brief This API is used to convert the linear 03358 * accel z raw data to meterpersecseq output as float 03359 * 03360 * @param linear_accel_z_f : The float value of linear accel z meterpersecseq 03361 * 03362 * @return results of bus communication function 03363 * @retval 0 -> BNO055_SUCCESS 03364 * @retval 1 -> BNO055_ERROR 03365 * 03366 */ 03367 BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_z_msq( 03368 float *linear_accel_z_f); 03369 /*! 03370 * @brief This API is used to convert the linear accel xyz raw data 03371 * to meterpersecseq output as float 03372 * 03373 * @param linear_accel_xyz : The meterpersecseq data of linear accel xyz 03374 * 03375 * Parameter | result 03376 * --------- | ----------------- 03377 * x | meterpersecseq data of linear accel 03378 * y | meterpersecseq data of linear accel 03379 * z | meterpersecseq data of linear accel 03380 * 03381 * 03382 * @return results of bus communication function 03383 * @retval 0 -> BNO055_SUCCESS 03384 * @retval 1 -> BNO055_ERROR 03385 * 03386 * 03387 */ 03388 BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_linear_accel_xyz_msq( 03389 struct bno055_linear_accel_float_t *linear_accel_xyz); 03390 /********************************************************************/ 03391 /**\name FUNCTIONS FOR READING GRAVITY DATA OUTPUT AS FLOAT PRECISION */ 03392 /********************************************************************/ 03393 /*! 03394 * @brief This API is used to convert the gravity 03395 * x raw data to meterpersecseq output as float 03396 * 03397 * @param gravity_x_f : The float value of gravity x meterpersecseq 03398 * 03399 * @return results of bus communication function 03400 * @retval 0 -> BNO055_SUCCESS 03401 * @retval 1 -> BNO055_ERROR 03402 * 03403 * 03404 */ 03405 BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_x_msq( 03406 float *gravity_x_f); 03407 /*! 03408 * @brief This API is used to convert the gravity 03409 * y raw data to meterpersecseq output as float 03410 * 03411 * @param gravity_y_f : The float value of gravity y meterpersecseq 03412 * 03413 * @return results of bus communication function 03414 * @retval 0 -> BNO055_SUCCESS 03415 * @retval 1 -> BNO055_ERROR 03416 * 03417 * 03418 */ 03419 BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_y_msq( 03420 float *gravity_y_f); 03421 /*! 03422 * @brief This API is used to convert the gravity 03423 * z raw data to meterpersecseq output as float 03424 * 03425 * @param gravity_z_f : The float value of gravity z meterpersecseq 03426 * 03427 * @return results of bus communication function 03428 * @retval 0 -> BNO055_SUCCESS 03429 * @retval 1 -> BNO055_ERROR 03430 * 03431 */ 03432 BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_float_z_msq( 03433 float *gravity_z_f); 03434 /*! 03435 * @brief This API is used to convert the gravity xyz raw data 03436 * to meterpersecseq output as float 03437 * 03438 * @param gravity_xyz : The meterpersecseq data of gravity xyz 03439 * 03440 * Parameter | result 03441 * --------- | ----------------- 03442 * x | meterpersecseq data of gravity 03443 * y | meterpersecseq data of gravity 03444 * z | meterpersecseq data of gravity 03445 * 03446 * 03447 * @return results of bus communication function 03448 * @retval 0 -> BNO055_SUCCESS 03449 * @retval 1 -> BNO055_ERROR 03450 * 03451 * 03452 */ 03453 BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_gravity_xyz_msq( 03454 struct bno055_gravity_float_t *gravity_xyz); 03455 /**************************************************************************/ 03456 /**\name FUNCTIONS FOR READING TEMPERATURE DATA OUTPUT AS FLOAT PRECISION */ 03457 /*************************************************************************/ 03458 /*! 03459 * @brief This API is used to convert the temperature 03460 * data to Fahrenheit output as float 03461 * 03462 * @param temp_f : The float value of temperature Fahrenheit 03463 * 03464 * @return results of bus communication function 03465 * @retval 0 -> BNO055_SUCCESS 03466 * @retval 1 -> BNO055_ERROR 03467 * 03468 * 03469 */ 03470 BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_temp_fahrenheit( 03471 float *temp_f); 03472 /*! 03473 * @brief This API is used to convert the temperature 03474 * data to Celsius output as float 03475 * 03476 * @param temp_f : The float value of temperature Celsius 03477 * 03478 * @return results of bus communication function 03479 * @retval 0 -> BNO055_SUCCESS 03480 * @retval 1 -> BNO055_ERROR 03481 * 03482 * 03483 * 03484 */ 03485 BNO055_RETURN_FUNCTION_TYPE bno055_convert_float_temp_celsius( 03486 float *temp_f); 03487 #endif 03488 #ifdef BNO055_DOUBLE_ENABLE 03489 /**************************************************************************/ 03490 /**\name FUNCTIONS FOR READING ACCEL DATA OUTPUT AS DOUBLE PRECISION */ 03491 /*************************************************************************/ 03492 /*! 03493 * @brief This API is used to convert the accel x raw data 03494 * to meterpersecseq output as double 03495 * 03496 * @param accel_x_d : The accel x meterpersecseq data 03497 * 03498 * 03499 * 03500 * @return results of bus communication function 03501 * @retval 0 -> BNO055_SUCCESS 03502 * @retval 1 -> BNO055_ERROR 03503 * 03504 * 03505 */ 03506 BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_x_msq( 03507 double *accel_x_d); 03508 /*! 03509 * @brief This API is used to convert the accel y raw data 03510 * to meterpersecseq output as double 03511 * 03512 * @param accel_y_d : The accel y meterpersecseq data 03513 * 03514 * 03515 * 03516 * @return results of bus communication function 03517 * @retval 0 -> BNO055_SUCCESS 03518 * @retval 1 -> BNO055_ERROR 03519 * 03520 * 03521 * 03522 */ 03523 BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_y_msq( 03524 double *accel_y_d); 03525 /*! 03526 * @brief This API is used to convert the accel z raw data 03527 * to meterpersecseq output as double 03528 * 03529 * @param accel_z_d : The accel z meterpersecseq data 03530 * 03531 * 03532 * 03533 * @return results of bus communication function 03534 * @retval 0 -> BNO055_SUCCESS 03535 * @retval 1 -> BNO055_ERROR 03536 */ 03537 BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_z_msq( 03538 double *accel_z_d); 03539 /*! 03540 * @brief This API is used to convert the accel x raw data 03541 * to millig output as double 03542 * 03543 * @param accel_x_d : The accel x millig data 03544 * 03545 * 03546 * 03547 * @return results of bus communication function 03548 * @retval 0 -> BNO055_SUCCESS 03549 * @retval 1 -> BNO055_ERROR 03550 * 03551 * 03552 * 03553 */ 03554 BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_x_mg( 03555 double *accel_x_d); 03556 /*! 03557 * @brief This API is used to convert the accel y raw data 03558 * to millig output as double 03559 * 03560 * @param accel_y_d : The accel y millig data 03561 * 03562 * 03563 * 03564 * @return results of bus communication function 03565 * @retval 0 -> BNO055_SUCCESS 03566 * @retval 1 -> BNO055_ERROR 03567 * 03568 * 03569 */ 03570 BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_y_mg( 03571 double *accel_y_d); 03572 /*! 03573 * @brief This API is used to convert the accel z raw data 03574 * to millig output as double 03575 * 03576 * @param accel_z_d : The accel z millig data 03577 * 03578 * 03579 * 03580 * @return results of bus communication function 03581 * @retval 0 -> BNO055_SUCCESS 03582 * @retval 1 -> BNO055_ERROR 03583 * 03584 */ 03585 BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_z_mg( 03586 double *accel_z_d); 03587 /*! 03588 * @brief This API is used to convert the accel xyz raw data 03589 * to meterpersecseq output as double 03590 * 03591 * @param accel_xyz : The meterpersecseq data of accel xyz 03592 * 03593 * Parameter | result 03594 * --------- | ----------------- 03595 * x | meterpersecseq data of accel 03596 * y | meterpersecseq data of accel 03597 * z | meterpersecseq data of accel 03598 * 03599 * 03600 * @return results of bus communication function 03601 * @retval 0 -> BNO055_SUCCESS 03602 * @retval 1 -> BNO055_ERROR 03603 * 03604 * 03605 */ 03606 BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_xyz_msq( 03607 struct bno055_accel_double_t *accel_xyz); 03608 /*! 03609 * @brief This API is used to convert the accel xyz raw data 03610 * to millig output as double 03611 * 03612 * @param accel_xyz : The millig data of accel xyz 03613 * 03614 * Parameter | result 03615 * --------- | ----------------- 03616 * x | millig data of accel 03617 * y | millig data of accel 03618 * z | millig data of accel 03619 * 03620 * 03621 * @return results of bus communication function 03622 * @retval 0 -> BNO055_SUCCESS 03623 * @retval 1 -> BNO055_ERROR 03624 * 03625 */ 03626 BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_accel_xyz_mg( 03627 struct bno055_accel_double_t *accel_xyz); 03628 /**************************************************************************/ 03629 /**\name FUNCTIONS FOR READING MAG DATA OUTPUT AS DOUBLE PRECISION */ 03630 /*************************************************************************/ 03631 /*! 03632 * @brief This API is used to convert the mag x raw data 03633 * to microTesla output as double 03634 * 03635 * @param mag_x_d : The mag x microTesla data 03636 * 03637 * 03638 * 03639 * @return results of bus communication function 03640 * @retval 0 -> BNO055_SUCCESS 03641 * @retval 1 -> BNO055_ERROR 03642 * 03643 * 03644 * 03645 */ 03646 BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_x_uT( 03647 double *mag_x_d); 03648 /*! 03649 * @brief This API is used to convert the mag x raw data 03650 * to microTesla output as double 03651 * 03652 * @param mag_y_d : The mag x microTesla data 03653 * 03654 * 03655 * 03656 * @return results of bus communication function 03657 * @retval 0 -> BNO055_SUCCESS 03658 * @retval 1 -> BNO055_ERROR 03659 * 03660 * 03661 * 03662 */ 03663 BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_y_uT( 03664 double *mag_y_d); 03665 /*! 03666 * @brief This API is used to convert the mag z raw data 03667 * to microTesla output as double 03668 * 03669 * @param mag_z_d : The mag z microTesla data 03670 * 03671 * 03672 * 03673 * @return results of bus communication function 03674 * @retval 0 -> BNO055_SUCCESS 03675 * @retval 1 -> BNO055_ERROR 03676 * 03677 * 03678 */ 03679 BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_z_uT( 03680 double *mag_z_d); 03681 /*! 03682 * @brief This API is used to convert the mag yz raw data 03683 * to microTesla output as double 03684 * 03685 * @param mag_xyz : The microTesla data of mag xyz 03686 * 03687 * Parameter | result 03688 * --------- | ----------------- 03689 * x | microTesla data of mag 03690 * y | microTesla data of mag 03691 * z | microTesla data of mag 03692 * 03693 * 03694 * @return results of bus communication function 03695 * @retval 0 -> BNO055_SUCCESS 03696 * @retval 1 -> BNO055_ERROR 03697 * 03698 */ 03699 BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_mag_xyz_uT( 03700 struct bno055_mag_double_t *mag_xyz); 03701 /**************************************************************************/ 03702 /**\name FUNCTIONS FOR READING GYRO DATA OUTPUT AS DOUBLE PRECISION */ 03703 /*************************************************************************/ 03704 /*! 03705 * @brief This API is used to convert the gyro x raw data 03706 * to dps output as double 03707 * 03708 * @param gyro_x_d : The gyro x dps double data 03709 * 03710 * 03711 * 03712 * @return results of bus communication function 03713 * @retval 0 -> BNO055_SUCCESS 03714 * @retval 1 -> BNO055_ERROR 03715 * 03716 * 03717 */ 03718 BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_x_dps( 03719 double *gyro_x_d); 03720 /*! 03721 * @brief This API is used to convert the gyro y raw data 03722 * to dps output as double 03723 * 03724 * @param gyro_y_d : The gyro y dps double data 03725 * 03726 * 03727 * 03728 * @return results of bus communication function 03729 * @retval 0 -> BNO055_SUCCESS 03730 * @retval 1 -> BNO055_ERROR 03731 * 03732 * 03733 */ 03734 BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_y_dps( 03735 double *gyro_y_d); 03736 /*! 03737 * @brief This API is used to convert the gyro z raw data 03738 * to dps output as double 03739 * 03740 * @param gyro_z_d : The gyro z dps double data 03741 * 03742 * 03743 * 03744 * @return results of bus communication function 03745 * @retval 0 -> BNO055_SUCCESS 03746 * @retval 1 -> BNO055_ERROR 03747 * 03748 * 03749 */ 03750 BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_z_dps( 03751 double *gyro_z_d); 03752 /*! 03753 * @brief This API is used to convert the gyro x raw data 03754 * to rps output as double 03755 * 03756 * @param gyro_x_d : The gyro x dps double data 03757 * 03758 * 03759 * 03760 * @return results of bus communication function 03761 * @retval 0 -> BNO055_SUCCESS 03762 * @retval 1 -> BNO055_ERROR 03763 * 03764 * 03765 */ 03766 BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_x_rps( 03767 double *gyro_x_d); 03768 /*! 03769 * @brief This API is used to convert the gyro y raw data 03770 * to rps output as double 03771 * 03772 * @param gyro_y_d : The gyro y dps double data 03773 * 03774 * 03775 * 03776 * @return results of bus communication function 03777 * @retval 0 -> BNO055_SUCCESS 03778 * @retval 1 -> BNO055_ERROR 03779 * 03780 * 03781 */ 03782 BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_y_rps( 03783 double *gyro_y_d); 03784 /*! 03785 * @brief This API is used to convert the gyro z raw data 03786 * to rps output as double 03787 * 03788 * @param gyro_z_d : The gyro z rps double data 03789 * 03790 * 03791 * 03792 * @return results of bus communication function 03793 * @retval 0 -> BNO055_SUCCESS 03794 * @retval 1 -> BNO055_ERROR 03795 * 03796 * 03797 */ 03798 BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_z_rps( 03799 double *gyro_z_d); 03800 /*! 03801 * @brief This API is used to convert the gyro xyz raw data 03802 * to dps output as double 03803 * 03804 * @param gyro_xyz : The dps data of gyro xyz 03805 * 03806 * Parameter | result 03807 * --------- | ----------------- 03808 * x | dps data of gyro 03809 * y | dps data of gyro 03810 * z | dps data of gyro 03811 * 03812 * 03813 * @return results of bus communication function 03814 * @retval 0 -> BNO055_SUCCESS 03815 * @retval 1 -> BNO055_ERROR 03816 * 03817 */ 03818 BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_xyz_dps( 03819 struct bno055_gyro_double_t *gyro_xyz); 03820 /*! 03821 * @brief This API is used to convert the gyro xyz raw data 03822 * to rps output as double 03823 * 03824 * @param gyro_xyz : The rps data of gyro xyz 03825 * 03826 * Parameter | result 03827 * --------- | ----------------- 03828 * x | rps data of gyro 03829 * y | rps data of gyro 03830 * z | rps data of gyro 03831 * 03832 * 03833 * @return results of bus communication function 03834 * @retval 0 -> BNO055_SUCCESS 03835 * @retval 1 -> BNO055_ERROR 03836 * 03837 */ 03838 BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gyro_xyz_rps( 03839 struct bno055_gyro_double_t *gyro_xyz); 03840 /**************************************************************************/ 03841 /**\name FUNCTIONS FOR READING EULER DATA OUTPUT AS DOUBLE PRECISION */ 03842 /*************************************************************************/ 03843 /*! 03844 * @brief This API is used to convert the Euler h raw data 03845 * to degree output as double 03846 * 03847 * @param euler_h_d : The double value of Euler h degree 03848 * 03849 * @return results of bus communication function 03850 * @retval 0 -> BNO055_SUCCESS 03851 * @retval 1 -> BNO055_ERROR 03852 * 03853 * 03854 */ 03855 BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_h_deg( 03856 double *euler_h_d); 03857 /*! 03858 * @brief This API is used to convert the Euler p raw data 03859 * to degree output as double 03860 * 03861 * @param euler_p_d : The double value of Euler p degree 03862 * 03863 * @return results of bus communication function 03864 * @retval 0 -> BNO055_SUCCESS 03865 * @retval 1 -> BNO055_ERROR 03866 * 03867 * 03868 */ 03869 BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_p_deg( 03870 double *euler_p_d); 03871 /*! 03872 * @brief This API is used to convert the Euler r raw data 03873 * to degree output as double 03874 * 03875 * @param euler_r_d : The double value of Euler r degree 03876 * 03877 * @return results of bus communication function 03878 * @retval 0 -> BNO055_SUCCESS 03879 * @retval 1 -> BNO055_ERROR 03880 * 03881 * 03882 */ 03883 BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_r_deg( 03884 double *euler_r_d); 03885 /*! 03886 * @brief This API is used to convert the Euler h raw data 03887 * to radians output as double 03888 * 03889 * @param euler_h_d : The double value of Euler h radians 03890 * 03891 * @return results of bus communication function 03892 * @retval 0 -> BNO055_SUCCESS 03893 * @retval 1 -> BNO055_ERROR 03894 * 03895 * 03896 */ 03897 BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_h_rad( 03898 double *euler_h_d); 03899 /*! 03900 * @brief This API is used to convert the Euler p raw data 03901 * to radians output as double 03902 * 03903 * @param euler_p_d : The double value of Euler p radians 03904 * 03905 * @return results of bus communication function 03906 * @retval 0 -> BNO055_SUCCESS 03907 * @retval 1 -> BNO055_ERROR 03908 * 03909 * 03910 */ 03911 03912 BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_p_rad( 03913 double *euler_p_d); 03914 /*! 03915 * @brief This API is used to convert the Euler r raw data 03916 * to radians output as double 03917 * 03918 * @param euler_r_d : The double value of Euler r radians 03919 * 03920 * @return results of bus communication function 03921 * @retval 0 -> BNO055_SUCCESS 03922 * @retval 1 -> BNO055_ERROR 03923 * 03924 * 03925 */ 03926 BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_r_rad( 03927 double *euler_r_d); 03928 /*! 03929 * @brief This API is used to convert the Euler hpr raw data 03930 * to degree output as double 03931 * 03932 * @param euler_hpr : The degree data of Euler hpr 03933 * 03934 * Parameter | result 03935 * --------- | ----------------- 03936 * h | degree data of Euler 03937 * r | degree data of Euler 03938 * p | degree data of Euler 03939 * 03940 * 03941 * @return results of bus communication function 03942 * @retval 0 -> BNO055_SUCCESS 03943 * @retval 1 -> BNO055_ERROR 03944 * 03945 */ 03946 BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_hpr_deg( 03947 struct bno055_euler_double_t *euler_hpr); 03948 /*! 03949 * @brief This API is used to convert the Euler hpr raw data 03950 * to radians output as double 03951 * 03952 * @param euler_hpr : The radians data of Euler hpr 03953 * 03954 * Parameter | result 03955 * --------- | ----------------- 03956 * h | radians data of Euler 03957 * r | radians data of Euler 03958 * p | radians data of Euler 03959 * 03960 * 03961 * @return results of bus communication function 03962 * @retval 0 -> BNO055_SUCCESS 03963 * @retval 1 -> BNO055_ERROR 03964 * 03965 */ 03966 BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_euler_hpr_rad( 03967 struct bno055_euler_double_t *euler_hpr); 03968 /****************************************************************************/ 03969 /**\name FUNCTIONS FOR READING LINEAR ACCEL DATA OUTPUT AS DOUBLE PRECISION */ 03970 /****************************************************************************/ 03971 /*! 03972 * @brief This API is used to convert the linear 03973 * accel x raw data to meterpersecseq output as double 03974 * 03975 * @param linear_accel_x_d : The double value of 03976 * linear accel x meterpersecseq 03977 * 03978 * @return results of bus communication function 03979 * @retval 0 -> BNO055_SUCCESS 03980 * @retval 1 -> BNO055_ERROR 03981 * 03982 * 03983 */ 03984 BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_x_msq( 03985 double *linear_accel_x_d); 03986 /*! 03987 * @brief This API is used to convert the linear 03988 * accel y raw data to meterpersecseq output as double 03989 * 03990 * @param linear_accel_y_d : The double value of 03991 * linear accel y meterpersecseq 03992 * 03993 * @return results of bus communication function 03994 * @retval 0 -> BNO055_SUCCESS 03995 * @retval 1 -> BNO055_ERROR 03996 * 03997 * 03998 */ 03999 BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_y_msq( 04000 double *linear_accel_y_d); 04001 /*! 04002 * @brief This API is used to convert the linear 04003 * accel z raw data to meterpersecseq output as double 04004 * 04005 * @param linear_accel_z_d : The double value of 04006 * linear accel z meterpersecseq 04007 * 04008 * @return results of bus communication function 04009 * @retval 0 -> BNO055_SUCCESS 04010 * @retval 1 -> BNO055_ERROR 04011 * 04012 * 04013 */ 04014 04015 BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_z_msq( 04016 double *linear_accel_z_d); 04017 /*! 04018 * @brief This API is used to convert the linear accel xyz raw data 04019 * to meterpersecseq output as double 04020 * 04021 * @param linear_accel_xyz : The meterpersecseq data of linear accel xyz 04022 * 04023 * Parameter | result 04024 * --------- | ----------------- 04025 * x | meterpersecseq data of linear accel 04026 * y | meterpersecseq data of linear accel 04027 * z | meterpersecseq data of linear accel 04028 * 04029 * 04030 * @return results of bus communication function 04031 * @retval 0 -> BNO055_SUCCESS 04032 * @retval 1 -> BNO055_ERROR 04033 * 04034 */ 04035 04036 BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_linear_accel_xyz_msq( 04037 struct bno055_linear_accel_double_t *linear_accel_xyz); 04038 /**************************************************************************/ 04039 /**\name FUNCTIONS FOR READING GRAVITY DATA OUTPUT AS DOUBLE PRECISION */ 04040 /*************************************************************************/ 04041 /*! 04042 * @brief This API is used to convert the gravity 04043 * x raw data to meterpersecseq output as double 04044 * 04045 * @param gravity_x_d : The double value of gravity x meterpersecseq 04046 * 04047 * @return results of bus communication function 04048 * @retval 0 -> BNO055_SUCCESS 04049 * @retval 1 -> BNO055_ERROR 04050 * 04051 * 04052 */ 04053 BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_x_msq( 04054 double *gravity_x_d); 04055 /*! 04056 * @brief This API is used to convert the gravity 04057 * y raw data to meterpersecseq output as double 04058 * 04059 * @param gravity_y_d : The double value of gravity y meterpersecseq 04060 * 04061 * @return results of bus communication function 04062 * @retval 0 -> BNO055_SUCCESS 04063 * @retval 1 -> BNO055_ERROR 04064 * 04065 * 04066 */ 04067 BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_y_msq( 04068 double *gravity_y_d); 04069 /*! 04070 * @brief This API is used to convert the gravity 04071 * z raw data to meterpersecseq output as double 04072 * 04073 * @param gravity_z_d : The double value of gravity z meterpersecseq 04074 * 04075 * @return results of bus communication function 04076 * @retval 0 -> BNO055_SUCCESS 04077 * @retval 1 -> BNO055_ERROR 04078 * 04079 * 04080 */ 04081 BNO055_RETURN_FUNCTION_TYPE bno055_convert_gravity_double_z_msq( 04082 double *gravity_z_d); 04083 /*! 04084 * @brief This API is used to convert the gravity xyz raw data 04085 * to meterpersecseq output as double 04086 * 04087 * @param gravity_xyz : The meterpersecseq data of gravity xyz 04088 * 04089 * Parameter | result 04090 * --------- | ----------------- 04091 * x | meterpersecseq data of gravity 04092 * y | meterpersecseq data of gravity 04093 * z | meterpersecseq data of gravity 04094 * 04095 * 04096 * @return results of bus communication function 04097 * @retval 0 -> BNO055_SUCCESS 04098 * @retval 1 -> BNO055_ERROR 04099 * 04100 */ 04101 BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_gravity_xyz_msq( 04102 struct bno055_gravity_double_t *gravity_xyz); 04103 /**************************************************************************/ 04104 /**\name FUNCTIONS FOR READING TEMPERATURE DATA OUTPUT AS DOUBLE PRECISION*/ 04105 /*************************************************************************/ 04106 /*! 04107 * @brief This API is used to convert the temperature 04108 * data to Fahrenheit output as double 04109 * 04110 * @param temp_d : The double value of temperature Fahrenheit 04111 * 04112 * @return results of bus communication function 04113 * @retval 0 -> BNO055_SUCCESS 04114 * @retval 1 -> BNO055_ERROR 04115 * 04116 * 04117 */ 04118 BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_temp_fahrenheit( 04119 double *temp_d); 04120 /*! 04121 * @brief This API is used to convert the temperature 04122 * data to Celsius output as double 04123 * 04124 * @param temp_d : The double value of temperature Celsius 04125 * 04126 * @return results of bus communication function 04127 * @retval 0 -> BNO055_SUCCESS 04128 * @retval 1 -> BNO055_ERROR 04129 * 04130 * 04131 */ 04132 BNO055_RETURN_FUNCTION_TYPE bno055_convert_double_temp_celsius( 04133 double *temp_d); 04134 #endif 04135 /**************************************************************************/ 04136 /**\name FUNCTIONS FOR READING ACCEL,MAG,GYRO AND SYSTEM CALIBRATION STATUS*/ 04137 /*************************************************************************/ 04138 /*! 04139 * @brief This API used to read 04140 * mag calibration status from register from 0x35 bit 0 and 1 04141 * 04142 * @param mag_calib_u8 : The value of mag calib status 04143 * 04144 * 04145 * @return results of bus communication function 04146 * @retval 0 -> BNO055_SUCCESS 04147 * @retval 1 -> BNO055_ERROR 04148 * 04149 */ 04150 BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_calib_stat( 04151 u8 *mag_calib_u8); 04152 /*! 04153 * @brief This API used to read 04154 * accel calibration status from register from 0x35 bit 2 and 3 04155 * 04156 * @param accel_calib_u8 : The value of accel calib status 04157 * 04158 * 04159 * @return results of bus communication function 04160 * @retval 0 -> BNO055_SUCCESS 04161 * @retval 1 -> BNO055_ERROR 04162 * 04163 */ 04164 BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_calib_stat( 04165 u8 *accel_calib_u8); 04166 /*! 04167 * @brief This API used to read 04168 * gyro calibration status from register from 0x35 bit 4 and 5 04169 * 04170 * @param gyro_calib_u8 : The value of gyro calib status 04171 * 04172 * 04173 * @return results of bus communication function 04174 * @retval 0 -> BNO055_SUCCESS 04175 * @retval 1 -> BNO055_ERROR 04176 * 04177 */ 04178 BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_calib_stat( 04179 u8 *gyro_calib_u8); 04180 /*! 04181 * @brief This API used to read 04182 * system calibration status from register from 0x35 bit 6 and 7 04183 * 04184 * @param sys_calib_u8 : The value of system calib status 04185 * 04186 * 04187 * @return results of bus communication function 04188 * @retval 0 -> BNO055_SUCCESS 04189 * @retval 1 -> BNO055_ERROR 04190 * 04191 */ 04192 BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_calib_stat( 04193 u8 *sys_calib_u8); 04194 /*! 04195 * @brief This API used to read 04196 * all calibration status from register from 0x35 04197 * 04198 * @param all_calib_u8 : The value of all calib status 04199 * 04200 * 04201 * @return results of bus communication function 04202 * @retval 0 -> BNO055_SUCCESS 04203 * @retval 1 -> BNO055_ERROR 04204 * 04205 */ 04206 BNO055_RETURN_FUNCTION_TYPE bno055_get_all_calib_stat( 04207 u8 *all_calib_u8); 04208 /******************************************************************/ 04209 /**\name FUNCTIONS FOR READING ACCEL,MAG,GYRO AND SYSTEM SELF TEST */ 04210 /******************************************************************/ 04211 /*! 04212 * @brief This API used to read 04213 * self test of accel from register from 0x36 bit 0 04214 * 04215 * @param selftest_accel_u8 : The value of self test of accel 04216 * 04217 * selftest_accel_u8 | result 04218 * -------------------- | --------------------- 04219 * 0x00 | indicates test failed 04220 * 0x01 | indicated test passed 04221 * 04222 * @return results of bus communication function 04223 * @retval 0 -> BNO055_SUCCESS 04224 * @retval 1 -> BNO055_ERROR 04225 * 04226 */ 04227 BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_accel( 04228 u8 *selftest_accel_u8); 04229 /*! 04230 * @brief This API used to read 04231 * self test of mag from register from 0x36 bit 1 04232 * 04233 * @param selftest_mag_u8 : The value of self test of mag 04234 * 04235 * selftest_mag_u8 | result 04236 * -------------------- | --------------------- 04237 * 0x00 | indicates test failed 04238 * 0x01 | indicated test passed 04239 * 04240 * @return results of bus communication function 04241 * @retval 0 -> BNO055_SUCCESS 04242 * @retval 1 -> BNO055_ERROR 04243 * 04244 */ 04245 BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_mag( 04246 u8 *selftest_mag_u8); 04247 /*! 04248 * @brief This API used to read 04249 * self test of gyro from register from 0x36 bit 2 04250 * 04251 * @param selftest_gyro_u8 : The value of self test of gyro 04252 * 04253 * selftest_gyro_u8 | result 04254 * -------------------- | --------------------- 04255 * 0x00 | indicates test failed 04256 * 0x01 | indicated test passed 04257 * 04258 * @return results of bus communication function 04259 * @retval 0 -> BNO055_SUCCESS 04260 * @retval 1 -> BNO055_ERROR 04261 * 04262 */ 04263 BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_gyro( 04264 u8 *selftest_gyro_u8); 04265 /*! 04266 * @brief This API used to read 04267 * self test of micro controller from register from 0x36 bit 3 04268 * 04269 * @param selftest_mcu_u8 : The value of self test of micro controller 04270 * 04271 * selftest_mcu_u8 | result 04272 * -------------------- | --------------------- 04273 * 0x00 | indicates test failed 04274 * 0x01 | indicated test passed 04275 * 04276 * @return results of bus communication function 04277 * @retval 0 -> BNO055_SUCCESS 04278 * @retval 1 -> BNO055_ERROR 04279 * 04280 */ 04281 BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest_mcu( 04282 u8 *selftest_mcu_u8); 04283 /*****************************************************/ 04284 /**\name FUNCTIONS FOR READING GYRO INTERRUPT STATUS */ 04285 /*****************************************************/ 04286 /*! 04287 * @brief This API used to read the stat_s8 of 04288 * gyro anymotion interrupt from register from 0x37 bit 2 04289 * 04290 * @param gyro_any_motion_u8 : The value of gyro anymotion interrupt 04291 * 04292 * gyro_any_motion_u8 | result 04293 * -------------------- | --------------------- 04294 * 0x00 | indicates no interrupt triggered 04295 * 0x01 | indicates interrupt triggered 04296 * 04297 * @return results of bus communication function 04298 * @retval 0 -> BNO055_SUCCESS 04299 * @retval 1 -> BNO055_ERROR 04300 * 04301 * @note Gyro anymotion interrupt can be BNO055_BIT_ENABLE 04302 * by the following APIs 04303 * 04304 * bno055_set_intr_mask_gyro_any_motion() 04305 * 04306 * bno055_set_intr_gyro_any_motion() 04307 * 04308 */ 04309 BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_gyro_any_motion( 04310 u8 *gyro_any_motion_u8); 04311 /*! 04312 * @brief This API used to read the stat_s8 of 04313 * gyro highrate interrupt from register from 0x37 bit 3 04314 * 04315 * @param gyro_highrate_u8 : The value of gyro highrate interrupt 04316 * 04317 * gyro_highrate_u8 | result 04318 * ------------------- | --------------------- 04319 * 0x00 | indicates no interrupt triggered 04320 * 0x01 | indicates interrupt triggered 04321 * 04322 * @return results of bus communication function 04323 * @retval 0 -> BNO055_SUCCESS 04324 * @retval 1 -> BNO055_ERROR 04325 * 04326 * @note Gyro highrate interrupt can be configured 04327 * by the following APIs 04328 * 04329 * bno055_set_intr_mask_gyro_highrate() 04330 * 04331 * bno055_set_intr_gyro_highrate() 04332 */ 04333 BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_gyro_highrate( 04334 u8 *gyro_highrate_u8); 04335 /*****************************************************/ 04336 /**\name FUNCTIONS FOR READING ACCEL INTERRUPT STATUS */ 04337 /*****************************************************/ 04338 /*! 04339 * @brief This API used to read the status of 04340 * accel highg interrupt from register from 0x37 bit 5 04341 * 04342 * @param accel_high_g_u8 : The value of accel highg interrupt 04343 * 04344 * accel_high_g_u8 | result 04345 * ------------------- | --------------------- 04346 * 0x00 | indicates no interrupt triggered 04347 * 0x01 | indicates interrupt triggered 04348 * 04349 * @return results of bus communication function 04350 * @retval 0 -> BNO055_SUCCESS 04351 * @retval 1 -> BNO055_ERROR 04352 * 04353 * @note Accel highg interrupt can be configured 04354 * by the following APIs 04355 * 04356 * bno055_set_intr_mask_accel_high_g() 04357 * 04358 * bno055_set_intr_accel_high_g() 04359 * 04360 */ 04361 BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_high_g( 04362 u8 *accel_high_g_u8); 04363 /*! 04364 * @brief This API used to read the stat_s8 of 04365 * accel anymotion interrupt from register from 0x37 bit 6 04366 * 04367 * @param accel_any_motion_u8 : The value of accel anymotion interrupt 04368 * 04369 * accel_any_motion_u8 | result 04370 * ------------------- | --------------------- 04371 * 0x00 | indicates no interrupt triggered 04372 * 0x01 | indicates interrupt triggered 04373 * 04374 * @return results of bus communication function 04375 * @retval 0 -> BNO055_SUCCESS 04376 * @retval 1 -> BNO055_ERROR 04377 * 04378 * @note Accel anymotion interrupt can be configured 04379 * by the following APIs 04380 * 04381 * bno055_set_intr_mask_accel_any_motion() 04382 * 04383 * bno055_set_intr_accel_any_motion() 04384 */ 04385 BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_any_motion( 04386 u8 *accel_any_motion_u8); 04387 /*! 04388 * @brief This API used to read the stat_s8 of 04389 * accel nomotion/slowmotion interrupt from register from 0x37 bit 6 04390 * 04391 * @param accel_no_motion_u8 : 04392 * The value of accel nomotion/slowmotion interrupt 04393 * 04394 * accel_no_motion_u8 | result 04395 * ------------------- | --------------------- 04396 * 0x00 | indicates no interrupt triggered 04397 * 0x01 | indicates interrupt triggered 04398 * 04399 * @return results of bus communication function 04400 * @retval 0 -> BNO055_SUCCESS 04401 * @retval 1 -> BNO055_ERROR 04402 * 04403 * @note Accel nomotion/slowmotion interrupt can be configured 04404 * by the following APIs 04405 * 04406 * bno055_set_intr_mask_accel_nomotion() 04407 * 04408 * bno055_set_intr_accel_nomotion() 04409 */ 04410 BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_stat_accel_no_motion( 04411 u8 *accel_no_motion_u8); 04412 /**************************************************************************/ 04413 /**\name FUNCTIONS FOR READING SYSTEM CLOCK, STATUS AND BNO055_ERROR CODE */ 04414 /*************************************************************************/ 04415 /*! 04416 * @brief This API is used to read status of main clock 04417 * from the register 0x38 bit 0 04418 * 04419 * @param stat_main_clk_u8 : the status of main clock 04420 * 04421 * 04422 * @return results of bus communication function 04423 * @retval 0 -> BNO055_SUCCESS 04424 * @retval 1 -> BNO055_ERROR 04425 * 04426 */ 04427 BNO055_RETURN_FUNCTION_TYPE bno055_get_stat_main_clk( 04428 u8 *stat_main_clk_u8); 04429 /*! 04430 * @brief This API is used to read system status 04431 * code from the register 0x39 it is a byte of data 04432 * 04433 * @param sys_stat_u8 : the status of system 04434 * 04435 * 04436 * @return results of bus communication function 04437 * @retval 0 -> BNO055_SUCCESS 04438 * @retval 1 -> BNO055_ERROR 04439 * 04440 */ 04441 BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_stat_code( 04442 u8 *sys_stat_u8); 04443 /*! 04444 * @brief This API is used to read system BNO055_ERROR 04445 * code from the register 0x3A it is a byte of data 04446 * 04447 * @param sys_error_u8 : The value of system BNO055_ERROR code 04448 * 04449 * 04450 * @return results of bus communication function 04451 * @retval 0 -> BNO055_SUCCESS 04452 * @retval 1 -> BNO055_ERROR 04453 * 04454 * 04455 */ 04456 BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_error_code( 04457 u8 *sys_error_u8); 04458 /********************************************/ 04459 /**\name FUNCTIONS FOR ACCEL UNIT SELECTION */ 04460 /********************************************/ 04461 /*! 04462 * @brief This API used to read the accel unit 04463 * from register from 0x3B bit 0 04464 * 04465 * @param accel_unit_u8 : The value of accel unit 04466 * 04467 * accel_unit_u8 | result 04468 * ------------- | --------------- 04469 * 0x00 | BNO055_ACCEL_UNIT_MSQ 04470 * 0x01 | BNO055_ACCEL_UNIT_MG 04471 * 04472 * @return results of bus communication function 04473 * @retval 0 -> BNO055_SUCCESS 04474 * @retval 1 -> BNO055_ERROR 04475 * 04476 */ 04477 BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_unit( 04478 u8 *accel_unit_u8); 04479 /*! 04480 * @brief This API used to write the accel unit 04481 * from register from 0x3B bit 0 04482 * 04483 * @param accel_unit_u8 : The value of accel unit 04484 * 04485 * accel_unit_u8 | result 04486 * ------------- | --------------- 04487 * 0x00 | BNO055_ACCEL_UNIT_MSQ 04488 * 0x01 | BNO055_ACCEL_UNIT_MG 04489 * 04490 * @return results of bus communication function 04491 * @retval 0 -> BNO055_SUCCESS 04492 * @retval 1 -> BNO055_ERROR 04493 * 04494 * 04495 */ 04496 BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_unit( 04497 u8 accel_unit_u8); 04498 /********************************************/ 04499 /**\name FUNCTIONS FOR GYRO UNIT SELECTION */ 04500 /********************************************/ 04501 /*! 04502 * @brief This API used to read the gyro unit 04503 * from register from 0x3B bit 1 04504 * 04505 * @param gyro_unit_u8 : The value of accel unit 04506 * 04507 * gyro_unit_u8 | result 04508 * ------------- | ----------- 04509 * 0x00 | BNO055_GYRO_UNIT_DPS 04510 * 0x01 | BNO055_GYRO_UNIT_RPS 04511 * 04512 * @return results of bus communication function 04513 * @retval 0 -> BNO055_SUCCESS 04514 * @retval 1 -> BNO055_ERROR 04515 * 04516 * 04517 */ 04518 BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_unit( 04519 u8 *gyro_unit_u8); 04520 /*! 04521 * @brief This API used to write the gyro unit 04522 * from register from 0x3B bit 1 04523 * 04524 * @param gyro_unit_u8 : The value of accel unit 04525 * 04526 * gyro_unit_u8 | result 04527 * ------------- | ----------- 04528 * 0x00 | BNO055_GYRO_UNIT_DPS 04529 * 0x01 | BNO055_GYRO_UNIT_RPS 04530 * 04531 * @return results of bus communication function 04532 * @retval 0 -> BNO055_SUCCESS 04533 * @retval 1 -> BNO055_ERROR 04534 * 04535 * 04536 */ 04537 BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_unit(u8 gyro_unit_u8); 04538 /********************************************/ 04539 /**\name FUNCTIONS FOR EULER UNIT SELECTION */ 04540 /********************************************/ 04541 /*! 04542 * @brief This API used to read the Euler unit 04543 * from register from 0x3B bit 2 04544 * 04545 * @param euler_unit_u8 : The value of accel unit 04546 * 04547 * euler_unit_u8 | result 04548 * -------------- | ----------- 04549 * 0x00 | BNO055_EULER_UNIT_DEG 04550 * 0x01 | BNO055_EULER_UNIT_RAD 04551 * 04552 * @return results of bus communication function 04553 * @retval 0 -> BNO055_SUCCESS 04554 * @retval 1 -> BNO055_ERROR 04555 * 04556 * 04557 */ 04558 BNO055_RETURN_FUNCTION_TYPE bno055_get_euler_unit( 04559 u8 *euler_unit_u8); 04560 /*! 04561 * @brief This API used to write the Euler unit 04562 * from register from 0x3B bit 2 04563 * 04564 * @param euler_unit_u8 : The value of Euler unit 04565 * 04566 * euler_unit_u8 | result 04567 * -------------- | ----------- 04568 * 0x00 | BNO055_EULER_UNIT_DEG 04569 * 0x01 | BNO055_EULER_UNIT_RAD 04570 * 04571 * @return results of bus communication function 04572 * @retval 0 -> BNO055_SUCCESS 04573 * @retval 1 -> BNO055_ERROR 04574 * 04575 * 04576 */ 04577 BNO055_RETURN_FUNCTION_TYPE bno055_set_euler_unit(u8 euler_unit_u8); 04578 /********************************************/ 04579 /**\name FUNCTIONS FOR TILT UNIT SELECTION */ 04580 /********************************************/ 04581 /*! 04582 * @brief This API used to write the tilt unit 04583 * from register from 0x3B bit 3 04584 * 04585 * @param tilt_unit_u8 : The value of tilt unit 04586 * 04587 * tilt_unit_u8 | result 04588 * --------------- | --------- 04589 * 0x00 | degrees 04590 * 0x01 | radians 04591 * 04592 * @return results of bus communication function 04593 * @retval 0 -> BNO055_SUCCESS 04594 * @retval 1 -> BNO055_ERROR 04595 * 04596 * 04597 */ 04598 BNO055_RETURN_FUNCTION_TYPE bno055_get_tilt_unit( 04599 u8 *tilt_unit_u8); 04600 /*! 04601 * @brief This API used to write the tilt unit 04602 * from register from 0x3B bit 3 04603 * 04604 * @param tilt_unit_u8 : The value of tilt unit 04605 * 04606 * tilt_unit_u8 | result 04607 * --------------- | --------- 04608 * 0x00 | degrees 04609 * 0x01 | radians 04610 * 04611 * @return results of bus communication function 04612 * @retval 0 -> BNO055_SUCCESS 04613 * @retval 1 -> BNO055_ERROR 04614 * 04615 * 04616 * 04617 * \return Communication results 04618 * 04619 * 04620 */ 04621 BNO055_RETURN_FUNCTION_TYPE bno055_set_tilt_unit( 04622 u8 tilt_unit_u8); 04623 /**************************************************/ 04624 /**\name FUNCTIONS FOR TEMPERATURE UNIT SELECTION */ 04625 /**************************************************/ 04626 /*! 04627 * @brief This API used to read the temperature unit 04628 * from register from 0x3B bit 4 04629 * 04630 * @param temp_unit_u8 : The value of temperature unit 04631 * 04632 * temp_unit_u8 | result 04633 * ----------- | -------------- 04634 * 0x00 | BNO055_TEMP_UNIT_CELSIUS 04635 * 0x01 | BNO055_TEMP_UNIT_FAHRENHEIT 04636 * 04637 * @return results of bus communication function 04638 * @retval 0 -> BNO055_SUCCESS 04639 * @retval 1 -> BNO055_ERROR 04640 * 04641 */ 04642 BNO055_RETURN_FUNCTION_TYPE bno055_get_temp_unit( 04643 u8 *temp_unit_u8); 04644 /*! 04645 * @brief This API used to write the temperature unit 04646 * from register from 0x3B bit 4 04647 * 04648 * @param temp_unit_u8 : The value of temperature unit 04649 * 04650 * temp_unit_u8 | result 04651 * ----------- | -------------- 04652 * 0x00 | BNO055_TEMP_UNIT_CELSIUS 04653 * 0x01 | BNO055_TEMP_UNIT_FAHRENHEIT 04654 * 04655 * @return results of bus communication function 04656 * @retval 0 -> BNO055_SUCCESS 04657 * @retval 1 -> BNO055_ERROR 04658 * 04659 * 04660 */ 04661 BNO055_RETURN_FUNCTION_TYPE bno055_set_temp_unit( 04662 u8 temp_unit_u8); 04663 /**************************************************/ 04664 /**\name FUNCTIONS FOR DATA OUTPUT FORMAT SELECT */ 04665 /**************************************************/ 04666 /*! 04667 * @brief This API used to read the current selected orientation mode 04668 * from register from 0x3B bit 7 04669 * 04670 * @param data_output_format_u8 : The value of data output format 04671 * 04672 * data_output_format_u8 | result 04673 * -------------------- | -------- 04674 * 0x00 | Windows 04675 * 0x01 | Android 04676 * 04677 * @return results of bus communication function 04678 * @retval 0 -> BNO055_SUCCESS 04679 * @retval 1 -> BNO055_ERROR 04680 * 04681 */ 04682 BNO055_RETURN_FUNCTION_TYPE bno055_get_data_output_format( 04683 u8 *data_output_format_u8); 04684 /*! 04685 * @brief This API used to read the current selected orientation mode 04686 * from register from 0x3B bit 7 04687 * 04688 * @param data_output_format_u8 : The value of data output format 04689 * 04690 * data_output_format_u8 | result 04691 * -------------------- | -------- 04692 * 0x00 | Windows 04693 * 0x01 | Android 04694 * 04695 * @return results of bus communication function 04696 * @retval 0 -> BNO055_SUCCESS 04697 * @retval 1 -> BNO055_ERROR 04698 * 04699 */ 04700 BNO055_RETURN_FUNCTION_TYPE bno055_set_data_output_format( 04701 u8 data_output_format_u8); 04702 /**************************************************/ 04703 /**\name FUNCTIONS FOR DATA OPERATION MODE */ 04704 /**************************************************/ 04705 /*! @brief This API used to read the operation mode 04706 * from register from 0x3D bit 0 to 3 04707 * 04708 * @param operation_mode_u8 : The value of operation mode 04709 * 04710 * operation_mode_u8 | result | comments 04711 * ----------|----------------------------|---------------------------- 04712 * 0x00 | BNO055_OPERATION_MODE_CONFIG | Configuration mode 04713 * 0x01 | BNO055_OPERATION_MODE_ACCONLY | Reads accel data alone 04714 * 0x02 | BNO055_OPERATION_MODE_MAGONLY | Reads mag data alone 04715 * 0x03 | BNO055_OPERATION_MODE_GYRONLY | Reads gyro data alone 04716 * 0x04 | BNO055_OPERATION_MODE_ACCMAG | Reads accel and mag data 04717 * 0x05 | BNO055_OPERATION_MODE_ACCGYRO | Reads accel and gyro data 04718 * 0x06 | BNO055_OPERATION_MODE_MAGGYRO | Reads accel and mag data 04719 * 0x07 | OPERATION_MODE_ANY_MOTION | Reads accel mag and gyro data 04720 * 0x08 | BNO055_OPERATION_MODE_IMUPLUS | Inertial measurement unit 04721 * - | - | Reads accel,gyro and fusion data 04722 * 0x09 | BNO055_OPERATION_MODE_COMPASS | Reads accel, mag data 04723 * - | - | and fusion data 04724 * 0x0A | BNO055_OPERATION_MODE_M4G | Reads accel, mag data 04725 * - | - | and fusion data 04726 * 0x0B | BNO055_OPERATION_MODE_NDOF_FMC_OFF| Nine degrees of freedom with 04727 * - | - | fast magnetic calibration 04728 * - | - | Reads accel,mag, gyro 04729 * - | - | and fusion data 04730 * 0x0C | BNO055_OPERATION_MODE_NDOF | Nine degrees of freedom 04731 * - | - | Reads accel,mag, gyro 04732 * - | - | and fusion data 04733 * 04734 * @return results of bus communication function 04735 * @retval 0 -> BNO055_SUCCESS 04736 * @retval 1 -> BNO055_ERROR 04737 * 04738 * @note In the config mode, all sensor and fusion data 04739 * becomes zero and it is mainly derived 04740 * to configure the various settings of the BNO 04741 * 04742 */ 04743 BNO055_RETURN_FUNCTION_TYPE bno055_get_operation_mode( 04744 u8 *operation_mode_u8); 04745 /*! @brief This API used to write the operation mode 04746 * from register from 0x3D bit 0 to 3 04747 * 04748 * @param operation_mode_u8 : The value of operation mode 04749 * 04750 * operation_mode_u8 | result | comments 04751 * ---------|-----------------------------------|-------------------------- 04752 * 0x00 | BNO055_OPERATION_MODE_CONFIG | Configuration mode 04753 * 0x01 | BNO055_OPERATION_MODE_ACCONLY | Reads accel data alone 04754 * 0x02 | BNO055_OPERATION_MODE_MAGONLY | Reads mag data alone 04755 * 0x03 | BNO055_OPERATION_MODE_GYRONLY | Reads gyro data alone 04756 * 0x04 | BNO055_OPERATION_MODE_ACCMAG | Reads accel and mag data 04757 * 0x05 | BNO055_OPERATION_MODE_ACCGYRO | Reads accel and gyro data 04758 * 0x06 | BNO055_OPERATION_MODE_MAGGYRO | Reads accel and mag data 04759 * 0x07 | OPERATION_MODE_ANY_MOTION | Reads accel mag and 04760 * | - | gyro data 04761 * 0x08 | BNO055_OPERATION_MODE_IMUPLUS | Inertial measurement unit 04762 * - | | Reads accel,gyro and 04763 * | - | fusion data 04764 * 0x09 | BNO055_OPERATION_MODE_COMPASS | Reads accel, mag data 04765 * - | - | and fusion data 04766 * 0x0A | BNO055_OPERATION_MODE_M4G | Reads accel, mag data 04767 * - | - | and fusion data 04768 * 0x0B | BNO055_OPERATION_MODE_NDOF_FMC_OFF| Nine degrees of freedom with 04769 * - | - | fast magnetic calibration 04770 * - | - | Reads accel,mag, gyro 04771 * - | - | and fusion data 04772 * 0x0C | BNO055_OPERATION_MODE_NDOF | Nine degrees of freedom 04773 * - | - | Reads accel,mag, gyro 04774 * - | - | and fusion data 04775 * 04776 * @return results of bus communication function 04777 * @retval 0 -> BNO055_SUCCESS 04778 * @retval 1 -> BNO055_ERROR 04779 * 04780 * @note In the config mode, all sensor and fusion data 04781 * becomes zero and it is mainly derived 04782 * to configure the various settings of the BNO 04783 * 04784 */ 04785 BNO055_RETURN_FUNCTION_TYPE bno055_set_operation_mode(u8 operation_mode_u8); 04786 /**************************************************/ 04787 /**\name FUNCTIONS FOR POWER MODE */ 04788 /**************************************************/ 04789 /*! @brief This API used to read the power mode 04790 * from register from 0x3E bit 0 to 1 04791 * 04792 * @param power_mode_u8 : The value of power mode 04793 * 04794 * power_mode_u8| result | comments 04795 * ---------|---------------------------|------------------------------------- 04796 * 0x00 |BNO055_POWER_MODE_NORMAL | In the NORMAL mode the register 04797 * - | - | map and the internal peripherals 04798 * - | - | of the MCU are always 04799 * - | - | operative in this mode 04800 * 0x01 |BNO055_POWER_MODE_LOWPOWER | This is first level of power 04801 * | - | saving mode 04802 * 0x02 |BNO055_POWER_MODE_SUSPEND | In suspend mode the system is 04803 * - | - | paused and all the sensors and 04804 * - | - | the micro controller are 04805 * - | - | put into sleep mode. 04806 * 04807 * @return results of bus communication function 04808 * @retval 0 -> BNO055_SUCCESS 04809 * @retval 1 -> BNO055_ERROR 04810 * 04811 * @note For detailed about LOWPOWER mode 04812 * refer data sheet 3.4.2 04813 * 04814 */ 04815 BNO055_RETURN_FUNCTION_TYPE bno055_get_power_mode( 04816 u8 *power_mode_u8); 04817 /*! @brief This API used to write the power mode 04818 * from register from 0x3E bit 0 to 1 04819 * 04820 * @param power_mode_u8 : The value of power mode 04821 * 04822 * 04823 * power_mode_u8| result | comments 04824 * -------|----------------------------|--------------------------------- 04825 * 0x00 | BNO055_POWER_MODE_NORMAL | In the NORMAL mode the register 04826 * - | - | map and the internal peripherals 04827 * - | - | of the MCU are always 04828 * - | - | operative in this mode 04829 * 0x01 | BNO055_POWER_MODE_LOWPOWER | This is first level of power 04830 * | - | saving mode 04831 * 0x02 | BNO055_POWER_MODE_SUSPEND | In suspend mode the system is 04832 * - | - | paused and all the sensors and 04833 * - | - | the micro controller are 04834 * - | - | put into sleep mode. 04835 * 04836 * @return results of bus communication function 04837 * @retval 0 -> BNO055_SUCCESS 04838 * @retval 1 -> BNO055_ERROR 04839 * 04840 * @note For detailed about LOWPOWER mode 04841 * refer data sheet 3.4.2 04842 * 04843 */ 04844 BNO055_RETURN_FUNCTION_TYPE bno055_set_power_mode(u8 power_mode_u8); 04845 /**************************************************/ 04846 /**\name FUNCTIONS FOR RESET INTERRUPT */ 04847 /**************************************************/ 04848 /*! 04849 * @brief This API used to read the reset interrupt 04850 * from register from 0x3F bit 6 04851 * It resets all the interrupt bit and interrupt output 04852 * 04853 * @param intr_rst_u8 : The value of reset interrupt 04854 * 04855 * intr_rst_u8 | result 04856 * -------------|---------- 04857 * 0x01 | BNO055_BIT_ENABLE 04858 * 0x00 | BNO055_BIT_DISABLE 04859 * 04860 * @return results of bus communication function 04861 * @retval 0 -> BNO055_SUCCESS 04862 * @retval 1 -> BNO055_ERROR 04863 * 04864 */ 04865 BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_rst( 04866 u8 *intr_rst_u8); 04867 /*! 04868 * @brief This API used to write the reset interrupt 04869 * from register from 0x3F bit 6 04870 * It resets all the interrupt bit and interrupt output 04871 * 04872 * @param intr_rst_u8 : The value of reset interrupt 04873 * 04874 * intr_rst_u8 | result 04875 * -------------- |---------- 04876 * 0x01 | BNO055_BIT_ENABLE 04877 * 0x00 | BNO055_BIT_DISABLE 04878 * 04879 * @return results of bus communication function 04880 * @retval 0 -> BNO055_SUCCESS 04881 * @retval 1 -> BNO055_ERROR 04882 * 04883 */ 04884 BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_rst(u8 intr_rst_u8); 04885 /**************************************************/ 04886 /**\name FUNCTIONS FOR CLOCK SOURCE */ 04887 /**************************************************/ 04888 /*! 04889 * @brief This API used to read the clk source 04890 * from register from 0x3F bit 7 04891 * 04892 * @param clk_src_u8 : The value of clk source 04893 * 04894 * clk_src_u8 | result 04895 * -------------|---------- 04896 * 0x01 | BNO055_BIT_ENABLE 04897 * 0x00 | BNO055_BIT_DISABLE 04898 * 04899 * @return results of bus communication function 04900 * @retval 0 -> BNO055_SUCCESS 04901 * @retval 1 -> BNO055_ERROR 04902 * 04903 */ 04904 BNO055_RETURN_FUNCTION_TYPE bno055_get_clk_src( 04905 u8 *clk_src_u8); 04906 /*! 04907 * @brief This API used to write the clk source 04908 * from register from 0x3F bit 7 04909 * 04910 * @param clk_src_u8 : The value of clk source 04911 * 04912 * clk_src_u8 | result 04913 * -------------- |---------- 04914 * 0x01 | BNO055_BIT_ENABLE 04915 * 0x00 | BNO055_BIT_DISABLE 04916 * 04917 * @return results of bus communication function 04918 * @retval 0 -> BNO055_SUCCESS 04919 * @retval 1 -> BNO055_ERROR 04920 * 04921 */ 04922 BNO055_RETURN_FUNCTION_TYPE bno055_set_clk_src(u8 clk_src_u8); 04923 /**************************************************/ 04924 /**\name FUNCTIONS FOR RESET SYSTEM */ 04925 /**************************************************/ 04926 /*! 04927 * @brief This API used to read the reset system 04928 * from register from 0x3F bit 5 04929 * 04930 * @param sys_rst_u8 : The value of reset system 04931 * 04932 * sys_rst_u8 | result 04933 * -------------- |---------- 04934 * 0x01 | BNO055_BIT_ENABLE 04935 * 0x00 | BNO055_BIT_DISABLE 04936 * 04937 * @return results of bus communication function 04938 * @retval 0 -> BNO055_SUCCESS 04939 * @retval 1 -> BNO055_ERROR 04940 * 04941 * @note It resets the whole system 04942 */ 04943 BNO055_RETURN_FUNCTION_TYPE bno055_get_sys_rst( 04944 u8 *sys_rst_u8); 04945 /*! 04946 * @brief This API used to write the reset system 04947 * from register from 0x3F bit 5 04948 * 04949 * @param sys_rst_u8 : The value of reset system 04950 * 04951 * sys_rst_u8 | result 04952 * -------------- |---------- 04953 * 0x01 | BNO055_BIT_ENABLE 04954 * 0x00 | BNO055_BIT_DISABLE 04955 * 04956 * @return results of bus communication function 04957 * @retval 0 -> BNO055_SUCCESS 04958 * @retval 1 -> BNO055_ERROR 04959 * 04960 * @note It resets the whole system 04961 */ 04962 BNO055_RETURN_FUNCTION_TYPE bno055_set_sys_rst(u8 sys_rst_u8); 04963 /**************************************************/ 04964 /**\name FUNCTIONS FOR SELF TEST */ 04965 /**************************************************/ 04966 /*! 04967 * @brief This API used to read the self test 04968 * from register from 0x3F bit 0 04969 * 04970 * @param selftest_u8 : The value of self test 04971 * 04972 * selftest_u8 | result 04973 * -------------- |---------- 04974 * 0x01 | BNO055_BIT_ENABLE 04975 * 0x00 | BNO055_BIT_DISABLE 04976 * 04977 * @return results of bus communication function 04978 * @retval 0 -> BNO055_SUCCESS 04979 * @retval 1 -> BNO055_ERROR 04980 * 04981 * @note It triggers the self test 04982 */ 04983 BNO055_RETURN_FUNCTION_TYPE bno055_get_selftest( 04984 u8 *selftest_u8); 04985 /*! 04986 * @brief This API used to write the self test 04987 * from register from 0x3F bit 0 04988 * 04989 * @param selftest_u8 : The value of self test 04990 * 04991 * selftest_u8 | result 04992 * -------------- |---------- 04993 * 0x01 | BNO055_BIT_ENABLE 04994 * 0x00 | BNO055_BIT_DISABLE 04995 * 04996 * @return results of bus communication function 04997 * @retval 0 -> BNO055_SUCCESS 04998 * @retval 1 -> BNO055_ERROR 04999 * 05000 * @note It triggers the self test 05001 * 05002 * 05003 */ 05004 BNO055_RETURN_FUNCTION_TYPE bno055_set_selftest(u8 selftest_u8); 05005 /**************************************************/ 05006 /**\name FUNCTIONS FOR TEMPERATURE SOURCE */ 05007 /**************************************************/ 05008 /*! 05009 * @brief This API used to read the temperature source 05010 * from register from 0x40 bit 0 and 1 05011 * 05012 * @param temp_source_u8 : The value of selected temperature source 05013 * 05014 * temp_source_u8 | result 05015 * ---------------- |--------------- 05016 * 0x00 | BNO055_ACCEL_TEMP_EN 05017 * 0X01 | BNO055_GYRO_TEMP_EN 05018 * 0X03 | BNO055_MCU_TEMP_EN 05019 * 05020 * @return results of bus communication function 05021 * @retval 0 -> BNO055_SUCCESS 05022 * @retval 1 -> BNO055_ERROR 05023 * 05024 */ 05025 BNO055_RETURN_FUNCTION_TYPE bno055_get_temp_source( 05026 u8 *temp_source_u8); 05027 /*! 05028 * @brief This API used to write the temperature source 05029 * from register from 0x40 bit 0 and 1 05030 * 05031 * @param temp_source_u8 : The value of selected temperature source 05032 * 05033 * temp_source_u8 | result 05034 * ---------------- |--------------- 05035 * 0x00 | BNO055_ACCEL_TEMP_EN 05036 * 0X01 | BNO055_GYRO_TEMP_EN 05037 * 0X03 | BNO055_MCU_TEMP_EN 05038 * 05039 * @return results of bus communication function 05040 * @retval 0 -> BNO055_SUCCESS 05041 * @retval 1 -> BNO055_ERROR 05042 * 05043 */ 05044 BNO055_RETURN_FUNCTION_TYPE bno055_set_temp_source(u8 temp_source_u8); 05045 /**************************************************/ 05046 /**\name APIs FOR AXIS REMAP */ 05047 /**************************************************/ 05048 /*! 05049 * @brief This API used to read the axis remap value 05050 * from register from 0x41 bit 0 and 5 05051 * 05052 * @param remap_axis_u8 : The value of axis remapping 05053 * 05054 * remap_axis_u8 | result | comments 05055 * ------------|-------------------|------------ 05056 * 0X21 | BNO055_REMAP_X_Y | Z=Z;X=Y;Y=X 05057 * 0X18 | BNO055_REMAP_Y_Z | X=X;Y=Z;Z=Y 05058 * 0X06 | BNO055_REMAP_Z_X | Y=Y;X=Z;Z=X 05059 * 0X12 | BNO055_REMAP_X_Y_Z_TYPE0 | X=Z;Y=X;Z=Y 05060 * 0X09 | BNO055_REMAP_X_Y_Z_TYPE1 | X=Y;Y=Z;Z=X 05061 * 0X24 | BNO055_DEFAULT_AXIS | X=X;Y=Y;Z=Z 05062 * 05063 * @return results of bus communication function 05064 * @retval 0 -> BNO055_SUCCESS 05065 * @retval 1 -> BNO055_ERROR 05066 * 05067 * @note : For axis sign remap refer the following APIs 05068 * x-axis : 05069 * 05070 * bno055_set_x_remap_sign() 05071 * 05072 * y-axis : 05073 * 05074 * bno055_set_y_remap_sign() 05075 * 05076 * z-axis : 05077 * 05078 * bno055_set_z_remap_sign() 05079 * 05080 */ 05081 BNO055_RETURN_FUNCTION_TYPE bno055_get_axis_remap_value( 05082 u8 *remap_axis_u8); 05083 /*! 05084 * @brief This API used to write the axis remap value 05085 * from register from 0x41 bit 0 and 5 05086 * 05087 * @param remap_axis_u8 : The value of axis remapping 05088 * 05089 * remap_axis_u8 | result | comments 05090 * ------------|--------------------------|------------ 05091 * 0X21 | BNO055_REMAP_X_Y | Z=Z;X=Y;Y=X 05092 * 0X18 | BNO055_REMAP_Y_Z | X=X;Y=Z;Z=Y 05093 * 0X06 | BNO055_REMAP_Z_X | Y=Y;X=Z;Z=X 05094 * 0X12 | BNO055_REMAP_X_Y_Z_TYPE0 | X=Z;Y=X;Z=Y 05095 * 0X09 | BNO055_REMAP_X_Y_Z_TYPE1 | X=Y;Y=Z;Z=X 05096 * 0X24 | BNO055_DEFAULT_AXIS | X=X;Y=Y;Z=Z 05097 * 05098 * @return results of bus communication function 05099 * @retval 0 -> BNO055_SUCCESS 05100 * @retval 1 -> BNO055_ERROR 05101 * 05102 * @note : For axis sign remap refer the following APIs 05103 * x-axis : 05104 * 05105 * bno055_set_x_remap_sign() 05106 * 05107 * y-axis : 05108 * 05109 * bno055_set_y_remap_sign() 05110 * 05111 * z-axis : 05112 * 05113 * bno055_set_z_remap_sign() 05114 * 05115 */ 05116 BNO055_RETURN_FUNCTION_TYPE bno055_set_axis_remap_value( 05117 u8 remap_axis_u8); 05118 /**************************************************/ 05119 /**\name APIs FOR AXIS REMAP SIGN */ 05120 /**************************************************/ 05121 /*! 05122 * @brief This API used to read the x-axis remap 05123 * sign from register from 0x42 bit 2 05124 * 05125 * @param remap_x_sign_u8 : The value of x-axis remap sign 05126 * 05127 * remap_x_sign_u8 | result 05128 * ------------------- |-------------------- 05129 * 0X00 | BNO055_REMAP_AXIS_POSITIVE 05130 * 0X01 | BNO055_REMAP_AXIS_NEGATIVE 05131 * 05132 * @return results of bus communication function 05133 * @retval 0 -> BNO055_SUCCESS 05134 * @retval 1 -> BNO055_ERROR 05135 * 05136 */ 05137 BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_x_sign( 05138 u8 *remap_x_sign_u8); 05139 /*! 05140 * @brief This API used to write the x-axis remap 05141 * sign from register from 0x42 bit 2 05142 * 05143 * @param remap_x_sign_u8 : The value of x-axis remap sign 05144 * 05145 * remap_x_sign_u8 | result 05146 * ------------------- |-------------------- 05147 * 0X00 | BNO055_REMAP_AXIS_POSITIVE 05148 * 0X01 | BNO055_REMAP_AXIS_NEGATIVE 05149 * 05150 * @return results of bus communication function 05151 * @retval 0 -> BNO055_SUCCESS 05152 * @retval 1 -> BNO055_ERROR 05153 * 05154 */ 05155 BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_x_sign( 05156 u8 remap_x_sign_u8); 05157 /*! 05158 * @brief This API used to read the y-axis remap 05159 * sign from register from 0x42 bit 1 05160 * 05161 * @param remap_y_sign_u8 : The value of y-axis remap sign 05162 * 05163 * remap_y_sign_u8 | result 05164 * ------------------- |-------------------- 05165 * 0X00 | BNO055_REMAP_AXIS_POSITIVE 05166 * 0X01 | BNO055_REMAP_AXIS_NEGATIVE 05167 * 05168 * @return results of bus communication function 05169 * @retval 0 -> BNO055_SUCCESS 05170 * @retval 1 -> BNO055_ERROR 05171 * 05172 */ 05173 BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_y_sign( 05174 u8 *remap_y_sign_u8); 05175 /*! 05176 * @brief This API used to write the y-axis remap 05177 * sign from register from 0x42 bit 1 05178 * 05179 * @param remap_y_sign_u8 : The value of y-axis remap sign 05180 * 05181 * remap_y_sign_u8 | result 05182 * ------------------- |-------------------- 05183 * 0X00 | BNO055_REMAP_AXIS_POSITIVE 05184 * 0X01 | BNO055_REMAP_AXIS_NEGATIVE 05185 * 05186 * @return results of bus communication function 05187 * @retval 0 -> BNO055_SUCCESS 05188 * @retval 1 -> BNO055_ERROR 05189 * 05190 */ 05191 BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_y_sign( 05192 u8 remap_y_sign_u8); 05193 /*! 05194 * @brief This API used to read the z-axis remap 05195 * sign from register from 0x42 bit 0 05196 * 05197 * @param remap_z_sign_u8 : The value of z-axis remap sign 05198 * 05199 * remap_z_sign_u8 | result 05200 * ------------------- |-------------------- 05201 * 0X00 | BNO055_REMAP_AXIS_POSITIVE 05202 * 0X01 | BNO055_REMAP_AXIS_NEGATIVE 05203 * 05204 * @return results of bus communication function 05205 * @retval 0 -> BNO055_SUCCESS 05206 * @retval 1 -> BNO055_ERROR 05207 * 05208 */ 05209 BNO055_RETURN_FUNCTION_TYPE bno055_get_remap_z_sign( 05210 u8 *remap_z_sign_u8); 05211 /*! 05212 * @brief This API used to write the z-axis remap 05213 * sign from register from 0x42 bit 0 05214 * 05215 * @param remap_z_sign_u8 : The value of z-axis remap sign 05216 * 05217 * remap_z_sign_u8 | result 05218 * ------------------|-------------------- 05219 * 0X00 | BNO055_REMAP_AXIS_POSITIVE 05220 * 0X01 | BNO055_REMAP_AXIS_NEGATIVE 05221 * 05222 * @return results of bus communication function 05223 * @retval 0 -> BNO055_SUCCESS 05224 * @retval 1 -> BNO055_ERROR 05225 * 05226 */ 05227 BNO055_RETURN_FUNCTION_TYPE bno055_set_remap_z_sign( 05228 u8 remap_z_sign_u8); 05229 /*****************************************************/ 05230 /**\name FUNCTIONS FOR SOFT IRON CALIBRATION MATRIX */ 05231 /*****************************************************/ 05232 /*! 05233 * @brief This API is used to read soft iron calibration matrix 05234 * from the register 0x43 to 0x53 it is a 18 bytes of data 05235 * 05236 * @param sic_matrix : The value of soft iron calibration matrix 05237 * 05238 * sic_matrix | result 05239 * --------------------|---------------------------------- 05240 * sic_0 | soft iron calibration matrix zero 05241 * sic_1 | soft iron calibration matrix one 05242 * sic_2 | soft iron calibration matrix two 05243 * sic_3 | soft iron calibration matrix three 05244 * sic_4 | soft iron calibration matrix four 05245 * sic_5 | soft iron calibration matrix five 05246 * sic_6 | soft iron calibration matrix six 05247 * sic_7 | soft iron calibration matrix seven 05248 * sic_8 | soft iron calibration matrix eight 05249 * 05250 * 05251 * @return results of bus communication function 05252 * @retval 0 -> BNO055_SUCCESS 05253 * @retval 1 -> BNO055_ERROR 05254 * 05255 * @note : Each soft iron calibration matrix range from -32768 to +32767 05256 */ 05257 BNO055_RETURN_FUNCTION_TYPE bno055_read_sic_matrix( 05258 struct bno055_sic_matrix_t *sic_matrix); 05259 /*! 05260 * @brief This API is used to write soft iron calibration matrix 05261 * from the register 0x43 to 0x53 it is a 18 bytes of data 05262 * 05263 * @param sic_matrix : The value of soft iron calibration matrix 05264 * 05265 * sic_matrix | result 05266 * --------------------|---------------------------------- 05267 * sic_0 | soft iron calibration matrix zero 05268 * sic_1 | soft iron calibration matrix one 05269 * sic_2 | soft iron calibration matrix two 05270 * sic_3 | soft iron calibration matrix three 05271 * sic_4 | soft iron calibration matrix four 05272 * sic_5 | soft iron calibration matrix five 05273 * sic_6 | soft iron calibration matrix six 05274 * sic_7 | soft iron calibration matrix seven 05275 * sic_8 | soft iron calibration matrix eight 05276 * 05277 * 05278 * @return results of bus communication function 05279 * @retval 0 -> BNO055_SUCCESS 05280 * @retval 1 -> BNO055_ERROR 05281 * 05282 * @note : Each soft iron calibration matrix range from -32768 to +32767 05283 */ 05284 BNO055_RETURN_FUNCTION_TYPE bno055_write_sic_matrix( 05285 struct bno055_sic_matrix_t *sic_matrix); 05286 /*****************************************************/ 05287 /**\name FUNCTIONS FOR ACCEL OFFSET AND RADIUS */ 05288 /*****************************************************/ 05289 /*! 05290 * @brief This API is used to read accel offset and accel radius 05291 * offset form register 0x55 to 0x5A and radius form 0x67 and 0x68 05292 * 05293 * @param accel_offset : The value of accel offset and radius 05294 * 05295 * bno055_accel_offset_t | result 05296 * ------------------- | ---------------- 05297 * x | accel offset x 05298 * y | accel offset y 05299 * z | accel offset z 05300 * r | accel offset r 05301 * 05302 * 05303 * @return results of bus communication function 05304 * @retval 0 -> BNO055_SUCCESS 05305 * @retval 1 -> BNO055_ERROR 05306 * 05307 * @note The range of the accel offset varies based on 05308 * the G-range of accel sensor. 05309 * 05310 * accel G range | offset range 05311 * --------------- | -------------- 05312 * BNO055_ACCEL_RANGE_2G | +/-2000 05313 * BNO055_ACCEL_RANGE_4G | +/-4000 05314 * BNO055_ACCEL_RANGE_8G | +/-8000 05315 * BNO055_ACCEL_RANGE_16G | +/-16000 05316 * 05317 * accel G range can be configured by using the 05318 * bno055_set_accel_range() API 05319 */ 05320 BNO055_RETURN_FUNCTION_TYPE bno055_read_accel_offset( 05321 struct bno055_accel_offset_t *accel_offset); 05322 /*! 05323 * @brief This API is used to write accel offset and accel radius 05324 * offset form register 0x55 to 0x5A and radius form 0x67 and 0x68 05325 * 05326 * @param accel_offset : The value of accel offset and radius 05327 * 05328 * bno055_accel_offset_t | result 05329 * ------------------- | ---------------- 05330 * x | accel offset x 05331 * y | accel offset y 05332 * z | accel offset z 05333 * r | accel offset r 05334 * 05335 * 05336 * @return results of bus communication function 05337 * @retval 0 -> BNO055_SUCCESS 05338 * @retval 1 -> BNO055_ERROR 05339 * 05340 * @note The range of the accel offset varies based on 05341 * the G-range of accel sensor. 05342 * 05343 * accel G range | offset range 05344 * --------------- | -------------- 05345 * BNO055_ACCEL_RANGE_2G | +/-2000 05346 * BNO055_ACCEL_RANGE_4G | +/-4000 05347 * BNO055_ACCEL_RANGE_8G | +/-8000 05348 * BNO055_ACCEL_RANGE_16G | +/-16000 05349 * 05350 * accel G range can be configured by using the 05351 * bno055_set_accel_range() API 05352 */ 05353 BNO055_RETURN_FUNCTION_TYPE bno055_write_accel_offset( 05354 struct bno055_accel_offset_t *accel_offset); 05355 /*****************************************************/ 05356 /**\name FUNCTIONS FOR MAG OFFSET AND RADIUS*/ 05357 /*****************************************************/ 05358 /*! 05359 * @brief This API is used to read mag offset 05360 * offset form register 0x69 to 0x6A 05361 * 05362 * @param mag_offset : The value of mag offset and radius 05363 * 05364 * bno055_mag_offset_t | result 05365 * ------------------- | ---------------- 05366 * x | mag offset x 05367 * y | mag offset y 05368 * z | mag offset z 05369 * r | mag radius r 05370 * 05371 * 05372 * @return results of bus communication function 05373 * @retval 0 -> BNO055_SUCCESS 05374 * @retval 1 -> BNO055_ERROR 05375 * 05376 * @note The range of the magnetometer offset is +/-6400 in LSB 05377 */ 05378 05379 BNO055_RETURN_FUNCTION_TYPE bno055_read_mag_offset( 05380 struct bno055_mag_offset_t *mag_offset); 05381 /*! 05382 * @brief This API is used to read mag offset 05383 * offset form register 0x69 to 0x6A 05384 * 05385 * @param mag_offset : The value of mag offset and radius 05386 * 05387 * bno055_mag_offset_t | result 05388 * ------------------- | ---------------- 05389 * x | mag offset x 05390 * y | mag offset y 05391 * z | mag offset z 05392 * r | mag radius r 05393 * 05394 * 05395 * @return results of bus communication function 05396 * @retval 0 -> BNO055_SUCCESS 05397 * @retval 1 -> BNO055_ERROR 05398 * 05399 * @note The range of the magnetometer offset is +/-6400 in LSB 05400 */ 05401 BNO055_RETURN_FUNCTION_TYPE bno055_write_mag_offset( 05402 struct bno055_mag_offset_t *mag_offset); 05403 /*****************************************************/ 05404 /**\name FUNCTIONS FOR GYRO OFFSET */ 05405 /*****************************************************/ 05406 /*! 05407 * @brief This API is used to read gyro offset 05408 * offset form register 0x61 to 0x66 05409 * 05410 * @param gyro_offset : The value of gyro offset 05411 * 05412 * bno055_gyro_offset_t | result 05413 * ------------------- | ---------------- 05414 * x | gyro offset x 05415 * y | gyro offset y 05416 * z | gyro offset z 05417 * 05418 * 05419 * @return results of bus communication function 05420 * @retval 0 -> BNO055_SUCCESS 05421 * @retval 1 -> BNO055_ERROR 05422 * 05423 * @note The range of the gyro offset varies based on 05424 * the range of gyro sensor 05425 * 05426 * gyro G range | offset range 05427 * -------------------- | ------------ 05428 * BNO055_GYRO_RANGE_2000DPS | +/-32000 05429 * BNO055_GYRO_RANGE_1000DPS | +/-16000 05430 * BNO055_GYRO_RANGE_500DPS | +/-8000 05431 * BNO055_GYRO_RANGE_250DPS | +/-4000 05432 * BNO055_GYRO_RANGE_125DPS | +/-2000 05433 * 05434 * Gyro range can be configured by using the 05435 * bno055_set_gyro_range() API 05436 */ 05437 BNO055_RETURN_FUNCTION_TYPE bno055_read_gyro_offset( 05438 struct bno055_gyro_offset_t *gyro_offset); 05439 /*! 05440 * @brief This API is used to read gyro offset 05441 * offset form register 0x61 to 0x66 05442 * 05443 * @param gyro_offset : The value of gyro offset 05444 * 05445 * bno055_gyro_offset_t | result 05446 * ------------------- | ---------------- 05447 * x | gyro offset x 05448 * y | gyro offset y 05449 * z | gyro offset z 05450 * 05451 * 05452 * @return results of bus communication function 05453 * @retval 0 -> BNO055_SUCCESS 05454 * @retval 1 -> BNO055_ERROR 05455 * 05456 * @note The range of the gyro offset varies based on 05457 * the range of gyro sensor 05458 * 05459 * gyro G range | offset range 05460 * -------------------- | ------------ 05461 * BNO055_GYRO_RANGE_2000DPS | +/-32000 05462 * BNO055_GYRO_RANGE_1000DPS | +/-16000 05463 * BNO055_GYRO_RANGE_500DPS | +/-8000 05464 * BNO055_GYRO_RANGE_250DPS | +/-4000 05465 * BNO055_GYRO_RANGE_125DPS | +/-2000 05466 * 05467 * Gyro range can be configured by using the 05468 * bno055_set_gyro_range() API 05469 */ 05470 BNO055_RETURN_FUNCTION_TYPE bno055_write_gyro_offset( 05471 struct bno055_gyro_offset_t *gyro_offset); 05472 /********************************************************/ 05473 /************** PAGE1 Functions *********************/ 05474 /********************************************************/ 05475 /*****************************************************/ 05476 /**\name FUNCTIONS FOR ACCEL CONFIGURATION */ 05477 /*****************************************************/ 05478 /*! 05479 * @brief This API used to read the accel range 05480 * from page one register from 0x08 bit 0 and 1 05481 * 05482 * @param accel_range_u8 : The value of accel range 05483 * accel_range_u8 | result 05484 * ----------------- | -------------- 05485 * 0x00 | BNO055_ACCEL_RANGE_2G 05486 * 0x01 | BNO055_ACCEL_RANGE_4G 05487 * 0x02 | BNO055_ACCEL_RANGE_8G 05488 * 0x03 | BNO055_ACCEL_RANGE_16G 05489 * 05490 * @return results of bus communication function 05491 * @retval 0 -> BNO055_SUCCESS 05492 * @retval 1 -> BNO055_ERROR 05493 * 05494 * 05495 */ 05496 BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_range( 05497 u8 *accel_range_u8); 05498 /*! 05499 * @brief This API used to write the accel range 05500 * from page one register from 0x08 bit 0 and 1 05501 * 05502 * @param accel_range_u8 : The value of accel range 05503 * 05504 * accel_range_u8 | result 05505 * ----------------- | -------------- 05506 * 0x00 | BNO055_ACCEL_RANGE_2G 05507 * 0x01 | BNO055_ACCEL_RANGE_4G 05508 * 0x02 | BNO055_ACCEL_RANGE_8G 05509 * 0x03 | BNO055_ACCEL_RANGE_16G 05510 * 05511 * @return results of bus communication function 05512 * @retval 0 -> BNO055_SUCCESS 05513 * @retval 1 -> BNO055_ERROR 05514 * 05515 * 05516 */ 05517 BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_range( 05518 u8 accel_range_u8); 05519 /*! 05520 * @brief This API used to read the accel bandwidth 05521 * from page one register from 0x08 bit 2 to 4 05522 * 05523 * @param accel_bw_u8 : The value of accel bandwidth 05524 * 05525 * accel_bw_u8 | result 05526 * ----------------- | --------------- 05527 * 0x00 | BNO055_ACCEL_BW_7_81HZ 05528 * 0x01 | BNO055_ACCEL_BW_15_63HZ 05529 * 0x02 | BNO055_ACCEL_BW_31_25HZ 05530 * 0x03 | BNO055_ACCEL_BW_62_5HZ 05531 * 0x04 | BNO055_ACCEL_BW_125HZ 05532 * 0x05 | BNO055_ACCEL_BW_250HZ 05533 * 0x06 | BNO055_ACCEL_BW_500HZ 05534 * 0x07 | BNO055_ACCEL_BW_1000HZ 05535 * 05536 * @return results of bus communication function 05537 * @retval 0 -> BNO055_SUCCESS 05538 * @retval 1 -> BNO055_ERROR 05539 * 05540 * 05541 */ 05542 BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_bw( 05543 u8 *accel_bw_u8); 05544 /*! 05545 * @brief This API used to write the accel bandwidth 05546 * from page one register from 0x08 bit 2 to 4 05547 * 05548 * @param accel_bw_u8 : The value of accel bandwidth 05549 * 05550 * accel_bw_u8 | result 05551 * ----------------- | --------------- 05552 * 0x00 | BNO055_ACCEL_BW_7_81HZ 05553 * 0x01 | BNO055_ACCEL_BW_15_63HZ 05554 * 0x02 | BNO055_ACCEL_BW_31_25HZ 05555 * 0x03 | BNO055_ACCEL_BW_62_5HZ 05556 * 0x04 | BNO055_ACCEL_BW_125HZ 05557 * 0x05 | BNO055_ACCEL_BW_250HZ 05558 * 0x06 | BNO055_ACCEL_BW_500HZ 05559 * 0x07 | BNO055_ACCEL_BW_1000HZ 05560 * 05561 * @return results of bus communication function 05562 * @retval 0 -> BNO055_SUCCESS 05563 * @retval 1 -> BNO055_ERROR 05564 * 05565 * 05566 */ 05567 BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_bw( 05568 u8 accel_bw_u8); 05569 /*! 05570 * @brief This API used to read the accel power mode 05571 * from page one register from 0x08 bit 5 to 7 05572 * 05573 * @param accel_power_mode_u8 : The value of accel power mode 05574 * accel_power_mode_u8 | result 05575 * ----------------- | ------------- 05576 * 0x00 | BNO055_ACCEL_NORMAL 05577 * 0x01 | BNO055_ACCEL_SUSPEND 05578 * 0x02 | BNO055_ACCEL_LOWPOWER_1 05579 * 0x03 | BNO055_ACCEL_STANDBY 05580 * 0x04 | BNO055_ACCEL_LOWPOWER_2 05581 * 0x05 | BNO055_ACCEL_DEEPSUSPEND 05582 * 05583 * @return results of bus communication function 05584 * @retval 0 -> BNO055_SUCCESS 05585 * @retval 1 -> BNO055_ERROR 05586 * 05587 * 05588 */ 05589 BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_power_mode( 05590 u8 *accel_power_mode_u8); 05591 /*! 05592 * @brief This API used to write the accel power mode 05593 * from page one register from 0x08 bit 5 to 7 05594 * 05595 * @param accel_power_mode_u8 : The value of accel power mode 05596 * accel_power_mode_u8 | result 05597 * ----------------- | ------------- 05598 * 0x00 | BNO055_ACCEL_NORMAL 05599 * 0x01 | BNO055_ACCEL_SUSPEND 05600 * 0x02 | BNO055_ACCEL_LOWPOWER_1 05601 * 0x03 | BNO055_ACCEL_STANDBY 05602 * 0x04 | BNO055_ACCEL_LOWPOWER_2 05603 * 0x05 | BNO055_ACCEL_DEEPSUSPEND 05604 * 05605 * @return results of bus communication function 05606 * @retval 0 -> BNO055_SUCCESS 05607 * @retval 1 -> BNO055_ERROR 05608 * 05609 * 05610 */ 05611 BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_power_mode( 05612 u8 accel_power_mode_u8); 05613 /*****************************************************/ 05614 /**\name FUNCTIONS FOR MAG CONFIGURATION */ 05615 /*****************************************************/ 05616 /*! 05617 * @brief This API used to read the mag output data rate 05618 * from page one register from 0x09 bit 0 to 2 05619 * 05620 * @param mag_data_output_rate_u8 : The value of mag output data rate 05621 * 05622 * mag_data_output_rate_u8 | result 05623 * ---------------------- |---------------------- 05624 * 0x00 | MAG_DATA_OUTPUT_RATE_2HZ 05625 * 0x01 | MAG_DATA_OUTPUT_RATE_6HZ 05626 * 0x02 | MAG_DATA_OUTPUT_RATE_8HZ 05627 * 0x03 | MAG_DATA_OUTPUT_RATE_10HZ 05628 * 0x04 | MAG_DATA_OUTPUT_RATE_15HZ 05629 * 0x05 | MAG_DATA_OUTPUT_RATE_20HZ 05630 * 0x06 | MAG_DATA_OUTPUT_RATE_25HZ 05631 * 0x07 | MAG_DATA_OUTPUT_RATE_30HZ 05632 * 05633 * @return results of bus communication function 05634 * @retval 0 -> BNO055_SUCCESS 05635 * @retval 1 -> BNO055_ERROR 05636 * 05637 * 05638 */ 05639 BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_data_output_rate( 05640 u8 *mag_data_output_rate_u8); 05641 /*! 05642 * @brief This API used to write the mag output data rate 05643 * from page one register from 0x09 bit 0 to 2 05644 * 05645 * @param mag_data_output_rate_u8 : The value of mag output data rate 05646 * 05647 * mag_data_output_rate_u8 | result 05648 * ---------------------- |---------------------- 05649 * 0x00 | MAG_DATA_OUTPUT_RATE_2HZ 05650 * 0x01 | MAG_DATA_OUTPUT_RATE_6HZ 05651 * 0x02 | MAG_DATA_OUTPUT_RATE_8HZ 05652 * 0x03 | MAG_DATA_OUTPUT_RATE_10HZ 05653 * 0x04 | MAG_DATA_OUTPUT_RATE_15HZ 05654 * 0x05 | MAG_DATA_OUTPUT_RATE_20HZ 05655 * 0x06 | MAG_DATA_OUTPUT_RATE_25HZ 05656 * 0x07 | MAG_DATA_OUTPUT_RATE_30HZ 05657 * 05658 * @return results of bus communication function 05659 * @retval 0 -> BNO055_SUCCESS 05660 * @retval 1 -> BNO055_ERROR 05661 * 05662 * 05663 */ 05664 BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_data_output_rate( 05665 u8 mag_data_output_rate_u8); 05666 /*! 05667 * @brief This API used to read the mag operation mode 05668 * from page one register from 0x09 bit 3 to 4 05669 * 05670 * @param mag_operation_mode_u8 : The value of mag operation mode 05671 * 05672 * mag_operation_mode_u8 | result 05673 * ------------------------|-------------------------- 05674 * 0x00 | MAG_OPR_MODE_LOWPOWER 05675 * 0x01 | MAG_OPR_MODE_REGULAR 05676 * 0x02 | MAG_OPR_MODE_ENHANCED_REGULAR 05677 * 0x03 | MAG_OPR_MODE_HIGH_ACCURACY 05678 * 05679 * @return results of bus communication function 05680 * @retval 0 -> BNO055_SUCCESS 05681 * @retval 1 -> BNO055_ERROR 05682 * 05683 * 05684 */ 05685 BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_operation_mode( 05686 u8 *mag_operation_mode_u8); 05687 /*! 05688 * @brief This API used to write the mag operation mode 05689 * from page one register from 0x09 bit 3 to 4 05690 * 05691 * @param mag_operation_mode_u8 : The value of mag operation mode 05692 * 05693 * mag_operation_mode_u8 | result 05694 * ------------------------|-------------------------- 05695 * 0x00 | MAG_OPR_MODE_LOWPOWER 05696 * 0x01 | MAG_OPR_MODE_REGULAR 05697 * 0x02 | MAG_OPR_MODE_ENHANCED_REGULAR 05698 * 0x03 | MAG_OPR_MODE_HIGH_ACCURACY 05699 * 05700 * @return results of bus communication function 05701 * @retval 0 -> BNO055_SUCCESS 05702 * @retval 1 -> BNO055_ERROR 05703 * 05704 * 05705 */ 05706 BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_operation_mode( 05707 u8 mag_operation_mode_u8); 05708 /*! 05709 * @brief This API used to read the mag power mode 05710 * from page one register from 0x09 bit 4 to 6 05711 * 05712 * @param mag_power_mode_u8 : The value of mag power mode 05713 * 05714 * mag_power_mode_u8 | result 05715 * --------------------|----------------- 05716 * 0x00 | BNO055_MAG_POWER_MODE_NORMAL 05717 * 0x01 | BNO055_MAG_POWER_MODE_SLEEP 05718 * 0x02 | BNO055_MAG_POWER_MODE_SUSPEND 05719 * 0x03 | BNO055_MAG_POWER_MODE_FORCE_MODE 05720 * 05721 * @return results of bus communication function 05722 * @retval 0 -> BNO055_SUCCESS 05723 * @retval 1 -> BNO055_ERROR 05724 * 05725 * 05726 */ 05727 BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_power_mode( 05728 u8 *mag_power_mode_u8); 05729 /*! 05730 * @brief This API used to write the mag power mode 05731 * from page one register from 0x09 bit 4 to 6 05732 * 05733 * @param mag_power_mode_u8 : The value of mag power mode 05734 * 05735 * mag_power_mode_u8 | result 05736 * ------------------|----------------- 05737 * 0x00 | BNO055_MAG_POWER_MODE_NORMAL 05738 * 0x01 | BNO055_MAG_POWER_MODE_SLEEP 05739 * 0x02 | BNO055_MAG_POWER_MODE_SUSPEND 05740 * 0x03 | BNO055_MAG_POWER_MODE_FORCE_MODE 05741 * 05742 * @return results of bus communication function 05743 * @retval 0 -> BNO055_SUCCESS 05744 * @retval 1 -> BNO055_ERROR 05745 * 05746 * 05747 */ 05748 BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_power_mode( 05749 u8 mag_power_mode_u8); 05750 /*****************************************************/ 05751 /**\name FUNCTIONS FOR GYRO CONFIGURATION */ 05752 /*****************************************************/ 05753 /*! 05754 * @brief This API used to read the gyro range 05755 * from page one register from 0x0A bit 0 to 3 05756 * 05757 * @param gyro_range_u8 : The value of gyro range 05758 * 05759 * gyro_range_u8 | result 05760 * --------------------|----------------- 05761 * 0x00 | BNO055_GYRO_RANGE_2000DPS 05762 * 0x01 | BNO055_GYRO_RANGE_1000DPS 05763 * 0x02 | BNO055_GYRO_RANGE_500DPS 05764 * 0x03 | BNO055_GYRO_RANGE_250DPS 05765 * 0x04 | BNO055_GYRO_RANGE_125DPS 05766 * 05767 * @return results of bus communication function 05768 * @retval 0 -> BNO055_SUCCESS 05769 * @retval 1 -> BNO055_ERROR 05770 * 05771 * 05772 */ 05773 BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_range( 05774 u8 *gyro_range_u8); 05775 /*! 05776 * @brief This API used to write the gyro range 05777 * from page one register from 0x0A bit 0 to 3 05778 * 05779 * @param gyro_range_u8 : The value of gyro range 05780 * 05781 * gyro_range_u8 | result 05782 * --------------------|----------------- 05783 * 0x00 | BNO055_GYRO_RANGE_2000DPS 05784 * 0x01 | BNO055_GYRO_RANGE_1000DPS 05785 * 0x02 | BNO055_GYRO_RANGE_500DPS 05786 * 0x03 | BNO055_GYRO_RANGE_250DPS 05787 * 0x04 | BNO055_GYRO_RANGE_125DPS 05788 * 05789 * @return results of bus communication function 05790 * @retval 0 -> BNO055_SUCCESS 05791 * @retval 1 -> BNO055_ERROR 05792 * 05793 * 05794 */ 05795 BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_range( 05796 u8 gyro_range_u8); 05797 /*! 05798 * @brief This API used to read the gyro bandwidth 05799 * from page one register from 0x0A bit 3 to 5 05800 * 05801 * @param gyro_bw_u8 : The value of gyro bandwidth 05802 * 05803 * gyro_bw_u8 | result 05804 * --------------------|----------------- 05805 * 0x00 | BNO055_GYRO_BW_523HZ 05806 * 0x01 | BNO055_GYRO_BW_230HZ 05807 * 0x02 | BNO055_GYRO_BW_116HZ 05808 * 0x03 | BNO055_GYRO_BW_47HZ 05809 * 0x04 | BNO055_GYRO_BW_23HZ 05810 * 0x05 | BNO055_GYRO_BW_12HZ 05811 * 0x06 | BNO055_GYRO_BW_64HZ 05812 * 0x07 | BNO055_GYRO_BW_32HZ 05813 * 05814 * @return results of bus communication function 05815 * @retval 0 -> BNO055_SUCCESS 05816 * @retval 1 -> BNO055_ERROR 05817 * 05818 * 05819 */ 05820 BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_bw( 05821 u8 *gyro_bw_u8); 05822 /*! 05823 * @brief This API used to write the gyro bandwidth 05824 * from page one register from 0x0A bit 3 to 5 05825 * 05826 * @param gyro_bw_u8 : The value of gyro bandwidth 05827 * 05828 * gyro_bw_u8 | result 05829 * --------------------|----------------- 05830 * 0x00 | BNO055_GYRO_BW_523HZ 05831 * 0x01 | BNO055_GYRO_BW_230HZ 05832 * 0x02 | BNO055_GYRO_BW_116HZ 05833 * 0x03 | BNO055_GYRO_BW_47HZ 05834 * 0x04 | BNO055_GYRO_BW_23HZ 05835 * 0x05 | BNO055_GYRO_BW_12HZ 05836 * 0x06 | BNO055_GYRO_BW_64HZ 05837 * 0x07 | BNO055_GYRO_BW_32HZ 05838 * 05839 * @return results of bus communication function 05840 * @retval 0 -> BNO055_SUCCESS 05841 * @retval 1 -> BNO055_ERROR 05842 * 05843 * 05844 */ 05845 BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_bw( 05846 u8 gyro_bw_u8); 05847 /*! 05848 * @brief This API used to read the gyro power mode 05849 * from page one register from 0x0B bit 0 to 2 05850 * 05851 * @param gyro_power_mode_u8 : The value of gyro power mode 05852 * 05853 * gyro_power_mode_u8 | result 05854 * ----------------------|---------------------------- 05855 * 0x00 | GYRO_OPR_MODE_NORMAL 05856 * 0x01 | GYRO_OPR_MODE_FASTPOWERUP 05857 * 0x02 | GYRO_OPR_MODE_DEEPSUSPEND 05858 * 0x03 | GYRO_OPR_MODE_SUSPEND 05859 * 0x04 | GYRO_OPR_MODE_ADVANCE_POWERSAVE 05860 * 05861 * @return results of bus communication function 05862 * @retval 0 -> BNO055_SUCCESS 05863 * @retval 1 -> BNO055_ERROR 05864 * 05865 * 05866 */ 05867 BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_power_mode( 05868 u8 *gyro_power_mode_u8); 05869 /*! 05870 * @brief This API used to write the gyro power mode 05871 * from page one register from 0x0B bit 0 to 2 05872 * 05873 * @param gyro_power_mode_u8 : The value of gyro power mode 05874 * 05875 * gyro_power_mode_u8 | result 05876 * ----------------------|---------------------------- 05877 * 0x00 | GYRO_OPR_MODE_NORMAL 05878 * 0x01 | GYRO_OPR_MODE_FASTPOWERUP 05879 * 0x02 | GYRO_OPR_MODE_DEEPSUSPEND 05880 * 0x03 | GYRO_OPR_MODE_SUSPEND 05881 * 0x04 | GYRO_OPR_MODE_ADVANCE_POWERSAVE 05882 * 05883 * @return results of bus communication function 05884 * @retval 0 -> BNO055_SUCCESS 05885 * @retval 1 -> BNO055_ERROR 05886 * 05887 * 05888 */ 05889 BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_power_mode( 05890 u8 gyro_power_mode_u8); 05891 /*****************************************************/ 05892 /**\name FUNCTIONS FOR ACCEL SLEEP SETTINGS */ 05893 /*****************************************************/ 05894 /*! 05895 * @brief This API used to read the accel sleep mode 05896 * from page one register from 0x0C bit 0 05897 * 05898 * @param sleep_tmr_u8 : The value of accel sleep mode 05899 * 05900 * sleep_tmr_u8 | result 05901 * ----------------- |------------------------------------ 05902 * 0x00 | enable EventDrivenSampling(EDT) 05903 * 0x01 | enable Equidistant sampling mode(EST) 05904 * 05905 * @return results of bus communication function 05906 * @retval 0 -> BNO055_SUCCESS 05907 * @retval 1 -> BNO055_ERROR 05908 * 05909 * 05910 */ 05911 BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_sleep_tmr_mode( 05912 u8 *sleep_tmr_u8); 05913 /*! 05914 * @brief This API used to write the accel sleep mode 05915 * from page one register from 0x0C bit 0 05916 * 05917 * @param sleep_tmr_u8 : The value of accel sleep mode 05918 * 05919 * sleep_tmr_u8 | result 05920 * ----------------- |------------------------------------ 05921 * 0x00 | enable EventDrivenSampling(EDT) 05922 * 0x01 | enable Equidistant sampling mode(EST) 05923 * 05924 * @return results of bus communication function 05925 * @retval 0 -> BNO055_SUCCESS 05926 * @retval 1 -> BNO055_ERROR 05927 * 05928 * 05929 */ 05930 BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_sleep_tmr_mode( 05931 u8 sleep_tmr_u8); 05932 /*! 05933 * @brief This API used to read the accel sleep duration 05934 * from page one register from 0x0C bit 1 to 4 05935 * 05936 * @param sleep_durn_u8 : The value of accel sleep duration 05937 * 05938 * sleep_durn_u8 | result 05939 * ---------------- |----------------------------- 05940 * 0x05 | BNO055_ACCEL_SLEEP_DURN_0_5MS 05941 * 0x06 | BNO055_ACCEL_SLEEP_DURN_1MS 05942 * 0x07 | BNO055_ACCEL_SLEEP_DURN_2MS 05943 * 0x08 | BNO055_ACCEL_SLEEP_DURN_4MS 05944 * 0x09 | BNO055_ACCEL_SLEEP_DURN_6MS 05945 * 0x0A | BNO055_ACCEL_SLEEP_DURN_10MS 05946 * 0x0B | BNO055_ACCEL_SLEEP_DURN_25MS 05947 * 0x0C | BNO055_ACCEL_SLEEP_DURN_50MS 05948 * 0x0D | BNO055_ACCEL_SLEEP_DURN_100MS 05949 * 0x0E | BNO055_ACCEL_SLEEP_DURN_500MS 05950 * 0x0F | BNO055_ACCEL_SLEEP_DURN_1S 05951 * 05952 * @return results of bus communication function 05953 * @retval 0 -> BNO055_SUCCESS 05954 * @retval 1 -> BNO055_ERROR 05955 * 05956 * 05957 */ 05958 BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_sleep_durn( 05959 u8 *sleep_durn_u8); 05960 /*! 05961 * @brief This API used to write the accel sleep duration 05962 * from page one register from 0x0C bit 1 to 4 05963 * 05964 * @param sleep_durn_u8 : The value of accel sleep duration 05965 * 05966 * sleep_durn_u8 | result 05967 * ---------------- |----------------------------- 05968 * 0x05 | BNO055_ACCEL_SLEEP_DURN_0_5MS 05969 * 0x06 | BNO055_ACCEL_SLEEP_DURN_1MS 05970 * 0x07 | BNO055_ACCEL_SLEEP_DURN_2MS 05971 * 0x08 | BNO055_ACCEL_SLEEP_DURN_4MS 05972 * 0x09 | BNO055_ACCEL_SLEEP_DURN_6MS 05973 * 0x0A | BNO055_ACCEL_SLEEP_DURN_10MS 05974 * 0x0B | BNO055_ACCEL_SLEEP_DURN_25MS 05975 * 0x0C | BNO055_ACCEL_SLEEP_DURN_50MS 05976 * 0x0D | BNO055_ACCEL_SLEEP_DURN_100MS 05977 * 0x0E | BNO055_ACCEL_SLEEP_DURN_500MS 05978 * 0x0F | BNO055_ACCEL_SLEEP_DURN_1S 05979 * 05980 * @return results of bus communication function 05981 * @retval 0 -> BNO055_SUCCESS 05982 * @retval 1 -> BNO055_ERROR 05983 * 05984 * 05985 */ 05986 BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_sleep_durn( 05987 u8 sleep_durn_u8); 05988 /*****************************************************/ 05989 /**\name FUNCTIONS FOR GYRO SLEEP SETTINGS */ 05990 /*****************************************************/ 05991 /*! 05992 * @brief This API used to write the gyro sleep duration 05993 * from page one register from 0x0D bit 0 to 2 05994 * 05995 * @param sleep_durn_u8 : The value of gyro sleep duration 05996 * 05997 * @return results of bus communication function 05998 * @retval 0 -> BNO055_SUCCESS 05999 * @retval 1 -> BNO055_ERROR 06000 * 06001 * 06002 */ 06003 BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_sleep_durn( 06004 u8 *sleep_durn_u8); 06005 /*! 06006 * @brief This API used to write the gyro sleep duration 06007 * from page one register from 0x0D bit 0 to 2 06008 * 06009 * @param sleep_durn_u8 : The value of gyro sleep duration 06010 * 06011 * @return results of bus communication function 06012 * @retval 0 -> BNO055_SUCCESS 06013 * @retval 1 -> BNO055_ERROR 06014 * 06015 * 06016 */ 06017 BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_sleep_durn( 06018 u8 sleep_durn); 06019 /*! 06020 * @brief This API used to read the gyro auto sleep duration 06021 * from page one register from 0x0D bit 3 to 5 06022 * 06023 * @param auto_sleep_durn_u8 : The value of gyro auto sleep duration 06024 * 06025 * @return results of bus communication function 06026 * @retval 0 -> BNO055_SUCCESS 06027 * @retval 1 -> BNO055_ERROR 06028 * 06029 * 06030 */ 06031 BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_auto_sleep_durn( 06032 u8 *auto_sleep_durn_u8); 06033 /*! 06034 * @brief This API used to write the gyro auto sleep duration 06035 * from page one register from 0x0D bit 3 to 5 06036 * 06037 * @param auto_sleep_durn_u8 : The value of gyro auto sleep duration 06038 * @param bw : The value of gyro bandwidth 06039 * 06040 * @return results of bus communication function 06041 * @retval 0 -> BNO055_SUCCESS 06042 * @retval 1 -> BNO055_ERROR 06043 * 06044 * 06045 */ 06046 BNO055_RETURN_FUNCTION_TYPE bno055_gyro_set_auto_sleep_durn( 06047 u8 auto_sleep_durn_u8, u8 bw); 06048 /*****************************************************/ 06049 /**\name FUNCTIONS FOR MAG SLEEP SETTINGS */ 06050 /*****************************************************/ 06051 /*! 06052 * @brief This API used to read the mag sleep mode 06053 * from page one register from 0x0E bit 0 06054 * 06055 * @param sleep_mode_u8 : The value of mag sleep mode 06056 * 06057 * @return results of bus communication function 06058 * @retval 0 -> BNO055_SUCCESS 06059 * @retval 1 -> BNO055_ERROR 06060 * 06061 * 06062 */ 06063 BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_sleep_mode( 06064 u8 *sleep_mode_u8); 06065 /*! 06066 * @brief This API used to write the mag sleep mode 06067 * from page one register from 0x0E bit 0 06068 * 06069 * @param sleep_mode_u8 : The value of mag sleep mode 06070 * 06071 * @return results of bus communication function 06072 * @retval 0 -> BNO055_SUCCESS 06073 * @retval 1 -> BNO055_ERROR 06074 * 06075 * 06076 */ 06077 BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_sleep_mode( 06078 u8 sleep_mode_u8); 06079 /*! 06080 * @brief This API used to read the mag sleep duration 06081 * from page one register from 0x0E bit 1 to 4 06082 * 06083 * @param sleep_durn_u8 : The value of mag sleep duration 06084 * 06085 * @return results of bus communication function 06086 * @retval 0 -> BNO055_SUCCESS 06087 * @retval 1 -> BNO055_ERROR 06088 * 06089 * 06090 */ 06091 BNO055_RETURN_FUNCTION_TYPE bno055_get_mag_sleep_durn( 06092 u8 *sleep_durn_u8); 06093 /*! 06094 * @brief This API used to write the mag sleep duration 06095 * from page one register from 0x0E bit 1 to 4 06096 * 06097 * @param sleep_durn_u8 : The value of mag sleep duration 06098 * 06099 * @return results of bus communication function 06100 * @retval 0 -> BNO055_SUCCESS 06101 * @retval 1 -> BNO055_ERROR 06102 * 06103 * 06104 */ 06105 BNO055_RETURN_FUNCTION_TYPE bno055_set_mag_sleep_durn( 06106 u8 sleep_durn_u8); 06107 /*****************************************************/ 06108 /**\name FUNCTIONS FOR GYRO INTERRUPT MASK */ 06109 /*****************************************************/ 06110 /*! 06111 * @brief This API used to read the gyro anymotion interrupt mask 06112 * from page one register from 0x0F bit 2 06113 * 06114 * @param gyro_any_motion_u8 : The value of gyro anymotion interrupt mask 06115 * gyro_any_motion_u8 | result 06116 * -------------------- |------------ 06117 * 0x01 | BNO055_BIT_ENABLE 06118 * 0x00 | BNO055_BIT_DISABLE 06119 * 06120 * @return results of bus communication function 06121 * @retval 0 -> BNO055_SUCCESS 06122 * @retval 1 -> BNO055_ERROR 06123 * 06124 * @note While enabling the gyro anymotion interrupt 06125 * configure the following settings 06126 * 06127 * Axis: 06128 * bno055_set_gyro_any_motion_axis_enable() 06129 * 06130 * Filter setting: 06131 * bno055_set_gyro_any_motion_filter() 06132 * 06133 * Threshold : 06134 * 06135 * bno055_set_gyro_any_motion_thres() 06136 * 06137 * Slope samples : 06138 * 06139 * bno055_set_gyro_any_motion_slope_samples() 06140 * 06141 * Awake duration : 06142 * 06143 * bno055_set_gyro_any_motion_awake_durn() 06144 * 06145 */ 06146 BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_gyro_any_motion( 06147 u8 *gyro_any_motion_u8); 06148 /*! 06149 * @brief This API used to write the gyro anymotion interrupt mask 06150 * from page one register from 0x0F bit 2 06151 * 06152 * @param gyro_any_motion_u8 : The value of gyro anymotion interrupt mask 06153 * gyro_any_motion_u8 | result 06154 * -------------------- |------------ 06155 * 0x01 | BNO055_BIT_ENABLE 06156 * 0x00 | BNO055_BIT_DISABLE 06157 * 06158 * @return results of bus communication function 06159 * @retval 0 -> BNO055_SUCCESS 06160 * @retval 1 -> BNO055_ERROR 06161 * 06162 * @note While enabling the gyro anymotion interrupt 06163 * configure the following settings 06164 * 06165 * Axis: 06166 * bno055_set_gyro_any_motion_axis_enable() 06167 * 06168 * Filter setting: 06169 * bno055_set_gyro_any_motion_filter() 06170 * 06171 * Threshold : 06172 * 06173 * bno055_set_gyro_any_motion_thres() 06174 * 06175 * Slope samples : 06176 * 06177 * bno055_set_gyro_any_motion_slope_samples() 06178 * 06179 * Awake duration : 06180 * 06181 * bno055_set_gyro_any_motion_awake_durn() 06182 * 06183 */ 06184 BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_gyro_any_motion( 06185 u8 gyro_any_motion_u8); 06186 /*! 06187 * @brief This API used to read the gyro highrate interrupt mask 06188 * from page one register from 0x0F bit 3 06189 * 06190 * @param gyro_highrate_u8 : The value of gyro highrate interrupt mask 06191 * gyro_highrate_u8 | result 06192 * -------------------- |------------ 06193 * 0x01 | BNO055_BIT_ENABLE 06194 * 0x00 | BNO055_BIT_DISABLE 06195 * 06196 * @return results of bus communication function 06197 * @retval 0 -> BNO055_SUCCESS 06198 * @retval 1 -> BNO055_ERROR 06199 * 06200 * @note While enabling the gyro highrate interrupt 06201 * configure the below settings by using 06202 * the following APIs 06203 * 06204 * Axis : 06205 * 06206 * bno055_set_gyro_highrate_axis_enable() 06207 * 06208 * Filter : 06209 * 06210 * bno055_set_gyro_highrate_filter() 06211 * 06212 * Threshold : 06213 * 06214 * bno055_get_gyro_highrate_x_thres() 06215 * 06216 * bno055_get_gyro_highrate_y_thres() 06217 * 06218 * bno055_get_gyro_highrate_z_thres() 06219 * 06220 * Hysteresis : 06221 * 06222 * bno055_set_gyro_highrate_x_hyst() 06223 * 06224 * bno055_set_gyro_highrate_y_hyst() 06225 * 06226 * bno055_set_gyro_highrate_z_hyst() 06227 * 06228 * Duration : 06229 * 06230 * bno055_set_gyro_highrate_x_durn() 06231 * 06232 * bno055_set_gyro_highrate_y_durn() 06233 * 06234 * bno055_set_gyro_highrate_z_durn() 06235 * 06236 */ 06237 BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_gyro_highrate( 06238 u8 *gyro_highrate_u8); 06239 /*! 06240 * @brief This API used to write the gyro highrate interrupt mask 06241 * from page one register from 0x0F bit 3 06242 * 06243 * @param gyro_highrate_u8 : The value of gyro highrate interrupt mask 06244 * gyro_highrate_u8 | result 06245 * -------------------- |------------ 06246 * 0x01 | BNO055_BIT_ENABLE 06247 * 0x00 | BNO055_BIT_DISABLE 06248 * 06249 * @return results of bus communication function 06250 * @retval 0 -> BNO055_SUCCESS 06251 * @retval 1 -> BNO055_ERROR 06252 * 06253 * @note While enabling the gyro highrate interrupt 06254 * configure the below settings by using 06255 * the following APIs 06256 * 06257 * Axis : 06258 * 06259 * bno055_set_gyro_highrate_axis_enable() 06260 * 06261 * Filter : 06262 * 06263 * bno055_set_gyro_highrate_filter() 06264 * 06265 * Threshold : 06266 * 06267 * bno055_get_gyro_highrate_x_thres() 06268 * 06269 * bno055_get_gyro_highrate_y_thres() 06270 * 06271 * bno055_get_gyro_highrate_z_thres() 06272 * 06273 * Hysteresis : 06274 * 06275 * bno055_set_gyro_highrate_x_hyst() 06276 * 06277 * bno055_set_gyro_highrate_y_hyst() 06278 * 06279 * bno055_set_gyro_highrate_z_hyst() 06280 * 06281 * Duration : 06282 * 06283 * bno055_set_gyro_highrate_x_durn() 06284 * 06285 * bno055_set_gyro_highrate_y_durn() 06286 * 06287 * bno055_set_gyro_highrate_z_durn() 06288 * 06289 */ 06290 BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_gyro_highrate( 06291 u8 gyro_highrate_u8); 06292 /*****************************************************/ 06293 /**\name APIs FOR ACCEL INTERRUPT MASK */ 06294 /*****************************************************/ 06295 /*! 06296 * @brief This API used to read the accel highg interrupt mask 06297 * from page one register from 0x0F bit 5 06298 * 06299 * @param accel_high_g_u8 : The value of accel highg interrupt mask 06300 * accel_high_g_u8 | result 06301 * -------------------- |------------ 06302 * 0x01 | BNO055_BIT_ENABLE 06303 * 0x00 | BNO055_BIT_DISABLE 06304 * 06305 * @return results of bus communication function 06306 * @retval 0 -> BNO055_SUCCESS 06307 * @retval 1 -> BNO055_ERROR 06308 * 06309 * @note While enabling the accel highg interrupt 06310 * configure the below settings by using 06311 * the following APIs 06312 * 06313 * Axis : 06314 * 06315 * bno055_set_accel_high_g_axis_enable() 06316 * 06317 * Threshold : 06318 * 06319 * bno055_set_accel_high_g_thres() 06320 * 06321 * Duration : 06322 * 06323 * bno055_set_accel_high_g_durn() 06324 * 06325 */ 06326 BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_high_g( 06327 u8 *accel_high_g_u8); 06328 /*! 06329 * @brief This API used to write the accel highg interrupt mask 06330 * from page one register from 0x0F bit 5 06331 * 06332 * @param accel_high_g_u8 : The value of accel highg interrupt mask 06333 * accel_high_g_u8 | result 06334 * -------------------- |------------ 06335 * 0x01 | BNO055_BIT_ENABLE 06336 * 0x00 | BNO055_BIT_DISABLE 06337 * 06338 * @return results of bus communication function 06339 * @retval 0 -> BNO055_SUCCESS 06340 * @retval 1 -> BNO055_ERROR 06341 * 06342 * @note While enabling the accel highg interrupt 06343 * configure the below settings by using 06344 * the following APIs 06345 * 06346 * Axis : 06347 * 06348 * bno055_set_accel_high_g_axis_enable() 06349 * 06350 * Threshold : 06351 * 06352 * bno055_set_accel_high_g_thres() 06353 * 06354 * Duration : 06355 * 06356 * bno055_set_accel_high_g_durn() 06357 * 06358 */ 06359 BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_high_g( 06360 u8 accel_high_g_u8); 06361 /*! 06362 * @brief This API used to read the accel anymotion interrupt mask 06363 * from page one register from 0x0F bit 6 06364 * 06365 * @param accel_any_motion_u8 : The value of accel anymotion interrupt mask 06366 * accel_any_motion_u8 | result 06367 * -------------------- |------------ 06368 * 0x01 | BNO055_BIT_ENABLE 06369 * 0x00 | BNO055_BIT_DISABLE 06370 * 06371 * @return results of bus communication function 06372 * @retval 0 -> BNO055_SUCCESS 06373 * @retval 1 -> BNO055_ERROR 06374 * 06375 * @note While enabling the accel highg interrupt 06376 * configure the below settings by using 06377 * the following APIs 06378 * 06379 * Axis : 06380 * 06381 * bno055_set_accel_high_g_axis_enable() 06382 * 06383 * Threshold : 06384 * 06385 * bno055_set_accel_high_g_thres() 06386 * 06387 * Duration : 06388 * 06389 * bno055_set_accel_high_g_durn() 06390 * 06391 */ 06392 BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_any_motion( 06393 u8 *accel_any_motion_u8); 06394 /*! 06395 * @brief This API used to write the accel anymotion interrupt mask 06396 * from page one register from 0x0F bit 6 06397 * 06398 * @param accel_any_motion_u8 : The value of accel anymotion interrupt mask 06399 * accel_any_motion_u8 | result 06400 * -------------------- |------------ 06401 * 0x01 | BNO055_BIT_ENABLE 06402 * 0x00 | BNO055_BIT_DISABLE 06403 * 06404 * @return results of bus communication function 06405 * @retval 0 -> BNO055_SUCCESS 06406 * @retval 1 -> BNO055_ERROR 06407 * 06408 * @note While enabling the accel anymotion interrupt 06409 * configure the following settings 06410 * 06411 * Axis: 06412 * 06413 * bno055_set_accel_any_motion_no_motion_axis_enable() 06414 * 06415 * Duration: 06416 * 06417 * bno055_set_accel_any_motion_durn() 06418 * 06419 * Threshold: 06420 * 06421 * bno055_set_accel_any_motion_thres() 06422 * 06423 */ 06424 BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_any_motion( 06425 u8 accel_any_motion_u8); 06426 /*! 06427 * @brief This API used to read the accel nomotion interrupt mask 06428 * from page one register from 0x0F bit 7 06429 * 06430 * @param accel_nomotion_u8 : The value of accel nomotion interrupt mask 06431 * accel_nomotion_u8 | result 06432 * -------------------- |------------ 06433 * 0x01 | BNO055_BIT_ENABLE 06434 * 0x00 | BNO055_BIT_DISABLE 06435 * 06436 * @return results of bus communication function 06437 * @retval 0 -> BNO055_SUCCESS 06438 * 06439 * @note While enabling the accel anymotion interrupt 06440 * configure the following settings 06441 * 06442 * Axis: 06443 * 06444 * bno055_set_accel_any_motion_no_motion_axis_enable() 06445 * 06446 * Duration: 06447 * 06448 * bno055_set_accel_any_motion_durn() 06449 * 06450 * Threshold: 06451 * 06452 * bno055_set_accel_any_motion_thres()) 06453 * 06454 */ 06455 BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_mask_accel_no_motion( 06456 u8 *accel_nomotion_u8); 06457 /*! 06458 * @brief This API used to write the accel nomotion interrupt mask 06459 * from page one register from 0x0F bit 7 06460 * 06461 * @param accel_nomotion_u8 : The value of accel nomotion interrupt mask 06462 * accel_nomotion_u8 | result 06463 * -------------------- |------------ 06464 * 0x01 | BNO055_BIT_ENABLE 06465 * 0x00 | BNO055_BIT_DISABLE 06466 * 06467 * @return results of bus communication function 06468 * @retval 0 -> BNO055_SUCCESS 06469 * @retval 1 -> BNO055_ERROR 06470 * 06471 * @note While enabling the accel nomotion interrupt 06472 * configure the following settings 06473 * 06474 * Axis: 06475 * 06476 * bno055_set_accel_any_motion_no_motion_axis_enable() 06477 * 06478 * Threshold : 06479 * 06480 * bno055_set_accel_slow_no_motion_thres() 06481 * 06482 * Duration : 06483 * 06484 * bno055_set_accel_slow_no_motion_durn() 06485 * 06486 * Slow/no motion enable: 06487 * 06488 * bno055_set_accel_slow_no_motion_enable() 06489 * 06490 */ 06491 BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_mask_accel_no_motion( 06492 u8 accel_nomotion_u8); 06493 /*****************************************************/ 06494 /**\name FUNCTIONS FOR GYRO INTERRUPT */ 06495 /*****************************************************/ 06496 /*! 06497 * @brief This API used to read the gyro anymotion interrupt 06498 * from page one register from 0x10 bit 2 06499 * 06500 * @param gyro_any_motion_u8 : The value of gyro anymotion interrupt 06501 * gyro_any_motion_u8 | result 06502 * -------------------- |------------ 06503 * 0x01 | BNO055_BIT_ENABLE 06504 * 0x00 | BNO055_BIT_DISABLE 06505 * 06506 * @return results of bus communication function 06507 * @retval 0 -> BNO055_SUCCESS 06508 * @retval 1 -> BNO055_ERROR 06509 * 06510 * @note While enabling the gyro anymotion interrupt 06511 * configure the following settings 06512 * 06513 * Axis: 06514 * bno055_set_gyro_any_motion_axis_enable() 06515 * 06516 * Filter setting: 06517 * bno055_set_gyro_any_motion_filter() 06518 * 06519 * Threshold : 06520 * 06521 * bno055_set_gyro_any_motion_thres() 06522 * 06523 * Slope samples : 06524 * 06525 * bno055_set_gyro_any_motion_slope_samples() 06526 * 06527 * Awake duration : 06528 * 06529 * bno055_set_gyro_any_motion_awake_durn() 06530 */ 06531 BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_gyro_any_motion( 06532 u8 *gyro_any_motion_u8); 06533 /*! 06534 * @brief This API used to write the gyro anymotion interrupt 06535 * from page one register from 0x10 bit 2 06536 * 06537 * @param gyro_any_motion_u8 : The value of gyro anymotion interrupt 06538 * gyro_any_motion_u8 | result 06539 * -------------------- |------------ 06540 * 0x01 | BNO055_BIT_ENABLE 06541 * 0x00 | BNO055_BIT_DISABLE 06542 * 06543 * @return results of bus communication function 06544 * @retval 0 -> BNO055_SUCCESS 06545 * @retval 1 -> BNO055_ERROR 06546 * 06547 * @note While enabling the gyro anymotion interrupt 06548 * configure the following settings 06549 * 06550 * Axis: 06551 * bno055_set_gyro_any_motion_axis_enable() 06552 * 06553 * Filter setting: 06554 * bno055_set_gyro_any_motion_filter() 06555 * 06556 * Threshold : 06557 * 06558 * bno055_set_gyro_any_motion_thres() 06559 * 06560 * Slope samples : 06561 * 06562 * bno055_set_gyro_any_motion_slope_samples() 06563 * 06564 * Awake duration : 06565 * 06566 * bno055_set_gyro_any_motion_awake_durn() 06567 */ 06568 BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_gyro_any_motion( 06569 u8 gyro_any_motion_u8); 06570 /*! 06571 * @brief This API used to read the gyro highrate interrupt 06572 * from page one register from 0x10 bit 3 06573 * 06574 * @param gyro_highrate_u8 : The value of gyro highrate interrupt 06575 * gyro_highrate_u8 | result 06576 * -------------------- |------------ 06577 * 0x01 | BNO055_BIT_ENABLE 06578 * 0x00 | BNO055_BIT_DISABLE 06579 * 06580 * @return results of bus communication function 06581 * @retval 0 -> BNO055_SUCCESS 06582 * @retval 1 -> BNO055_ERROR 06583 * 06584 * @note While enabling the gyro highrate interrupt 06585 * configure the below settings by using 06586 * the following APIs 06587 * 06588 * Axis : 06589 * 06590 * bno055_set_gyro_highrate_axis_enable() 06591 * 06592 * Filter : 06593 * 06594 * bno055_set_gyro_highrate_filter() 06595 * 06596 * Threshold : 06597 * 06598 * bno055_get_gyro_highrate_x_thres() 06599 * 06600 * bno055_get_gyro_highrate_y_thres() 06601 * 06602 * bno055_get_gyro_highrate_z_thres() 06603 * 06604 * Hysteresis : 06605 * 06606 * bno055_set_gyro_highrate_x_hyst() 06607 * 06608 * bno055_set_gyro_highrate_y_hyst() 06609 * 06610 * bno055_set_gyro_highrate_z_hyst() 06611 * 06612 * Duration : 06613 * 06614 * bno055_set_gyro_highrate_x_durn() 06615 * 06616 * bno055_set_gyro_highrate_y_durn() 06617 * 06618 * bno055_set_gyro_highrate_z_durn() 06619 * 06620 */ 06621 BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_gyro_highrate( 06622 u8 *gyro_highrate_u8); 06623 /*! 06624 * @brief This API used to write the gyro highrate interrupt 06625 * from page one register from 0x10 bit 3 06626 * 06627 * @param gyro_highrate_u8 : The value of gyro highrate interrupt 06628 * gyro_highrate_u8 | result 06629 * -------------------- |------------ 06630 * 0x01 | BNO055_BIT_ENABLE 06631 * 0x00 | BNO055_BIT_DISABLE 06632 * 06633 * @return results of bus communication function 06634 * @retval 0 -> BNO055_SUCCESS 06635 * @retval 1 -> BNO055_ERROR 06636 * 06637 * @note While enabling the gyro highrate interrupt 06638 * configure the below settings by using 06639 * the following APIs 06640 * 06641 * Axis : 06642 * 06643 * bno055_set_gyro_highrate_axis_enable() 06644 * 06645 * Filter : 06646 * 06647 * bno055_set_gyro_highrate_filter() 06648 * 06649 * Threshold : 06650 * 06651 * bno055_get_gyro_highrate_x_thres() 06652 * 06653 * bno055_get_gyro_highrate_y_thres() 06654 * 06655 * bno055_get_gyro_highrate_z_thres() 06656 * 06657 * Hysteresis : 06658 * 06659 * bno055_set_gyro_highrate_x_hyst() 06660 * 06661 * bno055_set_gyro_highrate_y_hyst() 06662 * 06663 * bno055_set_gyro_highrate_z_hyst() 06664 * 06665 * Duration : 06666 * 06667 * bno055_set_gyro_highrate_x_durn() 06668 * 06669 * bno055_set_gyro_highrate_y_durn() 06670 * 06671 * bno055_set_gyro_highrate_z_durn() 06672 * 06673 */ 06674 BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_gyro_highrate( 06675 u8 gyro_highrate_u8); 06676 /*****************************************************/ 06677 /**\name FUNCTIONS FOR ACCEL INTERRUPT */ 06678 /*****************************************************/ 06679 /*! 06680 * @brief This API used to read the accel highg interrupt 06681 * from page one register from 0x10 bit 5 06682 * 06683 * @param accel_high_g_u8 : The value of accel highg interrupt 06684 * accel_high_g_u8 | result 06685 * -------------------- |------------ 06686 * 0x01 | BNO055_BIT_ENABLE 06687 * 0x00 | BNO055_BIT_DISABLE 06688 * 06689 * @return results of bus communication function 06690 * @retval 0 -> BNO055_SUCCESS 06691 * @retval 1 -> BNO055_ERROR 06692 * 06693 * @note While enabling the accel highg interrupt 06694 * configure the below settings by using 06695 * the following APIs 06696 * 06697 * Axis : 06698 * 06699 * bno055_set_accel_high_g_axis_enable() 06700 * 06701 * Threshold : 06702 * 06703 * bno055_set_accel_high_g_thres() 06704 * 06705 * Duration : 06706 * 06707 * bno055_set_accel_high_g_durn() 06708 * 06709 */ 06710 BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_high_g( 06711 u8 *accel_high_g_u8); 06712 /*! 06713 * @brief This API used to write the accel highg interrupt 06714 * from page one register from 0x10 bit 5 06715 * 06716 * @param accel_high_g_u8 : The value of accel highg interrupt 06717 * accel_high_g_u8 | result 06718 * -------------------- |------------ 06719 * 0x01 | BNO055_BIT_ENABLE 06720 * 0x00 | BNO055_BIT_DISABLE 06721 * 06722 * @return results of bus communication function 06723 * @retval 0 -> BNO055_SUCCESS 06724 * @retval 1 -> BNO055_ERROR 06725 * 06726 * @note While enabling the accel highg interrupt 06727 * configure the below settings by using 06728 * the following APIs 06729 * 06730 * Axis : 06731 * 06732 * bno055_set_accel_high_g_axis_enable() 06733 * 06734 * Threshold : 06735 * 06736 * bno055_set_accel_high_g_thres() 06737 * 06738 * Duration : 06739 * 06740 * bno055_set_accel_high_g_durn() 06741 * 06742 */ 06743 BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_high_g( 06744 u8 accel_high_g_u8); 06745 /*! 06746 * @brief This API used to read the accel anymotion interrupt 06747 * from page one register from 0x10 bit 6 06748 * 06749 * @param accel_any_motion_u8 : The value of accel anymotion interrupt 06750 * accel_any_motion_u8 | result 06751 * -------------------- |------------ 06752 * 0x01 | BNO055_BIT_ENABLE 06753 * 0x00 | BNO055_BIT_DISABLE 06754 * 06755 * @return results of bus communication function 06756 * @retval 0 -> BNO055_SUCCESS 06757 * @retval 1 -> BNO055_ERROR 06758 * 06759 * @note While enabling the accel anymotion interrupt 06760 * configure the following settings 06761 * 06762 * Axis: 06763 * 06764 * bno055_set_accel_any_motion_no_motion_axis_enable() 06765 * 06766 * Duration: 06767 * 06768 * bno055_set_accel_any_motion_durn() 06769 * 06770 * Threshold: 06771 * 06772 * bno055_set_accel_any_motion_thres() 06773 * 06774 */ 06775 BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_any_motion( 06776 u8 *accel_any_motion_u8); 06777 /*! 06778 * @brief This API used to write the accel anymotion interrupt 06779 * from page one register from 0x10 bit 6 06780 * 06781 * @param accel_any_motion_u8 : The value of accel anymotion interrupt 06782 * accel_any_motion_u8 | result 06783 * -------------------- |------------ 06784 * 0x01 | BNO055_BIT_ENABLE 06785 * 0x00 | BNO055_BIT_DISABLE 06786 * 06787 * @return results of bus communication function 06788 * @retval 0 -> BNO055_SUCCESS 06789 * @retval 1 -> BNO055_ERROR 06790 * 06791 * @note While enabling the accel anymotion interrupt 06792 * configure the following settings 06793 * 06794 * Axis: 06795 * 06796 * bno055_set_accel_any_motion_no_motion_axis_enable() 06797 * 06798 * Duration: 06799 * 06800 * bno055_set_accel_any_motion_durn() 06801 * 06802 * Threshold: 06803 * 06804 * bno055_set_accel_any_motion_thres() 06805 * 06806 */ 06807 BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_any_motion( 06808 u8 accel_any_motion_u8); 06809 /*! 06810 * @brief This API used to read the accel nomotion interrupt 06811 * from page one register from 0x10 bit 6 06812 * 06813 * @param accel_nomotion_u8 : The value of accel nomotion interrupt 06814 * accel_nomotion_u8 | result 06815 * -------------------- |------------ 06816 * 0x01 | BNO055_BIT_ENABLE 06817 * 0x00 | BNO055_BIT_DISABLE 06818 * 06819 * @return results of bus communication function 06820 * @retval 0 -> BNO055_SUCCESS 06821 * @retval 1 -> BNO055_ERROR 06822 * 06823 * @note While enabling the accel nomotion interrupt 06824 * configure the following settings 06825 * 06826 * Axis: 06827 * 06828 * bno055_set_accel_any_motion_no_motion_axis_enable() 06829 * 06830 * Threshold : 06831 * 06832 * bno055_set_accel_slow_no_motion_thres() 06833 * 06834 * Duration : 06835 * 06836 * bno055_set_accel_slow_no_motion_durn() 06837 * 06838 * Slow/no motion enable: 06839 * 06840 * bno055_set_accel_slow_no_motion_enable() 06841 * 06842 */ 06843 BNO055_RETURN_FUNCTION_TYPE bno055_get_intr_accel_no_motion( 06844 u8 *accel_nomotion_u8); 06845 /*! 06846 * @brief This API used to write the accel nomotion interrupt 06847 * from page one register from 0x10 bit 6 06848 * 06849 * @param accel_nomotion_u8 : The value of accel nomotion interrupt 06850 * accel_nomotion_u8 | result 06851 * -------------------- |------------ 06852 * 0x01 | BNO055_BIT_ENABLE 06853 * 0x00 | BNO055_BIT_DISABLE 06854 * 06855 * @return results of bus communication function 06856 * @retval 0 -> BNO055_SUCCESS 06857 * @retval 1 -> BNO055_ERROR 06858 * 06859 * @note While enabling the accel nomotion interrupt 06860 * configure the following settings 06861 * 06862 * Axis: 06863 * 06864 * bno055_set_accel_any_motion_no_motion_axis_enable() 06865 * 06866 * Threshold : 06867 * 06868 * bno055_set_accel_slow_no_motion_thres() 06869 * 06870 * Duration : 06871 * 06872 * bno055_set_accel_slow_no_motion_durn() 06873 * 06874 * Slow/no motion enable: 06875 * 06876 * bno055_set_accel_slow_no_motion_enable() 06877 * 06878 */ 06879 BNO055_RETURN_FUNCTION_TYPE bno055_set_intr_accel_no_motion( 06880 u8 accel_nomotion_u8); 06881 /*****************************************************/ 06882 /**\name FUNCTIONS FOR ACCEL ANY_MOTION THRESHOLD */ 06883 /*****************************************************/ 06884 /*! 06885 * @brief This API used to read the accel any motion threshold 06886 * from page one register from 0x11 bit 0 to 7 06887 * 06888 * @param accel_any_motion_thres_u8 : The value of any motion threshold 06889 * accel_any_motion_thres_u8 | result 06890 * ------------------------ | ------------- 06891 * 0x01 | BNO055_BIT_ENABLE 06892 * 0x00 | BNO055_BIT_DISABLE 06893 * 06894 * @return results of bus communication function 06895 * @retval 0 -> BNO055_SUCCESS 06896 * @retval 1 -> BNO055_ERROR 06897 * 06898 * @note Accel anymotion threshold dependent on the 06899 * range values 06900 * 06901 * accel_range_u8 | threshold | LSB 06902 * ------------- | ------------- | --------- 06903 * 2g | 3.19mg | 1LSB 06904 * 4g | 7.81mg | 1LSB 06905 * 8g | 15.63mg | 1LSB 06906 * 16g | 31.25mg | 1LSB 06907 * 06908 */ 06909 BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_thres( 06910 u8 *accel_any_motion_thres_u8); 06911 /*! 06912 * @brief This API used to write the accel any motion threshold 06913 * from page one register from 0x11 bit 0 to 7 06914 * 06915 * @param accel_any_motion_thres_u8 : The value of any motion threshold 06916 * accel_any_motion_thres_u8 | result 06917 * ------------------------ | ------------- 06918 * 0x01 | BNO055_BIT_ENABLE 06919 * 0x00 | BNO055_BIT_DISABLE 06920 * 06921 * @return results of bus communication function 06922 * @retval 0 -> BNO055_SUCCESS 06923 * @retval 1 -> BNO055_ERROR 06924 * 06925 * @note Accel anymotion threshold dependent on the 06926 * range values 06927 * 06928 * accel_range_u8 | threshold | LSB 06929 * ------------- | ------------- | --------- 06930 * 2g | 3.19mg | 1LSB 06931 * 4g | 7.81mg | 1LSB 06932 * 8g | 15.63mg | 1LSB 06933 * 16g | 31.25mg | 1LSB 06934 * 06935 */ 06936 BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_thres( 06937 u8 accel_any_motion_thres_u8); 06938 /*****************************************************/ 06939 /**\name FUNCTIONS FOR ACCEL ANY_MOTION DURATION */ 06940 /*****************************************************/ 06941 /*! 06942 * @brief This API used to read the accel anymotion duration 06943 * from page one register from 0x12 bit 0 to 1 06944 * 06945 * @param accel_any_motion_durn_u8 : The value of accel anymotion duration 06946 * accel_any_motion_durn_u8 | result 06947 * ------------------------- | ------------- 06948 * 0x01 | BNO055_BIT_ENABLE 06949 * 0x00 | BNO055_BIT_DISABLE 06950 * 06951 * @return results of bus communication function 06952 * @retval 0 -> BNO055_SUCCESS 06953 * @retval 1 -> BNO055_ERROR 06954 * 06955 * 06956 */ 06957 BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_durn( 06958 u8 *accel_any_motion_durn_u8); 06959 /*! 06960 * @brief This API used to write the accel anymotion duration 06961 * from page one register from 0x12 bit 0 to 1 06962 * 06963 * @param accel_any_motion_durn_u8 : The value of accel anymotion duration 06964 * 06965 * accel_any_motion_durn_u8 | result 06966 * ------------------------- | ------------- 06967 * 0x01 | BNO055_BIT_ENABLE 06968 * 0x00 | BNO055_BIT_DISABLE 06969 * 06970 * @return results of bus communication function 06971 * @retval 0 -> BNO055_SUCCESS 06972 * @retval 1 -> BNO055_ERROR 06973 * 06974 * 06975 */ 06976 BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_durn( 06977 u8 accel_any_motion_durn_u8); 06978 /*****************************************************/ 06979 /**\name FUNCTIONS FOR ACCEL ANY_MOTION AXIS ENABLE */ 06980 /*****************************************************/ 06981 /*! 06982 * @brief This API used to read the accel anymotion enable 06983 * from page one register from 0x12 bit 2 to 4 06984 * 06985 * @param data_u8 : The value of accel anymotion enable 06986 * data_u8 | result 06987 * ------------ | ------------- 06988 * 0x01 | BNO055_BIT_ENABLE 06989 * 0x00 | BNO055_BIT_DISABLE 06990 * @param channel_u8 : The value of accel anymotion axis selection 06991 * channel_u8 | value 06992 * -------------------------- | ---------- 06993 * BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS | 0 06994 * BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS | 1 06995 * BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS | 2 06996 * 06997 * @return results of bus communication function 06998 * @retval 0 -> BNO055_SUCCESS 06999 * @retval 1 -> BNO055_ERROR 07000 * 07001 * 07002 */ 07003 BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_any_motion_no_motion_axis_enable( 07004 u8 channel_u8, u8 *data_u8); 07005 /*! 07006 * @brief This API used to write the accel anymotion enable 07007 * from page one register from 0x12 bit 2 to 4 07008 * 07009 * @param data_u8 : The value of accel anymotion enable 07010 * data_u8 | result 07011 * ------------ | ------------- 07012 * 0x01 | BNO055_BIT_ENABLE 07013 * 0x00 | BNO055_BIT_DISABLE 07014 * @param channel_u8 : The value of accel anymotion axis selection 07015 * channel_u8 | value 07016 * -------------------------- | ---------- 07017 * BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS | 0 07018 * BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS | 1 07019 * BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS | 2 07020 * 07021 * @return results of bus communication function 07022 * @retval 0 -> BNO055_SUCCESS 07023 * @retval 1 -> BNO055_ERROR 07024 * 07025 * 07026 */ 07027 BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_any_motion_no_motion_axis_enable( 07028 u8 channel_u8, u8 data_u8); 07029 /*****************************************************/ 07030 /**\name FUNCTIONS FOR ACCEL HIGHG AXIS ENABLE */ 07031 /*****************************************************/ 07032 /*! 07033 * @brief This API used to read the accel highg enable 07034 * from page one register from 0x12 bit 5 to 7 07035 * 07036 * @param data_u8 : The value of accel highg enable 07037 * data_u8| result 07038 * ------------ | ------------- 07039 * 0x01 | BNO055_BIT_ENABLE 07040 * 0x00 | BNO055_BIT_DISABLE 07041 * @param channel_u8 : The value of accel highg axis selection 07042 * channel_u8 | value 07043 * -------------------------- | ---------- 07044 * BNO055_ACCEL_HIGH_G_X_AXIS | 0 07045 * BNO055_ACCEL_HIGH_G_Y_AXIS | 1 07046 * BNO055_ACCEL_HIGH_G_Z_AXIS | 2 07047 * 07048 * @return results of bus communication function 07049 * @retval 0 -> BNO055_SUCCESS 07050 * @retval 1 -> BNO055_ERROR 07051 * 07052 * 07053 */ 07054 BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_axis_enable( 07055 u8 channel_u8, u8 *data_u8); 07056 /*! 07057 * @brief This API used to write the accel highg enable 07058 * from page one register from 0x12 bit 5 to 7 07059 * 07060 * @param data_u8 : The value of accel highg enable 07061 * data_u8| result 07062 * ------------ | ------------- 07063 * 0x01 | BNO055_BIT_ENABLE 07064 * 0x00 | BNO055_BIT_DISABLE 07065 * @param channel_u8 : The value of accel highg axis selection 07066 * channel_u8 | value 07067 * -------------------------- | ---------- 07068 * BNO055_ACCEL_HIGH_G_X_AXIS | 0 07069 * BNO055_ACCEL_HIGH_G_Y_AXIS | 1 07070 * BNO055_ACCEL_HIGH_G_Z_AXIS | 2 07071 * 07072 * @return results of bus communication function 07073 * @retval 0 -> BNO055_SUCCESS 07074 * @retval 1 -> BNO055_ERROR 07075 * 07076 * 07077 */ 07078 BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_axis_enable( 07079 u8 channel_u8, u8 data_u8); 07080 /*****************************************************/ 07081 /**\name FUNCTIONS FOR ACCEL HIGHG DURATION */ 07082 /*****************************************************/ 07083 /*! 07084 * @brief This API used to read the accel highg duration 07085 * from page one register from 0x13 bit 0 to 7 07086 * 07087 * @param accel_high_g_durn_u8 : The value of accel highg duration 07088 * 07089 * @return results of bus communication function 07090 * @retval 0 -> BNO055_SUCCESS 07091 * @retval 1 -> BNO055_ERROR 07092 * 07093 * @note The high-g interrupt trigger delay according 07094 * to [highg duration + 1] * 2 ms 07095 * 07096 * in a range from 2 ms to 512 ms 07097 * 07098 */ 07099 BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_durn( 07100 u8 *accel_high_g_durn_u8); 07101 /*! 07102 * @brief This API used to write the accel highg duration 07103 * from page one register from 0x13 bit 0 to 7 07104 * 07105 * @param accel_high_g_durn_u8 : The value of accel highg duration 07106 * 07107 * @return results of bus communication function 07108 * @retval 0 -> BNO055_SUCCESS 07109 * @retval 1 -> BNO055_ERROR 07110 * 07111 * @note The high-g interrupt trigger delay according 07112 * to [highg duration + 1] * 2 ms 07113 * 07114 * in a range from 2 ms to 512 ms 07115 * 07116 */ 07117 BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_durn( 07118 u8 accel_high_g_durn_u8); 07119 /*****************************************************/ 07120 /**\name FUNCTIONS FOR ACCEL HIGHG THRESHOLD */ 07121 /*****************************************************/ 07122 /*! 07123 * @brief This API used to read the accel highg threshold 07124 * from page one register from 0x14 bit 0 to 7 07125 * 07126 * @param accel_high_g_thres_u8 : The value of accel highg threshold 07127 * 07128 * @return results of bus communication function 07129 * @retval 0 -> BNO055_SUCCESS 07130 * @retval 1 -> BNO055_ERROR 07131 * 07132 * @note Accel highg interrupt threshold dependent 07133 * for accel g range 07134 * 07135 * accel_range_u8 | threshold | LSB 07136 * ------------- | ------------- | --------- 07137 * 2g | 7.81mg | 1LSB 07138 * 4g | 15.63mg | 1LSB 07139 * 8g | 31.25mg | 1LSB 07140 * 16g | 62.5mg | 1LSB 07141 * 07142 */ 07143 BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_high_g_thres( 07144 u8 *accel_high_g_thres_u8); 07145 /*! 07146 * @brief This API used to write the accel highg threshold 07147 * from page one register from 0x14 bit 0 to 7 07148 * 07149 * @param accel_high_g_thres_u8 : The value of accel highg threshold 07150 * 07151 * @return results of bus communication function 07152 * @retval 0 -> BNO055_SUCCESS 07153 * @retval 1 -> BNO055_ERROR 07154 * 07155 * @note Accel highg interrupt threshold dependent 07156 * for accel g range 07157 * 07158 * accel_range_u8 | threshold | LSB 07159 * ------------- | ------------- | --------- 07160 * 2g | 7.81mg | 1LSB 07161 * 4g | 15.63mg | 1LSB 07162 * 8g | 31.25mg | 1LSB 07163 * 16g | 62.5mg | 1LSB 07164 * 07165 */ 07166 BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_high_g_thres( 07167 u8 accel_high_g_thres_u8); 07168 /**************************************************************/ 07169 /**\name FUNCTIONS FOR ACCEL SLOWNOMOTION THRESHOLD */ 07170 /**************************************************************/ 07171 /*! 07172 * @brief This API used to read the accel slownomotion threshold 07173 * from page one register from 0x15 bit 0 to 7 07174 * 07175 * @param accel_slow_no_motion_thres_u8 : 07176 * The value of accel slownomotion threshold 07177 * 07178 * @return results of bus communication function 07179 * @retval 0 -> BNO055_SUCCESS 07180 * @retval 1 -> BNO055_ERROR 07181 * 07182 * @note Accel slow no motion interrupt threshold dependent 07183 * for accel g range 07184 * 07185 * accel_range_u8 | threshold | LSB 07186 * ------------- | ------------- | --------- 07187 * 2g | 3.19mg | 1LSB 07188 * 4g | 7.81mg | 1LSB 07189 * 8g | 15.63mg | 1LSB 07190 * 16g | 31.25mg | 1LSB 07191 */ 07192 BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_thres( 07193 u8 *accel_slow_no_motion_thres_u8); 07194 /*! 07195 * @brief This API used to write the accel slownomotion threshold 07196 * from page one register from 0x15 bit 0 to 7 07197 * 07198 * @param accel_slow_no_motion_thres_u8 : 07199 * The value of accel slownomotion threshold 07200 * 07201 * @return results of bus communication function 07202 * @retval 0 -> BNO055_SUCCESS 07203 * @retval 1 -> BNO055_ERROR 07204 * 07205 * @note Accel slow no motion interrupt threshold dependent 07206 * for accel g range 07207 * 07208 * accel_range_u8 | threshold | LSB 07209 * ------------- | ------------- | --------- 07210 * 2g | 3.19mg | 1LSB 07211 * 4g | 7.81mg | 1LSB 07212 * 8g | 15.63mg | 1LSB 07213 * 16g | 31.25mg | 1LSB 07214 */ 07215 BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_thres( 07216 u8 accel_slow_no_motion_thres_u8); 07217 /**************************************************************/ 07218 /**\name FUNCTIONS FOR ACCEL SLOWNOMOTION ENABLE */ 07219 /**************************************************************/ 07220 /*! 07221 * @brief This API used to read accel slownomotion enable 07222 * from page one register from 0x16 bit 0 07223 * 07224 * @param accel_slow_no_motion_en_u8 : The value of accel slownomotion enable 07225 * accel_slow_no_motion_en_u8 | result 07226 * ------------------------ | -------- 07227 * 0x01 | Slow motion 07228 * 0x00 | No motion 07229 * 07230 * @return results of bus communication function 07231 * @retval 0 -> BNO055_SUCCESS 07232 * @retval 1 -> BNO055_ERROR 07233 * 07234 */ 07235 BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_enable( 07236 u8 *accel_slow_no_motion_en_u8); 07237 /*! 07238 * @brief This API used to write accel slownomotion enable 07239 * from page one register from 0x16 bit 0 07240 * 07241 * @param accel_slow_no_motion_en_u8 : The value of accel slownomotion enable 07242 * accel_slow_no_motion_en_u8 | result 07243 * ------------------------ | -------- 07244 * 0x01 | Slow motion 07245 * 0x00 | No motion 07246 * 07247 * @return results of bus communication function 07248 * @retval 0 -> BNO055_SUCCESS 07249 * @retval 1 -> BNO055_ERROR 07250 * 07251 */ 07252 BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_enable( 07253 u8 accel_slow_no_motion_en_u8); 07254 /**************************************************************/ 07255 /**\name FUNCTIONS FOR ACCEL SLOWNOMOTION DURATION */ 07256 /**************************************************************/ 07257 /*! 07258 * @brief This API used to read accel slownomotion duration 07259 * from page one register from 0x16 bit 1 to 6 07260 * 07261 * @param accel_slow_no_motion_durn_u8 : 07262 * The value of accel slownomotion duration 07263 * 07264 * @return results of bus communication function 07265 * @retval 0 -> BNO055_SUCCESS 07266 * @retval 1 -> BNO055_ERROR 07267 * 07268 */ 07269 BNO055_RETURN_FUNCTION_TYPE bno055_get_accel_slow_no_motion_durn( 07270 u8 *accel_slow_no_motion_durn_u8); 07271 /*! 07272 * @brief This API used to write accel slownomotion duration 07273 * from page one register from 0x16 bit 1 to 6 07274 * 07275 * @param accel_slow_no_motion_durn_u8 : 07276 * The value of accel slownomotion duration 07277 * 07278 * @return results of bus communication function 07279 * @retval 0 -> BNO055_SUCCESS 07280 * @retval 1 -> BNO055_ERROR 07281 * 07282 */ 07283 BNO055_RETURN_FUNCTION_TYPE bno055_set_accel_slow_no_motion_durn( 07284 u8 accel_slow_no_motion_durn_u8); 07285 /**************************************************************/ 07286 /**\name FUNCTIONS FOR GYRO ANY_MOTION AXIS ENABLE */ 07287 /**************************************************************/ 07288 /*! 07289 * @brief This API used to read the gyro anymotion enable 07290 * from page one register from 0x17 bit 0 to 2 07291 * 07292 * @param data_u8 : The value of gyro anymotion enable 07293 * data_u8 | result 07294 * ----------------- |------------- 07295 * 0x01 | BNO055_BIT_ENABLE 07296 * 0x00 | BNO055_BIT_DISABLE 07297 * @param channel_u8 : The value of gyro anymotion axis selection 07298 * channel_u8 | value 07299 * --------------------------- | ---------- 07300 * BNO055_GYRO_ANY_MOTIONX_AXIS | 0 07301 * BNO055_GYRO_ANY_MOTIONY_AXIS | 1 07302 * BNO055_GYRO_ANY_MOTIONZ_AXIS | 2 07303 * 07304 * 07305 * @return results of bus communication function 07306 * @retval 0 -> BNO055_SUCCESS 07307 * @retval 1 -> BNO055_ERROR 07308 * 07309 * 07310 */ 07311 BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_axis_enable( 07312 u8 channel_u8, u8 *data_u8); 07313 /*! 07314 * @brief This API used to write the gyro anymotion enable 07315 * from page one register from 0x17 bit 0 to 2 07316 * 07317 * @param data_u8 : The value of gyro anymotion enable 07318 * data_u8 | result 07319 * ----------------- |------------- 07320 * 0x01 | BNO055_BIT_ENABLE 07321 * 0x00 | BNO055_BIT_DISABLE 07322 * @param channel_u8 : The value of gyro anymotion axis selection 07323 * channel_u8 | value 07324 * --------------------------- | ---------- 07325 * BNO055_GYRO_ANY_MOTIONX_AXIS | 0 07326 * BNO055_GYRO_ANY_MOTIONY_AXIS | 1 07327 * BNO055_GYRO_ANY_MOTIONZ_AXIS | 2 07328 * 07329 * @return results of bus communication function 07330 * @retval 0 -> BNO055_SUCCESS 07331 * @retval 1 -> BNO055_ERROR 07332 * 07333 * 07334 */ 07335 BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_axis_enable( 07336 u8 channel_u8, u8 data_u8); 07337 /**************************************************************/ 07338 /**\name FUNCTIONS FOR GYRO HIGHRATE ENABLE */ 07339 /**************************************************************/ 07340 /*! 07341 * @brief This API used to read the gyro highrate enable 07342 * from page one register from 0x17 bit 3 to 5 07343 * 07344 * @param data_u8 : The value of gyro highrate enable 07345 * data_u8 | result 07346 * ---------------- |------------- 07347 * 0x01 | BNO055_BIT_ENABLE 07348 * 0x00 | BNO055_BIT_DISABLE 07349 * @param channel_u8 : The value of gyro highrate axis selection 07350 * channel_u8 | value 07351 * ------------------------ | ---------- 07352 * BNO055_GYRO_HIGHRATE_X_AXIS | 0 07353 * BNO055_GYRO_HIGHRATE_Y_AXIS | 1 07354 * BNO055_GYRO_HIGHRATE_Z_AXIS | 2 07355 * 07356 * 07357 * @return results of bus communication function 07358 * @retval 0 -> BNO055_SUCCESS 07359 * @retval 1 -> BNO055_ERROR 07360 * 07361 * 07362 */ 07363 BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_axis_enable( 07364 u8 channel_u8, u8 *data_u8); 07365 /**************************************************************/ 07366 /**\name FUNCTIONS FOR GYRO HIGHRATE AXIS ENABLE */ 07367 /**************************************************************/ 07368 /*! 07369 * @brief This API used to write the gyro highrate enable 07370 * from page one register from 0x17 bit 3 to 5 07371 * 07372 * @param data_u8 : The value of gyro highrate enable 07373 * data_u8 | result 07374 * ---------------- |------------- 07375 * 0x01 | BNO055_BIT_ENABLE 07376 * 0x00 | BNO055_BIT_DISABLE 07377 * @param channel_u8 : The value of gyro highrate axis selection 07378 * channel_u8 | value 07379 * ------------------------ | ---------- 07380 * BNO055_GYRO_HIGHRATE_X_AXIS | 0 07381 * BNO055_GYRO_HIGHRATE_Y_AXIS | 1 07382 * BNO055_GYRO_HIGHRATE_Z_AXIS | 2 07383 * 07384 * @return results of bus communication function 07385 * @retval 0 -> BNO055_SUCCESS 07386 * @retval 1 -> BNO055_ERROR 07387 * 07388 * 07389 */ 07390 BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_axis_enable( 07391 u8 channel_u8, u8 data_u8); 07392 /**************************************************************/ 07393 /**\name FUNCTIONS FOR GYRO ANY_MOTION FILTER */ 07394 /**************************************************************/ 07395 /*! 07396 * @brief This API used to read gyro anymotion filter 07397 * from page one register from 0x17 bit 6 07398 * 07399 * @param gyro_any_motion_filter_u8 : The value of gyro anymotion filter 07400 * gyro_any_motion_filter_u8 | result 07401 * --------------------------- |------------ 07402 * 0x00 | BNO055_GYRO_FILTERED_CONFIG 07403 * 0x01 | BNO055_GYRO_UNFILTERED_CONFIG 07404 * 07405 * @return results of bus communication function 07406 * @retval 0 -> BNO055_SUCCESS 07407 * @retval 1 -> BNO055_ERROR 07408 * 07409 */ 07410 BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_filter( 07411 u8 *gyro_any_motion_filter_u8); 07412 /*! 07413 * @brief This API used to write gyro anymotion filter 07414 * from page one register from 0x17 bit 6 07415 * 07416 * @param gyro_any_motion_filter_u8 : The value of gyro anymotion filter 07417 * gyro_any_motion_filter_u8 | result 07418 * --------------------------- |------------ 07419 * 0x00 | BNO055_GYRO_FILTERED_CONFIG 07420 * 0x01 | BNO055_GYRO_UNFILTERED_CONFIG 07421 * 07422 * @return results of bus communication function 07423 * @retval 0 -> BNO055_SUCCESS 07424 * @retval 1 -> BNO055_ERROR 07425 * 07426 */ 07427 BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_filter( 07428 u8 gyro_any_motion_filter_u8); 07429 /**************************************************************/ 07430 /**\name FUNCTIONS FOR GYRO HIGHRATE FILTER */ 07431 /**************************************************************/ 07432 /*! 07433 * @brief This API used to read gyro highrate filter 07434 * from page one register from 0x17 bit 7 07435 * 07436 * @param gyro_highrate_filter_u8 : The value of gyro highrate filter 07437 * gyro_highrate_filter_u8 | result 07438 * --------------------------- |------------ 07439 * 0x00 | BNO055_GYRO_FILTERED_CONFIG 07440 * 0x01 | BNO055_GYRO_UNFILTERED_CONFIG 07441 * 07442 * @return results of bus communication function 07443 * @retval 0 -> BNO055_SUCCESS 07444 * @retval 1 -> BNO055_ERROR 07445 * 07446 */ 07447 BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_filter( 07448 u8 *gyro_highrate_filter_u8); 07449 /*! 07450 * @brief This API used to write gyro highrate filter 07451 * from page one register from 0x17 bit 7 07452 * 07453 * @param gyro_highrate_filter_u8 : The value of gyro highrate filter 07454 * gyro_highrate_filter_u8 | result 07455 * --------------------------- |------------ 07456 * 0x00 | BNO055_GYRO_FILTERED_CONFIG 07457 * 0x01 | BNO055_GYRO_UNFILTERED_CONFIG 07458 * 07459 * @return results of bus communication function 07460 * @retval 0 -> BNO055_SUCCESS 07461 * @retval 1 -> BNO055_ERROR 07462 * 07463 */ 07464 BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_filter( 07465 u8 gyro_highrate_filter_u8); 07466 /**************************************************************/ 07467 /**\name FUNCTIONS FOR GYRO HIGHRATE X THRESHOLD */ 07468 /**************************************************************/ 07469 /*! 07470 * @brief This API used to read gyro highrate x threshold 07471 * from page one register from 0x18 bit 0 to 4 07472 * 07473 * @param gyro_highrate_x_thres_u8 : The value of gyro x highrate threshold 07474 * 07475 * @return results of bus communication function 07476 * @retval 0 -> BNO055_SUCCESS 07477 * @retval 1 -> BNO055_ERROR 07478 * 07479 * @note Gyro highrate threshold dependent on the 07480 * selection of gyro range 07481 * 07482 * gyro_range_u8 | threshold | LSB 07483 * ----------------- | ------------- | --------- 07484 * 2000 | 62.5dps | 1LSB 07485 * 1000 | 31.25dps | 1LSB 07486 * 500 | 15.625dps | 1LSB 07487 * 125 | 7.8125dps | 1LSB 07488 * 07489 */ 07490 BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_thres( 07491 u8 *gyro_highrate_x_thres_u8); 07492 /*! 07493 * @brief This API used to write gyro highrate x threshold 07494 * from page one register from 0x18 bit 0 to 4 07495 * 07496 * @param gyro_highrate_x_thres_u8 : The value of gyro x highrate threshold 07497 * 07498 * @return results of bus communication function 07499 * @retval 0 -> BNO055_SUCCESS 07500 * @retval 1 -> BNO055_ERROR 07501 * 07502 * @note Gyro highrate threshold dependent on the 07503 * selection of gyro range 07504 * 07505 * gyro_range_u8 | threshold | LSB 07506 * ----------------- | ------------- | --------- 07507 * 2000 | 62.5dps | 1LSB 07508 * 1000 | 31.25dps | 1LSB 07509 * 500 | 15.625dps | 1LSB 07510 * 125 | 7.8125dps | 1LSB 07511 * 07512 */ 07513 BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_thres( 07514 u8 gyro_highrate_x_thres_u8); 07515 /**************************************************************/ 07516 /**\name FUNCTIONS FOR GYRO HIGHRATE X HYSTERESIS */ 07517 /**************************************************************/ 07518 /*! 07519 * @brief This API used to read gyro highrate x hysteresis 07520 * from page one register from 0x18 bit 5 to 6 07521 * 07522 * @param gyro_highrate_x_hyst_u8 : The value of gyro highrate x hysteresis 07523 * 07524 * @return results of bus communication function 07525 * @retval 0 -> BNO055_SUCCESS 07526 * @retval 1 -> BNO055_ERROR 07527 * 07528 * @note Gyro high rate hysteresis calculated by 07529 * 07530 * using this (255 + 256 * gyro_highrate_x_hyst_u8) *4 LSB 07531 * 07532 * The high rate value scales with the range setting 07533 * 07534 * gyro_range_u8 | hysteresis | LSB 07535 * ----------------- | ------------- | --------- 07536 * 2000 | 62.26dps | 1LSB 07537 * 1000 | 31.13dps | 1LSB 07538 * 500 | 15.56dps | 1LSB 07539 * 07540 */ 07541 BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_hyst( 07542 u8 *gyro_highrate_x_hyst_u8); 07543 /*! 07544 * @brief This API used to write gyro highrate x hysteresis 07545 * from page one register from 0x18 bit 5 to 6 07546 * 07547 * @param gyro_highrate_x_hyst_u8 : The value of gyro highrate x hysteresis 07548 * 07549 * @return results of bus communication function 07550 * @retval 0 -> BNO055_SUCCESS 07551 * @retval 1 -> BNO055_ERROR 07552 * 07553 * @note Gyro high rate hysteresis calculated by 07554 * 07555 * using this (255 + 256 * gyro_highrate_x_hyst_u8) *4 LSB 07556 * 07557 * The high rate value scales with the range setting 07558 * 07559 * gyro_range_u8 | hysteresis | LSB 07560 * ----------------- | ------------- | --------- 07561 * 2000 | 62.26dps | 1LSB 07562 * 1000 | 31.13dps | 1LSB 07563 * 500 | 15.56dps | 1LSB 07564 * 07565 */ 07566 BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_hyst( 07567 u8 gyro_highrate_x_hyst_u8); 07568 /**************************************************************/ 07569 /**\name FUNCTIONS FOR GYRO HIGHRATE X DURATION */ 07570 /**************************************************************/ 07571 /*! 07572 * @brief This API used to read gyro highrate x duration 07573 * from page one register from 0x19 bit 0 to 7 07574 * 07575 * @param gyro_highrate_x_durn_u8 : The value of gyro highrate x duration 07576 * 07577 * @return results of bus communication function 07578 * @retval 0 -> BNO055_SUCCESS 07579 * @retval 1 -> BNO055_ERROR 07580 * 07581 * @note Gyro highrate duration calculate by using the formula 07582 * 07583 * (1 + gyro_highrate_x_durn_u8)*2.5ms 07584 * 07585 */ 07586 BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_x_durn( 07587 u8 *gyro_highrate_x_durn_u8); 07588 /*! 07589 * @brief This API used to write gyro highrate x duration 07590 * from page one register from 0x19 bit 0 to 7 07591 * 07592 * @param gyro_highrate_x_durn_u8 : The value of gyro highrate x duration 07593 * 07594 * @return results of bus communication function 07595 * @retval 0 -> BNO055_SUCCESS 07596 * @retval 1 -> BNO055_ERROR 07597 * 07598 * @note Gyro highrate duration calculate by using the formula 07599 * 07600 * (1 + gyro_highrate_x_durn_u8)*2.5ms 07601 */ 07602 BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_x_durn( 07603 u8 gyro_highrate_x_durn_u8); 07604 /**************************************************************/ 07605 /**\name FUNCTIONS FOR GYRO HIGHRATE Y THRESHOLD */ 07606 /**************************************************************/ 07607 /*! 07608 * @brief This API used to read gyro highrate y threshold 07609 * from page one register from 0x1A bit 0 to 4 07610 * 07611 * @param gyro_highrate_y_thres_u8 : The value of gyro highrate y threshold 07612 * 07613 * @return results of bus communication function 07614 * @retval 0 -> BNO055_SUCCESS 07615 * @retval 1 -> BNO055_ERROR 07616 * 07617 * @note Gyro highrate threshold dependent on the 07618 * selection of gyro range 07619 * 07620 * gyro_range_u8 | threshold | LSB 07621 * ----------------- | ------------- | --------- 07622 * 2000 | 62.5dps | 1LSB 07623 * 1000 | 31.25dps | 1LSB 07624 * 500 | 15.625dps | 1LSB 07625 * 125 | 7.8125dps | 1LSB 07626 * 07627 */ 07628 BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_thres( 07629 u8 *gyro_highrate_y_thres_u8); 07630 /*! 07631 * @brief This API used to write gyro highrate y threshold 07632 * from page one register from 0x1A bit 0 to 4 07633 * 07634 * @param gyro_highrate_y_thres_u8 : The value of gyro highrate y threshold 07635 * 07636 * @return results of bus communication function 07637 * @retval 0 -> BNO055_SUCCESS 07638 * @retval 1 -> BNO055_ERROR 07639 * 07640 * @note Gyro highrate threshold dependent on the 07641 * selection of gyro range 07642 * 07643 * gyro_range_u8 | threshold | LSB 07644 * ----------------- | ------------- | --------- 07645 * 2000 | 62.5dps | 1LSB 07646 * 1000 | 31.25dps | 1LSB 07647 * 500 | 15.625dps | 1LSB 07648 * 125 | 7.8125dps | 1LSB 07649 * 07650 */ 07651 BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_thres( 07652 u8 gyro_highrate_y_thres_u8); 07653 /**************************************************************/ 07654 /**\name FUNCTIONS FOR GYRO HIGHRATE Y HYSTERESIS */ 07655 /**************************************************************/ 07656 /*! 07657 * @brief This API used to read gyro highrate y hysteresis 07658 * from page one register from 0x1A bit 5 to 6 07659 * 07660 * @param gyro_highrate_y_hyst_u8 : The value of gyro highrate y hysteresis 07661 * 07662 * @return results of bus communication function 07663 * @retval 0 -> BNO055_SUCCESS 07664 * @retval 1 -> BNO055_ERROR 07665 * 07666 * @note Gyro high rate hysteresis calculated by 07667 * 07668 * using this (255 + 256 * gyro_highrate_y_hyst_u8) *4 LSB 07669 * 07670 * The high rate value scales with the range setting 07671 * 07672 * gyro_range_u8 | hysteresis | LSB 07673 * ----------------- | ------------- | --------- 07674 * 2000 | 62.26dps | 1LSB 07675 * 1000 | 31.13dps | 1LSB 07676 * 500 | 15.56dps | 1LSB 07677 */ 07678 BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_hyst( 07679 u8 *gyro_highrate_y_hyst_u8); 07680 /*! 07681 * @brief This API used to write gyro highrate y hysteresis 07682 * from page one register from 0x1A bit 5 to 6 07683 * 07684 * @param gyro_highrate_y_hyst_u8 : The value of gyro highrate y hysteresis 07685 * 07686 * @return results of bus communication function 07687 * @retval 0 -> BNO055_SUCCESS 07688 * @retval 1 -> BNO055_ERROR 07689 * 07690 * @note Gyro high rate hysteresis calculated by 07691 * 07692 * using this (255 + 256 * gyro_highrate_y_hyst_u8) *4 LSB 07693 * 07694 * The high rate value scales with the range setting 07695 * 07696 * gyro_range_u8 | hysteresis | LSB 07697 * ----------------- | ------------- | --------- 07698 * 2000 | 62.26dps | 1LSB 07699 * 1000 | 31.13dps | 1LSB 07700 * 500 | 15.56dps | 1LSB 07701 */ 07702 BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_hyst( 07703 u8 gyro_highrate_y_hyst_u8); 07704 /**************************************************************/ 07705 /**\name FUNCTIONS FOR GYRO HIGHRATE Y DURATION */ 07706 /**************************************************************/ 07707 /*! 07708 * @brief This API used to read gyro highrate y duration 07709 * from page one register from 0x1B bit 0 to 7 07710 * 07711 * @param gyro_highrate_y_durn_u8 : The value of gyro highrate y duration 07712 * 07713 * @return results of bus communication function 07714 * @retval 0 -> BNO055_SUCCESS 07715 * @retval 1 -> BNO055_ERROR 07716 * 07717 * @note Gyro highrate duration calculate by using the formula 07718 * 07719 * (1 + gyro_highrate_y_durn_u8)*2.5ms 07720 */ 07721 BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_y_durn( 07722 u8 *gyro_highrate_y_durn_u8); 07723 /*! 07724 * @brief This API used to write gyro highrate y duration 07725 * from page one register from 0x1B bit 0 to 7 07726 * 07727 * @param gyro_highrate_y_durn_u8 : The value of gyro highrate y duration 07728 * 07729 * @return results of bus communication function 07730 * @retval 0 -> BNO055_SUCCESS 07731 * @retval 1 -> BNO055_ERROR 07732 * 07733 * @note Gyro highrate duration calculate by using the formula 07734 * 07735 * (1 + gyro_highrate_y_durn_u8)*2.5ms 07736 */ 07737 BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_y_durn( 07738 u8 gyro_highrate_y_durn_u8); 07739 /**************************************************************/ 07740 /**\name FUNCTIONS FOR GYRO HIGHRATE Z THRESHOLD */ 07741 /**************************************************************/ 07742 /*! 07743 * @brief This API used to read gyro highrate z threshold 07744 * from page one register from 0x1C bit 0 to 4 07745 * 07746 * @param gyro_highrate_z_thres_u8 : The value of gyro highrate z threshold 07747 * 07748 * @return results of bus communication function 07749 * @retval 0 -> BNO055_SUCCESS 07750 * @retval 1 -> BNO055_ERROR 07751 * 07752 * @note Gyro highrate threshold dependent on the 07753 * selection of gyro range 07754 * 07755 * gyro_range_u8 | threshold | LSB 07756 * ----------------- | ------------- | --------- 07757 * 2000 | 62.5dps | 1LSB 07758 * 1000 | 31.25dps | 1LSB 07759 * 500 | 15.625dps | 1LSB 07760 * 125 | 7.8125dps | 1LSB 07761 * 07762 */ 07763 BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_thres( 07764 u8 *gyro_highrate_z_thres_u8); 07765 /*! 07766 * @brief This API used to write gyro highrate z threshold 07767 * from page one register from 0x1C bit 0 to 4 07768 * 07769 * @param gyro_highrate_z_thres_u8 : The value of gyro highrate z threshold 07770 * 07771 * @return results of bus communication function 07772 * @retval 0 -> BNO055_SUCCESS 07773 * @retval 1 -> BNO055_ERROR 07774 * 07775 * @note Gyro highrate threshold dependent on the 07776 * selection of gyro range 07777 * 07778 * gyro_range_u8 | threshold | LSB 07779 * ----------------- | ------------- | --------- 07780 * 2000 | 62.5dps | 1LSB 07781 * 1000 | 31.25dps | 1LSB 07782 * 500 | 15.625dps | 1LSB 07783 * 125 | 7.8125dps | 1LSB 07784 * 07785 */ 07786 BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_thres( 07787 u8 gyro_highrate_z_thres_u8); 07788 /**************************************************************/ 07789 /**\name FUNCTIONS FOR GYRO HIGHRATE Z HYSTERESIS */ 07790 /**************************************************************/ 07791 /*! 07792 * @brief This API used to read gyro highrate z hysteresis 07793 * from page one register from 0x1C bit 5 to 6 07794 * 07795 * @param gyro_highrate_z_hyst_u8 : The value of gyro highrate z hysteresis 07796 * 07797 * @return results of bus communication function 07798 * @retval 0 -> BNO055_SUCCESS 07799 * @retval 1 -> BNO055_ERROR 07800 * 07801 * @note Gyro high rate hysteresis calculated by 07802 * 07803 * using this (255 + 256 * gyro_highrate_z_hyst_u8) *4 LSB 07804 * 07805 * The high rate value scales with the range setting 07806 * 07807 * gyro_range_u8 | hysteresis | LSB 07808 * ----------------- | ------------- | --------- 07809 * 2000 | 62.26dps | 1LSB 07810 * 1000 | 31.13dps | 1LSB 07811 * 500 | 15.56dps | 1LSB 07812 */ 07813 BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_hyst( 07814 u8 *gyro_highrate_z_hyst_u8); 07815 /*! 07816 * @brief This API used to write gyro highrate z hysteresis 07817 * from page one register from 0x1C bit 5 to 6 07818 * 07819 * @param gyro_highrate_z_hyst_u8 : The value of gyro highrate z hysteresis 07820 * 07821 * @return results of bus communication function 07822 * @retval 0 -> BNO055_SUCCESS 07823 * @retval 1 -> BNO055_ERROR 07824 * 07825 * @note Gyro high rate hysteresis calculated by 07826 * 07827 * using this (255 + 256 * gyro_highrate_z_hyst_u8) *4 LSB 07828 * 07829 * The high rate value scales with the range setting 07830 * 07831 * gyro_range_u8 | hysteresis | LSB 07832 * ----------------- | ------------- | --------- 07833 * 2000 | 62.26dps | 1LSB 07834 * 1000 | 31.13dps | 1LSB 07835 * 500 | 15.56dps | 1LSB 07836 */ 07837 BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_hyst( 07838 u8 gyro_highrate_z_hyst_u8); 07839 /**************************************************************/ 07840 /**\name FUNCTIONS FOR GYRO HIGHRATE Z DURATION */ 07841 /**************************************************************/ 07842 /*! 07843 * @brief This API used to read gyro highrate z duration 07844 * from page one register from 0x1D bit 0 to 7 07845 * 07846 * @param gyro_highrate_z_durn_u8 : The value of gyro highrate z duration 07847 * 07848 * @return results of bus communication function 07849 * @retval 0 -> BNO055_SUCCESS 07850 * @retval 1 -> BNO055_ERROR 07851 * 07852 * @note Gyro highrate duration calculate by using the formula 07853 * 07854 * (1 + gyro_highrate_z_durn_u8)*2.5ms 07855 */ 07856 BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_highrate_z_durn( 07857 u8 *gyro_highrate_z_durn_u8); 07858 /*! 07859 * @brief This API used to write gyro highrate z duration 07860 * from page one register from 0x1D bit 0 to 7 07861 * 07862 * @param gyro_highrate_z_durn_u8 : The value of gyro highrate z duration 07863 * 07864 * @return results of bus communication function 07865 * @retval 0 -> BNO055_SUCCESS 07866 * @retval 1 -> BNO055_ERROR 07867 * 07868 * @note Gyro highrate duration calculate by using the formula 07869 * 07870 * (1 + gyro_highrate_z_durn_u8)*2.5ms 07871 */ 07872 BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_highrate_z_durn( 07873 u8 gyro_highrate_z_durn_u8); 07874 /**************************************************************/ 07875 /**\name FUNCTIONS FOR GYRO ANY_MOTION THRESHOLD */ 07876 /**************************************************************/ 07877 /*! 07878 * @brief This API used to read gyro anymotion threshold 07879 * from page one register from 0x1E bit 0 to 6 07880 * 07881 * @param gyro_any_motion_thres_u8 : The value of gyro anymotion threshold 07882 * 07883 * @return results of bus communication function 07884 * @retval 0 -> BNO055_SUCCESS 07885 * @retval 1 -> BNO055_ERROR 07886 * 07887 * @note Gyro anymotion interrupt threshold dependent 07888 * on the selection of gyro range 07889 * 07890 * gyro_range_u8 | threshold | LSB 07891 * ----------------- | ------------- | --------- 07892 * 2000 | 1dps | 1LSB 07893 * 1000 | 0.5dps | 1LSB 07894 * 500 | 0.25dps | 1LSB 07895 * 07896 */ 07897 BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_thres( 07898 u8 *gyro_any_motion_thres_u8); 07899 /*! 07900 * @brief This API used to write gyro anymotion threshold 07901 * from page one register from 0x1E bit 0 to 6 07902 * 07903 * @param gyro_any_motion_thres_u8 : The value of gyro anymotion threshold 07904 * 07905 * @return results of bus communication function 07906 * @retval 0 -> BNO055_SUCCESS 07907 * @retval 1 -> BNO055_ERROR 07908 * 07909 * @note Gyro anymotion interrupt threshold dependent 07910 * on the selection of gyro range 07911 * 07912 * gyro_range_u8 | threshold | LSB 07913 * ----------------- | ------------- | --------- 07914 * 2000 | 1dps | 1LSB 07915 * 1000 | 0.5dps | 1LSB 07916 * 500 | 0.25dps | 1LSB 07917 * 07918 */ 07919 BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_thres( 07920 u8 gyro_any_motion_thres_u8); 07921 /**************************************************************/ 07922 /**\name FUNCTIONS FOR GYRO ANY_MOTION SLOPE SAMPLES */ 07923 /**************************************************************/ 07924 /*! 07925 * @brief This API used to read gyro anymotion slope samples 07926 * from page one register from 0x1F bit 0 to 1 07927 * 07928 * @param gyro_any_motion_slope_samples_u8 : 07929 * The value of gyro anymotion slope samples 07930 * gyro_any_motion_slope_samples_u8 | result 07931 * ---------------------------------- | ----------- 07932 * 0 | 8 samples 07933 * 1 | 16 samples 07934 * 2 | 32 samples 07935 * 3 | 64 samples 07936 * 07937 * @return results of bus communication function 07938 * @retval 0 -> BNO055_SUCCESS 07939 * @retval 1 -> BNO055_ERROR 07940 * 07941 */ 07942 BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_slope_samples( 07943 u8 *gyro_any_motion_slope_samples_u8); 07944 /*! 07945 * @brief This API used to write gyro anymotion slope samples 07946 * from page one register from 0x1F bit 0 to 1 07947 * 07948 * @param gyro_any_motion_slope_samples_u8 : 07949 * The value of gyro anymotion slope samples 07950 * gyro_any_motion_slope_samples_u8 | result 07951 * ---------------------------------- | ----------- 07952 * 0 | 8 samples 07953 * 1 | 16 samples 07954 * 2 | 32 samples 07955 * 3 | 64 samples 07956 * 07957 * @return results of bus communication function 07958 * @retval 0 -> BNO055_SUCCESS 07959 * @retval 1 -> BNO055_ERROR 07960 * 07961 */ 07962 BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_slope_samples( 07963 u8 gyro_any_motion_slope_samples_u8); 07964 /**************************************************************/ 07965 /**\name FUNCTIONS FOR GYRO ANY_MOTION AWAKE DURATION */ 07966 /**************************************************************/ 07967 /*! 07968 * @brief This API used to read gyro anymotion awake duration 07969 * from page one register from 0x1F bit 2 to 3 07970 * 07971 * @param gyro_awake_durn_u8 : The value of gyro anymotion awake duration 07972 * 07973 * @return results of bus communication function 07974 * @retval 0 -> BNO055_SUCCESS 07975 * @retval 1 -> BNO055_ERROR 07976 * 07977 */ 07978 BNO055_RETURN_FUNCTION_TYPE bno055_get_gyro_any_motion_awake_durn( 07979 u8 *gyro_awake_durn_u8); 07980 /*! 07981 * @brief This API used to write gyro anymotion awake duration 07982 * from page one register from 0x1F bit 2 to 3 07983 * 07984 * @param gyro_awake_durn_u8 : The value of gyro anymotion awake duration 07985 * 07986 * @return results of bus communication function 07987 * @retval 0 -> BNO055_SUCCESS 07988 * @retval 1 -> BNO055_ERROR 07989 * 07990 */ 07991 BNO055_RETURN_FUNCTION_TYPE bno055_set_gyro_any_motion_awake_durn( 07992 u8 gyro_awake_durn_u8); 07993 #endif
Generated on Fri Jul 15 2022 23:17:15 by
1.7.2